+ python -m lidar_slam --no-model /working/9cd08aa0-f5f1-4699-962d-ab2e4cc16792 Lidar SLAM 0.0.14 ===================================================== The recording path: /working/9cd08aa0-f5f1-4699-962d-ab2e4cc16792 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: False 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 0.005099893 Adjusted end_distance from 9.223372036854776e+18 to 590.465099893 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.005099893 meters Centerline goodness : 0.256368 Centerline is valid? [0, False] SLAMing on 0.035099893 meters Centerline goodness : 0.150557 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.01 [[ 0.99990784 0.01075659 -0.00828343 0.03882783] [-0.01077899 0.99993836 -0.00266425 -0.00634809] [ 0.00825426 0.00275329 0.99996214 -0.00635627] [ 0. 0. 0. 1. ]] SLAMing on 0.06509989299999999 meters Centerline goodness : 0.144200 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-0.00 [[ 0.99994147 0.01059611 -0.002187 0.05148685] [-0.01059225 0.99994233 0.00177083 -0.01039491] [ 0.00220564 -0.00174756 0.99999604 -0.00340339] [ 0. 0. 0. 1. ]] SLAMing on 0.09509989299999999 meters Centerline goodness : 0.143971 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-0.00 [[ 0.99992535 0.01188581 -0.00283371 0.05387469] [-0.01187587 0.99992336 0.00349787 -0.01401598] [ 0.00287507 -0.00346396 0.99998987 -0.00463593] [ 0. 0. 0. 1. ]] SLAMing on 0.125099893 meters Centerline goodness : 0.140777 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.02, Z:-0.01 [[ 0.99994669 0.00850864 -0.0058492 0.06459162] [-0.00850157 0.9999631 0.00123233 -0.01524207] [ 0.00585947 -0.00118254 0.99998213 -0.01312703] [ 0. 0. 0. 1. ]] SLAMing on 0.155099893 meters Centerline goodness : 0.136151 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.02, Z:-0.01 [[ 0.99995181 -0.00815739 -0.00546216 0.09236397] [ 0.00810031 0.9999132 -0.01039145 -0.02402719] [ 0.00554646 0.0103467 0.99993109 -0.01408193] [ 0. 0. 0. 1. ]] SLAMing on 0.185099893 meters Centerline goodness : 0.130566 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.03, Z:-0.02 [[ 0.99992216 -0.01195675 -0.00356392 0.1134226 ] [ 0.01193524 0.99991079 -0.00599705 -0.02948624] [ 0.00363531 0.00595405 0.99997567 -0.01513054] [ 0. 0. 0. 1. ]] SLAMing on 0.215099893 meters Centerline goodness : 0.136992 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.02, Z:-0.02 [[ 9.99991464e-01 4.12511396e-03 -2.34343296e-04 1.43934598e-01] [-4.12686031e-03 9.99959344e-01 -8.01745051e-03 -2.44216052e-02] [ 2.01260872e-04 8.01834918e-03 9.99967832e-01 -1.67251948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24509989299999999 meters Centerline goodness : 0.131757 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.02, Z:-0.02 [[ 0.9999129 0.01304755 -0.00199011 0.16531566] [-0.01306954 0.99984883 -0.01146752 -0.01762523] [ 0.00184018 0.01149254 0.99993227 -0.01898787] [ 0. 0. 0. 1. ]] SLAMing on 0.27509989300000004 meters Centerline goodness : 0.139764 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.01, Z:-0.02 [[ 0.99996843 0.00787074 -0.00109216 0.17974052] [-0.00787517 0.99996053 -0.00411283 -0.01405608] [ 0.00105974 0.0041213 0.99999095 -0.02320681] [ 0. 0. 0. 1. ]] SLAMing on 0.305099893 meters Centerline goodness : 0.141719 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.02, Z:-0.03 [[ 9.99966606e-01 -8.15670388e-03 5.05378769e-04 1.90906512e-01] [ 8.15766992e-03 9.99964844e-01 -1.93988082e-03 -2.07050122e-02] [-4.89537968e-04 1.94393875e-03 9.99997991e-01 -2.75611217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.335099893 meters Centerline goodness : 0.142704 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.03, Z:-0.03 [[ 9.99882960e-01 -1.52798299e-02 -7.70532630e-04 1.97024163e-01] [ 1.52735872e-02 9.99854891e-01 -7.54418784e-03 -2.66092774e-02] [ 8.85694725e-04 7.53153607e-03 9.99971245e-01 -2.95436917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.365099893 meters Centerline goodness : 0.144229 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.02, Z:-0.03 [[ 9.99996176e-01 -5.17960501e-04 -2.71674116e-03 2.34517357e-01] [ 4.68619455e-04 9.99835507e-01 -1.81311488e-02 -2.01881200e-02] [ 2.72568549e-03 1.81298064e-02 9.99831926e-01 -2.77893874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.39509989300000004 meters Centerline goodness : 0.143796 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.02, Z:-0.03 [[ 0.99996738 0.00687244 -0.00424477 0.25421001] [-0.00696719 0.99971747 -0.02272535 -0.02032238] [ 0.0040874 0.02275418 0.99973273 -0.02773545] [ 0. 0. 0. 1. ]] SLAMing on 0.425099893 meters Centerline goodness : 0.145366 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.03, Z:-0.03 [[ 0.99997854 0.00558421 -0.00342705 0.27633767] [-0.00563799 0.99985785 -0.01588982 -0.02823602] [ 0.00333783 0.0159088 0.99986788 -0.03055362] [ 0. 0. 0. 1. ]] SLAMing on 0.455099893 meters Centerline goodness : 0.141553 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.05, Z:-0.04 [[ 0.99997961 0.00259683 -0.00583427 0.30323638] [-0.00261656 0.99999088 -0.0033769 -0.04521099] [ 0.00582545 0.00339209 0.99997728 -0.03530648] [ 0. 0. 0. 1. ]] SLAMing on 0.485099893 meters Centerline goodness : 0.136934 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.05, Z:-0.04 [[ 0.99997055 0.00315569 -0.006996 0.31886601] [-0.00321669 0.99995675 -0.00872629 -0.05381588] [ 0.00696816 0.00874854 0.99993745 -0.03947953] [ 0. 0. 0. 1. ]] SLAMing on 0.515099893 meters Centerline goodness : 0.130704 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.06, Z:-0.04 [[ 0.99994669 0.00585543 -0.00850433 0.34543449] [-0.0060202 0.99979212 -0.01948019 -0.06107982] [ 0.0083885 0.01953035 0.99977407 -0.03911295] [ 0. 0. 0. 1. ]] SLAMing on 0.5450998930000001 meters Centerline goodness : 0.130791 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.07, Z:-0.04 [[ 0.99992353 0.01147631 -0.00460827 0.38081286] [-0.01155691 0.99977365 -0.0178628 -0.06683377] [ 0.00440223 0.01791469 0.99982983 -0.03508402] [ 0. 0. 0. 1. ]] SLAMing on 0.575099893 meters Centerline goodness : 0.129326 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.07, Z:-0.04 [[ 0.99993834 0.01007107 -0.00467903 0.38533919] [-0.01016646 0.99973129 -0.02083264 -0.07108411] [ 0.00446797 0.02087892 0.99977203 -0.03507075] [ 0. 0. 0. 1. ]] SLAMing on 0.605099893 meters Centerline goodness : 0.125164 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.07, Z:-0.04 [[ 0.99995997 0.00774307 -0.00448452 0.38872358] [-0.00785201 0.99966143 -0.02480676 -0.07177981] [ 0.00429092 0.02484098 0.99968221 -0.03573515] [ 0. 0. 0. 1. ]] SLAMing on 0.635099893 meters Centerline goodness : 0.126442 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.07, Z:-0.05 [[ 0.99991585 0.01154363 -0.00591923 0.40102901] [-0.01167183 0.99968759 -0.02210187 -0.07103873] [ 0.00566225 0.0221691 0.9997382 -0.04523345] [ 0. 0. 0. 1. ]] SLAMing on 0.6650998929999999 meters Centerline goodness : 0.128226 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.07, Z:-0.05 [[ 0.9999166 0.01065888 -0.00729195 0.42091782] [-0.01075245 0.99985879 -0.0129147 -0.07135386] [ 0.00715327 0.01299203 0.99989001 -0.05091374] [ 0. 0. 0. 1. ]] SLAMing on 0.695099893 meters Centerline goodness : 0.128917 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.07, Z:-0.06 [[ 0.99987826 0.01335622 -0.00806686 0.42882135] [-0.0134381 0.99985785 -0.01018299 -0.07455143] [ 0.00792971 0.01029015 0.99991561 -0.05585762] [ 0. 0. 0. 1. ]] SLAMing on 0.725099893 meters Centerline goodness : 0.123178 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.08, Z:-0.06 [[ 0.99985942 0.01354372 -0.00988499 0.44256334] [-0.01370064 0.99977839 -0.01598304 -0.07751565] [ 0.00966633 0.01611623 0.9998234 -0.05807935] [ 0. 0. 0. 1. ]] SLAMing on 0.755099893 meters Centerline goodness : 0.120520 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.08, Z:-0.06 [[ 0.99987492 0.00818838 -0.01353144 0.47192271] [-0.00847365 0.99974018 -0.02116078 -0.08120727] [ 0.01335465 0.02127279 0.99968451 -0.05689466] [ 0. 0. 0. 1. ]] SLAMing on 0.785099893 meters Centerline goodness : 0.454819 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.09, Z:-0.06 [[ 0.99988272 0.00754016 -0.01332978 0.47658307] [-0.00781843 0.99974998 -0.02094856 -0.0906 ] [ 0.01316849 0.02105032 0.99969169 -0.05889582] [ 0. 0. 0. 1. ]] SLAMing on 0.815099893 meters Centerline goodness : 0.510124 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.11, Z:-0.06 [[ 0.99985166 0.00886408 -0.01476797 0.48833482] [-0.00917904 0.99972891 -0.02139745 -0.106192 ] [ 0.0145743 0.02152983 0.99966197 -0.06207051] [ 0. 0. 0. 1. ]] SLAMing on 0.845099893 meters Centerline goodness : 0.470928 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.12, Z:-0.07 [[ 0.99989031 0.00617134 -0.01346411 0.50950241] [-0.00640914 0.99982297 -0.01769066 -0.11561541] [ 0.01335255 0.01777501 0.99975285 -0.06527856] [ 0. 0. 0. 1. ]] SLAMing on 0.875099893 meters Centerline goodness : 0.555199 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.13, Z:-0.07 [[ 0.99986301 0.00838085 -0.01427343 0.51878817] [-0.00855873 0.9998859 -0.01244715 -0.12619888] [ 0.01416748 0.01256761 0.99982065 -0.07477323] [ 0. 0. 0. 1. ]] SLAMing on 0.9050998929999999 meters Centerline goodness : 0.220680 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.13, Z:-0.08 [[ 0.99986811 0.00666064 -0.0148121 0.52716106] [-0.00685456 0.99989096 -0.01307956 -0.13479454] [ 0.01472336 0.01317937 0.99980474 -0.08083666] [ 0. 0. 0. 1. ]] SLAMing on 0.935099893 meters Centerline goodness : 0.220680 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.13, Z:-0.08 [[ 0.99986811 0.00666064 -0.0148121 0.52716106] [-0.00685456 0.99989096 -0.01307956 -0.13479454] [ 0.01472336 0.01317937 0.99980474 -0.08083666] [ 0. 0. 0. 1. ]] SLAMing on 0.965099893 meters Centerline goodness : 0.170601 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.14, Z:-0.09 [[ 0.99985508 0.00168468 -0.01694079 0.54117569] [-0.00204517 0.99977137 -0.02128443 -0.14161215] [ 0.01690106 0.02131599 0.99962992 -0.08516904] [ 0. 0. 0. 1. ]] SLAMing on 0.995099893 meters Centerline goodness : 0.355868 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.15, Z:-0.09 [[ 0.99982242 0.00115533 -0.01880939 0.55470075] [-0.00165642 0.99964354 -0.02664681 -0.14547942] [ 0.0187719 0.02667323 0.99946794 -0.08766085] [ 0. 0. 0. 1. ]] SLAMing on 1.025099893 meters Centerline goodness : 0.260700 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.15, Z:-0.09 [[ 0.99984245 0.0100036 -0.01466268 0.58076973] [-0.01052629 0.99929581 -0.03601515 -0.14635457] [ 0.01429207 0.03616382 0.99924367 -0.08655502] [ 0. 0. 0. 1. ]] SLAMing on 1.055099893 meters Centerline goodness : 0.265324 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.15, Z:-0.09 [[ 0.9998555 0.00695838 -0.01551026 0.60659983] [-0.00745846 0.99944649 -0.0324205 -0.15322419] [ 0.01527608 0.0325315 0.99935396 -0.09189591] [ 0. 0. 0. 1. ]] SLAMing on 1.085099893 meters Centerline goodness : 0.241307 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.10 [[ 0.99988296 0.00176039 -0.01519746 0.62201976] [-0.00211117 0.99973101 -0.02309657 -0.16041992] [ 0.01515271 0.02312595 0.99961772 -0.09811491] [ 0. 0. 0. 1. ]] SLAMing on 1.1150998929999998 meters Centerline goodness : 0.245993 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.10 [[ 9.99921399e-01 2.92445392e-04 -1.25343951e-02 6.35812670e-01] [-4.48429176e-04 9.99922477e-01 -1.24434571e-02 -1.64759578e-01] [ 1.25297844e-02 1.24480998e-02 9.99844012e-01 -1.02741140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1450998929999998 meters Centerline goodness : 0.118156 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.11 [[ 0.99990752 0.00301691 -0.01326064 0.64462787] [-0.00315811 0.99993841 -0.0106397 -0.16349445] [ 0.01322773 0.01068059 0.99985547 -0.11060706] [ 0. 0. 0. 1. ]] SLAMing on 1.1750998929999998 meters Centerline goodness : 0.126638 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.16, Z:-0.12 [[ 9.99890086e-01 6.99790302e-04 -1.48096354e-02 6.54805293e-01] [-8.94387453e-04 9.99913301e-01 -1.31373604e-02 -1.61897084e-01] [ 1.47991580e-02 1.31491620e-02 9.99804023e-01 -1.18197297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2050998929999999 meters Centerline goodness : 0.332228 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.16, Z:-0.12 [[ 0.99986308 -0.00297458 -0.01627803 0.66013879] [ 0.00271981 0.99987382 -0.01565087 -0.1638849 ] [ 0.01632253 0.01560446 0.99974501 -0.12079305] [ 0. 0. 0. 1. ]] SLAMing on 1.235099893 meters Centerline goodness : 0.208218 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.17, Z:-0.12 [[ 0.99975527 -0.01097355 -0.0192087 0.6725337 ] [ 0.01049274 0.9996335 -0.02495514 -0.17217333] [ 0.0194755 0.02474748 0.99950401 -0.12325872] [ 0. 0. 0. 1. ]] SLAMing on 1.265099893 meters Centerline goodness : 0.258985 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.18, Z:-0.13 [[ 0.99970111 -0.01435333 -0.01979079 0.67922771] [ 0.01381165 0.99953348 -0.02724078 -0.18045966] [ 0.02017255 0.02695929 0.99943297 -0.12800396] [ 0. 0. 0. 1. ]] SLAMing on 1.295099893 meters Centerline goodness : 0.129579 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.19, Z:-0.13 [[ 0.99971814 -0.01020633 -0.02143547 0.69083912] [ 0.00963538 0.99960045 -0.02657243 -0.19338601] [ 0.02169811 0.0263584 0.99941704 -0.12905505] [ 0. 0. 0. 1. ]] SLAMing on 1.3250998929999998 meters Centerline goodness : 0.462468 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.21, Z:-0.13 [[ 0.99971966 -0.00227807 -0.02356708 0.70457527] [ 0.00174549 0.99974319 -0.02259433 -0.20683906] [ 0.0236125 0.02254686 0.9994669 -0.13138841] [ 0. 0. 0. 1. ]] SLAMing on 1.3550998929999998 meters Centerline goodness : 0.454619 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.22, Z:-0.13 [[ 0.99968784 0.00151683 -0.02493845 0.72581361] [-0.00181632 0.99992646 -0.01199084 -0.21618368] [ 0.02491843 0.01203239 0.99961707 -0.13373718] [ 0. 0. 0. 1. ]] SLAMing on 1.3850998929999998 meters Centerline goodness : 0.362605 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.22, Z:-0.14 [[ 0.99957288 0.01065007 -0.02721448 0.74153567] [-0.01089669 0.99990076 -0.00892981 -0.22369767] [ 0.02711668 0.00922255 0.99958973 -0.13621898] [ 0. 0. 0. 1. ]] SLAMing on 1.4150998929999998 meters Centerline goodness : 0.194932 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.23, Z:-0.14 [[ 0.9995584 0.01249261 -0.02696176 0.74750532] [-0.01269503 0.9998924 -0.00734948 -0.22749204] [ 0.02686704 0.00768851 0.99960945 -0.14152499] [ 0. 0. 0. 1. ]] SLAMing on 1.4450998929999999 meters Centerline goodness : 0.174236 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.23, Z:-0.15 [[ 0.99952558 0.01448042 -0.02718346 0.75665914] [-0.0146614 0.99987158 -0.00647026 -0.22917255] [ 0.02708627 0.00686574 0.99960952 -0.14876623] [ 0. 0. 0. 1. ]] SLAMing on 1.4750998929999999 meters Centerline goodness : 0.478585 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.23, Z:-0.15 [[ 0.9994435 0.01947349 -0.02708283 0.76218081] [-0.01956948 0.99980311 -0.00328363 -0.22529213] [ 0.02701355 0.0038118 0.9996278 -0.15191169] [ 0. 0. 0. 1. ]] SLAMing on 1.505099893 meters Centerline goodness : 0.123172 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.22, Z:-0.15 [[ 0.99943636 0.02052265 -0.02656663 0.7638176 ] [-0.02064149 0.99977809 -0.00420675 -0.2217705 ] [ 0.0264744 0.00475275 0.99963819 -0.15206041] [ 0. 0. 0. 1. ]] SLAMing on 1.535099893 meters Centerline goodness : 0.178262 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.22, Z:-0.15 [[ 0.99929649 0.02233078 -0.03013069 0.7901065 ] [-0.02243956 0.99974283 -0.00327697 -0.2196539 ] [ 0.03004977 0.00395079 0.9995406 -0.15268059] [ 0. 0. 0. 1. ]] SLAMing on 1.565099893 meters Centerline goodness : 0.487886 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.22, Z:-0.16 [[ 9.99170427e-01 2.70680995e-02 -3.04265619e-02 7.96454333e-01] [-2.70844404e-02 9.99633141e-01 -1.24975568e-04 -2.15606082e-01] [ 3.04120168e-02 9.48958293e-04 9.99536997e-01 -1.56131792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5950998929999998 meters Centerline goodness : 0.132673 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.21, Z:-0.16 [[ 9.99141679e-01 2.77686313e-02 -3.07377461e-02 8.01585253e-01] [-2.78066543e-02 9.99612992e-01 -8.10163055e-04 -2.11383627e-01] [ 3.07033532e-02 1.66418155e-03 9.99527156e-01 -1.58637363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6250998929999998 meters Centerline goodness : 0.164931 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.21, Z:-0.16 [[ 0.99913268 0.02691627 -0.03177106 0.80725303] [-0.02699336 0.99963361 -0.0020002 -0.20963367] [ 0.03170558 0.00285608 0.99949317 -0.16268756] [ 0. 0. 0. 1. ]] SLAMing on 1.6550998929999998 meters Centerline goodness : 0.398029 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.21, Z:-0.16 [[ 0.99913451 0.02633485 -0.03219799 0.8087672 ] [-0.02644418 0.99964587 -0.00297461 -0.2071049 ] [ 0.03210826 0.00382349 0.99947708 -0.16366175] [ 0. 0. 0. 1. ]] SLAMing on 1.6850998929999998 meters Centerline goodness : 0.387295 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.20, Z:-0.16 [[ 9.99492838e-01 1.35066137e-02 -2.88381531e-02 8.08486741e-01] [-1.35096059e-02 9.99908737e-01 9.10858820e-05 -2.00550163e-01] [ 2.88367515e-02 2.98552395e-04 9.99584090e-01 -1.63029359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7150998929999999 meters Centerline goodness : 0.850177 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.20, Z:-0.17 [[ 9.99552457e-01 -1.06054465e-04 -2.99144474e-02 8.13431640e-01] [ 2.06297380e-04 9.99994374e-01 3.34792027e-03 -2.00265477e-01] [ 2.99139241e-02 -3.35259320e-03 9.99546856e-01 -1.66473753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.745099893 meters Centerline goodness : 0.146318 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.20, Z:-0.18 [[ 0.99927364 -0.01570754 -0.03471972 0.81851247] [ 0.01563748 0.99987511 -0.00228853 -0.20062774] [ 0.03475133 0.00174394 0.99939447 -0.17620431] [ 0. 0. 0. 1. ]] SLAMing on 1.775099893 meters Centerline goodness : 0.861489 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.20, Z:-0.18 [[ 0.99915175 -0.02011136 -0.03593477 0.82215534] [ 0.01991096 0.99978419 -0.00592608 -0.20096661] [ 0.0360462 0.00520555 0.99933657 -0.17788837] [ 0. 0. 0. 1. ]] SLAMing on 1.8050998929999997 meters Centerline goodness : 0.863739 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.20, Z:-0.18 [[ 0.99905263 -0.02430319 -0.03609989 0.82429317] [ 0.02396258 0.99966445 -0.0098381 -0.20172607] [ 0.03632687 0.00896374 0.99929976 -0.17813537] [ 0. 0. 0. 1. ]] SLAMing on 1.8350998929999998 meters Centerline goodness : 0.856335 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.20, Z:-0.18 [[ 0.99913158 -0.01940987 -0.03686921 0.82852945] [ 0.01924065 0.99980268 -0.00493915 -0.20198124] [ 0.0369578 0.00422547 0.99930789 -0.18040553] [ 0. 0. 0. 1. ]] SLAMing on 1.8650998929999998 meters Centerline goodness : 0.130858 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.20, Z:-0.18 [[ 0.99913427 -0.01720061 -0.03787947 0.83339254] [ 0.01707364 0.99984749 -0.00367295 -0.19869714] [ 0.03793687 0.00302303 0.99927557 -0.18278147] [ 0. 0. 0. 1. ]] SLAMing on 1.8950998929999998 meters Centerline goodness : 0.833130 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.20, Z:-0.18 [[ 0.99914545 -0.01644976 -0.03791808 0.83591115] [ 0.01633436 0.99986097 -0.00335105 -0.19876182] [ 0.03796793 0.00272882 0.99927523 -0.18392124] [ 0. 0. 0. 1. ]] SLAMing on 1.9250998929999998 meters Centerline goodness : 0.602500 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.20, Z:-0.18 [[ 0.99915459 -0.01602574 -0.03785869 0.83724712] [ 0.01591453 0.99986812 -0.00323722 -0.19875147] [ 0.03790558 0.00263198 0.99927786 -0.18437645] [ 0. 0. 0. 1. ]] SLAMing on 1.9550998929999999 meters Centerline goodness : 0.736852 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.20, Z:-0.19 [[ 0.99911985 -0.01591273 -0.03881111 0.84072648] [ 0.01580699 0.99987047 -0.00302983 -0.19861888] [ 0.03885429 0.00241368 0.99924197 -0.18573545] [ 0. 0. 0. 1. ]] SLAMing on 1.985099893 meters Centerline goodness : 0.140457 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.20, Z:-0.19 [[ 0.99904414 -0.01605037 -0.04065939 0.848035 ] [ 0.01595257 0.99986903 -0.00272864 -0.19899504] [ 0.04069786 0.00207741 0.99916934 -0.18986114] [ 0. 0. 0. 1. ]] SLAMing on 2.015099893 meters Centerline goodness : 0.659933 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.20, Z:-0.19 [[ 0.99907032 -0.01160781 -0.04151805 0.85008732] [ 0.01171514 0.99992863 0.00234277 -0.20115773] [ 0.04148789 -0.00282699 0.99913501 -0.19043618] [ 0. 0. 0. 1. ]] SLAMing on 2.045099893 meters Centerline goodness : 0.589769 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.20, Z:-0.19 [[ 9.99133533e-01 -2.87000672e-03 -4.15204341e-02 8.58618565e-01] [ 2.89540694e-03 9.99995656e-01 5.51629853e-04 -1.95069536e-01] [ 4.15186706e-02 -6.71370437e-04 9.99137503e-01 -1.86414398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.075099893 meters Centerline goodness : 0.533905 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.19, Z:-0.18 [[ 0.99914478 0.01067058 -0.03994815 0.86812307] [-0.01058649 0.99994128 0.00231602 -0.18812877] [ 0.03997051 -0.00189112 0.99919907 -0.18352278] [ 0. 0. 0. 1. ]] SLAMing on 2.105099893 meters Centerline goodness : 0.696009 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.18, Z:-0.18 [[ 9.99001644e-01 1.82004914e-02 -4.07977704e-02 8.73938477e-01] [-1.81958448e-02 9.99834324e-01 4.85249962e-04 -1.80162596e-01] [ 4.07998430e-02 2.57584391e-04 9.99167307e-01 -1.77644416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.135099893 meters Centerline goodness : 0.482188 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.18, Z:-0.18 [[ 9.98974602e-01 1.80987185e-02 -4.14991790e-02 8.75922049e-01] [-1.81191539e-02 9.99835828e-01 -1.16324166e-04 -1.78289296e-01] [ 4.14902607e-02 8.68134900e-04 9.99138531e-01 -1.77974755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1650998930000003 meters Centerline goodness : 0.470964 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.18, Z:-0.18 [[ 0.99917109 0.01064312 -0.03929203 0.88930816] [-0.0104955 0.99993707 0.00396151 -0.18178655] [ 0.03933172 -0.00354584 0.99921992 -0.18155764] [ 0. 0. 0. 1. ]] SLAMing on 2.195099893 meters Centerline goodness : 0.671903 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.19, Z:-0.19 [[ 0.9993921 0.00401256 -0.03463121 0.90332483] [-0.00376822 0.99996757 0.00711782 -0.18812659] [ 0.03465865 -0.00698299 0.99937481 -0.18549522] [ 0. 0. 0. 1. ]] SLAMing on 2.225099893 meters Centerline goodness : 0.711637 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.19, Z:-0.18 [[ 9.99553075e-01 -2.92727374e-04 -2.98925639e-02 9.18594145e-01] [ 5.23742772e-04 9.99970058e-01 7.72065219e-03 -1.92954622e-01] [ 2.98894088e-02 -7.73285765e-03 9.99523299e-01 -1.84222526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.255099893 meters Centerline goodness : 0.688119 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.20, Z:-0.19 [[ 0.99950838 0.00176522 -0.03130305 0.92266669] [-0.00145033 0.99994815 0.0100794 -0.19697689] [ 0.03131922 -0.01002905 0.99945912 -0.18589794] [ 0. 0. 0. 1. ]] SLAMing on 2.285099893 meters Centerline goodness : 0.630468 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.20, Z:-0.19 [[ 0.99946704 0.0040191 -0.03239557 0.92619708] [-0.00360217 0.99991007 0.01291811 -0.20238958] [ 0.03244457 -0.01279453 0.99939164 -0.18764478] [ 0. 0. 0. 1. ]] SLAMing on 2.315099893 meters Centerline goodness : 0.443389 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.21, Z:-0.18 [[ 0.99941282 0.00918186 -0.03301072 0.93081325] [-0.0088602 0.99991197 0.00987714 -0.20523125] [ 0.0330985 -0.00957886 0.99940619 -0.18068894] [ 0. 0. 0. 1. ]] SLAMing on 2.345099893 meters Centerline goodness : 0.496477 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.20, Z:-0.18 [[ 0.99943118 0.00543723 -0.03328283 0.93110905] [-0.00527369 0.9999736 0.00499946 -0.20288256] [ 0.03330914 -0.00482109 0.99943347 -0.18012409] [ 0. 0. 0. 1. ]] SLAMing on 2.3750998930000002 meters Centerline goodness : 0.502332 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.20, Z:-0.18 [[ 0.99940786 0.00124308 -0.03438582 0.93662142] [-0.00119942 0.99999845 0.00129026 -0.20483642] [ 0.03438737 -0.00124826 0.9994078 -0.18414316] [ 0. 0. 0. 1. ]] SLAMing on 2.405099893 meters Centerline goodness : 0.973822 Centerline is valid? [False, True] Translation: X:0.94, Y:-0.21, Z:-0.19 [[ 0.99933114 -0.00566863 -0.03612673 0.94270554] [ 0.00554345 0.99997828 -0.00356429 -0.21144581] [ 0.03614615 0.00336164 0.99934086 -0.18817552] [ 0. 0. 0. 1. ]] SLAMing on 2.435099893 meters Centerline goodness : 0.977827 Centerline is valid? [True, True] Translation: X:0.90, Y:-0.24, Z:-0.18 [[ 0.99894393 0.01240752 -0.04423884 0.90020825] [-0.01145656 0.9996992 0.02168518 -0.23539779] [ 0.04449459 -0.02115545 0.9987856 -0.18394324] [ 0. 0. 0. 1. ]] SLAMing on 2.465099893 meters Centerline goodness : 0.979934 Centerline is valid? [True, True] Translation: X:0.92, Y:-0.23, Z:-0.18 [[ 9.98969326e-01 1.03779583e-02 -4.41880395e-02 9.17120172e-01] [-1.03671660e-02 9.99946147e-01 4.73398491e-04 -2.29315224e-01] [ 4.41905727e-02 -1.48058317e-05 9.99023119e-01 -1.75183237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.495099893 meters Centerline goodness : 0.988075 Centerline is valid? [True, True] Translation: X:0.91, Y:-0.28, Z:-0.19 [[ 0.99960589 0.02429564 -0.0140639 0.91392139] [-0.02303463 0.99621842 0.08377513 -0.28158013] [ 0.01604609 -0.08341816 0.99638543 -0.19387662] [ 0. 0. 0. 1. ]] SLAMing on 2.525099893 meters Centerline goodness : 0.989104 Centerline is valid? [True, True] Translation: X:0.94, Y:-0.24, Z:-0.18 [[ 9.99523462e-01 2.86218308e-02 -1.15602965e-02 9.40854434e-01] [-2.86234126e-02 9.99590266e-01 2.86315360e-05 -2.39674861e-01] [ 1.15563793e-02 3.02277245e-04 9.99933177e-01 -1.77363679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.555099893 meters Centerline goodness : 0.992361 Centerline is valid? [True, True] Translation: X:0.97, Y:-0.24, Z:-0.18 [[ 0.99932913 0.03436614 -0.01265896 0.96738765] [-0.0341528 0.99927709 0.01670004 -0.24355428] [ 0.01322372 -0.01625649 0.99978041 -0.17831563] [ 0. 0. 0. 1. ]] SLAMing on 2.585099893 meters Centerline goodness : 0.992437 Centerline is valid? [True, True] Translation: X:1.00, Y:-0.23, Z:-0.18 [[ 0.99950606 0.02806553 -0.01414091 0.99588057] [-0.0280904 0.99960416 -0.00156333 -0.23381904] [ 0.01409143 0.00195978 0.99989879 -0.17560684] [ 0. 0. 0. 1. ]] SLAMing on 2.615099893 meters Centerline goodness : 0.991495 Centerline is valid? [True, True] Translation: X:1.02, Y:-0.24, Z:-0.17 [[ 0.99970815 0.01558455 -0.01845905 1.02386451] [-0.0154193 0.99984006 0.00906105 -0.23866347] [ 0.01859731 -0.00877378 0.99978856 -0.17374694] [ 0. 0. 0. 1. ]] SLAMing on 2.645099893 meters Centerline goodness : 0.991927 Centerline is valid? [True, True] Translation: X:1.05, Y:-0.24, Z:-0.18 [[ 0.99976191 -0.00497228 -0.02124612 1.05254477] [ 0.00483277 0.99996646 -0.00661295 -0.2355495 ] [ 0.02127829 0.0065087 0.9997524 -0.17655456] [ 0. 0. 0. 1. ]] SLAMing on 2.675099893 meters Centerline goodness : 0.993121 Centerline is valid? [True, True] Translation: X:1.08, Y:-0.24, Z:-0.18 [[ 0.99965963 -0.0177231 -0.01914459 1.08139378] [ 0.01766114 0.99983825 -0.00340076 -0.23898072] [ 0.01920176 0.00306149 0.99981094 -0.17912454] [ 0. 0. 0. 1. ]] SLAMing on 2.705099893 meters Centerline goodness : 0.994468 Centerline is valid? [True, True] Translation: X:1.11, Y:-0.24, Z:-0.18 [[ 0.99951728 -0.02809921 -0.01325262 1.10993404] [ 0.02791421 0.99951306 -0.01394386 -0.23819406] [ 0.01363798 0.01356719 0.99981495 -0.18021449] [ 0. 0. 0. 1. ]] SLAMing on 2.735099893 meters Centerline goodness : 0.994319 Centerline is valid? [True, True] Translation: X:1.14, Y:-0.24, Z:-0.18 [[ 9.99657675e-01 -2.34541907e-02 -1.15945797e-02 1.13902036e+00] [ 2.34559964e-02 9.99724870e-01 1.97583881e-05 -2.44664598e-01] [ 1.15909263e-02 -2.91714045e-04 9.99932780e-01 -1.80964414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.765099893 meters Centerline goodness : 0.995354 Centerline is valid? [True, True] Translation: X:1.17, Y:-0.24, Z:-0.18 [[ 9.99859121e-01 -1.28049363e-02 -1.08522656e-02 1.16862321e+00] [ 1.28058844e-02 9.99918001e-01 1.78823943e-05 -2.39475997e-01] [ 1.08511468e-02 -1.56852735e-04 9.99941112e-01 -1.81646433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.795099893 meters Centerline goodness : 0.995789 Centerline is valid? [True, True] Translation: X:1.20, Y:-0.23, Z:-0.18 [[ 9.99902037e-01 8.90407997e-03 -1.07997167e-02 1.19664214e+00] [-8.90438511e-03 9.99960355e-01 1.98297382e-05 -2.29868073e-01] [ 1.07994651e-02 7.63370411e-05 9.99941681e-01 -1.81470076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.825099893 meters Centerline goodness : 0.995789 Centerline is valid? [True, True] Translation: X:1.23, Y:-0.23, Z:-0.18 [[ 9.99903371e-01 8.75297534e-03 -1.07997217e-02 1.22509415e+00] [-8.75331114e-03 9.99961689e-01 1.61748813e-05 -2.29794405e-01] [ 1.07994496e-02 7.83600063e-05 9.99941681e-01 -1.80845887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.855099893 meters Centerline goodness : 0.996175 Centerline is valid? [True, True] Translation: X:1.25, Y:-0.22, Z:-0.18 [[ 9.99759582e-01 1.88963643e-02 -1.11223109e-02 1.25307099e+00] [-1.88973569e-02 9.99821429e-01 1.58519667e-05 -2.23640651e-01] [ 1.11206243e-02 1.94334123e-04 9.99938145e-01 -1.80319635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.885099893 meters Centerline goodness : 0.996052 Centerline is valid? [True, True] Translation: X:1.28, Y:-0.21, Z:-0.18 [[ 9.99563570e-01 2.70743938e-02 -1.18172296e-02 1.28073249e+00] [-2.70761232e-02 9.99633374e-01 1.36446182e-05 -2.11727571e-01] [ 1.18132665e-02 3.06326102e-04 9.99930174e-01 -1.79754716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.915099893 meters Centerline goodness : 0.996946 Centerline is valid? [True, True] Translation: X:1.31, Y:-0.20, Z:-0.18 [[ 9.99703742e-01 2.15334827e-02 -1.13462239e-02 1.30835410e+00] [-2.15347653e-02 9.99768100e-01 9.12897892e-06 -2.03629343e-01] [ 1.13437893e-02 2.35211994e-04 9.99935629e-01 -1.82535352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.945099893 meters Centerline goodness : 0.997074 Centerline is valid? [True, True] Translation: X:1.34, Y:-0.20, Z:-0.18 [[ 9.99807209e-01 1.66967192e-02 -1.03327294e-02 1.33505011e+00] [-1.66975316e-02 9.99860586e-01 7.64891158e-06 -2.00593540e-01] [ 1.03314166e-02 1.64883640e-04 9.99946616e-01 -1.81891307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.975099893 meters Centerline goodness : 0.997179 Centerline is valid? [True, True] Translation: X:1.36, Y:-0.19, Z:-0.18 [[ 9.99768051e-01 1.59019915e-02 -1.45248590e-02 1.36284093e+00] [-1.59035549e-02 9.99873530e-01 7.86999149e-06 -1.93149770e-01] [ 1.45231472e-02 2.23128727e-04 9.99894509e-01 -1.81525151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.005099893 meters Centerline goodness : 0.997343 Centerline is valid? [True, True] Translation: X:1.39, Y:-0.19, Z:-0.18 [[ 9.99689963e-01 1.84177929e-02 -1.67559708e-02 1.39011023e+00] [-1.84202593e-02 9.99830333e-01 7.14040122e-06 -1.89008954e-01] [ 1.67532593e-02 3.01511138e-04 9.99859609e-01 -1.82893718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.035099893 meters Centerline goodness : 0.997720 Centerline is valid? [True, True] Translation: X:1.42, Y:-0.18, Z:-0.18 [[ 9.99638931e-01 2.45895466e-02 -1.08333707e-02 1.41679791e+00] [-2.45909437e-02 9.99697597e-01 4.24469780e-06 -1.84576303e-01] [ 1.08301990e-02 2.62159643e-04 9.99941317e-01 -1.80407314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.065099893 meters Centerline goodness : 0.998028 Centerline is valid? [True, True] Translation: X:1.44, Y:-0.18, Z:-0.18 [[ 9.99560892e-01 2.82194436e-02 -9.03806752e-03 1.44329269e+00] [-2.82205700e-02 9.99601720e-01 2.90435393e-06 -1.81073338e-01] [ 9.03454980e-03 2.52156338e-04 9.99959156e-01 -1.77126860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.095099893 meters Centerline goodness : 0.998065 Centerline is valid? [True, True] Translation: X:1.47, Y:-0.18, Z:-0.18 [[ 9.99451040e-01 2.99031584e-02 -1.42625343e-02 1.46998217e+00] [-2.99061789e-02 9.99552710e-01 1.50174381e-06 -1.79799712e-01] [ 1.42561998e-02 4.25036985e-04 9.99898285e-01 -1.77839898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1250998930000002 meters Centerline goodness : 0.998190 Centerline is valid? [True, True] Translation: X:1.50, Y:-0.18, Z:-0.18 [[ 9.99510977e-01 2.58911471e-02 -1.75343904e-02 1.49683046e+00] [-2.58951407e-02 9.99664665e-01 -7.10503289e-07 -1.81891777e-01] [ 1.75284921e-02 4.54765662e-04 9.99846261e-01 -1.79037588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.155099893 meters Centerline goodness : 0.998410 Centerline is valid? [True, True] Translation: X:1.52, Y:-0.18, Z:-0.18 [[ 9.99663117e-01 2.07472099e-02 -1.55950758e-02 1.52479120e+00] [-2.07497678e-02 9.99784700e-01 -2.21340215e-06 -1.82667868e-01] [ 1.55916723e-02 3.25806859e-04 9.99878389e-01 -1.76304301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.185099893 meters Centerline goodness : 0.998485 Centerline is valid? [True, True] Translation: X:1.55, Y:-0.19, Z:-0.18 [[ 9.99810303e-01 9.61702369e-03 -1.69372513e-02 1.55141628e+00] [-9.61846879e-03 9.99953741e-01 -3.86015071e-06 -1.87830809e-01] [ 1.69364306e-02 1.66769841e-04 9.99856554e-01 -1.76011776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.215099893 meters Centerline goodness : 0.998787 Centerline is valid? [True, True] Translation: X:1.58, Y:-0.20, Z:-0.17 [[ 0.99980669 -0.00255895 -0.0194947 1.57887247] [ 0.00308378 0.99963231 0.02693963 -0.20358697] [ 0.0194186 -0.02699454 0.99944695 -0.16930949] [ 0. 0. 0. 1. ]] SLAMing on 3.245099893 meters Centerline goodness : 0.998445 Centerline is valid? [True, True] Translation: X:1.61, Y:-0.19, Z:-0.16 [[ 9.99765290e-01 -9.18109476e-03 -1.96232490e-02 1.60661766e+00] [ 9.16050057e-03 9.99957393e-01 -1.13911141e-03 -1.90698738e-01] [ 1.96328712e-02 9.59085269e-04 9.99806797e-01 -1.62858292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.275099893 meters Centerline goodness : 0.998531 Centerline is valid? [True, True] Translation: X:1.63, Y:-0.19, Z:-0.17 [[ 0.99960794 -0.01797735 -0.02146579 1.63331413] [ 0.01793796 0.99983705 -0.00202621 -0.19309575] [ 0.02149872 0.00164036 0.99976753 -0.16514167] [ 0. 0. 0. 1. ]] SLAMing on 3.305099893 meters Centerline goodness : 0.998768 Centerline is valid? [True, True] Translation: X:1.66, Y:-0.18, Z:-0.17 [[ 0.99956511 -0.02304193 -0.01840248 1.66252228] [ 0.02259582 0.99945435 -0.0240922 -0.18378827] [ 0.01894757 0.02366591 0.99954035 -0.169507 ] [ 0. 0. 0. 1. ]] SLAMing on 3.335099893 meters Centerline goodness : 0.998753 Centerline is valid? [True, True] Translation: X:1.69, Y:-0.19, Z:-0.17 [[ 9.99411134e-01 -2.85150315e-02 -1.90860950e-02 1.68965209e+00] [ 2.85199432e-02 9.99593224e-01 -1.48566634e-05 -1.89827032e-01] [ 1.90787549e-02 -5.29486430e-04 9.99817844e-01 -1.73852373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.365099893 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:1.72, Y:-0.18, Z:-0.17 [[ 9.99359037e-01 -2.95390904e-02 -2.02227006e-02 1.71712838e+00] [ 2.95447725e-02 9.99563458e-01 -1.77988240e-05 -1.82568432e-01] [ 2.02143983e-02 -5.79687673e-04 9.99795500e-01 -1.72970644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.395099893 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:1.75, Y:-0.18, Z:-0.17 [[ 9.99382361e-01 -2.79177886e-02 -2.13422965e-02 1.74523338e+00] [ 2.79236329e-02 9.99610059e-01 -2.41857260e-05 -1.77267334e-01] [ 2.13346494e-02 -5.71783663e-04 9.99772227e-01 -1.73647738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.425099893 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:1.77, Y:-0.17, Z:-0.17 [[ 9.99381982e-01 -2.57556807e-02 -2.39227632e-02 1.77309062e+00] [ 2.57622530e-02 9.99668098e-01 -3.34756041e-05 -1.65126287e-01] [ 2.39156853e-02 -5.82849362e-04 9.99713809e-01 -1.73077274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.455099893 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:1.80, Y:-0.16, Z:-0.17 [[ 9.99386301e-01 -2.49215176e-02 -2.46158211e-02 1.80052999e+00] [ 2.49280752e-02 9.99689246e-01 -4.04753910e-05 -1.56063809e-01] [ 2.46091803e-02 -5.73174487e-04 9.99696984e-01 -1.70985805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.485099893 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:1.83, Y:-0.15, Z:-0.17 [[ 9.99330419e-01 -2.59065358e-02 -2.58372960e-02 1.82773536e+00] [ 2.59139375e-02 9.99664176e-01 -4.83711886e-05 -1.45005331e-01] [ 2.58298723e-02 -6.21207273e-04 9.99666160e-01 -1.68206266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.515099893 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:1.86, Y:-0.13, Z:-0.17 [[ 9.98937400e-01 -3.29277183e-02 -3.22464883e-02 1.85539363e+00] [ 3.29427346e-02 9.99457239e-01 -6.56434525e-05 -1.33314139e-01] [ 3.22311477e-02 -9.96713807e-04 9.99479945e-01 -1.67854505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.545099893 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:1.88, Y:-0.13, Z:-0.17 [[ 9.98658471e-01 -3.88453622e-02 -3.42388126e-02 1.88190738e+00] [ 3.88655355e-02 9.99244447e-01 -7.64090077e-05 -1.26577214e-01] [ 3.42159115e-02 -1.25440328e-03 9.99413677e-01 -1.67911476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.575099893 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:1.91, Y:-0.12, Z:-0.17 [[ 9.98395408e-01 -4.41675193e-02 -3.54378372e-02 1.90872226e+00] [ 4.41923467e-02 9.99023038e-01 -8.27720960e-05 -1.20350216e-01] [ 3.54068716e-02 -1.48344191e-03 9.99371879e-01 -1.66707704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6050998929999998 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:1.94, Y:-0.11, Z:-0.16 [[ 9.98133004e-01 -4.86381938e-02 -3.69436510e-02 1.93684508e+00] [ 4.86680185e-02 9.98815006e-01 -9.20950620e-05 -1.09483401e-01] [ 3.69043523e-02 -1.70605117e-03 9.99317346e-01 -1.64547339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.635099893 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:1.96, Y:-0.10, Z:-0.16 [[ 9.98004578e-01 -5.12575589e-02 -3.68717232e-02 1.96457015e+00] [ 5.12887360e-02 9.98683862e-01 -1.00443542e-04 -1.00916341e-01] [ 3.68283434e-02 -1.79086096e-03 9.99320002e-01 -1.61515752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.665099893 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:1.99, Y:-0.09, Z:-0.16 [[ 9.98114461e-01 -5.14447748e-02 -3.34806954e-02 1.99190608e+00] [ 5.14703996e-02 9.98674516e-01 -9.66344583e-05 -9.43190313e-02] [ 3.34412886e-02 -1.62681252e-03 9.99439360e-01 -1.59110714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.695099893 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:2.02, Y:-0.09, Z:-0.16 [[ 9.98240949e-01 -5.05062114e-02 -3.10504348e-02 2.02135485e+00] [ 5.05277464e-02 9.98722653e-01 -9.12043875e-05 -8.86262100e-02] [ 3.10153790e-02 -1.47786454e-03 9.99517815e-01 -1.57595643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.725099893 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:2.05, Y:-0.08, Z:-0.16 [[ 9.98249010e-01 -5.01414165e-02 -3.13807718e-02 2.05173858e+00] [ 5.01632271e-02 9.98741029e-01 -9.23533276e-05 -8.47181352e-02] [ 3.13458951e-02 -1.48196917e-03 9.99507498e-01 -1.56940736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.755099893 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:2.08, Y:-0.08, Z:-0.16 [[ 9.98190891e-01 -5.11699430e-02 -3.15686838e-02 2.08085407e+00] [ 5.11925393e-02 9.98688798e-01 -9.25754493e-05 -8.18952497e-02] [ 3.15320279e-02 -1.52367311e-03 9.99501581e-01 -1.55891704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.785099893 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:2.11, Y:-0.08, Z:-0.16 [[ 9.98236850e-01 -4.98842442e-02 -3.21675815e-02 2.11127963e+00] [ 4.99070423e-02 9.98753863e-01 -9.42827128e-05 -7.96288047e-02] [ 3.21321995e-02 -1.51127237e-03 9.99482485e-01 -1.55241787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.815099893 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:2.14, Y:-0.08, Z:-0.15 [[ 9.98317389e-01 -4.80485078e-02 -3.24612425e-02 2.14219742e+00] [ 4.80707562e-02 9.98843928e-01 -9.51434288e-05 -7.84924202e-02] [ 3.24282864e-02 -1.46545313e-03 9.99472990e-01 -1.54314023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.845099893 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:2.17, Y:-0.08, Z:-0.15 [[ 9.98565984e-01 -4.23167942e-02 -3.27912126e-02 2.17124121e+00] [ 4.23364078e-02 9.99103408e-01 -9.62620260e-05 -7.60398383e-02] [ 3.27658857e-02 -1.29213816e-03 9.99462219e-01 -1.53565049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.875099893 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:2.20, Y:-0.07, Z:-0.15 [[ 9.98699003e-01 -3.75780414e-02 -3.44701772e-02 2.19885971e+00] [ 3.75967917e-02 9.99292985e-01 -1.04287452e-04 -7.37305633e-02] [ 3.44497252e-02 -1.19181630e-03 9.99405721e-01 -1.53478538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.905099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:2.23, Y:-0.07, Z:-0.15 [[ 9.98881538e-01 -3.16288143e-02 -3.51467041e-02 2.22637897e+00] [ 3.16443558e-02 9.99499185e-01 -1.14131311e-04 -7.21653802e-02] [ 3.51327120e-02 -9.98191153e-04 9.99382157e-01 -1.53970857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.935099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:2.25, Y:-0.07, Z:-0.15 [[ 9.99003696e-01 -2.82318466e-02 -3.45626742e-02 2.25452485e+00] [ 2.82445866e-02 9.99601035e-01 -1.19686950e-04 -6.94197262e-02] [ 3.45522639e-02 -8.56640739e-04 9.99402525e-01 -1.51811479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.965099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:2.28, Y:-0.07, Z:-0.15 [[ 9.98979514e-01 -2.76491519e-02 -3.57135078e-02 2.28257970e+00] [ 2.76620788e-02 9.99617323e-01 -1.32195428e-04 -6.79006617e-02] [ 3.57034962e-02 -8.55849342e-04 9.99362060e-01 -1.50858211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.995099893 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.07, Z:-0.15 [[ 9.98795015e-01 -3.07952383e-02 -3.82121939e-02 2.31051032e+00] [ 3.08119443e-02 9.99525188e-01 -1.51783465e-04 -6.92358514e-02] [ 3.81987245e-02 -1.02579142e-03 9.99269636e-01 -1.53090319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.025099892999999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.07, Z:-0.15 [[ 9.98525549e-01 -3.47561944e-02 -4.16981313e-02 2.33884375e+00] [ 3.47790704e-02 9.99395009e-01 -1.76909640e-04 -7.00319534e-02] [ 4.16790530e-02 -1.27357345e-03 9.99130239e-01 -1.54215414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0550998929999995 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:2.37, Y:-0.07, Z:-0.15 [[ 9.98308771e-01 -4.00990867e-02 -4.20911067e-02 2.36588208e+00] [ 4.01267472e-02 9.99194580e-01 -1.87840004e-04 -6.85790732e-02] [ 4.20647379e-02 -1.50145687e-03 9.99113759e-01 -1.52002845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.085099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:2.39, Y:-0.07, Z:-0.15 [[ 9.98160215e-01 -4.42981192e-02 -4.13988030e-02 2.39291720e+00] [ 4.43281826e-02 9.99017005e-01 -1.91937587e-04 -7.12871312e-02] [ 4.13666106e-02 -1.64354924e-03 9.99142684e-01 -1.51621944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.115099892999999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:2.42, Y:-0.07, Z:-0.15 [[ 9.98098569e-01 -4.61142379e-02 -4.08989384e-02 2.41993011e+00] [ 4.61448630e-02 9.98934739e-01 -1.95419950e-04 -7.36389044e-02] [ 4.08643820e-02 -1.69222754e-03 9.99163269e-01 -1.52452923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.145099892999999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:2.45, Y:-0.07, Z:-0.15 [[ 9.98215195e-01 -4.63499262e-02 -3.76577907e-02 2.44718806e+00] [ 4.63759050e-02 9.98924042e-01 -1.83827543e-04 -7.30487576e-02] [ 3.76257929e-02 -1.56291468e-03 9.99290677e-01 -1.49545383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.175099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:2.47, Y:-0.07, Z:-0.14 [[ 9.98535038e-01 -4.31114767e-02 -3.26983045e-02 2.47497099e+00] [ 4.31292303e-02 9.99069489e-01 -1.62495400e-04 -6.96197464e-02] [ 3.26748837e-02 -1.24799535e-03 9.99465254e-01 -1.43734724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.205099893 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.07, Z:-0.14 [[ 9.98624457e-01 -4.08458770e-02 -3.28756331e-02 2.50366286e+00] [ 4.08625265e-02 9.99164764e-01 -1.65553542e-04 -7.07817398e-02] [ 3.28549364e-02 -1.17805562e-03 9.99459437e-01 -1.44800604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.235099892999999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:2.53, Y:-0.08, Z:-0.15 [[ 9.98456569e-01 -4.11069744e-02 -3.73456411e-02 2.53171431e+00] [ 4.11285619e-02 9.99153845e-01 -1.90350584e-04 -7.54041443e-02] [ 3.73218657e-02 -1.34591572e-03 9.99302390e-01 -1.47541425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2650998929999995 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.08, Z:-0.15 [[ 9.98332987e-01 -4.27698947e-02 -3.87554325e-02 2.55894889e+00] [ 4.27942615e-02 9.99083886e-01 -2.00998064e-04 -7.63501216e-02] [ 3.87285247e-02 -1.45784711e-03 9.99248706e-01 -1.48206760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.295099893 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:2.59, Y:-0.08, Z:-0.15 [[ 9.98233322e-01 -4.24825029e-02 -4.15388009e-02 2.58668823e+00] [ 4.25099574e-02 9.99096018e-01 -2.22528828e-04 -7.52383333e-02] [ 4.15107042e-02 -1.54367697e-03 9.99136867e-01 -1.47971917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.325099893 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:2.61, Y:-0.07, Z:-0.15 [[ 9.98310681e-01 -4.05839348e-02 -4.15779768e-02 2.61393883e+00] [ 4.06094986e-02 9.99175068e-01 -2.29919012e-04 -7.46461800e-02] [ 4.15530088e-02 -1.45893019e-03 9.99135236e-01 -1.46661966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.355099892999999 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.08, Z:-0.15 [[ 9.98422814e-01 -3.99338555e-02 -3.94610132e-02 2.64196318e+00] [ 3.99561270e-02 9.99201410e-01 -2.24421890e-04 -7.59565275e-02] [ 3.94384620e-02 -1.35264132e-03 9.99221086e-01 -1.47077932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.385099893 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:2.67, Y:-0.08, Z:-0.14 [[ 9.98487714e-01 -4.05046457e-02 -3.71706633e-02 2.66888561e+00] [ 4.05245308e-02 9.99178520e-01 -2.18609438e-04 -7.64142938e-02] [ 3.71489831e-02 -1.28804485e-03 9.99308908e-01 -1.44890884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.415099893 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.08, Z:-0.15 [[ 9.98352675e-01 -4.05483894e-02 -4.05926643e-02 2.69559336e+00] [ 4.05719155e-02 9.99176591e-01 -2.44404885e-04 -7.66577876e-02] [ 4.05691502e-02 -1.40291988e-03 9.99175748e-01 -1.47082515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.445099892999999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:2.72, Y:-0.08, Z:-0.15 [[ 9.98349117e-01 -3.89599272e-02 -4.22038543e-02 2.72305948e+00] [ 3.89836014e-02 9.99239816e-01 -2.62214466e-04 -7.61947308e-02] [ 4.21819874e-02 -1.38347665e-03 9.99108986e-01 -1.46859945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.475099892999999 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:2.75, Y:-0.07, Z:-0.14 [[ 9.98564024e-01 -3.58946320e-02 -3.97676460e-02 2.74971060e+00] [ 3.59128459e-02 9.99354893e-01 -2.56497293e-04 -7.35235591e-02] [ 3.97511984e-02 -1.17204037e-03 9.99208921e-01 -1.43539008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.505099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:2.78, Y:-0.07, Z:-0.14 [[ 9.98777927e-01 -3.35438851e-02 -3.62968459e-02 2.77758163e+00] [ 3.35572135e-02 9.99436769e-01 -2.42114240e-04 -7.09013067e-02] [ 3.62845239e-02 -9.76202651e-04 9.99341023e-01 -1.37204433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.535099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:2.81, Y:-0.07, Z:-0.14 [[ 9.98883651e-01 -3.02230539e-02 -3.63045353e-02 2.80584201e+00] [ 3.02338211e-02 9.99542822e-01 -2.52503807e-04 -7.09398019e-02] [ 3.62955691e-02 -8.45402900e-04 9.99340741e-01 -1.37392757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.565099892999999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:2.83, Y:-0.07, Z:-0.14 [[ 9.98933953e-01 -2.68365324e-02 -3.75600553e-02 2.83293453e+00] [ 2.68453053e-02 9.99639563e-01 -2.70833699e-04 -7.00229042e-02] [ 3.75537855e-02 -7.37766175e-04 9.99294335e-01 -1.39224610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5950998929999995 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:2.86, Y:-0.07, Z:-0.14 [[ 9.99047002e-01 -2.35475503e-02 -3.67505245e-02 2.86068486e+00] [ 2.35534114e-02 9.99722543e-01 -2.73515446e-04 -6.64345697e-02] [ 3.67467684e-02 -5.92345438e-04 9.99324434e-01 -1.38622771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.625099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:2.89, Y:-0.06, Z:-0.14 [[ 9.99227377e-01 -1.84556011e-02 -3.46992745e-02 2.88881608e+00] [ 1.84574218e-02 9.99829611e-01 -2.67879959e-04 -6.26745559e-02] [ 3.46983060e-02 -3.72786157e-04 9.99397763e-01 -1.36901192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.655099892999999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:2.92, Y:-0.06, Z:-0.14 [[ 9.99351282e-01 -1.17123892e-02 -3.40563584e-02 2.91621469e+00] [ 1.17098990e-02 9.99931400e-01 -2.72581715e-04 -5.97123458e-02] [ 3.40572147e-02 -1.26391631e-04 9.99419877e-01 -1.37772792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.685099892999999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:2.94, Y:-0.06, Z:-0.14 [[ 9.99393438e-01 -6.37146868e-03 -3.42368315e-02 2.94358469e+00] [ 6.36548051e-03 9.99979700e-01 -2.83901406e-04 -5.53456094e-02] [ 3.42379453e-02 6.57953184e-05 9.99413708e-01 -1.38302489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.715099893 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:2.97, Y:-0.05, Z:-0.14 [[ 9.99457840e-01 -4.68129754e-03 -3.25900386e-02 2.97050745e+00] [ 4.67473281e-03 9.99989035e-01 -2.77626240e-04 -5.00160429e-02] [ 3.25909809e-02 1.25125999e-04 9.99468765e-01 -1.38167494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.745099893 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:3.00, Y:-0.05, Z:-0.14 [[ 9.99456570e-01 -4.94547758e-03 -3.25899902e-02 2.99888414e+00] [ 4.93887102e-03 9.99987764e-01 -2.83215218e-04 -4.97053929e-02] [ 3.25909920e-02 1.22103552e-04 9.99468765e-01 -1.37547301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.775099892999999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:3.03, Y:-0.05, Z:-0.14 [[ 9.99430238e-01 -9.74598566e-03 -3.23143323e-02 3.02665660e+00] [ 9.74171708e-03 9.99952506e-01 -2.89536254e-04 -4.57831797e-02] [ 3.23156194e-02 -2.54257953e-05 9.99477714e-01 -1.37207640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8050998929999995 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:3.05, Y:-0.05, Z:-0.14 [[ 9.99314167e-01 -1.66312242e-02 -3.30847127e-02 3.05454718e+00] [ 1.66302704e-02 9.99861661e-01 -3.04025421e-04 -4.69005168e-02] [ 3.30851921e-02 -2.46390809e-04 9.99452505e-01 -1.38363394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.835099893 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:3.08, Y:-0.05, Z:-0.14 [[ 9.99169091e-01 -2.39088241e-02 -3.30075131e-02 3.08164719e+00] [ 2.39117209e-02 9.99714027e-01 -3.07031267e-04 -4.74935947e-02] [ 3.30054146e-02 -4.82490290e-04 9.99455056e-01 -1.37933238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.865099892999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:3.11, Y:-0.05, Z:-0.13 [[ 9.99077267e-01 -3.01854292e-02 -3.05524719e-02 3.10951104e+00] [ 3.01906909e-02 9.99544115e-01 -2.89179462e-04 -4.68287325e-02] [ 3.05472725e-02 -6.33487609e-04 9.99533122e-01 -1.32512738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.895099892999999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:3.14, Y:-0.05, Z:-0.13 [[ 9.99100461e-01 -2.97205182e-02 -3.02482938e-02 3.13698780e+00] [ 2.97252047e-02 9.99558065e-01 -2.94827092e-04 -4.78665066e-02] [ 3.02436885e-02 -6.04574841e-04 9.99542372e-01 -1.33465822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.925099893 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:3.17, Y:-0.05, Z:-0.13 [[ 9.99360423e-01 -2.67141367e-02 -2.37718406e-02 3.16500817e+00] [ 2.67160506e-02 9.99643034e-01 -2.37133326e-04 -4.93114533e-02] [ 2.37696896e-02 -3.98108033e-04 9.99717382e-01 -1.30791988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.955099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:3.19, Y:-0.05, Z:-0.13 [[ 9.99484812e-01 -2.45943614e-02 -2.06210678e-02 3.19385019e+00] [ 2.45952449e-02 9.99697469e-01 -2.10813631e-04 -4.85651554e-02] [ 2.06200141e-02 -2.96475190e-04 9.99787341e-01 -1.31102196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.985099892999999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:3.22, Y:-0.05, Z:-0.13 [[ 9.99219699e-01 -2.75940914e-02 -2.82587778e-02 3.22354608e+00] [ 2.75967381e-02 9.99619094e-01 -2.96412579e-04 -4.77504244e-02] [ 2.82561931e-02 -4.83668803e-04 9.99600597e-01 -1.32750687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0150998929999995 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:3.25, Y:-0.05, Z:-0.14 [[ 9.98769546e-01 -3.34143910e-02 -3.66452187e-02 3.25102179e+00] [ 3.34226752e-02 9.99441232e-01 -3.86679085e-04 -4.73987678e-02] [ 3.66376632e-02 -8.38577949e-04 9.99328264e-01 -1.35709706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.045099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:3.28, Y:-0.05, Z:-0.14 [[ 9.98395663e-01 -3.79190399e-02 -4.20505319e-02 3.27856188e+00] [ 3.79335738e-02 9.99280161e-01 -4.52519251e-04 -4.95192743e-02] [ 4.20374214e-02 -1.14333370e-03 9.99115383e-01 -1.36961664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.075099892999999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:3.31, Y:-0.06, Z:-0.14 [[ 9.98291094e-01 -3.93846973e-02 -4.31710140e-02 3.30654302e+00] [ 3.94008468e-02 9.99223371e-01 -4.77069103e-04 -5.62178968e-02] [ 4.31562754e-02 -1.22472067e-03 9.99067583e-01 -1.38170730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.105099892999999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:3.33, Y:-0.06, Z:-0.14 [[ 9.98255362e-01 -4.04886322e-02 -4.29756119e-02 3.33470083e+00] [ 4.05051281e-02 9.99179212e-01 -4.87212607e-04 -5.70819234e-02] [ 4.29600646e-02 -1.25437007e-03 9.99076003e-01 -1.35602863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.135099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:3.36, Y:-0.05, Z:-0.13 [[ 9.97977788e-01 -4.50669520e-02 -4.48252712e-02 3.36248078e+00] [ 4.50889215e-02 9.98982841e-01 -5.21350073e-04 -5.48119411e-02] [ 4.48031724e-02 -1.50082734e-03 9.98994706e-01 -1.32295597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.165099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:3.39, Y:-0.05, Z:-0.13 [[ 9.97621398e-01 -5.05016192e-02 -4.69162363e-02 3.38896052e+00] [ 5.05312320e-02 9.98722327e-01 -5.55379627e-04 -5.30564698e-02] [ 4.68843402e-02 -1.81667662e-03 9.98898673e-01 -1.29371732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.195099892999999 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:3.42, Y:-0.05, Z:-0.13 [[ 9.97441425e-01 -5.23710815e-02 -4.86607956e-02 3.41736647e+00] [ 5.24046473e-02 9.98625760e-01 -5.86611145e-04 -5.42188248e-02] [ 4.86246454e-02 -1.96494157e-03 9.98815190e-01 -1.30814208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.225099892999999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:3.45, Y:-0.06, Z:-0.13 [[ 9.97595187e-01 -5.17185716e-02 -4.61414268e-02 3.44570249e+00] [ 5.17474500e-02 9.98660041e-01 -5.69201371e-04 -5.59247412e-02] [ 4.61090374e-02 -1.81986863e-03 9.98934755e-01 -1.29100961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.255099893 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:3.47, Y:-0.06, Z:-0.13 [[ 9.98061271e-01 -4.80676510e-02 -3.95373330e-02 3.47393233e+00] [ 4.80855686e-02 9.98843096e-01 -4.98204484e-04 -5.76615693e-02] [ 3.95155396e-02 -1.40393653e-03 9.99217970e-01 -1.26394784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.285099892999999 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:3.50, Y:-0.06, Z:-0.12 [[ 9.98264926e-01 -4.62338695e-02 -3.64632259e-02 3.50148100e+00] [ 4.62476252e-02 9.98929897e-01 -4.66561608e-04 -5.73423774e-02] [ 3.64457775e-02 -1.22058552e-03 9.99334887e-01 -1.23712333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.315099892999999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:3.53, Y:-0.06, Z:-0.12 [[ 9.98295782e-01 -4.67117567e-02 -3.49791797e-02 3.53113502e+00] [ 4.67246253e-02 9.98907707e-01 -4.49909783e-04 -5.83890777e-02] [ 3.49619883e-02 -1.18524603e-03 9.99387940e-01 -1.21937569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3450998929999995 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:3.56, Y:-0.06, Z:-0.12 [[ 9.98099243e-01 -4.98178389e-02 -3.62778711e-02 3.56024451e+00] [ 4.98336912e-02 9.98757420e-01 -4.67690654e-04 -6.17080608e-02] [ 3.62560923e-02 -1.34105854e-03 9.99341632e-01 -1.22628853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.375099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:3.59, Y:-0.07, Z:-0.12 [[ 9.97834059e-01 -5.49764933e-02 -3.61216723e-02 3.58982934e+00] [ 5.49955494e-02 9.98486491e-01 -4.66577446e-04 -6.60154696e-02] [ 3.60926526e-02 -1.52096435e-03 9.99347291e-01 -1.21972953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.405099892999999 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:3.62, Y:-0.07, Z:-0.12 [[ 9.97604191e-01 -6.05365826e-02 -3.34843413e-02 3.61986937e+00] [ 6.05560612e-02 9.98164704e-01 -4.33027014e-04 -6.89546571e-02] [ 3.34491016e-02 -1.59569026e-03 9.99439148e-01 -1.19124762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.435099892999999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:3.65, Y:-0.07, Z:-0.12 [[ 9.97725341e-01 -6.02174585e-02 -3.02985336e-02 3.65202530e+00] [ 6.02332859e-02 9.98184251e-01 -3.90878019e-04 -6.95936359e-02] [ 3.02670568e-02 -1.43499133e-03 9.99540818e-01 -1.16132305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.465099893 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:3.68, Y:-0.07, Z:-0.12 [[ 9.98157639e-01 -5.44972387e-02 -2.66716911e-02 3.68295690e+00] [ 5.45075142e-02 9.98513302e-01 -3.42160768e-04 -7.08103603e-02] [ 2.66506852e-02 -1.11227720e-03 9.99644189e-01 -1.15697143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.495099893 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:3.71, Y:-0.07, Z:-0.11 [[ 9.99001420e-01 -4.06235824e-02 -1.85980306e-02 3.71484356e+00] [ 4.06262034e-02 9.99174387e-01 -2.37023977e-04 -7.24059683e-02] [ 1.85923045e-02 -5.18780082e-04 9.99827014e-01 -1.14535565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.525099892999999 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:3.75, Y:-0.07, Z:-0.11 [[ 9.99277765e-01 -3.35698083e-02 -1.78049572e-02 3.74694392e+00] [ 3.35711123e-02 9.99436306e-01 -2.25731278e-04 -7.24686329e-02] [ 1.78024984e-02 -3.72163971e-04 9.99841454e-01 -1.14797374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5550998929999995 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:3.78, Y:-0.08, Z:-0.12 [[ 9.99310265e-01 -3.20499013e-02 -1.87562976e-02 3.77936698e+00] [ 3.20511072e-02 9.99486203e-01 -2.36386471e-04 -7.67708777e-02] [ 1.87542368e-02 -3.64936677e-04 9.99824057e-01 -1.17374381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.585099893 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:3.81, Y:-0.08, Z:-0.12 [[ 9.99118936e-01 -3.72441999e-02 -1.93447814e-02 3.81068076e+00] [ 3.72464843e-02 9.99306080e-01 -2.42320101e-04 -8.32404056e-02] [ 1.93403827e-02 -4.78418494e-04 9.99812843e-01 -1.19798635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.615099892999999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:3.84, Y:-0.09, Z:-0.12 [[ 9.98767408e-01 -4.46069650e-02 -2.17688739e-02 3.84177959e+00] [ 4.46116239e-02 9.99004369e-01 -2.71810150e-04 -8.94302329e-02] [ 2.17593247e-02 -6.99669694e-04 9.99762993e-01 -1.21833768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.645099892999999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:3.87, Y:-0.09, Z:-0.12 [[ 9.98255955e-01 -5.17206528e-02 -2.84608749e-02 3.87396021e+00] [ 5.17315617e-02 9.98660964e-01 -3.53373783e-04 -9.20814227e-02] [ 2.84410415e-02 -1.11956803e-03 9.99594845e-01 -1.22919690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.675099893 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:3.91, Y:-0.09, Z:-0.12 [[ 9.97784030e-01 -5.60356086e-02 -3.58753378e-02 3.90553737e+00] [ 5.60558197e-02 9.98427538e-01 -4.43008151e-04 -9.34755392e-02] [ 3.58437494e-02 -1.56899501e-03 9.99356175e-01 -1.23583617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.705099893 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:3.94, Y:-0.10, Z:-0.12 [[ 9.97505860e-01 -5.86940339e-02 -3.92054903e-02 3.93535066e+00] [ 5.87202340e-02 9.98274361e-01 -4.83906006e-04 -9.70064777e-02] [ 3.91662382e-02 -1.81945649e-03 9.99231052e-01 -1.23880609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.735099892999999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:3.96, Y:-0.10, Z:-0.12 [[ 9.97708545e-01 -5.49379047e-02 -3.94903320e-02 3.96437332e+00] [ 5.49613507e-02 9.98488361e-01 -4.92505408e-04 -9.98767515e-02] [ 3.94576941e-02 -1.67906514e-03 9.99219831e-01 -1.21753263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7650998929999995 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:3.99, Y:-0.10, Z:-0.12 [[ 9.98054296e-01 -4.69317237e-02 -4.10491827e-02 3.99182410e+00] [ 4.69498467e-02 9.98897111e-01 -5.22959055e-04 -9.77972830e-02] [ 4.10284533e-02 -1.40531130e-03 9.99156990e-01 -1.19142594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.795099893 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:4.02, Y:-0.09, Z:-0.12 [[ 9.98617903e-01 -3.39011708e-02 -4.01620939e-02 4.01899606e+00] [ 3.39075962e-02 9.99424836e-01 -5.21374356e-04 -9.45696142e-02] [ 4.01566694e-02 -8.41146298e-04 9.99193042e-01 -1.17800071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.825099892999999 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:4.05, Y:-0.09, Z:-0.12 [[ 9.99240800e-01 -1.68210045e-02 -3.51408231e-02 4.04703873e+00] [ 1.68150931e-02 9.99858509e-01 -4.63774312e-04 -9.34581581e-02] [ 3.51436521e-02 -1.27473996e-04 9.99382263e-01 -1.16008085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.855099892999999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:4.07, Y:-0.09, Z:-0.11 [[ 9.99541864e-01 -1.69509523e-04 -3.02660295e-02 4.07463654e+00] [ 1.57257124e-04 9.99999905e-01 -4.07203304e-04 -9.13453915e-02] [ 3.02660957e-02 4.02257201e-04 9.99541796e-01 -1.12840312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.885099893 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:4.10, Y:-0.09, Z:-0.11 [[ 9.99521963e-01 1.38468182e-02 -2.76425567e-02 4.10244677e+00] [-1.38625971e-02 9.99903838e-01 -3.79253040e-04 -8.67418927e-02] [ 2.76346471e-02 7.62269369e-04 9.99617800e-01 -1.10150762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.915099893 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:4.13, Y:-0.09, Z:-0.11 [[ 9.99536641e-01 1.25530858e-02 -2.77294620e-02 4.12937118e+00] [-1.25686603e-02 9.99920936e-01 -3.87426660e-04 -8.74401739e-02] [ 2.77224062e-02 7.35769331e-04 9.99615389e-01 -1.11526609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.945099892999999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:4.16, Y:-0.09, Z:-0.11 [[ 9.99643688e-01 2.37184699e-03 -2.65870512e-02 4.15722674e+00] [-2.38264718e-03 9.99997091e-01 -3.74547792e-04 -9.15363928e-02] [ 2.65860855e-02 4.37761899e-04 9.99646432e-01 -1.11860484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.975099892999999 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:4.18, Y:-0.10, Z:-0.11 [[ 9.99390162e-01 -1.66002670e-02 -3.07202693e-02 4.18498862e+00] [ 1.65946943e-02 9.99862203e-01 -4.36365208e-04 -9.76202200e-02] [ 3.07232799e-02 -7.36943823e-05 9.99527926e-01 -1.13001332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.005099893 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:4.21, Y:-0.10, Z:-0.11 [[ 9.99039133e-01 -2.66306227e-02 -3.48083409e-02 4.21261666e+00] [ 2.66294141e-02 9.99645250e-01 -4.98406920e-04 -1.01260433e-01] [ 3.48092656e-02 -4.28997708e-04 9.99393882e-01 -1.13240471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.035099892999999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:4.24, Y:-0.10, Z:-0.11 [[ 9.98891614e-01 -3.11439188e-02 -3.52930553e-02 4.24007895e+00] [ 3.11452745e-02 9.99514737e-01 -5.11498520e-04 -1.02506856e-01] [ 3.52918590e-02 -5.88280313e-04 9.99376875e-01 -1.10753695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.065099892999999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:4.27, Y:-0.10, Z:-0.11 [[ 9.99356988e-01 -1.75213416e-02 -3.12827801e-02 4.26784196e+00] [ 1.75154759e-02 9.99846486e-01 -4.61550241e-04 -9.64503912e-02] [ 3.12860647e-02 -8.66793223e-05 9.99510467e-01 -1.05685428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0950998929999995 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:4.30, Y:-0.09, Z:-0.10 [[ 9.99661368e-01 -1.42506829e-04 -2.60216852e-02 4.29513549e+00] [ 1.32395370e-04 9.99999915e-01 -3.90300595e-04 -8.79482520e-02] [ 2.60217386e-02 3.86723276e-04 9.99661302e-01 -1.03155234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.125099893 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:4.32, Y:-0.08, Z:-0.10 [[ 9.99440066e-01 1.88305736e-02 -2.76579847e-02 4.32246522e+00] [-1.88494829e-02 9.99822243e-01 -4.23102771e-04 -7.66826851e-02] [ 2.76451011e-02 9.44204572e-04 9.99617355e-01 -1.04878621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.155099892999999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:4.35, Y:-0.07, Z:-0.10 [[ 9.99477586e-01 2.06012826e-02 -2.49026473e-02 4.35022713e+00] [-2.06173196e-02 9.99787365e-01 -3.87380294e-04 -7.09649355e-02] [ 2.48893716e-02 9.00603758e-04 9.99689806e-01 -1.04384674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.185099892999999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:4.38, Y:-0.07, Z:-0.10 [[ 9.99632314e-01 1.48163857e-02 -2.27092859e-02 4.37704139e+00] [-1.48283605e-02 9.99889989e-01 -3.58996604e-04 -6.50824395e-02] [ 2.27014686e-02 6.95606085e-04 9.99742046e-01 -1.01238452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.215099893 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:4.40, Y:-0.06, Z:-0.10 [[ 9.99676565e-01 3.55958796e-03 -2.51812346e-02 4.40481679e+00] [-3.57082732e-03 9.99993544e-01 -4.01386548e-04 -6.16650485e-02] [ 2.51796433e-02 4.91174566e-04 9.99682822e-01 -1.02115486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.245099893 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:4.43, Y:-0.06, Z:-0.10 [[ 9.99427446e-01 -1.58008403e-02 -2.99184553e-02 4.43284517e+00] [ 1.57935352e-02 9.99875159e-01 -4.80478216e-04 -6.08369869e-02] [ 2.99223122e-02 7.68494074e-06 9.99552227e-01 -1.04549935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.275099892999999 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:4.46, Y:-0.06, Z:-0.10 [[ 9.99267773e-01 -2.15551494e-02 -3.16116120e-02 4.46007201e+00] [ 2.15497551e-02 9.99767646e-01 -5.11368805e-04 -5.96009017e-02] [ 3.16152895e-02 -1.70228131e-04 9.99500097e-01 -1.04723117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3050998929999995 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:4.49, Y:-0.06, Z:-0.10 [[ 9.98832596e-01 -3.01085375e-02 -3.77746135e-02 4.48694184e+00] [ 3.01067501e-02 9.99546499e-01 -6.16284091e-04 -5.71051410e-02] [ 3.77760381e-02 -5.21706210e-04 9.99286095e-01 -1.04162592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.335099893 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:4.51, Y:-0.05, Z:-0.10 [[ 9.98600154e-01 -2.52934632e-02 -4.64539908e-02 4.51457415e+00] [ 2.52850795e-02 9.99679986e-01 -7.68172141e-04 -4.53468499e-02] [ 4.64585546e-02 -4.07496033e-04 9.98920135e-01 -1.00845096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.365099892999999 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:4.54, Y:-0.04, Z:-0.10 [[ 9.99015699e-01 -1.38271664e-02 -4.21478603e-02 4.54268566e+00] [ 1.38095785e-02 9.99904392e-01 -7.08425852e-04 -3.55115119e-02] [ 4.21536262e-02 1.25684361e-04 9.99111133e-01 -9.75600375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.395099892999999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:4.57, Y:-0.03, Z:-0.09 [[ 9.99360355e-01 1.11860270e-03 -3.57439395e-02 4.56937381e+00] [-1.14105836e-03 9.99999164e-01 -6.07843581e-04 -2.55494723e-02] [ 3.57432297e-02 6.48240698e-04 9.99360796e-01 -9.28246984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.425099893 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:4.60, Y:-0.02, Z:-0.10 [[ 9.98936599e-01 -3.13831611e-02 -3.37752711e-02 4.59719944e+00] [ 3.13815420e-02 9.99507311e-01 -5.78177701e-04 -1.83035341e-02] [ 3.37767754e-02 -4.82357223e-04 9.99429286e-01 -9.81087638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.455099893 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:4.62, Y:-0.03, Z:-0.10 [[ 9.98667815e-01 -3.36660320e-02 -3.91049005e-02 4.62498373e+00] [ 3.36653184e-02 9.99432933e-01 -6.76928139e-04 -2.98377216e-02] [ 3.91055149e-02 -6.40452581e-04 9.99234882e-01 -1.03235268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.485099892999999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:4.65, Y:-0.03, Z:-0.10 [[ 9.98920977e-01 -2.95355847e-02 -3.58403431e-02 4.65313454e+00] [ 2.95319829e-02 9.99563637e-01 -6.29996526e-04 -2.59650202e-02] [ 3.58433111e-02 -4.29119653e-04 9.99357330e-01 -9.89546421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5150998929999995 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:4.68, Y:-0.02, Z:-0.10 [[ 9.99019929e-01 -2.70899336e-02 -3.50045189e-02 4.67969378e+00] [ 2.70847309e-02 9.99632947e-01 -6.22895563e-04 -2.15859776e-02] [ 3.50085446e-02 -3.25802894e-04 9.99386960e-01 -9.65888493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.545099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:4.71, Y:-0.02, Z:-0.09 [[ 9.99054472e-01 -2.75617993e-02 -3.36230340e-02 4.70747021e+00] [ 2.75570694e-02 9.99620049e-01 -6.04163178e-04 -1.95975976e-02] [ 3.36269107e-02 -3.22960356e-04 9.99434403e-01 -9.36062836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.575099892999999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:4.74, Y:-0.02, Z:-0.09 [[ 9.99042894e-01 -2.88033131e-02 -3.29190624e-02 4.73521171e+00] [ 2.87991547e-02 9.99585038e-01 -6.00564535e-04 -1.84033530e-02] [ 3.29227005e-02 -3.48051440e-04 9.99457840e-01 -9.20216399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.605099892999999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:4.76, Y:-0.02, Z:-0.09 [[ 9.99000530e-01 -3.04389634e-02 -3.27324098e-02 4.76348883e+00] [ 3.04354331e-02 9.99536551e-01 -6.06208266e-04 -1.81113289e-02] [ 3.27356923e-02 -3.90622689e-04 9.99463967e-01 -9.08909612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.635099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:4.79, Y:-0.02, Z:-0.09 [[ 9.98992569e-01 -3.06993053e-02 -3.27322428e-02 4.79186097e+00] [ 3.06956229e-02 9.99528589e-01 -6.15116297e-04 -1.75050286e-02] [ 3.27356961e-02 -3.90239970e-04 9.99463967e-01 -9.02694813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.665099893 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:4.82, Y:-0.02, Z:-0.09 [[ 9.98867030e-01 -3.29843952e-02 -3.43028659e-02 4.82015552e+00] [ 3.29813735e-02 9.99455752e-01 -6.54083717e-04 -1.79914727e-02] [ 3.43057712e-02 -4.78012972e-04 9.99411269e-01 -9.09274104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.695099892999999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:4.85, Y:-0.02, Z:-0.09 [[ 9.98758559e-01 -3.54563705e-02 -3.49883847e-02 4.84684047e+00] [ 3.54544689e-02 9.99371065e-01 -6.74980700e-04 -1.83831925e-02] [ 3.49903117e-02 -5.66351846e-04 9.99387491e-01 -9.13029812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.725099892999999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:4.87, Y:-0.02, Z:-0.09 [[ 9.98630727e-01 -3.89601156e-02 -3.49110321e-02 4.87347358e+00] [ 3.89601820e-02 9.99240533e-01 -6.78634743e-04 -1.79474332e-02] [ 3.49109580e-02 -6.82434657e-04 9.99390194e-01 -9.12878080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.755099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:4.90, Y:-0.02, Z:-0.09 [[ 9.98621018e-01 -3.92083198e-02 -3.49108865e-02 4.90184967e+00] [ 3.92082784e-02 9.99230824e-01 -6.86055954e-04 -1.72997764e-02] [ 3.49109330e-02 -6.83685864e-04 9.99390194e-01 -9.06669572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.785099892999999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:4.93, Y:-0.02, Z:-0.09 [[ 9.98585626e-01 -4.07501382e-02 -3.41492777e-02 4.93091882e+00] [ 4.07507180e-02 9.99169114e-01 -6.79317835e-04 -1.56574397e-02] [ 3.41485858e-02 -7.13250559e-04 9.99416512e-01 -8.93634447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.815099892999999 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:4.96, Y:-0.01, Z:-0.09 [[ 9.98716687e-01 -4.01460209e-02 -3.08751572e-02 4.96060381e+00] [ 4.01460512e-02 9.99193630e-01 -6.19176461e-04 -1.21436997e-02] [ 3.08751179e-02 -6.21133776e-04 9.99523057e-01 -8.89096305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8450998929999995 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:4.99, Y:-0.02, Z:-0.09 [[ 9.99105788e-01 -2.47073062e-02 -3.43099545e-02 4.98997731e+00] [ 2.46981977e-02 9.99694715e-01 -6.89336121e-04 -1.51537734e-02] [ 3.43165118e-02 -1.58674332e-04 9.99411002e-01 -8.87101355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.875099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:5.02, Y:-0.01, Z:-0.09 [[ 9.99193064e-01 -2.32189349e-02 -3.27735046e-02 5.01749641e+00] [ 2.32096980e-02 9.99730399e-01 -6.62297695e-04 -1.35674788e-02] [ 3.27800467e-02 -9.88998820e-05 9.99462585e-01 -8.72952952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.905099892999999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:5.05, Y:-0.01, Z:-0.08 [[ 9.99309780e-01 -2.09601670e-02 -3.06697795e-02 5.04508270e+00] [ 2.09507614e-02 9.99780311e-01 -6.28029911e-04 -9.58190052e-03] [ 3.06762053e-02 -1.49588018e-05 9.99529374e-01 -8.45130243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.935099892999999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:5.07, Y:-0.01, Z:-0.08 [[ 9.99305064e-01 -2.09979649e-02 -3.07973135e-02 5.07180485e+00] [ 2.09882565e-02 9.99779518e-01 -6.38504678e-04 -7.97112487e-03] [ 3.08039306e-02 -8.32095789e-06 9.99525446e-01 -8.46777353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.965099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:5.10, Y:-0.01, Z:-0.08 [[ 9.99298527e-01 -2.19153836e-02 -3.03672648e-02 5.09965803e+00] [ 2.19061697e-02 9.99759829e-01 -6.36114903e-04 -6.83256962e-03] [ 3.03739121e-02 -2.95617696e-05 9.99538606e-01 -8.46232558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.995099892999999 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:5.13, Y:-0.01, Z:-0.08 [[ 9.99310635e-01 -2.28767901e-02 -2.92387806e-02 5.12619656e+00] [ 2.28684607e-02 9.99738291e-01 -6.19282680e-04 -5.49061039e-03] [ 2.92452957e-02 -4.97901367e-05 9.99572264e-01 -8.31877334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.025099892999999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:5.15, Y:-0.00, Z:-0.08 [[ 9.99294315e-01 -2.46584365e-02 -2.83343026e-02 5.15363302e+00] [ 2.46512057e-02 9.99695930e-01 -6.04526926e-04 -3.87293831e-03] [ 2.83405937e-02 -9.43744018e-05 9.99598320e-01 -8.15728267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0550998929999995 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:5.18, Y:-0.00, Z:-0.08 [[ 9.99240787e-01 -2.71494746e-02 -2.79419942e-02 5.18172159e+00] [ 2.71432000e-02 9.99631373e-01 -6.03897076e-04 -2.84399783e-03] [ 2.79480895e-02 -1.54996546e-04 9.99609364e-01 -8.00454102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.085099893 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:5.21, Y:-0.00, Z:-0.08 [[ 9.99156837e-01 -2.94613549e-02 -2.85944792e-02 5.20993563e+00] [ 2.94554976e-02 9.99565897e-01 -6.26129332e-04 -2.37396131e-03] [ 2.86005129e-02 -2.16663211e-04 9.99590898e-01 -8.06952614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.115099892999999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:5.24, Y:-0.00, Z:-0.08 [[ 9.98921963e-01 -3.56829878e-02 -2.96923698e-02 5.23823755e+00] [ 3.56791630e-02 9.99363079e-01 -6.58788947e-04 -3.05003378e-03] [ 2.96969656e-02 -4.01320152e-04 9.99558867e-01 -8.15737391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.145099892999999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:5.27, Y:-0.00, Z:-0.08 [[ 9.98551382e-01 -4.07994080e-02 -3.50791357e-02 5.26684604e+00] [ 4.07969437e-02 9.99167149e-01 -7.86324950e-04 -4.56870657e-03] [ 3.50820016e-02 -6.45935662e-04 9.99384228e-01 -8.34285229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.175099893 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:5.30, Y:-0.01, Z:-0.08 [[ 9.98204023e-01 -5.03734937e-02 -3.24228101e-02 5.29527930e+00] [ 5.03763129e-02 9.98730040e-01 -7.30447629e-04 -7.58953000e-03] [ 3.24184297e-02 -9.04205867e-04 9.99473976e-01 -8.13317852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.205099892999999 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:5.33, Y:0.00, Z:-0.08 [[ 9.98792042e-01 -3.81594838e-02 -3.09566015e-02 5.32679933e+00] [ 3.81560497e-02 9.99271546e-01 -7.01872937e-04 1.12623322e-03] [ 3.09608341e-02 -4.80156520e-04 9.99520483e-01 -7.76514447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.235099892999999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:5.36, Y:-0.00, Z:-0.08 [[ 9.98517159e-01 -4.33164323e-02 -3.29722560e-02 5.35683738e+00] [ 4.33153874e-02 9.99061169e-01 -7.46322489e-04 -4.20938162e-03] [ 3.29736287e-02 -6.82990231e-04 9.99455989e-01 -8.02720421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2650998929999995 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:5.39, Y:-0.01, Z:-0.08 [[ 9.98335167e-01 -4.65016179e-02 -3.41246860e-02 5.38633614e+00] [ 4.65023239e-02 9.98917882e-01 -7.73411855e-04 -7.02330791e-03] [ 3.41237240e-02 -8.14752947e-04 9.99417284e-01 -8.10690093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.295099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:5.42, Y:-0.01, Z:-0.08 [[ 9.98058751e-01 -5.14639581e-02 -3.50740593e-02 5.41697686e+00] [ 5.14677510e-02 9.98674340e-01 -7.95318554e-04 -1.04434655e-02] [ 3.50684933e-02 -1.01140831e-03 9.99384399e-01 -8.23388886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.325099892999999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:5.45, Y:-0.01, Z:-0.08 [[ 9.98059662e-01 -5.14463003e-02 -3.50740646e-02 5.44796896e+00] [ 5.14500906e-02 9.98675251e-01 -7.95083835e-04 -9.73862761e-03] [ 3.50685044e-02 -1.01102270e-03 9.99384399e-01 -8.16625272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.355099892999999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:5.48, Y:-0.01, Z:-0.08 [[ 9.97972501e-01 -5.36295771e-02 -3.42747096e-02 5.47797677e+00] [ 5.36345025e-02 9.98560332e-01 -7.76367275e-04 -9.50067708e-03] [ 3.42670016e-02 -1.06351380e-03 9.99412148e-01 -8.00293510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.385099893 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:5.51, Y:-0.01, Z:-0.08 [[ 9.98001952e-01 -5.31915898e-02 -3.40992425e-02 5.51041238e+00] [ 5.31962520e-02 9.98583779e-01 -7.71143422e-04 -8.47327134e-03] [ 3.40919688e-02 -1.04434926e-03 9.99418154e-01 -7.92804404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.415099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:5.54, Y:-0.00, Z:-0.08 [[ 9.98862241e-01 -3.59710811e-02 -3.13098224e-02 5.54126216e+00] [ 3.59666054e-02 9.99352743e-01 -7.06309907e-04 -4.96612369e-04] [ 3.13149636e-02 -4.20601731e-04 9.99509478e-01 -7.78429979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.445099892999999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:5.57, Y:0.00, Z:-0.08 [[ 9.98667806e-01 -3.87791356e-02 -3.40410273e-02 5.56950263e+00] [ 3.87754010e-02 9.99247655e-01 -7.70118529e-04 2.00278087e-04] [ 3.40452812e-02 -5.50861903e-04 9.99420140e-01 -7.73824651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.475099892999999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:5.60, Y:-0.00, Z:-0.08 [[ 9.98467072e-01 -3.97403261e-02 -3.85254818e-02 5.59692217e+00] [ 3.97359663e-02 9.99209828e-01 -8.79172455e-04 -2.60599421e-04] [ 3.85299786e-02 -6.53022498e-04 9.99257231e-01 -7.87107217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.505099893 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:5.63, Y:0.00, Z:-0.07 [[ 9.98944618e-01 -2.85603840e-02 -3.59715792e-02 5.62504556e+00] [ 2.85491261e-02 9.99592049e-01 -8.26678489e-04 4.30407107e-03] [ 3.59805148e-02 -2.01151122e-04 9.99352471e-01 -7.45982200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.535099892999999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:5.65, Y:0.01, Z:-0.07 [[ 9.99002406e-01 -2.73215216e-02 -3.53231722e-02 5.65317079e+00] [ 2.73095428e-02 9.99626687e-01 -8.21645060e-04 5.49247449e-03] [ 3.53324342e-02 -1.43834291e-04 9.99375604e-01 -7.42805288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.565099892999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:5.68, Y:0.01, Z:-0.07 [[ 9.99016150e-01 -2.79873342e-02 -3.44011791e-02 5.68008814e+00] [ 2.79761070e-02 9.99608266e-01 -8.07759930e-04 6.41031326e-03] [ 3.44103101e-02 -1.55445855e-04 9.99407778e-01 -7.17472963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5950998929999995 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:5.71, Y:0.01, Z:-0.07 [[ 9.98974891e-01 -2.90930763e-02 -3.46808195e-02 5.70772124e+00] [ 2.90821114e-02 9.99576689e-01 -8.20680400e-04 7.52528838e-03] [ 3.46900148e-02 -1.88752341e-04 9.99398102e-01 -7.22060182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.625099893 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:5.74, Y:0.01, Z:-0.07 [[ 9.98932408e-01 -3.06692710e-02 -3.45461983e-02 5.73546997e+00] [ 3.06589946e-02 9.99529560e-01 -8.27288312e-04 8.85999951e-03] [ 3.45553187e-02 -2.32746600e-04 9.99402760e-01 -7.07587904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.655099892999999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:5.76, Y:0.01, Z:-0.07 [[ 9.98878628e-01 -3.24355547e-02 -3.44879827e-02 5.76218409e+00] [ 3.24260672e-02 9.99473788e-01 -8.34528357e-04 9.94295565e-03] [ 3.44969031e-02 -2.84717103e-04 9.99404764e-01 -6.94369101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.685099892999999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:5.79, Y:0.01, Z:-0.07 [[ 9.98809658e-01 -3.46254845e-02 -3.43561045e-02 5.79030275e+00] [ 3.46170966e-02 9.99400296e-01 -8.39122800e-04 1.07395606e-02] [ 3.43645561e-02 -3.51184634e-04 9.99409303e-01 -6.95904929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.715099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:5.82, Y:0.01, Z:-0.07 [[ 9.98659385e-01 -3.85618312e-02 -3.45314141e-02 5.81714173e+00] [ 3.85554369e-02 9.99256100e-01 -8.51288354e-04 1.02535092e-02] [ 3.45385534e-02 -4.81226653e-04 9.99403250e-01 -6.85593283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.745099892999999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:5.85, Y:0.01, Z:-0.07 [[ 9.98565065e-01 -4.03732005e-02 -3.51825915e-02 5.84608569e+00] [ 4.03674734e-02 9.99184520e-01 -8.73391069e-04 1.04722646e-02] [ 3.51891624e-02 -5.48094519e-04 9.99380519e-01 -6.78842258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.775099892999999 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:5.88, Y:0.01, Z:-0.07 [[ 9.98766827e-01 -4.05449154e-02 -2.86519797e-02 5.87502623e+00] [ 4.05410131e-02 9.99177618e-01 -7.17330476e-04 1.11911664e-02] [ 2.86575009e-02 -4.45134401e-04 9.99589190e-01 -6.68554020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8050998929999995 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:5.91, Y:0.01, Z:-0.07 [[ 9.98613026e-01 -3.75846356e-02 -3.68702983e-02 5.90603283e+00] [ 3.75759221e-02 9.99293343e-01 -9.29499905e-04 1.25128139e-02] [ 3.68791786e-02 -4.57224743e-04 9.99319627e-01 -6.94872658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.835099893 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:5.93, Y:0.02, Z:-0.07 [[ 9.98856393e-01 -3.37109583e-02 -3.39039564e-02 5.93262739e+00] [ 3.37012987e-02 9.99431583e-01 -8.56500139e-04 1.59237902e-02] [ 3.39135582e-02 -2.87086723e-04 9.99424729e-01 -6.65276590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.865099892999999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:5.96, Y:0.02, Z:-0.06 [[ 9.98933319e-01 -3.29714835e-02 -3.23280951e-02 5.95993305e+00] [ 3.29620790e-02 9.99456263e-01 -8.23950015e-04 1.82556997e-02] [ 3.23376839e-02 -2.42530099e-04 9.99476971e-01 -6.40336313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.895099892999999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:5.99, Y:0.02, Z:-0.06 [[ 9.98972424e-01 -3.26124953e-02 -3.14725465e-02 5.98802766e+00] [ 3.26031304e-02 9.99468048e-01 -8.10829281e-04 1.95567051e-02] [ 3.14822478e-02 -2.16107445e-04 9.99504288e-01 -6.24563300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.925099893 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:6.02, Y:0.02, Z:-0.06 [[ 9.98837100e-01 -3.55885533e-02 -3.25254288e-02 6.01630229e+00] [ 3.55798228e-02 9.99366478e-01 -8.47340823e-04 1.88361867e-02] [ 3.25349789e-02 -3.10893545e-04 9.99470549e-01 -6.28119281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.955099892999999 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:6.04, Y:0.02, Z:-0.06 [[ 9.99193528e-01 -2.80453513e-02 -2.87359006e-02 6.04449447e+00] [ 2.80352503e-02 9.99606650e-01 -7.54421786e-04 1.96751764e-02] [ 2.87457554e-02 -5.18047990e-05 9.99586754e-01 -6.24651476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.985099892999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:6.07, Y:0.02, Z:-0.06 [[ 9.99161377e-01 -2.88568238e-02 -2.90487007e-02 6.07244148e+00] [ 2.88467520e-02 9.99583552e-01 -7.65816027e-04 1.96912311e-02] [ 2.90587024e-02 -7.27868703e-05 9.99577704e-01 -6.04251556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.015099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:6.10, Y:0.02, Z:-0.06 [[ 9.99017793e-01 -3.04304947e-02 -3.22092115e-02 6.10006520e+00] [ 3.04186158e-02 9.99536878e-01 -8.58862203e-04 1.85450204e-02] [ 3.22204303e-02 -1.21741008e-04 9.99480780e-01 -6.25302578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.045099893 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:6.13, Y:0.02, Z:-0.06 [[ 9.98985030e-01 -2.76995669e-02 -3.55196219e-02 6.12801239e+00] [ 2.76830115e-02 9.99616293e-01 -9.57899800e-04 1.90382533e-02] [ 3.55325262e-02 -2.63625423e-05 9.99368520e-01 -6.07156666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.075099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:6.16, Y:0.02, Z:-0.06 [[ 9.98689367e-01 -4.04789402e-02 -3.13209915e-02 6.15576571e+00] [ 4.04721493e-02 9.99180305e-01 -8.51014876e-04 2.07107032e-02] [ 3.13297660e-02 -4.17728336e-04 9.99509015e-01 -5.87392932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.105099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:6.19, Y:0.02, Z:-0.06 [[ 9.98770033e-01 -3.85329836e-02 -3.12030413e-02 6.18640913e+00] [ 3.85252344e-02 9.99257266e-01 -8.49732826e-04 2.00973027e-02] [ 3.12126085e-02 -3.53416798e-04 9.99512705e-01 -5.99912669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.135099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:6.22, Y:0.02, Z:-0.06 [[ 9.98787233e-01 -3.82082000e-02 -3.10515200e-02 6.21582343e+00] [ 3.82003639e-02 9.99269742e-01 -8.45769591e-04 2.11435199e-02] [ 3.10611597e-02 -3.41435493e-04 9.99517427e-01 -5.84966456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.165099893 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:6.25, Y:0.02, Z:-0.06 [[ 9.99383836e-01 -1.15952626e-02 -3.31284994e-02 6.24594057e+00] [ 1.15716915e-02 9.99932638e-01 -9.03150919e-04 2.28821608e-02] [ 3.31367400e-02 5.19241655e-04 9.99450693e-01 -6.03491329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.195099893 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:6.27, Y:0.02, Z:-0.06 [[ 9.99245928e-01 -6.27223425e-04 -3.88224378e-02 6.27244969e+00] [ 5.86460813e-04 9.99999265e-01 -1.06135489e-03 2.30712387e-02] [ 3.88230750e-02 1.03778672e-03 9.99245561e-01 -5.61973750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.30, Y:0.02, Z:-0.05 [[ 9.99316450e-01 8.15938375e-03 -3.60562926e-02 6.29978133e+00] [-8.20048758e-03 9.99965883e-01 -9.92247608e-04 2.34283096e-02] [ 3.60469663e-02 1.28724854e-03 9.99349268e-01 -5.22657369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.255099893 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:6.33, Y:0.02, Z:-0.05 [[ 9.99434608e-01 1.35304433e-02 -3.07797375e-02 6.32766681e+00] [-1.35631754e-02 9.99907650e-01 -8.54884960e-04 2.38593769e-02] [ 3.07653280e-02 1.27187259e-03 9.99525826e-01 -5.15259256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.285099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:6.35, Y:0.02, Z:-0.05 [[ 9.99519157e-01 1.37187265e-02 -2.78074114e-02 6.35460329e+00] [-1.37456891e-02 9.99905220e-01 -7.78690536e-04 2.29442620e-02] [ 2.77940932e-02 1.16054814e-03 9.99612996e-01 -5.11130400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.315099893000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:6.38, Y:0.01, Z:-0.05 [[ 9.99334995e-01 -2.57474780e-02 -2.58192650e-02 6.38287242e+00] [ 2.57373143e-02 9.99668477e-01 -7.25941801e-04 1.00664978e-02] [ 2.58293965e-02 6.09405087e-05 9.99666364e-01 -5.20690314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.345099893 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:6.41, Y:0.00, Z:-0.06 [[ 9.98499123e-01 -4.59211508e-02 -2.98454372e-02 6.41138293e+00] [ 4.59164699e-02 9.98944927e-01 -8.42530137e-04 3.79134725e-03] [ 2.98526380e-02 -5.29131515e-04 9.99554171e-01 -5.52709998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.375099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:6.44, Y:0.01, Z:-0.05 [[ 9.98562790e-01 -4.47989277e-02 -2.94178446e-02 6.44284115e+00] [ 4.47938453e-02 9.98995905e-01 -8.32087333e-04 1.28995957e-02] [ 2.94255829e-02 -4.86846930e-04 9.99566855e-01 -5.26576537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.405099893000001 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:6.47, Y:0.02, Z:-0.05 [[ 9.98914141e-01 -3.85766589e-02 -2.61224187e-02 6.47310070e+00] [ 3.85705484e-02 9.99255607e-01 -7.37927261e-04 2.39719199e-02] [ 2.61314401e-02 -2.70430038e-04 9.99658479e-01 -5.13325927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.435099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:6.50, Y:0.03, Z:-0.05 [[ 9.98882948e-01 -3.29309859e-02 -3.38881583e-02 6.50347157e+00] [ 3.29175184e-02 9.99457615e-01 -9.55403410e-04 2.71832916e-02] [ 3.39012402e-02 -1.61177898e-04 9.99425175e-01 -5.39877392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.465099893 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:6.53, Y:0.03, Z:-0.05 [[ 9.98763361e-01 -3.49547485e-02 -3.53541352e-02 6.53138639e+00] [ 3.49412361e-02 9.99388868e-01 -1.00017153e-03 2.86339520e-02] [ 3.53674899e-02 -2.36382499e-04 9.99374347e-01 -5.37656855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.495099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:6.56, Y:0.03, Z:-0.05 [[ 9.98963415e-01 -3.32711818e-02 -3.10664291e-02 6.55882292e+00] [ 3.32596841e-02 9.99446350e-01 -8.86927195e-04 3.11362606e-02] [ 3.10787382e-02 -1.47251796e-04 9.99516928e-01 -4.96158808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.525099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:6.59, Y:0.04, Z:-0.05 [[ 9.99245804e-01 -2.65437488e-02 -2.83417215e-02 6.58694301e+00] [ 2.65312671e-02 9.99647651e-01 -8.16421663e-04 3.62381340e-02] [ 2.83534063e-02 6.38641354e-05 9.99597959e-01 -4.56376082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.555099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:6.62, Y:0.04, Z:-0.05 [[ 9.99238692e-01 -2.68103437e-02 -2.83415134e-02 6.61530310e+00] [ 2.67977659e-02 9.99640536e-01 -8.23592447e-04 3.71257921e-02] [ 2.83534064e-02 6.34762000e-05 9.99597959e-01 -4.50164305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.585099893 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:6.64, Y:0.03, Z:-0.05 [[ 9.99324543e-01 -2.30113147e-02 -2.86519908e-02 6.64309024e+00] [ 2.29966734e-02 9.99735188e-01 -8.40462860e-04 3.43096736e-02] [ 2.86637436e-02 1.80994689e-04 9.99589094e-01 -4.78747500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.615099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:6.67, Y:0.04, Z:-0.04 [[ 9.99451675e-01 -1.58325663e-02 -2.90805652e-02 6.67041300e+00] [ 1.58142343e-02 9.99874577e-01 -8.60285485e-04 3.55367464e-02] [ 2.90905384e-02 3.99926896e-04 9.99576701e-01 -4.46085780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.645099893000001 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:6.70, Y:0.03, Z:-0.05 [[ 9.99366361e-01 -1.94663382e-02 -2.97983033e-02 6.69875106e+00] [ 1.94485539e-02 9.99810466e-01 -8.86565569e-04 3.30225098e-02] [ 2.98099137e-02 3.06469900e-04 9.99555539e-01 -4.70309943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.675099893 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:6.73, Y:0.03, Z:-0.05 [[ 9.99249211e-01 -2.71094014e-02 -2.76784042e-02 6.72556876e+00] [ 2.70968041e-02 9.99632469e-01 -8.30167651e-04 3.32564931e-02] [ 2.76907369e-02 7.95480753e-05 9.99616535e-01 -4.55303858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.705099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:6.75, Y:0.03, Z:-0.05 [[ 9.98757769e-01 -4.00576637e-02 -2.96361617e-02 6.75420802e+00] [ 4.00487928e-02 9.99197326e-01 -8.93081779e-04 3.26458447e-02] [ 2.96481483e-02 -2.94920134e-04 9.99560354e-01 -4.70769661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.735099893000001 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:6.78, Y:0.03, Z:-0.05 [[ 9.98580377e-01 -4.43482709e-02 -2.95035957e-02 6.78421226e+00] [ 4.43413194e-02 9.99016043e-01 -8.90154180e-04 3.17986437e-02] [ 2.95140422e-02 -4.19337862e-04 9.99564278e-01 -4.76419203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.765099893 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:6.82, Y:0.03, Z:-0.05 [[ 9.98475959e-01 -4.67556739e-02 -2.93200758e-02 6.81568769e+00] [ 4.67498920e-02 9.98906236e-01 -8.83046638e-04 3.26340202e-02] [ 2.93292940e-02 -4.89009539e-04 9.99569684e-01 -4.59004803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.795099893 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:6.85, Y:0.03, Z:-0.05 [[ 9.98478686e-01 -4.64104594e-02 -2.97721972e-02 6.84809014e+00] [ 4.64043840e-02 9.98922335e-01 -8.95336334e-04 3.34258062e-02] [ 2.97816657e-02 -4.87586223e-04 9.99556309e-01 -4.56185679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.825099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:6.88, Y:0.03, Z:-0.05 [[ 9.98486943e-01 -4.61563678e-02 -2.98900393e-02 6.88008867e+00] [ 4.61501932e-02 9.98934110e-01 -8.96781220e-04 3.27965175e-02] [ 2.98995719e-02 -4.84006747e-04 9.99552791e-01 -4.62043612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.855099893 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:6.91, Y:0.03, Z:-0.04 [[ 9.98535431e-01 -4.67606540e-02 -2.72109085e-02 6.91226220e+00] [ 4.67558092e-02 9.98906017e-01 -8.14621765e-04 3.31115665e-02] [ 2.72192325e-02 -4.58839349e-04 9.99629383e-01 -4.49533166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.885099893 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:6.94, Y:0.03, Z:-0.04 [[ 9.98458258e-01 -4.82662007e-02 -2.74131567e-02 6.94424066e+00] [ 4.82619036e-02 9.98834380e-01 -8.18746684e-04 3.38646783e-02] [ 2.74207212e-02 -5.05526739e-04 9.99623854e-01 -4.40998211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.915099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:6.98, Y:0.03, Z:-0.04 [[ 9.98422633e-01 -4.90922017e-02 -2.72433932e-02 6.97629373e+00] [ 4.90883171e-02 9.98794112e-01 -8.11766512e-04 3.49317705e-02] [ 2.72503921e-02 -5.26846264e-04 9.99628500e-01 -4.17048913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.945099893 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:7.01, Y:0.03, Z:-0.05 [[ 9.97900601e-01 -5.28645499e-02 -3.74129560e-02 7.00748370e+00] [ 5.28599884e-02 9.98601315e-01 -1.11177673e-03 3.34019355e-02] [ 3.74194006e-02 -8.68205754e-04 9.99299272e-01 -4.63526766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.975099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:7.04, Y:0.04, Z:-0.04 [[ 9.98153145e-01 -4.98777120e-02 -3.46772801e-02 7.03832770e+00] [ 4.98720443e-02 9.98755085e-01 -1.02893319e-03 3.83006699e-02] [ 3.46854307e-02 -7.02393953e-04 9.99398033e-01 -4.00758786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.005099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:7.07, Y:0.04, Z:-0.04 [[ 9.98742945e-01 -3.76928995e-02 -3.30420258e-02 7.07006529e+00] [ 3.76811225e-02 9.99289334e-01 -9.79271880e-04 3.61882098e-02] [ 3.30554556e-02 -2.67019742e-04 9.99453483e-01 -4.33554504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.035099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:7.10, Y:0.04, Z:-0.04 [[ 9.99082505e-01 -2.97917684e-02 -3.07668309e-02 7.09884869e+00] [ 2.97777645e-02 9.99556127e-01 -9.13354579e-04 4.01314677e-02] [ 3.07803847e-02 -3.65086375e-06 9.99526172e-01 -4.18516526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.065099893000001 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:7.13, Y:0.04, Z:-0.04 [[ 9.99213606e-01 -2.41904333e-02 -3.14164516e-02 7.12591676e+00] [ 2.41728515e-02 9.99707353e-01 -9.39377310e-04 4.30938838e-02] [ 3.14299816e-02 1.79213368e-04 9.99505940e-01 -3.78486020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.095099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:7.15, Y:0.04, Z:-0.04 [[ 9.99292087e-01 -2.01011448e-02 -3.18004675e-02 7.15345542e+00] [ 2.00808840e-02 9.99797901e-01 -9.56398937e-04 4.13197274e-02] [ 3.18132654e-02 3.17140391e-04 9.99493780e-01 -3.82273658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.125099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:7.18, Y:0.04, Z:-0.04 [[ 9.99216850e-01 -2.10538138e-02 -3.35025968e-02 7.18169503e+00] [ 2.10315322e-02 9.99778295e-01 -1.01737411e-03 4.41273298e-02] [ 3.35165887e-02 3.11966407e-04 9.99438113e-01 -3.57947606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.155099893000001 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:7.21, Y:0.05, Z:-0.03 [[ 9.99169193e-01 -2.19862440e-02 -3.43151260e-02 7.20926516e+00] [ 2.19630802e-02 9.99758229e-01 -1.05187734e-03 4.58416580e-02] [ 3.43299565e-02 2.97337572e-04 9.99410509e-01 -3.35043303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.185099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:7.24, Y:0.04, Z:-0.03 [[ 9.99177547e-01 -2.36563870e-02 -3.29333281e-02 7.23770950e+00] [ 2.36356608e-02 9.99720120e-01 -1.01855876e-03 4.36806862e-02] [ 3.29482062e-02 2.39320074e-04 9.99457032e-01 -3.44398691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.215099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:7.26, Y:0.04, Z:-0.03 [[ 9.99152134e-01 -2.98440959e-02 -2.83609579e-02 7.26480048e+00] [ 2.98310443e-02 9.99554565e-01 -8.83283685e-04 4.37456108e-02] [ 2.83746857e-02 3.64977881e-05 9.99597357e-01 -3.46172376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.29, Y:0.05, Z:-0.03 [[ 9.98769487e-01 -4.32689151e-02 -2.42345570e-02 7.29326370e+00] [ 4.32632750e-02 9.99063419e-01 -7.57236860e-04 4.62823673e-02] [ 2.42446242e-02 -2.92161237e-04 9.99706013e-01 -3.13231156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.275099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:7.32, Y:0.05, Z:-0.04 [[ 9.97923829e-01 -5.58508211e-02 -3.20736379e-02 7.32498033e+00] [ 5.58474548e-02 9.98438811e-01 -1.00149191e-03 4.77803043e-02] [ 3.20794991e-02 -7.91818404e-04 9.99485007e-01 -3.54264425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.305099893 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:7.36, Y:0.05, Z:-0.04 [[ 9.97868807e-01 -5.53648631e-02 -3.45337002e-02 7.35588253e+00] [ 5.53609127e-02 9.98465834e-01 -1.07130833e-03 4.75171363e-02] [ 3.45400326e-02 -8.42791999e-04 9.99402960e-01 -3.60942515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.335099893 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:7.39, Y:0.05, Z:-0.04 [[ 9.98044471e-01 -5.27916280e-02 -3.34705525e-02 7.38820547e+00] [ 5.27865358e-02 9.98605281e-01 -1.03638336e-03 4.72180296e-02] [ 3.34785828e-02 -7.32437835e-04 9.99439167e-01 -3.52520315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.365099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:7.42, Y:0.05, Z:-0.03 [[ 9.98201966e-01 -5.04190955e-02 -3.24152719e-02 7.41920502e+00] [ 5.04131290e-02 9.98727947e-01 -1.00185201e-03 4.86398130e-02] [ 3.24245505e-02 -6.34104637e-04 9.99473985e-01 -3.37850762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.395099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:7.45, Y:0.05, Z:-0.03 [[ 9.98257343e-01 -4.94446545e-02 -3.22102865e-02 7.45090987e+00] [ 4.94383047e-02 9.98776685e-01 -9.94011341e-04 5.01156186e-02] [ 3.22200317e-02 -6.00142836e-04 9.99480620e-01 -3.41873518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.425099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:7.48, Y:0.05, Z:-0.03 [[ 9.98163037e-01 -5.20457066e-02 -3.10128494e-02 7.48245211e+00] [ 5.20411362e-02 9.98644485e-01 -9.55065609e-04 5.37592374e-02] [ 3.10205181e-02 -6.60632732e-04 9.99518530e-01 -3.30792547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.455099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:7.51, Y:0.05, Z:-0.03 [[ 9.97994460e-01 -5.46698207e-02 -3.19103293e-02 7.51480710e+00] [ 5.46663835e-02 9.98504194e-01 -9.80791822e-04 5.30776830e-02] [ 3.19162173e-02 -7.65597492e-04 9.99490255e-01 -3.26889723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.485099893000001 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:7.55, Y:0.05, Z:-0.03 [[ 9.97732038e-01 -5.74809804e-02 -3.50245358e-02 7.54718221e+00] [ 5.74786635e-02 9.98346157e-01 -1.07387272e-03 4.96615656e-02] [ 3.50283380e-02 -9.41726291e-04 9.99385876e-01 -3.31535392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.515099893 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:7.58, Y:0.05, Z:-0.03 [[ 9.97479078e-01 -5.91088913e-02 -3.92635626e-02 7.57951996e+00] [ 5.91073588e-02 9.98250909e-01 -1.20087705e-03 4.85766578e-02] [ 3.92658695e-02 -1.12291575e-03 9.99228167e-01 -3.44678197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.545099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:7.61, Y:0.05, Z:-0.03 [[ 9.97631753e-01 -5.68070554e-02 -3.87794193e-02 7.61062307e+00] [ 5.68039051e-02 9.98384653e-01 -1.18394859e-03 5.30548011e-02] [ 3.87840337e-02 -1.02167775e-03 9.99247094e-01 -3.29181005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.575099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:7.64, Y:0.06, Z:-0.03 [[ 9.97841918e-01 -5.41311334e-02 -3.71662115e-02 7.64196853e+00] [ 5.41264324e-02 9.98533447e-01 -1.13339820e-03 5.73626532e-02] [ 3.71730574e-02 -8.80722206e-04 9.99308455e-01 -3.16217990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.605099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:7.67, Y:0.06, Z:-0.03 [[ 9.97947151e-01 -5.37429532e-02 -3.48307111e-02 7.67275497e+00] [ 5.37386413e-02 9.98554472e-01 -1.06062339e-03 5.75454763e-02] [ 3.48373634e-02 -8.13309006e-04 9.99392664e-01 -3.02845396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.635099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:7.70, Y:0.06, Z:-0.03 [[ 9.97940986e-01 -5.40748858e-02 -3.44919499e-02 7.70458656e+00] [ 5.40709336e-02 9.98536547e-01 -1.04803933e-03 5.62708560e-02] [ 3.44981452e-02 -8.19130533e-04 9.99404426e-01 -2.94974591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.665099893 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:7.74, Y:0.06, Z:-0.03 [[ 9.97930998e-01 -5.41659669e-02 -3.46377026e-02 7.73608104e+00] [ 5.41621152e-02 9.98531603e-01 -1.05018605e-03 5.55326200e-02] [ 3.46437251e-02 -8.28038030e-04 9.99399383e-01 -2.87478974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.77, Y:0.06, Z:-0.03 [[ 9.97869976e-01 -5.58964229e-02 -3.36318372e-02 7.76831040e+00] [ 5.58938405e-02 9.98436199e-01 -1.01768604e-03 5.79506897e-02] [ 3.36361287e-02 -8.64294194e-04 9.99433772e-01 -2.57796755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.725099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:7.80, Y:0.06, Z:-0.03 [[ 9.97800832e-01 -5.65835344e-02 -3.45224923e-02 7.79966416e+00] [ 5.65813045e-02 9.98397451e-01 -1.04232945e-03 5.99698134e-02] [ 3.45261470e-02 -9.13290457e-04 9.99403378e-01 -2.69253365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.755099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:7.83, Y:0.07, Z:-0.02 [[ 9.98096634e-01 -5.22634287e-02 -3.27359675e-02 7.83193776e+00] [ 5.22591626e-02 9.98633069e-01 -9.86495162e-04 6.67989286e-02] [ 3.27427773e-02 -7.26136750e-04 9.99463548e-01 -2.12570107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.785099893 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:7.86, Y:0.07, Z:-0.02 [[ 9.98133892e-01 -5.06616832e-02 -3.40899831e-02 7.86427111e+00] [ 5.06562086e-02 9.98715624e-01 -1.02481460e-03 6.56035773e-02] [ 3.40981176e-02 -7.03967114e-04 9.99418242e-01 -2.29446886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.815099893000001 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:7.90, Y:0.06, Z:-0.03 [[ 9.98136937e-01 -4.97382374e-02 -3.53378426e-02 7.89577833e+00] [ 4.97318500e-02 9.98762043e-01 -1.06025528e-03 6.09800272e-02] [ 3.53468311e-02 -6.99136327e-04 9.99374861e-01 -2.72758249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.845099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:7.93, Y:0.06, Z:-0.03 [[ 9.98357354e-01 -4.72785602e-02 -3.23624988e-02 7.92595654e+00] [ 4.72719334e-02 9.98881586e-01 -9.70285012e-04 6.36326580e-02] [ 3.23721778e-02 -5.61146711e-04 9.99475726e-01 -2.50177484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.875099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:7.96, Y:0.07, Z:-0.02 [[ 9.98367849e-01 -4.73298645e-02 -3.19612503e-02 7.95727052e+00] [ 4.73234385e-02 9.98879159e-01 -9.57901585e-04 6.77504297e-02] [ 3.19707641e-02 -5.56178115e-04 9.99488650e-01 -2.36849205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.905099893000001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:7.99, Y:0.06, Z:-0.03 [[ 9.98088021e-01 -5.15035726e-02 -3.41714072e-02 7.98926986e+00] [ 5.14987143e-02 9.98672537e-01 -1.02289092e-03 6.31479547e-02] [ 3.41787285e-02 -7.38848366e-04 9.99415463e-01 -2.58585094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.935099893 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:8.02, Y:0.06, Z:-0.03 [[ 9.97752649e-01 -5.61400555e-02 -3.65779468e-02 8.02029302e+00] [ 5.61376517e-02 9.98422440e-01 -1.09357022e-03 6.10634584e-02] [ 3.65816360e-02 -9.62287455e-04 9.99330205e-01 -2.78341228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.965099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:8.05, Y:0.07, Z:-0.02 [[ 9.97598612e-01 -5.95262124e-02 -3.54067791e-02 8.05106047e+00] [ 5.95261738e-02 9.98226186e-01 -1.05617266e-03 6.53180597e-02] [ 3.54068441e-02 -1.05399370e-03 9.99372425e-01 -2.24065998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.995099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:8.08, Y:0.07, Z:-0.02 [[ 9.97702017e-01 -5.79761168e-02 -3.50635809e-02 8.08239868e+00] [ 5.79752378e-02 9.98317477e-01 -1.04264655e-03 6.68300751e-02] [ 3.50650343e-02 -9.92568881e-04 9.99384540e-01 -2.10721827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.025099893 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:8.11, Y:0.07, Z:-0.02 [[ 9.98011853e-01 -5.30385427e-02 -3.40478174e-02 8.11450711e+00] [ 5.30349097e-02 9.98592148e-01 -1.01045351e-03 6.73520487e-02] [ 3.40534761e-02 -7.97278343e-04 9.99419694e-01 -2.18954337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.055099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:8.15, Y:0.07, Z:-0.02 [[ 9.98134690e-01 -5.07937672e-02 -3.38693736e-02 8.14550601e+00] [ 5.07889470e-02 9.98708905e-01 -1.00319915e-03 7.02796470e-02] [ 3.38766013e-02 -7.18861951e-04 9.99425765e-01 -2.06932281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.085099893 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:8.18, Y:0.07, Z:-0.02 [[ 9.97953499e-01 -5.27326259e-02 -3.61674498e-02 8.17666672e+00] [ 5.27284504e-02 9.98608314e-01 -1.06994122e-03 7.13301403e-02] [ 3.61735369e-02 -8.39302006e-04 9.99345171e-01 -2.14559598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.115099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:8.21, Y:0.07, Z:-0.02 [[ 9.97813089e-01 -5.62170372e-02 -3.47661380e-02 8.20789259e+00] [ 5.62153326e-02 9.98418139e-01 -1.02729415e-03 6.94184208e-02] [ 3.47688942e-02 -9.29342459e-04 9.99394947e-01 -2.01215026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.145099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:8.24, Y:0.07, Z:-0.02 [[ 9.97796984e-01 -5.60249909e-02 -3.55299678e-02 8.23960427e+00] [ 5.60231518e-02 9.98428920e-01 -1.04810946e-03 7.26889387e-02] [ 3.55328677e-02 -9.44700318e-04 9.99368062e-01 -1.72413107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.175099893 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:8.27, Y:0.07, Z:-0.02 [[ 9.97859458e-01 -5.41519648e-02 -3.66615187e-02 8.27081293e+00] [ 5.41488219e-02 9.98532293e-01 -1.07937530e-03 7.14587878e-02] [ 3.66661606e-02 -9.08113195e-04 9.99327158e-01 -1.91397442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.205099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:8.30, Y:0.08, Z:-0.02 [[ 9.98420757e-01 -4.53132546e-02 -3.32069341e-02 8.30074812e+00] [ 4.53058172e-02 9.98972687e-01 -9.76765617e-04 7.82543070e-02] [ 3.32170807e-02 -5.29244221e-04 9.99448020e-01 -1.50491447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.235099893000001 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:8.33, Y:0.08, Z:-0.01 [[ 9.98517795e-01 -4.33808004e-02 -3.28682177e-02 8.33108334e+00] [ 4.33724799e-02 9.99058504e-01 -9.66422491e-04 7.95173468e-02] [ 3.28791966e-02 -4.60586057e-04 9.99459227e-01 -1.46253857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.265099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:8.36, Y:0.08, Z:-0.01 [[ 9.98549796e-01 -4.30476688e-02 -3.23296130e-02 8.36142122e+00] [ 4.30394442e-02 9.99072922e-01 -9.50585926e-04 7.98885850e-02] [ 3.23405615e-02 -4.42241194e-04 9.99476809e-01 -1.39595346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.295099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:8.39, Y:0.08, Z:-0.01 [[ 9.98552927e-01 -4.32040685e-02 -3.20228176e-02 8.39237497e+00] [ 4.31960796e-02 9.99066170e-01 -9.41565235e-04 8.03183376e-02] [ 3.20335932e-02 -4.43057456e-04 9.99486695e-01 -1.32622427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.325099893 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:8.42, Y:0.08, Z:-0.01 [[ 9.98527977e-01 -4.34772394e-02 -3.24285105e-02 8.42327164e+00] [ 4.34692030e-02 9.99054313e-01 -9.53117299e-04 8.03834411e-02] [ 3.24392822e-02 -4.57927219e-04 9.99473603e-01 -1.31192377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.355099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:8.45, Y:0.08, Z:-0.01 [[ 9.98488735e-01 -4.43355193e-02 -3.24747201e-02 8.45406775e+00] [ 4.43279389e-02 9.99016579e-01 -9.53701881e-04 8.05762538e-02] [ 3.24850666e-02 -4.87276820e-04 9.99472102e-01 -1.23154730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.385099893 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:8.48, Y:0.08, Z:-0.01 [[ 9.98420743e-01 -4.50338257e-02 -3.35853251e-02 8.48419622e+00] [ 4.50261200e-02 9.98985323e-01 -9.86108982e-04 8.04709360e-02] [ 3.35956551e-02 -5.27665213e-04 9.99435367e-01 -1.19961560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.415099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:8.51, Y:0.08, Z:-0.01 [[ 9.98345027e-01 -4.61664103e-02 -3.42909688e-02 8.51483714e+00] [ 4.61590587e-02 9.98933596e-01 -1.00643352e-03 8.08341611e-02] [ 3.43008642e-02 -5.78070945e-04 9.99411385e-01 -1.07099954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.445099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:8.55, Y:0.08, Z:-0.01 [[ 9.98345839e-01 -4.61488429e-02 -3.42909753e-02 8.54582386e+00] [ 4.61414885e-02 9.98934408e-01 -1.00621378e-03 8.17457198e-02] [ 3.43008707e-02 -5.77687305e-04 9.99411385e-01 -1.00336346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.475099893 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:8.58, Y:0.08, Z:-0.01 [[ 9.98276064e-01 -4.72759469e-02 -3.47834017e-02 8.57663163e+00] [ 4.72690850e-02 9.98881671e-01 -1.02004686e-03 8.26918848e-02] [ 3.47927261e-02 -6.25891209e-04 9.99394354e-01 -8.91179756e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.505099893 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:8.61, Y:0.08, Z:-0.01 [[ 9.98182264e-01 -4.84365304e-02 -3.58618183e-02 8.60617690e+00] [ 4.84299906e-02 9.98826026e-01 -1.05152226e-03 8.37398787e-02] [ 3.58706496e-02 -6.87176653e-04 9.99356205e-01 -8.20156055e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.535099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:8.64, Y:0.09, Z:-0.01 [[ 9.98585945e-01 -4.21816395e-02 -3.23545843e-02 8.63668026e+00] [ 4.21730221e-02 9.99109872e-01 -9.49024909e-04 9.00622852e-02] [ 3.23658160e-02 -4.16807661e-04 9.99476003e-01 -5.32800799e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.565099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:8.67, Y:0.09, Z:-0.01 [[ 9.98607387e-01 -4.10436412e-02 -3.31467369e-02 8.66748315e+00] [ 4.10339701e-02 9.99157279e-01 -9.72260337e-04 9.09666312e-02] [ 3.31587086e-02 -3.89235857e-04 9.99450023e-01 -6.64818932e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.595099893 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:8.70, Y:0.09, Z:-0.01 [[ 9.98634509e-01 -4.00531822e-02 -3.35389289e-02 8.69724830e+00] [ 4.00427087e-02 9.99197484e-01 -9.84172552e-04 9.18324446e-02] [ 3.35514326e-02 -3.60160885e-04 9.99436927e-01 -6.61641294e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.625099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:8.73, Y:0.09, Z:-0.01 [[ 9.98684824e-01 -3.93489545e-02 -3.28676531e-02 8.72726849e+00] [ 3.93384775e-02 9.99225476e-01 -9.65608437e-04 9.34995547e-02] [ 3.28801920e-02 -3.28624939e-04 9.99459246e-01 -5.42510498e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.655099893000001 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:8.76, Y:0.10, Z:-0.00 [[ 9.98707391e-01 -3.89498776e-02 -3.26566099e-02 8.75654140e+00] [ 3.89392902e-02 9.99241117e-01 -9.60362525e-04 9.52192587e-02] [ 3.26692334e-02 -3.12504061e-04 9.99466169e-01 -3.93893781e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.685099893 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:8.79, Y:0.10, Z:-0.00 [[ 9.98667860e-01 -3.93319045e-02 -3.33991922e-02 8.78582226e+00] [ 3.93210170e-02 9.99226146e-01 -9.83003070e-04 9.68884948e-02] [ 3.34120095e-02 -3.31596631e-04 9.99441608e-01 -3.39675472e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.715099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:8.82, Y:0.10, Z:-0.00 [[ 9.98642616e-01 -3.99596584e-02 -3.34088492e-02 8.81520945e+00] [ 3.99490760e-02 9.99201232e-01 -9.84474192e-04 9.89816684e-02] [ 3.34215025e-02 -3.51514775e-04 9.99441284e-01 -1.58391888e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.745099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:8.85, Y:0.10, Z:-0.00 [[ 9.98641910e-01 -3.99773307e-02 -3.34088204e-02 8.84534706e+00] [ 3.99667255e-02 9.99200525e-01 -9.85451053e-04 9.99018374e-02] [ 3.34215066e-02 -3.51128433e-04 9.99441284e-01 -9.25771956e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.775099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:8.87, Y:0.10, Z:0.00 [[ 9.98590313e-01 -4.09872472e-02 -3.37258348e-02 8.87474190e+00] [ 4.09769953e-02 9.99159594e-01 -9.95400791e-04 1.01081683e-01] [ 3.37382901e-02 -3.87985784e-04 9.99430627e-01 9.69337662e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.805099893 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:8.90, Y:0.10, Z:0.00 [[ 9.98531123e-01 -4.24218872e-02 -3.37043110e-02 8.90466550e+00] [ 4.24124384e-02 9.99099692e-01 -9.95560616e-04 1.02003583e-01] [ 3.37162003e-02 -4.35383754e-04 9.99431352e-01 1.54412310e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.835099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:8.93, Y:0.10, Z:0.00 [[ 9.98445768e-01 -4.37922185e-02 -3.44715710e-02 8.93470164e+00] [ 4.37831243e-02 9.99040540e-01 -1.01899657e-03 1.02402479e-01] [ 3.44831210e-02 -4.91860261e-04 9.99405159e-01 8.38169052e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.865099893 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:8.96, Y:0.10, Z:0.00 [[ 9.98365054e-01 -4.52310462e-02 -3.49481233e-02 8.96499960e+00] [ 4.52225799e-02 9.98976402e-01 -1.03308369e-03 1.02497803e-01] [ 3.49590779e-02 -5.49049640e-04 9.99388594e-01 6.01744761e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.895099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:9.00, Y:0.10, Z:-0.00 [[ 9.98283389e-01 -4.66806207e-02 -3.53722341e-02 8.99518228e+00] [ 4.66728656e-02 9.98909681e-01 -1.04538187e-03 1.01411355e-01] [ 3.53824661e-02 -6.07336168e-04 9.99373660e-01 -1.56675695e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.925099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:9.03, Y:0.10, Z:0.00 [[ 9.98294570e-01 -4.72204125e-02 -3.43246915e-02 9.02588146e+00] [ 4.72134414e-02 9.98884309e-01 -1.01405089e-03 1.01620759e-01] [ 3.43342796e-02 -6.08265312e-04 9.99410220e-01 4.99916358e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.955099893 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:9.06, Y:0.10, Z:0.00 [[ 9.98450297e-01 -4.51583491e-02 -3.25227344e-02 9.05598033e+00] [ 4.51509969e-02 9.98979712e-01 -9.60815855e-04 1.02682960e-01] [ 3.25329407e-02 -5.09107004e-04 9.99470534e-01 2.08694873e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.985099893000001 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:9.09, Y:0.10, Z:0.00 [[ 9.98665981e-01 -4.01307981e-02 -3.24927215e-02 9.08660607e+00] [ 4.01208051e-02 9.99194375e-01 -9.59740431e-04 1.04009410e-01] [ 3.25050598e-02 -3.45174028e-04 9.99471511e-01 1.26568044e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.015099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:9.12, Y:0.11, Z:0.00 [[ 9.98679291e-01 -4.01765296e-02 -3.20237501e-02 9.11639049e+00] [ 4.01668468e-02 9.99192539e-01 -9.45875871e-04 1.05746272e-01] [ 3.20358942e-02 -3.41666422e-04 9.99486661e-01 2.57932515e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.045099893 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:9.15, Y:0.11, Z:0.01 [[ 9.98649397e-01 -4.08381040e-02 -3.21190138e-02 9.14596877e+00] [ 4.08286816e-02 9.99165711e-01 -9.49435206e-04 1.07673403e-01] [ 3.21309904e-02 -3.63224095e-04 9.99483600e-01 5.21869441e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.075099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:9.18, Y:0.11, Z:0.01 [[ 9.99058641e-01 -3.10469583e-02 -3.02971615e-02 9.17546171e+00] [ 3.10340653e-02 9.99517926e-01 -8.95802664e-04 1.07917034e-01] [ 3.03103680e-02 -4.52846976e-05 9.99540534e-01 6.39721637e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.105099893 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:9.20, Y:0.11, Z:0.01 [[ 9.99011534e-01 -3.13393293e-02 -3.15246143e-02 9.20282955e+00] [ 3.13254637e-02 9.99508801e-01 -9.33745135e-04 1.09527655e-01] [ 3.15383924e-02 -5.47010023e-05 9.99502540e-01 8.74121745e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.135099893 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:9.23, Y:0.11, Z:0.01 [[ 9.98925184e-01 -3.22555971e-02 -3.32874332e-02 9.23087063e+00] [ 3.22404687e-02 9.99479649e-01 -9.91268352e-04 1.08440386e-01] [ 3.33020860e-02 -8.29995252e-05 9.99445328e-01 7.93557637e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.165099893 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:9.26, Y:0.11, Z:0.01 [[ 9.98842811e-01 -3.27516013e-02 -3.52189114e-02 9.25858261e+00] [ 3.27346046e-02 9.99463518e-01 -1.05926485e-03 1.07348157e-01] [ 3.52347097e-02 -9.48380631e-05 9.99379060e-01 6.48336731e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.195099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:9.29, Y:0.11, Z:0.01 [[ 9.98878016e-01 -3.29249986e-02 -3.40389875e-02 9.28587091e+00] [ 3.29089643e-02 9.99457821e-01 -1.03135899e-03 1.08316265e-01] [ 3.40544897e-02 -8.99860048e-05 9.99419974e-01 8.16408962e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.225099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:9.31, Y:0.11, Z:0.01 [[ 9.98995568e-01 -3.32023612e-02 -3.00908326e-02 9.31356281e+00] [ 3.31898140e-02 9.99448646e-01 -9.16485805e-04 1.09551892e-01] [ 3.01046714e-02 -8.31438816e-05 9.99546748e-01 1.08859581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.255099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:9.34, Y:0.11, Z:0.01 [[ 9.98948614e-01 -3.52121667e-02 -2.93559137e-02 9.34211218e+00] [ 3.52008590e-02 9.99379851e-01 -9.02053631e-04 1.09389682e-01] [ 2.93694719e-02 -1.32248154e-04 9.99568615e-01 1.13484733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.285099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:9.37, Y:0.11, Z:0.01 [[ 9.98952998e-01 -3.58388110e-02 -2.84338988e-02 9.37195481e+00] [ 3.58283010e-02 9.99357574e-01 -8.79179052e-04 1.09886085e-01] [ 2.84471408e-02 -1.40479733e-04 9.99595288e-01 1.20720048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.315099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:9.40, Y:0.11, Z:0.01 [[ 9.98922828e-01 -3.68106083e-02 -2.82517846e-02 9.40250624e+00] [ 3.68006102e-02 9.99322246e-01 -8.73935661e-04 1.10964108e-01] [ 2.82648070e-02 -1.66688630e-04 9.99600457e-01 1.24937696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.345099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:9.43, Y:0.11, Z:0.01 [[ 9.98533081e-01 -4.50544304e-02 -3.00297217e-02 9.43296837e+00] [ 4.50468595e-02 9.98984443e-01 -9.28934050e-04 1.11049130e-01] [ 3.00410774e-02 -4.25173276e-04 9.99548575e-01 1.16197580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.375099893 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:9.46, Y:0.11, Z:0.01 [[ 9.98018419e-01 -5.38242179e-02 -3.25912427e-02 9.46397844e+00] [ 5.38199908e-02 9.98550146e-01 -1.00758812e-03 1.11142513e-01] [ 3.25982227e-02 -7.48468881e-04 9.99468256e-01 1.05639482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.405099893000001 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:9.50, Y:0.11, Z:0.01 [[ 9.98023313e-01 -5.35975811e-02 -3.28141155e-02 9.49646767e+00] [ 5.35932390e-02 9.98562336e-01 -1.01248681e-03 1.13660383e-01] [ 3.28212067e-02 -7.48129293e-04 9.99460959e-01 1.07171324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.435099893 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:9.53, Y:0.12, Z:0.02 [[ 9.98622918e-01 -4.42973038e-02 -2.81072310e-02 9.52701353e+00] [ 4.42904816e-02 9.99018320e-01 -8.65546903e-04 1.19385271e-01] [ 2.81179801e-02 -3.80527824e-04 9.99604539e-01 1.52076700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.465099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:9.56, Y:0.12, Z:0.01 [[ 9.98711192e-01 -4.15484179e-02 -2.91493442e-02 9.55921254e+00] [ 4.15399613e-02 9.99136442e-01 -8.95877094e-04 1.20760470e-01] [ 2.91613944e-02 -3.16140150e-04 9.99574666e-01 1.48801466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.495099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:9.59, Y:0.12, Z:0.01 [[ 9.98677989e-01 -4.21652050e-02 -2.94001716e-02 9.59003253e+00] [ 4.21569198e-02 9.99110595e-01 -9.01870433e-04 1.20332057e-01] [ 2.94120505e-02 -3.38742525e-04 9.99567315e-01 1.47537102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.525099893 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:9.62, Y:0.12, Z:0.01 [[ 9.98511394e-01 -4.45121253e-02 -3.15224680e-02 9.62186681e+00] [ 4.45037938e-02 9.99008748e-01 -9.66211820e-04 1.19187199e-01] [ 3.15342294e-02 -4.38095903e-04 9.99502577e-01 1.34842040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.555099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:9.65, Y:0.12, Z:0.01 [[ 9.98451322e-01 -4.56671646e-02 -3.17721146e-02 9.65230468e+00] [ 4.56593156e-02 9.98956596e-01 -9.72905541e-04 1.19229964e-01] [ 3.17833933e-02 -4.79294185e-04 9.99494665e-01 1.40098227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.585099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:9.68, Y:0.12, Z:0.02 [[ 9.98304514e-01 -4.81040444e-02 -3.27734249e-02 9.68367975e+00] [ 4.80970309e-02 9.98842165e-01 -1.00278447e-03 1.20041693e-01] [ 3.27837167e-02 -5.75220169e-04 9.99462304e-01 1.51848075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.615099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:9.71, Y:0.12, Z:0.02 [[ 9.98252591e-01 -4.88722186e-02 -3.32155266e-02 9.71458372e+00] [ 4.88654788e-02 9.98804853e-01 -1.01513476e-03 1.21192410e-01] [ 3.32254411e-02 -6.09731704e-04 9.99447697e-01 1.62721251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.645099893 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:9.75, Y:0.12, Z:0.02 [[ 9.98168300e-01 -5.05447704e-02 -3.32456237e-02 9.74550509e+00] [ 5.05389843e-02 9.98721573e-01 -1.01488714e-03 1.21946765e-01] [ 3.32544189e-02 -6.67171881e-04 9.99446696e-01 1.76068368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.675099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:9.78, Y:0.12, Z:0.02 [[ 9.98063718e-01 -5.19306803e-02 -3.42347657e-02 9.77748295e+00] [ 5.19254169e-02 9.98650420e-01 -1.04341554e-03 1.22576414e-01] [ 3.42427484e-02 -7.36259287e-04 9.99413274e-01 1.63364911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.705099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:9.81, Y:0.12, Z:0.02 [[ 9.98056120e-01 -5.20956267e-02 -3.42056576e-02 9.80947485e+00] [ 5.20905518e-02 9.98641824e-01 -1.04010966e-03 1.23274905e-01] [ 3.42133855e-02 -7.43703764e-04 9.99414274e-01 1.64209018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.735099893000001 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:9.84, Y:0.13, Z:0.02 [[ 9.98300072e-01 -4.86153702e-02 -3.21482766e-02 9.84069932e+00] [ 4.86091412e-02 9.98817400e-01 -9.75745063e-04 1.25401893e-01] [ 3.21576943e-02 -5.88613748e-04 9.99482634e-01 1.84590438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.765099893 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:9.87, Y:0.13, Z:0.02 [[ 9.98535815e-01 -4.51206843e-02 -2.98387169e-02 9.87147757e+00] [ 4.51137876e-02 9.98981445e-01 -9.04654570e-04 1.27623048e-01] [ 2.98491432e-02 -4.42807548e-04 9.99554317e-01 2.10285429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.795099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:9.90, Y:0.13, Z:0.02 [[ 9.98777267e-01 -4.18118439e-02 -2.63769039e-02 9.90236837e+00] [ 4.18053325e-02 9.99125456e-01 -7.98497267e-04 1.27699677e-01] [ 2.63872227e-02 -3.05174318e-04 9.99651750e-01 2.21554157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.825099893 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:9.93, Y:0.13, Z:0.02 [[ 9.98727988e-01 -4.32171080e-02 -2.59747337e-02 9.93463044e+00] [ 4.32113398e-02 9.99065647e-01 -7.83589232e-04 1.27858628e-01] [ 2.59843286e-02 -3.39810547e-04 9.99662293e-01 2.42392114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.855099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:9.97, Y:0.13, Z:0.02 [[ 9.98459702e-01 -4.65499092e-02 -3.01882335e-02 9.96625481e+00] [ 4.65437088e-02 9.98915841e-01 -9.08436109e-04 1.29145935e-01] [ 3.01977923e-02 -4.98035502e-04 9.99543819e-01 2.21412759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.885099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:10.00, Y:0.13, Z:0.02 [[ 9.98375050e-01 -4.74797716e-02 -3.15108170e-02 9.99852161e+00] [ 4.74735393e-02 9.98872048e-01 -9.46328442e-04 1.28281508e-01] [ 3.15202057e-02 -5.51139301e-04 9.99502963e-01 2.03094153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.915099893 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:10.03, Y:0.13, Z:0.02 [[ 9.98343070e-01 -4.73652577e-02 -3.26748674e-02 1.00299724e+01] [ 4.73585607e-02 9.98877474e-01 -9.79286842e-04 1.28184712e-01] [ 3.26845732e-02 -5.69770461e-04 9.99465554e-01 2.13904692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.945099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:10.06, Y:0.13, Z:0.02 [[ 9.98345389e-01 -4.53293029e-02 -3.53799260e-02 1.00608754e+01] [ 4.53202211e-02 9.98971950e-01 -1.05902689e-03 1.30135328e-01] [ 3.53915586e-02 -5.46151456e-04 9.99373373e-01 2.20439359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.975099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:10.09, Y:0.13, Z:0.02 [[ 9.98421932e-01 -4.34587302e-02 -3.55666065e-02 1.00913275e+01] [ 4.34483942e-02 9.99055106e-01 -1.06382553e-03 1.32086356e-01] [ 3.55792323e-02 -4.83165192e-04 9.99366742e-01 2.30857215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.005099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:10.12, Y:0.13, Z:0.02 [[ 9.98675087e-01 -4.02162755e-02 -3.21048698e-02 1.01211974e+01] [ 4.02061723e-02 9.99190943e-01 -9.60464670e-04 1.32910978e-01] [ 3.21175214e-02 -3.31621789e-04 9.99484044e-01 2.40175820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.035099893 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:10.15, Y:0.13, Z:0.02 [[ 9.99076210e-01 -3.39677971e-02 -2.63232909e-02 1.01497544e+01] [ 3.39588201e-02 9.99422922e-01 -7.88114490e-04 1.32090393e-01] [ 2.63348708e-02 -1.06521463e-04 9.99653171e-01 2.49663297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.065099893 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:10.18, Y:0.14, Z:0.03 [[ 9.99256859e-01 -2.91648232e-02 -2.52020522e-02 1.01803512e+01] [ 2.91550326e-02 9.99574616e-01 -7.55919825e-04 1.36127629e-01] [ 2.52133779e-02 2.05914161e-05 9.99682092e-01 2.70002543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.095099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:10.21, Y:0.14, Z:0.03 [[ 9.99226989e-01 -2.81067592e-02 -2.74851565e-02 1.02098408e+01] [ 2.80947081e-02 9.99604926e-01 -8.24602075e-04 1.39614256e-01] [ 2.74974747e-02 5.17771994e-05 9.99621872e-01 2.92223850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.125099893 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:10.24, Y:0.14, Z:0.03 [[ 9.99010256e-01 -3.04411291e-02 -3.24321695e-02 1.02383667e+01] [ 3.04254501e-02 9.99536561e-01 -9.76956450e-04 1.36057464e-01] [ 3.24468789e-02 -1.07738428e-05 9.99473461e-01 2.53087112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.155099893000001 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:10.27, Y:0.13, Z:0.02 [[ 9.98931924e-01 -3.13072470e-02 -3.39833516e-02 1.02662325e+01] [ 3.12901925e-02 9.99509808e-01 -1.03368961e-03 1.33845358e-01] [ 3.39990552e-02 -3.07600652e-05 9.99421865e-01 2.44885530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.185099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:10.29, Y:0.14, Z:0.03 [[ 9.99049943e-01 -2.84504042e-02 -3.30119186e-02 1.02929357e+01] [ 2.84325035e-02 9.99595203e-01 -1.01164991e-03 1.36269142e-01] [ 3.30273373e-02 7.20772908e-05 9.99454446e-01 2.83626280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.215099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:10.32, Y:0.14, Z:0.03 [[ 9.99198544e-01 -2.48797428e-02 -3.13571003e-02 1.03202791e+01] [ 2.48616678e-02 9.99690434e-01 -9.66243453e-04 1.37609872e-01] [ 3.13714331e-02 1.85879240e-04 9.99507778e-01 2.96372680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.245099893 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:10.35, Y:0.14, Z:0.03 [[ 9.99259541e-01 -2.41037683e-02 -2.99896310e-02 1.03473257e+01] [ 2.40866779e-02 9.99709440e-01 -9.31053593e-04 1.38396888e-01] [ 3.00033591e-02 2.08013603e-04 9.99549776e-01 3.03546363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.275099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:10.37, Y:0.14, Z:0.03 [[ 9.99238296e-01 -2.74715641e-02 -2.77153661e-02 1.03749836e+01] [ 2.74581472e-02 9.99622580e-01 -8.64629267e-04 1.39378514e-01] [ 2.77286585e-02 1.02958072e-04 9.99615482e-01 3.25070326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.305099893 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:10.40, Y:0.14, Z:0.03 [[ 9.99039094e-01 -3.27966035e-02 -2.90735662e-02 1.04034247e+01] [ 3.27838411e-02 9.99462046e-01 -9.15658991e-04 1.38758375e-01] [ 2.90879565e-02 -3.83640471e-05 9.99576855e-01 3.12033649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.335099893 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:10.43, Y:0.14, Z:0.03 [[ 9.98698324e-01 -3.99570650e-02 -3.17031485e-02 1.04312063e+01] [ 3.99452495e-02 9.99201363e-01 -1.00621185e-03 1.36590008e-01] [ 3.17180345e-02 -2.61488091e-04 9.99496822e-01 2.87556120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.365099893 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:10.46, Y:0.14, Z:0.03 [[ 9.98697612e-01 -3.99749313e-02 -3.17030811e-02 1.04613418e+01] [ 3.99630576e-02 9.99200649e-01 -1.00833101e-03 1.37580121e-01] [ 3.17180472e-02 -2.59934281e-04 9.99496822e-01 2.94141922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.395099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:10.49, Y:0.14, Z:0.03 [[ 9.98079675e-01 -5.15846090e-02 -3.42927285e-02 1.04914429e+01] [ 5.15775318e-02 9.98668397e-01 -1.09156067e-03 1.36208881e-01] [ 3.43033720e-02 -6.79269783e-04 9.99411235e-01 2.92605442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.425099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:10.52, Y:0.14, Z:0.03 [[ 9.97773648e-01 -5.68988736e-02 -3.47888747e-02 1.05230410e+01] [ 5.68948056e-02 9.98379564e-01 -1.10767956e-03 1.38609262e-01] [ 3.47955273e-02 -8.74092786e-04 9.99394070e-01 3.13966237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.455099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:10.56, Y:0.14, Z:0.03 [[ 9.97672094e-01 -5.90768052e-02 -3.40635422e-02 1.05555403e+01] [ 5.90742280e-02 9.98253005e-01 -1.08296569e-03 1.40388545e-01] [ 3.40680115e-02 -9.31832810e-04 9.99419082e-01 3.34171313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.485099893000001 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:10.59, Y:0.14, Z:0.03 [[ 9.97781971e-01 -5.76834002e-02 -3.32229256e-02 1.05873535e+01] [ 5.76802534e-02 9.98334552e-01 -1.05392980e-03 1.38931215e-01] [ 3.32283888e-02 -8.64714613e-04 9.99447411e-01 3.17307124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.515099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:10.62, Y:0.14, Z:0.03 [[ 9.97980929e-01 -5.45736607e-02 -3.24927728e-02 1.06192411e+01] [ 5.45690772e-02 9.98509468e-01 -1.02849319e-03 1.40066076e-01] [ 3.25004700e-02 -7.46684040e-04 9.99471441e-01 3.14174822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.545099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:10.65, Y:0.15, Z:0.04 [[ 9.98335160e-01 -4.88712052e-02 -3.06351599e-02 1.06498613e+01] [ 4.88645056e-02 9.98804948e-01 -9.67762247e-04 1.46109403e-01] [ 3.06458450e-02 -5.30820867e-04 9.99530165e-01 3.50238453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.575099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:10.68, Y:0.15, Z:0.04 [[ 9.98486988e-01 -4.59446735e-02 -3.02129510e-02 1.06812430e+01] [ 4.59368614e-02 9.98943891e-01 -9.52986975e-04 1.47187881e-01] [ 3.02248275e-02 -4.36343050e-04 9.99543030e-01 3.62603312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.605099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:10.71, Y:0.14, Z:0.04 [[ 9.98393891e-01 -4.69632576e-02 -3.16873796e-02 1.07122883e+01] [ 4.69552141e-02 9.98896497e-01 -9.98331766e-04 1.44946265e-01] [ 3.16992973e-02 -4.91159356e-04 9.99497330e-01 3.57730141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.635099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:10.74, Y:0.14, Z:0.04 [[ 9.98212658e-01 -5.00485797e-02 -3.26592759e-02 1.07435290e+01] [ 5.00417243e-02 9.98746599e-01 -1.02776489e-03 1.43811674e-01] [ 3.26697789e-02 -6.08398557e-04 9.99466015e-01 3.61784632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.665099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:10.77, Y:0.14, Z:0.04 [[ 9.97998805e-01 -5.35178977e-02 -3.36781690e-02 1.07747588e+01] [ 5.35126232e-02 9.98566612e-01 -1.05860170e-03 1.44142638e-01] [ 3.36865492e-02 -7.45723930e-04 9.99432169e-01 3.68512996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.695099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:10.81, Y:0.15, Z:0.04 [[ 9.97836299e-01 -5.63587004e-02 -3.38587730e-02 1.08060269e+01] [ 5.63550520e-02 9.98410226e-01 -1.06283473e-03 1.45071045e-01] [ 3.38648452e-02 -8.47577845e-04 9.99426062e-01 3.80764779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.725099893 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:10.84, Y:0.15, Z:0.04 [[ 9.97792085e-01 -5.72375048e-02 -3.36871224e-02 1.08384379e+01] [ 5.72344619e-02 9.98360207e-01 -1.05541930e-03 1.46227796e-01] [ 3.36922920e-02 -8.74975294e-04 9.99431871e-01 3.84909278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.755099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:10.87, Y:0.15, Z:0.04 [[ 9.97773184e-01 -5.80063020e-02 -3.29232769e-02 1.08699001e+01] [ 5.80038833e-02 9.98315827e-01 -1.02936239e-03 1.48534948e-01] [ 3.29275379e-02 -8.82607721e-04 9.99457352e-01 4.01430642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.785099893 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:10.90, Y:0.15, Z:0.04 [[ 9.97740063e-01 -5.84369152e-02 -3.31646560e-02 1.09017779e+01] [ 5.84347647e-02 9.98290693e-01 -1.03492144e-03 1.51405625e-01] [ 3.31684450e-02 -9.05386286e-04 9.99449366e-01 4.12887708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.815099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:10.93, Y:0.15, Z:0.04 [[ 9.97738226e-01 -5.83055293e-02 -3.34499265e-02 1.09341347e+01] [ 5.83033484e-02 9.98298370e-01 -1.04142077e-03 1.53024902e-01] [ 3.34537277e-02 -9.11177411e-04 9.99439852e-01 4.19731501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.845099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:10.97, Y:0.15, Z:0.04 [[ 9.97726418e-01 -5.79307279e-02 -3.44387272e-02 1.09652989e+01] [ 5.79282718e-02 9.98320174e-01 -1.06993855e-03 1.53103172e-01] [ 3.44428585e-02 -9.27469993e-04 9.99406238e-01 4.11826277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.875099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:11.00, Y:0.15, Z:0.04 [[ 9.97755716e-01 -5.75473993e-02 -3.42319778e-02 1.09970383e+01] [ 5.75448168e-02 9.98342360e-01 -1.06147716e-03 1.54757316e-01] [ 3.42363188e-02 -9.10777994e-04 9.99413350e-01 4.22688151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.905099893000001 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:11.03, Y:0.16, Z:0.04 [[ 9.97773234e-01 -5.78886457e-02 -3.31281990e-02 1.10295937e+01] [ 5.78864911e-02 9.98322645e-01 -1.02493999e-03 1.55127065e-01] [ 3.31319637e-02 -8.95017511e-04 9.99450585e-01 4.37354689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.935099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:11.06, Y:0.15, Z:0.04 [[ 9.97699958e-01 -5.92029313e-02 -3.30122291e-02 1.10620759e+01] [ 5.92015878e-02 9.98245528e-01 -1.01900886e-03 1.53855757e-01] [ 3.30146383e-02 -9.37711281e-04 9.99454428e-01 4.38508077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.965099893 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:11.09, Y:0.16, Z:0.05 [[ 9.97640722e-01 -6.03032059e-02 -3.28102582e-02 1.10938070e+01] [ 6.03025502e-02 9.98179634e-01 -1.01042432e-03 1.55391614e-01] [ 3.28114633e-02 -9.70501789e-04 9.99461088e-01 4.56819946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.995099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:11.13, Y:0.16, Z:0.05 [[ 9.97571497e-01 -6.11564442e-02 -3.33316353e-02 1.11257729e+01] [ 6.11563248e-02 9.98127675e-01 -1.02404111e-03 1.56822485e-01] [ 3.33318543e-02 -1.01688609e-03 9.99443822e-01 4.58708306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.025099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:11.16, Y:0.16, Z:0.05 [[ 9.97558179e-01 -6.17099442e-02 -3.27041755e-02 1.11573708e+01] [ 6.17102185e-02 9.98093605e-01 -1.00193659e-03 1.57914171e-01] [ 3.27036579e-02 -1.01869178e-03 9.99464573e-01 4.64218567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.055099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:11.19, Y:0.16, Z:0.05 [[ 9.97600850e-01 -6.15642220e-02 -3.16605592e-02 1.11895543e+01] [ 6.15645065e-02 9.98102638e-01 -9.66768088e-04 1.58482990e-01] [ 3.16600060e-02 -9.84718038e-04 9.99498211e-01 4.64120778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.085099893 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:11.22, Y:0.16, Z:0.05 [[ 9.97600808e-01 -6.16072263e-02 -3.15781220e-02 1.12212296e+01] [ 6.16075970e-02 9.98099984e-01 -9.62156160e-04 1.58792295e-01] [ 3.15773988e-02 -9.85604452e-04 9.99500824e-01 4.62011729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.115099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:11.25, Y:0.16, Z:0.05 [[ 9.97512518e-01 -6.28382774e-02 -3.19394264e-02 1.12533404e+01] [ 6.28393487e-02 9.98023183e-01 -9.71234305e-04 1.59857805e-01] [ 3.19373187e-02 -1.03823437e-03 9.99489334e-01 4.76483205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.145099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:11.29, Y:0.16, Z:0.05 [[ 9.97450491e-01 -6.34035858e-02 -3.27491034e-02 1.12856893e+01] [ 6.34051362e-02 9.97987377e-01 -9.92211531e-04 1.60312502e-01] [ 3.27461016e-02 -1.08677948e-03 9.99463112e-01 4.77627335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.175099893 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:11.32, Y:0.16, Z:0.05 [[ 9.97383653e-01 -6.38112749e-02 -3.39701338e-02 1.13183932e+01] [ 6.38133500e-02 9.97961326e-01 -1.02420582e-03 1.60718321e-01] [ 3.39662357e-02 -1.14622189e-03 9.99422324e-01 4.71935652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.205099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:11.35, Y:0.16, Z:0.05 [[ 9.97405353e-01 -6.31646727e-02 -3.45367340e-02 1.13510857e+01] [ 6.31665174e-02 9.98002461e-01 -1.03878301e-03 1.61240370e-01] [ 3.45333599e-02 -1.14547747e-03 9.99402889e-01 4.73080282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.235099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:11.38, Y:0.16, Z:0.05 [[ 9.97510191e-01 -6.22595288e-02 -3.31235672e-02 1.13831827e+01] [ 6.22608035e-02 9.98059419e-01 -9.93951757e-04 1.60311241e-01] [ 3.31211712e-02 -1.07082290e-03 9.99450770e-01 4.67253276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.265099893 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:11.41, Y:0.16, Z:0.05 [[ 9.97719298e-01 -5.98355741e-02 -3.12395124e-02 1.14138789e+01] [ 5.98356000e-02 9.98207808e-01 -9.34853095e-04 1.62106998e-01] [ 3.12394627e-02 -9.36513998e-04 9.99511490e-01 4.84888934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.295099893 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:11.45, Y:0.16, Z:0.05 [[ 9.97781641e-01 -5.92770406e-02 -3.02990100e-02 1.14464107e+01] [ 5.92768992e-02 9.98241170e-01 -9.03678118e-04 1.64632535e-01] [ 3.02992865e-02 -8.94357926e-04 9.99540471e-01 5.17438439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.325099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:11.48, Y:0.17, Z:0.05 [[ 9.97872844e-01 -5.79300084e-02 -2.98981853e-02 1.14772161e+01] [ 5.79293255e-02 9.98320290e-01 -8.89752409e-04 1.68488993e-01] [ 2.98995084e-02 -8.44121943e-04 9.99552553e-01 5.44541527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.355099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:11.51, Y:0.17, Z:0.05 [[ 9.97815150e-01 -5.73783858e-02 -3.27512847e-02 1.15098820e+01] [ 5.73773380e-02 9.98352090e-01 -9.72611546e-04 1.69270085e-01] [ 3.27531204e-02 -9.08694993e-04 9.99463060e-01 5.19697509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.385099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:11.54, Y:0.17, Z:0.05 [[ 9.97680517e-01 -5.83023769e-02 -3.51343027e-02 1.15418839e+01] [ 5.83018360e-02 9.98298459e-01 -1.04078141e-03 1.67529502e-01] [ 3.51352002e-02 -1.01002702e-03 9.99382058e-01 4.91531863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.415099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:11.57, Y:0.17, Z:0.05 [[ 9.97583619e-01 -5.99154272e-02 -3.51719381e-02 1.15741420e+01] [ 5.99159744e-02 9.98202883e-01 -1.03939788e-03 1.67506849e-01] [ 3.51710060e-02 -1.07047465e-03 9.99380735e-01 4.99455110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.445099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:11.61, Y:0.17, Z:0.05 [[ 9.97618638e-01 -6.01055202e-02 -3.38286762e-02 1.16060931e+01] [ 6.01062146e-02 9.98191489e-01 -9.97339707e-04 1.71223276e-01] [ 3.38274422e-02 -1.03834899e-03 9.99427149e-01 5.43121765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.475099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:11.64, Y:0.17, Z:0.06 [[ 9.97718185e-01 -5.85920033e-02 -3.35469818e-02 1.16375250e+01] [ 5.85919052e-02 9.98281531e-01 -9.86836358e-04 1.74393877e-01] [ 3.35471530e-02 -9.80996996e-04 9.99436654e-01 5.69834445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.505099893 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:11.67, Y:0.17, Z:0.06 [[ 9.97870248e-01 -5.64221013e-02 -3.27339842e-02 1.16695287e+01] [ 5.64209042e-02 9.98406610e-01 -9.60993646e-04 1.74184271e-01] [ 3.27360475e-02 -8.87934019e-04 9.99463638e-01 5.60055299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.535099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:11.70, Y:0.17, Z:0.06 [[ 9.98072330e-01 -5.39339149e-02 -3.07043625e-02 1.17020755e+01] [ 5.39317490e-02 9.98544219e-01 -8.99305596e-04 1.73776168e-01] [ 3.07081668e-02 -7.58367942e-04 9.99528105e-01 5.51948706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.565099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:11.73, Y:0.18, Z:0.06 [[ 9.98113930e-01 -5.34800597e-02 -3.01407561e-02 1.17344444e+01] [ 5.34778305e-02 9.98568649e-01 -8.80644530e-04 1.75348191e-01] [ 3.01447110e-02 -7.32878675e-04 9.99545276e-01 5.64292152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.595099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:11.77, Y:0.18, Z:0.06 [[ 9.98191263e-01 -5.24363481e-02 -2.94046267e-02 1.17661762e+01] [ 5.24338355e-02 9.98624033e-01 -8.57037424e-04 1.77972691e-01] [ 2.94091068e-02 -6.86310090e-04 9.99567223e-01 5.79286467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.625099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:11.80, Y:0.18, Z:0.06 [[ 9.98245447e-01 -5.08719803e-02 -3.02996648e-02 1.17978428e+01] [ 5.08686608e-02 9.98704963e-01 -8.80875140e-04 1.79318655e-01] [ 3.03052375e-02 -6.61973774e-04 9.99540472e-01 5.87277755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.655099893000001 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:11.83, Y:0.18, Z:0.06 [[ 9.98244541e-01 -4.98197920e-02 -3.20284985e-02 1.18286860e+01] [ 4.98156139e-02 9.98758000e-01 -9.28897339e-04 1.78738313e-01] [ 3.20349966e-02 -6.68252618e-04 9.99486524e-01 5.75578608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.685099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:11.86, Y:0.18, Z:0.06 [[ 9.98170228e-01 -5.03016199e-02 -3.35550827e-02 1.18605655e+01] [ 5.02973768e-02 9.98733814e-01 -9.71080013e-04 1.79502288e-01] [ 3.35614426e-02 -7.18429479e-04 9.99436398e-01 5.81169932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.715099893 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:11.89, Y:0.18, Z:0.06 [[ 9.98129715e-01 -5.08018689e-02 -3.40035654e-02 1.18914385e+01] [ 5.07978711e-02 9.98708472e-01 -9.82021085e-04 1.80695887e-01] [ 3.40095374e-02 -7.47124309e-04 9.99421229e-01 5.82629785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.745099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:11.92, Y:0.18, Z:0.06 [[ 9.98156977e-01 -5.05679063e-02 -3.35490099e-02 1.19221727e+01] [ 5.05639549e-02 9.98720357e-01 -9.66736786e-04 1.82495161e-01] [ 3.35549650e-02 -7.31415552e-04 9.99436606e-01 6.04518068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.775099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:11.95, Y:0.18, Z:0.06 [[ 9.98281510e-01 -4.86226086e-02 -3.27088567e-02 1.19533248e+01] [ 4.86179034e-02 9.98817009e-01 -9.39636595e-04 1.83387914e-01] [ 3.27158500e-02 -6.52214197e-04 9.99464480e-01 6.13957246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.805099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:11.99, Y:0.19, Z:0.06 [[ 9.98421338e-01 -4.64055811e-02 -3.16441669e-02 1.19850471e+01] [ 4.64000986e-02 9.98922523e-01 -9.07957143e-04 1.86346232e-01] [ 3.16522053e-02 -5.61768678e-04 9.99498786e-01 6.29038014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.835099893 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:12.02, Y:0.19, Z:0.07 [[ 9.98521981e-01 -4.56569696e-02 -2.94838139e-02 1.20160620e+01] [ 4.56519131e-02 9.98957051e-01 -8.44972864e-04 1.90096420e-01] [ 2.94916426e-02 -5.02268530e-04 9.99564901e-01 6.63014159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.865099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:12.05, Y:0.19, Z:0.07 [[ 9.98510556e-01 -4.61489764e-02 -2.91022546e-02 1.20483619e+01] [ 4.61442963e-02 9.98934438e-01 -8.32747672e-04 1.91581514e-01] [ 2.91096748e-02 -5.11395717e-04 9.99576093e-01 6.56789306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.895099893 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:12.08, Y:0.19, Z:0.07 [[ 9.98416942e-01 -4.88020125e-02 -2.79637874e-02 1.20801567e+01] [ 4.87987857e-02 9.98808311e-01 -7.98222156e-04 1.91881819e-01] [ 2.79694180e-02 -5.67640341e-04 9.99608618e-01 6.74138429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.925099893 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:12.11, Y:0.19, Z:0.06 [[ 9.98217588e-01 -5.14937975e-02 -3.01668058e-02 1.21121704e+01] [ 5.14913400e-02 9.98673072e-01 -8.58815701e-04 1.90724793e-01] [ 3.01710003e-02 -6.96044316e-04 9.99544509e-01 6.44392017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.955099893 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:12.14, Y:0.19, Z:0.07 [[ 9.98123326e-01 -5.29349267e-02 -3.07850465e-02 1.21437947e+01] [ 5.29331358e-02 9.98597677e-01 -8.73711064e-04 1.91421580e-01] [ 3.07881258e-02 -7.57477656e-04 9.99525646e-01 6.58130830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.985099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:12.18, Y:0.19, Z:0.07 [[ 9.98032799e-01 -5.37439199e-02 -3.22819444e-02 1.21764401e+01] [ 5.37424878e-02 9.98554411e-01 -9.12672941e-04 1.92755950e-01] [ 3.22843286e-02 -8.24034472e-04 9.99478386e-01 6.61824875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.015099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:12.21, Y:0.19, Z:0.07 [[ 9.98115587e-01 -5.25625618e-02 -3.16615145e-02 1.22074264e+01] [ 5.25606553e-02 9.98617334e-01 -8.93071181e-04 1.92827566e-01] [ 3.16646793e-02 -7.72761683e-04 9.99498250e-01 6.75161313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.045099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:12.24, Y:0.19, Z:0.07 [[ 9.98329459e-01 -5.00573976e-02 -2.88539212e-02 1.22398753e+01] [ 5.00548133e-02 9.98746142e-01 -8.12300819e-04 1.90236319e-01] [ 2.88584041e-02 -6.33333800e-04 9.99583309e-01 6.94256914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.075099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:12.27, Y:0.19, Z:0.07 [[ 9.98428978e-01 -4.80515117e-02 -2.88206082e-02 1.22706078e+01] [ 4.80481548e-02 9.98844692e-01 -8.09397453e-04 1.94014394e-01] [ 2.88262043e-02 -5.76651173e-04 9.99584272e-01 7.13446632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.105099893 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:12.30, Y:0.20, Z:0.08 [[ 9.98675143e-01 -4.19804019e-02 -2.97591148e-02 1.23022261e+01] [ 4.19741813e-02 9.99118348e-01 -8.33970708e-04 2.00439964e-01] [ 2.97678880e-02 -4.16248664e-04 9.99556752e-01 7.52646469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.135099893 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:12.33, Y:0.20, Z:0.07 [[ 9.98876426e-01 -3.54153475e-02 -3.14902837e-02 1.23336633e+01] [ 3.54051829e-02 9.99372652e-01 -8.80500018e-04 2.02148636e-01] [ 3.15017116e-02 -2.35408543e-04 9.99503670e-01 7.17776572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.165099893 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:12.36, Y:0.19, Z:0.07 [[ 9.99225920e-01 -2.90377793e-02 -2.65399467e-02 1.23625315e+01] [ 2.90282959e-02 9.99578314e-01 -7.42610734e-04 1.89696684e-01] [ 2.65503190e-02 -2.83735315e-05 9.99647478e-01 7.34995804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.195099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:12.39, Y:0.19, Z:0.07 [[ 9.99255314e-01 -2.68688350e-02 -2.76926420e-02 1.23901048e+01] [ 2.68575045e-02 9.99638967e-01 -7.81087508e-04 1.88485534e-01] [ 2.77036310e-02 3.67505854e-05 9.99616180e-01 7.25545316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.225099893 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:12.42, Y:0.19, Z:0.08 [[ 9.99297501e-01 -2.62470553e-02 -2.67506227e-02 1.24174639e+01] [ 2.62361724e-02 9.99655485e-01 -7.57787188e-04 1.88875943e-01] [ 2.67612964e-02 5.54208946e-05 9.99641851e-01 7.52300316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.255099893 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:12.45, Y:0.19, Z:0.08 [[ 9.99290485e-01 -2.65130732e-02 -2.67504081e-02 1.24458298e+01] [ 2.65020846e-02 9.99648465e-01 -7.65296583e-04 1.89752292e-01] [ 2.67612947e-02 5.58120160e-05 9.99641851e-01 7.58515095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.285099893 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:12.47, Y:0.19, Z:0.08 [[ 9.99283397e-01 -2.67790807e-02 -2.67502027e-02 1.24741954e+01] [ 2.67679968e-02 9.99641375e-01 -7.72414870e-04 1.90636006e-01] [ 2.67612940e-02 5.58120145e-05 9.99641851e-01 7.64728422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.315099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:12.50, Y:0.19, Z:0.08 [[ 9.99286715e-01 -2.58554506e-02 -2.75237483e-02 1.25016102e+01] [ 2.58431820e-02 9.99665688e-01 -8.01430070e-04 1.91611972e-01] [ 2.75352681e-02 8.95571850e-05 9.99620829e-01 7.56648140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.345099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:12.53, Y:0.19, Z:0.08 [[ 9.99289609e-01 -2.52293411e-02 -2.79956589e-02 1.25293140e+01] [ 2.52162764e-02 9.99681683e-01 -8.19668918e-04 1.92819803e-01] [ 2.80074271e-02 1.13140360e-04 9.99607709e-01 7.71328167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.375099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:12.56, Y:0.19, Z:0.08 [[ 9.99301101e-01 -2.51839721e-02 -2.76238348e-02 1.25574790e+01] [ 2.51710193e-02 9.99682826e-01 -8.16580424e-04 1.94041443e-01] [ 2.76356380e-02 1.20689637e-04 9.99618056e-01 7.82423264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.405099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:12.59, Y:0.19, Z:0.08 [[ 9.99294361e-01 -2.54502951e-02 -2.76236037e-02 1.25858434e+01] [ 2.54372298e-02 9.99676081e-01 -8.24332306e-04 1.94951359e-01] [ 2.76356354e-02 1.21082669e-04 9.99618056e-01 7.88638028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.435099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:12.61, Y:0.20, Z:0.08 [[ 9.99271147e-01 -2.50398932e-02 -2.88128183e-02 1.26134677e+01] [ 2.50252757e-02 9.99686442e-01 -8.67866852e-04 1.95849643e-01] [ 2.88255151e-02 1.46185582e-04 9.99584448e-01 7.91413689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.465099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:12.64, Y:0.20, Z:0.08 [[ 9.99264483e-01 -2.53047172e-02 -2.88125748e-02 1.26418320e+01] [ 2.52899787e-02 9.99679774e-01 -8.75884658e-04 1.96777214e-01] [ 2.88255123e-02 1.46571028e-04 9.99584448e-01 7.97628399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.495099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:12.67, Y:0.20, Z:0.08 [[ 9.99235200e-01 -2.54876045e-02 -2.96546139e-02 1.26697183e+01] [ 2.54718297e-02 9.99675126e-01 -9.09649915e-04 1.97746173e-01] [ 2.96681647e-02 1.53596938e-04 9.99559791e-01 7.95695329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.525099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:12.70, Y:0.20, Z:0.08 [[ 9.99228429e-01 -2.57520065e-02 -2.96543595e-02 1.26980821e+01] [ 2.57361039e-02 9.99668350e-01 -9.17879111e-04 1.98689692e-01] [ 2.96681619e-02 1.53983223e-04 9.99559791e-01 8.01910018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.555099893 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:12.73, Y:0.20, Z:0.08 [[ 9.99203809e-01 -2.58941765e-02 -3.03519403e-02 1.27256244e+01] [ 2.58773284e-02 9.99664677e-01 -9.47830701e-04 1.99506635e-01] [ 3.03663059e-02 1.61648918e-04 9.99538824e-01 8.05840626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.585099893 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:12.75, Y:0.20, Z:0.08 [[ 9.99199170e-01 -2.60728631e-02 -3.03516958e-02 1.27540253e+01] [ 2.60558612e-02 9.99660032e-01 -9.55604917e-04 2.00475497e-01] [ 3.03662926e-02 1.64000065e-04 9.99538824e-01 8.12063917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.615099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:12.78, Y:0.20, Z:0.08 [[ 9.99171578e-01 -2.65506870e-02 -3.08418181e-02 1.27815054e+01] [ 2.65331566e-02 9.99647456e-01 -9.77592300e-04 2.00935436e-01] [ 3.08569007e-02 1.58451652e-04 9.99523800e-01 8.12108481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.645099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:12.81, Y:0.20, Z:0.08 [[ 9.99164416e-01 -2.68191858e-02 -3.08415410e-02 1.28098672e+01] [ 2.68015155e-02 9.99640288e-01 -9.86268252e-04 2.01902603e-01] [ 3.08568979e-02 1.58844103e-04 9.99523800e-01 8.18323240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.675099893 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:12.84, Y:0.20, Z:0.08 [[ 9.99145942e-01 -2.76028465e-02 -3.07484815e-02 1.28380104e+01] [ 2.75853940e-02 9.99618959e-01 -9.91729461e-04 2.02079793e-01] [ 3.07641397e-02 1.42673488e-04 9.99526662e-01 8.19250986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.705099893 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:12.87, Y:0.20, Z:0.08 [[ 9.99140950e-01 -2.77832486e-02 -3.07482241e-02 1.28664099e+01] [ 2.77656376e-02 9.99613961e-01 -9.99655777e-04 2.03075205e-01] [ 3.07641278e-02 1.45052974e-04 9.99526662e-01 8.25474354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.735099893 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:12.89, Y:0.20, Z:0.08 [[ 9.99122148e-01 -2.88136988e-02 -3.04089539e-02 1.28936123e+01] [ 2.87967787e-02 9.99584792e-01 -9.94303801e-04 2.03493810e-01] [ 3.04249774e-02 1.17751033e-04 9.99537046e-01 8.25620725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.765099893 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:12.92, Y:0.20, Z:0.08 [[ 9.99114386e-01 -2.90818404e-02 -3.04087295e-02 1.29219738e+01] [ 2.90648368e-02 9.99577027e-01 -1.00112651e-03 2.04487564e-01] [ 3.04249820e-02 1.16415134e-04 9.99537046e-01 8.31829112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.795099893 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:12.95, Y:0.21, Z:0.08 [[ 9.99057434e-01 -3.14142476e-02 -2.99564479e-02 1.29488025e+01] [ 3.13985910e-02 9.99506449e-01 -9.93016786e-04 2.05681013e-01] [ 2.99728577e-02 5.14905467e-05 9.99550712e-01 8.24279404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.825099893 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:12.98, Y:0.22, Z:0.08 [[ 9.98185155e-01 -5.26063633e-02 -2.93081319e-02 1.29771410e+01] [ 5.26004067e-02 9.98615165e-01 -9.74711837e-04 2.16751243e-01] [ 2.93188210e-02 -5.68676773e-04 9.99569949e-01 8.24749217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.855099893 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:13.01, Y:0.22, Z:0.08 [[ 9.98249879e-01 -5.12440337e-02 -2.95165727e-02 1.30083552e+01] [ 5.12373627e-02 9.98686020e-01 -9.82802929e-04 2.18355047e-01] [ 2.95281513e-02 -5.31268439e-04 9.99563808e-01 8.29618757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.885099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:13.04, Y:0.22, Z:0.08 [[ 9.98310948e-01 -5.03385752e-02 -2.90047940e-02 1.30400783e+01] [ 5.03318001e-02 9.98732086e-01 -9.64086346e-04 2.20102909e-01] [ 2.90165492e-02 -4.97405540e-04 9.99578808e-01 8.41109446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.915099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:13.07, Y:0.22, Z:0.08 [[ 9.98316147e-01 -5.02353249e-02 -2.90048713e-02 1.30727657e+01] [ 5.02285740e-02 9.98737285e-01 -9.61755727e-04 2.21135681e-01] [ 2.90165606e-02 -4.96737052e-04 9.99578808e-01 8.48238661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.945099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:13.10, Y:0.22, Z:0.09 [[ 9.98352427e-01 -4.98425590e-02 -2.84279941e-02 1.31039140e+01] [ 4.98360005e-02 9.98756973e-01 -9.39611574e-04 2.22739614e-01] [ 2.84394899e-02 -4.78674031e-04 9.99595401e-01 8.65029864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.975099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:13.14, Y:0.22, Z:0.09 [[ 9.98357060e-01 -4.97527472e-02 -2.84226078e-02 1.31360539e+01] [ 4.97462434e-02 9.98761450e-01 -9.36317933e-04 2.24244332e-01] [ 2.84339893e-02 -4.79138346e-04 9.99595558e-01 8.65709028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.005099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:13.17, Y:0.23, Z:0.09 [[ 9.98361469e-01 -4.96641633e-02 -2.84226780e-02 1.31687356e+01] [ 4.96576845e-02 9.98765859e-01 -9.34181880e-04 2.25263122e-01] [ 2.84339958e-02 -4.78753181e-04 9.99595558e-01 8.72837024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.035099893 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:13.20, Y:0.23, Z:0.09 [[ 9.98329541e-01 -5.00952343e-02 -2.87853112e-02 1.32008281e+01] [ 5.00888393e-02 9.98744321e-01 -9.43629897e-04 2.26667437e-01] [ 2.87964374e-02 -4.99769225e-04 9.99585172e-01 8.72581249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.065099893 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:13.23, Y:0.23, Z:0.09 [[ 9.98334104e-01 -5.00041844e-02 -2.87853841e-02 1.32335107e+01] [ 4.99978159e-02 9.98748883e-01 -9.41402085e-04 2.27684135e-01] [ 2.87964443e-02 -4.99372527e-04 9.99585172e-01 8.79709285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.095099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:13.26, Y:0.23, Z:0.09 [[ 9.98314511e-01 -5.06735580e-02 -2.82900562e-02 1.32642495e+01] [ 5.06677407e-02 9.98715139e-01 -9.22893863e-04 2.28543088e-01] [ 2.83004737e-02 -5.12054896e-04 9.99599330e-01 8.88788931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.125099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:13.30, Y:0.23, Z:0.09 [[ 9.98319076e-01 -5.05835225e-02 -2.82901139e-02 1.32969320e+01] [ 5.05777193e-02 9.98719703e-01 -9.21122644e-04 2.29553137e-01] [ 2.83004878e-02 -5.11275133e-04 9.99599330e-01 8.95918435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.155099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:13.33, Y:0.23, Z:0.09 [[ 9.98272895e-01 -5.13264581e-02 -2.85800871e-02 1.33287634e+01] [ 5.13209105e-02 9.98681783e-01 -9.28084571e-04 2.29704403e-01] [ 2.85900476e-02 -5.40274417e-04 9.99591075e-01 9.01357310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.185099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:13.36, Y:0.23, Z:0.09 [[ 9.98277521e-01 -5.12363692e-02 -2.85801580e-02 1.33614461e+01] [ 5.12308475e-02 9.98686409e-01 -9.25893814e-04 2.30709788e-01] [ 2.85900548e-02 -5.39886736e-04 9.99591075e-01 9.08485343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.215099893 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:13.39, Y:0.23, Z:0.09 [[ 9.98233416e-01 -5.16581524e-02 -2.93510081e-02 1.33926356e+01] [ 5.16525824e-02 9.98664664e-01 -9.48437707e-04 2.30233610e-01] [ 2.93608091e-02 -5.69293149e-04 9.99568716e-01 8.90674264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.245099893 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:13.43, Y:0.23, Z:0.09 [[ 9.98237925e-01 -5.15709214e-02 -2.93510672e-02 1.34253173e+01] [ 5.15653676e-02 9.98669173e-01 -9.46604379e-04 2.31230375e-01] [ 2.93608233e-02 -5.68562180e-04 9.99568716e-01 8.97803587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.275099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:13.46, Y:0.23, Z:0.09 [[ 9.98193056e-01 -5.21365453e-02 -2.98731110e-02 1.34578954e+01] [ 5.21311206e-02 9.98639786e-01 -9.60925097e-04 2.31276328e-01] [ 2.98825765e-02 -5.98129994e-04 9.99553237e-01 9.05222921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.305099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:13.49, Y:0.23, Z:0.09 [[ 9.98195496e-01 -5.24571229e-02 -2.92233274e-02 1.34890023e+01] [ 5.24521389e-02 9.98622999e-01 -9.37628706e-04 2.33126846e-01] [ 2.92322721e-02 -5.96889278e-04 9.99572468e-01 9.35337775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.335099893 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:13.52, Y:0.23, Z:0.10 [[ 9.98166272e-01 -5.43407248e-02 -2.66679284e-02 1.35211217e+01] [ 5.43373177e-02 9.98522272e-01 -8.52939751e-04 2.33298961e-01] [ 2.66748699e-02 -5.97688007e-04 9.99643984e-01 9.63076766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.365099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:13.55, Y:0.23, Z:0.10 [[ 9.97985277e-01 -5.74241085e-02 -2.69788668e-02 1.35546093e+01] [ 5.74218057e-02 9.98349636e-01 -8.60718061e-04 2.32227961e-01] [ 2.69837678e-02 -6.90191294e-04 9.99635634e-01 9.60078260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.395099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:13.59, Y:0.23, Z:0.10 [[ 9.97959832e-01 -5.74872418e-02 -2.77739242e-02 1.35855548e+01] [ 5.74849026e-02 9.98345985e-01 -8.83320893e-04 2.33866453e-01] [ 2.77787654e-02 -7.15062559e-04 9.99613840e-01 9.76395386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.425099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:13.62, Y:0.24, Z:0.10 [[ 9.98028604e-01 -5.55876705e-02 -2.91361670e-02 1.36164610e+01] [ 5.55843349e-02 9.98453567e-01 -9.25028152e-04 2.37194269e-01] [ 2.91425300e-02 -6.96309907e-04 9.99575024e-01 9.79679747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.455099893 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:13.65, Y:0.24, Z:0.10 [[ 9.98090898e-01 -5.40299120e-02 -2.99220465e-02 1.36486482e+01] [ 5.40257471e-02 9.98539093e-01 -9.48229102e-04 2.39077761e-01] [ 2.99295659e-02 -6.70142082e-04 9.99551786e-01 9.75792891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.485099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:13.68, Y:0.24, Z:0.10 [[ 9.98173688e-01 -5.21929293e-02 -3.04168691e-02 1.36802482e+01] [ 5.21878346e-02 9.98636823e-01 -9.61893070e-04 2.39389366e-01] [ 3.04256096e-02 -6.27254184e-04 9.99536837e-01 9.68490517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.515099893 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:13.71, Y:0.24, Z:0.10 [[ 9.98185402e-01 -5.18386298e-02 -3.06375414e-02 1.37125392e+01] [ 5.18333490e-02 9.98655280e-01 -9.67081169e-04 2.38807373e-01] [ 3.06464747e-02 -6.22720071e-04 9.99530092e-01 9.65774173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.545099893 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:13.75, Y:0.24, Z:0.10 [[ 9.98190047e-01 -5.17490750e-02 -3.06376157e-02 1.37452225e+01] [ 5.17438245e-02 9.98659925e-01 -9.64722504e-04 2.39782230e-01] [ 3.06464825e-02 -6.22331009e-04 9.99530093e-01 9.72902218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.575099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:13.78, Y:0.24, Z:0.10 [[ 9.98166327e-01 -5.18070525e-02 -3.13051624e-02 1.37764870e+01] [ 5.18016779e-02 9.98656908e-01 -9.83233365e-04 2.39113155e-01] [ 3.13140551e-02 -6.40229504e-04 9.99509390e-01 9.71135645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.605099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:13.81, Y:0.24, Z:0.10 [[ 9.98166542e-01 -5.18970955e-02 -3.11487615e-02 1.38087076e+01] [ 5.18918750e-02 9.98652232e-01 -9.76501487e-04 2.39103766e-01] [ 3.11574578e-02 -6.41656526e-04 9.99514283e-01 9.72608005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.635099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:13.84, Y:0.24, Z:0.10 [[ 9.98145405e-01 -5.22987714e-02 -3.11542883e-02 1.38408853e+01] [ 5.22938131e-02 9.98631267e-01 -9.74475715e-04 2.40051607e-01] [ 3.11626103e-02 -6.56508074e-04 9.99514112e-01 9.83733219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.665099893 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:13.87, Y:0.25, Z:0.10 [[ 9.98529787e-01 -4.74331307e-02 -2.62366826e-02 1.38732604e+01] [ 4.74279770e-02 9.98874325e-01 -8.19028103e-04 2.45010016e-01] [ 2.62459977e-02 -4.26528824e-04 9.99655423e-01 1.04135903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.695099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:13.90, Y:0.25, Z:0.10 [[ 9.98485106e-01 -4.74657807e-02 -2.78297045e-02 1.39047603e+01] [ 4.74600512e-02 9.98872761e-01 -8.66742667e-04 2.45934950e-01] [ 2.78394744e-02 -4.55369558e-04 9.99612303e-01 1.03406779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.725099893 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:13.94, Y:0.25, Z:0.10 [[ 9.98425864e-01 -4.81007583e-02 -2.88463288e-02 1.39369522e+01] [ 4.80949172e-02 9.98842367e-01 -8.96681015e-04 2.46100810e-01] [ 2.88560664e-02 -4.92092281e-04 9.99583456e-01 1.03802370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.755099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:13.97, Y:0.25, Z:0.10 [[ 9.98301148e-01 -4.95396040e-02 -3.06699333e-02 1.39682002e+01] [ 4.95337446e-02 9.98771998e-01 -9.51260545e-04 2.45844574e-01] [ 3.06793956e-02 -5.69552148e-04 9.99529114e-01 1.02137491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.785099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:14.00, Y:0.25, Z:0.10 [[ 9.98191605e-01 -5.12508703e-02 -3.14144692e-02 1.40000604e+01] [ 5.12456287e-02 9.98685606e-01 -9.72485110e-04 2.45555425e-01] [ 3.14230189e-02 -6.39127753e-04 9.99505971e-01 1.02494555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.815099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:14.03, Y:0.25, Z:0.10 [[ 9.98196198e-01 -5.11612752e-02 -3.14145442e-02 1.40327441e+01] [ 5.11560656e-02 9.98690200e-01 -9.70056897e-04 2.46510340e-01] [ 3.14230268e-02 -6.38737378e-04 9.99505971e-01 1.03207358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.845099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:14.06, Y:0.25, Z:0.10 [[ 9.98071266e-01 -5.30802826e-02 -3.21905548e-02 1.40635716e+01] [ 5.30758925e-02 9.98589989e-01 -9.91456413e-04 2.46522229e-01] [ 3.21977926e-02 -7.18998271e-04 9.99481258e-01 1.03076483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.875099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:14.10, Y:0.25, Z:0.10 [[ 9.98076327e-01 -5.29850001e-02 -3.21906212e-02 1.40962577e+01] [ 5.29806302e-02 9.98595050e-01 -9.89297552e-04 2.47471189e-01] [ 3.21978129e-02 -7.18084929e-04 9.99481258e-01 1.03789488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.905099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:14.13, Y:0.25, Z:0.10 [[ 9.97979233e-01 -5.46718763e-02 -3.23795640e-02 1.41282556e+01] [ 5.46684345e-02 9.98504070e-01 -9.92249395e-04 2.48166752e-01] [ 3.23853746e-02 -7.79895783e-04 9.99475152e-01 1.04493771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.935099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:14.16, Y:0.25, Z:0.11 [[ 9.97919469e-01 -5.59184813e-02 -3.20913811e-02 1.41596538e+01] [ 5.59158120e-02 9.98435005e-01 -9.81314112e-04 2.49078734e-01] [ 3.20960318e-02 -8.15143173e-04 9.99484457e-01 1.05354836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.965099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:14.19, Y:0.24, Z:0.10 [[ 9.97877663e-01 -5.86004279e-02 -2.83929536e-02 1.41916256e+01] [ 5.85994646e-02 9.98281199e-01 -8.66716584e-04 2.44670890e-01] [ 2.83949417e-02 -7.98934758e-04 9.99596463e-01 1.04646302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.995099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:14.23, Y:0.24, Z:0.11 [[ 9.97645321e-01 -6.14877643e-02 -3.03820356e-02 1.42250456e+01] [ 6.14880780e-02 9.98107389e-01 -9.24842729e-04 2.43876604e-01] [ 3.03814008e-02 -9.45467957e-04 9.99537932e-01 1.05790221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.025099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:14.26, Y:0.24, Z:0.11 [[ 9.97580978e-01 -6.20600584e-02 -3.13168059e-02 1.42568198e+01] [ 6.20607716e-02 9.98071920e-01 -9.50172826e-04 2.44257002e-01] [ 3.13153924e-02 -9.95670804e-04 9.99509057e-01 1.05816137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.055099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:14.29, Y:0.24, Z:0.11 [[ 9.97517565e-01 -6.29225485e-02 -3.16142480e-02 1.42881739e+01] [ 6.29237758e-02 9.98017877e-01 -9.57059014e-04 2.44653347e-01] [ 3.16118052e-02 -1.03460467e-03 9.99499687e-01 1.07268341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.085099893 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:14.32, Y:0.24, Z:0.11 [[ 9.97471449e-01 -6.35022144e-02 -3.19088942e-02 1.43196123e+01] [ 6.35038165e-02 9.97981130e-01 -9.64240636e-04 2.44631141e-01] [ 3.19057057e-02 -1.06453406e-03 9.99490316e-01 1.06650029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.115099893 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:14.35, Y:0.25, Z:0.11 [[ 9.97477015e-01 -6.34146930e-02 -3.19089560e-02 1.43522950e+01] [ 6.34163159e-02 9.97986696e-01 -9.62190511e-04 2.45559247e-01] [ 3.19057306e-02 -1.06378552e-03 9.99490316e-01 1.07362958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.145099893 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:14.38, Y:0.25, Z:0.11 [[ 9.97451068e-01 -6.41098204e-02 -3.13256720e-02 1.43848553e+01] [ 6.41118064e-02 9.97942277e-01 -9.42050698e-04 2.45739222e-01] [ 3.13216071e-02 -1.06869594e-03 9.99508787e-01 1.08468401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.175099893 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:14.42, Y:0.25, Z:0.11 [[ 9.97457183e-01 -6.40145712e-02 -3.13257454e-02 1.44175413e+01] [ 6.40165871e-02 9.97948392e-01 -9.39604062e-04 2.46663090e-01] [ 3.13216256e-02 -1.06815249e-03 9.99508787e-01 1.09181261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.205099893 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:14.45, Y:0.25, Z:0.11 [[ 9.97463290e-01 -6.39193096e-02 -3.13258348e-02 1.44502273e+01] [ 6.39213724e-02 9.97954498e-01 -9.36613788e-04 2.47583576e-01] [ 3.13216255e-02 -1.06815248e-03 9.99508787e-01 1.09893922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.235099893 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:14.48, Y:0.25, Z:0.11 [[ 9.97328633e-01 -6.55284542e-02 -3.22741176e-02 1.44819314e+01] [ 6.55315789e-02 9.97850032e-01 -9.62075300e-04 2.48265777e-01] [ 3.22677726e-02 -1.15546864e-03 9.99478592e-01 1.09894101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.265099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:14.51, Y:0.25, Z:0.11 [[ 9.97292694e-01 -6.58155235e-02 -3.27963333e-02 1.45130703e+01] [ 6.58189763e-02 9.97831103e-01 -9.75483146e-04 2.50829010e-01] [ 3.27894034e-02 -1.18577887e-03 9.99461580e-01 1.10546304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.295099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:14.55, Y:0.25, Z:0.11 [[ 9.97441220e-01 -6.42218229e-02 -3.14097104e-02 1.45450219e+01] [ 6.42242565e-02 9.97935056e-01 -9.32440721e-04 2.54727609e-01] [ 3.14047342e-02 -1.08721049e-03 9.99506158e-01 1.12817541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.325099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:14.58, Y:0.26, Z:0.11 [[ 9.97817718e-01 -5.75300495e-02 -3.24051668e-02 1.45776236e+01] [ 5.75291918e-02 9.98343363e-01 -9.59607258e-04 2.55122077e-01] [ 3.24066895e-02 -9.06729934e-04 9.99474354e-01 1.10863537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.61, Y:0.26, Z:0.12 [[ 9.97979572e-01 -5.58896366e-02 -3.02179215e-02 1.46095455e+01] [ 5.58882013e-02 9.98436634e-01 -8.92763043e-04 2.58518836e-01] [ 3.02205760e-02 -7.97866002e-04 9.99542936e-01 1.16959076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.385099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:14.64, Y:0.26, Z:0.12 [[ 9.97872473e-01 -5.71370274e-02 -3.13988648e-02 1.46405940e+01] [ 5.71361629e-02 9.98365966e-01 -9.25490749e-04 2.61538858e-01] [ 3.14004378e-02 -8.70488915e-04 9.99506506e-01 1.17537231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.415099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:14.67, Y:0.26, Z:0.12 [[ 9.97569582e-01 -6.08517847e-02 -3.39409623e-02 1.46730423e+01] [ 6.08529957e-02 9.98146240e-01 -9.98280798e-04 2.61199056e-01] [ 3.39387910e-02 -1.06955467e-03 9.99423341e-01 1.16176971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.445099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:14.70, Y:0.26, Z:0.11 [[ 9.97276881e-01 -6.50395771e-02 -3.47660107e-02 1.47049998e+01] [ 6.50434757e-02 9.97881910e-01 -1.02004139e-03 2.58676179e-01] [ 3.47587162e-02 -1.24403848e-03 9.99394959e-01 1.13773471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.475099893 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:14.74, Y:0.26, Z:0.11 [[ 9.97083748e-01 -6.77537895e-02 -3.51201263e-02 1.47369616e+01] [ 6.77595368e-02 9.97701152e-01 -1.02792690e-03 2.57390472e-01] [ 3.51090364e-02 -1.35479429e-03 9.99382569e-01 1.12347497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.505099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:14.77, Y:0.26, Z:0.12 [[ 9.97227434e-01 -6.64361243e-02 -3.35214221e-02 1.47690846e+01] [ 6.64406937e-02 9.97789896e-01 -9.78809149e-04 2.58497728e-01] [ 3.35123645e-02 -1.25109120e-03 9.99437520e-01 1.15494635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.535099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:14.80, Y:0.26, Z:0.12 [[ 9.97404028e-01 -6.40681864e-02 -3.28705423e-02 1.48009797e+01] [ 6.40713722e-02 9.97944859e-01 -9.57471994e-04 2.60425109e-01] [ 3.28643322e-02 -1.15107433e-03 9.99459159e-01 1.17516936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.565099893 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:14.83, Y:0.26, Z:0.12 [[ 9.97596868e-01 -6.13812935e-02 -3.21376176e-02 1.48333250e+01] [ 6.13830188e-02 9.98113848e-01 -9.33850022e-04 2.60708608e-01] [ 3.21343221e-02 -1.04109813e-03 9.99483017e-01 1.16209750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.595099893 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:14.86, Y:0.26, Z:0.12 [[ 9.97544040e-01 -6.31144648e-02 -3.03718977e-02 1.48645537e+01] [ 6.31168660e-02 9.98005754e-01 -8.80602413e-04 2.59179792e-01] [ 3.03669074e-02 -1.03853931e-03 9.99538280e-01 1.15561777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.625099893 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:14.90, Y:0.26, Z:0.12 [[ 9.97455342e-01 -6.45027550e-02 -3.03683280e-02 1.48961282e+01] [ 6.45058519e-02 9.97916942e-01 -8.78726609e-04 2.62168838e-01] [ 3.03617493e-02 -1.08244431e-03 9.99538390e-01 1.19064153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.655099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:14.93, Y:0.27, Z:0.12 [[ 9.97410540e-01 -6.40963403e-02 -3.26170875e-02 1.49282737e+01] [ 6.40997765e-02 9.97943051e-01 -9.41367138e-04 2.67032176e-01] [ 3.26103340e-02 -1.15181852e-03 9.99467478e-01 1.22037973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.685099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:14.96, Y:0.27, Z:0.12 [[ 9.97281956e-01 -6.40321642e-02 -3.64497183e-02 1.49592186e+01] [ 6.40365080e-02 9.97947005e-01 -1.04945838e-03 2.68244190e-01] [ 3.64420863e-02 -1.28750677e-03 9.99334937e-01 1.20907798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.715099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:14.99, Y:0.27, Z:0.12 [[ 9.97279357e-01 -6.38497070e-02 -3.68388265e-02 1.49918855e+01] [ 6.38541043e-02 9.97958683e-01 -1.05837693e-03 2.65174040e-01] [ 3.68312039e-02 -1.29681281e-03 9.99320660e-01 1.17399199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.745099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:15.02, Y:0.26, Z:0.12 [[ 9.97415630e-01 -6.40431669e-02 -3.25658344e-02 1.50232610e+01] [ 6.40467688e-02 9.97946461e-01 -9.33601341e-04 2.64717342e-01] [ 3.25587500e-02 -1.15454790e-03 9.99469157e-01 1.19295185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.775099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:15.06, Y:0.27, Z:0.12 [[ 9.97472270e-01 -6.37592794e-02 -3.13659805e-02 1.50555917e+01] [ 6.37625379e-02 9.97964696e-01 -8.97356139e-04 2.67902812e-01] [ 3.13593560e-02 -1.10488665e-03 9.99507564e-01 1.22103450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.805099893 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:15.09, Y:0.27, Z:0.12 [[ 9.97485989e-01 -6.25718470e-02 -3.32635784e-02 1.50880488e+01] [ 6.25749372e-02 9.98039817e-01 -9.49132590e-04 2.68902158e-01] [ 3.32577646e-02 -1.13471987e-03 9.99446163e-01 1.20961257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.835099893 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:15.12, Y:0.27, Z:0.12 [[ 9.97321347e-01 -6.33718913e-02 -3.65258008e-02 1.51207571e+01] [ 6.33762584e-02 9.97989163e-01 -1.03941036e-03 2.66851753e-01] [ 3.65182227e-02 -1.27824245e-03 9.99332170e-01 1.17090680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.865099893 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:15.15, Y:0.27, Z:0.12 [[ 9.97304133e-01 -6.35179055e-02 -3.67415671e-02 1.51515259e+01] [ 6.35225113e-02 9.97979861e-01 -1.04316341e-03 2.68800996e-01] [ 3.67336036e-02 -1.29356543e-03 9.99324256e-01 1.18443425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.895099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:15.18, Y:0.27, Z:0.12 [[ 9.97370895e-01 -6.27192569e-02 -3.62986458e-02 1.51835236e+01] [ 6.27233040e-02 9.98030425e-01 -1.02838088e-03 2.72764520e-01] [ 3.62916522e-02 -1.25109383e-03 9.99340458e-01 1.23055157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.925099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:15.22, Y:0.27, Z:0.12 [[ 9.97555415e-01 -6.02987442e-02 -3.53165068e-02 1.52151476e+01] [ 6.03011392e-02 9.98179731e-01 -9.98294933e-04 2.74291725e-01] [ 3.53124172e-02 -1.13377108e-03 9.99375679e-01 1.23605657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.955099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:15.25, Y:0.27, Z:0.12 [[ 9.97650960e-01 -5.90992100e-02 -3.46387752e-02 1.52470222e+01] [ 5.91008635e-02 9.98251538e-01 -9.77056862e-04 2.72299532e-01] [ 3.46359539e-02 -1.07241981e-03 9.99399420e-01 1.22812748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.985099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:15.28, Y:0.27, Z:0.12 [[ 9.97687577e-01 -5.91199607e-02 -3.35310101e-02 1.52790453e+01] [ 5.91216011e-02 9.98250342e-01 -9.43427020e-04 2.72998583e-01] [ 3.35281177e-02 -1.04116159e-03 9.99437232e-01 1.24523186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.015099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:15.31, Y:0.28, Z:0.13 [[ 9.97760982e-01 -5.88659887e-02 -3.17461520e-02 1.53111537e+01] [ 5.88674008e-02 9.98265413e-01 -8.90974061e-04 2.81080491e-01] [ 3.17435336e-02 -9.79834297e-04 9.99495567e-01 1.29965302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.045099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:15.34, Y:0.28, Z:0.13 [[ 9.97817122e-01 -5.80308694e-02 -3.15183833e-02 1.53427617e+01] [ 5.80319317e-02 9.98314338e-01 -8.81831417e-04 2.83163323e-01] [ 3.15164274e-02 -9.49166181e-04 9.99502783e-01 1.30279976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.075099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:15.37, Y:0.28, Z:0.13 [[ 9.97931800e-01 -5.55783919e-02 -3.22980658e-02 1.53747537e+01] [ 5.55783351e-02 9.98453924e-01 -9.00222680e-04 2.78622165e-01] [ 3.22981635e-02 -8.96711888e-04 9.99477876e-01 1.25910202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.105099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:15.41, Y:0.28, Z:0.12 [[ 9.97848958e-01 -5.63201206e-02 -3.35484901e-02 1.54074666e+01] [ 5.63205606e-02 9.98412302e-01 -9.32636169e-04 2.76156341e-01] [ 3.35477514e-02 -9.58839738e-04 9.99436656e-01 1.24096529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.135099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:15.44, Y:0.28, Z:0.13 [[ 9.97499275e-01 -5.98995777e-02 -3.75131701e-02 1.54393981e+01] [ 5.99027657e-02 9.98203675e-01 -1.03999091e-03 2.80126592e-01] [ 3.75080793e-02 -1.20975246e-03 9.99295592e-01 1.28580966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.165099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:15.47, Y:0.28, Z:0.13 [[ 9.97204833e-01 -6.26561792e-02 -4.07028862e-02 1.54712632e+01] [ 6.26623524e-02 9.98034149e-01 -1.12537205e-03 2.83012884e-01] [ 4.06933819e-02 -1.42831216e-03 9.99170660e-01 1.29193953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.195099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:15.50, Y:0.28, Z:0.13 [[ 9.96877714e-01 -6.57916690e-02 -4.36609570e-02 1.55031373e+01] [ 6.58018850e-02 9.97831980e-01 -1.20470859e-03 2.81380887e-01] [ 4.36455590e-02 -1.67202612e-03 9.99045679e-01 1.26351363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.225099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:15.53, Y:0.28, Z:0.13 [[ 9.96881198e-01 -6.68485299e-02 -4.19422285e-02 1.55340193e+01] [ 6.68589193e-02 9.97761769e-01 -1.15654092e-03 2.79312647e-01] [ 4.19256652e-02 -1.65127817e-03 9.99119368e-01 1.25255504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.255099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:15.57, Y:0.28, Z:0.13 [[ 9.97040777e-01 -6.56882518e-02 -3.99342395e-02 1.55657450e+01] [ 6.56967643e-02 9.97839027e-01 -1.10051934e-03 2.80839593e-01] [ 3.99202339e-02 -1.52628767e-03 9.99201704e-01 1.28426541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.285099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:15.60, Y:0.28, Z:0.13 [[ 9.97619481e-01 -5.81144166e-02 -3.71225851e-02 1.55967805e+01] [ 5.81165891e-02 9.98309280e-01 -1.02148189e-03 2.84988615e-01] [ 3.71191840e-02 -1.13838779e-03 9.99310197e-01 1.32465514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.315099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:15.63, Y:0.29, Z:0.13 [[ 9.97976767e-01 -5.30788083e-02 -3.50001874e-02 1.56277724e+01] [ 5.30776987e-02 9.98589923e-01 -9.61507097e-04 2.87322341e-01] [ 3.50018701e-02 -8.98167662e-04 9.99386843e-01 1.33485210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.345099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:15.66, Y:0.29, Z:0.13 [[ 9.98211746e-01 -5.04998000e-02 -3.19856327e-02 1.56592154e+01] [ 5.04975832e-02 9.98723798e-01 -8.77624019e-04 2.88932507e-01] [ 3.19891324e-02 -7.39142544e-04 9.99487943e-01 1.34463666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.375099893 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:15.69, Y:0.29, Z:0.14 [[ 9.98285125e-01 -5.03056781e-02 -2.99357284e-02 1.56911050e+01] [ 5.03036877e-02 9.98733631e-01 -8.20070201e-04 2.90538943e-01] [ 2.99390729e-02 -6.87213649e-04 9.99551489e-01 1.35493661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.405099893 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:15.72, Y:0.29, Z:0.14 [[ 9.98220365e-01 -5.16667110e-02 -2.97767201e-02 1.57230289e+01] [ 5.16654101e-02 9.98664119e-01 -8.13584921e-04 2.91413024e-01] [ 2.97789772e-02 -7.26289417e-04 9.99556244e-01 1.38619017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.435099893 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:15.75, Y:0.29, Z:0.14 [[ 9.97909797e-01 -5.46981596e-02 -3.44114646e-02 1.57546217e+01] [ 5.46983106e-02 9.98502486e-01 -9.37719151e-04 2.89388524e-01] [ 3.44112245e-02 -9.46489852e-04 9.99407310e-01 1.35686618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.465099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:15.79, Y:0.29, Z:0.14 [[ 9.97739193e-01 -5.64174573e-02 -3.65181286e-02 1.57871561e+01] [ 5.64188627e-02 9.98406694e-01 -9.92834694e-04 2.90937146e-01] [ 3.65159572e-02 -1.06972120e-03 9.99332498e-01 1.36227403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.495099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:15.82, Y:0.29, Z:0.14 [[ 9.97736161e-01 -5.69449776e-02 -3.57746024e-02 1.58182798e+01] [ 5.69467367e-02 9.98376746e-01 -9.70602928e-04 2.92946621e-01] [ 3.57718021e-02 -1.06884123e-03 9.99359413e-01 1.38252779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.525099893 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:15.85, Y:0.30, Z:0.14 [[ 9.98649667e-01 -3.72430337e-02 -3.62187542e-02 1.58496791e+01] [ 3.72319450e-02 9.99306169e-01 -9.80813993e-04 3.04501884e-01] [ 3.62301530e-02 -3.69005098e-04 9.99343404e-01 1.42717743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.555099893 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:15.88, Y:0.30, Z:0.14 [[ 9.98773643e-01 -3.51056023e-02 -3.49114080e-02 1.58776334e+01] [ 3.50939157e-02 9.99383570e-01 -9.47658782e-04 3.04910847e-01] [ 3.49231557e-02 -2.78681397e-04 9.99389962e-01 1.44391302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.585099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:15.91, Y:0.30, Z:0.14 [[ 9.98843916e-01 -3.35318363e-02 -3.44448479e-02 1.59059963e+01] [ 3.35191851e-02 9.99437628e-01 -9.44838134e-04 3.04580481e-01] [ 3.44571593e-02 -2.10817412e-04 9.99406154e-01 1.43743769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.615099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:15.93, Y:0.30, Z:0.14 [[ 9.98925805e-01 -3.19037103e-02 -3.36064018e-02 1.59333372e+01] [ 3.18904909e-02 9.99490937e-01 -9.29436066e-04 3.04421458e-01] [ 3.36189464e-02 -1.43286979e-04 9.99434713e-01 1.43877467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.645099893 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:15.96, Y:0.30, Z:0.14 [[ 9.98971296e-01 -3.09807496e-02 -3.31140936e-02 1.59610830e+01] [ 3.09672094e-02 9.99519976e-01 -9.21804363e-04 3.04888410e-01] [ 3.31267562e-02 -1.04594972e-04 9.99451153e-01 1.44682049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.675099893 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:15.99, Y:0.31, Z:0.15 [[ 9.99017438e-01 -3.01763979e-02 -3.24583301e-02 1.59878139e+01] [ 3.01627176e-02 9.99544586e-01 -9.11145232e-04 3.05667159e-01] [ 3.24710432e-02 -6.87814699e-05 9.99472674e-01 1.45219934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.705099893 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:16.02, Y:0.31, Z:0.15 [[ 9.99012105e-01 -3.03525828e-02 -3.24581994e-02 1.60162165e+01] [ 3.03388450e-02 9.99539252e-01 -9.15779807e-04 3.06545029e-01] [ 3.24710407e-02 -6.98691675e-05 9.99472674e-01 1.45840971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.735099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:16.04, Y:0.31, Z:0.15 [[ 9.99047800e-01 -2.96561239e-02 -3.20001119e-02 1.60444513e+01] [ 2.96421986e-02 9.99560160e-01 -9.09579667e-04 3.07553756e-01] [ 3.20130116e-02 -3.98401077e-05 9.99487451e-01 1.46952506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.765099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:16.07, Y:0.31, Z:0.15 [[ 9.99039781e-01 -2.99253355e-02 -3.19998537e-02 1.60728124e+01] [ 2.99112596e-02 9.99552136e-01 -9.18589840e-04 3.08428065e-01] [ 3.20130112e-02 -3.94481394e-05 9.99487451e-01 1.47573986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.795099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:16.10, Y:0.31, Z:0.15 [[ 9.99084931e-01 -2.87429402e-02 -3.16724547e-02 1.60999760e+01] [ 2.87283336e-02 9.99586836e-01 -9.16237606e-04 3.09160081e-01] [ 3.16857042e-02 5.50233959e-06 9.99497882e-01 1.47695552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.825099893 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:16.13, Y:0.31, Z:0.15 [[ 9.99089642e-01 -2.77643476e-02 -3.23886989e-02 1.61281569e+01] [ 2.77483703e-02 9.99614495e-01 -9.42766227e-04 3.10204852e-01] [ 3.24023882e-02 4.31743629e-05 9.99474904e-01 1.47993963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.855099893 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:16.15, Y:0.31, Z:0.15 [[ 9.99128941e-01 -2.63748330e-02 -3.23377011e-02 1.61547705e+01] [ 2.63579343e-02 9.99652119e-01 -9.48821283e-04 3.11058660e-01] [ 3.23514764e-02 9.56398033e-05 9.99476549e-01 1.49202935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.885099893 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:16.18, Y:0.31, Z:0.15 [[ 9.99121972e-01 -2.66377376e-02 -3.23375397e-02 1.61831330e+01] [ 2.66207995e-02 9.99645148e-01 -9.54292962e-04 3.11962211e-01] [ 3.23514849e-02 9.26039045e-05 9.99476549e-01 1.49823094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.915099893 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:16.21, Y:0.31, Z:0.15 [[ 9.99211895e-01 -2.30338024e-02 -3.23269535e-02 1.62107970e+01] [ 2.30147058e-02 9.99734663e-01 -9.62753075e-04 3.11491863e-01] [ 3.23405519e-02 2.17999001e-04 9.99476884e-01 1.50006044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.945099893 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:16.24, Y:0.31, Z:0.15 [[ 9.99273123e-01 -2.10599883e-02 -3.17758310e-02 1.62385326e+01] [ 2.10402526e-02 9.99778173e-01 -9.55373721e-04 3.11173153e-01] [ 3.17889024e-02 2.86107772e-04 9.99494564e-01 1.50066597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.975099893 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:16.27, Y:0.27, Z:0.16 [[ 9.99433513e-01 -1.38131576e-02 -3.06895872e-02 1.62670210e+01] [ 1.37910682e-02 9.99904465e-01 -9.31332520e-04 2.72036491e-01] [ 3.06995199e-02 5.07562742e-04 9.99528530e-01 1.55639975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.005099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:16.29, Y:0.27, Z:0.16 [[ 9.99436552e-01 -1.47292477e-02 -3.01600234e-02 1.62949798e+01] [ 1.47080701e-02 9.99891404e-01 -9.23914232e-04 2.70147898e-01] [ 3.01703567e-02 4.79797917e-04 9.99544656e-01 1.56586893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.035099892999998 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:16.32, Y:0.27, Z:0.16 [[ 9.99454019e-01 -1.53782977e-02 -2.92433194e-02 1.63216945e+01] [ 1.53584602e-02 9.99881644e-01 -9.02867804e-04 2.68788352e-01] [ 2.92537428e-02 4.53242499e-04 9.99571915e-01 1.57965424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.065099893 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:16.35, Y:0.27, Z:0.16 [[ 9.99450022e-01 -1.56362035e-02 -2.92431754e-02 1.63500699e+01] [ 1.56163406e-02 9.99877646e-01 -9.07509920e-04 2.69739661e-01] [ 2.92537874e-02 4.50339423e-04 9.99571915e-01 1.58585777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.095099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:16.38, Y:0.27, Z:0.16 [[ 9.99465209e-01 -1.62749525e-02 -2.83623316e-02 1.63780835e+01] [ 1.62563168e-02 9.99867463e-01 -8.87528046e-04 2.68206257e-01] [ 2.83730170e-02 4.25986357e-04 9.99597314e-01 1.59448564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.125099893 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:16.40, Y:0.26, Z:0.16 [[ 9.99498835e-01 -1.71385477e-02 -2.66148225e-02 1.64047435e+01] [ 1.71222711e-02 9.99853051e-01 -8.39348273e-04 2.63603660e-01] [ 2.66252967e-02 3.83221414e-04 9.99645410e-01 1.60171311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.155099893 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:16.43, Y:0.26, Z:0.16 [[ 9.99492470e-01 -1.72140086e-02 -2.68044793e-02 1.64332518e+01] [ 1.71974146e-02 9.99851753e-01 -8.49496238e-04 2.58441579e-01] [ 2.68151288e-02 3.88097349e-04 9.99640334e-01 1.60209375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.185099893 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:16.46, Y:0.22, Z:0.16 [[ 9.99408178e-01 -1.62424632e-02 -3.03228804e-02 1.64628364e+01] [ 1.62204906e-02 9.99867968e-01 -9.70480543e-04 2.21290795e-01] [ 3.03346398e-02 4.78054196e-04 9.99539685e-01 1.61277817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.215099893 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:16.49, Y:0.22, Z:0.16 [[ 9.99382281e-01 -1.58154730e-02 -3.13835589e-02 1.64893130e+01] [ 1.57914606e-02 9.99874794e-01 -1.01285241e-03 2.20563658e-01] [ 3.13956482e-02 5.16634521e-04 9.99506902e-01 1.62187114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.245099893 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:16.52, Y:0.22, Z:0.16 [[ 9.99374363e-01 -1.55172836e-02 -3.17820197e-02 1.65169654e+01] [ 1.54922748e-02 9.99879454e-01 -1.03300144e-03 2.19731636e-01] [ 3.17942179e-02 5.39979369e-04 9.99494290e-01 1.63633270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.275099893 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:16.55, Y:0.22, Z:0.16 [[ 9.99370083e-01 -1.57910877e-02 -3.17817217e-02 1.65453497e+01] [ 1.57659278e-02 9.99875167e-01 -1.04210423e-03 2.20712594e-01] [ 3.17942102e-02 5.40379457e-04 9.99494290e-01 1.64254713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.305099893 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:16.57, Y:0.22, Z:0.16 [[ 9.99339869e-01 -1.51890772e-02 -3.30017846e-02 1.65720015e+01] [ 1.51613676e-02 9.99884466e-01 -1.08973356e-03 2.18634352e-01] [ 3.30145239e-02 5.88662004e-04 9.99454699e-01 1.64303871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.335099893 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:16.60, Y:0.22, Z:0.16 [[ 9.99299964e-01 -1.48470908e-02 -3.43386974e-02 1.66004840e+01] [ 1.48166660e-02 9.99889577e-01 -1.14033306e-03 2.15034875e-01] [ 3.43518362e-02 6.30749776e-04 9.99409602e-01 1.62820475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.365099893 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:16.63, Y:0.22, Z:0.16 [[ 9.99295967e-01 -1.51144302e-02 -3.43383774e-02 1.66288709e+01] [ 1.50838343e-02 9.99885571e-01 -1.14990418e-03 2.16044414e-01] [ 3.43518282e-02 6.31140215e-04 9.99409602e-01 1.63441907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.395099893 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:16.66, Y:0.21, Z:0.16 [[ 9.99299970e-01 -1.53220517e-02 -3.41292320e-02 1.66572589e+01] [ 1.52916291e-02 9.99882412e-01 -1.15225503e-03 2.06841797e-01] [ 3.41428738e-02 6.29556864e-04 9.99416764e-01 1.62390808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.425099893 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:16.69, Y:0.21, Z:0.16 [[ 9.99297212e-01 -1.55015123e-02 -3.41289436e-02 1.66856766e+01] [ 1.54709044e-02 9.99879645e-01 -1.16074578e-03 2.07879624e-01] [ 3.41428293e-02 6.31924395e-04 9.99416764e-01 1.63012885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.455099893 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:16.71, Y:0.20, Z:0.16 [[ 9.99289057e-01 -1.83907575e-02 -3.29114114e-02 1.67133043e+01] [ 1.83636317e-02 9.99830740e-01 -1.12630932e-03 2.03310691e-01] [ 3.29265545e-02 5.21135539e-04 9.99457638e-01 1.64961614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.485099893 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:16.74, Y:0.20, Z:0.17 [[ 9.99241330e-01 -2.03670798e-02 -3.31955756e-02 1.67412814e+01] [ 2.03402524e-02 9.99792459e-01 -1.14569313e-03 2.02985196e-01] [ 3.32120206e-02 4.69617545e-04 9.99448218e-01 1.66212932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.515099893 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:16.77, Y:0.20, Z:0.17 [[ 9.99189341e-01 -2.22675923e-02 -3.35382686e-02 1.67681154e+01] [ 2.22410116e-02 9.99751959e-01 -1.16545271e-03 2.02511439e-01] [ 3.35559015e-02 4.18582901e-04 9.99436755e-01 1.67845944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.545099893 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:16.79, Y:0.20, Z:0.17 [[ 9.99082521e-01 -2.58291675e-02 -3.41609570e-02 1.67949474e+01] [ 2.58035221e-02 9.99666324e-01 -1.19144983e-03 1.95850046e-01] [ 3.41803325e-02 3.08883693e-04 9.99415634e-01 1.67131489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.82, Y:0.19, Z:0.17 [[ 9.99054199e-01 -2.86131936e-02 -3.27412983e-02 1.68228330e+01] [ 2.85909398e-02 9.99590537e-01 -1.14775715e-03 1.91759930e-01] [ 3.27607329e-02 2.10567115e-04 9.99463201e-01 1.70593908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.605099893 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:16.85, Y:0.19, Z:0.17 [[ 9.98963763e-01 -3.03250906e-02 -3.39380175e-02 1.68498065e+01] [ 3.03018895e-02 9.99540075e-01 -1.19788161e-03 1.87778787e-01] [ 3.39587345e-02 1.68254257e-04 9.99423222e-01 1.67839178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.635099893 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:16.88, Y:0.19, Z:0.17 [[ 9.98870876e-01 -3.29870545e-02 -3.41881065e-02 1.68773485e+01] [ 3.29648491e-02 9.99455775e-01 -1.21312351e-03 1.85970241e-01] [ 3.42095179e-02 8.47479759e-05 9.99414680e-01 1.68233923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.665099893 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:16.91, Y:0.19, Z:0.17 [[ 9.98765307e-01 -3.73178085e-02 -3.27909049e-02 1.69056273e+01] [ 3.72994083e-02 9.99303447e-01 -1.17287626e-03 1.85212113e-01] [ 3.28118334e-02 -5.16532357e-05 9.99461545e-01 1.70105754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.695099893 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:16.93, Y:0.19, Z:0.17 [[ 9.98745843e-01 -3.98153728e-02 -3.03558511e-02 1.69332261e+01] [ 3.98005023e-02 9.99207047e-01 -1.09418079e-03 1.85168688e-01] [ 3.03753456e-02 -1.15369614e-04 9.99538556e-01 1.73255524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.725099893 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:16.96, Y:0.18, Z:0.17 [[ 9.98670022e-01 -4.17988883e-02 -3.01834479e-02 1.69601953e+01] [ 4.17848687e-02 9.99126031e-01 -1.09535673e-03 1.83821263e-01] [ 3.02028532e-02 -1.67311475e-04 9.99543776e-01 1.72031209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.755099893 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:16.99, Y:0.18, Z:0.17 [[ 9.98494716e-01 -4.63937654e-02 -2.92561233e-02 1.69883728e+01] [ 4.63824249e-02 9.98923187e-01 -1.06650451e-03 1.77257661e-01] [ 2.92740991e-02 -2.92070823e-04 9.99571379e-01 1.71202093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.785099892999998 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:17.02, Y:0.17, Z:0.17 [[ 9.98223145e-01 -5.17545537e-02 -2.95299654e-02 1.70168584e+01] [ 5.17450930e-02 9.98659736e-01 -1.08498049e-03 1.73325366e-01] [ 2.95465402e-02 -4.44978168e-04 9.99563307e-01 1.73133419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.815099893 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:17.04, Y:0.17, Z:0.17 [[ 9.98040634e-01 -5.39673062e-02 -3.16610690e-02 1.70444314e+01] [ 5.39572416e-02 9.98542558e-01 -1.17281112e-03 1.73983659e-01] [ 3.16782182e-02 -5.37830791e-04 9.99497975e-01 1.73000191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.845099893 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:17.07, Y:0.18, Z:0.17 [[ 9.97730049e-01 -5.76228667e-02 -3.48476011e-02 1.70720819e+01] [ 5.76125340e-02 9.98338170e-01 -1.30140710e-03 1.76216396e-01] [ 3.48646811e-02 -7.09205630e-04 9.99391791e-01 1.73166595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.875099893 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:17.10, Y:0.18, Z:0.17 [[ 9.97606793e-01 -5.95321594e-02 -3.51654323e-02 1.70995504e+01] [ 5.95224669e-02 9.98226089e-01 -1.32338197e-03 1.76259975e-01] [ 3.51818357e-02 -7.72918439e-04 9.99380629e-01 1.72999795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.905099893 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:17.13, Y:0.18, Z:0.17 [[ 9.97562854e-01 -6.09833578e-02 -3.39025320e-02 1.71273340e+01] [ 6.09748614e-02 9.98138474e-01 -1.28542001e-03 1.76469823e-01] [ 3.39178108e-02 -7.84914935e-04 9.99424317e-01 1.74407950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.935099893 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:17.16, Y:0.18, Z:0.17 [[ 9.97419753e-01 -6.25391123e-02 -3.52518961e-02 1.71552295e+01] [ 6.25305292e-02 9.98042143e-01 -1.34700882e-03 1.81093289e-01] [ 3.52671187e-02 -8.60786517e-04 9.99377551e-01 1.74137383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.965099893 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:17.18, Y:0.18, Z:0.17 [[ 9.97335906e-01 -6.39321507e-02 -3.51250619e-02 1.71833262e+01] [ 6.39241340e-02 9.97953845e-01 -1.35235184e-03 1.83742878e-01] [ 3.51396493e-02 -8.96590119e-04 9.99382010e-01 1.74096109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.995099893 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:17.21, Y:0.19, Z:0.17 [[ 9.97255484e-01 -6.50123055e-02 -3.54245607e-02 1.72098733e+01] [ 6.50045415e-02 9.97884025e-01 -1.37208740e-03 1.86665582e-01] [ 3.54388058e-02 -9.34435643e-04 9.99371411e-01 1.74197877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.025099893 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:17.24, Y:0.19, Z:0.18 [[ 9.97278918e-01 -6.56036962e-02 -3.36290705e-02 1.72376056e+01] [ 6.55968285e-02 9.97845350e-01 -1.30866185e-03 1.93118719e-01] [ 3.36424647e-02 -9.00859502e-04 9.99433526e-01 1.76982950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.055099893 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:17.27, Y:0.20, Z:0.18 [[ 9.97273898e-01 -6.64855267e-02 -3.20069851e-02 1.72656226e+01] [ 6.64794791e-02 9.97787004e-01 -1.25426363e-03 2.00295874e-01] [ 3.20195442e-02 -8.76963321e-04 9.99486858e-01 1.80617787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.085099893 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:17.29, Y:0.21, Z:0.18 [[ 9.97129283e-01 -6.83236756e-02 -3.26353867e-02 1.72945749e+01] [ 6.83181870e-02 9.97662756e-01 -1.28454654e-03 2.06383193e-01] [ 3.26468748e-02 -9.48731477e-04 9.99466498e-01 1.80958259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.115099893 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:17.32, Y:0.21, Z:0.18 [[ 9.96915335e-01 -7.10398968e-02 -3.33638728e-02 1.73247618e+01] [ 7.10356829e-02 9.97472911e-01 -1.31312768e-03 2.10619919e-01] [ 3.33728438e-02 -1.06094837e-03 9.99442408e-01 1.79496298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.145099893 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:17.35, Y:0.22, Z:0.18 [[ 9.96702341e-01 -7.37376200e-02 -3.38704422e-02 1.73541814e+01] [ 7.37348252e-02 9.97276992e-01 -1.33328381e-03 2.15451211e-01] [ 3.38765259e-02 -1.16854404e-03 9.99425343e-01 1.78310070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.175099893 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:17.38, Y:0.23, Z:0.18 [[ 9.96508390e-01 -7.59938494e-02 -3.45826962e-02 1.73846103e+01] [ 7.59922787e-02 9.97107476e-01 -1.36172410e-03 2.28842102e-01] [ 3.45861476e-02 -1.27104840e-03 9.99400912e-01 1.81617621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.205099893 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:17.41, Y:0.24, Z:0.18 [[ 9.96575372e-01 -7.51864256e-02 -3.44169987e-02 1.74141651e+01] [ 7.51843969e-02 9.97168727e-01 -1.35497042e-03 2.36792103e-01] [ 3.44214302e-02 -1.23729114e-03 9.99406641e-01 1.83356703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.235099893 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:17.44, Y:0.24, Z:0.18 [[ 9.96615631e-01 -7.46098350e-02 -3.45058899e-02 1.74444145e+01] [ 7.46074723e-02 9.97212054e-01 -1.35784886e-03 2.43996072e-01] [ 3.45109983e-02 -1.22114382e-03 9.99403572e-01 1.83663540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.265099893 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:17.48, Y:0.26, Z:0.18 [[ 9.96742207e-01 -7.33294520e-02 -3.35821888e-02 1.74754817e+01] [ 7.33265148e-02 9.97307113e-01 -1.32069599e-03 2.55088970e-01] [ 3.35886016e-02 -1.14607142e-03 9.99435087e-01 1.84161443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.295099893 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:17.51, Y:0.26, Z:0.18 [[ 9.96809615e-01 -7.20591481e-02 -3.43230406e-02 1.75073084e+01] [ 7.20553879e-02 9.97399721e-01 -1.34809791e-03 2.63182923e-01] [ 3.43309339e-02 -1.12936305e-03 9.99409882e-01 1.83529168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.325099893 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:17.54, Y:0.27, Z:0.18 [[ 9.96838191e-01 -7.11882946e-02 -3.52965660e-02 1.75383192e+01] [ 7.11838578e-02 9.97462251e-01 -1.38394565e-03 2.67445817e-01] [ 3.53055129e-02 -1.13297586e-03 9.99375924e-01 1.83916392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.355099893 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:17.57, Y:0.28, Z:0.18 [[ 9.96902749e-01 -6.92238567e-02 -3.73224566e-02 1.75689468e+01] [ 6.92175904e-02 9.97600516e-01 -1.46155825e-03 2.75021317e-01] [ 3.73340767e-02 -1.12633908e-03 9.99302206e-01 1.84373596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.385099893 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:17.60, Y:0.28, Z:0.19 [[ 9.97166880e-01 -6.59563231e-02 -3.61659737e-02 1.76000228e+01] [ 6.59483373e-02 9.97822036e-01 -1.41499826e-03 2.84883352e-01] [ 3.61805336e-02 -9.74096430e-04 9.99344795e-01 1.89219793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.415099893 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:17.63, Y:0.29, Z:0.19 [[ 9.97312749e-01 -6.32180240e-02 -3.70237928e-02 1.76307189e+01] [ 6.32078201e-02 9.97999337e-01 -1.44720964e-03 2.91030371e-01] [ 3.70412104e-02 -8.96872612e-04 9.99313336e-01 1.89097197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.445099893 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:17.66, Y:0.30, Z:0.19 [[ 9.97759943e-01 -5.66303694e-02 -3.56103593e-02 1.76601859e+01] [ 5.66167711e-02 9.98395015e-01 -1.39095069e-03 3.01367612e-01] [ 3.56319752e-02 -6.28308674e-04 9.99364782e-01 1.91452193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.475099893 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:17.69, Y:0.31, Z:0.19 [[ 9.97981666e-01 -5.29062343e-02 -3.51215599e-02 1.76907091e+01] [ 5.28907149e-02 9.98599365e-01 -1.37147156e-03 3.06179430e-01] [ 3.51449268e-02 -4.88900941e-04 9.99382107e-01 1.92249284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.505099893 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:17.72, Y:0.31, Z:0.19 [[ 9.98338220e-01 -4.52860138e-02 -3.56367078e-02 1.77198099e+01] [ 4.52651637e-02 9.98974037e-01 -1.39207623e-03 3.14351267e-01] [ 3.56631874e-02 -2.23338506e-04 9.99363841e-01 1.91924830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.535099892999998 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:17.75, Y:0.32, Z:0.19 [[ 9.98752007e-01 -3.72827741e-02 -3.32328589e-02 1.77480172e+01] [ 3.72600927e-02 9.99304754e-01 -1.30175379e-03 3.22527686e-01] [ 3.32582869e-02 6.18698061e-05 9.99446788e-01 1.93011205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.565099893 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:17.78, Y:0.33, Z:0.19 [[ 9.99130771e-01 -2.66072407e-02 -3.20898210e-02 1.77757757e+01] [ 2.65803236e-02 9.99645880e-01 -1.26517838e-03 3.33932776e-01] [ 3.21121202e-02 4.11120826e-04 9.99484188e-01 1.94549404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.595099893 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:17.80, Y:0.34, Z:0.20 [[ 9.99232732e-01 -2.21312977e-02 -3.23133588e-02 1.78032928e+01] [ 2.21013630e-02 9.99754911e-01 -1.28331507e-03 3.41372152e-01] [ 3.23338406e-02 5.68161151e-04 9.99476963e-01 1.96436974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.625099893 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:17.83, Y:0.35, Z:0.20 [[ 9.99249877e-01 -1.97257166e-02 -3.33253590e-02 1.78305190e+01] [ 1.96922721e-02 9.99805202e-01 -1.33152648e-03 3.47533360e-01] [ 3.33451326e-02 6.74275640e-04 9.99443669e-01 1.96019337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.655099893 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:17.86, Y:0.35, Z:0.20 [[ 9.99208985e-01 -2.07177201e-02 -3.39437792e-02 1.78584685e+01] [ 2.06833809e-02 9.99785148e-01 -1.36251141e-03 3.52242218e-01] [ 3.39647144e-02 6.59361529e-04 9.99422815e-01 1.96634839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.685099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:17.88, Y:0.35, Z:0.20 [[ 9.99169930e-01 -2.17530296e-02 -3.44420809e-02 1.78848660e+01] [ 2.17180171e-02 9.99763169e-01 -1.39039804e-03 3.54783056e-01] [ 3.44641694e-02 6.41230211e-04 9.99405728e-01 1.96608123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.715099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:17.91, Y:0.36, Z:0.20 [[ 9.99046748e-01 -2.50342135e-02 -3.57614869e-02 1.79130204e+01] [ 2.49983216e-02 9.99686441e-01 -1.45049502e-03 3.58801117e-01] [ 3.57865855e-02 5.55135187e-04 9.99359301e-01 1.96374531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.745099893 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:17.94, Y:0.36, Z:0.20 [[ 9.98924937e-01 -2.84134476e-02 -3.66284989e-02 1.79410643e+01] [ 2.83776702e-02 9.99596153e-01 -1.49638889e-03 3.63441118e-01] [ 3.66562241e-02 4.55348720e-04 9.99327831e-01 1.95652711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.775099893 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:17.97, Y:0.37, Z:0.20 [[ 9.98851306e-01 -3.18017011e-02 -3.58429996e-02 1.79678858e+01] [ 3.17693385e-02 9.99494143e-01 -1.47221761e-03 3.68590145e-01] [ 3.58716872e-02 3.31818098e-04 9.99356349e-01 1.96971259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.805099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:18.00, Y:0.37, Z:0.20 [[ 9.98797382e-01 -3.48140992e-02 -3.45219925e-02 1.79954323e+01] [ 3.47856610e-02 9.99393781e-01 -1.42422656e-03 3.72496209e-01] [ 3.45506478e-02 2.21643432e-04 9.99402924e-01 1.98981651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.835099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:18.02, Y:0.38, Z:0.20 [[ 9.98782894e-01 -3.66439445e-02 -3.30144213e-02 1.80233403e+01] [ 3.66186328e-02 9.99328372e-01 -1.37120104e-03 3.76095553e-01] [ 3.30424941e-02 1.60589168e-04 9.99453935e-01 1.99996649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.865099893 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:18.05, Y:0.38, Z:0.20 [[ 9.98739506e-01 -3.87311976e-02 -3.19263799e-02 1.80507266e+01] [ 3.87083718e-02 9.99249661e-01 -1.33294097e-03 3.80535044e-01] [ 3.19540507e-02 9.54426235e-05 9.99489334e-01 2.00967574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.895099893 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:18.08, Y:0.38, Z:0.20 [[ 9.98692654e-01 -4.05327699e-02 -3.11460799e-02 1.80806073e+01] [ 4.05118534e-02 9.99178209e-01 -1.30257484e-03 3.82706899e-01] [ 3.11732813e-02 3.90864957e-05 9.99513994e-01 2.02015798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.925099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:18.11, Y:0.38, Z:0.20 [[ 9.98583520e-01 -4.23618251e-02 -3.21936280e-02 1.81106761e+01] [ 4.23404023e-02 9.99102335e-01 -1.34717425e-03 3.83714109e-01] [ 3.22217977e-02 -1.78251572e-05 9.99480743e-01 2.02150356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.955099893 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:18.14, Y:0.38, Z:0.20 [[ 9.98341990e-01 -4.50539536e-02 -3.58247504e-02 1.81409538e+01] [ 4.50291654e-02 9.98984548e-01 -1.49887814e-03 3.82928974e-01] [ 3.58559025e-02 -1.16765624e-04 9.99356964e-01 2.00087738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.985099893 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:18.17, Y:0.38, Z:0.20 [[ 9.98341214e-01 -4.50711312e-02 -3.58247561e-02 1.81710782e+01] [ 4.50463589e-02 9.98983773e-01 -1.49874141e-03 3.84220508e-01] [ 3.58559000e-02 -1.17519504e-04 9.99356964e-01 2.00745450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.015099893 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:18.20, Y:0.38, Z:0.20 [[ 9.98154411e-01 -4.82545038e-02 -3.68683395e-02 1.82009137e+01] [ 4.82304034e-02 9.98835045e-01 -1.54331990e-03 3.82236420e-01] [ 3.68998616e-02 -2.37703315e-04 9.99318940e-01 2.01397204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.045099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:18.23, Y:0.38, Z:0.20 [[ 9.98095145e-01 -4.85093255e-02 -3.81172754e-02 1.82315862e+01] [ 4.84837195e-02 9.98822697e-01 -1.59639741e-03 3.83278492e-01] [ 3.81498399e-02 -2.54710785e-04 9.99271997e-01 2.00499281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.075099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:18.26, Y:0.38, Z:0.20 [[ 9.98177134e-01 -4.70376778e-02 -3.78135790e-02 1.82614865e+01] [ 4.70114120e-02 9.98893096e-01 -1.58395876e-03 3.84524144e-01] [ 3.78462287e-02 -1.96598325e-04 9.99283556e-01 2.02233699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.105099893 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:18.29, Y:0.38, Z:0.20 [[ 9.98535725e-01 -4.07944968e-02 -3.55276778e-02 1.82916251e+01] [ 4.07673298e-02 9.99167557e-01 -1.48904989e-03 3.84674547e-01] [ 3.55588481e-02 3.85009510e-05 9.99367583e-01 2.03109001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.135099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:18.32, Y:0.38, Z:0.21 [[ 9.98827399e-01 -3.47476239e-02 -3.37109803e-02 1.83196173e+01] [ 3.47196615e-02 9.99396090e-01 -1.41468319e-03 3.84767721e-01] [ 3.37397788e-02 2.42590510e-04 9.99430622e-01 2.05439928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.165099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:18.35, Y:0.39, Z:0.21 [[ 9.98998630e-01 -2.92116993e-02 -3.38882558e-02 1.83473807e+01] [ 2.91800756e-02 9.99573152e-01 -1.42747859e-03 3.85226676e-01] [ 3.39154898e-02 4.37187283e-04 9.99424609e-01 2.06083547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.195099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:18.37, Y:0.39, Z:0.21 [[ 9.99037677e-01 -2.66580130e-02 -3.48291665e-02 1.83721458e+01] [ 2.65608945e-02 9.99641920e-01 -3.24822650e-03 3.90331646e-01] [ 3.49032861e-02 2.32000684e-03 9.99388002e-01 2.09070715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.225099893 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:18.40, Y:0.39, Z:0.21 [[ 9.99109314e-01 -2.28991707e-02 -3.54429930e-02 1.84036812e+01] [ 2.29100415e-02 9.99737526e-01 -9.94391628e-05 3.87348234e-01] [ 3.54359672e-02 -7.12649846e-04 9.99371695e-01 2.08518298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.255099893 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:18.43, Y:0.39, Z:0.21 [[ 9.99110406e-01 -2.00683690e-02 -3.70898534e-02 1.84308081e+01] [ 2.00235036e-02 9.99798260e-01 -1.58074537e-03 3.87290467e-01] [ 3.71140938e-02 8.36670334e-04 9.99310684e-01 2.08989031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.285099892999998 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:18.46, Y:0.39, Z:0.21 [[ 9.99085724e-01 -1.91616866e-02 -3.82170967e-02 1.84574799e+01] [ 1.91131597e-02 9.99815990e-01 -1.63475627e-03 3.87095030e-01] [ 3.82413890e-02 9.02812178e-04 9.99268123e-01 2.08531016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.315099893 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:18.49, Y:0.39, Z:0.21 [[ 9.99104718e-01 -1.82073350e-02 -3.81871190e-02 1.84858158e+01] [ 1.81578510e-02 9.99833784e-01 -1.64228323e-03 3.87127961e-01] [ 3.82106733e-02 9.47416906e-04 9.99269256e-01 2.08826852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.345099893 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:18.51, Y:0.39, Z:0.21 [[ 9.99174141e-01 -1.86057743e-02 -3.61228541e-02 1.85123433e+01] [ 1.85614863e-02 9.99826502e-01 -1.56103836e-03 3.88762194e-01] [ 3.61456312e-02 8.89255302e-04 9.99346138e-01 2.11172406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.375099893 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:18.54, Y:0.39, Z:0.21 [[ 9.99140208e-01 -2.08216983e-02 -3.58511137e-02 1.85402568e+01] [ 2.07792592e-02 9.99782877e-01 -1.55599427e-03 3.90067401e-01] [ 3.58757280e-02 8.09696854e-04 9.99355931e-01 2.12425646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.405099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:18.57, Y:0.39, Z:0.22 [[ 9.99073742e-01 -2.53046056e-02 -3.48042371e-02 1.85670990e+01] [ 2.52670567e-02 9.99679584e-01 -1.51834215e-03 3.92470117e-01] [ 3.48315063e-02 6.37535142e-04 9.99392996e-01 2.15610018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.435099893 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:18.60, Y:0.39, Z:0.22 [[ 9.98982348e-01 -2.81047056e-02 -3.52759798e-02 1.85951792e+01] [ 2.80676441e-02 9.99604831e-01 -1.54548567e-03 3.93832385e-01] [ 3.53054752e-02 5.53799257e-04 9.99376414e-01 2.15470038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.465099893 meters Centerline goodness : 0.998296 Centerline is valid? [True, True] Translation: X:18.62, Y:0.40, Z:0.22 [[ 9.98770339e-01 -3.41103794e-02 -3.59762700e-02 1.86184105e+01] [ 3.41431614e-02 9.99416908e-01 2.97055130e-04 3.98340963e-01] [ 3.59451599e-02 -1.52503345e-03 9.99352600e-01 2.16922231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.495099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:18.65, Y:0.40, Z:0.22 [[ 9.98778058e-01 -3.40805960e-02 -3.57897084e-02 1.86513196e+01] [ 3.39570337e-02 9.99415068e-01 -4.05482219e-03 3.97593302e-01] [ 3.59069646e-02 2.83455509e-03 9.99351117e-01 2.16569085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.525099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:18.68, Y:0.40, Z:0.21 [[ 9.98526220e-01 -4.12874425e-02 -3.52240671e-02 1.86788659e+01] [ 4.12578064e-02 9.99147304e-01 -1.56811427e-03 3.96404917e-01] [ 3.52587751e-02 1.12535473e-04 9.99378210e-01 2.14322761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.555099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:18.71, Y:0.40, Z:0.22 [[ 9.98470568e-01 -4.33235741e-02 -3.43451967e-02 1.87073132e+01] [ 4.32962824e-02 9.99061092e-01 -1.53831065e-03 3.97663484e-01] [ 3.43795948e-02 4.89385783e-05 9.99408846e-01 2.15191541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.585099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:18.74, Y:0.40, Z:0.22 [[ 9.98352010e-01 -4.69578441e-02 -3.29882413e-02 1.87368329e+01] [ 4.69344668e-02 9.98896870e-01 -1.48307943e-03 4.01079919e-01] [ 3.30214932e-02 -6.76501905e-05 9.99454639e-01 2.17499931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.615099893 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:18.77, Y:0.40, Z:0.22 [[ 9.98286249e-01 -4.93341198e-02 -3.14755299e-02 1.87667399e+01] [ 4.93140121e-02 9.98782321e-01 -1.41527545e-03 4.03456169e-01] [ 3.15070242e-02 -1.39334641e-04 9.99503521e-01 2.20589569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.645099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:18.80, Y:0.40, Z:0.22 [[ 9.97993239e-01 -5.38621457e-02 -3.32921036e-02 1.87987028e+01] [ 5.38422093e-02 9.98548336e-01 -1.49570328e-03 4.04490503e-01] [ 3.33243365e-02 -2.99818645e-04 9.99444545e-01 2.20040271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.675099893 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:18.83, Y:0.40, Z:0.22 [[ 9.97837266e-01 -5.61720464e-02 -3.41392948e-02 1.88297662e+01] [ 5.61525128e-02 9.98421028e-01 -1.53144564e-03 4.04859737e-01] [ 3.41714142e-02 -3.88873658e-04 9.99415911e-01 2.19921283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.705099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:18.86, Y:0.41, Z:0.22 [[ 9.97569585e-01 -5.99671001e-02 -3.54805496e-02 1.88623403e+01] [ 5.99484793e-02 9.98200207e-01 -1.58938099e-03 4.05938892e-01] [ 3.55120025e-02 -5.41486853e-04 9.99369103e-01 2.20216466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.735099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:18.89, Y:0.41, Z:0.22 [[ 9.97389718e-01 -6.24590801e-02 -3.62300023e-02 1.88937678e+01] [ 6.24414287e-02 9.98047316e-01 -1.61960293e-03 4.10628307e-01] [ 3.62604155e-02 -6.46877795e-04 9.99342166e-01 2.21944975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.765099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:18.93, Y:0.41, Z:0.22 [[ 9.97455277e-01 -6.08849049e-02 -3.70944482e-02 1.89263164e+01] [ 6.08654542e-02 9.98144608e-01 -1.65445187e-03 4.13716799e-01] [ 3.71263546e-02 -6.07528693e-04 9.99310395e-01 2.21635748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.795099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:18.96, Y:0.42, Z:0.22 [[ 9.97680723e-01 -5.79670093e-02 -3.56791351e-02 1.89586858e+01] [ 5.79472395e-02 9.98318383e-01 -1.58880294e-03 4.16970462e-01] [ 3.57112346e-02 -4.82389321e-04 9.99362034e-01 2.22180949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.825099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:18.99, Y:0.42, Z:0.22 [[ 9.97795115e-01 -5.63909582e-02 -3.49995364e-02 1.89893169e+01] [ 5.63710452e-02 9.98408676e-01 -1.55626110e-03 4.19839509e-01] [ 3.50315998e-02 -4.20130722e-04 9.99386117e-01 2.23368071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.855099893 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:19.02, Y:0.43, Z:0.23 [[ 9.98185575e-01 -4.97614405e-02 -3.39021707e-02 1.90212790e+01] [ 4.97390021e-02 9.98761115e-01 -1.50543025e-03 4.27225222e-01] [ 3.39350821e-02 -1.83561379e-04 9.99424022e-01 2.25453351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.885099893 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:19.05, Y:0.43, Z:0.22 [[ 9.98258186e-01 -4.65508134e-02 -3.62438336e-02 1.90524302e+01] [ 4.65231427e-02 9.98915920e-01 -1.60690964e-03 4.29241399e-01] [ 3.62793453e-02 -8.20663347e-05 9.99341684e-01 2.24862229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.915099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:19.08, Y:0.43, Z:0.23 [[ 9.98036426e-01 -5.17521068e-02 -3.52847201e-02 1.90832971e+01] [ 5.17291713e-02 9.98659927e-01 -1.56322464e-03 4.28167592e-01] [ 3.53183362e-02 -2.65094200e-04 9.99376078e-01 2.27294654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.945099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:19.11, Y:0.43, Z:0.23 [[ 9.97990913e-01 -5.33628127e-02 -3.41547702e-02 1.91145551e+01] [ 5.33422807e-02 9.98575141e-01 -1.51272784e-03 4.27066485e-01] [ 3.41868279e-02 -3.12204702e-04 9.99415411e-01 2.27860916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.975099893 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:19.15, Y:0.43, Z:0.23 [[ 9.97954833e-01 -5.41552237e-02 -3.39611943e-02 1.91472164e+01] [ 5.41354381e-02 9.98532472e-01 -1.50251605e-03 4.27741956e-01] [ 3.39927244e-02 -3.39060978e-04 9.99422023e-01 2.28976821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.005099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:19.18, Y:0.43, Z:0.23 [[ 9.97970227e-01 -5.48438955e-02 -3.23662353e-02 1.91788511e+01] [ 5.48263535e-02 9.98494880e-01 -1.42989819e-03 4.28179100e-01] [ 3.23959414e-02 -3.47526841e-04 9.99475053e-01 2.30958428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.035099892999998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:19.21, Y:0.43, Z:0.23 [[ 9.97981351e-01 -5.53416653e-02 -3.11532097e-02 1.92114494e+01] [ 5.53257116e-02 9.98467414e-01 -1.37452933e-03 4.28387483e-01] [ 3.11815335e-02 -3.51818859e-04 9.99513676e-01 2.32568625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.065099893 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:19.24, Y:0.43, Z:0.23 [[ 9.97954082e-01 -5.54407591e-02 -3.18429345e-02 1.92439539e+01] [ 5.54242142e-02 9.98461912e-01 -1.40268270e-03 4.28219054e-01] [ 3.18717231e-02 -3.65056701e-04 9.99491901e-01 2.31997070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.095099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:19.28, Y:0.43, Z:0.23 [[ 9.97947490e-01 -5.55947066e-02 -3.17810630e-02 1.92757788e+01] [ 5.55783751e-02 9.98453349e-01 -1.39772120e-03 4.27918794e-01] [ 3.18096147e-02 -3.71487477e-04 9.99493877e-01 2.32411260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.125099892999998 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:19.31, Y:0.42, Z:0.23 [[ 9.98190606e-01 -5.13047175e-02 -3.13582559e-02 1.93085555e+01] [ 5.12867707e-02 9.98683018e-01 -1.37690941e-03 4.22850598e-01] [ 3.13875996e-02 -2.33845634e-04 9.99507261e-01 2.32140180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.155099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:19.34, Y:0.42, Z:0.23 [[ 9.98924614e-01 -3.61182685e-02 -2.90703520e-02 1.93401781e+01] [ 3.60964664e-02 9.99347497e-01 -1.27457811e-03 4.23827542e-01] [ 2.90974191e-02 2.23870461e-04 9.99576555e-01 2.34085575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.185099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:19.37, Y:0.42, Z:0.23 [[ 9.98983813e-01 -3.29473795e-02 -3.07540462e-02 1.93697789e+01] [ 3.29215096e-02 9.99457032e-01 -1.34729877e-03 4.21550097e-01] [ 3.07817377e-02 3.33460037e-04 9.99526074e-01 2.31736117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.215099893 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:19.40, Y:0.42, Z:0.23 [[ 9.98953904e-01 -3.38592596e-02 -3.07351357e-02 1.93980292e+01] [ 3.38337623e-02 9.99426563e-01 -1.34941735e-03 4.23570875e-01] [ 3.07632013e-02 3.08120458e-04 9.99526653e-01 2.33111580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.245099893 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:19.43, Y:0.42, Z:0.23 [[ 9.98944747e-01 -3.41286755e-02 -3.07347526e-02 1.94263783e+01] [ 3.41030387e-02 9.99417399e-01 -1.35809508e-03 4.24881243e-01] [ 3.07631965e-02 3.08513484e-04 9.99526653e-01 2.33734443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.275099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:19.45, Y:0.43, Z:0.23 [[ 9.98955022e-01 -3.41454908e-02 -3.03800790e-02 1.94538510e+01] [ 3.41202497e-02 9.99416824e-01 -1.34901463e-03 4.26016514e-01] [ 3.04084249e-02 3.11029060e-04 9.99537509e-01 2.34922938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.305099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:19.48, Y:0.43, Z:0.24 [[ 9.98918878e-01 -3.47694242e-02 -3.08571373e-02 1.94822808e+01] [ 3.47435515e-02 9.99395315e-01 -1.37440546e-03 4.26683861e-01] [ 3.08862658e-02 3.00833019e-04 9.99522860e-01 2.35864682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.335099893 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:19.51, Y:0.43, Z:0.24 [[ 9.98859874e-01 -3.57090224e-02 -3.16830816e-02 1.95109825e+01] [ 3.56819647e-02 9.99362188e-01 -1.41917755e-03 4.27098602e-01] [ 3.17135512e-02 2.87044910e-04 9.99496958e-01 2.35786792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.365099893 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:19.54, Y:0.43, Z:0.24 [[ 9.98850402e-01 -3.59733248e-02 -3.16827215e-02 1.95393324e+01] [ 3.59461464e-02 9.99352709e-01 -1.42717791e-03 4.28439952e-01] [ 3.17135539e-02 2.86665486e-04 9.99496958e-01 2.36409374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.395099893 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:19.57, Y:0.43, Z:0.23 [[ 9.98751351e-01 -3.71502818e-02 -3.34005162e-02 1.95683834e+01] [ 3.71204330e-02 9.99309653e-01 -1.51352739e-03 4.29270584e-01] [ 3.34336862e-02 2.71795903e-04 9.99440901e-01 2.34438990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.425099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:19.60, Y:0.43, Z:0.24 [[ 9.98692716e-01 -3.88990779e-02 -3.31620296e-02 1.95962745e+01] [ 3.88703310e-02 9.99243120e-01 -1.51135415e-03 4.30443397e-01] [ 3.31957202e-02 2.20359320e-04 9.99448846e-01 2.35047137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.455099893 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:19.62, Y:0.43, Z:0.24 [[ 9.98450142e-01 -4.36738736e-02 -3.44950369e-02 1.96248954e+01] [ 4.36452808e-02 9.99045838e-01 -1.58181956e-03 4.32552669e-01] [ 3.45312073e-02 7.38223954e-05 9.99403617e-01 2.35191771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.485099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:19.65, Y:0.43, Z:0.24 [[ 9.98375820e-01 -4.49234168e-02 -3.50372511e-02 1.96537937e+01] [ 4.48944663e-02 9.98990433e-01 -1.61296939e-03 4.33943156e-01] [ 3.50743388e-02 3.73709465e-05 9.99384705e-01 2.36858417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.515099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:19.68, Y:0.43, Z:0.24 [[ 9.98351654e-01 -4.56580802e-02 -3.47751979e-02 1.96830360e+01] [ 4.56299507e-02 9.98957126e-01 -1.60251829e-03 4.34813488e-01] [ 3.48120997e-02 1.30862193e-05 9.99393875e-01 2.37445986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.545099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:19.71, Y:0.44, Z:0.24 [[ 9.98332378e-01 -4.55394261e-02 -3.54770981e-02 1.97129542e+01] [ 4.55100293e-02 9.98962542e-01 -1.63612710e-03 4.35384412e-01] [ 3.55148004e-02 1.88348771e-05 9.99369150e-01 2.37460751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.575099893 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:19.74, Y:0.44, Z:0.24 [[ 9.98309731e-01 -4.52032441e-02 -3.65287229e-02 1.97427094e+01] [ 4.51718048e-02 9.98977810e-01 -1.68594526e-03 4.36143567e-01] [ 3.65675939e-02 3.30272107e-05 9.99331181e-01 2.38218584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.605099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:19.77, Y:0.44, Z:0.24 [[ 9.98321058e-01 -4.41110574e-02 -3.75403774e-02 1.97710415e+01] [ 4.40770182e-02 9.99026631e-01 -1.73428126e-03 4.37494027e-01] [ 3.75803377e-02 7.67016047e-05 9.99293607e-01 2.37564245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.635099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:19.80, Y:0.44, Z:0.24 [[ 9.98373335e-01 -4.29577539e-02 -3.74875449e-02 1.97993747e+01] [ 4.29228055e-02 9.99076882e-01 -1.73695941e-03 4.39687358e-01] [ 3.75275554e-02 1.25063358e-04 9.99295585e-01 2.38874172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.665099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:19.83, Y:0.45, Z:0.24 [[ 9.98775479e-01 -3.66435490e-02 -3.32384342e-02 1.98273073e+01] [ 3.66123223e-02 9.99328345e-01 -1.54783227e-03 4.46128824e-01] [ 3.32728276e-02 3.29000648e-04 9.99446252e-01 2.44936168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.695099893 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:19.85, Y:0.45, Z:0.24 [[ 9.98893778e-01 -3.33100214e-02 -3.31912985e-02 1.98547410e+01] [ 3.32768281e-02 9.99444968e-01 -1.55211551e-03 4.48419461e-01] [ 3.32245773e-02 4.45897388e-04 9.99447812e-01 2.44146734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.725099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:19.88, Y:0.45, Z:0.24 [[ 9.98933202e-01 -3.33375336e-02 -3.19541205e-02 1.98822457e+01] [ 3.33066299e-02 9.99444056e-01 -1.49906810e-03 4.50406080e-01] [ 3.19863310e-02 4.33184833e-04 9.99488213e-01 2.44739586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.755099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:19.91, Y:0.45, Z:0.25 [[ 9.98778316e-01 -3.79861755e-02 -3.16057784e-02 1.99102282e+01] [ 3.79580416e-02 9.99278223e-01 -1.48988664e-03 4.54332719e-01] [ 3.16395612e-02 2.88373022e-04 9.99499302e-01 2.46682659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.785099892999998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:19.94, Y:0.46, Z:0.25 [[ 9.98691448e-01 -4.02891241e-02 -3.14988733e-02 1.99389511e+01] [ 4.02622430e-02 9.99188040e-01 -1.48745623e-03 4.56153729e-01] [ 3.15332258e-02 2.17294525e-04 9.99502681e-01 2.47827900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.815099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:19.97, Y:0.46, Z:0.25 [[ 9.98572145e-01 -4.22340804e-02 -3.27101496e-02 1.99696527e+01] [ 4.22060843e-02 9.99107730e-01 -1.54618872e-03 4.57353835e-01] [ 3.27462652e-02 1.63413656e-04 9.99463684e-01 2.46878283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.845099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:20.00, Y:0.46, Z:0.25 [[ 9.98427027e-01 -4.47651171e-02 -3.37573155e-02 2.00003406e+01] [ 4.47367453e-02 9.98997536e-01 -1.59568761e-03 4.58595344e-01] [ 3.37949061e-02 8.29852102e-05 9.99428786e-01 2.46460449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.875099892999998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:20.03, Y:0.46, Z:0.25 [[ 9.98427834e-01 -4.47471131e-02 -3.37573256e-02 2.00313060e+01] [ 4.47187383e-02 9.98998343e-01 -1.59547265e-03 4.60061969e-01] [ 3.37949051e-02 8.33792971e-05 9.99428786e-01 2.47138328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.905099893 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:20.06, Y:0.46, Z:0.25 [[ 9.98137247e-01 -4.99967275e-02 -3.49623182e-02 2.00611929e+01] [ 4.99695313e-02 9.98749377e-01 -1.65178009e-03 4.62336945e-01] [ 3.50011771e-02 -9.83474191e-05 9.99387266e-01 2.47366094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.935099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:20.09, Y:0.47, Z:0.25 [[ 9.97866392e-01 -5.63500953e-02 -3.29746995e-02 2.00925647e+01] [ 5.63293961e-02 9.98411025e-01 -1.55710914e-03 4.65402770e-01] [ 3.30100468e-02 -3.03658029e-04 9.99454974e-01 2.50158987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.965099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:20.12, Y:0.47, Z:0.25 [[ 9.97692606e-01 -5.98016753e-02 -3.21437990e-02 2.01246966e+01] [ 5.97838450e-02 9.98210195e-01 -1.51636831e-03 4.66712198e-01] [ 3.21769492e-02 -4.08810442e-04 9.99482104e-01 2.51065526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.995099893 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:20.16, Y:0.47, Z:0.25 [[ 9.97513274e-01 -6.28224139e-02 -3.19470332e-02 2.01571026e+01] [ 6.28064288e-02 9.98024593e-01 -1.50460592e-03 4.67531009e-01] [ 3.19784478e-02 -5.05614684e-04 9.99488431e-01 2.51610134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.025099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:20.19, Y:0.47, Z:0.25 [[ 9.97200388e-01 -6.78008947e-02 -3.15344932e-02 2.01892155e+01] [ 6.77878953e-02 9.97698654e-01 -1.48237257e-03 4.69279300e-01] [ 3.15624276e-02 -6.59434422e-04 9.99501565e-01 2.52202280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.055099893 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:20.22, Y:0.47, Z:0.25 [[ 9.96945626e-01 -7.14255235e-02 -3.15881993e-02 2.02220309e+01] [ 7.14143915e-02 9.97445632e-01 -1.48192139e-03 4.72441934e-01] [ 3.16133584e-02 -7.78456982e-04 9.99499870e-01 2.52167597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.085099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:20.26, Y:0.47, Z:0.25 [[ 9.96782017e-01 -7.36058516e-02 -3.17457061e-02 2.02553867e+01] [ 7.35958208e-02 9.97287044e-01 -1.48591780e-03 4.74942125e-01] [ 3.17689536e-02 -8.55215157e-04 9.99494874e-01 2.52736637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.115099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:20.29, Y:0.48, Z:0.25 [[ 9.96517462e-01 -7.73090580e-02 -3.12451348e-02 2.02869052e+01] [ 7.73012578e-02 9.97006713e-01 -1.45931693e-03 4.77877009e-01] [ 3.12644276e-02 -9.61053421e-04 9.99510686e-01 2.53424844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.145099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:20.32, Y:0.48, Z:0.25 [[ 9.96235514e-01 -8.06438048e-02 -3.18021496e-02 2.03196813e+01] [ 8.06375188e-02 9.96742391e-01 -1.48225107e-03 4.79860301e-01] [ 3.18180850e-02 -1.08777529e-03 9.99493085e-01 2.53281192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.175099893 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:20.35, Y:0.48, Z:0.26 [[ 9.96069069e-01 -8.25439685e-02 -3.21388032e-02 2.03526435e+01] [ 8.25386497e-02 9.96586744e-01 -1.49441980e-03 4.82002452e-01] [ 3.21524606e-02 -1.16414808e-03 9.99482298e-01 2.55523677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.205099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:20.39, Y:0.49, Z:0.26 [[ 9.96039789e-01 -8.18862724e-02 -3.46320182e-02 2.03855974e+01] [ 8.18798372e-02 9.96640914e-01 -1.60641943e-03 4.86419479e-01] [ 3.46472300e-02 -1.23560634e-03 9.99398841e-01 2.55108074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.235099893 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:20.42, Y:0.49, Z:0.26 [[ 9.96308336e-01 -7.82536708e-02 -3.52996093e-02 2.04178216e+01] [ 7.82448354e-02 9.96932834e-01 -1.63378594e-03 4.90364100e-01] [ 3.53191893e-02 -1.13425757e-03 9.99375439e-01 2.55121666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.265099893 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:20.45, Y:0.49, Z:0.25 [[ 9.96565162e-01 -7.46178481e-02 -3.59173300e-02 2.04505563e+01] [ 7.46064684e-02 9.97211674e-01 -1.65886428e-03 4.90261837e-01] [ 3.59409617e-02 -1.02649880e-03 9.99353388e-01 2.53321324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.295099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:20.48, Y:0.49, Z:0.25 [[ 9.96811185e-01 -7.18807732e-02 -3.46499013e-02 2.04834747e+01] [ 7.18686574e-02 9.97412827e-01 -1.59664633e-03 4.90028211e-01] [ 3.46750242e-02 -8.98686962e-04 9.99398236e-01 2.53406760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.325099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:20.52, Y:0.49, Z:0.26 [[ 9.97019121e-01 -6.98876270e-02 -3.26893137e-02 2.05160801e+01] [ 6.98758840e-02 9.97554561e-01 -1.50289418e-03 4.92435820e-01] [ 3.27144076e-02 -7.85780450e-04 9.99464432e-01 2.55663758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.355099893 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:20.55, Y:0.50, Z:0.26 [[ 9.97288753e-01 -6.72348675e-02 -2.99101279e-02 2.05483764e+01] [ 6.72239348e-02 9.97736969e-01 -1.37207191e-03 4.97823459e-01] [ 2.99346914e-02 -6.42324599e-04 9.99551650e-01 2.62031795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.385099893 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:20.58, Y:0.50, Z:0.26 [[ 9.97421401e-01 -6.51537785e-02 -3.00920894e-02 2.05805921e+01] [ 6.51418845e-02 9.97875062e-01 -1.37647692e-03 5.01271861e-01] [ 3.01178283e-02 -5.87327875e-04 9.99546183e-01 2.62366790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.415099893 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:20.61, Y:0.50, Z:0.26 [[ 9.97618981e-01 -6.16302274e-02 -3.09529135e-02 2.06134999e+01] [ 6.16161055e-02 9.98098926e-01 -1.41076475e-03 5.03729956e-01] [ 3.09810154e-02 -4.99792289e-04 9.99519848e-01 2.63250857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.445099893 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:20.65, Y:0.50, Z:0.26 [[ 9.97771156e-01 -5.87035581e-02 -3.17271552e-02 2.06451450e+01] [ 5.86873471e-02 9.98275370e-01 -1.44273877e-03 5.03418718e-01] [ 3.17571315e-02 -4.22459442e-04 9.99495526e-01 2.62134724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.475099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:20.68, Y:0.50, Z:0.26 [[ 9.97893858e-01 -5.64812037e-02 -3.19017444e-02 2.06771300e+01] [ 5.64637644e-02 9.98403599e-01 -1.44798862e-03 5.03439337e-01] [ 3.19326005e-02 -3.56353629e-04 9.99489961e-01 2.60729207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.505099893 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:20.71, Y:0.51, Z:0.26 [[ 9.98007417e-01 -5.41765447e-02 -3.23434389e-02 2.07086840e+01] [ 5.41574782e-02 9.98531331e-01 -1.46590487e-03 5.05089974e-01] [ 3.23753547e-02 -2.88655147e-04 9.99475739e-01 2.62402211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.535099892999998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:20.74, Y:0.51, Z:0.26 [[ 9.98105605e-01 -5.21763535e-02 -3.26010521e-02 2.07403377e+01] [ 5.21559787e-02 9.98637860e-01 -1.47563884e-03 5.07819245e-01] [ 3.26336383e-02 -2.27496375e-04 9.99467355e-01 2.64396100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.565099893 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:20.77, Y:0.51, Z:0.27 [[ 9.98468989e-01 -4.39707920e-02 -3.35596075e-02 2.07727125e+01] [ 4.39446488e-02 9.99032816e-01 -1.51655837e-03 5.12973180e-01] [ 3.35938335e-02 3.94713392e-05 9.99435567e-01 2.66785501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.595099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:20.80, Y:0.51, Z:0.27 [[ 9.98563286e-01 -4.20215655e-02 -3.32498463e-02 2.08032700e+01] [ 4.19948814e-02 9.99116699e-01 -1.50079092e-03 5.13943331e-01] [ 3.32835423e-02 1.02311360e-04 9.99445944e-01 2.67951427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.625099892999998 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:20.83, Y:0.51, Z:0.26 [[ 9.98692836e-01 -3.88139998e-02 -3.32579779e-02 2.08337254e+01] [ 3.87855374e-02 9.99246431e-01 -1.50076766e-03 5.11066367e-01] [ 3.32911665e-02 2.08877371e-04 9.99445674e-01 2.64461671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.655099893 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:20.86, Y:0.51, Z:0.26 [[ 9.98858274e-01 -3.61392205e-02 -3.12426864e-02 2.08626472e+01] [ 3.61127798e-02 9.99346726e-01 -1.41033663e-03 5.09035958e-01] [ 3.12732448e-02 2.80466160e-04 9.99510833e-01 2.63744160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.685099893 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:20.89, Y:0.51, Z:0.27 [[ 9.99049513e-01 -3.28632767e-02 -2.86369547e-02 2.08919850e+01] [ 3.28396803e-02 9.99459795e-01 -1.29403202e-03 5.12568310e-01] [ 2.86640110e-02 3.52373618e-04 9.99589041e-01 2.68096137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.715099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:20.92, Y:0.52, Z:0.27 [[ 9.99174312e-01 -2.93093065e-02 -2.81364359e-02 2.09210859e+01] [ 2.92850918e-02 9.99570290e-01 -1.27239019e-03 5.15349261e-01] [ 2.81616383e-02 4.47361480e-04 9.99603282e-01 2.70601813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.745099893 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:20.95, Y:0.51, Z:0.27 [[ 9.99157188e-01 -2.77026972e-02 -3.02898518e-02 2.09486011e+01] [ 2.76738469e-02 9.99616065e-01 -1.37135360e-03 5.12727342e-01] [ 3.03162127e-02 5.31961085e-04 9.99540216e-01 2.68261548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.775099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:20.98, Y:0.51, Z:0.27 [[ 9.99110064e-01 -3.00641367e-02 -2.95842626e-02 2.09763468e+01] [ 3.00375293e-02 9.99547869e-01 -1.34348408e-03 5.07993369e-01] [ 2.96112773e-02 4.53650307e-04 9.99561387e-01 2.67350332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.805099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:21.00, Y:0.51, Z:0.27 [[ 9.99089863e-01 -3.19688880e-02 -2.82389202e-02 2.10046148e+01] [ 3.19451876e-02 9.99488790e-01 -1.29013729e-03 5.09191209e-01] [ 2.82657284e-02 3.86865490e-04 9.99600370e-01 2.68701998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.835099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:21.03, Y:0.51, Z:0.27 [[ 9.99058168e-01 -3.40556363e-02 -2.68884833e-02 2.10339452e+01] [ 3.40347391e-02 9.99419888e-01 -1.23458598e-03 5.10228599e-01] [ 2.69149296e-02 3.18280698e-04 9.99637677e-01 2.71363280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.865099893 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:21.06, Y:0.51, Z:0.27 [[ 9.98978788e-01 -3.54331653e-02 -2.80334110e-02 2.10646464e+01] [ 3.54109694e-02 9.99372005e-01 -1.28796847e-03 5.07597456e-01] [ 2.80614430e-02 2.93962924e-04 9.99606157e-01 2.69709065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.895099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:21.09, Y:0.50, Z:0.27 [[ 9.98895433e-01 -3.66990585e-02 -2.93443720e-02 2.10943457e+01] [ 3.66752796e-02 9.99326326e-01 -1.34833533e-03 5.04862567e-01] [ 2.93740861e-02 2.70632963e-04 9.99568452e-01 2.69354540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.925099893 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:21.12, Y:0.51, Z:0.27 [[ 9.98793147e-01 -3.96981812e-02 -2.89189168e-02 2.11235514e+01] [ 3.96763248e-02 9.99211700e-01 -1.32943597e-03 5.07265271e-01] [ 2.89488963e-02 1.80435203e-04 9.99580877e-01 2.72239002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.955099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:21.15, Y:0.51, Z:0.28 [[ 9.98764382e-01 -4.11155591e-02 -2.79145101e-02 2.11540052e+01] [ 4.10957298e-02 9.99154389e-01 -1.28392512e-03 5.08389606e-01] [ 2.79436946e-02 1.35171513e-04 9.99609490e-01 2.75296489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.985099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:21.19, Y:0.51, Z:0.27 [[ 9.98606144e-01 -4.40351682e-02 -2.90976323e-02 2.11850995e+01] [ 4.40148806e-02 9.99029980e-01 -1.33766906e-03 5.05611856e-01] [ 2.91283114e-02 5.50757304e-05 9.99575679e-01 2.72882144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.015099893 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:21.22, Y:0.50, Z:0.27 [[ 9.98417888e-01 -4.68424825e-02 -3.11047103e-02 2.12157409e+01] [ 4.68207037e-02 9.98902288e-01 -1.42855697e-03 5.00861909e-01] [ 3.11374834e-02 -3.00475858e-05 9.99515111e-01 2.70036862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.045099893 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:21.25, Y:0.50, Z:0.27 [[ 9.98292360e-01 -4.90591918e-02 -3.17105697e-02 2.12466776e+01] [ 4.90377268e-02 9.98795868e-01 -1.45472112e-03 5.01164274e-01] [ 3.17437534e-02 -1.02777274e-04 9.99496035e-01 2.70928207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.075099893 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:21.28, Y:0.50, Z:0.27 [[ 9.98236584e-01 -5.02102680e-02 -3.16646710e-02 2.12774050e+01] [ 5.01894797e-02 9.98738659e-01 -1.45149030e-03 5.03892931e-01] [ 3.16976108e-02 -1.40302646e-04 9.99497495e-01 2.73853605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.105099893 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:21.31, Y:0.50, Z:0.27 [[ 9.98262398e-01 -4.92487546e-02 -3.23534449e-02 2.13086736e+01] [ 4.92266137e-02 9.98786537e-01 -1.48100654e-03 5.01981678e-01] [ 3.23871229e-02 -1.14217389e-04 9.99475393e-01 2.72990853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.135099893 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:21.34, Y:0.51, Z:0.28 [[ 9.98286676e-01 -5.05622124e-02 -2.94478335e-02 2.13367889e+01] [ 5.03937648e-02 9.98708696e-01 -6.43501480e-03 5.08010881e-01] [ 2.97351760e-02 4.94000234e-03 9.99545605e-01 2.77823714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.165099893 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:21.37, Y:0.50, Z:0.27 [[ 9.98428986e-01 -4.67392949e-02 -3.09030571e-02 2.13700597e+01] [ 4.68637522e-02 9.98895790e-01 3.31500159e-03 5.02338658e-01] [ 3.07139928e-02 -4.75802689e-03 9.99516889e-01 2.74383555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.195099893 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:21.40, Y:0.51, Z:0.28 [[ 9.98595933e-01 -4.37662257e-02 -2.98442758e-02 2.14002860e+01] [ 4.37450624e-02 9.99041798e-01 -1.36198196e-03 5.09395131e-01] [ 2.98752878e-02 5.45299421e-05 9.99553632e-01 2.79933373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.225099893 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:21.43, Y:0.51, Z:0.28 [[ 9.98772046e-01 -3.84432848e-02 -3.12492204e-02 2.14311091e+01] [ 3.84175202e-02 9.99260759e-01 -1.42469860e-03 5.11161190e-01] [ 3.12808898e-02 2.22431578e-04 9.99510608e-01 2.81236334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.255099893 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:21.46, Y:0.51, Z:0.28 [[ 9.98843085e-01 -3.53363564e-02 -3.26164701e-02 2.14607843e+01] [ 3.53066181e-02 9.99375420e-01 -1.48742801e-03 5.09983603e-01] [ 3.26486588e-02 3.34129929e-04 9.99466835e-01 2.79260134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.285099892999998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:21.49, Y:0.51, Z:0.28 [[ 9.98894044e-01 -3.41693925e-02 -3.22977031e-02 2.14884405e+01] [ 3.41395668e-02 9.99415987e-01 -1.47463145e-03 5.11399359e-01] [ 3.23292281e-02 3.70370977e-04 9.99477205e-01 2.81066829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.315099893 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:21.52, Y:0.52, Z:0.28 [[ 9.99105173e-01 -2.79483725e-02 -3.17449613e-02 2.15161186e+01] [ 2.79163298e-02 9.99609208e-01 -1.45223214e-03 5.17210236e-01] [ 3.17731432e-02 5.64729833e-04 9.99494947e-01 2.83748853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.345099893 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:21.54, Y:0.52, Z:0.28 [[ 9.99131990e-01 -2.66879541e-02 -3.19846834e-02 2.15438168e+01] [ 2.66546234e-02 9.99643624e-01 -1.46808608e-03 5.17681579e-01] [ 3.20124651e-02 6.14272073e-04 9.99487281e-01 2.83680372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.375099892999998 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:21.57, Y:0.52, Z:0.28 [[ 9.99142923e-01 -2.49670670e-02 -3.30161356e-02 2.15705640e+01] [ 2.49303523e-02 9.99688030e-01 -1.52328392e-03 5.16498852e-01] [ 3.30438675e-02 6.98874457e-04 9.99453658e-01 2.81032239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.405099893 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:21.60, Y:0.52, Z:0.28 [[ 9.99217783e-01 -2.66219514e-02 -2.92419774e-02 2.15984763e+01] [ 2.65937298e-02 9.99645408e-01 -1.35366203e-03 5.20504012e-01] [ 2.92676456e-02 5.74949931e-04 9.99571445e-01 2.84385493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.435099893 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:21.63, Y:0.52, Z:0.28 [[ 9.99077736e-01 -3.08051910e-02 -2.99118413e-02 2.16267711e+01] [ 3.07772735e-02 9.99525296e-01 -1.39339266e-03 5.21725448e-01] [ 2.99405657e-02 4.71502664e-04 9.99551570e-01 2.84669763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.465099893 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:21.65, Y:0.52, Z:0.28 [[ 9.98973235e-01 -3.39544525e-02 -2.99928382e-02 2.16533111e+01] [ 3.39275607e-02 9.99423307e-01 -1.40520606e-03 5.21750015e-01] [ 3.00232546e-02 3.86179400e-04 9.99549126e-01 2.84614640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.495099893 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:21.68, Y:0.52, Z:0.28 [[ 9.98707978e-01 -4.09068268e-02 -3.01497172e-02 2.16807979e+01] [ 4.08826632e-02 9.99162949e-01 -1.41771669e-03 5.20578955e-01] [ 3.01824746e-02 1.83284232e-04 9.99544389e-01 2.83564151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.525099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:21.71, Y:0.52, Z:0.28 [[ 9.98334063e-01 -4.88633734e-02 -3.06833605e-02 2.17111523e+01] [ 4.88420410e-02 9.98805470e-01 -1.44480098e-03 5.22092202e-01] [ 3.07173062e-02 -5.62439230e-05 9.99528111e-01 2.84639454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.555099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:21.74, Y:0.52, Z:0.28 [[ 9.97584196e-01 -6.13407975e-02 -3.26048730e-02 2.17421231e+01] [ 6.13233853e-02 9.98116770e-01 -1.53469705e-03 5.22362637e-01] [ 3.26376101e-02 -4.68451664e-04 9.99467142e-01 2.84130382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.585099893 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:21.77, Y:0.52, Z:0.28 [[ 9.97368064e-01 -6.46241548e-02 -3.28734413e-02 2.17747015e+01] [ 6.46083022e-02 9.97909505e-01 -1.54535109e-03 5.22506372e-01] [ 3.29045866e-02 -5.82613407e-04 9.99458328e-01 2.83767096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.615099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:21.81, Y:0.52, Z:0.29 [[ 9.96948427e-01 -7.13166964e-02 -3.17452678e-02 2.18067648e+01] [ 7.13053730e-02 9.97453419e-01 -1.49008515e-03 5.24056069e-01] [ 3.17706939e-02 -7.78070118e-04 9.99494881e-01 2.85303752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.645099893 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:21.84, Y:0.53, Z:0.29 [[ 9.96563927e-01 -7.69067073e-02 -3.07522053e-02 2.18400752e+01] [ 7.68988152e-02 9.97037861e-01 -1.44098883e-03 5.28970970e-01] [ 3.07719347e-02 -9.28770665e-04 9.99526000e-01 2.87541503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.675099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:21.87, Y:0.53, Z:0.29 [[ 9.96370426e-01 -7.93924875e-02 -3.07051631e-02 2.18717284e+01] [ 7.93858950e-02 9.96842926e-01 -1.43563724e-03 5.31423880e-01] [ 3.07222034e-02 -1.00713036e-03 9.99527454e-01 2.87870736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.705099893 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:21.90, Y:0.53, Z:0.29 [[ 9.96153307e-01 -8.18289326e-02 -3.13466719e-02 2.19043535e+01] [ 8.18233615e-02 9.96645774e-01 -1.46259844e-03 5.33286493e-01] [ 3.13612109e-02 -1.10791780e-03 9.99507502e-01 2.86979039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.735099893 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:21.93, Y:0.54, Z:0.29 [[ 9.95899467e-01 -8.44332385e-02 -3.24850841e-02 2.19330423e+01] [ 8.43370701e-02 9.96427911e-01 -4.32174781e-03 5.39378757e-01] [ 3.27339437e-02 1.56432953e-03 9.99462877e-01 2.86610917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.765099893 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:21.97, Y:0.54, Z:0.29 [[ 9.95964184e-01 -8.35599867e-02 -3.27577971e-02 2.19688359e+01] [ 8.36365388e-02 9.96495853e-01 9.71274302e-04 5.37354719e-01] [ 3.25618493e-02 -3.70710319e-03 9.99462847e-01 2.86876311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.795099893 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:22.00, Y:0.54, Z:0.29 [[ 9.95978824e-01 -8.34301235e-02 -3.26434800e-02 2.20022998e+01] [ 8.34255150e-02 9.96512878e-01 -1.50554658e-03 5.39984344e-01] [ 3.26552561e-02 -1.22380661e-03 9.99465926e-01 2.88510526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.825099893 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:22.04, Y:0.54, Z:0.29 [[ 9.95994164e-01 -8.32466782e-02 -3.26437572e-02 2.20358369e+01] [ 8.32421686e-02 9.96528220e-01 -1.49951565e-03 5.41449150e-01] [ 3.26552549e-02 -1.22382830e-03 9.99465926e-01 2.89244916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.855099893 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:22.07, Y:0.54, Z:0.29 [[ 9.95938853e-01 -8.41682296e-02 -3.19610628e-02 2.20676657e+01] [ 8.41645644e-02 9.96450795e-01 -1.46239125e-03 5.44785481e-01] [ 3.19707133e-02 -1.23353666e-03 9.99488045e-01 2.92509035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.885099893 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:22.10, Y:0.55, Z:0.29 [[ 9.95915496e-01 -8.40556510e-02 -3.29692525e-02 2.20998384e+01] [ 8.40518564e-02 9.96460248e-01 -1.50347519e-03 5.52420813e-01] [ 3.29789251e-02 -1.27379264e-03 9.99455236e-01 2.92850403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.915099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:22.13, Y:0.56, Z:0.29 [[ 9.96423868e-01 -7.72379720e-02 -3.42603401e-02 2.21324348e+01] [ 7.72299646e-02 9.97012087e-01 -1.55899280e-03 5.56004096e-01] [ 3.42783866e-02 -1.09250721e-03 9.99411726e-01 2.90486152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.945099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:22.16, Y:0.56, Z:0.29 [[ 9.96751194e-01 -7.27131958e-02 -3.46388266e-02 2.21649883e+01] [ 7.27024119e-02 9.97352439e-01 -1.57243568e-03 5.58078696e-01] [ 3.46614551e-02 -9.50999102e-04 9.99398659e-01 2.88321492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.975099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:22.20, Y:0.56, Z:0.29 [[ 9.96987900e-01 -7.00706401e-02 -3.32450287e-02 2.21977107e+01] [ 7.00593555e-02 9.97541688e-01 -1.50563485e-03 5.63794989e-01] [ 3.32688029e-02 -8.28025554e-04 9.99446097e-01 2.91300888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.005099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:22.23, Y:0.57, Z:0.29 [[ 9.97082526e-01 -6.90948748e-02 -3.24396934e-02 2.22301646e+01] [ 6.90837268e-02 9.97609789e-01 -1.46569022e-03 5.68105167e-01] [ 3.24634274e-02 -7.79640809e-04 9.99472620e-01 2.93715127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.035099892999998 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:22.26, Y:0.57, Z:0.29 [[ 9.97091299e-01 -6.89680909e-02 -3.24398613e-02 2.22636817e+01] [ 6.89569970e-02 9.97618562e-01 -1.46196599e-03 5.69533673e-01] [ 3.24634368e-02 -7.79241848e-04 9.99472620e-01 2.94449606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.065099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:22.30, Y:0.57, Z:0.30 [[ 9.97311567e-01 -6.59824603e-02 -3.18740351e-02 2.22959248e+01] [ 6.59703423e-02 9.97820555e-01 -1.43282297e-03 5.74271723e-01] [ 3.18991086e-02 -6.73770081e-04 9.99490867e-01 2.97448154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.095099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:22.33, Y:0.57, Z:0.30 [[ 9.97693821e-01 -5.98885407e-02 -3.19437432e-02 2.23286997e+01] [ 5.98733448e-02 9.98204954e-01 -1.43289184e-03 5.74528536e-01] [ 3.19722165e-02 -4.82991411e-04 9.99488641e-01 2.95792407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.125099892999998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:22.36, Y:0.58, Z:0.30 [[ 9.98025975e-01 -5.42536210e-02 -3.16337999e-02 2.23606991e+01] [ 5.42359839e-02 9.98527142e-01 -1.41596700e-03 5.76708922e-01] [ 3.16640292e-02 -3.02518418e-04 9.99498523e-01 2.97649745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.155099893 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:22.39, Y:0.58, Z:0.30 [[ 9.98170374e-01 -5.14764756e-02 -3.17187001e-02 2.23932597e+01] [ 5.14574139e-02 9.98674184e-01 -1.41749647e-03 5.78782094e-01] [ 3.17496147e-02 -2.17259300e-04 9.99495830e-01 2.98177628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.185099893 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:22.43, Y:0.58, Z:0.30 [[ 9.98245764e-01 -5.00629562e-02 -3.16084770e-02 2.24253162e+01] [ 5.00433901e-02 9.98746049e-01 -1.41030355e-03 5.79843591e-01] [ 3.16394455e-02 -1.73965805e-04 9.99499332e-01 2.99481276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.215099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:22.46, Y:0.58, Z:0.30 [[ 9.98247877e-01 -4.96045301e-02 -3.22578259e-02 2.24562485e+01] [ 4.95839827e-02 9.98768924e-01 -1.43709921e-03 5.81374417e-01] [ 3.22894007e-02 -1.64890251e-04 9.99478548e-01 3.00136384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.245099893 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:22.49, Y:0.58, Z:0.30 [[ 9.98277708e-01 -4.90840055e-02 -3.21306379e-02 2.24878207e+01] [ 4.90634056e-02 9.98794643e-01 -1.42971255e-03 5.83139544e-01] [ 3.21620850e-02 -1.49188349e-04 9.99482655e-01 3.01017883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.275099893 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:22.52, Y:0.59, Z:0.30 [[ 9.98475956e-01 -4.50531368e-02 -3.18744391e-02 2.25197392e+01] [ 4.50308704e-02 9.98984592e-01 -1.41643393e-03 5.85256878e-01] [ 3.19058884e-02 -2.10585160e-05 9.99490877e-01 3.01887496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.305099893 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:22.55, Y:0.59, Z:0.30 [[ 9.98801234e-01 -3.82488652e-02 -3.05469970e-02 2.25501387e+01] [ 3.82252842e-02 9.99268227e-01 -1.35576951e-03 5.85039749e-01] [ 3.05765002e-02 1.86476616e-04 9.99532412e-01 3.02480504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.335099893 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:22.58, Y:0.59, Z:0.30 [[ 9.99039369e-01 -3.29211379e-02 -2.89229804e-02 2.25804598e+01] [ 3.28977765e-02 9.99457898e-01 -1.28331945e-03 5.85411422e-01] [ 2.89495495e-02 3.30584910e-04 9.99580819e-01 3.02931448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.365099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:22.61, Y:0.59, Z:0.30 [[ 9.99144098e-01 -3.02404299e-02 -2.82238913e-02 2.26093718e+01] [ 3.02171036e-02 9.99542574e-01 -1.25271334e-03 5.86384515e-01] [ 2.82488636e-02 3.98796892e-04 9.99600842e-01 3.02885755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.395099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:22.64, Y:0.59, Z:0.30 [[ 9.99208588e-01 -2.82388689e-02 -2.80136336e-02 2.26381273e+01] [ 2.82150205e-02 9.99601100e-01 -1.24630822e-03 5.87653890e-01] [ 2.80376533e-02 4.54916629e-04 9.99606764e-01 3.03897535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.425099893 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:22.67, Y:0.59, Z:0.30 [[ 9.99235066e-01 -2.61202265e-02 -2.91035407e-02 2.26662235e+01] [ 2.60934055e-02 9.99658662e-01 -1.30104076e-03 5.88722442e-01] [ 2.91275900e-02 5.40635058e-04 9.99575556e-01 3.03515726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.455099893 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:22.69, Y:0.59, Z:0.30 [[ 9.99227068e-01 -2.52447832e-02 -3.01324862e-02 2.26942561e+01] [ 2.52155039e-02 9.99681125e-01 -1.35134101e-03 5.90305875e-01] [ 3.01569920e-02 5.90490695e-04 9.99545000e-01 3.04532346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.485099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:22.72, Y:0.59, Z:0.31 [[ 9.99215154e-01 -2.45594168e-02 -3.10790944e-02 2.27209381e+01] [ 2.45277037e-02 9.99698169e-01 -1.40128916e-03 5.91727468e-01] [ 3.11041286e-02 6.37890544e-04 9.99515946e-01 3.05388027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.515099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:22.75, Y:0.59, Z:0.31 [[ 9.99167754e-01 -2.33423214e-02 -3.34504876e-02 2.27488135e+01] [ 2.33046942e-02 9.99727262e-01 -1.51436082e-03 5.91305993e-01] [ 3.34767130e-02 7.33547115e-04 9.99439229e-01 3.06222229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.545099893 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:22.78, Y:0.59, Z:0.31 [[ 9.99230473e-01 -2.18095996e-02 -3.26006483e-02 2.27758255e+01] [ 2.17728059e-02 9.99761844e-01 -1.48323367e-03 5.89524185e-01] [ 3.26252330e-02 7.72284692e-04 9.99467357e-01 3.06228270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.575099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:22.80, Y:0.59, Z:0.31 [[ 9.99376868e-01 -1.87651584e-02 -2.98955513e-02 2.28039386e+01] [ 1.87327156e-02 9.99823596e-01 -1.36493583e-03 5.86868511e-01] [ 2.99158909e-02 8.04060433e-04 9.99552096e-01 3.07893767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.605099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:22.83, Y:0.59, Z:0.31 [[ 9.99456846e-01 -1.68484447e-02 -2.83221178e-02 2.28312700e+01] [ 1.68183663e-02 9.99857716e-01 -1.29990593e-03 5.85775060e-01] [ 2.83399895e-02 8.22868125e-04 9.99598003e-01 3.08630444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.635099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:22.86, Y:0.59, Z:0.31 [[ 9.99479319e-01 -1.65623395e-02 -2.76908067e-02 2.28590683e+01] [ 1.65333577e-02 9.99862501e-01 -1.27526403e-03 5.85221711e-01] [ 2.77081207e-02 8.16778009e-04 9.99615723e-01 3.09454457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.665099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:22.89, Y:0.58, Z:0.31 [[ 9.99485343e-01 -1.66594014e-02 -2.74137299e-02 2.28873001e+01] [ 1.66308202e-02 9.99860891e-01 -1.27027543e-03 5.82060595e-01] [ 2.74310785e-02 8.13708866e-04 9.99623366e-01 3.08761091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.695099893 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:22.92, Y:0.58, Z:0.31 [[ 9.99475151e-01 -1.84412520e-02 -2.66335015e-02 2.29151048e+01] [ 1.84147086e-02 9.99829664e-01 -1.24156279e-03 5.80112775e-01] [ 2.66518608e-02 7.50462986e-04 9.99644494e-01 3.10471693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.725099893 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:22.94, Y:0.58, Z:0.31 [[ 9.99303134e-01 -2.28972510e-02 -2.94781660e-02 2.29426083e+01] [ 2.28664370e-02 9.99737574e-01 -1.38204015e-03 5.75399468e-01] [ 2.95020751e-02 7.07016427e-04 9.99564469e-01 3.09059103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.755099893 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:22.97, Y:0.57, Z:0.31 [[ 9.99211208e-01 -2.47900187e-02 -3.10228558e-02 2.29711125e+01] [ 2.47566315e-02 9.99692442e-01 -1.45991230e-03 5.73935474e-01] [ 3.10495057e-02 6.90739322e-04 9.99517609e-01 3.06882393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.785099892999998 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:23.00, Y:0.57, Z:0.31 [[ 9.99076531e-01 -2.85898230e-02 -3.20734710e-02 2.29993629e+01] [ 2.85557914e-02 9.99591047e-01 -1.51870207e-03 5.69923568e-01] [ 3.21037739e-02 6.01416243e-04 9.99484360e-01 3.05662569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.815099893 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:23.03, Y:0.57, Z:0.31 [[ 9.98839118e-01 -3.56144232e-02 -3.24349900e-02 2.30269508e+01] [ 3.55830173e-02 9.99365529e-01 -1.54516038e-03 5.69320307e-01] [ 3.24694410e-02 3.89231821e-04 9.99472653e-01 3.10202539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.845099893 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:23.06, Y:0.56, Z:0.31 [[ 9.98566804e-01 -4.59763261e-02 -2.73955384e-02 2.30559383e+01] [ 4.59576647e-02 9.98942528e-01 -1.31076217e-03 5.62860174e-01] [ 2.74268324e-02 4.98486219e-05 9.99623812e-01 3.10211753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.875099892999998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:23.09, Y:0.56, Z:0.31 [[ 9.98158813e-01 -5.53860136e-02 -2.47259866e-02 2.30882062e+01] [ 5.53736676e-02 9.98464999e-01 -1.18424902e-03 5.61323879e-01] [ 2.47536230e-02 -1.87099968e-04 9.99693565e-01 3.12627875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.905099893 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:23.12, Y:0.56, Z:0.31 [[ 9.97701881e-01 -6.16126424e-02 -2.81929039e-02 2.31190593e+01] [ 6.15991362e-02 9.98100060e-01 -1.34814184e-03 5.60811873e-01] [ 2.82224016e-02 -3.91614876e-04 9.99601592e-01 3.10896059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.935099893 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:23.15, Y:0.56, Z:0.31 [[ 9.96849160e-01 -7.24309956e-02 -3.23342366e-02 2.31527423e+01] [ 7.24189943e-02 9.97373103e-01 -1.54366495e-03 5.58197498e-01] [ 3.23611071e-02 -8.02811787e-04 9.99475920e-01 3.09030866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.965099893 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:23.19, Y:0.56, Z:0.31 [[ 9.96389742e-01 -7.87886876e-02 -3.16200011e-02 2.31855739e+01] [ 7.87805153e-02 9.96890848e-01 -1.50614345e-03 5.59353473e-01] [ 3.16403568e-02 -9.90334096e-04 9.99498828e-01 3.11073203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.995099893 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:23.22, Y:0.56, Z:0.31 [[ 9.96096865e-01 -8.24296126e-02 -3.15657131e-02 2.32181050e+01] [ 8.24234037e-02 9.96596273e-01 -1.50006893e-03 5.62277272e-01] [ 3.15819221e-02 -1.10753956e-03 9.99500553e-01 3.12594673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.025099893 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:23.25, Y:0.56, Z:0.31 [[ 9.96006703e-01 -8.34698545e-02 -3.16769768e-02 2.32501303e+01] [ 8.34642338e-02 9.96509642e-01 -1.50198957e-03 5.64510364e-01] [ 3.16917836e-02 -1.14790292e-03 9.99497030e-01 3.11899658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.055099893 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:23.28, Y:0.57, Z:0.31 [[ 9.96017215e-01 -8.33442628e-02 -3.16771311e-02 2.32836374e+01] [ 8.33386822e-02 9.96520154e-01 -1.49872895e-03 5.66012291e-01] [ 3.16918100e-02 -1.14717053e-03 9.99497030e-01 3.12634227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.085099893 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:23.32, Y:0.57, Z:0.31 [[ 9.96047519e-01 -8.30673543e-02 -3.14508132e-02 2.33162881e+01] [ 8.30618348e-02 9.96543290e-01 -1.48422407e-03 5.68124627e-01] [ 3.14653874e-02 -1.13400455e-03 9.99504199e-01 3.12297802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.115099893 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:23.35, Y:0.57, Z:0.31 [[ 9.96098794e-01 -8.28904455e-02 -3.02715339e-02 2.33493595e+01] [ 8.28853481e-02 9.96558070e-01 -1.42533577e-03 5.71214538e-01] [ 3.02854881e-02 -1.08929139e-03 9.99540696e-01 3.14439857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.145099893 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:23.38, Y:0.58, Z:0.32 [[ 9.96192131e-01 -8.19345583e-02 -2.97987656e-02 2.33815547e+01] [ 8.19292834e-02 9.96637162e-01 -1.39999624e-03 5.75004714e-01] [ 2.98132652e-02 -1.04672628e-03 9.99554938e-01 3.15742271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.175099893 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:23.41, Y:0.58, Z:0.32 [[ 9.96278564e-01 -8.09011343e-02 -2.97326339e-02 2.34130412e+01] [ 8.08955029e-02 9.96721613e-01 -1.39421315e-03 5.79244295e-01] [ 2.97479522e-02 -1.01621170e-03 9.99556915e-01 3.16862045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.205099893 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:23.45, Y:0.58, Z:0.32 [[ 9.96340744e-01 -7.99906659e-02 -3.01100555e-02 2.34459663e+01] [ 7.99845615e-02 9.96795107e-01 -1.40905857e-03 5.83736740e-01] [ 3.01262675e-02 -1.00443712e-03 9.99545596e-01 3.18772130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.235099893 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:23.48, Y:0.59, Z:0.32 [[ 9.96410240e-01 -7.89422394e-02 -3.05737788e-02 2.34772431e+01] [ 7.89355506e-02 9.96878699e-01 -1.42756349e-03 5.89906232e-01] [ 3.05910439e-02 -9.90919184e-04 9.99531493e-01 3.19884869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.265099893 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:23.51, Y:0.59, Z:0.32 [[ 9.96371504e-01 -7.91493048e-02 -3.12923738e-02 2.35104838e+01] [ 7.91424951e-02 9.96862247e-01 -1.45808584e-03 5.93177802e-01] [ 3.13095925e-02 -1.02376135e-03 9.99509210e-01 3.19201561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.295099893 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:23.54, Y:0.60, Z:0.32 [[ 9.96171089e-01 -8.20893136e-02 -3.00750044e-02 2.35434823e+01] [ 8.20844559e-02 9.96624396e-01 -1.39819637e-03 5.96944847e-01] [ 3.00882601e-02 -1.07584757e-03 9.99546667e-01 3.20423401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.325099893 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:23.58, Y:0.60, Z:0.32 [[ 9.95792457e-01 -8.61044244e-02 -3.13593937e-02 2.35750695e+01] [ 8.61012354e-02 9.96285331e-01 -1.45456558e-03 6.00179573e-01] [ 3.13681484e-02 -1.25163711e-03 9.99507115e-01 3.18693683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.355099893 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:23.61, Y:0.60, Z:0.32 [[ 9.95459561e-01 -8.90155064e-02 -3.37120563e-02 2.36084369e+01] [ 8.90136035e-02 9.96029188e-01 -1.56027306e-03 6.04947104e-01] [ 3.37170805e-02 -1.44764288e-03 9.99430369e-01 3.18459162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.385099893 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:23.64, Y:0.61, Z:0.32 [[ 9.95354485e-01 -8.97405709e-02 -3.48723232e-02 2.36416589e+01] [ 8.97391158e-02 9.95964005e-01 -1.61007264e-03 6.08566813e-01] [ 3.48760675e-02 -1.52681842e-03 9.99390479e-01 3.19158038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.415099893 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:23.68, Y:0.61, Z:0.32 [[ 9.95308602e-01 -8.97300810e-02 -3.61842514e-02 2.36750510e+01] [ 8.97286558e-02 9.95964854e-01 -1.66658270e-03 6.12180567e-01] [ 3.61877853e-02 -1.58800014e-03 9.99343746e-01 3.19388483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.445099893 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:23.71, Y:0.62, Z:0.32 [[ 9.95521746e-01 -8.73500731e-02 -3.61444154e-02 2.37071699e+01] [ 8.73472653e-02 9.96176541e-01 -1.65977431e-03 6.16958382e-01] [ 3.61512001e-02 -1.50477442e-03 9.99345199e-01 3.19861463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.475099893 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:23.74, Y:0.62, Z:0.32 [[ 9.95725121e-01 -8.50442687e-02 -3.60410165e-02 2.37401024e+01] [ 8.50401663e-02 9.96376158e-01 -1.64955840e-03 6.21109998e-01] [ 3.60506950e-02 -1.42242729e-03 9.99348950e-01 3.20690476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.505099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:23.77, Y:0.63, Z:0.32 [[ 9.96347183e-01 -7.82344238e-02 -3.42296186e-02 2.37720177e+01] [ 7.82268222e-02 9.96934361e-01 -1.56330679e-03 6.28945321e-01] [ 3.42469874e-02 -1.12007797e-03 9.99412772e-01 3.22680359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.535099892999998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:23.81, Y:0.64, Z:0.33 [[ 9.97018613e-01 -7.01698530e-02 -3.20948046e-02 2.38051217e+01] [ 7.01590870e-02 9.97534743e-01 -1.46287158e-03 6.37268651e-01] [ 3.21183321e-02 -7.93231989e-04 9.99483759e-01 3.25454134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.565099893 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:23.84, Y:0.64, Z:0.33 [[ 9.97474463e-01 -6.34432086e-02 -3.19320496e-02 2.38383145e+01] [ 6.34292157e-02 9.97985284e-01 -1.45200907e-03 6.42708843e-01] [ 3.19598357e-02 -5.77082900e-04 9.99488987e-01 3.27332695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.595099893 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:23.87, Y:0.64, Z:0.32 [[ 9.97595663e-01 -6.05849718e-02 -3.36504867e-02 2.38697857e+01] [ 6.05679383e-02 9.98162910e-01 -1.52625660e-03 6.41874980e-01] [ 3.36811359e-02 -5.15553638e-04 9.99432497e-01 3.24738581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.625099892999998 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:23.90, Y:0.64, Z:0.32 [[ 9.97504883e-01 -6.06294259e-02 -3.61674172e-02 2.39006364e+01] [ 6.06099057e-02 9.98160187e-01 -1.63689527e-03 6.40612464e-01] [ 3.62001200e-02 -5.59292721e-04 9.99344404e-01 3.24248774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.655099893 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:23.93, Y:0.64, Z:0.33 [[ 9.97503403e-01 -6.09582607e-02 -3.56518135e-02 2.39324072e+01] [ 6.09395780e-02 9.98140156e-01 -1.61145939e-03 6.41101113e-01] [ 3.56837384e-02 -5.65170240e-04 9.99362973e-01 3.26264232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.685099893 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:23.97, Y:0.64, Z:0.33 [[ 9.97508737e-01 -6.08708344e-02 -3.56519371e-02 2.39650732e+01] [ 6.08521938e-02 9.98145492e-01 -1.60871923e-03 6.42518204e-01] [ 3.56837444e-02 -5.64787097e-04 9.99362973e-01 3.26980390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.715099892999998 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:24.00, Y:0.64, Z:0.33 [[ 9.97510162e-01 -6.04549022e-02 -3.63136528e-02 2.39972129e+01] [ 6.04353970e-02 9.98170771e-01 -1.63557276e-03 6.43265616e-01] [ 3.63461052e-02 -5.63129576e-04 9.99339103e-01 3.27187940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.745099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:24.03, Y:0.64, Z:0.33 [[ 9.97651233e-01 -5.88842316e-02 -3.49952123e-02 2.40297263e+01] [ 5.88652382e-02 9.98264698e-01 -1.57370620e-03 6.43879510e-01] [ 3.50271515e-02 -4.89991574e-04 9.99386241e-01 3.29380854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.775099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:24.06, Y:0.65, Z:0.33 [[ 9.98033026e-01 -5.34241804e-02 -3.28014491e-02 2.40614048e+01] [ 5.34046200e-02 9.98571869e-01 -1.47277508e-03 6.46457749e-01] [ 3.28332862e-02 -2.81870750e-04 9.99460803e-01 3.30932748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.805099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:24.09, Y:0.65, Z:0.33 [[ 9.98261109e-01 -4.91406444e-02 -3.25569518e-02 2.40930705e+01] [ 4.91191736e-02 9.98791859e-01 -1.45943650e-03 6.49048580e-01] [ 3.25893361e-02 -1.42271870e-04 9.99468816e-01 3.31430032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.835099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:24.12, Y:0.65, Z:0.33 [[ 9.98364085e-01 -4.71180726e-02 -3.23889085e-02 2.41238012e+01] [ 4.70958296e-02 9.98889324e-01 -1.44971962e-03 6.50588219e-01] [ 3.24212429e-02 -7.80345089e-05 9.99474290e-01 3.31633504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.865099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:24.15, Y:0.65, Z:0.33 [[ 9.98508331e-01 -4.34747245e-02 -3.30312222e-02 2.41546383e+01] [ 4.34496443e-02 9.99054526e-01 -1.47704386e-03 6.51570651e-01] [ 3.30642061e-02 3.96457428e-05 9.99453229e-01 3.31345536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.895099893 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:24.18, Y:0.65, Z:0.33 [[ 9.98497326e-01 -4.50098541e-02 -3.12602462e-02 2.41845402e+01] [ 4.49881606e-02 9.98986543e-01 -1.39731550e-03 6.54815116e-01] [ 3.12914582e-02 -1.11251824e-05 9.99510302e-01 3.34657721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.925099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:24.22, Y:0.66, Z:0.33 [[ 9.97784412e-01 -5.86516639e-02 -3.14046101e-02 2.42162228e+01] [ 5.86365423e-02 9.98278412e-01 -1.40304252e-03 6.56731810e-01] [ 3.14328351e-02 -4.41523798e-04 9.99505769e-01 3.33672253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.955099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:24.25, Y:0.66, Z:0.33 [[ 9.97259929e-01 -6.64825528e-02 -3.24454095e-02 2.42486308e+01] [ 6.64706087e-02 9.97787333e-01 -1.44780341e-03 6.58870463e-01] [ 3.24698723e-02 -7.12829796e-04 9.99472460e-01 3.33703310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.985099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:24.28, Y:0.65, Z:0.33 [[ 9.96676362e-01 -7.27463340e-02 -3.66633413e-02 2.42822694e+01] [ 7.27354540e-02 9.97349933e-01 -1.63224676e-03 6.53591312e-01] [ 3.66849209e-02 -1.03990301e-03 9.99326341e-01 3.30705305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.015099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:24.31, Y:0.66, Z:0.33 [[ 9.98533518e-01 -4.03627060e-02 -3.60786126e-02 2.43138366e+01] [ 4.03311277e-02 9.99185083e-01 -1.60291423e-03 6.60120402e-01] [ 3.61139095e-02 1.45472449e-04 9.99347669e-01 3.33398943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.045099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:24.34, Y:0.66, Z:0.34 [[ 9.98941880e-01 -3.31629386e-02 -3.18643911e-02 2.43426093e+01] [ 3.31346098e-02 9.99449894e-01 -1.41681818e-03 6.59130783e-01] [ 3.18938482e-02 3.59504848e-04 9.99491197e-01 3.36505230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.37, Y:0.66, Z:0.34 [[ 9.99001855e-01 -3.51363778e-02 -2.75813086e-02 2.43704383e+01] [ 3.51157615e-02 9.99382493e-01 -1.23162988e-03 6.57562589e-01] [ 2.76075520e-02 2.61861875e-04 9.99618805e-01 3.41396482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.105099893 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:24.40, Y:0.64, Z:0.33 [[ 9.98399102e-01 -4.75507398e-02 -3.06293991e-02 2.44006293e+01] [ 4.75310751e-02 9.98868820e-01 -1.37020769e-03 6.40680362e-01] [ 3.06599062e-02 -8.78341381e-05 9.99529871e-01 3.33330262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.135099893 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:24.43, Y:0.64, Z:0.34 [[ 9.98294196e-01 -5.07364922e-02 -2.88878275e-02 2.44305894e+01] [ 5.07203160e-02 9.98712060e-01 -1.29291505e-03 6.42004070e-01] [ 2.89162196e-02 -1.74490152e-04 9.99581823e-01 3.35626558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.165099893 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:24.46, Y:0.64, Z:0.34 [[ 9.98190498e-01 -5.29996650e-02 -2.84036279e-02 2.44629468e+01] [ 5.29849667e-02 9.98594502e-01 -1.27039431e-03 6.42624772e-01] [ 2.84310371e-02 -2.36869746e-04 9.99595728e-01 3.38001297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.195099893 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:24.50, Y:0.64, Z:0.34 [[ 9.97922319e-01 -5.66931678e-02 -3.06093079e-02 2.44955881e+01] [ 5.66779053e-02 9.98391580e-01 -1.36672796e-03 6.42276268e-01] [ 3.06375594e-02 -3.70983115e-04 9.99530491e-01 3.36901857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.225099893 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:24.53, Y:0.64, Z:0.34 [[ 9.97644368e-01 -6.02071059e-02 -3.28758307e-02 2.45273895e+01] [ 6.01914884e-02 9.98185773e-01 -1.46542710e-03 6.42555203e-01] [ 3.29044156e-02 -5.16870093e-04 9.99458369e-01 3.36132344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.255099893 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:24.56, Y:0.64, Z:0.34 [[ 9.97322036e-01 -6.46567593e-02 -3.41798314e-02 2.45580263e+01] [ 6.46425682e-02 9.97907322e-01 -1.52124381e-03 6.44565963e-01] [ 3.42066627e-02 -6.92302102e-04 9.99414541e-01 3.37257251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.285099892999998 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:24.59, Y:0.65, Z:0.34 [[ 9.96997331e-01 -6.81568486e-02 -3.67554998e-02 2.45902188e+01] [ 6.81429004e-02 9.97674234e-01 -1.63354894e-03 6.45911733e-01] [ 3.67813526e-02 -8.75982423e-04 9.99322953e-01 3.36649984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.315099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:24.62, Y:0.65, Z:0.34 [[ 9.97009720e-01 -6.82497200e-02 -3.62435379e-02 2.46221998e+01] [ 6.82363121e-02 9.97667890e-01 -1.60822404e-03 6.50466622e-01] [ 3.62687748e-02 -8.69710362e-04 9.99341693e-01 3.38966095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.345099893 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:24.65, Y:0.65, Z:0.34 [[ 9.97305889e-01 -6.39961638e-02 -3.58532277e-02 2.46538528e+01] [ 6.39803877e-02 9.97949892e-01 -1.58834323e-03 6.54235764e-01] [ 3.58813726e-02 -7.09839355e-04 9.99355804e-01 3.38720042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.375099892999998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:24.69, Y:0.66, Z:0.34 [[ 9.97619922e-01 -6.05897008e-02 -3.29147148e-02 2.46859170e+01] [ 6.05746252e-02 9.98162610e-01 -1.45591184e-03 6.57811183e-01] [ 3.29424508e-02 -5.41349857e-04 9.99457104e-01 3.41052950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.405099893 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:24.72, Y:0.66, Z:0.34 [[ 9.97741347e-01 -5.89738819e-02 -3.21603082e-02 2.47166080e+01] [ 5.89587185e-02 9.98259411e-01 -1.42042784e-03 6.61273525e-01] [ 3.21880985e-02 -4.78910974e-04 9.99481714e-01 3.42824108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.435099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:24.75, Y:0.67, Z:0.35 [[ 9.97870335e-01 -5.74018762e-02 -3.09809395e-02 2.47483936e+01] [ 5.73871031e-02 9.98351067e-01 -1.36653380e-03 6.65417135e-01] [ 3.10082956e-02 -4.14282833e-04 9.99519041e-01 3.45814315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.465099892999998 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:24.78, Y:0.67, Z:0.35 [[ 9.97973757e-01 -5.57913350e-02 -3.05893170e-02 2.47789597e+01] [ 5.57762395e-02 9.98442385e-01 -1.34721124e-03 6.69374040e-01] [ 3.06168333e-02 -3.61675604e-04 9.99531129e-01 3.47327641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.495099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:24.81, Y:0.67, Z:0.35 [[ 9.98040392e-01 -5.44674059e-02 -3.08006013e-02 2.48113018e+01] [ 5.44515272e-02 9.98515496e-01 -1.35469128e-03 6.72593659e-01] [ 3.08286642e-02 -3.25103165e-04 9.99524631e-01 3.49196288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.525099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:24.84, Y:0.67, Z:0.35 [[ 9.98063754e-01 -5.34249229e-02 -3.18515328e-02 2.48434874e+01] [ 5.34074853e-02 9.98571822e-01 -1.39859456e-03 6.74808752e-01] [ 3.18807630e-02 -3.05223734e-04 9.99491633e-01 3.49515162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.555099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:24.87, Y:0.68, Z:0.35 [[ 9.98080553e-01 -5.24546845e-02 -3.29198463e-02 2.48742268e+01] [ 5.24356281e-02 9.98623264e-01 -1.44252020e-03 6.76111850e-01] [ 3.29501913e-02 -2.86421458e-04 9.99456954e-01 3.48842880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.585099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:24.91, Y:0.68, Z:0.35 [[ 9.98085578e-01 -5.23588752e-02 -3.29200078e-02 2.49068976e+01] [ 5.23398886e-02 9.98628292e-01 -1.43882508e-03 6.77484569e-01] [ 3.29501865e-02 -2.86958985e-04 9.99456954e-01 3.49558701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.615099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:24.94, Y:0.68, Z:0.35 [[ 9.98076163e-01 -5.15937424e-02 -3.43810822e-02 2.49390514e+01] [ 5.15726852e-02 9.98668118e-01 -1.49959750e-03 6.78736624e-01] [ 3.44126605e-02 -2.76412214e-04 9.99407671e-01 3.48677996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.645099893 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:24.97, Y:0.69, Z:0.35 [[ 9.98292113e-01 -4.78990262e-02 -3.34445844e-02 2.49698647e+01] [ 4.78770921e-02 9.98852172e-01 -1.45682394e-03 6.85595973e-01] [ 3.34759762e-02 -1.46893598e-04 9.99439512e-01 3.50956990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.675099893 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:25.00, Y:0.69, Z:0.35 [[ 9.98331317e-01 -4.67951121e-02 -3.38348689e-02 2.50000884e+01] [ 4.67720631e-02 9.98904502e-01 -1.47282602e-03 6.88546552e-01] [ 3.38667240e-02 -1.12158283e-04 9.99426352e-01 3.51096761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.705099893 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:25.03, Y:0.69, Z:0.35 [[ 9.98361302e-01 -4.59785270e-02 -3.40688279e-02 2.50318237e+01] [ 4.59547109e-02 9.98942425e-01 -1.48218140e-03 6.90524775e-01] [ 3.41009460e-02 -8.58705852e-05 9.99418390e-01 3.52393257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.735099893 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:25.06, Y:0.69, Z:0.35 [[ 9.98311740e-01 -4.53030216e-02 -3.63497646e-02 2.50627770e+01] [ 4.52755111e-02 9.98973289e-01 -1.58004530e-03 6.91400116e-01] [ 3.63840247e-02 -6.83763958e-05 9.99337880e-01 3.49755064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.765099893 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:25.09, Y:0.69, Z:0.35 [[ 9.98062931e-01 -5.14545392e-02 -3.49688015e-02 2.50919844e+01] [ 5.14328716e-02 9.98675298e-01 -1.51948756e-03 6.94934748e-01] [ 3.50006628e-02 -2.82001671e-04 9.99387249e-01 3.53129498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.795099893 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:25.12, Y:0.70, Z:0.35 [[ 9.97761897e-01 -5.72261459e-02 -3.45885058e-02 2.51207770e+01] [ 5.72930761e-02 9.98356954e-01 9.46197649e-04 6.95696181e-01] [ 3.44775281e-02 -2.92576185e-03 9.99401191e-01 3.53957092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.825099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:25.15, Y:0.69, Z:0.36 [[ 9.97657798e-01 -6.01026796e-02 -3.26586302e-02 2.51544704e+01] [ 5.99965859e-02 9.98189663e-01 -4.21976660e-03 6.94215722e-01] [ 3.28531263e-02 2.25047675e-03 9.99457657e-01 3.55945216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.855099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:25.19, Y:0.69, Z:0.36 [[ 9.97570542e-01 -6.14471049e-02 -3.28217457e-02 2.51868812e+01] [ 6.14333725e-02 9.98110166e-01 -1.42763257e-03 6.94067154e-01] [ 3.28474419e-02 -5.92186330e-04 9.99460202e-01 3.56292167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.885099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:25.22, Y:0.70, Z:0.36 [[ 9.97529983e-01 -6.22178232e-02 -3.26017732e-02 2.52185652e+01] [ 6.22047624e-02 9.98062405e-01 -1.41570931e-03 6.95236096e-01] [ 3.26266865e-02 -6.15773076e-04 9.99467418e-01 3.57535602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.915099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:25.25, Y:0.70, Z:0.36 [[ 9.97477823e-01 -6.27607556e-02 -3.31523699e-02 2.52502542e+01] [ 6.27476475e-02 9.98028391e-01 -1.43667174e-03 6.96166885e-01] [ 3.31771730e-02 -6.47185024e-04 9.99449277e-01 3.57750067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.945099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:25.28, Y:0.70, Z:0.36 [[ 9.97400027e-01 -6.36441858e-02 -3.38024221e-02 2.52825406e+01] [ 6.36311838e-02 9.97972413e-01 -1.46135194e-03 6.97268900e-01] [ 3.38268913e-02 -6.93335667e-04 9.99427466e-01 3.58649180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.975099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:25.32, Y:0.70, Z:0.36 [[ 9.97357222e-01 -6.38778412e-02 -3.46149192e-02 2.53152036e+01] [ 6.38644335e-02 9.97957465e-01 -1.49399499e-03 6.98038824e-01] [ 3.46396502e-02 -7.20615512e-04 9.99399607e-01 3.59184263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.005099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:25.35, Y:0.70, Z:0.36 [[ 9.97362850e-01 -6.37898421e-02 -3.46150342e-02 2.53478723e+01] [ 6.37764740e-02 9.97963094e-01 -1.49132780e-03 6.99389909e-01] [ 3.46396582e-02 -7.20229884e-04 9.99399607e-01 3.59900315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.035099892999998 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:25.38, Y:0.70, Z:0.36 [[ 9.97335963e-01 -6.30286404e-02 -3.67201349e-02 2.53796668e+01] [ 6.30131958e-02 9.98011445e-01 -1.57892007e-03 6.99548846e-01] [ 3.67466321e-02 -7.39139283e-04 9.99324341e-01 3.58332787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.065099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:25.41, Y:0.70, Z:0.36 [[ 9.97595523e-01 -5.90046679e-02 -3.63541030e-02 2.54116763e+01] [ 5.89869533e-02 9.98257534e-01 -1.56058686e-03 7.01194540e-01] [ 3.63828391e-02 -5.87583313e-04 9.99337753e-01 3.59235138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.095099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:25.44, Y:0.70, Z:0.36 [[ 9.97927737e-01 -5.39489161e-02 -3.50677453e-02 2.54428596e+01] [ 5.39293915e-02 9.98543620e-01 -1.50310227e-03 7.04840872e-01] [ 3.50977641e-02 -3.91194719e-04 9.99383807e-01 3.61981942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.125099892999998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:25.47, Y:0.71, Z:0.36 [[ 9.98287589e-01 -4.70528303e-02 -3.47551541e-02 2.54743244e+01] [ 4.70295381e-02 9.98892391e-01 -1.48783358e-03 7.07590801e-01] [ 3.47866658e-02 -1.49233048e-04 9.99394750e-01 3.61997692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.155099893 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:25.50, Y:0.71, Z:0.36 [[ 9.98894940e-01 -3.36555198e-02 -3.28055520e-02 2.55047357e+01] [ 3.36275776e-02 9.99433448e-01 -1.40326963e-03 7.10372170e-01] [ 3.28341937e-02 2.98547691e-04 9.99460768e-01 3.63982778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.185099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:25.53, Y:0.71, Z:0.36 [[ 9.98982305e-01 -3.09265677e-02 -3.28314260e-02 2.55313288e+01] [ 3.08970627e-02 9.99521583e-01 -1.40575799e-03 7.10619623e-01] [ 3.28591942e-02 3.89932730e-04 9.99459915e-01 3.64190254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.215099892999998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:25.56, Y:0.71, Z:0.36 [[ 9.98972519e-01 -2.99189451e-02 -3.40406014e-02 2.55590984e+01] [ 2.98864276e-02 9.99552229e-01 -1.46379278e-03 7.09874895e-01] [ 3.40691542e-02 4.44936797e-04 9.99419379e-01 3.63848620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.245099893 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.59, Y:0.71, Z:0.37 [[ 9.98924027e-01 -3.03966152e-02 -3.50262011e-02 2.55874811e+01] [ 3.03621296e-02 9.99537814e-01 -1.51616718e-03 7.08976756e-01] [ 3.50560988e-02 4.51065774e-04 9.99385244e-01 3.65284084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.275099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:25.62, Y:0.71, Z:0.36 [[ 9.98811881e-01 -3.14558711e-02 -3.72203624e-02 2.56156539e+01] [ 3.14172581e-02 9.99505040e-01 -1.62199035e-03 7.08908317e-01] [ 3.72529609e-02 4.50701500e-04 9.99305766e-01 3.63665941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.305099893 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:25.64, Y:0.71, Z:0.36 [[ 9.98777441e-01 -3.25987744e-02 -3.71610385e-02 2.56435738e+01] [ 3.25606856e-02 9.99468431e-01 -1.62987135e-03 7.09374337e-01] [ 3.71944166e-02 4.17889853e-04 9.99307961e-01 3.64182699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.335099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:25.67, Y:0.71, Z:0.37 [[ 9.98758482e-01 -3.38768961e-02 -3.65219098e-02 2.56711315e+01] [ 3.38405826e-02 9.99425943e-01 -1.61218158e-03 7.09059766e-01] [ 3.65555599e-02 3.74257327e-04 9.99331552e-01 3.66189699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.365099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:25.70, Y:0.71, Z:0.37 [[ 9.98695459e-01 -3.57512691e-02 -3.64585541e-02 2.56991155e+01] [ 3.57159454e-02 9.99360669e-01 -1.61991527e-03 7.09130094e-01] [ 3.64931590e-02 3.15650294e-04 9.99333853e-01 3.66596537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.395099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:25.73, Y:0.71, Z:0.37 [[ 9.98580575e-01 -3.87958491e-02 -3.64927129e-02 2.57267985e+01] [ 3.87621028e-02 9.99247134e-01 -1.63205688e-03 7.09312562e-01] [ 3.65285559e-02 2.15206006e-04 9.99332586e-01 3.66613943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.425099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:25.75, Y:0.71, Z:0.37 [[ 9.98496563e-01 -4.09011037e-02 -3.64926478e-02 2.57535076e+01] [ 4.08684612e-02 9.99163189e-01 -1.64030951e-03 7.10421418e-01] [ 3.65292008e-02 1.46445055e-04 9.99332575e-01 3.66921673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.455099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:25.78, Y:0.71, Z:0.37 [[ 9.98417933e-01 -4.32166895e-02 -3.59714868e-02 2.57814064e+01] [ 4.31863116e-02 9.99065720e-01 -1.62142410e-03 7.11683184e-01] [ 3.60079519e-02 6.53830654e-05 9.99351501e-01 3.67230084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.485099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:25.81, Y:0.71, Z:0.37 [[ 9.98338189e-01 -4.58687834e-02 -3.48843057e-02 2.58096283e+01] [ 4.58416256e-02 9.98947473e-01 -1.57835167e-03 7.13075814e-01] [ 3.49199861e-02 -2.34245343e-05 9.99390111e-01 3.68267956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.515099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:25.84, Y:0.71, Z:0.37 [[ 9.98194831e-01 -5.05090334e-02 -3.24948780e-02 2.58396467e+01] [ 5.04877632e-02 9.98723590e-01 -1.47527765e-03 7.14664819e-01] [ 3.25279160e-02 -1.67979183e-04 9.99470813e-01 3.69748967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.545099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:25.87, Y:0.71, Z:0.37 [[ 9.97617319e-01 -5.95495431e-02 -3.48358526e-02 2.58691931e+01] [ 5.98893294e-02 9.98166301e-01 8.79223455e-03 7.13840533e-01] [ 3.42484006e-02 -1.08575813e-02 9.99354372e-01 3.70173780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.575099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:25.90, Y:0.72, Z:0.38 [[ 9.96842158e-01 -7.22125329e-02 -3.30312418e-02 2.59027666e+01] [ 7.18447010e-02 9.97341313e-01 -1.21919630e-02 7.23007528e-01] [ 3.38238346e-02 9.78034300e-03 9.99379954e-01 3.76331070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.605099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:25.94, Y:0.72, Z:0.37 [[ 9.96851567e-01 -7.18588211e-02 -3.35151046e-02 2.59365925e+01] [ 7.18485174e-02 9.97414408e-01 -1.51323778e-03 7.19460528e-01] [ 3.35371877e-02 -8.99537123e-04 9.99437065e-01 3.73092428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.635099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:25.97, Y:0.72, Z:0.37 [[ 9.96381051e-01 -7.66645640e-02 -3.67062053e-02 2.59654377e+01] [ 7.69649929e-02 9.97010328e-01 6.84076152e-03 7.22097564e-01] [ 3.60720218e-02 -9.64109799e-03 9.99302686e-01 3.73706497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.665099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:26.00, Y:0.73, Z:0.38 [[ 9.96770208e-01 -7.30546915e-02 -3.33491168e-02 2.59989649e+01] [ 7.27453359e-02 9.97296335e-01 -1.03988498e-02 7.31270782e-01] [ 3.40186367e-02 7.93927099e-03 9.99389664e-01 3.78965650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.695099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:26.03, Y:0.73, Z:0.38 [[ 9.96894052e-01 -7.14060652e-02 -3.32177976e-02 2.60322155e+01] [ 7.13959664e-02 9.97446937e-01 -1.49157202e-03 7.31329781e-01] [ 3.32394977e-02 -8.84677480e-04 9.99447024e-01 3.77606777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.725099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:26.07, Y:0.73, Z:0.38 [[ 9.96903049e-01 -7.12802809e-02 -3.32179677e-02 2.60657324e+01] [ 7.12702387e-02 9.97455934e-01 -1.48777595e-03 7.32747506e-01] [ 3.32395080e-02 -8.84284105e-04 9.99447024e-01 3.78339854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.755099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:26.10, Y:0.74, Z:0.38 [[ 9.97110392e-01 -6.81772163e-02 -3.35072018e-02 2.60980729e+01] [ 6.81653834e-02 9.97672913e-01 -1.49668499e-03 7.39413921e-01] [ 3.35312675e-02 -7.91671102e-04 9.99437355e-01 3.80869688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.785099892999998 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:26.13, Y:0.74, Z:0.38 [[ 9.99234457e-01 -1.99935201e-02 -3.36267597e-02 2.61302119e+01] [ 1.99543925e-02 9.99799768e-01 -1.49881148e-03 7.41246719e-01] [ 3.36499931e-02 8.26662516e-04 9.99433337e-01 3.81536532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.815099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:26.16, Y:0.74, Z:0.38 [[ 9.99250881e-01 -2.16994586e-02 -3.20438942e-02 2.61586694e+01] [ 2.16647611e-02 9.99764269e-01 -1.42965462e-03 7.38269667e-01] [ 3.20673632e-02 7.34360325e-04 9.99485440e-01 3.82100011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.845099893 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:26.19, Y:0.74, Z:0.38 [[ 9.99177866e-01 -2.33949381e-02 -3.31099604e-02 2.61869184e+01] [ 2.33585021e-02 9.99726047e-01 -1.48688772e-03 7.38109645e-01] [ 3.31356755e-02 7.12266216e-04 9.99450609e-01 3.81836999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.875099892999998 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:26.21, Y:0.73, Z:0.38 [[ 9.98874132e-01 -3.09970882e-02 -3.59116797e-02 2.62137152e+01] [ 3.09588184e-02 9.99519346e-01 -1.62137807e-03 7.34602711e-01] [ 3.59446766e-02 5.07769445e-04 9.99353652e-01 3.81104961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.905099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:26.24, Y:0.73, Z:0.38 [[ 9.98763557e-01 -3.46496122e-02 -3.56477371e-02 2.62415895e+01] [ 3.46139876e-02 9.99399450e-01 -1.61620443e-03 7.34986245e-01] [ 3.56823297e-02 3.80295756e-04 9.99363111e-01 3.82543511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.935099893 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:26.27, Y:0.73, Z:0.39 [[ 9.98367726e-01 -4.57884614e-02 -3.41364906e-02 2.62693148e+01] [ 4.57620550e-02 9.98951158e-01 -1.55486788e-03 7.33401314e-01] [ 3.41718819e-02 -9.82604799e-06 9.99415971e-01 3.85202530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.965099892999998 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:26.30, Y:0.73, Z:0.38 [[ 9.97986415e-01 -5.23529331e-02 -3.58090065e-02 2.63002285e+01] [ 5.23280240e-02 9.98628615e-01 -1.63310813e-03 7.32378498e-01] [ 3.58453965e-02 -2.43994823e-04 9.99357317e-01 3.83997687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.995099893 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:26.33, Y:0.73, Z:0.39 [[ 9.97759387e-01 -5.67503846e-02 -3.54344352e-02 2.63313290e+01] [ 5.67287826e-02 9.98388319e-01 -1.61553866e-03 7.34326119e-01] [ 3.54690087e-02 -3.98233509e-04 9.99370697e-01 3.85823811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.025099893 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:26.36, Y:0.74, Z:0.39 [[ 9.97666528e-01 -5.81036082e-02 -3.58534361e-02 2.63621278e+01] [ 5.80824210e-02 9.98310455e-01 -1.63309911e-03 7.36273598e-01] [ 3.58877490e-02 -4.53166049e-04 9.99355725e-01 3.86504379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.055099893 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:26.39, Y:0.74, Z:0.39 [[ 9.97508958e-01 -6.00353216e-02 -3.70356468e-02 2.63939624e+01] [ 6.00141304e-02 9.98196106e-01 -1.68463568e-03 7.38451069e-01] [ 3.70699761e-02 -5.42222956e-04 9.99312525e-01 3.86888431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.085099893 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:26.42, Y:0.76, Z:0.39 [[ 9.98673485e-01 -3.55624511e-02 -3.72368361e-02 2.64239621e+01] [ 3.55240962e-02 9.99367389e-01 -1.69136000e-03 7.59140356e-01] [ 3.72734285e-02 3.66311441e-04 9.99305037e-01 3.90151523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.115099893 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:26.45, Y:0.76, Z:0.39 [[ 9.98591369e-01 -3.72402900e-02 -3.77946834e-02 2.64512144e+01] [ 3.72019489e-02 9.99306292e-01 -1.71746425e-03 7.59457462e-01] [ 3.78324238e-02 3.09009095e-04 9.99284050e-01 3.89640628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.145099893 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:26.48, Y:0.76, Z:0.39 [[ 9.98550648e-01 -4.06718486e-02 -3.52477463e-02 2.64787770e+01] [ 4.06404136e-02 9.99172543e-01 -1.60813281e-03 7.58267702e-01] [ 3.52839861e-02 1.73319072e-04 9.99377311e-01 3.88506734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.175099893 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:26.51, Y:0.76, Z:0.39 [[ 9.97881445e-01 -5.37632685e-02 -3.66351217e-02 2.65079385e+01] [ 5.37378417e-02 9.98553667e-01 -1.67909217e-03 7.56796931e-01] [ 3.66724086e-02 -2.93157448e-04 9.99327298e-01 3.90715087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.205099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:26.54, Y:0.76, Z:0.39 [[ 9.97606849e-01 -5.70958744e-02 -3.89953285e-02 2.65388909e+01] [ 5.70695802e-02 9.98368602e-01 -1.78801477e-03 7.58822219e-01] [ 3.90337999e-02 -4.41711246e-04 9.99237793e-01 3.90540416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.235099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:26.57, Y:0.76, Z:0.39 [[ 9.97606583e-01 -5.71916014e-02 -3.88616360e-02 2.65705625e+01] [ 5.71656536e-02 9.98363121e-01 -1.77947572e-03 7.60328010e-01] [ 3.88997952e-02 -4.46334132e-04 9.99243017e-01 3.90866315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.265099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:26.60, Y:0.76, Z:0.39 [[ 9.97681071e-01 -5.64737541e-02 -3.79894149e-02 2.66015587e+01] [ 5.64485304e-02 9.98403999e-01 -1.73710497e-03 7.62178119e-01] [ 3.80268846e-02 -4.11369892e-04 9.99276632e-01 3.91420351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.295099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:26.63, Y:0.76, Z:0.39 [[ 9.97735479e-01 -5.58831339e-02 -3.74298040e-02 2.66328197e+01] [ 5.58583076e-02 9.98437242e-01 -1.70951397e-03 7.64446020e-01] [ 3.74668433e-02 -3.85122769e-04 9.99297797e-01 3.92355882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.325099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:26.66, Y:0.77, Z:0.39 [[ 9.97774530e-01 -5.51932739e-02 -3.74124265e-02 2.66649947e+01] [ 5.51680719e-02 9.98475624e-01 -1.70642663e-03 7.66940022e-01] [ 3.74495791e-02 -3.61342403e-04 9.99298453e-01 3.93171129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.355099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:26.70, Y:0.77, Z:0.39 [[ 9.97868030e-01 -5.27757330e-02 -3.83942298e-02 2.66960771e+01] [ 5.27474869e-02 9.98606351e-01 -1.74899434e-03 7.70977279e-01] [ 3.84330261e-02 -2.79933597e-04 9.99261139e-01 3.92925357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.385099893 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:26.73, Y:0.77, Z:0.39 [[ 9.97982033e-01 -5.07517702e-02 -3.81591367e-02 2.67267187e+01] [ 5.07224577e-02 9.98711278e-01 -1.73651152e-03 7.72609253e-01] [ 3.81980912e-02 -2.02517898e-04 9.99270166e-01 3.94460671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.415099893 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:26.76, Y:0.77, Z:0.40 [[ 9.98663990e-01 -3.48073751e-02 -3.81927044e-02 2.67570801e+01] [ 3.47663991e-02 9.99393957e-01 -1.73670677e-03 7.71696939e-01] [ 3.82300082e-02 4.06563708e-04 9.99268883e-01 3.96145184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.445099893 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:26.78, Y:0.77, Z:0.40 [[ 9.98753077e-01 -3.06609525e-02 -3.93979338e-02 2.67839185e+01] [ 3.06140382e-02 9.99529671e-01 -1.79367068e-03 7.72627447e-01] [ 3.94343994e-02 5.85304256e-04 9.99221990e-01 3.97584782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.475099893 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:26.81, Y:0.77, Z:0.40 [[ 9.98855098e-01 -2.81116241e-02 -3.87069801e-02 2.68120839e+01] [ 2.80641389e-02 9.99604558e-01 -1.76968974e-03 7.73556359e-01] [ 3.87414226e-02 6.81385551e-04 9.99249037e-01 3.98104218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.505099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:26.84, Y:0.78, Z:0.40 [[ 9.98838273e-01 -3.21946658e-02 -3.58553813e-02 2.68394101e+01] [ 3.21562808e-02 9.99481496e-01 -1.64685890e-03 7.75294074e-01] [ 3.58898103e-02 4.91969983e-04 9.99355632e-01 4.00873215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.535099892999998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:26.86, Y:0.78, Z:0.40 [[ 9.98672229e-01 -4.19161471e-02 -2.99468812e-02 2.68648379e+01] [ 4.15350863e-02 9.99049377e-01 -1.32355500e-02 7.78648835e-01] [ 3.04731962e-02 1.19741299e-02 9.99463859e-01 4.03501537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.90, Y:0.76, Z:0.40 [[ 9.97937848e-01 -5.64682148e-02 -3.05187145e-02 2.68958208e+01] [ 5.68011935e-02 9.98333858e-01 1.01554096e-02 7.62381120e-01] [ 2.98944081e-02 -1.18679670e-02 9.99482604e-01 4.01604925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.595099893 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:26.93, Y:0.77, Z:0.40 [[ 9.97829322e-01 -5.65058613e-02 -3.38191028e-02 2.69281427e+01] [ 5.64851646e-02 9.98402208e-01 -1.56784762e-03 7.65522785e-01] [ 3.38536595e-02 -3.45833259e-04 9.99426741e-01 4.00283423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.625099892999998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:26.96, Y:0.77, Z:0.40 [[ 9.98467307e-01 -4.36113780e-02 -3.40746817e-02 2.69604595e+01] [ 4.35829529e-02 9.99048567e-01 -1.57686361e-03 7.69128762e-01] [ 3.41110312e-02 8.93715137e-05 9.99418045e-01 4.00468822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.655099893 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:26.99, Y:0.77, Z:0.40 [[ 9.98767164e-01 -3.60372935e-02 -3.41389225e-02 2.69903021e+01] [ 3.60043751e-02 9.99350385e-01 -1.57871182e-03 7.71989532e-01] [ 3.41736378e-02 3.47614955e-04 9.99415850e-01 4.01521469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.685099893 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:27.02, Y:0.77, Z:0.40 [[ 9.98757621e-01 -3.63009679e-02 -3.41387363e-02 2.70186480e+01] [ 3.62680663e-02 9.99340844e-01 -1.58272541e-03 7.73366382e-01] [ 3.41736880e-02 3.42613110e-04 9.99415850e-01 4.02142532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.715099892999998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:27.05, Y:0.78, Z:0.40 [[ 9.98989386e-01 -2.81170607e-02 -3.50661869e-02 2.70464406e+01] [ 2.80769665e-02 9.99604426e-01 -1.63538726e-03 7.77071987e-01] [ 3.50982979e-02 6.49182361e-04 9.99383654e-01 4.03273200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.745099893 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:27.07, Y:0.78, Z:0.40 [[ 9.99036137e-01 -2.58254713e-02 -3.54942538e-02 2.70746752e+01] [ 2.57825861e-02 9.99666186e-01 -1.66548615e-03 7.78528246e-01] [ 3.55254173e-02 7.48747195e-04 9.99368493e-01 4.03779170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.775099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:27.10, Y:0.78, Z:0.40 [[ 9.99071252e-01 -2.43802832e-02 -3.55279539e-02 2.71024914e+01] [ 2.43360426e-02 9.99702428e-01 -1.67720881e-03 7.79675579e-01] [ 3.55582726e-02 8.11041307e-04 9.99367276e-01 4.04392422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.805099892999998 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:27.13, Y:0.78, Z:0.40 [[ 9.99069741e-01 -2.33977941e-02 -3.62242482e-02 2.71304863e+01] [ 2.33507747e-02 9.99725853e-01 -1.72059487e-03 7.80433592e-01] [ 3.62545755e-02 8.73130010e-04 9.99342205e-01 4.04471387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.835099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:27.16, Y:0.78, Z:0.40 [[ 9.99089061e-01 -2.26633974e-02 -3.61582510e-02 2.71579184e+01] [ 2.26157742e-02 9.99742741e-01 -1.72559384e-03 7.81139746e-01] [ 3.61880568e-02 9.06275089e-04 9.99344587e-01 4.04717339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.865099893 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:27.19, Y:0.78, Z:0.41 [[ 9.99060399e-01 -2.25712488e-02 -3.69980780e-02 2.71854985e+01] [ 2.25210558e-02 9.99744797e-01 -1.77288963e-03 7.81691170e-01] [ 3.70286523e-02 9.37988044e-04 9.99313764e-01 4.05184503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.895099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:27.21, Y:0.78, Z:0.41 [[ 9.99086260e-01 -2.25784036e-02 -3.62885706e-02 2.72125058e+01] [ 2.25298307e-02 9.99744645e-01 -1.74693600e-03 7.82290415e-01] [ 3.63187471e-02 9.27764402e-04 9.99339826e-01 4.06105407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.925099893 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:27.24, Y:0.78, Z:0.41 [[ 9.99089523e-01 -2.25705671e-02 -3.62035189e-02 2.72403659e+01] [ 2.25219701e-02 9.99744817e-01 -1.74963929e-03 7.82629118e-01] [ 3.62337707e-02 9.32671712e-04 9.99342906e-01 4.05865790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.955099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:27.27, Y:0.78, Z:0.41 [[ 9.99113946e-01 -2.32024914e-02 -3.51136370e-02 2.72682811e+01] [ 2.31568236e-02 9.99730388e-01 -1.70675316e-03 7.83314319e-01] [ 3.51437709e-02 8.92120584e-04 9.99381869e-01 4.08058546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.985099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:27.30, Y:0.78, Z:0.41 [[ 9.99109806e-01 -2.33807037e-02 -3.51132168e-02 2.72966611e+01] [ 2.33348435e-02 9.99726234e-01 -1.71536215e-03 7.84772851e-01] [ 3.51437104e-02 8.94473725e-04 9.99381869e-01 4.08682478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.015099893 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:27.32, Y:0.79, Z:0.41 [[ 9.99095836e-01 -2.37062271e-02 -3.52920077e-02 2.73233918e+01] [ 2.36598691e-02 9.99718568e-01 -1.73066727e-03 7.85298121e-01] [ 3.53231030e-02 8.94098177e-04 9.99375545e-01 4.09451828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.045099893 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:27.35, Y:0.79, Z:0.41 [[ 9.99089574e-01 -2.39692457e-02 -3.52916223e-02 2.73517345e+01] [ 2.39227752e-02 9.99712298e-01 -1.73849794e-03 7.86756882e-01] [ 3.53231393e-02 8.92641624e-04 9.99375545e-01 4.10074217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.075099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:27.38, Y:0.79, Z:0.41 [[ 9.99073041e-01 -2.45125524e-02 -3.53863370e-02 2.73785740e+01] [ 2.44659092e-02 9.99699132e-01 -1.75059115e-03 7.87410228e-01] [ 3.54186018e-02 8.83209520e-04 9.99372174e-01 4.11553182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.105099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:27.41, Y:0.79, Z:0.41 [[ 9.99036134e-01 -2.58428680e-02 -3.54816598e-02 2.74063193e+01] [ 2.57965792e-02 9.99665660e-01 -1.76183962e-03 7.88058186e-01] [ 3.55153279e-02 8.44835995e-04 9.99368775e-01 4.12496351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.135099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:27.43, Y:0.79, Z:0.41 [[ 9.99029263e-01 -2.61078118e-02 -3.54811718e-02 2.74346611e+01] [ 2.60613426e-02 9.99658776e-01 -1.77162481e-03 7.89534883e-01] [ 3.55153180e-02 8.45218053e-04 9.99368775e-01 4.13119426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.165099893 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:27.46, Y:0.79, Z:0.41 [[ 9.99000664e-01 -2.71471099e-02 -3.55064573e-02 2.74630724e+01] [ 2.71008866e-02 9.99631114e-01 -1.78255011e-03 7.89231957e-01] [ 3.55417505e-02 8.18512268e-04 9.99367857e-01 4.12882250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.195099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:27.49, Y:0.79, Z:0.41 [[ 9.98981739e-01 -2.88915420e-02 -3.46520531e-02 2.74895756e+01] [ 2.88483031e-02 9.99582274e-01 -1.74723515e-03 7.89042950e-01] [ 3.46880584e-02 7.45803079e-04 9.99397910e-01 4.14188036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.225099893 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:27.52, Y:0.79, Z:0.41 [[ 9.98937252e-01 -3.07274772e-02 -3.43538864e-02 2.75170350e+01] [ 3.06858520e-02 9.99527567e-01 -1.73837268e-03 7.88807271e-01] [ 3.43910723e-02 6.82346957e-04 9.99408219e-01 4.13766859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.255099893 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:27.55, Y:0.79, Z:0.42 [[ 9.98897227e-01 -3.30075517e-02 -3.33890928e-02 2.75452978e+01] [ 3.29691968e-02 9.99454925e-01 -1.69878275e-03 7.88855031e-01] [ 3.34269659e-02 5.96097809e-04 9.99440985e-01 4.15277899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.285099892999998 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:27.57, Y:0.79, Z:0.42 [[ 9.98816494e-01 -3.54100906e-02 -3.33427267e-02 2.75728740e+01] [ 3.53728671e-02 9.99372729e-01 -1.70579249e-03 7.89003484e-01] [ 3.33822140e-02 5.24345838e-04 9.99442521e-01 4.15287647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.315099893 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:27.60, Y:0.77, Z:0.41 [[ 9.97459915e-01 -6.36875787e-02 -3.19000108e-02 2.76029135e+01] [ 6.36677316e-02 9.97969807e-01 -1.63857285e-03 7.73520304e-01] [ 3.19396043e-02 -3.96590592e-04 9.99489722e-01 4.14550620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.345099893 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:27.64, Y:0.77, Z:0.42 [[ 9.97303921e-01 -6.64022904e-02 -3.12350045e-02 2.76353405e+01] [ 6.63845666e-02 9.97792820e-01 -1.60525305e-03 7.71910013e-01] [ 3.12726557e-02 -4.72597073e-04 9.99510779e-01 4.15023090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.375099892999998 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:27.67, Y:0.77, Z:0.42 [[ 9.97253111e-01 -6.72018496e-02 -3.11471390e-02 2.76670347e+01] [ 6.71846804e-02 9.97739276e-01 -1.59864550e-03 7.72265598e-01] [ 3.11841559e-02 -4.98356381e-04 9.99513532e-01 4.15581072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.405099893 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:27.70, Y:0.77, Z:0.42 [[ 9.97198674e-01 -6.81186016e-02 -3.08975831e-02 2.76987215e+01] [ 6.81022156e-02 9.97677092e-01 -1.58359521e-03 7.72127174e-01] [ 3.09336832e-02 -5.25034821e-04 9.99521301e-01 4.16914695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.435099893 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:27.73, Y:0.77, Z:0.42 [[ 9.97137298e-01 -6.79843670e-02 -3.30958362e-02 2.77306012e+01] [ 6.79656106e-02 9.97686228e-01 -1.69270423e-03 7.72356681e-01] [ 3.31343374e-02 -5.61520196e-04 9.99450749e-01 4.17567791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.465099892999998 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:27.76, Y:0.78, Z:0.42 [[ 9.97250464e-01 -6.59611967e-02 -3.37732545e-02 2.77625547e+01] [ 6.59405878e-02 9.97822060e-01 -1.72489767e-03 7.75369746e-01] [ 3.38134747e-02 -5.06873251e-04 9.99428032e-01 4.18322431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.495099893 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:27.80, Y:0.78, Z:0.42 [[ 9.97256326e-01 -6.58724462e-02 -3.37733881e-02 2.77952088e+01] [ 6.58518750e-02 9.97827923e-01 -1.72227982e-03 7.76980087e-01] [ 3.38134805e-02 -5.06486483e-04 9.99428032e-01 4.19037056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.525099893 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:27.83, Y:0.78, Z:0.42 [[ 9.97333983e-01 -6.46481380e-02 -3.38458832e-02 2.78274234e+01] [ 6.46268695e-02 9.97908011e-01 -1.72315316e-03 7.79270880e-01] [ 3.38864766e-02 -4.68794271e-04 9.99425578e-01 4.19770429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.555099892999998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:27.86, Y:0.78, Z:0.42 [[ 9.97515080e-01 -6.14317211e-02 -3.44936088e-02 2.78587216e+01] [ 6.14077877e-02 9.98111220e-01 -1.75382956e-03 7.81781814e-01] [ 3.45361987e-02 -3.68704772e-04 9.99403380e-01 4.20659791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.585099893 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:27.89, Y:0.78, Z:0.42 [[ 9.97578946e-01 -5.95964602e-02 -3.58400262e-02 2.78904867e+01] [ 5.95695175e-02 9.98222500e-01 -1.82006080e-03 7.84106765e-01] [ 3.58847898e-02 -3.19318738e-04 9.99355883e-01 4.20409942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.615099893 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:27.92, Y:0.79, Z:0.42 [[ 9.98037723e-01 -5.19101699e-02 -3.50148165e-02 2.79215786e+01] [ 5.18798315e-02 9.98651757e-01 -1.77506215e-03 7.91298312e-01] [ 3.50597518e-02 -4.49837907e-05 9.99385217e-01 4.23016640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.645099893 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:27.95, Y:0.79, Z:0.42 [[ 9.98066421e-01 -5.04390473e-02 -3.63224807e-02 2.79515104e+01] [ 5.04055240e-02 9.98727141e-01 -1.83865694e-03 7.94859342e-01] [ 3.63689875e-02 4.24807809e-06 9.99338430e-01 4.23144075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.675099893 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:27.98, Y:0.80, Z:0.42 [[ 9.98081431e-01 -5.07197825e-02 -3.55100099e-02 2.79816975e+01] [ 5.06879202e-02 9.98712924e-01 -1.79752938e-03 7.97602409e-01] [ 3.55554761e-02 -5.84785399e-06 9.99367704e-01 4.23569533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.705099893 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:28.01, Y:0.80, Z:0.43 [[ 9.98115123e-01 -5.10320839e-02 -3.40870675e-02 2.80110757e+01] [ 5.10028995e-02 9.98697014e-01 -1.72571645e-03 8.00282224e-01] [ 3.41307195e-02 -1.60755923e-05 9.99417377e-01 4.26042547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.735099893 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:28.04, Y:0.81, Z:0.43 [[ 9.98113619e-01 -5.08376260e-02 -3.44200379e-02 2.80415031e+01] [ 5.08077394e-02 9.98706932e-01 -1.74296423e-03 8.05235269e-01] [ 3.44641387e-02 -9.12797985e-06 9.99405935e-01 4.26703926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.765099893 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:28.07, Y:0.81, Z:0.43 [[ 9.98118540e-01 -5.12700934e-02 -3.36267301e-02 2.80713538e+01] [ 5.12418213e-02 9.98684824e-01 -1.70258391e-03 8.08381487e-01] [ 3.36697967e-02 -2.37143322e-05 9.99433011e-01 4.28595356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.795099893 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:28.10, Y:0.81, Z:0.43 [[ 9.98079734e-01 -5.16155909e-02 -3.42443492e-02 2.81025552e+01] [ 5.15865026e-02 9.98667026e-01 -1.73301313e-03 8.11100614e-01] [ 3.42881529e-02 -3.68609279e-05 9.99411988e-01 4.28891911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.825099893 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:28.13, Y:0.81, Z:0.43 [[ 9.98046811e-01 -5.22934671e-02 -3.41753698e-02 2.81325618e+01] [ 5.22649277e-02 9.98631759e-01 -1.72851383e-03 8.13399522e-01] [ 3.42189996e-02 -6.10355150e-05 9.99414357e-01 4.29892657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.855099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:28.16, Y:0.82, Z:0.43 [[ 9.97638080e-01 -5.90080433e-02 -3.51612448e-02 2.81640235e+01] [ 5.89820486e-02 9.98257462e-01 -1.77700725e-03 8.19420497e-01] [ 3.52048327e-02 -3.01072146e-04 9.99380072e-01 4.30263542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.885099893 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:28.20, Y:0.83, Z:0.43 [[ 9.97718558e-01 -5.99308160e-02 -3.10801734e-02 2.81950607e+01] [ 5.99110131e-02 9.98202489e-01 -1.56885234e-03 8.26769724e-01] [ 3.11183291e-02 -2.96771584e-04 9.99515663e-01 4.33048151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.915099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:28.23, Y:0.83, Z:0.43 [[ 9.97771138e-01 -5.90880407e-02 -3.10057975e-02 2.82272422e+01] [ 5.90679830e-02 9.98252738e-01 -1.56324950e-03 8.30819116e-01] [ 3.10439916e-02 -2.71684687e-04 9.99517982e-01 4.32850907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.945099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:28.26, Y:0.84, Z:0.43 [[ 9.97915674e-01 -5.71491928e-02 -2.99712801e-02 2.82585003e+01] [ 5.71296365e-02 9.98365628e-01 -1.50911343e-03 8.38296959e-01] [ 3.00085405e-02 -2.06280393e-04 9.99549621e-01 4.34316898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.975099893 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:28.29, Y:0.86, Z:0.43 [[ 9.98552551e-01 -4.01953811e-02 -3.57370113e-02 2.82891830e+01] [ 4.01567900e-02 9.99191774e-01 -1.79727134e-03 8.56910251e-01] [ 3.57803698e-02 3.59586228e-04 9.99359613e-01 4.32367059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.005099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:28.32, Y:0.86, Z:0.43 [[ 9.98601699e-01 -3.96452106e-02 -3.49700365e-02 2.83188145e+01] [ 3.96079456e-02 9.99213751e-01 -1.75801543e-03 8.57222857e-01] [ 3.50122383e-02 3.70465893e-04 9.99386815e-01 4.33495363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.035099892999998 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:28.35, Y:0.86, Z:0.43 [[ 9.98607765e-01 -3.90098019e-02 -3.55072755e-02 2.83489218e+01] [ 3.89709361e-02 9.99238748e-01 -1.78628686e-03 8.57678952e-01] [ 3.55499282e-02 4.00048167e-04 9.99367821e-01 4.32786325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.065099893 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:28.38, Y:0.86, Z:0.43 [[ 9.98598816e-01 -3.92384058e-02 -3.55070791e-02 2.83781062e+01] [ 3.91995459e-02 9.99229799e-01 -1.79018349e-03 8.59183972e-01] [ 3.55499754e-02 3.95813740e-04 9.99367821e-01 4.33425860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.095099893 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:28.41, Y:0.86, Z:0.43 [[ 9.98598181e-01 -3.94910805e-02 -3.52438319e-02 2.84066759e+01] [ 3.94526575e-02 9.99219846e-01 -1.78526009e-03 8.59852772e-01] [ 3.52868381e-02 3.92294647e-04 9.99377149e-01 4.33660489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.125099892999998 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:28.44, Y:0.86, Z:0.43 [[ 9.98625396e-01 -3.96011542e-02 -3.43375566e-02 2.84357309e+01] [ 3.95644556e-02 9.99215492e-01 -1.74784063e-03 8.60926059e-01] [ 3.43798350e-02 3.86891308e-04 9.99408764e-01 4.34850069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.155099893 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:28.46, Y:0.86, Z:0.44 [[ 9.98619843e-01 -3.97412507e-02 -3.43371885e-02 2.84649541e+01] [ 3.97043872e-02 9.99209929e-01 -1.75504801e-03 8.62466234e-01] [ 3.43798075e-02 3.89288742e-04 9.99408764e-01 4.35492322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.185099893 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:28.49, Y:0.86, Z:0.44 [[ 9.98646045e-01 -3.98913164e-02 -3.33880164e-02 2.84944666e+01] [ 3.98564335e-02 9.99203954e-01 -1.70993783e-03 8.64362941e-01] [ 3.34296496e-02 3.76895393e-04 9.99441002e-01 4.37591843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.215099892999998 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:28.52, Y:0.87, Z:0.44 [[ 9.98661648e-01 -3.96817665e-02 -3.31703074e-02 2.85242602e+01] [ 3.96471885e-02 9.99212295e-01 -1.69978190e-03 8.66732468e-01] [ 3.32116294e-02 3.82397557e-04 9.99448269e-01 4.39039316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.245099893 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:28.55, Y:0.87, Z:0.44 [[ 9.98660947e-01 -3.96994454e-02 -3.31702770e-02 2.85543707e+01] [ 3.96648575e-02 9.99211593e-01 -1.70037582e-03 8.68306811e-01] [ 3.32116293e-02 3.82404616e-04 9.99448269e-01 4.39699013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.275099893 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:28.58, Y:0.87, Z:0.44 [[ 9.98683527e-01 -3.86533313e-02 -3.37214002e-02 2.85843397e+01] [ 3.86169746e-02 9.99252591e-01 -1.72902136e-03 8.69635173e-01] [ 3.37630290e-02 4.24526695e-04 9.99429776e-01 4.41682494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.305099892999998 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:28.61, Y:0.87, Z:0.44 [[ 9.98729383e-01 -3.60587289e-02 -3.52049501e-02 2.86140166e+01] [ 3.60174734e-02 9.99349529e-01 -1.80556565e-03 8.69326819e-01] [ 3.52471567e-02 5.35278114e-04 9.99378483e-01 4.39498739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.335099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:28.64, Y:0.87, Z:0.44 [[ 9.98994525e-01 -3.19911566e-02 -3.14086605e-02 2.86418456e+01] [ 3.19562045e-02 9.99487966e-01 -1.61428952e-03 8.70976791e-01] [ 3.14442212e-02 6.08964818e-04 9.99505323e-01 4.41747858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.365099893 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:28.67, Y:0.87, Z:0.44 [[ 9.99056528e-01 -2.98852629e-02 -3.15107152e-02 2.86698394e+01] [ 2.98488122e-02 9.99553101e-01 -1.62663819e-03 8.70908798e-01] [ 3.15452456e-02 6.84546083e-04 9.99502090e-01 4.41810169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.395099893 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:28.70, Y:0.87, Z:0.44 [[ 9.98845021e-01 -3.39582425e-02 -3.39920841e-02 2.86981584e+01] [ 3.39179913e-02 9.99423069e-01 -1.76024056e-03 8.67802467e-01] [ 3.40322477e-02 6.05264304e-04 9.99420552e-01 4.41294106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.425099893 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:28.73, Y:0.86, Z:0.44 [[ 9.98834521e-01 -3.42039711e-02 -3.40541960e-02 2.87265791e+01] [ 3.41633844e-02 9.99414688e-01 -1.77315637e-03 8.63259379e-01] [ 3.40949126e-02 6.07683210e-04 9.99418415e-01 4.40703147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.455099893 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:28.75, Y:0.86, Z:0.44 [[ 9.98879986e-01 -3.43703267e-02 -3.25185184e-02 2.87537705e+01] [ 3.43331680e-02 9.99408996e-01 -1.70054724e-03 8.64705131e-01] [ 3.25577482e-02 5.82178851e-04 9.99469686e-01 4.43615239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.485099893 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:28.78, Y:0.87, Z:0.44 [[ 9.98894458e-01 -3.38549971e-02 -3.26144318e-02 2.87817238e+01] [ 3.38172237e-02 9.99426573e-01 -1.70925556e-03 8.66054824e-01] [ 3.26535966e-02 6.04436368e-04 9.99466546e-01 4.43721408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.515099893 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:28.81, Y:0.87, Z:0.44 [[ 9.98899785e-01 -3.35447665e-02 -3.27714514e-02 2.88092187e+01] [ 3.35062953e-02 9.99437022e-01 -1.72254635e-03 8.67094375e-01] [ 3.28107842e-02 6.22601247e-04 9.99461387e-01 4.44803403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.545099893 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:28.84, Y:0.87, Z:0.45 [[ 9.98893833e-01 -3.37219618e-02 -3.27710210e-02 2.88375921e+01] [ 3.36833185e-02 9.99431058e-01 -1.73070152e-03 8.68667125e-01] [ 3.28107388e-02 6.24950342e-04 9.99461387e-01 4.45427345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.575099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:28.87, Y:0.87, Z:0.45 [[ 9.98909520e-01 -3.31370485e-02 -3.28893035e-02 2.88655019e+01] [ 3.30975758e-02 9.99450604e-01 -1.74401911e-03 8.69419515e-01] [ 3.29290259e-02 6.53561078e-04 9.99457479e-01 4.45720975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.605099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:28.89, Y:0.87, Z:0.45 [[ 9.98900593e-01 -3.34055587e-02 -3.28888121e-02 2.88938357e+01] [ 3.33659278e-02 9.99441665e-01 -1.75324474e-03 8.70987213e-01] [ 3.29290173e-02 6.53951480e-04 9.99457479e-01 4.46344056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.635099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:28.92, Y:0.87, Z:0.45 [[ 9.98913344e-01 -3.26501184e-02 -3.32580816e-02 2.89216288e+01] [ 3.26088668e-02 9.99466601e-01 -1.78214143e-03 8.71571537e-01] [ 3.32985289e-02 6.95696506e-04 9.99445208e-01 4.46609180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.665099893 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:28.95, Y:0.87, Z:0.45 [[ 9.99026413e-01 -2.88510086e-02 -3.33743267e-02 2.89484346e+01] [ 2.88070926e-02 9.99583376e-01 -1.79605658e-03 8.70481354e-01] [ 3.34122402e-02 8.32890647e-04 9.99441308e-01 4.46257437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.695099893 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:28.98, Y:0.87, Z:0.45 [[ 9.99166710e-01 -2.58775706e-02 -3.15632325e-02 2.89760627e+01] [ 2.58366445e-02 9.99664726e-01 -1.70386369e-03 8.71055411e-01] [ 3.15967420e-02 8.86955858e-04 9.99500305e-01 4.48526000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.725099893 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:29.00, Y:0.87, Z:0.45 [[ 9.99171210e-01 -2.52274223e-02 -3.19447850e-02 2.90042815e+01] [ 2.51848768e-02 9.99681308e-01 -1.73357326e-03 8.69427841e-01] [ 3.19783380e-02 9.27611012e-04 9.99488132e-01 4.49612037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.755099893 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:29.03, Y:0.87, Z:0.45 [[ 9.99058189e-01 -2.82972154e-02 -3.28938158e-02 2.90314733e+01] [ 2.82535042e-02 9.99599182e-01 -1.79300046e-03 8.65313047e-01] [ 3.29313683e-02 8.61946226e-04 9.99457244e-01 4.49527284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.785099892999998 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:29.06, Y:0.86, Z:0.45 [[ 9.98895146e-01 -3.29813817e-02 -3.34770886e-02 2.90592874e+01] [ 3.29385274e-02 9.99455702e-01 -1.83094805e-03 8.63357993e-01] [ 3.35192543e-02 7.26239114e-04 9.99437808e-01 4.50576487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.815099893 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:29.09, Y:0.86, Z:0.45 [[ 9.98575548e-01 -4.08622348e-02 -3.43096713e-02 2.90872842e+01] [ 4.08215238e-02 9.99164673e-01 -1.88652488e-03 8.60140472e-01] [ 3.43580992e-02 4.83264554e-04 9.99409469e-01 4.50975357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.845099893 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:29.12, Y:0.86, Z:0.45 [[ 9.98243609e-01 -4.90725801e-02 -3.31900454e-02 2.91161863e+01] [ 4.90387196e-02 9.98795195e-01 -1.83394429e-03 8.55195674e-01] [ 3.32400542e-02 2.03125839e-04 9.99447376e-01 4.51243602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.875099892999998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:29.15, Y:0.85, Z:0.45 [[ 9.97841244e-01 -5.77419362e-02 -3.12845103e-02 2.91479693e+01] [ 5.77159563e-02 9.98331540e-01 -1.73358708e-03 8.52379688e-01] [ 3.13324140e-02 -7.57707328e-05 9.99509017e-01 4.51355743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.905099893 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:29.18, Y:0.85, Z:0.45 [[ 9.97563079e-01 -6.21196826e-02 -3.17655315e-02 2.91803584e+01] [ 6.20951646e-02 9.98068684e-01 -1.75870537e-03 8.50142329e-01] [ 3.18134325e-02 -2.18066365e-04 9.99493801e-01 4.50551294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.935099893 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:29.21, Y:0.85, Z:0.45 [[ 9.97601322e-01 -6.19899460e-02 -3.08033967e-02 2.92115543e+01] [ 6.19669109e-02 9.98076752e-01 -1.70278702e-03 8.50960634e-01] [ 3.08497098e-02 -2.10088759e-04 9.99524012e-01 4.50971999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.965099892999998 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:29.24, Y:0.85, Z:0.45 [[ 9.97838945e-01 -5.71914652e-02 -3.23508255e-02 2.92432046e+01] [ 5.71636507e-02 9.98363226e-01 -1.78477209e-03 8.54068014e-01] [ 3.23999482e-02 -6.83761910e-05 9.99474982e-01 4.52384705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.995099893 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:29.28, Y:0.86, Z:0.45 [[ 9.98075429e-01 -5.26223758e-02 -3.28073597e-02 2.92750912e+01] [ 5.25913820e-02 9.98614480e-01 -1.80753022e-03 8.55087567e-01] [ 3.28570209e-02 7.86671127e-05 9.99460059e-01 4.52446472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.025099893 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:29.31, Y:0.86, Z:0.45 [[ 9.98389129e-01 -4.57788596e-02 -3.35177952e-02 2.93055734e+01] [ 4.57427148e-02 9.98951551e-01 -1.84479991e-03 8.58385522e-01] [ 3.35671063e-02 3.08633231e-04 9.99436418e-01 4.53710708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.055099892999998 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:29.33, Y:0.86, Z:0.45 [[ 9.98619929e-01 -4.00241243e-02 -3.40045245e-02 2.93347402e+01] [ 3.99835851e-02 9.99198584e-01 -1.87161537e-03 8.61985185e-01] [ 3.40521825e-02 5.09409610e-04 9.99419926e-01 4.54408461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.085099893 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:29.36, Y:0.86, Z:0.45 [[ 9.98566383e-01 -3.99614206e-02 -3.56126838e-02 2.93622948e+01] [ 3.99167431e-02 9.99201077e-01 -1.96493819e-03 8.64216620e-01] [ 3.56627538e-02 5.40578866e-04 9.99363735e-01 4.54666412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.115099893 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:29.39, Y:0.87, Z:0.46 [[ 9.98144131e-01 -4.96147340e-02 -3.53082318e-02 2.93901798e+01] [ 4.95764911e-02 9.98768410e-01 -1.95833534e-03 8.66028032e-01] [ 3.53619088e-02 2.04242692e-04 9.99374551e-01 4.55565439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.145099893 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:29.42, Y:0.87, Z:0.46 [[ 9.97763899e-01 -5.65457648e-02 -3.56339437e-02 2.94192258e+01] [ 5.65110021e-02 9.98400008e-01 -1.98277949e-03 8.66890683e-01] [ 3.56890475e-02 -3.53640765e-05 9.99362942e-01 4.55552160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.175099893 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:29.45, Y:0.87, Z:0.46 [[ 9.97890389e-01 -5.57759146e-02 -3.32237652e-02 2.94504655e+01] [ 5.57452846e-02 9.98443312e-01 -1.84823031e-03 8.70791954e-01] [ 3.32751329e-02 -7.73698350e-06 9.99446229e-01 4.58142746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.205099893 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:29.48, Y:0.87, Z:0.46 [[ 9.98182187e-01 -5.21685106e-02 -3.01789350e-02 2.94817051e+01] [ 5.21416202e-02 9.98638291e-01 -1.67785060e-03 8.73201100e-01] [ 3.02253710e-02 1.01222012e-04 9.99543104e-01 4.59748720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.235099893 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:29.51, Y:0.88, Z:0.46 [[ 9.98411809e-01 -4.93101976e-02 -2.72463606e-02 2.95123691e+01] [ 4.92872435e-02 9.98783498e-01 -1.51380687e-03 8.75241221e-01] [ 2.72878614e-02 1.68504648e-04 9.99627603e-01 4.62139544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.265099893 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:29.54, Y:0.88, Z:0.46 [[ 9.98487095e-01 -4.77396530e-02 -2.72845401e-02 2.95443776e+01] [ 4.77160912e-02 9.98859791e-01 -1.51435512e-03 8.78022426e-01] [ 2.73257248e-02 2.10152444e-04 9.99626561e-01 4.62875297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.295099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:29.58, Y:0.88, Z:0.46 [[ 9.98267645e-01 -5.05346429e-02 -3.01323695e-02 2.95764292e+01] [ 5.05072480e-02 9.98722298e-01 -1.67007029e-03 8.78991692e-01] [ 3.01782657e-02 1.45274080e-04 9.99544522e-01 4.61906069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.325099893 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:29.61, Y:0.88, Z:0.46 [[ 9.97907070e-01 -5.56560815e-02 -3.29223244e-02 2.96090224e+01] [ 5.56262463e-02 9.98449999e-01 -1.82216884e-03 8.80068887e-01] [ 3.29727095e-02 -1.29901547e-05 9.99456252e-01 4.62085163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.355099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:29.64, Y:0.88, Z:0.46 [[ 9.97593343e-01 -5.93593075e-02 -3.58328570e-02 2.96397866e+01] [ 5.93264398e-02 9.98236670e-01 -1.98075219e-03 8.82822825e-01] [ 3.58872479e-02 -1.49850638e-04 9.99355834e-01 4.61759352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.385099893 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:29.67, Y:0.89, Z:0.46 [[ 9.97420826e-01 -6.17656320e-02 -3.65609490e-02 2.96719740e+01] [ 6.17331148e-02 9.98090651e-01 -2.01869855e-03 8.85218386e-01] [ 3.66158275e-02 -2.43529284e-04 9.99329386e-01 4.61740806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.415099893 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:29.70, Y:0.89, Z:0.46 [[ 9.97426469e-01 -6.16743383e-02 -3.65611114e-02 2.97046226e+01] [ 6.16418678e-02 9.98096296e-01 -2.01575261e-03 8.86967644e-01] [ 3.66158301e-02 -2.43130191e-04 9.99329386e-01 4.62455437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.445099893 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:29.74, Y:0.89, Z:0.46 [[ 9.97409255e-01 -6.20761173e-02 -3.63501438e-02 2.97355914e+01] [ 6.20443887e-02 9.98071384e-01 -2.00133460e-03 8.90590088e-01] [ 3.64042734e-02 -2.59172803e-04 9.99337111e-01 4.62317051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.475099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:29.77, Y:0.89, Z:0.46 [[ 9.97478912e-01 -6.20418208e-02 -3.44475437e-02 2.97675413e+01] [ 6.20133779e-02 9.98073520e-01 -1.89452635e-03 8.92948458e-01] [ 3.44987211e-02 -2.46458468e-04 9.99404712e-01 4.61673151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.505099893 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:29.80, Y:0.90, Z:0.46 [[ 9.97638498e-01 -6.08272551e-02 -3.18978573e-02 2.97988373e+01] [ 6.08023118e-02 9.98148290e-01 -1.75226959e-03 8.97148283e-01] [ 3.19453774e-02 -1.91331860e-04 9.99489598e-01 4.63362992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.535099892999998 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:29.83, Y:0.90, Z:0.47 [[ 9.97805306e-01 -5.87427395e-02 -3.05591693e-02 2.98310556e+01] [ 5.87189226e-02 9.98273147e-01 -1.67697143e-03 9.01932678e-01] [ 3.06049080e-02 -1.21110505e-04 9.99531553e-01 4.65550174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.565099893 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:29.86, Y:0.90, Z:0.46 [[ 9.97833743e-01 -5.73973269e-02 -3.21460529e-02 2.98631076e+01] [ 5.73703493e-02 9.98351411e-01 -1.76170831e-03 9.04730436e-01] [ 3.21941746e-02 -8.63382838e-05 9.99481629e-01 4.64994477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.595099893 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:29.90, Y:0.91, Z:0.46 [[ 9.97789352e-01 -5.75546545e-02 -3.32245427e-02 2.98950723e+01] [ 5.75260029e-02 9.98342352e-01 -1.81841308e-03 9.07207819e-01] [ 3.32741263e-02 -9.68819267e-05 9.99446258e-01 4.63940996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.625099892999998 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:29.93, Y:0.91, Z:0.47 [[ 9.97806174e-01 -5.79935756e-02 -3.19309417e-02 2.99256587e+01] [ 5.79674022e-02 9.98316950e-01 -1.74557212e-03 9.10772290e-01] [ 3.19784323e-02 -1.09211106e-04 9.99488553e-01 4.65678344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.96, Y:0.92, Z:0.47 [[ 9.97917230e-01 -5.86474446e-02 -2.68640927e-02 2.99551553e+01] [ 5.81104629e-02 9.98102684e-01 -2.03520615e-02 9.23631501e-01] [ 2.80067194e-02 1.87485880e-02 9.99431896e-01 4.69359364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.685099893 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:29.99, Y:0.91, Z:0.46 [[ 9.97833598e-01 -5.58076929e-02 -3.48369479e-02 2.99891340e+01] [ 5.63961766e-02 9.98277937e-01 1.61441007e-02 9.09580729e-01] [ 3.38759915e-02 -1.80737967e-02 9.99262606e-01 4.60923564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.715099892999998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:30.02, Y:0.92, Z:0.47 [[ 9.97990633e-01 -5.39957976e-02 -3.31534247e-02 3.00209361e+01] [ 5.39656694e-02 9.98541163e-01 -1.80355283e-03 9.22280721e-01] [ 3.32024436e-02 1.07820704e-05 9.99448647e-01 4.69088001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.745099893 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:30.05, Y:0.93, Z:0.47 [[ 9.98144009e-01 -5.10763948e-02 -3.31623037e-02 3.00527656e+01] [ 5.10447201e-02 9.98694744e-01 -1.80160699e-03 9.26099817e-01] [ 3.32110380e-02 1.05502712e-04 9.99448356e-01 4.68601335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.775099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:30.08, Y:0.93, Z:0.47 [[ 9.98239609e-01 -4.99732292e-02 -3.19430499e-02 3.00834779e+01] [ 4.99433437e-02 9.98750549e-01 -1.73327526e-03 9.29171141e-01] [ 3.19897559e-02 1.34881304e-04 9.99488188e-01 4.70392439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.805099892999998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:30.12, Y:0.93, Z:0.47 [[ 9.98241269e-01 -5.04287000e-02 -3.11659382e-02 3.01160699e+01] [ 5.04005304e-02 9.98727657e-01 -1.68928162e-03 9.31561391e-01] [ 3.12114727e-02 1.15530813e-04 9.99512797e-01 4.71094869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.835099893 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:30.15, Y:0.93, Z:0.47 [[ 9.98125182e-01 -5.27853084e-02 -3.09811598e-02 3.01471813e+01] [ 5.27586720e-02 9.98605883e-01 -1.67716223e-03 9.33933480e-01] [ 3.10264979e-02 3.94930085e-05 9.99518562e-01 4.71771072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.18, Y:0.94, Z:0.48 [[ 9.98028240e-01 -5.52720311e-02 -2.97427982e-02 3.01790914e+01] [ 5.52486369e-02 9.98471332e-01 -1.60841194e-03 9.36912683e-01] [ 2.97862315e-02 -3.80085194e-05 9.99556291e-01 4.75083903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.895099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:30.21, Y:0.94, Z:0.48 [[ 9.98036204e-01 -5.51545279e-02 -2.96936564e-02 3.02106153e+01] [ 5.51312341e-02 9.98477830e-01 -1.60322864e-03 9.39249611e-01] [ 2.97368829e-02 -3.69676996e-05 9.99557760e-01 4.75286885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.925099893 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:30.24, Y:0.94, Z:0.48 [[ 9.98080568e-01 -5.38633480e-02 -3.05600854e-02 3.02428840e+01] [ 5.38381735e-02 9.98548316e-01 -1.64661230e-03 9.41915243e-01] [ 3.06044139e-02 -1.84744419e-06 9.99531575e-01 4.75276808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.955099893 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:30.27, Y:0.95, Z:0.48 [[ 9.98190783e-01 -5.12909722e-02 -3.13751066e-02 3.02740831e+01] [ 5.12632324e-02 9.98683749e-01 -1.68841968e-03 9.46355446e-01] [ 3.14204097e-02 7.69755819e-05 9.99506254e-01 4.76806753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.985099893 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:30.31, Y:0.95, Z:0.48 [[ 9.98237508e-01 -4.94032205e-02 -3.28816067e-02 3.03062988e+01] [ 4.93717937e-02 9.98778905e-01 -1.76749895e-03 9.48827535e-01] [ 3.29287752e-02 1.40959850e-04 9.99457691e-01 4.75089907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.015099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:30.34, Y:0.95, Z:0.48 [[ 9.98295455e-01 -4.84281773e-02 -3.25714046e-02 3.03387542e+01] [ 4.83968978e-02 9.98826653e-01 -1.74849975e-03 9.51555288e-01] [ 3.26178637e-02 1.69164417e-04 9.99467882e-01 4.75237106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.045099893 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:30.37, Y:0.95, Z:0.48 [[ 9.98337511e-01 -4.69797287e-02 -3.33934060e-02 3.03699824e+01] [ 4.69461149e-02 9.98895819e-01 -1.79038529e-03 9.54528879e-01] [ 3.34406455e-02 2.19718119e-04 9.99440681e-01 4.75662805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.075099893 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:30.40, Y:0.96, Z:0.48 [[ 9.98323722e-01 -4.67214475e-02 -3.41592205e-02 3.04011127e+01] [ 4.66861792e-02 9.98907930e-01 -1.82979158e-03 9.57157402e-01] [ 3.42074068e-02 2.31960853e-04 9.99414728e-01 4.76189418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.105099893 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:30.43, Y:0.96, Z:0.48 [[ 9.98318746e-01 -4.65903943e-02 -3.44821064e-02 3.04311960e+01] [ 4.65544133e-02 9.98914050e-01 -1.84605763e-03 9.60712640e-01] [ 3.45306691e-02 2.37659709e-04 9.99403610e-01 4.77551986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.135099892999996 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:30.46, Y:0.96, Z:0.48 [[ 9.98333709e-01 -4.69702048e-02 -3.35202291e-02 3.04625803e+01] [ 4.69364444e-02 9.98896267e-01 -1.79377009e-03 9.62761299e-01] [ 3.35674854e-02 2.17460782e-04 9.99436430e-01 4.78489103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.165099893 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:30.49, Y:0.96, Z:0.48 [[ 9.98273364e-01 -4.90516071e-02 -3.23145413e-02 3.04936006e+01] [ 4.90213598e-02 9.98796235e-01 -1.72810118e-03 9.64514130e-01] [ 3.23604084e-02 1.41014619e-04 9.99476255e-01 4.78467787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.195099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:30.52, Y:0.97, Z:0.48 [[ 9.98163038e-01 -5.24586183e-02 -3.03091304e-02 3.05247823e+01] [ 5.24336159e-02 9.98623098e-01 -1.61966449e-03 9.66107923e-01] [ 3.03523631e-02 2.74719219e-05 9.99539261e-01 4.80188558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.225099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:30.56, Y:0.97, Z:0.48 [[ 9.98082254e-01 -5.42452704e-02 -2.98205342e-02 3.05557341e+01] [ 5.42219127e-02 9.98527641e-01 -1.59195896e-03 9.68302434e-01] [ 2.98629840e-02 -2.80204202e-05 9.99554001e-01 4.81415409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.255099893 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:30.59, Y:0.97, Z:0.48 [[ 9.97768084e-01 -6.02110147e-02 -2.88701327e-02 3.05874437e+01] [ 6.01916649e-02 9.98185651e-01 -1.53960935e-03 9.71902387e-01] [ 2.89104536e-02 -2.01568285e-04 9.99581985e-01 4.83681061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.285099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:30.62, Y:0.97, Z:0.48 [[ 9.97495923e-01 -6.42857060e-02 -2.94827230e-02 3.06197632e+01] [ 6.42673709e-02 9.97931481e-01 -1.57004616e-03 9.73558439e-01] [ 2.95226690e-02 -3.28662450e-04 9.99564057e-01 4.84484505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.315099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:30.65, Y:0.97, Z:0.48 [[ 9.97190674e-01 -6.85333567e-02 -3.02314076e-02 3.06529052e+01] [ 6.85161158e-02 9.97648715e-01 -1.60705739e-03 9.74674467e-01] [ 3.02704620e-02 -4.68795985e-04 9.99541635e-01 4.84945602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.345099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:30.69, Y:0.98, Z:0.49 [[ 9.97034662e-01 -7.05954532e-02 -3.06294603e-02 3.06861886e+01] [ 7.05788295e-02 9.97504881e-01 -1.62489657e-03 9.75940738e-01] [ 3.06677464e-02 -5.41713250e-04 9.99529487e-01 4.85132083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.375099893 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:30.71, Y:0.98, Z:0.49 [[ 9.96682564e-01 -7.49388737e-02 -3.17495258e-02 3.07138167e+01] [ 7.50317330e-02 9.97179625e-01 1.74182205e-03 9.79579559e-01] [ 3.15294501e-02 -4.11826561e-03 9.99494339e-01 4.87054542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.405099893 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:30.75, Y:0.98, Z:0.49 [[ 9.96642207e-01 -7.55230304e-02 -3.16319796e-02 3.07497987e+01] [ 7.53838504e-02 9.97139025e-01 -5.57137894e-03 9.81558397e-01] [ 3.19622487e-02 3.16813099e-03 9.99484056e-01 4.89771823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.435099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:30.78, Y:0.98, Z:0.49 [[ 9.96374349e-01 -7.74945780e-02 -3.51105030e-02 3.07789572e+01] [ 7.76123899e-02 9.96981597e-01 2.00300077e-03 9.84324272e-01] [ 3.48493037e-02 -4.72074864e-03 9.99381429e-01 4.87170020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.465099893 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:30.81, Y:0.99, Z:0.49 [[ 9.96763002e-01 -7.36160599e-02 -3.23139909e-02 3.08139563e+01] [ 7.34623653e-02 9.97280421e-01 -5.91964999e-03 9.88658895e-01] [ 3.26618918e-02 3.52662589e-03 9.99460236e-01 4.89305134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.495099893 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:30.85, Y:0.99, Z:0.49 [[ 9.97103292e-01 -6.95333488e-02 -3.08243281e-02 3.08470851e+01] [ 6.95167001e-02 9.97579484e-01 -1.61274301e-03 9.92255157e-01] [ 3.08618568e-02 -5.34734212e-04 9.99523516e-01 4.90967493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.525099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:30.88, Y:1.00, Z:0.49 [[ 9.97427173e-01 -6.45034838e-02 -3.12783500e-02 3.08803550e+01] [ 6.44839763e-02 9.97917406e-01 -1.63304905e-03 9.97843271e-01] [ 3.13185473e-02 -3.88104881e-04 9.99509379e-01 4.92385074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.555099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:30.91, Y:1.00, Z:0.49 [[ 9.97660356e-01 -6.09304027e-02 -3.10048318e-02 3.09137808e+01] [ 6.09096147e-02 9.98141979e-01 -1.61538673e-03 1.00085607e+00] [ 3.10456503e-02 -2.76885056e-04 9.99517929e-01 4.92781629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.585099893 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:30.95, Y:1.00, Z:0.49 [[ 9.97853311e-01 -5.77283746e-02 -3.09225482e-02 3.09455730e+01] [ 5.77062591e-02 9.98332311e-01 -1.60788289e-03 1.00232441e+00] [ 3.09637995e-02 -1.79993316e-04 9.99520490e-01 4.93436668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.615099893 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:30.98, Y:1.00, Z:0.50 [[ 9.97921331e-01 -5.64302088e-02 -3.11231285e-02 3.09778208e+01] [ 5.64072574e-02 9.98406536e-01 -1.61564307e-03 1.00361011e+00] [ 3.11647060e-02 -1.43285634e-04 9.99514252e-01 4.95388572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.645099893 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:31.01, Y:1.00, Z:0.49 [[ 9.98008065e-01 -5.43709905e-02 -3.19952675e-02 3.10098474e+01] [ 5.43457515e-02 9.98520800e-01 -1.65857743e-03 1.00458992e+00] [ 3.20381186e-02 -8.35332047e-05 9.99486644e-01 4.93763431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.675099893 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:31.04, Y:1.01, Z:0.49 [[ 9.98100932e-01 -5.23523668e-02 -3.24616540e-02 3.10423087e+01] [ 5.23253958e-02 9.98628674e-01 -1.68039264e-03 1.00642532e+00] [ 3.25051110e-02 -2.13674286e-05 9.99471569e-01 4.94939705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.705099892999996 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:31.07, Y:1.01, Z:0.50 [[ 9.98390842e-01 -4.61828585e-02 -3.29069996e-02 3.10741486e+01] [ 4.61518697e-02 9.98932986e-01 -1.70105627e-03 1.00786318e+00] [ 3.29504470e-02 1.79599443e-04 9.99456970e-01 4.95007391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.735099893 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:31.10, Y:1.01, Z:0.50 [[ 9.98768839e-01 -3.71494622e-02 -3.28743681e-02 3.11040874e+01] [ 3.71137013e-02 9.99309607e-01 -1.69755967e-03 1.00860621e+00] [ 3.29147353e-02 4.75380224e-04 9.99458050e-01 4.96379931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.765099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:31.13, Y:1.01, Z:0.50 [[ 9.98992468e-01 -3.10079174e-02 -3.24431563e-02 3.11336116e+01] [ 3.09698586e-02 9.99518915e-01 -1.67506873e-03 1.00947422e+00] [ 3.24794888e-02 6.68621079e-04 9.99472179e-01 4.97508016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.795099893 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:31.16, Y:1.01, Z:0.50 [[ 9.99059635e-01 -2.86975903e-02 -3.25006817e-02 3.11615932e+01] [ 2.86580721e-02 9.99587859e-01 -1.68118953e-03 1.01047488e+00] [ 3.25355329e-02 7.48201719e-04 9.99470299e-01 4.97824833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.825099893 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:31.19, Y:1.01, Z:0.50 [[ 9.99168642e-01 -2.53404008e-02 -3.19357034e-02 3.11895975e+01] [ 2.53002500e-02 9.99678518e-01 -1.66077117e-03 1.00990910e+00] [ 3.19675212e-02 8.51409193e-04 9.99488546e-01 4.98480496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.855099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:31.22, Y:1.01, Z:0.50 [[ 9.99191117e-01 -2.50519364e-02 -3.14565043e-02 3.12177374e+01] [ 2.50125574e-02 9.99685784e-01 -1.64479694e-03 1.01014418e+00] [ 3.14878255e-02 8.56658870e-04 9.99503768e-01 4.99862221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.885099892999996 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:31.24, Y:1.01, Z:0.50 [[ 9.99138130e-01 -2.86199515e-02 -3.00648495e-02 3.12423458e+01] [ 2.84351933e-02 9.99574145e-01 -6.55508505e-03 1.01497247e+00] [ 3.02396524e-02 5.69453561e-03 9.99526456e-01 5.01191824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.915099893 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:31.27, Y:1.01, Z:0.50 [[ 9.99079124e-01 -3.13055316e-02 -2.93405423e-02 3.12730818e+01] [ 3.10951189e-02 9.99487531e-01 -7.60055575e-03 1.01162837e+00] [ 2.95634456e-02 6.68120893e-03 9.99540577e-01 5.00273522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.945099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:31.30, Y:1.00, Z:0.50 [[ 9.98592114e-01 -4.13671138e-02 -3.32046806e-02 3.13034407e+01] [ 4.16837497e-02 9.99091209e-01 8.90067526e-03 9.98186540e-01] [ 3.28063092e-02 -1.02722397e-02 9.99408939e-01 4.97820801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.975099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:31.33, Y:1.00, Z:0.50 [[ 9.98221845e-01 -4.91202511e-02 -3.37690610e-02 3.13339083e+01] [ 4.90888006e-02 9.98792867e-01 -1.76028755e-03 9.99331913e-01] [ 3.38147630e-02 9.94747830e-05 9.99428112e-01 5.01095321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.005099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:31.37, Y:1.00, Z:0.50 [[ 9.97854580e-01 -5.52583116e-02 -3.51106346e-02 3.13662074e+01] [ 5.52281388e-02 9.98472086e-01 -1.82937232e-03 9.96100941e-01] [ 3.51580766e-02 -1.13647448e-04 9.99381757e-01 5.00288019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.035099893 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:31.40, Y:0.99, Z:0.50 [[ 9.97619846e-01 -5.96977175e-02 -3.45083401e-02 3.13977795e+01] [ 5.96713294e-02 9.98216465e-01 -1.79498842e-03 9.94240330e-01] [ 3.45539499e-02 -2.68442456e-04 9.99402798e-01 5.00849040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.065099893 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:31.43, Y:0.99, Z:0.50 [[ 9.97559654e-01 -6.09229253e-02 -3.41047505e-02 3.14302816e+01] [ 6.08979887e-02 9.98142425e-01 -1.77042409e-03 9.94450524e-01] [ 3.41492578e-02 -3.10807072e-04 9.99416696e-01 5.01599232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.095099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:31.46, Y:0.99, Z:0.50 [[ 9.97542984e-01 -6.23915038e-02 -3.18637036e-02 3.14613390e+01] [ 6.23705520e-02 9.98051695e-01 -1.65202217e-03 9.93627841e-01] [ 3.19046956e-02 -3.39393665e-04 9.99490858e-01 5.02879840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.125099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:31.49, Y:0.99, Z:0.50 [[ 9.97666978e-01 -6.10860697e-02 -3.04810318e-02 3.14934679e+01] [ 6.10663406e-02 9.98132461e-01 -1.57860906e-03 9.93829352e-01] [ 3.05205383e-02 -2.86438937e-04 9.99534099e-01 5.03953112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.155099893 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:31.53, Y:0.99, Z:0.51 [[ 9.97874646e-01 -5.83055498e-02 -2.90973084e-02 3.15257142e+01] [ 5.82864477e-02 9.98298765e-01 -1.50495109e-03 9.94736998e-01] [ 2.91355541e-02 -1.94226213e-04 9.99575451e-01 5.05000691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.185099893 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:31.56, Y:1.00, Z:0.51 [[ 9.97996098e-01 -5.61242103e-02 -2.92209081e-02 3.15578182e+01] [ 5.61040723e-02 9.98423785e-01 -1.50923724e-03 9.95363992e-01] [ 2.92595544e-02 -1.33199059e-04 9.99571839e-01 5.06063237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.215099893 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:31.59, Y:1.00, Z:0.51 [[ 9.98043445e-01 -5.46754582e-02 -3.03294613e-02 3.15890693e+01] [ 5.46531586e-02 9.98504174e-01 -1.56437246e-03 9.95574189e-01] [ 3.03696265e-02 -9.62891778e-05 9.99538732e-01 5.05662501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.245099893 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:31.62, Y:1.00, Z:0.51 [[ 9.98033222e-01 -5.41522141e-02 -3.15788622e-02 3.16209457e+01] [ 5.41278368e-02 9.98532689e-01 -1.62692800e-03 9.96935523e-01] [ 3.16206279e-02 -8.55673084e-05 9.99499939e-01 5.07654773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.275099893 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:31.65, Y:1.00, Z:0.51 [[ 9.97898088e-01 -5.43441737e-02 -3.53003786e-02 3.16529640e+01] [ 5.43139269e-02 9.98522258e-01 -1.81593436e-03 9.96903855e-01] [ 3.53468992e-02 -1.05184761e-04 9.99375098e-01 5.06584282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.305099893 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:31.68, Y:1.00, Z:0.51 [[ 9.97901041e-01 -5.42898368e-02 -3.53004994e-02 3.16847700e+01] [ 5.42596392e-02 9.98525214e-01 -1.81358326e-03 9.98513299e-01] [ 3.53468979e-02 -1.05615741e-04 9.99375098e-01 5.07329904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.335099893 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:31.72, Y:1.00, Z:0.51 [[ 9.97719988e-01 -5.58050099e-02 -3.79555776e-02 3.17158054e+01] [ 5.57712656e-02 9.98441671e-01 -1.94809026e-03 9.97284216e-01] [ 3.80051436e-02 -1.73182012e-04 9.99277529e-01 5.06270797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.365099893 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:31.75, Y:1.00, Z:0.51 [[ 9.97602417e-01 -5.72065635e-02 -3.89464645e-02 3.17458153e+01] [ 5.71721243e-02 9.98362336e-01 -1.99835866e-03 9.96896056e-01] [ 3.89970025e-02 -2.33084682e-04 9.99239300e-01 5.06799786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.395099893 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:31.78, Y:1.00, Z:0.51 [[ 9.97678004e-01 -5.69372445e-02 -3.73731132e-02 3.17751693e+01] [ 5.69053191e-02 9.98377737e-01 -1.91827977e-03 9.98772702e-01] [ 3.74217058e-02 -2.12903401e-04 9.99299540e-01 5.08333906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.425099893 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:31.81, Y:1.00, Z:0.51 [[ 9.97775422e-01 -5.63222803e-02 -3.56652226e-02 3.18065818e+01] [ 5.62928160e-02 9.98412624e-01 -1.83056467e-03 1.00033184e+00] [ 3.57117100e-02 -1.81203373e-04 9.99362117e-01 5.09071272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.455099892999996 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:31.84, Y:1.00, Z:0.51 [[ 9.97847271e-01 -5.66870145e-02 -3.29758517e-02 3.18374339e+01] [ 5.66620637e-02 9.98391982e-01 -1.69139246e-03 1.00069081e+00] [ 3.30187060e-02 -1.80728463e-04 9.99454718e-01 5.10484400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.485099893 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:31.87, Y:1.00, Z:0.51 [[ 9.97873794e-01 -5.68334750e-02 -3.19037229e-02 3.18681603e+01] [ 5.68102364e-02 9.98383655e-01 -1.63511884e-03 1.00212094e+00] [ 3.19450850e-02 -1.80815797e-04 9.99489609e-01 5.11406696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.515099893 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:31.90, Y:1.00, Z:0.51 [[ 9.97902510e-01 -5.66929933e-02 -3.12487480e-02 3.19002172e+01] [ 5.66706870e-02 9.98391644e-01 -1.59974179e-03 1.00437349e+00] [ 3.12891830e-02 -1.74501671e-04 9.99510358e-01 5.12917721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.545099893 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:31.93, Y:1.01, Z:0.52 [[ 9.98039839e-01 -5.52485278e-02 -2.93952267e-02 3.19315237e+01] [ 5.52282304e-02 9.98472626e-01 -1.50257034e-03 1.00741539e+00] [ 2.94333440e-02 -1.23821295e-04 9.99566738e-01 5.16686783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.575099893 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:31.96, Y:1.01, Z:0.52 [[ 9.98134239e-01 -5.31603421e-02 -3.00336210e-02 3.19634780e+01] [ 5.31383057e-02 9.98585987e-01 -1.53196183e-03 1.00877541e+00] [ 3.00725927e-02 -6.68321751e-05 9.99547715e-01 5.15869859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.605099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:32.00, Y:1.01, Z:0.52 [[ 9.98263355e-01 -5.03741057e-02 -3.05405134e-02 3.19960293e+01] [ 5.03500835e-02 9.98730419e-01 -1.55558618e-03 1.00928697e+00] [ 3.05801010e-02 1.51672799e-05 9.99532319e-01 5.15694720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.635099892999996 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:32.03, Y:1.01, Z:0.52 [[ 9.98413835e-01 -4.78048499e-02 -2.97407177e-02 3.20277644e+01] [ 4.77809930e-02 9.98856691e-01 -1.51273111e-03 1.01031824e+00] [ 2.97790307e-02 8.92906450e-05 9.99556502e-01 5.16728838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.665099893 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:32.06, Y:1.01, Z:0.52 [[ 9.98465098e-01 -4.60538370e-02 -3.07651016e-02 3.20592818e+01] [ 4.60275390e-02 9.98938949e-01 -1.56281707e-03 1.01170997e+00] [ 3.08044319e-02 1.44376383e-04 9.99525420e-01 5.16438495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.695099893 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:32.09, Y:1.01, Z:0.52 [[ 9.98449682e-01 -4.55170948e-02 -3.20378971e-02 3.20909542e+01] [ 4.54883371e-02 9.98963546e-01 -1.62628586e-03 1.01169155e+00] [ 3.20787151e-02 1.66413934e-04 9.99485332e-01 5.15548000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.725099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:32.12, Y:1.01, Z:0.52 [[ 9.98405239e-01 -4.65040361e-02 -3.20055279e-02 3.21210312e+01] [ 4.64758751e-02 9.98918093e-01 -1.62365336e-03 1.01173425e+00] [ 3.20464074e-02 1.33579097e-04 9.99486373e-01 5.15698108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.755099893 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:32.15, Y:1.01, Z:0.52 [[ 9.98375597e-01 -4.70594427e-02 -3.21181495e-02 3.21527843e+01] [ 4.70313940e-02 9.98892084e-01 -1.62863312e-03 1.01274656e+00] [ 3.21592079e-02 1.15426216e-04 9.99482752e-01 5.16105122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.785099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:32.18, Y:1.01, Z:0.52 [[ 9.98293939e-01 -4.84673445e-02 -3.25595969e-02 3.21838564e+01] [ 4.84393067e-02 9.98824765e-01 -1.64982469e-03 1.01394665e+00] [ 3.26012943e-02 6.98456904e-05 9.99468434e-01 5.16661930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.815099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:32.21, Y:1.02, Z:0.52 [[ 9.98167934e-01 -5.00678462e-02 -3.39703807e-02 3.22146275e+01] [ 5.00382884e-02 9.98745819e-01 -1.72023732e-03 1.01578623e+00] [ 3.40139043e-02 1.72660216e-05 9.99421360e-01 5.16873123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.845099893 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:32.25, Y:1.02, Z:0.52 [[ 9.98111921e-01 -5.17542022e-02 -3.30771194e-02 3.22457073e+01] [ 5.17271294e-02 9.98659852e-01 -1.67425155e-03 1.01630282e+00] [ 3.31194407e-02 -3.98940027e-05 9.99451400e-01 5.17117937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.875099893 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:32.28, Y:1.02, Z:0.52 [[ 9.98379832e-01 -4.81602315e-02 -3.03035115e-02 3.22769031e+01] [ 4.81358847e-02 9.98839620e-01 -1.53285298e-03 1.01741883e+00] [ 3.03421705e-02 7.16831662e-05 9.99539568e-01 5.20029564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.905099893 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:32.31, Y:1.02, Z:0.52 [[ 9.98837247e-01 -3.77969050e-02 -2.99256982e-02 3.23085628e+01] [ 3.77685418e-02 9.99285369e-01 -1.51267229e-03 1.01997490e+00] [ 2.99614867e-02 3.80663443e-04 9.99550981e-01 5.20927393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.935099893 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:32.34, Y:1.02, Z:0.52 [[ 9.99027998e-01 -3.28227907e-02 -2.94231806e-02 3.23384264e+01] [ 3.27932338e-02 9.99461052e-01 -1.48665563e-03 1.01903731e+00] [ 2.94561193e-02 5.20329355e-04 9.99565939e-01 5.21035801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.965099893 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:32.37, Y:1.02, Z:0.52 [[ 9.99119720e-01 -3.01723451e-02 -2.91447038e-02 3.23665383e+01] [ 3.01421785e-02 9.99544535e-01 -1.47394559e-03 1.01930825e+00] [ 2.91759017e-02 5.94163243e-04 9.99574116e-01 5.21830615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.995099893 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:32.39, Y:1.02, Z:0.52 [[ 9.99117497e-01 -2.98589051e-02 -2.95410419e-02 3.23939476e+01] [ 2.98276895e-02 9.99553935e-01 -1.49688715e-03 1.02028369e+00] [ 2.95725601e-02 6.14425112e-04 9.99562447e-01 5.22294595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.025099893 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:32.42, Y:1.02, Z:0.52 [[ 9.99120628e-01 -3.04639231e-02 -2.88083292e-02 3.24217005e+01] [ 3.04343614e-02 9.99535695e-01 -1.46416800e-03 1.02106105e+00] [ 2.88395576e-02 5.86117348e-04 9.99583882e-01 5.23635711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.055099893 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:32.45, Y:1.02, Z:0.52 [[ 9.99035494e-01 -3.18790937e-02 -3.01961124e-02 3.24485821e+01] [ 3.18470001e-02 9.99491564e-01 -1.54330257e-03 1.02151892e+00] [ 3.02299587e-02 5.80158453e-04 9.99542802e-01 5.23573826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.085099893 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:32.48, Y:1.02, Z:0.52 [[ 9.99027159e-01 -3.21395606e-02 -3.01957709e-02 3.24769289e+01] [ 3.21073849e-02 9.99483223e-01 -1.54995715e-03 1.02304180e+00] [ 3.02299814e-02 5.78942052e-04 9.99542802e-01 5.24240674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.115099893 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:32.51, Y:1.02, Z:0.52 [[ 9.98862319e-01 -3.63361232e-02 -3.08828950e-02 3.25050086e+01] [ 3.63042095e-02 9.99339514e-01 -1.59366010e-03 1.02034652e+00] [ 3.09204047e-02 4.70667929e-04 9.99521739e-01 5.24155886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.145099893 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:32.53, Y:1.02, Z:0.53 [[ 9.98738169e-01 -3.96083855e-02 -3.08746664e-02 3.25330626e+01] [ 3.95777737e-02 9.99215208e-01 -1.60221831e-03 1.01998850e+00] [ 3.09138975e-02 3.78246019e-04 9.99521980e-01 5.25746034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.175099893 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:32.56, Y:1.02, Z:0.53 [[ 9.98424031e-01 -4.59239684e-02 -3.22559089e-02 3.25619603e+01] [ 4.58935996e-02 9.98944918e-01 -1.68162036e-03 1.01865842e+00] [ 3.22991029e-02 1.98630416e-04 9.99478228e-01 5.26052876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.205099892999996 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:32.59, Y:1.02, Z:0.53 [[ 9.98103483e-01 -5.26409435e-02 -3.19118950e-02 3.25914575e+01] [ 5.26145885e-02 9.98613504e-01 -1.66561616e-03 1.01829627e+00] [ 3.19553289e-02 -1.65739330e-05 9.99489298e-01 5.27366138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.235099893 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:32.62, Y:1.01, Z:0.53 [[ 9.97542095e-01 -6.19395024e-02 -3.27607570e-02 3.26233642e+01] [ 6.19167247e-02 9.98079854e-01 -1.71028505e-03 1.01428140e+00] [ 3.28037857e-02 -3.22357440e-04 9.99461759e-01 5.26329990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.265099893 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:32.66, Y:1.01, Z:0.53 [[ 9.97410084e-01 -6.40471441e-02 -3.27274734e-02 3.26557393e+01] [ 6.40256105e-02 9.97946797e-01 -1.70659953e-03 1.01418440e+00] [ 3.27695801e-02 -3.93216886e-04 9.99462856e-01 5.26620343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.295099893 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:32.69, Y:1.01, Z:0.53 [[ 9.97192571e-01 -6.78124695e-02 -3.17560393e-02 3.26865132e+01] [ 6.77941700e-02 9.97697958e-01 -1.65384840e-03 1.01439302e+00] [ 3.17950871e-02 -5.03668985e-04 9.99494282e-01 5.27578357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.325099893 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:32.72, Y:1.02, Z:0.53 [[ 9.96997021e-01 -7.17518812e-02 -2.91308706e-02 3.27188836e+01] [ 7.17382081e-02 9.97422344e-01 -1.51556460e-03 1.01585874e+00] [ 2.91645259e-02 -5.78783067e-04 9.99574457e-01 5.29192462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.355099893 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:32.75, Y:1.02, Z:0.53 [[ 9.96856902e-01 -7.34456070e-02 -2.96994956e-02 3.27507120e+01] [ 7.34322102e-02 9.97299017e-01 -1.54299290e-03 1.01658221e+00] [ 2.97326038e-02 -6.42756477e-04 9.99557682e-01 5.28675304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.385099892999996 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:32.78, Y:1.02, Z:0.53 [[ 9.96444975e-01 -7.90430631e-02 -2.91480166e-02 3.27828445e+01] [ 7.90326155e-02 9.96870884e-01 -1.51212907e-03 1.01902161e+00] [ 2.91763324e-02 -7.96890577e-04 9.99573963e-01 5.30019825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.415099893 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:32.82, Y:1.02, Z:0.53 [[ 9.96184405e-01 -8.16636447e-02 -3.07844139e-02 3.28158164e+01] [ 8.16533349e-02 9.96659517e-01 -1.59398187e-03 1.02197311e+00] [ 3.08117495e-02 -9.25750177e-04 9.99524777e-01 5.30601287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.445099893 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:32.85, Y:1.02, Z:0.53 [[ 9.96148913e-01 -8.17139407e-02 -3.17832509e-02 3.28478217e+01] [ 8.17030810e-02 9.96655361e-01 -1.64242875e-03 1.02452637e+00] [ 3.18111568e-02 -9.60685918e-04 9.99493435e-01 5.31248683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.475099893 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:32.88, Y:1.03, Z:0.53 [[ 9.96177299e-01 -8.12608188e-02 -3.20541388e-02 3.28806225e+01] [ 8.12496337e-02 9.96692411e-01 -1.65347487e-03 1.02743595e+00] [ 3.20824797e-02 -9.57232910e-04 9.99484766e-01 5.31923206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.505099893 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:32.91, Y:1.03, Z:0.53 [[ 9.96267883e-01 -8.01184776e-02 -3.21143923e-02 3.29132109e+01] [ 8.01067657e-02 9.96784918e-01 -1.65322269e-03 1.03057266e+00] [ 3.21435956e-02 -9.25527431e-04 9.99482833e-01 5.32847846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.535099893 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:32.94, Y:1.03, Z:0.53 [[ 9.96391798e-01 -7.83156955e-02 -3.27114187e-02 3.29448217e+01] [ 7.83026843e-02 9.96928215e-01 -1.68057796e-03 1.03354628e+00] [ 3.27425519e-02 -8.86877796e-04 9.99463425e-01 5.33815499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.565099893 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:32.98, Y:1.04, Z:0.54 [[ 9.96782234e-01 -7.33519980e-02 -3.23212507e-02 3.29779824e+01] [ 7.33367850e-02 9.97305855e-01 -1.65750615e-03 1.03878808e+00] [ 3.23557540e-02 -7.18163937e-04 9.99476158e-01 5.35840326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.595099893 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:33.01, Y:1.05, Z:0.54 [[ 9.97513838e-01 -6.18899627e-02 -3.37012728e-02 3.30094602e+01] [ 6.18669958e-02 9.98082912e-01 -1.72485529e-03 1.04695981e+00] [ 3.37434157e-02 -3.64429477e-04 9.99430462e-01 5.37970429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.625099893 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:33.04, Y:1.05, Z:0.54 [[ 9.97956768e-01 -5.42970728e-02 -3.36766543e-02 3.30407627e+01] [ 5.42698927e-02 9.98524820e-01 -1.72131195e-03 1.05215962e+00] [ 3.37204374e-02 -1.09833504e-04 9.99431298e-01 5.39435199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.655099893 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:33.07, Y:1.06, Z:0.54 [[ 9.98142321e-01 -5.11726531e-02 -3.30645710e-02 3.30719573e+01] [ 5.11447914e-02 9.98689821e-01 -1.68842303e-03 1.05552721e+00] [ 3.31076516e-02 -5.79410581e-06 9.99451791e-01 5.41118462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.685099893 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:33.10, Y:1.06, Z:0.54 [[ 9.98278013e-01 -4.81075138e-02 -3.35659942e-02 3.31032156e+01] [ 4.80771091e-02 9.98842159e-01 -1.71280259e-03 1.05823684e+00] [ 3.36095287e-02 9.60972041e-05 9.99435036e-01 5.41066839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.715099893 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:33.13, Y:1.06, Z:0.54 [[ 9.98515681e-01 -4.25893738e-02 -3.39496629e-02 3.31338254e+01] [ 4.25551101e-02 9.99092621e-01 -1.73151324e-03 1.06155488e+00] [ 3.39926017e-02 2.84211482e-04 9.99422044e-01 5.41348039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.745099893 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:33.16, Y:1.07, Z:0.54 [[ 9.98639557e-01 -3.85421502e-02 -3.51217656e-02 3.31618393e+01] [ 3.85029540e-02 9.99256880e-01 -1.79193259e-03 1.06521280e+00] [ 3.51647309e-02 4.37203044e-04 9.99381434e-01 5.41828715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.775099893 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:33.19, Y:1.07, Z:0.54 [[ 9.98666855e-01 -3.69430938e-02 -3.60516339e-02 3.31892847e+01] [ 3.69005729e-02 9.99317240e-01 -1.84433724e-03 1.06895292e+00] [ 3.60951548e-02 5.11552524e-04 9.99348227e-01 5.41676063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.805099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:33.22, Y:1.07, Z:0.54 [[ 9.98645627e-01 -3.83103232e-02 -3.52027032e-02 3.32167371e+01] [ 3.82702785e-02 9.99265784e-01 -1.81090729e-03 1.07209032e+00] [ 3.52462332e-02 4.61237394e-04 9.99378552e-01 5.43320922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.835099893 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:33.24, Y:1.07, Z:0.54 [[ 9.98514536e-01 -4.21651515e-02 -3.45082766e-02 3.32435674e+01] [ 4.21286644e-02 9.99110601e-01 -1.78409634e-03 1.07377381e+00] [ 3.45528117e-02 3.27658524e-04 9.99402820e-01 5.43406198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.865099893 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:33.27, Y:1.07, Z:0.54 [[ 9.98265072e-01 -4.82839547e-02 -3.36972600e-02 3.32718315e+01] [ 4.82524694e-02 9.98833643e-01 -1.74742642e-03 1.07435405e+00] [ 3.37423296e-02 1.18418753e-04 9.99430558e-01 5.43670362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.895099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:33.30, Y:1.08, Z:0.54 [[ 9.97924807e-01 -5.56225632e-02 -3.24377810e-02 3.33023943e+01] [ 5.55972241e-02 9.98451859e-01 -1.68330066e-03 1.07545377e+00] [ 3.24811922e-02 -1.23643087e-04 9.99472339e-01 5.44651745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.925099893 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:33.33, Y:1.08, Z:0.55 [[ 9.97536675e-01 -6.27431019e-02 -3.13669361e-02 3.33331084e+01] [ 6.27229397e-02 9.98029651e-01 -1.62729885e-03 1.07643265e+00] [ 3.14072341e-02 -3.44136154e-04 9.99506612e-01 5.45082019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.955099892999996 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:33.36, Y:1.08, Z:0.55 [[ 9.97362987e-01 -6.57573768e-02 -3.07089620e-02 3.33647092e+01] [ 6.57395299e-02 9.97835548e-01 -1.59153350e-03 1.07776821e+00] [ 3.07471490e-02 -4.31456119e-04 9.99527102e-01 5.46109347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.985099893 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:33.40, Y:1.08, Z:0.55 [[ 9.97041875e-01 -7.07625327e-02 -3.00027077e-02 3.33974611e+01] [ 7.07478195e-02 9.97493025e-01 -1.55299847e-03 1.07858734e+00] [ 3.00373858e-02 -5.74221639e-04 9.99548611e-01 5.47764201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.015099893 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:33.43, Y:1.08, Z:0.55 [[ 9.96715332e-01 -7.51414155e-02 -3.02045563e-02 3.34297508e+01] [ 7.51286083e-02 9.97172632e-01 -1.56027267e-03 1.08047840e+00] [ 3.02363980e-02 -7.14078586e-04 9.99542521e-01 5.49413184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.045099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:33.46, Y:1.08, Z:0.55 [[ 9.96411857e-01 -7.88711292e-02 -3.07043460e-02 3.34629633e+01] [ 7.88597540e-02 9.96884463e-01 -1.58314222e-03 1.08195791e+00] [ 3.07335497e-02 -8.43875493e-04 9.99527257e-01 5.49602120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.075099893 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:33.50, Y:1.08, Z:0.55 [[ 9.96140192e-01 -8.23712167e-02 -3.03265715e-02 3.34952457e+01] [ 8.23618552e-02 9.96601270e-01 -1.55985338e-03 1.08314136e+00] [ 3.03519867e-02 -9.43920041e-04 9.99538827e-01 5.50034672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.105099893 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:33.53, Y:1.08, Z:0.55 [[ 9.95823760e-01 -8.57383649e-02 -3.13683091e-02 3.35286723e+01] [ 8.57301827e-02 9.96317093e-01 -1.60816907e-03 1.08453718e+00] [ 3.13906643e-02 -1.08775790e-03 9.99506600e-01 5.49316860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.135099892999996 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:33.56, Y:1.09, Z:0.55 [[ 9.95557773e-01 -8.79647092e-02 -3.35697994e-02 3.35618427e+01] [ 8.79567314e-02 9.96122816e-01 -1.71720771e-03 1.08669158e+00] [ 3.35906968e-02 -1.24311035e-03 9.99434900e-01 5.49126124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.165099893 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:33.59, Y:1.09, Z:0.55 [[ 9.95399594e-01 -8.93457820e-02 -3.45973873e-02 3.35948530e+01] [ 8.93382752e-02 9.95999776e-01 -1.76591235e-03 1.09027821e+00] [ 3.46167668e-02 -1.33308247e-03 9.99399771e-01 5.49619605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.195099893 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:33.63, Y:1.09, Z:0.55 [[ 9.95345740e-01 -8.99613767e-02 -3.45515424e-02 3.36266570e+01] [ 8.99543837e-02 9.95944331e-01 -1.75999520e-03 1.09378611e+00] [ 3.45697444e-02 -1.35625898e-03 9.99401367e-01 5.49976079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.225099893 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:33.66, Y:1.10, Z:0.55 [[ 9.95356908e-01 -8.98376601e-02 -3.45517207e-02 3.36601602e+01] [ 8.98307143e-02 9.95955500e-01 -1.75648882e-03 1.09540264e+00] [ 3.45697751e-02 -1.35547247e-03 9.99401367e-01 5.50761284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.255099893 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:33.69, Y:1.10, Z:0.55 [[ 9.95333741e-01 -8.97193803e-02 -3.55130539e-02 3.36929608e+01] [ 8.97121218e-02 9.95966110e-01 -1.80103740e-03 1.09818237e+00] [ 3.55313861e-02 -1.39331813e-03 9.99367590e-01 5.50626923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.285099893 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:33.73, Y:1.10, Z:0.55 [[ 9.95334198e-01 -9.01943984e-02 -3.42754222e-02 3.37250613e+01] [ 9.01880360e-02 9.95923244e-01 -1.73481240e-03 1.10469695e+00] [ 3.42921601e-02 -1.36451490e-03 9.99410919e-01 5.51452399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.315099892999996 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:33.76, Y:1.11, Z:0.55 [[ 9.95309091e-01 -9.04035704e-02 -3.44529866e-02 3.37577680e+01] [ 9.03973819e-02 9.95904254e-01 -1.74046924e-03 1.11072062e+00] [ 3.44692206e-02 -1.38215493e-03 9.99404804e-01 5.52914286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.345099893 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:33.79, Y:1.11, Z:0.55 [[ 9.95303244e-01 -9.05841598e-02 -3.41461926e-02 3.37903980e+01] [ 9.05783125e-02 9.95887848e-01 -1.72129535e-03 1.11442138e+00] [ 3.41617004e-02 -1.37969365e-03 9.99415366e-01 5.54118965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.375099893 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:33.82, Y:1.12, Z:0.55 [[ 9.95346852e-01 -9.00161241e-02 -3.43764725e-02 3.38235577e+01] [ 9.00099882e-02 9.95939362e-01 -1.72917030e-03 1.12143848e+00] [ 3.43925352e-02 -1.37310167e-03 9.99407459e-01 5.54931365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.405099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:33.86, Y:1.13, Z:0.56 [[ 9.95486270e-01 -8.86401974e-02 -3.39116632e-02 3.38556996e+01] [ 8.86335460e-02 9.96062848e-01 -1.70234336e-03 1.12754889e+00] [ 3.39290439e-02 -1.31105152e-03 9.99423384e-01 5.56914302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.435099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:33.89, Y:1.14, Z:0.56 [[ 9.95957823e-01 -8.38215804e-02 -3.22793768e-02 3.38857328e+01] [ 8.35647573e-02 9.96459628e-01 -9.22716414e-03 1.14003987e+00] [ 3.29385313e-02 6.49244801e-03 9.99436292e-01 5.59290683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.465099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:33.92, Y:1.13, Z:0.56 [[ 9.96299004e-01 -7.87679452e-02 -3.44079243e-02 3.39198059e+01] [ 7.90074232e-02 9.96857990e-01 5.65455447e-03 1.13473142e+00] [ 3.38544166e-02 -8.35210843e-03 9.99391875e-01 5.55836003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.495099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:33.95, Y:1.14, Z:0.56 [[ 9.96460492e-01 -7.66492082e-02 -3.45164830e-02 3.39528140e+01] [ 7.66355067e-02 9.97057689e-01 -1.72172156e-03 1.14091867e+00] [ 3.45468934e-02 -9.29560651e-04 9.99402646e-01 5.58942549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.525099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:33.98, Y:1.14, Z:0.56 [[ 9.96512664e-01 -7.60061261e-02 -3.44322402e-02 3.39848996e+01] [ 7.59922302e-02 9.97106937e-01 -1.71397173e-03 1.14315069e+00] [ 3.44628979e-02 -9.08588184e-04 9.99405565e-01 5.60362931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.555099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:34.02, Y:1.15, Z:0.56 [[ 9.96642343e-01 -7.43388520e-02 -3.43187170e-02 3.40170979e+01] [ 7.43241957e-02 9.97232675e-01 -1.70436553e-03 1.14532432e+00] [ 3.43504466e-02 -8.52068183e-04 9.99409486e-01 5.60403917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.585099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:34.05, Y:1.15, Z:0.56 [[ 9.96755683e-01 -7.30901655e-02 -3.37036576e-02 3.40502164e+01] [ 7.30754850e-02 9.97325016e-01 -1.66882679e-03 1.14619541e+00] [ 3.37354757e-02 -7.99498535e-04 9.99430477e-01 5.60700168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.615099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:34.08, Y:1.15, Z:0.56 [[ 9.96905935e-01 -7.10094976e-02 -3.37076815e-02 3.40821574e+01] [ 7.09937405e-02 9.97475370e-01 -1.66560441e-03 1.14699347e+00] [ 3.37408559e-02 -7.32583478e-04 9.99430347e-01 5.60449766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.645099893 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:34.11, Y:1.15, Z:0.56 [[ 9.97008202e-01 -6.98077359e-02 -3.31892224e-02 3.41148947e+01] [ 6.97918970e-02 9.97560230e-01 -1.63689595e-03 1.14836704e+00] [ 3.32225163e-02 -6.84340098e-04 9.99447746e-01 5.62309195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.675099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:34.15, Y:1.15, Z:0.56 [[ 9.97210484e-01 -6.67024122e-02 -3.34968337e-02 3.41481333e+01] [ 6.66846484e-02 9.97772740e-01 -1.64845300e-03 1.15002220e+00] [ 3.35321833e-02 -5.89869962e-04 9.99437464e-01 5.62423526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.705099892999996 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:34.18, Y:1.15, Z:0.56 [[ 9.97395217e-01 -6.36651537e-02 -3.39047033e-02 3.41798915e+01] [ 6.36453194e-02 9.97971192e-01 -1.66502536e-03 1.15259263e+00] [ 3.39419213e-02 -4.97187345e-04 9.99423683e-01 5.63342372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.735099893 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:34.21, Y:1.15, Z:0.56 [[ 9.97567353e-01 -6.04011019e-02 -3.48006271e-02 3.42119929e+01] [ 6.03783231e-02 9.98174107e-01 -1.70606266e-03 1.15474003e+00] [ 3.48401329e-02 -3.99291096e-04 9.99392819e-01 5.64355279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.765099893 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:34.24, Y:1.16, Z:0.56 [[ 9.97781912e-01 -5.65474971e-02 -3.51231653e-02 3.42437615e+01] [ 5.65219961e-02 9.98399874e-01 -1.71933645e-03 1.15622586e+00] [ 3.51641880e-02 -2.69708604e-04 9.99381512e-01 5.64901742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.795099893 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:34.27, Y:1.16, Z:0.57 [[ 9.98017934e-01 -5.21060359e-02 -3.52868781e-02 3.42749314e+01] [ 5.20776291e-02 9.98641551e-01 -1.72428435e-03 1.15834232e+00] [ 3.53287883e-02 -1.16790244e-04 9.99375737e-01 5.65508627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.825099893 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:34.31, Y:1.16, Z:0.57 [[ 9.98381613e-01 -4.59765892e-02 -3.34709974e-02 3.43057680e+01] [ 4.59476835e-02 9.98942513e-01 -1.63267232e-03 1.16073155e+00] [ 3.35106670e-02 9.21152319e-05 9.99438356e-01 5.68104388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.855099893 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:34.34, Y:1.16, Z:0.57 [[ 9.98532548e-01 -4.36594383e-02 -3.20406480e-02 3.43373825e+01] [ 4.36317932e-02 9.99046459e-01 -1.56181450e-03 1.16132611e+00] [ 3.20782839e-02 1.61531680e-04 9.99485346e-01 5.69177536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.885099892999996 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:34.37, Y:1.16, Z:0.57 [[ 9.98560159e-01 -4.31321506e-02 -3.18939843e-02 3.43688236e+01] [ 4.31045250e-02 9.99069360e-01 -1.55354452e-03 1.16169485e+00] [ 3.19313102e-02 1.76532614e-04 9.99490050e-01 5.69577840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.915099893 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:34.40, Y:1.16, Z:0.57 [[ 9.98490992e-01 -4.39332175e-02 -3.29486055e-02 3.44000854e+01] [ 4.39042095e-02 9.99034458e-01 -1.60372202e-03 1.16077804e+00] [ 3.29872489e-02 1.54719507e-04 9.99455761e-01 5.67909655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.945099893 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:34.43, Y:1.16, Z:0.57 [[ 9.98247012e-01 -4.86751662e-02 -3.36694497e-02 3.44309803e+01] [ 4.86476051e-02 9.98814662e-01 -1.63778053e-03 1.15982083e+00] [ 3.37092593e-02 -3.02857473e-06 9.99431681e-01 5.69195724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.975099893 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:34.46, Y:1.16, Z:0.57 [[ 9.98111297e-01 -5.02254387e-02 -3.53729203e-02 3.44625454e+01] [ 5.01960207e-02 9.98737904e-01 -1.71979242e-03 1.16069363e+00] [ 3.54146536e-02 -5.90355983e-05 9.99372703e-01 5.67872200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.005099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:34.49, Y:1.16, Z:0.57 [[ 9.97842331e-01 -5.48230847e-02 -3.61263333e-02 3.44942737e+01] [ 5.47954578e-02 9.98496058e-01 -1.75513453e-03 1.16106176e+00] [ 3.61682233e-02 -2.28211442e-04 9.99345690e-01 5.68872949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.035099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:34.53, Y:1.16, Z:0.57 [[ 9.97525424e-01 -5.98351566e-02 -3.69158928e-02 3.45269313e+01] [ 5.98098062e-02 9.98208183e-01 -1.79165840e-03 1.16035912e+00] [ 3.69569504e-02 -4.20707590e-04 9.99316770e-01 5.67943506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.065099892999996 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:34.56, Y:1.16, Z:0.57 [[ 9.97376718e-01 -6.27454604e-02 -3.60927831e-02 3.45579273e+01] [ 6.27232174e-02 9.98029427e-01 -1.74935906e-03 1.16090597e+00] [ 3.61314240e-02 -5.19085484e-04 9.99346912e-01 5.69308157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.095099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:34.59, Y:1.16, Z:0.57 [[ 9.97091580e-01 -6.85687988e-02 -3.32671088e-02 3.45902563e+01] [ 6.85532033e-02 9.97646162e-01 -1.61051294e-03 1.16166714e+00] [ 3.32992343e-02 -6.74737976e-04 9.99445199e-01 5.70877609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.125099893 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:34.62, Y:1.16, Z:0.57 [[ 9.97027224e-01 -7.01729744e-02 -3.18193188e-02 3.46225915e+01] [ 7.01595995e-02 9.97534593e-01 -1.53801957e-03 1.16224131e+00] [ 3.18487987e-02 -6.98983287e-04 9.99492454e-01 5.71375607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.155099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:34.66, Y:1.16, Z:0.57 [[ 9.97023664e-01 -7.13070055e-02 -2.93108238e-02 3.46554641e+01] [ 7.12962221e-02 9.97454184e-01 -1.41416536e-03 1.16254474e+00] [ 2.93370437e-02 -6.79794677e-04 9.99569345e-01 5.72687874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.185099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:34.69, Y:1.16, Z:0.57 [[ 9.97007118e-01 -7.23892413e-02 -2.71404573e-02 3.46888323e+01] [ 7.23804712e-02 9.97376238e-01 -1.30669199e-03 1.16231745e+00] [ 2.71638376e-02 -6.61657874e-04 9.99630776e-01 5.73599697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.215099893 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:34.72, Y:1.16, Z:0.57 [[ 9.96869562e-01 -7.39937939e-02 -2.78566667e-02 3.47213211e+01] [ 7.39852652e-02 9.97258437e-01 -1.33814408e-03 1.16188738e+00] [ 2.78793102e-02 -7.27027767e-04 9.99611032e-01 5.73405299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.245099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:34.75, Y:1.16, Z:0.57 [[ 9.96637720e-01 -7.58048496e-02 -3.10946906e-02 3.47538708e+01] [ 7.57951994e-02 9.97122292e-01 -1.49063088e-03 1.16220046e+00] [ 3.11182062e-02 -8.71209308e-04 9.99515332e-01 5.73067137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.275099893 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:34.79, Y:1.16, Z:0.57 [[ 9.96450103e-01 -7.65680120e-02 -3.49933078e-02 3.47868501e+01] [ 7.65563880e-02 9.97063848e-01 -1.67392046e-03 1.16292237e+00] [ 3.50187309e-02 -1.01098303e-03 9.99386145e-01 5.72181333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.305099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:34.82, Y:1.16, Z:0.57 [[ 9.96404817e-01 -7.54815575e-02 -3.84704381e-02 3.48203367e+01] [ 7.54668708e-02 9.97146620e-01 -1.83585885e-03 1.16471337e+00] [ 3.84992408e-02 -1.07398498e-03 9.99258052e-01 5.72160309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.335099893 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:34.85, Y:1.17, Z:0.57 [[ 9.96612962e-01 -7.16594612e-02 -4.03425958e-02 3.48524628e+01] [ 7.16403391e-02 9.97428679e-01 -1.92132353e-03 1.16711995e+00] [ 4.03765430e-02 -9.75341303e-04 9.99184059e-01 5.72001989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.365099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:34.88, Y:1.17, Z:0.58 [[ 9.97087330e-01 -6.52709651e-02 -3.94532208e-02 3.48847099e+01] [ 6.52477884e-02 9.97867329e-01 -1.87615563e-03 1.17191046e+00] [ 3.94915385e-02 -7.03544394e-04 9.99219657e-01 5.75182544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.395099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:34.92, Y:1.18, Z:0.58 [[ 9.97750570e-01 -5.51703584e-02 -3.80792887e-02 3.49153662e+01] [ 5.51415040e-02 9.98476912e-01 -1.80838617e-03 1.17712308e+00] [ 3.81210599e-02 -2.95430921e-04 9.99273085e-01 5.77216091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.425099893 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:34.95, Y:1.18, Z:0.58 [[ 9.98344467e-01 -4.41840897e-02 -3.68251513e-02 3.49467419e+01] [ 4.41496928e-02 9.99023399e-01 -1.74712085e-03 1.18263746e+00] [ 3.68663828e-02 1.18409317e-04 9.99320197e-01 5.77703765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.455099892999996 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:34.98, Y:1.19, Z:0.58 [[ 9.98812592e-01 -3.44389975e-02 -3.44581240e-02 3.49754131e+01] [ 3.44030894e-02 9.99406702e-01 -1.63462263e-03 1.18753893e+00] [ 3.44939748e-02 4.47215747e-04 9.99404806e-01 5.80207086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.485099893 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:35.00, Y:1.19, Z:0.58 [[ 9.99154765e-01 -2.70851667e-02 -3.09216519e-02 3.50028311e+01] [ 2.70526307e-02 9.99632930e-01 -1.47015914e-03 1.18989604e+00] [ 3.09501210e-02 6.32404481e-04 9.99520730e-01 5.82444440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.515099893 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:35.03, Y:1.19, Z:0.58 [[ 9.99297804e-01 -2.27175831e-02 -2.97961462e-02 3.50300091e+01] [ 2.26852139e-02 9.99741643e-01 -1.42398928e-03 1.19049302e+00] [ 2.98207978e-02 7.47057409e-04 9.99554982e-01 5.82813946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.545099893 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:35.06, Y:1.19, Z:0.58 [[ 9.99198232e-01 -2.36071279e-02 -3.23356776e-02 3.50577635e+01] [ 2.35692836e-02 9.99721003e-01 -1.55107650e-03 1.19025241e+00] [ 3.23632725e-02 7.87704145e-04 9.99475862e-01 5.83422148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.575099893 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:35.09, Y:1.19, Z:0.58 [[ 9.99019517e-01 -2.79985625e-02 -3.42940864e-02 3.50858831e+01] [ 2.79582283e-02 9.99607722e-01 -1.65519795e-03 1.18920390e+00] [ 3.43269767e-02 6.94773162e-04 9.99410414e-01 5.83069582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.605099893 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:35.11, Y:1.19, Z:0.58 [[ 9.98906277e-01 -3.08353239e-02 -3.51487104e-02 3.51125684e+01] [ 3.07944140e-02 9.99524286e-01 -1.70480396e-03 1.18841099e+00] [ 3.51845578e-02 6.20555433e-04 9.99380639e-01 5.83416873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.635099892999996 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:35.14, Y:1.18, Z:0.58 [[ 9.98640208e-01 -3.70264668e-02 -3.66984561e-02 3.51409147e+01] [ 3.69857914e-02 9.99314194e-01 -1.78686932e-03 1.18480838e+00] [ 3.67394495e-02 4.27118110e-04 9.99324787e-01 5.82264070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.665099893 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:35.17, Y:1.18, Z:0.58 [[ 9.98528604e-01 -3.99465296e-02 -3.66729048e-02 3.51676717e+01] [ 3.99075282e-02 9.99201765e-01 -1.79517971e-03 1.18378519e+00] [ 3.67153424e-02 3.29013305e-04 9.99325710e-01 5.82501513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.695099893 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:35.20, Y:1.18, Z:0.58 [[ 9.98420372e-01 -4.28951597e-02 -3.62872821e-02 3.51952041e+01] [ 4.28586117e-02 9.99079553e-01 -1.78481159e-03 1.18379847e+00] [ 3.63304413e-02 2.26769718e-04 9.99339806e-01 5.83156377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.725099893 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:35.22, Y:1.18, Z:0.58 [[ 9.98150887e-01 -4.97793075e-02 -3.48830548e-02 3.52237037e+01] [ 4.97494096e-02 9.98760242e-01 -1.72507327e-03 1.18214779e+00] [ 3.49256812e-02 -1.35279665e-05 9.99389912e-01 5.84740724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.755099893 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:35.25, Y:1.18, Z:0.58 [[ 9.97965797e-01 -5.40797611e-02 -3.37586790e-02 3.52544325e+01] [ 5.40540305e-02 9.98536607e-01 -1.67505262e-03 1.18041860e+00] [ 3.37998633e-02 -1.53147447e-04 9.99428610e-01 5.84611362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.785099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:35.29, Y:1.18, Z:0.59 [[ 9.97746520e-01 -5.90359245e-02 -3.18848049e-02 3.52867764e+01] [ 5.90155329e-02 9.98255812e-01 -1.58107195e-03 1.17837578e+00] [ 3.19225319e-02 -3.04189723e-04 9.99490300e-01 5.85270943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.815099892999996 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:35.32, Y:1.18, Z:0.59 [[ 9.97437954e-01 -6.47656189e-02 -3.03799682e-02 3.53187376e+01] [ 6.47498260e-02 9.97900394e-01 -1.50436687e-03 1.17705522e+00] [ 3.04136135e-02 -4.66585045e-04 9.99537290e-01 5.86543571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.845099893 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:35.35, Y:1.18, Z:0.59 [[ 9.97011520e-01 -7.15265726e-02 -2.91886645e-02 3.53519447e+01] [ 7.15149537e-02 9.97438484e-01 -1.44314556e-03 1.17662197e+00] [ 2.92171205e-02 -6.48593243e-04 9.99572878e-01 5.88926269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.875099893 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:35.39, Y:1.18, Z:0.59 [[ 9.96778725e-01 -7.48877441e-02 -2.87053996e-02 3.53851126e+01] [ 7.48779875e-02 9.97191697e-01 -1.41617210e-03 1.17664689e+00] [ 2.87308401e-02 -7.37792340e-04 9.99586912e-01 5.90578454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.905099893 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:35.42, Y:1.17, Z:0.59 [[ 9.95946738e-01 -8.51880098e-02 -2.88634353e-02 3.54168939e+01] [ 8.51825505e-02 9.96364348e-01 -1.42091547e-03 1.17356455e+00] [ 2.88795428e-02 -1.04350491e-03 9.99582354e-01 5.91811589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.935099893 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:35.45, Y:1.17, Z:0.59 [[ 9.95384936e-01 -9.06042082e-02 -3.16181516e-02 3.54493237e+01] [ 9.06004810e-02 9.95886108e-01 -1.55348236e-03 1.17197581e+00] [ 3.16288300e-02 -1.31830681e-03 9.99498814e-01 5.90321856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.965099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:35.48, Y:1.17, Z:0.59 [[ 9.94958057e-01 -9.43869278e-02 -3.39053572e-02 3.54820160e+01] [ 9.43849496e-02 9.95534388e-01 -1.66246198e-03 1.17215572e+00] [ 3.39108637e-02 -1.54607549e-03 9.99423665e-01 5.90851975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.995099893 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:35.51, Y:1.17, Z:0.59 [[ 9.94833422e-01 -9.51564423e-02 -3.53795788e-02 3.55144506e+01] [ 9.51549466e-02 9.95460970e-01 -1.72990541e-03 1.17369406e+00] [ 3.53836015e-02 -1.64557421e-03 9.99372450e-01 5.91186874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.025099893 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:35.55, Y:1.18, Z:0.59 [[ 9.94821084e-01 -9.46159216e-02 -3.71327155e-02 3.55477746e+01] [ 9.46141204e-02 9.95512377e-01 -1.80970611e-03 1.17652067e+00] [ 3.71373049e-02 -1.71294542e-03 9.99308704e-01 5.91981920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.055099893 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:35.58, Y:1.18, Z:0.60 [[ 9.95017902e-01 -9.30836321e-02 -3.57045077e-02 3.55809638e+01] [ 9.30811161e-02 9.95657015e-01 -1.73631974e-03 1.17958326e+00] [ 3.57110665e-02 -1.59574620e-03 9.99360882e-01 5.95071607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.085099893 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:35.61, Y:1.18, Z:0.59 [[ 9.95282292e-01 -9.00255510e-02 -3.61740170e-02 3.56125097e+01] [ 9.00211307e-02 9.95938311e-01 -1.75424124e-03 1.18302417e+00] [ 3.61850159e-02 -1.51046066e-03 9.99343966e-01 5.94072293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.115099893 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:35.65, Y:1.18, Z:0.59 [[ 9.95293499e-01 -8.99014497e-02 -3.61742981e-02 3.56460164e+01] [ 8.98971585e-02 9.95949519e-01 -1.74842754e-03 1.18455669e+00] [ 3.61849610e-02 -1.51176805e-03 9.99343966e-01 5.94857282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.145099893 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:35.68, Y:1.19, Z:0.60 [[ 9.95678317e-01 -8.61816077e-02 -3.46037451e-02 3.56791364e+01] [ 8.61755760e-02 9.96278569e-01 -1.66849780e-03 1.18914666e+00] [ 3.46187635e-02 -1.32071058e-03 9.99399718e-01 5.97349590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.175099893 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:35.71, Y:1.19, Z:0.60 [[ 9.95904320e-01 -8.31756845e-02 -3.54456168e-02 3.57107371e+01] [ 8.31676251e-02 9.96534115e-01 -1.70430252e-03 1.19236144e+00] [ 3.54645229e-02 -1.25060552e-03 9.99370153e-01 5.96330791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.205099892999996 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:35.74, Y:1.20, Z:0.60 [[ 9.96185523e-01 -8.00153893e-02 -3.48129592e-02 3.57440965e+01] [ 8.00058744e-02 9.96792996e-01 -1.66851264e-03 1.19576003e+00] [ 3.48348205e-02 -1.12309311e-03 9.99392452e-01 5.97309994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.235099893 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:35.78, Y:1.20, Z:0.60 [[ 9.96738200e-01 -7.31130231e-02 -3.41679096e-02 3.57756527e+01] [ 7.30999542e-02 9.97323282e-01 -1.63321085e-03 1.20105587e+00] [ 3.41958607e-02 -8.69788987e-04 9.99414772e-01 5.98030958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.265099893 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:35.81, Y:1.21, Z:0.60 [[ 9.97292966e-01 -6.53366543e-02 -3.37322038e-02 3.58084060e+01] [ 6.53196448e-02 9.97863097e-01 -1.60718696e-03 1.20644228e+00] [ 3.37651296e-02 -6.00539324e-04 9.99429615e-01 5.98811297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.295099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:35.84, Y:1.21, Z:0.60 [[ 9.97760769e-01 -5.80912058e-02 -3.31490593e-02 3.58393538e+01] [ 5.80709000e-02 9.98311218e-01 -1.57580893e-03 1.21209855e+00] [ 3.31846184e-02 -3.52715374e-04 9.99449177e-01 6.01324434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.325099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:35.87, Y:1.22, Z:0.60 [[ 9.98085000e-01 -5.21681872e-02 -3.32387417e-02 3.58712146e+01] [ 5.21446022e-02 9.98638300e-01 -1.57660932e-03 1.21749887e+00] [ 3.32757293e-02 -1.59630854e-04 9.99446197e-01 6.02342470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.355099893 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:35.90, Y:1.22, Z:0.60 [[ 9.98305268e-01 -4.72229847e-02 -3.40085534e-02 3.59025766e+01] [ 4.71954953e-02 9.98884373e-01 -1.61106059e-03 1.22340936e+00] [ 3.40466916e-02 3.27975124e-06 9.99420243e-01 6.04555453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.385099892999996 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:35.93, Y:1.23, Z:0.60 [[ 9.98281043e-01 -4.64039195e-02 -3.57999416e-02 3.59342542e+01] [ 4.63729774e-02 9.98922757e-01 -1.69461127e-03 1.22574035e+00] [ 3.58400130e-02 3.15484201e-05 9.99357540e-01 6.03192664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.415099893 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:35.96, Y:1.23, Z:0.60 [[ 9.98225702e-01 -4.64192953e-02 -3.72920364e-02 3.59645247e+01] [ 4.63857629e-02 9.98922043e-01 -1.76435962e-03 1.22850969e+00] [ 3.73337376e-02 3.14095600e-05 9.99302853e-01 6.02996974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.445099893 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:35.99, Y:1.23, Z:0.60 [[ 9.98070309e-01 -4.97903110e-02 -3.71023245e-02 3.59944543e+01] [ 4.97594490e-02 9.98759689e-01 -1.75533007e-03 1.22882096e+00] [ 3.71437045e-02 -9.42483944e-05 9.99309930e-01 6.03506808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.475099893 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:36.02, Y:1.23, Z:0.60 [[ 9.97859354e-01 -5.35404989e-02 -3.75516142e-02 3.60248021e+01] [ 5.35115736e-02 9.98565651e-01 -1.77565920e-03 1.22973108e+00] [ 3.75928217e-02 -2.37587825e-04 9.99293112e-01 6.03025776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.505099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:36.06, Y:1.23, Z:0.60 [[ 9.97685286e-01 -5.77494745e-02 -3.59035899e-02 3.60554877e+01] [ 5.77258118e-02 9.98331034e-01 -1.69619614e-03 1.23068205e+00] [ 3.59416225e-02 -3.80293944e-04 9.99353819e-01 6.04994998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.535099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:36.09, Y:1.23, Z:0.61 [[ 9.97481385e-01 -6.21017864e-02 -3.42673862e-02 3.60874171e+01] [ 6.20828374e-02 9.98069689e-01 -1.61774688e-03 1.23084712e+00] [ 3.43017044e-02 -5.13744166e-04 9.99411391e-01 6.06536142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.565099892999996 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:36.12, Y:1.23, Z:0.61 [[ 9.97167096e-01 -6.68322346e-02 -3.45142630e-02 3.61201227e+01] [ 6.68159274e-02 9.97763993e-01 -1.62694809e-03 1.23096625e+00] [ 3.45458214e-02 -6.83763385e-04 9.99402881e-01 6.06506160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.595099893 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:36.15, Y:1.23, Z:0.61 [[ 9.96825455e-01 -7.17377882e-02 -3.45355085e-02 3.61521403e+01] [ 7.17244936e-02 9.97423158e-01 -1.62529255e-03 1.23183398e+00] [ 3.45631109e-02 -8.56908871e-04 9.99402150e-01 6.06113258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.625099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:36.19, Y:1.23, Z:0.61 [[ 9.96520243e-01 -7.65003053e-02 -3.30924259e-02 3.61855852e+01] [ 7.64908217e-02 9.97069074e-01 -1.55432371e-03 1.23258966e+00] [ 3.31143407e-02 -9.82351802e-04 9.99451087e-01 6.07925380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.655099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:36.22, Y:1.23, Z:0.61 [[ 9.96392806e-01 -7.76634688e-02 -3.42017781e-02 3.62191964e+01] [ 7.76541548e-02 9.96979069e-01 -1.60259589e-03 1.23155265e+00] [ 3.42229200e-02 -1.05909516e-03 9.99413663e-01 6.07765739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.685099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:36.25, Y:1.23, Z:0.61 [[ 9.96408864e-01 -7.76618718e-02 -3.37343947e-02 3.62516639e+01] [ 7.76529264e-02 9.96979205e-01 -1.57723587e-03 1.23154350e+00] [ 3.37549811e-02 -1.04800267e-03 9.99429589e-01 6.08258186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.715099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:36.28, Y:1.23, Z:0.61 [[ 9.96448323e-01 -7.73527627e-02 -3.32759548e-02 3.62838854e+01] [ 7.73440139e-02 9.97003257e-01 -1.55197398e-03 1.23312853e+00] [ 3.32962848e-02 -1.02723404e-03 9.99444997e-01 6.10353066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.745099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:36.32, Y:1.24, Z:0.61 [[ 9.96486781e-01 -7.69424326e-02 -3.30750231e-02 3.63172603e+01] [ 7.69337341e-02 9.97035023e-01 -1.53744624e-03 1.23619642e+00] [ 3.30952513e-02 -1.01254018e-03 9.99451689e-01 6.11884896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.775099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:36.35, Y:1.24, Z:0.61 [[ 9.96480570e-01 -7.68753464e-02 -3.34163752e-02 3.63489531e+01] [ 7.68665781e-02 9.97040185e-01 -1.54888148e-03 1.23836192e+00] [ 3.34365397e-02 -1.02517212e-03 9.99440317e-01 6.13101205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.805099893 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:36.38, Y:1.24, Z:0.61 [[ 9.96492039e-01 -7.66251058e-02 -3.36483159e-02 3.63810357e+01] [ 7.66162486e-02 9.97059444e-01 -1.55441835e-03 1.23915622e+00] [ 3.36684786e-02 -1.02904223e-03 9.99432526e-01 6.13274158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.835099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:36.41, Y:1.24, Z:0.61 [[ 9.96489519e-01 -7.64817830e-02 -3.40466635e-02 3.64141679e+01] [ 7.64727442e-02 9.97070437e-01 -1.56951221e-03 1.24116179e+00] [ 3.40669607e-02 -1.03963932e-03 9.99419012e-01 6.14616084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.865099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:36.45, Y:1.24, Z:0.61 [[ 9.96502832e-01 -7.54013539e-02 -3.60102962e-02 3.64458396e+01] [ 7.53907177e-02 9.97152697e-01 -1.65507297e-03 1.24364935e+00] [ 3.60325587e-02 -1.06555717e-03 9.99350048e-01 6.14614199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.895099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:36.48, Y:1.25, Z:0.62 [[ 9.96616781e-01 -7.36283932e-02 -3.65219421e-02 3.64786814e+01] [ 7.36164725e-02 9.97285223e-01 -1.67287644e-03 1.24666202e+00] [ 3.65459644e-02 -1.02139982e-03 9.99331451e-01 6.16276687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.925099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:36.51, Y:1.25, Z:0.62 [[ 9.96806168e-01 -7.07445182e-02 -3.70496400e-02 3.65102484e+01] [ 7.07304053e-02 9.97494032e-01 -1.69314244e-03 1.24987410e+00] [ 3.70765754e-02 -9.32801231e-04 9.99311992e-01 6.16705561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.955099892999996 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:36.54, Y:1.25, Z:0.62 [[ 9.97016628e-01 -6.74113092e-02 -3.75973276e-02 3.65419190e+01] [ 6.73945284e-02 9.97724930e-01 -1.71497173e-03 1.25217830e+00] [ 3.76273996e-02 -8.23998834e-04 9.99291499e-01 6.16899273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.985099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:36.57, Y:1.25, Z:0.62 [[ 9.97245639e-01 -6.39673719e-02 -3.75407908e-02 3.65741017e+01] [ 6.39483035e-02 9.97951748e-01 -1.70970789e-03 1.25411198e+00] [ 3.75732633e-02 -6.95671147e-04 9.99293633e-01 6.17952831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.015099893 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:36.61, Y:1.26, Z:0.62 [[ 9.97680093e-01 -5.74485679e-02 -3.65252572e-02 3.66054711e+01] [ 5.74262360e-02 9.98348370e-01 -1.66108968e-03 1.25743229e+00] [ 3.65603582e-02 -4.40271928e-04 9.99331350e-01 6.21102561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.045099893 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:36.64, Y:1.26, Z:0.62 [[ 9.97976832e-01 -5.11590231e-02 -3.77491381e-02 3.66378899e+01] [ 5.11307584e-02 9.98690496e-01 -1.71441980e-03 1.25946261e+00] [ 3.77874135e-02 -2.19190815e-04 9.99285777e-01 6.19771450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.075099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:36.67, Y:1.26, Z:0.62 [[ 9.98271154e-01 -4.61706337e-02 -3.63727314e-02 3.66680500e+01] [ 4.61411407e-02 9.98933567e-01 -1.65030488e-03 1.26021252e+00] [ 3.64101379e-02 -3.08275545e-05 9.99336931e-01 6.21200288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.105099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:36.70, Y:1.26, Z:0.62 [[ 9.98476972e-01 -4.18018875e-02 -3.60046943e-02 3.66987991e+01] [ 4.17701485e-02 9.99125911e-01 -1.63360629e-03 1.26145759e+00] [ 3.60415108e-02 1.27196837e-04 9.99350286e-01 6.22947626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.135099892999996 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:36.73, Y:1.26, Z:0.62 [[ 9.98544021e-01 -3.99019751e-02 -3.62997416e-02 3.67272861e+01] [ 3.98683394e-02 9.99203579e-01 -1.65027087e-03 1.26281460e+00] [ 3.63366808e-02 2.00657693e-04 9.99339585e-01 6.23957221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.165099893 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:36.76, Y:1.26, Z:0.63 [[ 9.98644974e-01 -3.69881388e-02 -3.66072854e-02 3.67551899e+01] [ 3.69517095e-02 9.99315655e-01 -1.67144764e-03 1.26431111e+00] [ 3.66440572e-02 3.16481011e-04 9.99328331e-01 6.25336462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.195099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:36.78, Y:1.27, Z:0.63 [[ 9.98689158e-01 -3.63979655e-02 -3.59882427e-02 3.67831531e+01] [ 3.63621680e-02 9.99337317e-01 -1.64893239e-03 1.26502219e+00] [ 3.60244117e-02 3.38160370e-04 9.99350853e-01 6.26200415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.225099893 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:36.81, Y:1.26, Z:0.63 [[ 9.98674835e-01 -3.64159466e-02 -3.63655425e-02 3.68101440e+01] [ 3.63790944e-02 9.99336658e-01 -1.67477779e-03 1.26326378e+00] [ 3.64024083e-02 3.49612926e-04 9.99337152e-01 6.25178904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.255099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:36.84, Y:1.26, Z:0.63 [[ 9.98641965e-01 -3.85923274e-02 -3.49979663e-02 3.68371059e+01] [ 3.85593815e-02 9.99255004e-01 -1.61608818e-03 1.26030714e+00] [ 3.50342616e-02 2.64393539e-04 9.99386077e-01 6.26302182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.285099893 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:36.87, Y:1.26, Z:0.63 [[ 9.98485256e-01 -4.26117099e-02 -3.48056711e-02 3.68653150e+01] [ 4.25813492e-02 9.99091700e-01 -1.61342619e-03 1.25871922e+00] [ 3.48428080e-02 1.28909824e-04 9.99392797e-01 6.26349374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.315099892999996 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:36.89, Y:1.26, Z:0.63 [[ 9.98387712e-01 -4.49566113e-02 -3.46537119e-02 3.68936090e+01] [ 4.49276699e-02 9.98988939e-01 -1.61379322e-03 1.25878124e+00] [ 3.46912256e-02 5.42807957e-05 9.99398077e-01 6.27347478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.92, Y:1.26, Z:0.63 [[ 9.98167601e-01 -5.09838396e-02 -3.25896911e-02 3.69230461e+01] [ 5.09614105e-02 9.98699468e-01 -1.51902808e-03 1.25698184e+00] [ 3.26247530e-02 -1.44572010e-04 9.99467661e-01 6.30932815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.375099893 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:36.95, Y:1.25, Z:0.63 [[ 9.97820051e-01 -5.66951026e-02 -3.37758897e-02 3.69546364e+01] [ 5.66742783e-02 9.98391480e-01 -1.57438217e-03 1.25480555e+00] [ 3.38108203e-02 -3.43274076e-04 9.99428192e-01 6.28403482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.405099893 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:36.99, Y:1.25, Z:0.63 [[ 9.97508505e-01 -6.26722684e-02 -3.23877843e-02 3.69868214e+01] [ 6.26563151e-02 9.98034023e-01 -1.50825222e-03 1.25369708e+00] [ 3.24186363e-02 -5.24804803e-04 9.99474240e-01 6.29859728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.435099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:37.02, Y:1.25, Z:0.63 [[ 9.97327969e-01 -6.53742354e-02 -3.26057027e-02 3.70179230e+01] [ 6.53595807e-02 9.97860625e-01 -1.51622224e-03 1.25397895e+00] [ 3.26350688e-02 -6.18924209e-04 9.99467143e-01 6.29650054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.465099893 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:37.05, Y:1.25, Z:0.63 [[ 9.96961203e-01 -7.03978465e-02 -3.33541894e-02 3.70497898e+01] [ 7.03853860e-02 9.97518670e-01 -1.54904503e-03 1.25262360e+00] [ 3.33804761e-02 -8.03309700e-04 9.99442394e-01 6.28849177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.495099893 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:37.08, Y:1.25, Z:0.63 [[ 9.96651359e-01 -7.46360521e-02 -3.33995293e-02 3.70818935e+01] [ 7.46260138e-02 9.97210389e-01 -1.54877885e-03 1.25151510e+00] [ 3.34219523e-02 -9.48881180e-04 9.99440880e-01 6.28547303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.525099893 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:37.11, Y:1.25, Z:0.63 [[ 9.96238721e-01 -8.06074217e-02 -3.17939464e-02 3.71145096e+01] [ 8.06014397e-02 9.96745324e-01 -1.47183884e-03 1.25174599e+00] [ 3.18091086e-02 -1.09633501e-03 9.99493361e-01 6.30423077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.555099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:37.15, Y:1.25, Z:0.63 [[ 9.95997970e-01 -8.34435967e-02 -3.20189107e-02 3.71472810e+01] [ 8.34391036e-02 9.96511781e-01 -1.47879231e-03 1.25286181e+00] [ 3.20306174e-02 -1.19875507e-03 9.99486169e-01 6.31145702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.585099893 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:37.18, Y:1.25, Z:0.63 [[ 9.95875617e-01 -8.50574394e-02 -3.15750980e-02 3.71791135e+01] [ 8.50539818e-02 9.96375282e-01 -1.45505613e-03 1.25282299e+00] [ 3.15844105e-02 -1.23653288e-03 9.99500323e-01 6.31285862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.615099893 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:37.21, Y:1.25, Z:0.63 [[ 9.95783039e-01 -8.59649082e-02 -3.20339561e-02 3.72123052e+01] [ 8.59619165e-02 9.96297335e-01 -1.47313844e-03 1.25443334e+00] [ 3.20419833e-02 -1.28677399e-03 9.99485696e-01 6.32349862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.645099893 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:37.24, Y:1.26, Z:0.63 [[ 9.95721972e-01 -8.59317670e-02 -3.39630103e-02 3.72444542e+01] [ 8.59285088e-02 9.96300087e-01 -1.55824390e-03 1.25752611e+00] [ 3.39712528e-02 -1.36681314e-03 9.99421876e-01 6.32798820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.675099893 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:37.28, Y:1.26, Z:0.63 [[ 9.95708670e-01 -8.49603681e-02 -3.66875917e-02 3.72772336e+01] [ 8.49560461e-02 9.96383284e-01 -1.67955684e-03 1.25998863e+00] [ 3.66975989e-02 -1.44448342e-03 9.99325372e-01 6.32631171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.705099892999996 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:37.31, Y:1.26, Z:0.63 [[ 9.95725627e-01 -8.41103198e-02 -3.81566571e-02 3.73091239e+01] [ 8.41051749e-02 9.96455359e-01 -1.74283930e-03 1.26175347e+00] [ 3.81679962e-02 -1.47378257e-03 9.99270250e-01 6.33221840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.735099893 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:37.34, Y:1.27, Z:0.63 [[ 9.95850339e-01 -8.21892537e-02 -3.90772152e-02 3.73419820e+01] [ 8.21825312e-02 9.96615703e-01 -1.78107152e-03 1.26526316e+00] [ 3.90913512e-02 -1.43778378e-03 9.99234607e-01 6.34114612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.765099893 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:37.37, Y:1.27, Z:0.64 [[ 9.96149942e-01 -7.90377680e-02 -3.79252555e-02 3.73738974e+01] [ 7.90292937e-02 9.96870802e-01 -1.72488797e-03 1.27077392e+00] [ 3.79429111e-02 -1.27895910e-03 9.99279090e-01 6.36377419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.795099893 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:37.41, Y:1.28, Z:0.64 [[ 9.96553989e-01 -7.49468051e-02 -3.55404360e-02 3.74063632e+01] [ 7.49368774e-02 9.97186974e-01 -1.61319676e-03 1.27619990e+00] [ 3.55613638e-02 -1.05565163e-03 9.99366937e-01 6.37736149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.825099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:37.44, Y:1.28, Z:0.64 [[ 9.97075988e-01 -6.93792893e-02 -3.20310541e-02 3.74393236e+01] [ 6.93684559e-02 9.97590052e-01 -1.45069189e-03 1.28272506e+00] [ 3.20545089e-02 -7.75494711e-04 9.99485821e-01 6.39755368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.855099893 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:37.47, Y:1.29, Z:0.64 [[ 9.97208940e-01 -6.75045760e-02 -3.18976800e-02 3.74711393e+01] [ 6.74929804e-02 9.97718708e-01 -1.44132545e-03 1.28629764e+00] [ 3.19222082e-02 -7.15566865e-04 9.99490100e-01 6.39275899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.885099892999996 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:37.50, Y:1.29, Z:0.64 [[ 9.97237259e-01 -6.70219974e-02 -3.20296868e-02 3.75044012e+01] [ 6.70101550e-02 9.97751248e-01 -1.44423102e-03 1.28893177e+00] [ 3.20544553e-02 -7.06073293e-04 9.99485875e-01 6.40316967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.915099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:37.54, Y:1.29, Z:0.64 [[ 9.97174924e-01 -6.74840287e-02 -3.29860228e-02 3.75374113e+01] [ 6.74718410e-02 9.97720076e-01 -1.48372940e-03 1.29271380e+00] [ 3.30109452e-02 -7.46089937e-04 9.99454712e-01 6.41765685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.945099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:37.57, Y:1.30, Z:0.64 [[ 9.97111738e-01 -6.80273338e-02 -3.37707392e-02 3.75703648e+01] [ 6.80149955e-02 9.97683148e-01 -1.51533892e-03 1.29611351e+00] [ 3.37955818e-02 -7.85954444e-04 9.99428457e-01 6.41941038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.975099893 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:37.60, Y:1.30, Z:0.64 [[ 9.97049292e-01 -6.81916429e-02 -3.52506688e-02 3.76023184e+01] [ 6.81784256e-02 9.97671896e-01 -1.57826025e-03 1.29862833e+00] [ 3.52762257e-02 -8.29731830e-04 9.99377256e-01 6.41896897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.005099893 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:37.63, Y:1.30, Z:0.64 [[ 9.97006218e-01 -6.83912667e-02 -3.60726400e-02 3.76344634e+01] [ 6.83776516e-02 9.97658206e-01 -1.61243264e-03 1.30145932e+00] [ 3.60984416e-02 -8.58957036e-04 9.99347870e-01 6.41986771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.035099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:37.67, Y:1.30, Z:0.64 [[ 9.97093694e-01 -6.73454291e-02 -3.56196355e-02 3.76655263e+01] [ 6.73315701e-02 9.97729388e-01 -1.58984646e-03 1.30484794e+00] [ 3.56458260e-02 -8.13100106e-04 9.99364155e-01 6.42933349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.065099892999996 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:37.70, Y:1.31, Z:0.64 [[ 9.97100175e-01 -6.72493521e-02 -3.56197442e-02 3.76981956e+01] [ 6.72355190e-02 9.97735869e-01 -1.58740804e-03 1.30624936e+00] [ 3.56458486e-02 -8.12107155e-04 9.99364155e-01 6.43699588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.095099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:37.73, Y:1.31, Z:0.65 [[ 9.97349356e-01 -6.39683981e-02 -3.46742759e-02 3.77301498e+01] [ 6.39534126e-02 9.97951693e-01 -1.54224672e-03 1.31022200e+00] [ 3.47019074e-02 -6.79379498e-04 9.99397477e-01 6.45341152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.125099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:37.76, Y:1.31, Z:0.65 [[ 9.97512571e-01 -6.14446273e-02 -3.45431477e-02 3.77614318e+01] [ 6.14283226e-02 9.98110318e-01 -1.53409512e-03 1.31221625e+00] [ 3.45721341e-02 -5.91648455e-04 9.99402030e-01 6.46003798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.155099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:37.79, Y:1.31, Z:0.65 [[ 9.97884936e-01 -5.57634498e-02 -3.34079773e-02 3.77929636e+01] [ 5.57450980e-02 9.98443934e-01 -1.48122507e-03 1.31358314e+00] [ 3.34385905e-02 -3.84238780e-04 9.99440700e-01 6.46716282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.185099893 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:37.82, Y:1.32, Z:0.65 [[ 9.98383462e-01 -4.79521842e-02 -3.05131310e-02 3.78241358e+01] [ 4.79171253e-02 9.98849546e-01 -1.87958525e-03 1.31711849e+00] [ 3.05681573e-02 4.14445308e-04 9.99532599e-01 6.48796133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.215099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:37.86, Y:1.32, Z:0.65 [[ 9.98470362e-01 -4.57755834e-02 -3.10085864e-02 3.78550569e+01] [ 4.57691701e-02 9.98951622e-01 -9.16955084e-04 1.31836950e+00] [ 3.10180518e-02 -5.03684788e-04 9.99518698e-01 6.50030069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.245099893 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:37.89, Y:1.32, Z:0.65 [[ 9.98611029e-01 -4.21405685e-02 -3.16257022e-02 3.78870148e+01] [ 4.21173078e-02 9.99111689e-01 -1.40159720e-03 1.32027401e+00] [ 3.16566729e-02 6.76609871e-05 9.99498800e-01 6.50926401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.275099893 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:37.92, Y:1.32, Z:0.65 [[ 9.98660301e-01 -3.99504322e-02 -3.28871867e-02 3.79168827e+01] [ 3.99241434e-02 9.99201653e-01 -1.45591141e-03 1.31927133e+00] [ 3.29190956e-02 1.40968170e-04 9.99458010e-01 6.50149355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.305099893 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:37.95, Y:1.32, Z:0.65 [[ 9.98721248e-01 -3.81017652e-02 -3.32283527e-02 3.79468917e+01] [ 3.80738793e-02 9.99273843e-01 -1.47178878e-03 1.31792728e+00] [ 3.32603015e-02 2.04774438e-04 9.99446702e-01 6.50465217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.335099893 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:37.98, Y:1.32, Z:0.65 [[ 9.98842337e-01 -3.53210869e-02 -3.26558727e-02 3.79761343e+01] [ 3.52926303e-02 9.99375973e-01 -1.44758853e-03 1.31837551e+00] [ 3.26866249e-02 2.93401067e-04 9.99465606e-01 6.52779621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.365099893 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:38.00, Y:1.32, Z:0.65 [[ 9.98975163e-01 -3.08956261e-02 -3.30769473e-02 3.80034411e+01] [ 3.08639483e-02 9.99522517e-01 -1.46797862e-03 1.31994289e+00] [ 3.31065077e-02 4.45588992e-04 9.99451730e-01 6.53484284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.395099893 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:38.03, Y:1.32, Z:0.65 [[ 9.99122946e-01 -2.61313788e-02 -3.27183351e-02 3.80312667e+01] [ 2.60976757e-02 9.99658336e-01 -1.45679743e-03 1.32016416e+00] [ 3.27452245e-02 6.01647241e-04 9.99463550e-01 6.53986202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.425099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:38.06, Y:1.32, Z:0.65 [[ 9.99269966e-01 -2.22278182e-02 -3.10718370e-02 3.80585877e+01] [ 2.21953100e-02 9.99752686e-01 -1.39078474e-03 1.31898853e+00] [ 3.10950666e-02 7.00120367e-04 9.99516186e-01 6.54471051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.455099892999996 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:38.09, Y:1.32, Z:0.66 [[ 9.99347469e-01 -2.00110147e-02 -3.00698414e-02 3.80864815e+01] [ 1.99794261e-02 9.99799479e-01 -1.35062883e-03 1.31855586e+00] [ 3.00908392e-02 7.48969326e-04 9.99546888e-01 6.55152511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.485099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:38.11, Y:1.32, Z:0.66 [[ 9.99340610e-01 -1.95186487e-02 -3.06164556e-02 3.81143094e+01] [ 1.94853984e-02 9.99809184e-01 -1.38403519e-03 1.31774202e+00] [ 3.06376280e-02 7.86548733e-04 9.99530248e-01 6.55253896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.515099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:38.14, Y:1.32, Z:0.65 [[ 9.99257790e-01 -2.09135904e-02 -3.23494961e-02 3.81410049e+01] [ 2.08769325e-02 9.99780972e-01 -1.47057096e-03 1.31564877e+00] [ 3.23731656e-02 7.94121238e-04 9.99475536e-01 6.53799075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.545099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:38.17, Y:1.31, Z:0.65 [[ 9.99186150e-01 -2.39511377e-02 -3.24558154e-02 3.81693549e+01] [ 2.39156620e-02 9.99712883e-01 -1.48086496e-03 1.31293527e+00] [ 3.24819651e-02 7.03457448e-04 9.99472074e-01 6.54131551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.575099893 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:38.20, Y:1.31, Z:0.65 [[ 9.99047464e-01 -2.79821006e-02 -3.34838402e-02 3.81969688e+01] [ 2.79462799e-02 9.99608244e-01 -1.53741006e-03 1.31105294e+00] [ 3.35137427e-02 6.00196850e-04 9.99438077e-01 6.54229328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.605099893 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:38.23, Y:1.31, Z:0.65 [[ 9.98889567e-01 -3.24911505e-02 -3.41168310e-02 3.82252969e+01] [ 3.24562555e-02 9.99471914e-01 -1.57627012e-03 1.30925107e+00] [ 3.41500293e-02 4.67215193e-04 9.99416608e-01 6.54505293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.635099892999996 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:38.25, Y:1.31, Z:0.65 [[ 9.98730540e-01 -3.66874917e-02 -3.45157319e-02 3.82536219e+01] [ 3.66539345e-02 9.99326730e-01 -1.60469779e-03 1.30764511e+00] [ 3.45513658e-02 3.37523315e-04 9.99402866e-01 6.54793110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.665099893 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:38.28, Y:1.31, Z:0.66 [[ 9.98617299e-01 -4.07134515e-02 -3.32551509e-02 3.82816531e+01] [ 4.06842230e-02 9.99170844e-01 -1.55539384e-03 1.30671281e+00] [ 3.32909027e-02 2.00283221e-04 9.99445684e-01 6.56452407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.695099893 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:38.31, Y:1.31, Z:0.66 [[ 9.98554689e-01 -4.39492792e-02 -3.09353103e-02 3.83098960e+01] [ 4.39253317e-02 9.99033759e-01 -1.45360378e-03 1.30566253e+00] [ 3.09693042e-02 9.26591050e-05 9.99520332e-01 6.58201795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.725099893 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:38.34, Y:1.31, Z:0.66 [[ 9.98498778e-01 -4.55681356e-02 -3.03930219e-02 3.83408246e+01] [ 4.55457326e-02 9.98961232e-01 -1.42935957e-03 1.30580096e+00] [ 3.04265839e-02 4.29413316e-05 9.99537003e-01 6.58665858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.755099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:38.37, Y:1.30, Z:0.66 [[ 9.98351606e-01 -4.96189344e-02 -2.88449589e-02 3.83716943e+01] [ 4.96004489e-02 9.98768219e-01 -1.35645675e-03 1.30432931e+00] [ 2.88767342e-02 -7.65021344e-05 9.99582977e-01 6.59081955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.785099893 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:38.40, Y:1.30, Z:0.66 [[ 9.98120187e-01 -5.44913276e-02 -2.80497328e-02 3.84036738e+01] [ 5.44757916e-02 9.98514221e-01 -1.31830918e-03 1.30298331e+00] [ 2.80798936e-02 -2.12200392e-04 9.99605660e-01 6.60007015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.815099892999996 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:38.44, Y:1.30, Z:0.66 [[ 9.97826669e-01 -5.96433255e-02 -2.80109365e-02 3.84364258e+01] [ 5.96299184e-02 9.98219688e-01 -1.31444684e-03 1.30180264e+00] [ 2.80394663e-02 -3.58699753e-04 9.99606753e-01 6.60589298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.845099893 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:38.47, Y:1.30, Z:0.66 [[ 9.97462598e-01 -6.45809254e-02 -2.99611496e-02 3.84680220e+01] [ 6.45678775e-02 9.97912330e-01 -1.40378192e-03 1.29952019e+00] [ 2.99892582e-02 -5.34307882e-04 9.99550078e-01 6.59405806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.875099893 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:38.50, Y:1.30, Z:0.66 [[ 9.97275119e-01 -6.71020737e-02 -3.06537057e-02 3.84993655e+01] [ 6.70896577e-02 9.97745920e-01 -1.43453745e-03 1.29943272e+00] [ 3.06808703e-02 -6.25918121e-04 9.99529035e-01 6.59443982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.905099893 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:38.53, Y:1.30, Z:0.66 [[ 9.96853458e-01 -7.29190122e-02 -3.10805442e-02 3.85325429e+01] [ 7.29091381e-02 9.97337530e-01 -1.45238841e-03 1.29860597e+00] [ 3.11036999e-02 -8.18237283e-04 9.99515828e-01 6.59793618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.935099893 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:38.56, Y:1.30, Z:0.66 [[ 9.96770773e-01 -7.41802771e-02 -3.07459435e-02 3.85647877e+01] [ 7.41713087e-02 9.97244484e-01 -1.43366848e-03 1.29977003e+00] [ 3.07675725e-02 -8.51428028e-04 9.99526204e-01 6.61330828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.965099893 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:38.60, Y:1.30, Z:0.66 [[ 9.96607647e-01 -7.58473324e-02 -3.19433984e-02 3.85964506e+01] [ 7.58385889e-02 9.97118999e-01 -1.48695833e-03 1.30014270e+00] [ 3.19641512e-02 -9.40628218e-04 9.99488573e-01 6.60762148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.995099893 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:38.63, Y:1.30, Z:0.66 [[ 9.96472467e-01 -7.70009853e-02 -3.33687052e-02 3.86289351e+01] [ 7.69921889e-02 9.97030491e-01 -1.55036580e-03 1.29999373e+00] [ 3.33889962e-02 -1.02423282e-03 9.99441907e-01 6.60506107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.025099893 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:38.66, Y:1.30, Z:0.66 [[ 9.96450577e-01 -7.70786495e-02 -3.38397638e-02 3.86604104e+01] [ 7.70697251e-02 9.97024469e-01 -1.56997411e-03 1.30157952e+00] [ 3.38600840e-02 -1.04361969e-03 9.99426038e-01 6.60644988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.055099893 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:38.69, Y:1.30, Z:0.66 [[ 9.96524966e-01 -7.63429953e-02 -3.33127509e-02 3.86922076e+01] [ 7.63340014e-02 9.97081109e-01 -1.54356169e-03 1.30400741e+00] [ 3.33333548e-02 -1.00469782e-03 9.99443784e-01 6.62389005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.085099893 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:38.72, Y:1.30, Z:0.66 [[ 9.96694038e-01 -7.41232981e-02 -3.32675635e-02 3.87229226e+01] [ 7.41131678e-02 9.97248650e-01 -1.53922904e-03 1.30462778e+00] [ 3.32901255e-02 -9.31424111e-04 9.99445296e-01 6.61953070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.115099893 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:38.76, Y:1.31, Z:0.66 [[ 9.96893511e-01 -7.19026556e-02 -3.21455365e-02 3.87555308e+01] [ 7.18921035e-02 9.97411309e-01 -1.48544301e-03 1.30625701e+00] [ 3.21691290e-02 -8.30181743e-04 9.99482095e-01 6.62857885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.145099893 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:38.79, Y:1.31, Z:0.66 [[ 9.96977990e-01 -7.08013620e-02 -3.19696024e-02 3.87872356e+01] [ 7.07904342e-02 9.97490120e-01 -1.47497189e-03 1.30857445e+00] [ 3.19937925e-02 -7.92627529e-04 9.99487753e-01 6.63995924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.175099893 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:38.82, Y:1.31, Z:0.67 [[ 9.97162284e-01 -6.85027926e-02 -3.12209441e-02 3.88183829e+01] [ 6.84913101e-02 9.97650676e-01 -1.43833455e-03 1.31208048e+00] [ 3.12461259e-02 -7.04110398e-04 9.99511473e-01 6.65910142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.205099892999996 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:38.85, Y:1.31, Z:0.67 [[ 9.97225211e-01 -6.73959840e-02 -3.16174059e-02 3.88507381e+01] [ 6.73837116e-02 9.97726074e-01 -1.45472118e-03 1.31427136e+00] [ 3.16435526e-02 -6.79813522e-04 9.99498986e-01 6.66355068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.235099893 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:38.88, Y:1.32, Z:0.67 [[ 9.97337343e-01 -6.62242366e-02 -3.05380734e-02 3.88828624e+01] [ 6.62123043e-02 9.97804571e-01 -1.40291638e-03 1.31660036e+00] [ 3.05639364e-02 -6.22815321e-04 9.99532620e-01 6.67833017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.265099893 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:38.91, Y:1.32, Z:0.67 [[ 9.97381179e-01 -6.52682965e-02 -3.11581977e-02 3.89138257e+01] [ 6.52554769e-02 9.97867566e-01 -1.42921557e-03 1.31930333e+00] [ 3.11850373e-02 -6.07770332e-04 9.99513444e-01 6.68245823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.295099893 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:38.95, Y:1.32, Z:0.67 [[ 9.97446857e-01 -6.43553321e-02 -3.09541252e-02 3.89460581e+01] [ 6.43422967e-02 9.97926880e-01 -1.41803685e-03 1.32191959e+00] [ 3.09812118e-02 -5.77243108e-04 9.99519800e-01 6.69559053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.325099893 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:38.98, Y:1.33, Z:0.67 [[ 9.97547408e-01 -6.21706738e-02 -3.21555104e-02 3.89784122e+01] [ 6.21555486e-02 9.98065391e-01 -1.47071074e-03 1.32638514e+00] [ 3.21847371e-02 -5.31539705e-04 9.99481796e-01 6.70370201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.355099893 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:39.01, Y:1.33, Z:0.67 [[ 9.97758945e-01 -5.90128468e-02 -3.15368353e-02 3.90106841e+01] [ 5.89967910e-02 9.98257133e-01 -1.44019974e-03 1.33142871e+00] [ 3.15668611e-02 -4.23599903e-04 9.99501553e-01 6.72628985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.385099892999996 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:39.04, Y:1.34, Z:0.67 [[ 9.97942169e-01 -5.57683782e-02 -3.16435628e-02 3.90429148e+01] [ 5.57506541e-02 9.98443680e-01 -1.44282403e-03 1.33611382e+00] [ 3.16747792e-02 -3.24294377e-04 9.99498176e-01 6.73525280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.415099893 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:39.07, Y:1.34, Z:0.67 [[ 9.98047645e-01 -5.31043089e-02 -3.28759799e-02 3.90747312e+01] [ 5.30838111e-02 9.98588939e-01 -1.49661709e-03 1.34012018e+00] [ 3.29090667e-02 -2.51487145e-04 9.99458318e-01 6.73706328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.445099893 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:39.11, Y:1.34, Z:0.67 [[ 9.98133768e-01 -5.16332991e-02 -3.26034403e-02 3.91069893e+01] [ 5.16124319e-02 9.98666091e-01 -1.48186381e-03 1.34379261e+00] [ 3.26364638e-02 -2.03644536e-04 9.99467268e-01 6.74278939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.475099893 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:39.14, Y:1.35, Z:0.68 [[ 9.98176977e-01 -5.12037048e-02 -3.19515865e-02 3.91382725e+01] [ 5.11835122e-02 9.98688212e-01 -1.45009718e-03 1.34701272e+00] [ 3.19839231e-02 -1.87940800e-04 9.99488366e-01 6.75208687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.505099893 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:39.17, Y:1.35, Z:0.67 [[ 9.98071917e-01 -5.31968324e-02 -3.19772690e-02 3.91697299e+01] [ 5.31776805e-02 9.98584014e-01 -1.44968301e-03 1.34905283e+00] [ 3.20091081e-02 -2.53589095e-04 9.99487545e-01 6.74395257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.535099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:39.20, Y:1.35, Z:0.68 [[ 9.97953386e-01 -5.52888075e-02 -3.21276587e-02 3.92020700e+01] [ 5.52706059e-02 9.98470352e-01 -1.45503000e-03 1.35116680e+00] [ 3.21589616e-02 -3.23663045e-04 9.99482714e-01 6.75175640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.565099892999996 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:39.23, Y:1.35, Z:0.68 [[ 9.97875966e-01 -5.64342005e-02 -3.25382397e-02 3.92346127e+01] [ 5.64162169e-02 9.98406253e-01 -1.47124372e-03 1.35322117e+00] [ 3.25694105e-02 -3.67565638e-04 9.99469408e-01 6.76351971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.595099893 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:39.27, Y:1.36, Z:0.68 [[ 9.97791395e-01 -5.76453135e-02 -3.30052909e-02 3.92667888e+01] [ 5.76275520e-02 9.98337040e-01 -1.48994590e-03 1.35533227e+00] [ 3.30362928e-02 -4.15358919e-04 9.99454066e-01 6.77101108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.625099893 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:39.30, Y:1.36, Z:0.68 [[ 9.97790425e-01 -5.69423205e-02 -3.42321559e-02 3.92978574e+01] [ 5.69228805e-02 9.98377386e-01 -1.54299354e-03 1.35786732e+00] [ 3.42644719e-02 -4.09008741e-04 9.99412717e-01 6.77340168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.655099893 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:39.33, Y:1.36, Z:0.68 [[ 9.98002217e-01 -5.25685244e-02 -3.50446268e-02 3.93298631e+01] [ 5.25455292e-02 9.98617283e-01 -1.57748690e-03 1.36204199e+00] [ 3.50790962e-02 -2.67103037e-04 9.99384503e-01 6.77225635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.685099893 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:39.36, Y:1.37, Z:0.68 [[ 9.98234967e-01 -4.84844251e-02 -3.42959271e-02 3.93604009e+01] [ 4.84600554e-02 9.98823931e-01 -1.54194005e-03 1.36627940e+00] [ 3.43303528e-02 -1.22764052e-04 9.99410532e-01 6.79029543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.715099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:39.39, Y:1.37, Z:0.68 [[ 9.98569416e-01 -4.14587632e-02 -3.37682065e-02 3.93905003e+01] [ 4.14311345e-02 9.99140209e-01 -1.51780329e-03 1.37204017e+00] [ 3.38020991e-02 1.16576843e-04 9.99428539e-01 6.80367330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.745099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:39.42, Y:1.37, Z:0.68 [[ 9.98559728e-01 -4.16915567e-02 -3.37680977e-02 3.94196946e+01] [ 4.16639795e-02 9.99130523e-01 -1.52021635e-03 1.37338358e+00] [ 3.38021173e-02 1.11113496e-04 9.99428539e-01 6.81052616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.775099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:39.45, Y:1.38, Z:0.68 [[ 9.98785338e-01 -3.68647901e-02 -3.26930571e-02 3.94492363e+01] [ 3.68361771e-02 9.99320226e-01 -1.47727990e-03 1.37755776e+00] [ 3.27252928e-02 2.71198262e-04 9.99464347e-01 6.82540208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.805099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:39.48, Y:1.38, Z:0.68 [[ 9.98964582e-01 -3.31902711e-02 -3.11154209e-02 3.94778075e+01] [ 3.31624998e-02 9.99448981e-01 -1.40829746e-03 1.38058625e+00] [ 3.11450175e-02 3.74974140e-04 9.99514806e-01 6.84140143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.835099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:39.51, Y:1.38, Z:0.69 [[ 9.99000847e-01 -3.26277910e-02 -3.05406978e-02 3.95052122e+01] [ 3.26005378e-02 9.99467495e-01 -1.39000172e-03 1.38252932e+00] [ 3.05697874e-02 3.92969720e-04 9.99532558e-01 6.85182870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.865099893 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:39.53, Y:1.38, Z:0.68 [[ 9.98959786e-01 -3.31693280e-02 -3.12912367e-02 3.95333451e+01] [ 3.31407001e-02 9.99449669e-01 -1.43321693e-03 1.38351336e+00] [ 3.13215550e-02 3.94712580e-04 9.99509282e-01 6.83931448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.895099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:39.56, Y:1.38, Z:0.68 [[ 9.98812068e-01 -3.67424748e-02 -3.20069246e-02 3.95616960e+01] [ 3.67140558e-02 9.99324723e-01 -1.47534984e-03 1.38335733e+00] [ 3.20395190e-02 2.98493205e-04 9.99486558e-01 6.84342664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.925099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:39.59, Y:1.39, Z:0.68 [[ 9.98372813e-01 -4.64758174e-02 -3.30412613e-02 3.95890928e+01] [ 4.61036758e-02 9.98865331e-01 -1.19373846e-02 1.38988843e+00] [ 3.35585701e-02 1.03946366e-02 9.99382696e-01 6.84589301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.955099892999996 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:39.62, Y:1.39, Z:0.68 [[ 9.98368758e-01 -4.60937531e-02 -3.36925568e-02 3.96195101e+01] [ 4.60529975e-02 9.98937025e-01 -1.98508893e-03 1.38647357e+00] [ 3.37482426e-02 4.30207539e-04 9.99430273e-01 6.81669387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.985099893 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:39.65, Y:1.38, Z:0.68 [[ 9.97986988e-01 -5.15699061e-02 -3.69122831e-02 3.96503600e+01] [ 5.19142025e-02 9.98615968e-01 8.42990084e-03 1.37833133e+00] [ 3.64264662e-02 -1.03292031e-02 9.99282953e-01 6.80467696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.015099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:39.68, Y:1.38, Z:0.69 [[ 9.97553259e-01 -5.94584886e-02 -3.67720367e-02 3.96806787e+01] [ 5.94361890e-02 9.98230659e-01 -1.70026424e-03 1.38292986e+00] [ 3.68080696e-02 -4.89485595e-04 9.99322234e-01 6.85194417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.045099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:39.71, Y:1.38, Z:0.69 [[ 9.97147590e-01 -6.60086954e-02 -3.65996593e-02 3.97124978e+01] [ 6.59910620e-02 9.97818781e-01 -1.69093153e-03 1.38387734e+00] [ 3.66314436e-02 -7.29142084e-04 9.99328577e-01 6.86184938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.075099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:39.74, Y:1.39, Z:0.69 [[ 9.96839947e-01 -7.09009599e-02 -3.58214076e-02 3.97444217e+01] [ 7.08873151e-02 9.97482961e-01 -1.65241835e-03 1.38582571e+00] [ 3.58484018e-02 -8.92086793e-04 9.99356841e-01 6.88234689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.105099893 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:39.78, Y:1.39, Z:0.69 [[ 9.96710263e-01 -7.24907221e-02 -3.62456520e-02 3.97760787e+01] [ 7.24779207e-02 9.97368621e-01 -1.66873116e-03 1.38753434e+00] [ 3.62712435e-02 -9.63768021e-04 9.99341517e-01 6.87922572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.135099892999996 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:39.81, Y:1.39, Z:0.69 [[ 9.96573076e-01 -7.39712883e-02 -3.70182823e-02 3.98081146e+01] [ 7.39590997e-02 9.97259826e-01 -1.70042026e-03 1.38925626e+00] [ 3.70426281e-02 -1.04324578e-03 9.99313142e-01 6.88017585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.165099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:39.84, Y:1.39, Z:0.69 [[ 9.96453203e-01 -7.56885235e-02 -3.67731226e-02 3.98404182e+01] [ 7.56777609e-02 9.97130900e-01 -1.68651331e-03 1.38947999e+00] [ 3.67952665e-02 -1.10237599e-03 9.99322217e-01 6.87613562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.195099893 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:39.87, Y:1.39, Z:0.69 [[ 9.96432217e-01 -7.66531361e-02 -3.53147900e-02 3.98734049e+01] [ 7.66439179e-02 9.97057218e-01 -1.61670655e-03 1.39008347e+00] [ 3.53347919e-02 -1.09572537e-03 9.99374931e-01 6.89117321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.225099893 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:39.90, Y:1.39, Z:0.69 [[ 9.96509587e-01 -7.68914066e-02 -3.25016008e-02 3.99049811e+01] [ 7.68838274e-02 9.97038952e-01 -1.48473849e-03 1.39136057e+00] [ 3.25195257e-02 -1.01929133e-03 9.99470581e-01 6.92173013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.255099893 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:39.94, Y:1.39, Z:0.69 [[ 9.96500225e-01 -7.71940996e-02 -3.20682392e-02 3.99368043e+01] [ 7.71869695e-02 9.97015564e-01 -1.46207647e-03 1.39287762e+00] [ 3.20853973e-02 -1.01829067e-03 9.99484612e-01 6.93394677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.285099893 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:39.97, Y:1.39, Z:0.69 [[ 9.96459612e-01 -7.77176150e-02 -3.20657655e-02 3.99697482e+01] [ 7.77108539e-02 9.96974872e-01 -1.45893721e-03 1.39334787e+00] [ 3.20821476e-02 -1.03808601e-03 9.99484696e-01 6.94828543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.315099892999996 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:40.00, Y:1.39, Z:0.69 [[ 9.96408764e-01 -7.75415172e-02 -3.40130711e-02 4.00028308e+01] [ 7.75339388e-02 9.96988518e-01 -1.54371019e-03 1.39377060e+00] [ 3.40303430e-02 -1.09900101e-03 9.99420196e-01 6.93685163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.345099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:40.04, Y:1.40, Z:0.69 [[ 9.96434372e-01 -7.58480854e-02 -3.69541694e-02 4.00355143e+01] [ 7.58381349e-02 9.97118738e-01 -1.67296077e-03 1.39557404e+00] [ 3.69745856e-02 -1.13553967e-03 9.99315561e-01 6.93711752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.375099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:40.07, Y:1.40, Z:0.69 [[ 9.96513428e-01 -7.40787516e-02 -3.83839403e-02 4.00681462e+01] [ 7.40668704e-02 9.97251771e-01 -1.73341426e-03 1.39807171e+00] [ 3.84068616e-02 -1.11560774e-03 9.99261562e-01 6.94277751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.405099893 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:40.10, Y:1.40, Z:0.70 [[ 9.96818777e-01 -6.96595849e-02 -3.87281350e-02 4.01004221e+01] [ 6.96443004e-02 9.97570361e-01 -1.74526577e-03 1.40336423e+00] [ 3.87556141e-02 -9.57480182e-04 9.99248260e-01 6.97163563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.435099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:40.13, Y:1.41, Z:0.70 [[ 9.97207297e-01 -6.37388624e-02 -3.89225296e-02 4.01313931e+01] [ 6.37190151e-02 9.97966342e-01 -1.75149054e-03 1.40679136e+00] [ 3.89550125e-02 -7.33506102e-04 9.99240696e-01 6.98051189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.465099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:40.16, Y:1.41, Z:0.70 [[ 9.97587371e-01 -5.77780018e-02 -3.84855888e-02 4.01634770e+01] [ 5.77542523e-02 9.98329332e-01 -1.72951185e-03 1.40854013e+00] [ 3.85212199e-02 -4.97367230e-04 9.99257659e-01 6.98108972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.495099893 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:40.19, Y:1.41, Z:0.70 [[ 9.97973503e-01 -5.22124390e-02 -3.63696208e-02 4.01938807e+01] [ 5.21876002e-02 9.98635964e-01 -1.63260447e-03 1.41088150e+00] [ 3.64052536e-02 -2.68747223e-04 9.99337073e-01 7.00807546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.525099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:40.23, Y:1.41, Z:0.70 [[ 9.98269944e-01 -4.63536344e-02 -3.61726213e-02 4.02254639e+01] [ 4.63252493e-02 9.98925091e-01 -1.62289748e-03 1.41307045e+00] [ 3.62089662e-02 -5.56159245e-05 9.99344239e-01 7.00252403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.555099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:40.26, Y:1.41, Z:0.70 [[ 9.98544404e-01 -4.12837252e-02 -3.47091849e-02 4.02558421e+01] [ 4.12545566e-02 9.99147456e-01 -1.55642974e-03 1.41477779e+00] [ 3.47438490e-02 1.22252172e-04 9.99396243e-01 7.01989477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.585099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:40.29, Y:1.42, Z:0.70 [[ 9.98684679e-01 -3.87906406e-02 -3.35290519e-02 4.02852135e+01] [ 3.87620057e-02 9.99247339e-01 -1.50386659e-03 1.41604947e+00] [ 3.35621518e-02 2.02235223e-04 9.99436612e-01 7.03154794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.615099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:40.31, Y:1.42, Z:0.70 [[ 9.98905279e-01 -3.46519577e-02 -3.14242679e-02 4.03136761e+01] [ 3.46247204e-02 9.99399389e-01 -1.41067288e-03 1.41677118e+00] [ 3.14542767e-02 3.21072102e-04 9.99505140e-01 7.04977093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.645099893 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:40.34, Y:1.42, Z:0.71 [[ 9.98998961e-01 -3.22633458e-02 -3.09863237e-02 4.03420109e+01] [ 3.22356169e-02 9.99479325e-01 -1.39414069e-03 1.41680372e+00] [ 3.10151695e-02 3.93881838e-04 9.99518836e-01 7.07702552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.675099893 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:40.37, Y:1.42, Z:0.71 [[ 9.98943814e-01 -3.02013571e-02 -3.46285241e-02 4.03691847e+01] [ 3.01652033e-02 9.99543700e-01 -1.56613708e-03 1.41694467e+00] [ 3.46600225e-02 5.19906483e-04 9.99399026e-01 7.05788342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.705099892999996 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:40.40, Y:1.42, Z:0.71 [[ 9.98936598e-01 -2.89586301e-02 -3.58757727e-02 4.03972688e+01] [ 2.89187851e-02 9.99580437e-01 -1.62915810e-03 1.41642240e+00] [ 3.59078987e-02 5.89941888e-04 9.99354929e-01 7.06470865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.735099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:40.43, Y:1.42, Z:0.71 [[ 9.98892877e-01 -2.90468519e-02 -3.70040701e-02 4.04256481e+01] [ 2.90041194e-02 9.99577861e-01 -1.69121654e-03 1.41520957e+00] [ 3.70375737e-02 6.16073687e-04 9.99313684e-01 7.06582245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.765099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:40.45, Y:1.41, Z:0.71 [[ 9.98829872e-01 -3.05518061e-02 -3.74896521e-02 4.04525572e+01] [ 3.05086816e-02 9.99533019e-01 -1.72197821e-03 1.41339906e+00] [ 3.75247546e-02 5.76203419e-04 9.99295532e-01 7.05721913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.795099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:40.48, Y:1.41, Z:0.71 [[ 9.98805631e-01 -3.34911082e-02 -3.55760681e-02 4.04805972e+01] [ 3.34539164e-02 9.99438915e-01 -1.64033696e-03 1.41218973e+00] [ 3.56110436e-02 4.48218986e-04 9.99365625e-01 7.06486378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.825099893 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:40.51, Y:1.41, Z:0.71 [[ 9.98787053e-01 -3.67455520e-02 -3.27748028e-02 4.05087303e+01] [ 3.67154460e-02 9.99324605e-01 -1.52013708e-03 1.41160941e+00] [ 3.28085251e-02 3.14951732e-04 9.99461606e-01 7.07802303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.855099893 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:40.54, Y:1.41, Z:0.71 [[ 9.98724514e-01 -4.02458334e-02 -3.04896264e-02 4.05363186e+01] [ 4.02211886e-02 9.99189790e-01 -1.42142448e-03 1.41008459e+00] [ 3.05221298e-02 1.93282460e-04 9.99534073e-01 7.07856546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.885099892999996 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:40.57, Y:1.41, Z:0.71 [[ 9.98558603e-01 -4.54365681e-02 -2.85698341e-02 4.05664250e+01] [ 4.54169627e-02 9.98967225e-01 -1.33509688e-03 1.40856089e+00] [ 2.86009901e-02 3.56173883e-05 9.99590907e-01 7.08771703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.915099893 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:40.60, Y:1.41, Z:0.71 [[ 9.98286266e-01 -5.14829466e-02 -2.78215121e-02 4.05975677e+01] [ 5.14666928e-02 9.98673865e-01 -1.30045568e-03 1.40743062e+00] [ 2.78515683e-02 -1.33654167e-04 9.99612061e-01 7.09410974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.945099893 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:40.63, Y:1.41, Z:0.71 [[ 9.97957244e-01 -5.75331905e-02 -2.77717658e-02 4.06288333e+01] [ 5.75194234e-02 9.98343548e-01 -1.29499243e-03 1.40680449e+00] [ 2.78002682e-02 -3.05068882e-04 9.99613451e-01 7.10601481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.975099893 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:40.66, Y:1.41, Z:0.71 [[ 9.97789053e-01 -6.02846521e-02 -2.79779467e-02 4.06614709e+01] [ 6.02718064e-02 9.98181152e-01 -1.30298396e-03 1.40731715e+00] [ 2.80056090e-02 -3.86178249e-04 9.99607691e-01 7.12065501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.005099893 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:40.69, Y:1.41, Z:0.71 [[ 9.97498571e-01 -6.41113814e-02 -2.97713201e-02 4.06940180e+01] [ 6.40986110e-02 9.97942610e-01 -1.38409695e-03 1.40655424e+00] [ 2.97988052e-02 -5.27665541e-04 9.99555778e-01 7.12233426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.035099893 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:40.73, Y:1.41, Z:0.71 [[ 9.97313243e-01 -6.59258228e-02 -3.19387003e-02 4.07252793e+01] [ 6.59121435e-02 9.97824330e-01 -1.48209979e-03 1.40675055e+00] [ 3.19669209e-02 -6.27030452e-04 9.99488731e-01 7.12208859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.065099892999996 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:40.76, Y:1.41, Z:0.71 [[ 9.97403050e-01 -6.45531131e-02 -3.19382402e-02 4.07572284e+01] [ 6.45387907e-02 9.97914101e-01 -1.48020414e-03 1.40910656e+00] [ 3.19671720e-02 -5.84895278e-04 9.99488748e-01 7.13759301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.095099893 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:40.79, Y:1.41, Z:0.71 [[ 9.97614733e-01 -6.23544106e-02 -2.96103298e-02 4.07899396e+01] [ 6.21114427e-02 9.98028130e-01 -9.05648413e-03 1.41394388e+00] [ 3.01166538e-02 7.19574170e-03 9.99520489e-01 7.14210552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.125099893 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:40.82, Y:1.41, Z:0.71 [[ 9.98034557e-01 -5.38961558e-02 -3.19722965e-02 4.08211990e+01] [ 5.41223303e-02 9.98514748e-01 6.25070918e-03 1.40819465e+00] [ 3.15879204e-02 -7.96883896e-03 9.99469210e-01 7.13639364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.155099893 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:40.85, Y:1.41, Z:0.72 [[ 9.98247224e-01 -4.99506027e-02 -3.17398228e-02 4.08517263e+01] [ 4.99293292e-02 9.98751682e-01 -1.46296166e-03 1.41338685e+00] [ 3.17732773e-02 -1.24350644e-04 9.99495094e-01 7.16626963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.185099893 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:40.88, Y:1.42, Z:0.72 [[ 9.98802458e-01 -3.77740028e-02 -3.10929920e-02 4.08822033e+01] [ 3.77477290e-02 9.99286275e-01 -1.43177134e-03 1.41599336e+00] [ 3.11248839e-02 2.56366901e-04 9.99515471e-01 7.19189095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.215099893 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:40.91, Y:1.42, Z:0.72 [[ 9.99000746e-01 -3.10276238e-02 -3.21682400e-02 4.09114926e+01] [ 3.09959501e-02 9.99518410e-01 -1.48295156e-03 1.41623752e+00] [ 3.21987605e-02 4.84384550e-04 9.99481368e-01 7.17136569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.245099892999995 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:40.94, Y:1.41, Z:0.72 [[ 9.99060106e-01 -2.71088597e-02 -3.38232714e-02 4.09395695e+01] [ 2.70712901e-02 9.99632275e-01 -1.56830176e-03 1.41465938e+00] [ 3.38533486e-02 6.51188129e-04 9.99426599e-01 7.16525676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.275099893 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:40.97, Y:1.41, Z:0.72 [[ 9.99057312e-01 -2.57676356e-02 -3.49358978e-02 4.09676038e+01] [ 2.57263686e-02 9.99667693e-01 -1.63030522e-03 1.41320028e+00] [ 3.49662974e-02 7.29994561e-04 9.99388225e-01 7.18429611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.305099893 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:40.99, Y:1.41, Z:0.72 [[ 9.99035497e-01 -2.69495362e-02 -3.46669652e-02 4.09949532e+01] [ 2.69093263e-02 9.99636556e-01 -1.62602591e-03 1.41227038e+00] [ 3.46981863e-02 6.91592923e-04 9.99397597e-01 7.19074494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.335099893 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:41.02, Y:1.41, Z:0.72 [[ 9.99006998e-01 -2.91528915e-02 -3.36916312e-02 4.10231373e+01] [ 2.91159683e-02 9.99574782e-01 -1.58612406e-03 1.41000585e+00] [ 3.37235450e-02 6.03584571e-04 9.99431017e-01 7.19870791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.365099893 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:41.05, Y:1.41, Z:0.72 [[ 9.98992114e-01 -3.23999379e-02 -3.10644588e-02 4.10512368e+01] [ 3.23698547e-02 9.99474877e-01 -1.47095362e-03 1.40695794e+00] [ 3.10958049e-02 4.63919045e-04 9.99516301e-01 7.21345110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.395099893 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:41.08, Y:1.40, Z:0.72 [[ 9.98912776e-01 -3.68791468e-02 -2.85165560e-02 4.10787977e+01] [ 3.68553995e-02 9.99319686e-01 -1.35808917e-03 1.40414654e+00] [ 2.85472410e-02 3.05623555e-04 9.99592398e-01 7.22919309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.425099893 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:41.11, Y:1.40, Z:0.72 [[ 9.98839379e-01 -3.97095379e-02 -2.72588877e-02 4.11071060e+01] [ 3.96886860e-02 9.99211240e-01 -1.30578270e-03 1.40327807e+00] [ 2.72892390e-02 2.22397747e-04 9.99627555e-01 7.23743057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.455099892999996 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:41.14, Y:1.40, Z:0.72 [[ 9.98710079e-01 -4.27470190e-02 -2.74020310e-02 4.11365848e+01] [ 4.27269217e-02 9.99085918e-01 -1.31878391e-03 1.40250999e+00] [ 2.74333574e-02 1.46278344e-04 9.99623624e-01 7.24273432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.485099893 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:41.17, Y:1.40, Z:0.72 [[ 9.98561988e-01 -4.61050190e-02 -2.73547662e-02 4.11667424e+01] [ 4.60862505e-02 9.98936597e-01 -1.31651292e-03 1.40192922e+00] [ 2.73863749e-02 5.39411536e-05 9.99624921e-01 7.24312874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.515099893 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:41.20, Y:1.40, Z:0.72 [[ 9.97894514e-01 -5.82694382e-02 -2.84817867e-02 4.11980467e+01] [ 5.82540463e-02 9.98300850e-01 -1.37057741e-03 1.39589502e+00] [ 2.85132546e-02 -2.91487643e-04 9.99593372e-01 7.23238632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.545099893 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:41.23, Y:1.39, Z:0.72 [[ 9.97308702e-01 -6.71724032e-02 -2.93806139e-02 4.12290843e+01] [ 6.71599189e-02 9.97741224e-01 -1.41263919e-03 1.39166103e+00] [ 2.94091400e-02 -5.64362285e-04 9.99567298e-01 7.22286544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.575099893 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:41.26, Y:1.39, Z:0.72 [[ 9.97039100e-01 -7.12916874e-02 -2.88189007e-02 4.12606240e+01] [ 7.12814392e-02 9.97455283e-01 -1.38410249e-03 1.39040697e+00] [ 2.88442397e-02 -6.74248412e-04 9.99583691e-01 7.22808827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.605099893 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:41.29, Y:1.39, Z:0.72 [[ 9.96475550e-01 -7.87681629e-02 -2.88453571e-02 4.12931674e+01] [ 7.87610710e-02 9.96892561e-01 -1.38372820e-03 1.38830677e+00] [ 2.88647157e-02 -8.93039904e-04 9.99582928e-01 7.24218211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.635099892999996 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:41.33, Y:1.39, Z:0.72 [[ 9.96002469e-01 -8.32328398e-02 -3.24249412e-02 4.13258589e+01] [ 8.32263266e-02 9.96529461e-01 -1.55282542e-03 1.38687210e+00] [ 3.24416553e-02 -1.15199079e-03 9.99472967e-01 7.22789608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.665099893 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:41.36, Y:1.39, Z:0.72 [[ 9.96076971e-01 -8.27359334e-02 -3.13916226e-02 4.13572800e+01] [ 8.27296487e-02 9.96570896e-01 -1.50121358e-03 1.38800158e+00] [ 3.14081817e-02 -1.10169363e-03 9.99506034e-01 7.23555667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.695099893 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:41.39, Y:1.39, Z:0.73 [[ 9.96503983e-01 -7.76629469e-02 -3.07941187e-02 4.13899680e+01] [ 7.76545431e-02 9.96979242e-01 -1.47055420e-03 1.39477965e+00] [ 3.08153047e-02 -9.25890106e-04 9.99524667e-01 7.25617370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.725099893 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:41.42, Y:1.40, Z:0.73 [[ 9.96537448e-01 -7.76716742e-02 -2.96685841e-02 4.14207697e+01] [ 7.76639627e-02 9.96978590e-01 -1.41392086e-03 1.40018771e+00] [ 2.96887647e-02 -8.95154722e-04 9.99558791e-01 7.26979748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.755099893 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:41.45, Y:1.40, Z:0.73 [[ 9.96551699e-01 -7.74524905e-02 -2.97627782e-02 4.14525510e+01] [ 7.74447049e-02 9.96995643e-01 -1.41597673e-03 1.40263678e+00] [ 2.97830312e-02 -8.93875558e-04 9.99555987e-01 7.27039745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.785099893 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:41.48, Y:1.41, Z:0.73 [[ 9.96582459e-01 -7.70420779e-02 -2.97979860e-02 4.14845568e+01] [ 7.70342519e-02 9.97027447e-01 -1.41224261e-03 1.40571442e+00] [ 2.98182120e-02 -8.88049345e-04 9.99554944e-01 7.27905915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.815099892999996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:41.52, Y:1.41, Z:0.73 [[ 9.96663791e-01 -7.60329182e-02 -2.96695729e-02 4.15170220e+01] [ 7.60248512e-02 9.97104938e-01 -1.40149648e-03 1.40910576e+00] [ 2.96902376e-02 -8.58804071e-04 9.99558779e-01 7.30487884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.845099893 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:41.55, Y:1.41, Z:0.73 [[ 9.96671219e-01 -7.59354456e-02 -2.96696814e-02 4.15496811e+01] [ 7.59274038e-02 9.97112367e-01 -1.39919649e-03 1.41059246e+00] [ 2.96902549e-02 -8.58203009e-04 9.99558779e-01 7.31260111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.875099893 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:41.58, Y:1.41, Z:0.73 [[ 9.96745960e-01 -7.44828128e-02 -3.08188548e-02 4.15819840e+01] [ 7.44735329e-02 9.97221936e-01 -1.45046349e-03 1.41399184e+00] [ 3.08412727e-02 -8.49445376e-04 9.99523934e-01 7.31082044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.905099893 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:41.61, Y:1.42, Z:0.73 [[ 9.96752696e-01 -7.43925664e-02 -3.08189660e-02 4.16146410e+01] [ 7.43833166e-02 9.97228672e-01 -1.44809808e-03 1.41547242e+00] [ 3.08412843e-02 -8.49021237e-04 9.99523934e-01 7.31854209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.935099893 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:41.65, Y:1.42, Z:0.73 [[ 9.96903474e-01 -7.21268536e-02 -3.13238076e-02 4.16469165e+01] [ 7.21162667e-02 9.97395150e-01 -1.46908126e-03 1.41896084e+00] [ 3.13481740e-02 -7.94423849e-04 9.99508210e-01 7.32414213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.965099893 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:41.68, Y:1.42, Z:0.73 [[ 9.97098784e-01 -6.93580923e-02 -3.13603393e-02 4.16778617e+01] [ 6.93461793e-02 9.97591575e-01 -1.46865419e-03 1.42255034e+00] [ 3.13866733e-02 -7.10326406e-04 9.99507065e-01 7.33288244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.995099892999995 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:41.71, Y:1.43, Z:0.73 [[ 9.97592330e-01 -6.21750248e-02 -3.07214752e-02 4.17100067e+01] [ 6.21602412e-02 9.98065148e-01 -1.43695733e-03 1.42720449e+00] [ 3.07513765e-02 -4.76156694e-04 9.99526951e-01 7.33747909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.025099893 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:41.74, Y:1.43, Z:0.73 [[ 9.98088427e-01 -5.40065912e-02 -3.00462921e-02 4.17415694e+01] [ 5.39888139e-02 9.98540554e-01 -1.40320697e-03 1.43232041e+00] [ 3.00782236e-02 -2.21639038e-04 9.99547523e-01 7.33637946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.055099893 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:41.77, Y:1.44, Z:0.74 [[ 9.98468309e-01 -4.69251918e-02 -2.93097515e-02 4.17726667e+01] [ 4.69052796e-02 9.98898406e-01 -1.36691969e-03 1.43736469e+00] [ 2.93416071e-02 -9.95609543e-06 9.99569442e-01 7.35362655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.085099893 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:41.80, Y:1.44, Z:0.73 [[ 9.98670674e-01 -4.25006724e-02 -2.91646784e-02 4.18024260e+01] [ 4.24790924e-02 9.99096431e-01 -1.35939309e-03 1.44119792e+00] [ 2.91961012e-02 1.18696946e-04 9.99573696e-01 7.34814162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.115099893 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:41.83, Y:1.44, Z:0.74 [[ 9.98716641e-01 -4.09472815e-02 -2.98058982e-02 4.18332331e+01] [ 4.09240372e-02 9.99161294e-01 -1.38971990e-03 1.44418031e+00] [ 2.98378050e-02 1.68158705e-04 9.99554739e-01 7.35595935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.145099893 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:41.86, Y:1.45, Z:0.74 [[ 9.98653568e-01 -4.21776104e-02 -3.02009989e-02 4.18614720e+01] [ 4.21542972e-02 9.99110120e-01 -1.40849696e-03 1.44514318e+00] [ 3.02335307e-02 1.33498630e-04 9.99542853e-01 7.35808957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.175099893 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:41.89, Y:1.45, Z:0.73 [[ 9.98568028e-01 -4.36869564e-02 -3.08762709e-02 4.18915055e+01] [ 4.36632617e-02 9.99045265e-01 -1.44155398e-03 1.44646546e+00] [ 3.09097694e-02 9.13310176e-05 9.99522175e-01 7.34981606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.205099892999996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:41.92, Y:1.45, Z:0.74 [[ 9.98385735e-01 -4.84723881e-02 -2.96032541e-02 4.19211318e+01] [ 4.84526825e-02 9.98824521e-01 -1.38305095e-03 1.44834637e+00] [ 2.96354959e-02 -5.35387355e-05 9.99560771e-01 7.36559363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.235099893 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:41.95, Y:1.45, Z:0.74 [[ 9.98107125e-01 -5.48554516e-02 -2.78037230e-02 4.19521748e+01] [ 5.48405376e-02 9.98494280e-01 -1.29922546e-03 1.44985373e+00] [ 2.78331280e-02 -2.28004924e-04 9.99612557e-01 7.38642787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.265099893 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:41.98, Y:1.45, Z:0.74 [[ 9.97648262e-01 -6.26890124e-02 -2.77134045e-02 4.19836212e+01] [ 6.26772449e-02 9.98033010e-01 -1.29393138e-03 1.45100702e+00] [ 2.77400078e-02 -4.46111447e-04 9.99615072e-01 7.39304409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.295099893 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:42.02, Y:1.45, Z:0.74 [[ 9.97012819e-01 -7.17013398e-02 -2.87116245e-02 4.20161841e+01] [ 7.16924902e-02 9.97425884e-01 -1.33884650e-03 1.45169759e+00] [ 2.87337146e-02 -7.23560738e-04 9.99586840e-01 7.38863098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.325099893 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:42.05, Y:1.45, Z:0.74 [[ 9.95308666e-01 -9.27604827e-02 -2.74982092e-02 4.20491582e+01] [ 9.27604512e-02 9.95687633e-01 -1.27951706e-03 1.45244643e+00] [ 2.74983154e-02 -1.27723187e-03 9.99621034e-01 7.39655251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.355099893 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:42.08, Y:1.45, Z:0.74 [[ 9.95051045e-01 -9.55173600e-02 -2.73834234e-02 4.20811939e+01] [ 9.55185645e-02 9.95426842e-01 -1.26706626e-03 1.45400822e+00] [ 2.73792215e-02 -1.35482968e-03 9.99624201e-01 7.39842873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.385099892999996 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:42.11, Y:1.46, Z:0.74 [[ 9.95062611e-01 -9.53967625e-02 -2.73835425e-02 4.21147001e+01] [ 9.53979923e-02 9.95438408e-01 -1.26448560e-03 1.45546361e+00] [ 2.73792578e-02 -1.35409264e-03 9.99624201e-01 7.40634898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.415099893 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:42.15, Y:1.46, Z:0.74 [[ 9.94857429e-01 -9.76697638e-02 -2.68199999e-02 4.21472466e+01] [ 9.76718513e-02 9.95217908e-01 -1.23530974e-03 1.45710220e+00] [ 2.68123966e-02 -1.39060196e-03 9.99639516e-01 7.42003951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.445099893 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:42.18, Y:1.46, Z:0.74 [[ 9.94717947e-01 -9.90914817e-02 -2.67784210e-02 4.21799527e+01] [ 9.90941537e-02 9.95077301e-01 -1.23050727e-03 1.45843978e+00] [ 2.67685317e-02 -1.42957730e-03 9.99640636e-01 7.42864233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.475099893 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:42.21, Y:1.46, Z:0.74 [[ 9.94632535e-01 -9.98922800e-02 -2.69750335e-02 4.22122584e+01] [ 9.98953643e-02 9.94997179e-01 -1.23660192e-03 1.46097180e+00] [ 2.69636092e-02 -1.46471629e-03 9.99635343e-01 7.42419317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.505099893 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:42.25, Y:1.47, Z:0.74 [[ 9.94930416e-01 -9.67351945e-02 -2.74912485e-02 4.22456109e+01] [ 9.67372685e-02 9.95309158e-01 -1.25763976e-03 1.46530576e+00] [ 2.74839494e-02 -1.40816424e-03 9.99621253e-01 7.42627991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.535099893 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:42.28, Y:1.47, Z:0.74 [[ 9.95458887e-01 -9.09825347e-02 -2.79961180e-02 4.22782324e+01] [ 9.09825019e-02 9.95851672e-01 -1.27764712e-03 1.46998251e+00] [ 2.79962245e-02 -1.27531168e-03 9.99607215e-01 7.43185178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.565099892999996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:42.31, Y:1.47, Z:0.74 [[ 9.95735481e-01 -8.78320925e-02 -2.82201253e-02 4.23100428e+01] [ 8.78308937e-02 9.96134571e-01 -1.28442506e-03 1.47316850e+00] [ 2.82238562e-02 -1.19965122e-03 9.99600908e-01 7.44456080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.595099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:42.34, Y:1.48, Z:0.74 [[ 9.96550786e-01 -7.77149923e-02 -2.91017213e-02 4.23427010e+01] [ 7.77095534e-02 9.96975167e-01 -1.31953915e-03 1.48092573e+00] [ 2.91162414e-02 -9.46493987e-04 9.99575584e-01 7.43994615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.625099893 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:42.38, Y:1.48, Z:0.74 [[ 9.96826514e-01 -7.40464656e-02 -2.92236626e-02 4.23750385e+01] [ 7.40394981e-02 9.97254434e-01 -1.32191985e-03 1.48444846e+00] [ 2.92413106e-02 -8.45980557e-04 9.99572023e-01 7.44721766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.655099893 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:42.41, Y:1.49, Z:0.75 [[ 9.97322102e-01 -6.66299569e-02 -3.01508576e-02 4.24070059e+01] [ 6.66192377e-02 9.97777543e-01 -1.36103896e-03 1.49172742e+00] [ 3.01745346e-02 -6.51232916e-04 9.99544433e-01 7.46613827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.685099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:42.44, Y:1.50, Z:0.75 [[ 9.97910751e-01 -5.48631225e-02 -3.41199579e-02 4.24378863e+01] [ 5.48426180e-02 9.98493828e-01 -1.53725680e-03 1.50009033e+00] [ 3.41529060e-02 -3.37182725e-04 9.99416562e-01 7.45111845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.47, Y:1.51, Z:0.75 [[ 9.98315806e-01 -4.71503449e-02 -3.37993471e-02 4.24691256e+01] [ 4.71258577e-02 9.98887801e-01 -1.52120720e-03 1.50699271e+00] [ 3.38334809e-02 -7.41780264e-05 9.99427481e-01 7.48507012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.745099892999995 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:42.50, Y:1.52, Z:0.75 [[ 9.98647864e-01 -3.90930002e-02 -3.42663218e-02 4.24994519e+01] [ 3.90631175e-02 9.99235556e-01 -1.54136575e-03 1.51516879e+00] [ 3.43003837e-02 2.00732264e-04 9.99411549e-01 7.47898995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.775099893 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:42.53, Y:1.52, Z:0.75 [[ 9.98923036e-01 -3.14323972e-02 -3.41287769e-02 4.25272125e+01] [ 3.13982513e-02 9.99505773e-01 -1.53612257e-03 1.52190691e+00] [ 3.41601936e-02 4.62884306e-04 9.99416263e-01 7.48355551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.805099893 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:42.55, Y:1.52, Z:0.75 [[ 9.99112472e-01 -2.80094474e-02 -3.14601204e-02 4.25536648e+01] [ 2.79786466e-02 9.99607514e-01 -1.41891900e-03 1.52361366e+00] [ 3.14875159e-02 5.37448080e-04 9.99504001e-01 7.47879093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.835099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:42.58, Y:1.53, Z:0.75 [[ 9.99164935e-01 -2.80924298e-02 -2.96689696e-02 4.25812361e+01] [ 2.80649428e-02 9.99605200e-01 -1.34255463e-03 1.52566156e+00] [ 2.96949719e-02 5.08775581e-04 9.99558878e-01 7.50162850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.865099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:42.61, Y:1.53, Z:0.75 [[ 9.99164793e-01 -2.89229429e-02 -2.88648381e-02 4.26085625e+01] [ 2.88970680e-02 9.99581530e-01 -1.31324203e-03 1.52802611e+00] [ 2.88907419e-02 4.78036010e-04 9.99582461e-01 7.52223103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.895099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:42.64, Y:1.53, Z:0.75 [[ 9.99100358e-01 -3.09468098e-02 -2.89960228e-02 4.26367603e+01] [ 3.09214238e-02 9.99520942e-01 -1.32359311e-03 1.53029430e+00] [ 2.90230930e-02 4.25804040e-04 9.99578651e-01 7.53015001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.925099893 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:42.67, Y:1.53, Z:0.75 [[ 9.98977937e-01 -3.39106352e-02 -2.98856135e-02 4.26651511e+01] [ 3.38847425e-02 9.99424805e-01 -1.37256066e-03 1.53129249e+00] [ 2.99149678e-02 3.58491502e-04 9.99552383e-01 7.53562638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.955099892999996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:42.69, Y:1.53, Z:0.75 [[ 9.98827841e-01 -3.77744080e-02 -3.02661191e-02 4.26944467e+01] [ 3.77493931e-02 9.99286260e-01 -1.39767116e-03 1.52906394e+00] [ 3.02973132e-02 2.53505239e-04 9.99540899e-01 7.53534140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.985099893 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:42.72, Y:1.53, Z:0.75 [[ 9.98730030e-01 -3.97073479e-02 -3.10105273e-02 4.27237133e+01] [ 3.96818228e-02 9.99211331e-01 -1.43834436e-03 1.52905766e+00] [ 3.10431831e-02 2.05963458e-04 9.99518023e-01 7.52066761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.015099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:42.75, Y:1.53, Z:0.75 [[ 9.98583436e-01 -4.35147816e-02 -3.06200042e-02 4.27534122e+01] [ 4.34916552e-02 9.99052779e-01 -1.42119508e-03 1.52891462e+00] [ 3.06528433e-02 8.74672023e-05 9.99530087e-01 7.53624009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.045099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:42.78, Y:1.53, Z:0.75 [[ 9.98438006e-01 -4.68729674e-02 -3.04051513e-02 4.27848810e+01] [ 4.68517156e-02 9.98900858e-01 -1.41140006e-03 1.52835314e+00] [ 3.04378883e-02 -1.53380459e-05 9.99536660e-01 7.54244400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.075099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:42.82, Y:1.53, Z:0.76 [[ 9.98397853e-01 -4.84356685e-02 -2.92525655e-02 4.28162617e+01] [ 4.84166979e-02 9.98826302e-01 -1.35688617e-03 1.52786647e+00] [ 2.92839536e-02 -6.16003917e-05 9.99571131e-01 7.55955123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.105099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:42.85, Y:1.53, Z:0.76 [[ 9.98455591e-01 -4.77796311e-02 -2.83467757e-02 4.28475842e+01] [ 4.77615927e-02 9.98857900e-01 -1.31347226e-03 1.52645815e+00] [ 2.83771581e-02 -4.24434321e-05 9.99597286e-01 7.55211175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.135099892999996 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:42.88, Y:1.53, Z:0.76 [[ 9.98541578e-01 -4.61677884e-02 -2.79866323e-02 4.28794786e+01] [ 4.61496600e-02 9.98933699e-01 -1.29366429e-03 1.52630049e+00] [ 2.80165158e-02 2.04014032e-07 9.99607460e-01 7.55639324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.165099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:42.91, Y:1.53, Z:0.76 [[ 9.98646389e-01 -4.37254620e-02 -2.81686768e-02 4.29121066e+01] [ 4.37061825e-02 9.99043582e-01 -1.30005372e-03 1.52772202e+00] [ 2.81985812e-02 6.71486249e-05 9.99602339e-01 7.56900956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.195099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:42.94, Y:1.53, Z:0.76 [[ 9.98728297e-01 -4.13534249e-02 -2.88389020e-02 4.29439059e+01] [ 4.13322834e-02 9.99144572e-01 -1.32907357e-03 1.52924989e+00] [ 2.88691941e-02 1.35405713e-04 9.99583189e-01 7.57245663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.225099893 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:42.97, Y:1.53, Z:0.76 [[ 9.98769925e-01 -3.97893069e-02 -2.95879655e-02 4.29743768e+01] [ 3.97663958e-02 9.99208075e-01 -1.36259931e-03 1.52984479e+00] [ 2.96187509e-02 1.84316463e-04 9.99561252e-01 7.57732121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.255099893 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:43.00, Y:1.53, Z:0.76 [[ 9.98722021e-01 -3.95256818e-02 -3.14967633e-02 4.30047652e+01] [ 3.94996017e-02 9.99218534e-01 -1.45004790e-03 1.53000875e+00] [ 3.15294638e-02 2.04085163e-04 9.99502802e-01 7.59422563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.285099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:43.03, Y:1.53, Z:0.76 [[ 9.98667222e-01 -4.00421180e-02 -3.25639246e-02 4.30332045e+01] [ 4.00144942e-02 9.99197974e-01 -1.49980089e-03 1.53096049e+00] [ 3.25978627e-02 1.94773019e-04 9.99468529e-01 7.58406545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.315099892999996 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:43.06, Y:1.53, Z:0.76 [[ 9.98681194e-01 -4.05391836e-02 -3.15031217e-02 4.30621036e+01] [ 4.05134655e-02 9.99177934e-01 -1.45450965e-03 1.53377844e+00] [ 3.15361886e-02 1.76290804e-04 9.99502595e-01 7.60732291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.345099893 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:43.09, Y:1.53, Z:0.76 [[ 9.98609069e-01 -4.11880966e-02 -3.29160850e-02 4.30920462e+01] [ 4.11601567e-02 9.99151396e-01 -1.52625874e-03 1.53440613e+00] [ 3.29510160e-02 1.69304605e-04 9.99456953e-01 7.59750851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.375099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:43.12, Y:1.54, Z:0.76 [[ 9.98557786e-01 -4.17923630e-02 -3.37008453e-02 4.31202702e+01] [ 4.17633709e-02 9.99126306e-01 -1.56405541e-03 1.53507182e+00] [ 3.37367666e-02 1.54338807e-04 9.99430741e-01 7.59474398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.405099893 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:43.15, Y:1.54, Z:0.76 [[ 9.98528378e-01 -4.32564109e-02 -3.27102515e-02 4.31486271e+01] [ 4.32297679e-02 9.99063998e-01 -1.52162452e-03 1.53638588e+00] [ 3.27454547e-02 1.05328678e-04 9.99463718e-01 7.60609313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.435099893 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:43.18, Y:1.54, Z:0.76 [[ 9.98516184e-01 -4.40246274e-02 -3.20509397e-02 4.31778105e+01] [ 4.39992448e-02 9.99030442e-01 -1.49714666e-03 1.53851199e+00] [ 3.20857758e-02 8.47080268e-05 9.99485115e-01 7.62385867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.21, Y:1.54, Z:0.77 [[ 9.98482704e-01 -4.53688546e-02 -3.12082971e-02 4.32075600e+01] [ 4.53454340e-02 9.98970303e-01 -1.45816626e-03 1.54111630e+00] [ 3.12423174e-02 4.08000140e-05 9.99511839e-01 7.65844280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.495099892999995 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:43.24, Y:1.54, Z:0.76 [[ 9.98369451e-01 -4.66359402e-02 -3.29169825e-02 4.32391997e+01] [ 4.66106331e-02 9.98911953e-01 -1.53616561e-03 1.54256000e+00] [ 3.29528078e-02 -6.20578645e-07 9.99456909e-01 7.63716042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.525099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:43.27, Y:1.54, Z:0.76 [[ 9.98280281e-01 -4.90731403e-02 -3.20672261e-02 4.32691869e+01] [ 4.90504119e-02 9.98795184e-01 -1.49552098e-03 1.54380383e+00] [ 3.21019809e-02 -7.99615377e-05 9.99484595e-01 7.63701855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.555099893 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:43.30, Y:1.55, Z:0.76 [[ 9.98125414e-01 -5.27962515e-02 -3.09550274e-02 4.32997356e+01] [ 5.27768886e-02 9.98605287e-01 -1.44280478e-03 1.54609292e+00] [ 3.09880286e-02 -1.93609911e-04 9.99519737e-01 7.64719360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.585099893 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:43.33, Y:1.55, Z:0.77 [[ 9.97887848e-01 -5.70231979e-02 -3.11158707e-02 4.33313922e+01] [ 5.70057475e-02 9.98372800e-01 -1.44836038e-03 1.54860799e+00] [ 3.11478291e-02 -3.28482250e-04 9.99514735e-01 7.66031940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.615099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:43.36, Y:1.55, Z:0.77 [[ 9.97745670e-01 -5.91893902e-02 -3.16258453e-02 4.33620890e+01] [ 5.91725183e-02 9.98246689e-01 -1.46996524e-03 1.55028217e+00] [ 3.16574017e-02 -4.04729454e-04 9.99498697e-01 7.66885277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.645099893 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:43.39, Y:1.55, Z:0.77 [[ 9.97464415e-01 -6.37032424e-02 -3.17275640e-02 4.33939640e+01] [ 6.36886019e-02 9.97968733e-01 -1.47285471e-03 1.55226266e+00] [ 3.17569425e-02 -5.51564034e-04 9.99495469e-01 7.67303196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.675099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:43.43, Y:1.55, Z:0.77 [[ 9.97416518e-01 -6.46521019e-02 -3.13112595e-02 4.34259880e+01] [ 6.46383801e-02 9.97907698e-01 -1.45130414e-03 1.55383269e+00] [ 3.13395767e-02 -5.76354370e-04 9.99508629e-01 7.66583630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.705099892999996 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:43.46, Y:1.56, Z:0.77 [[ 9.97392936e-01 -6.51378148e-02 -3.10547467e-02 4.34578967e+01] [ 6.51246211e-02 9.97876104e-01 -1.43719839e-03 1.55577230e+00] [ 3.10824056e-02 -5.88977093e-04 9.99516652e-01 7.67095095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.735099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:43.49, Y:1.56, Z:0.77 [[ 9.97398780e-01 -6.50482049e-02 -3.10548560e-02 4.34905599e+01] [ 6.50350415e-02 9.97881949e-01 -1.43483257e-03 1.55722717e+00] [ 3.10824136e-02 -5.88553597e-04 9.99516652e-01 7.67867287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.765099893 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:43.52, Y:1.56, Z:0.77 [[ 9.97376702e-01 -6.54344038e-02 -3.09524489e-02 4.35231371e+01] [ 6.54215951e-02 9.97856692e-01 -1.42744917e-03 1.56045152e+00] [ 3.09795126e-02 -6.01254033e-04 9.99519839e-01 7.68489211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.795099893 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:43.56, Y:1.56, Z:0.77 [[ 9.97329805e-01 -6.55139403e-02 -3.22673918e-02 4.35552764e+01] [ 6.55001399e-02 9.97851454e-01 -1.48567615e-03 1.56344275e+00] [ 3.22953963e-02 -6.31809568e-04 9.99478168e-01 7.70937388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.825099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:43.59, Y:1.57, Z:0.77 [[ 9.97320548e-01 -6.42748144e-02 -3.49352563e-02 4.35874776e+01] [ 6.42579716e-02 9.97932029e-01 -1.60584188e-03 1.56509941e+00] [ 3.49662263e-02 -6.43329595e-04 9.99388287e-01 7.68563949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.855099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:43.62, Y:1.57, Z:0.77 [[ 9.97384130e-01 -6.30686486e-02 -3.53163139e-02 4.36185959e+01] [ 6.30507646e-02 9.98009005e-01 -1.62098479e-03 1.56664928e+00] [ 3.53482326e-02 -6.09976091e-04 9.99374870e-01 7.68600322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.885099892999996 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:43.65, Y:1.57, Z:0.77 [[ 9.97557091e-01 -6.07349694e-02 -3.45125200e-02 4.36511292e+01] [ 6.07165647e-02 9.98153794e-01 -1.58204815e-03 1.56872217e+00] [ 3.45448885e-02 -5.17298306e-04 9.99403013e-01 7.70473908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.915099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:43.68, Y:1.57, Z:0.77 [[ 9.97776388e-01 -5.73744721e-02 -3.39182900e-02 4.36818102e+01] [ 5.73548309e-02 9.98352650e-01 -1.55256095e-03 1.57025121e+00] [ 3.39514920e-02 -3.96269131e-04 9.99423403e-01 7.72935940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.945099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:43.71, Y:1.57, Z:0.77 [[ 9.98013661e-01 -5.39758624e-02 -3.24859667e-02 4.37135815e+01] [ 5.39561059e-02 9.98542204e-01 -1.48512664e-03 1.57118374e+00] [ 3.25187698e-02 -2.70639591e-04 9.99471088e-01 7.74710052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.975099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:43.74, Y:1.57, Z:0.78 [[ 9.98151593e-01 -5.12017791e-02 -3.27379891e-02 4.37447512e+01] [ 5.11802960e-02 9.98688312e-01 -1.49442153e-03 1.57155564e+00] [ 3.27715641e-02 -1.83880742e-04 9.99462851e-01 7.75724325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.005099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:43.78, Y:1.57, Z:0.78 [[ 9.98266501e-01 -4.85727549e-02 -3.32367199e-02 4.37766015e+01] [ 4.85492218e-02 9.98819642e-01 -1.51518986e-03 1.57272830e+00] [ 3.32710856e-02 -1.01053609e-04 9.99446359e-01 7.76621394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.035099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:43.81, Y:1.57, Z:0.78 [[ 9.98433226e-01 -4.49665806e-02 -3.33031453e-02 4.38065968e+01] [ 4.49410104e-02 9.98988492e-01 -1.51632805e-03 1.57474571e+00] [ 3.33376430e-02 1.72753074e-05 9.99444146e-01 7.77841009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.065099892999996 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:43.84, Y:1.58, Z:0.78 [[ 9.98504416e-01 -4.24617730e-02 -3.44373311e-02 4.38375306e+01] [ 4.24329567e-02 9.99098087e-01 -1.56753118e-03 1.57624143e+00] [ 3.44728318e-02 1.03909022e-04 9.99405630e-01 7.78158781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.095099893 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:43.87, Y:1.58, Z:0.78 [[ 9.98611396e-01 -3.98733875e-02 -3.44295315e-02 4.38672878e+01] [ 3.98430328e-02 9.99204722e-01 -1.56756188e-03 1.57762260e+00] [ 3.44646545e-02 1.93608202e-04 9.99405899e-01 7.79182484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.125099893 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:43.90, Y:1.58, Z:0.78 [[ 9.98790225e-01 -3.44749564e-02 -3.50651450e-02 4.38956528e+01] [ 3.44400129e-02 9.99405486e-01 -1.60023082e-03 1.57878531e+00] [ 3.50994661e-02 3.90650857e-04 9.99383748e-01 7.78280071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.155099893 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:43.92, Y:1.58, Z:0.78 [[ 9.98961467e-01 -2.97040580e-02 -3.45493189e-02 4.39228080e+01] [ 2.96670343e-02 9.99558582e-01 -1.58387920e-03 1.58048990e+00] [ 3.45811158e-02 5.57258457e-04 9.99401739e-01 7.79502397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.185099893 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:43.95, Y:1.58, Z:0.78 [[ 9.99079651e-01 -2.70181317e-02 -3.33147233e-02 4.39504308e+01] [ 2.69820291e-02 9.99634744e-01 -1.53286236e-03 1.58153480e+00] [ 3.33439700e-02 6.32552760e-04 9.99443735e-01 7.81230579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.215099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:43.98, Y:1.58, Z:0.78 [[ 9.99103772e-01 -2.68517483e-02 -3.27205941e-02 4.39779649e+01] [ 2.68165324e-02 9.99639225e-01 -1.51470777e-03 1.58123601e+00] [ 3.27494618e-02 6.35897378e-04 9.99463390e-01 7.81397647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.245099892999995 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:44.01, Y:1.58, Z:0.78 [[ 9.99065259e-01 -2.80470085e-02 -3.28933616e-02 4.40055942e+01] [ 2.80117562e-02 9.99606420e-01 -1.53214215e-03 1.58153729e+00] [ 3.29233874e-02 6.09309163e-04 9.99457693e-01 7.81614008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.275099893 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:44.03, Y:1.58, Z:0.78 [[ 9.98945234e-01 -3.19498941e-02 -3.29791383e-02 4.40327885e+01] [ 3.19162972e-02 9.99489351e-01 -1.54479546e-03 1.58069257e+00] [ 3.30116536e-02 4.90594085e-04 9.99454846e-01 7.81547529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.305099893 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:44.06, Y:1.58, Z:0.78 [[ 9.98757252e-01 -3.75467658e-02 -3.27748632e-02 4.40606538e+01] [ 3.75163574e-02 9.99294823e-01 -1.54248287e-03 1.58012458e+00] [ 3.28096663e-02 3.10972469e-04 9.99461570e-01 7.82244366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.335099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:44.09, Y:1.58, Z:0.78 [[ 9.98495682e-01 -4.40083343e-02 -3.27053355e-02 4.40888735e+01] [ 4.39812602e-02 9.99031158e-01 -1.54711116e-03 1.57979542e+00] [ 3.27417349e-02 1.06361941e-04 9.99463840e-01 7.84127620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.365099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:44.12, Y:1.58, Z:0.78 [[ 9.98306212e-01 -4.77754205e-02 -3.31996567e-02 4.41195090e+01] [ 4.77495009e-02 9.98858103e-01 -1.57358447e-03 1.58026215e+00] [ 3.32369247e-02 -1.43478915e-05 9.99447501e-01 7.84803296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.395099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:44.15, Y:1.58, Z:0.78 [[ 9.97570829e-01 -6.06754181e-02 -3.42189137e-02 4.41501157e+01] [ 6.06554633e-02 9.98157445e-01 -1.62189482e-03 1.57655235e+00] [ 3.42542726e-02 -4.57609109e-04 9.99413045e-01 7.83906613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.425099893 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:44.18, Y:1.58, Z:0.78 [[ 9.97282556e-01 -6.50144004e-02 -3.46501312e-02 4.41821927e+01] [ 6.49965844e-02 9.97884136e-01 -1.64152156e-03 1.57662265e+00] [ 3.46835388e-02 -6.15079360e-04 9.99398156e-01 7.83115789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.455099892999996 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:44.21, Y:1.58, Z:0.78 [[ 9.96754380e-01 -7.29273556e-02 -3.40926189e-02 4.42131242e+01] [ 7.29148086e-02 9.97336869e-01 -1.61282871e-03 1.57632019e+00] [ 3.41194451e-02 -8.78262702e-04 9.99417376e-01 7.84986961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.485099893 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:44.24, Y:1.58, Z:0.79 [[ 9.96540384e-01 -7.58323459e-02 -3.40105765e-02 4.42439632e+01] [ 7.58216119e-02 9.97120103e-01 -1.60710004e-03 1.57705647e+00] [ 3.40344997e-02 -9.77196649e-04 9.99420181e-01 7.86055028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.515099893 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:44.28, Y:1.58, Z:0.79 [[ 9.96070696e-01 -8.16013304e-02 -3.44149899e-02 4.42761695e+01] [ 8.15938542e-02 9.96664340e-01 -1.62396961e-03 1.57728853e+00] [ 3.44327113e-02 -1.19046313e-03 9.99406309e-01 7.85995381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.545099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:44.31, Y:1.58, Z:0.79 [[ 9.95852302e-01 -8.43537966e-02 -3.40973508e-02 4.43088200e+01] [ 8.43481778e-02 9.96435049e-01 -1.60576603e-03 1.57922613e+00] [ 3.41112479e-02 -1.27694361e-03 9.99417226e-01 7.87200466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.575099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:44.34, Y:1.58, Z:0.79 [[ 9.95756705e-01 -8.56663421e-02 -3.36134268e-02 4.43411677e+01] [ 8.56617431e-02 9.96323025e-01 -1.57954948e-03 1.58127480e+00] [ 3.36251453e-02 -1.30653775e-03 9.99433661e-01 7.88491604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.605099893 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:44.37, Y:1.58, Z:0.79 [[ 9.95581209e-01 -8.76751444e-02 -3.36322022e-02 4.43739340e+01] [ 8.76717926e-02 9.96148166e-01 -1.57721018e-03 1.58389130e+00] [ 3.36409387e-02 -1.37835463e-03 9.99433033e-01 7.90153370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.635099892999996 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:44.41, Y:1.59, Z:0.79 [[ 9.95536053e-01 -8.78041250e-02 -3.46179591e-02 4.44068858e+01] [ 8.78007859e-02 9.96136737e-01 -1.61958393e-03 1.58563977e+00] [ 3.46264270e-02 -1.42712983e-03 9.99399307e-01 7.90124353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.665099893 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:44.44, Y:1.59, Z:0.79 [[ 9.95573014e-01 -8.72527601e-02 -3.49475177e-02 4.44401691e+01] [ 8.72491526e-02 9.96185186e-01 -1.63116510e-03 1.58809039e+00] [ 3.49565231e-02 -1.42519735e-03 9.99387818e-01 7.90740759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.695099893 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:44.47, Y:1.59, Z:0.79 [[ 9.95717529e-01 -8.53561063e-02 -3.55096879e-02 4.44718656e+01] [ 8.53513489e-02 9.96349545e-01 -1.65260492e-03 1.59054577e+00] [ 3.55211213e-02 -1.38527207e-03 9.99367966e-01 7.91614327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.725099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:44.50, Y:1.59, Z:0.79 [[ 9.96076593e-01 -8.03236036e-02 -3.71421537e-02 4.45049082e+01] [ 8.03151277e-02 9.96768034e-01 -1.72261679e-03 1.59393334e+00] [ 3.71604783e-02 -1.26721855e-03 9.99308507e-01 7.91551363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.755099893 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:44.54, Y:1.60, Z:0.79 [[ 9.96293686e-01 -7.78612239e-02 -3.65584476e-02 4.45378142e+01] [ 7.78515007e-02 9.96963531e-01 -1.69159445e-03 1.59686006e+00] [ 3.65791486e-02 -1.16080514e-03 9.99330085e-01 7.93963908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.785099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:44.57, Y:1.60, Z:0.79 [[ 9.96515915e-01 -7.46609788e-02 -3.71721635e-02 4.45712486e+01] [ 7.46488550e-02 9.97208406e-01 -1.71589460e-03 1.59981052e+00] [ 3.71965043e-02 -1.06494317e-03 9.99307403e-01 7.94184671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.815099892999996 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:44.60, Y:1.60, Z:0.79 [[ 9.97000656e-01 -6.73378484e-02 -3.81484759e-02 4.46037072e+01] [ 6.73198639e-02 9.97729897e-01 -1.75724162e-03 1.60435381e+00] [ 3.81802038e-02 -8.16179153e-04 9.99270537e-01 7.93786025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.845099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:44.63, Y:1.61, Z:0.79 [[ 9.97494342e-01 -5.93926829e-02 -3.84388830e-02 4.46344066e+01] [ 5.93686630e-02 9.98234561e-01 -1.76704746e-03 1.60905545e+00] [ 3.84759712e-02 -5.19445254e-04 9.99259391e-01 7.94707211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.875099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:44.67, Y:1.61, Z:0.80 [[ 9.97988408e-01 -5.13609636e-02 -3.71643578e-02 4.46658330e+01] [ 5.13330638e-02 9.98680133e-01 -1.70516505e-03 1.61436124e+00] [ 3.72028848e-02 -2.06025397e-04 9.99307712e-01 7.97187985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.905099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:44.70, Y:1.62, Z:0.80 [[ 9.98204924e-01 -4.73151204e-02 -3.67179556e-02 4.46957013e+01] [ 4.72851729e-02 9.98880011e-01 -1.68406829e-03 1.61726332e+00] [ 3.67565137e-02 -5.51696156e-05 9.99324250e-01 7.97562987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.935099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:44.72, Y:1.62, Z:0.80 [[ 9.98591173e-01 -3.86597885e-02 -3.63467914e-02 4.47248653e+01] [ 3.86246781e-02 9.99252397e-01 -1.66792562e-03 1.62128750e+00] [ 3.63841001e-02 2.61692683e-04 9.99337845e-01 7.98666397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.965099893 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:44.75, Y:1.62, Z:0.80 [[ 9.98962240e-01 -2.81516032e-02 -3.58040493e-02 4.47514132e+01] [ 2.81107011e-02 9.99603462e-01 -1.64537479e-03 1.62479760e+00] [ 3.58361715e-02 6.37190358e-04 9.99357475e-01 7.99898104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.995099892999995 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:44.78, Y:1.63, Z:0.80 [[ 9.99069988e-01 -2.49459038e-02 -3.51690454e-02 4.47778653e+01] [ 2.49043041e-02 9.99688526e-01 -1.62048979e-03 1.62507547e+00] [ 3.51985157e-02 7.43122110e-04 9.99380064e-01 8.01628442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.025099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:44.81, Y:1.62, Z:0.80 [[ 9.99082183e-01 -2.31488666e-02 -3.60405512e-02 4.48061570e+01] [ 2.31037760e-02 9.99731682e-01 -1.66713399e-03 1.62376325e+00] [ 3.60694732e-02 8.32931041e-04 9.99348938e-01 8.01524313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.055099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:44.83, Y:1.62, Z:0.80 [[ 9.99080953e-01 -2.53042401e-02 -3.45968764e-02 4.48337322e+01] [ 2.52636490e-02 9.99679527e-01 -1.60997795e-03 1.62045881e+00] [ 3.46265283e-02 7.34454959e-04 9.99400052e-01 8.01575106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.085099893 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:44.86, Y:1.62, Z:0.80 [[ 9.99019092e-01 -2.68796294e-02 -3.51900361e-02 4.48607467e+01] [ 2.68383157e-02 9.99638432e-01 -1.64594487e-03 1.61970886e+00] [ 3.52215549e-02 6.99889050e-04 9.99379283e-01 8.00739747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.115099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:44.89, Y:1.62, Z:0.80 [[ 9.98965481e-01 -2.93919021e-02 -3.46999163e-02 4.48880649e+01] [ 2.93530978e-02 9.99567780e-01 -1.62729110e-03 1.61890690e+00] [ 3.47327475e-02 6.07057594e-04 9.99396452e-01 8.02299889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.145099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:44.92, Y:1.62, Z:0.80 [[ 9.98868605e-01 -3.19077658e-02 -3.52619399e-02 4.49155745e+01] [ 3.18690358e-02 9.99490675e-01 -1.66000449e-03 1.61772890e+00] [ 3.52969472e-02 5.34362346e-04 9.99376726e-01 8.02214987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.175099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:44.94, Y:1.62, Z:0.80 [[ 9.98769573e-01 -3.46109052e-02 -3.55165369e-02 4.49434464e+01] [ 3.45729519e-02 9.99400761e-01 -1.68238672e-03 1.61701344e+00] [ 3.55534829e-02 4.52405139e-04 9.99367673e-01 8.02605851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.205099892999996 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:44.97, Y:1.62, Z:0.80 [[ 9.98666982e-01 -3.70218901e-02 -3.59671781e-02 4.49711981e+01] [ 3.69841508e-02 9.99314382e-01 -1.71425758e-03 1.61673056e+00] [ 3.60059834e-02 3.81756906e-04 9.99351501e-01 8.03236410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.235099893 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:45.00, Y:1.62, Z:0.81 [[ 9.98517462e-01 -4.06704564e-02 -3.61772196e-02 4.49991305e+01] [ 4.06342876e-02 9.99172580e-01 -1.73477029e-03 1.61612306e+00] [ 3.62178397e-02 2.62162883e-04 9.99343884e-01 8.05402014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.265099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:45.03, Y:1.62, Z:0.81 [[ 9.98406700e-01 -4.31761459e-02 -3.63301820e-02 4.50262966e+01] [ 4.31409875e-02 9.99067459e-01 -1.75147492e-03 1.61505394e+00] [ 3.63719246e-02 1.81364369e-04 9.99338306e-01 8.06184723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.295099893 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:45.05, Y:1.61, Z:0.81 [[ 9.98313226e-01 -4.54805586e-02 -3.60863148e-02 4.50529392e+01] [ 4.54471514e-02 9.98965219e-01 -1.74592033e-03 1.61230682e+00] [ 3.61283788e-02 1.02955147e-04 9.99347152e-01 8.05934368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.325099893 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:45.08, Y:1.61, Z:0.81 [[ 9.98184476e-01 -4.81486495e-02 -3.61864610e-02 4.50821312e+01] [ 4.81165868e-02 9.98840181e-01 -1.75689568e-03 1.60957359e+00] [ 3.62290835e-02 1.25370038e-05 9.99343511e-01 8.05702723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.355099893 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:45.11, Y:1.61, Z:0.81 [[ 9.98174633e-01 -4.94637680e-02 -3.46516759e-02 4.51107851e+01] [ 4.94349408e-02 9.98775918e-01 -1.68870398e-03 1.60821812e+00] [ 3.46927891e-02 -2.73820711e-05 9.99398024e-01 8.06625363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.385099892999996 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:45.14, Y:1.61, Z:0.81 [[ 9.98267934e-01 -4.79767822e-02 -3.40493685e-02 4.51401758e+01] [ 4.79480287e-02 9.98848451e-01 -1.66097084e-03 1.60671845e+00] [ 3.40898470e-02 2.54938287e-05 9.99418772e-01 8.08006685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.415099893 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:45.17, Y:1.61, Z:0.81 [[ 9.98293579e-01 -4.74267715e-02 -3.40680389e-02 4.51701377e+01] [ 4.73976312e-02 9.98874717e-01 -1.66290771e-03 1.60704947e+00] [ 3.41085691e-02 4.53257441e-05 9.99418132e-01 8.08732685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.445099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:45.20, Y:1.61, Z:0.81 [[ 9.98331168e-01 -4.65806445e-02 -3.41339024e-02 4.51994873e+01] [ 4.65508701e-02 9.98914530e-01 -1.66690964e-03 1.60591313e+00] [ 3.41744968e-02 7.51649899e-05 9.99415878e-01 8.08618842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.475099893 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:45.23, Y:1.61, Z:0.81 [[ 9.98329287e-01 -4.69816749e-02 -3.36356432e-02 4.52283942e+01] [ 4.69528793e-02 9.98895749e-01 -1.64589808e-03 1.60615202e+00] [ 3.36758281e-02 6.38579568e-05 9.99432806e-01 8.09582533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.505099893 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:45.26, Y:1.61, Z:0.81 [[ 9.98280492e-01 -4.76802291e-02 -3.40977193e-02 4.52575034e+01] [ 4.76508210e-02 9.98862650e-01 -1.67503762e-03 1.60659615e+00] [ 3.41388044e-02 4.73730628e-05 9.99417100e-01 8.09900763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.535099893 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:45.29, Y:1.61, Z:0.81 [[ 9.98143287e-01 -4.97936965e-02 -3.50794208e-02 4.52864336e+01] [ 4.97638038e-02 9.98759524e-01 -1.72528463e-03 1.60547606e+00] [ 3.51218139e-02 -2.36041406e-05 9.99383038e-01 8.10076960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.565099892999996 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:45.32, Y:1.60, Z:0.81 [[ 9.97961170e-01 -5.24002490e-02 -3.64378597e-02 4.53163305e+01] [ 5.23696581e-02 9.98626156e-01 -1.79412308e-03 1.60397914e+00] [ 3.64818122e-02 -1.17773083e-04 9.99334310e-01 8.10432759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.595099893 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:45.35, Y:1.60, Z:0.81 [[ 9.97851553e-01 -5.44466335e-02 -3.64395637e-02 4.53459478e+01] [ 5.44173559e-02 9.98516664e-01 -1.79551372e-03 1.60414261e+00] [ 3.64832713e-02 -1.91288551e-04 9.99334246e-01 8.12137539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.625099893 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:45.38, Y:1.61, Z:0.81 [[ 9.97785704e-01 -5.52810922e-02 -3.69822794e-02 4.53756033e+01] [ 5.52514678e-02 9.98470806e-01 -1.82336057e-03 1.60557331e+00] [ 3.70265237e-02 -2.24002110e-04 9.99314258e-01 8.13122802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.655099893 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:45.41, Y:1.61, Z:0.81 [[ 9.97784719e-01 -5.52988956e-02 -3.69822468e-02 4.54057166e+01] [ 5.52692589e-02 9.98469820e-01 -1.82402088e-03 1.60708946e+00] [ 3.70265237e-02 -2.24001208e-04 9.99314258e-01 8.13835624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.685099893 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:45.44, Y:1.61, Z:0.82 [[ 9.97671218e-01 -5.65201679e-02 -3.81786744e-02 4.54358398e+01] [ 5.64894393e-02 9.98401419e-01 -1.88398710e-03 1.60776372e+00] [ 3.82241259e-02 -2.77092209e-04 9.99269153e-01 8.15340225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.715099893 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:45.47, Y:1.61, Z:0.82 [[ 9.97607455e-01 -5.74803424e-02 -3.84106134e-02 4.54650889e+01] [ 5.74498977e-02 9.98346589e-01 -1.89680694e-03 1.60726643e+00] [ 3.84561340e-02 -3.14417067e-04 9.99260240e-01 8.16460577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.745099892999995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:45.49, Y:1.61, Z:0.82 [[ 9.97546223e-01 -5.82731720e-02 -3.88042604e-02 4.54945773e+01] [ 5.82426453e-02 9.98300615e-01 -1.91763825e-03 1.60691916e+00] [ 3.88500639e-02 -3.47129984e-04 9.99244991e-01 8.16478119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.775099893 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:45.52, Y:1.61, Z:0.82 [[ 9.97550046e-01 -5.87979612e-02 -3.79038993e-02 4.55237674e+01] [ 5.87691628e-02 9.98269839e-01 -1.87448301e-03 1.60771952e+00] [ 3.79485353e-02 -3.57689816e-04 9.99279631e-01 8.17047918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.805099893 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:45.55, Y:1.61, Z:0.82 [[ 9.97607383e-01 -5.81809394e-02 -3.73428454e-02 4.55528969e+01] [ 5.81525262e-02 9.98306000e-01 -1.84751264e-03 1.60774446e+00] [ 3.73870767e-02 -3.28488549e-04 9.99300805e-01 8.18048712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.835099893 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:45.58, Y:1.61, Z:0.82 [[ 9.97755208e-01 -5.58167550e-02 -3.70004758e-02 4.55823538e+01] [ 5.57872214e-02 9.98441002e-01 -1.83095226e-03 1.60866311e+00] [ 3.70449899e-02 -2.37311586e-04 9.99313571e-01 8.18809441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.865099893 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:45.61, Y:1.61, Z:0.82 [[ 9.98024884e-01 -5.20812263e-02 -3.51265809e-02 4.56114895e+01] [ 5.20522536e-02 9.98642848e-01 -1.73941796e-03 1.61087498e+00] [ 3.51694998e-02 -9.24352897e-05 9.99381358e-01 8.21527928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.895099893 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:45.64, Y:1.61, Z:0.82 [[ 9.98336011e-01 -4.70036571e-02 -3.34045640e-02 4.56410591e+01] [ 4.69745756e-02 9.98894714e-01 -1.65528666e-03 1.61353995e+00] [ 3.34454470e-02 8.33670588e-05 9.99440541e-01 8.23933453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.925099893 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:45.67, Y:1.62, Z:0.82 [[ 9.98563322e-01 -4.20793836e-02 -3.31755658e-02 4.56704683e+01] [ 4.20479424e-02 9.99114240e-01 -1.64513600e-03 1.61595224e+00] [ 3.32154065e-02 2.47808185e-04 9.99448185e-01 8.24174099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.955099892999996 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:45.70, Y:1.62, Z:0.82 [[ 9.98681776e-01 -3.88908453e-02 -3.34994401e-02 4.56981935e+01] [ 3.88568679e-02 9.99243400e-01 -1.66494183e-03 1.61785481e+00] [ 3.35388454e-02 3.61063748e-04 9.99437349e-01 8.24157715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.985099893 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:45.73, Y:1.62, Z:0.83 [[ 9.98695222e-01 -3.76145304e-02 -3.45398360e-02 4.57262744e+01] [ 3.75772903e-02 9.99292232e-01 -1.72692480e-03 1.62001642e+00] [ 3.45803473e-02 4.26758099e-04 9.99401830e-01 8.25635023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.015099893 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:45.75, Y:1.62, Z:0.83 [[ 9.98603093e-01 -3.82363911e-02 -3.64669766e-02 4.57537466e+01] [ 3.81948897e-02 9.99268625e-01 -1.83428959e-03 1.62197623e+00] [ 3.65104422e-02 4.38875113e-04 9.99333175e-01 8.25977215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.045099893 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:45.78, Y:1.62, Z:0.83 [[ 9.98495926e-01 -3.91468740e-02 -3.83849845e-02 4.57820952e+01] [ 3.91011202e-02 9.99233371e-01 -1.94226100e-03 1.62351303e+00] [ 3.84315909e-02 4.38443807e-04 9.99261137e-01 8.26182842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.075099893 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:45.81, Y:1.62, Z:0.83 [[ 9.98314318e-01 -4.17033233e-02 -4.03652630e-02 4.58103478e+01] [ 4.16543252e-02 9.99129970e-01 -2.05451157e-03 1.62484695e+00] [ 4.04158240e-02 3.69660525e-04 9.99182878e-01 8.25607222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.105099893 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:45.84, Y:1.63, Z:0.83 [[ 9.98195995e-01 -4.50610786e-02 -3.96768727e-02 4.58383775e+01] [ 4.50159347e-02 9.98984205e-01 -2.03090503e-03 1.62575117e+00] [ 3.97280838e-02 2.41149763e-04 9.99210499e-01 8.26851271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.135099892999996 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:45.87, Y:1.63, Z:0.83 [[ 9.98002050e-01 -4.88230930e-02 -4.01025448e-02 4.58665768e+01] [ 4.87795364e-02 9.98807436e-01 -2.06448378e-03 1.62690486e+00] [ 4.01555144e-02 1.04175504e-04 9.99193437e-01 8.27384328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.165099893 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:45.89, Y:1.63, Z:0.83 [[ 9.97912008e-01 -5.11393124e-02 -3.94511644e-02 4.58934164e+01] [ 5.10986199e-02 9.98691529e-01 -2.03977943e-03 1.62832902e+00] [ 3.95038566e-02 1.96203353e-05 9.99219418e-01 8.29048876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.195099893 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:45.92, Y:1.63, Z:0.83 [[ 9.97623090e-01 -5.65727723e-02 -3.93407184e-02 4.59208398e+01] [ 5.65363339e-02 9.98398460e-01 -2.03902374e-03 1.62881619e+00] [ 3.93930659e-02 -1.90002835e-04 9.99223774e-01 8.28838574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.225099893 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:45.95, Y:1.63, Z:0.83 [[ 9.97299048e-01 -6.31704162e-02 -3.74714213e-02 4.59492553e+01] [ 6.31417757e-02 9.98002665e-01 -1.94844335e-03 1.62856944e+00] [ 3.75196623e-02 -4.22831378e-04 9.99295800e-01 8.29875362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.255099893 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:45.98, Y:1.63, Z:0.83 [[ 9.97128178e-01 -6.66176841e-02 -3.60205714e-02 4.59798148e+01] [ 6.65932677e-02 9.97778436e-01 -1.87850958e-03 1.62988353e+00] [ 3.60656913e-02 -5.25612722e-04 9.99349283e-01 8.31026376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.285099893 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:46.01, Y:1.63, Z:0.83 [[ 9.96752905e-01 -7.23209468e-02 -3.54023578e-02 4.60115866e+01] [ 7.23010005e-02 9.97381151e-01 -1.84498783e-03 1.63112642e+00] [ 3.54430756e-02 -7.20628908e-04 9.99371437e-01 8.32248383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.315099892999996 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:46.04, Y:1.63, Z:0.83 [[ 9.96338089e-01 -7.76913524e-02 -3.56996781e-02 4.60433038e+01] [ 7.76746068e-02 9.96977033e-01 -1.85785443e-03 1.63229365e+00] [ 3.57360984e-02 -9.21907323e-04 9.99360836e-01 8.33368446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.345099893 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:46.07, Y:1.63, Z:0.83 [[ 9.95890369e-01 -8.27961305e-02 -3.67038522e-02 4.60749310e+01] [ 8.27819826e-02 9.96565855e-01 -1.90763089e-03 1.63288273e+00] [ 3.67357503e-02 -1.13862642e-03 9.99324366e-01 8.34292408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.375099893 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:46.11, Y:1.63, Z:0.83 [[ 9.95510434e-01 -8.67310806e-02 -3.79037526e-02 4.61073595e+01] [ 8.67189305e-02 9.96230875e-01 -1.96761801e-03 1.63455613e+00] [ 3.79315423e-02 -1.32818863e-03 9.99279457e-01 8.34550591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.405099893 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:46.14, Y:1.64, Z:0.84 [[ 9.95301688e-01 -8.85064767e-02 -3.92575351e-02 4.61397037e+01] [ 8.84949392e-02 9.96074548e-01 -2.03493422e-03 1.63723880e+00] [ 3.92835363e-02 -1.44871972e-03 9.99227054e-01 8.35088957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.435099893 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:46.17, Y:1.64, Z:0.84 [[ 9.95258340e-01 -8.86823749e-02 -3.99533978e-02 4.61709582e+01] [ 8.86706745e-02 9.96058850e-01 -2.06831416e-03 1.64052013e+00] [ 3.99793585e-02 -1.48418781e-03 9.99199404e-01 8.35324879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.465099893 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:46.20, Y:1.64, Z:0.84 [[ 9.95363512e-01 -8.77027277e-02 -3.94931833e-02 4.62023553e+01] [ 8.76906105e-02 9.96145665e-01 -2.04232729e-03 1.64427660e+00] [ 3.95200810e-02 -1.43032329e-03 9.99217753e-01 8.36413942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.495099892999995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:46.23, Y:1.65, Z:0.84 [[ 9.95458367e-01 -8.70722676e-02 -3.84845430e-02 4.62335372e+01] [ 8.70603698e-02 9.96201054e-01 -1.98810042e-03 1.64724552e+00] [ 3.85114507e-02 -1.37140735e-03 9.99257218e-01 8.38451915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.525099893 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:46.27, Y:1.65, Z:0.84 [[ 9.95496809e-01 -8.60294610e-02 -3.98124904e-02 4.62656705e+01] [ 8.60159962e-02 9.96291638e-01 -2.05420111e-03 1.65134420e+00] [ 3.98415731e-02 -1.37956036e-03 9.99205057e-01 8.38413713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.555099893 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:46.30, Y:1.66, Z:0.84 [[ 9.95476795e-01 -8.56062742e-02 -4.12009180e-02 4.62978476e+01] [ 8.55916198e-02 9.96328043e-01 -2.12277421e-03 1.65562946e+00] [ 4.12313527e-02 -1.41328083e-03 9.99148627e-01 8.38783019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.585099893 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:46.33, Y:1.66, Z:0.84 [[ 9.95464997e-01 -8.52886988e-02 -4.21340542e-02 4.63284521e+01] [ 8.52732076e-02 9.96355248e-01 -2.16806562e-03 1.66084472e+00] [ 4.21653976e-02 -1.43467252e-03 9.99109614e-01 8.39993726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.615099893 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:46.36, Y:1.66, Z:0.84 [[ 9.95511676e-01 -8.47472857e-02 -4.21236336e-02 4.63601837e+01] [ 8.47314290e-02 9.96401474e-01 -2.16490224e-03 1.66427778e+00] [ 4.21555202e-02 -1.41401022e-03 9.99110060e-01 8.41092745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.645099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:46.39, Y:1.67, Z:0.84 [[ 9.95581116e-01 -8.35977644e-02 -4.27744791e-02 4.63909380e+01] [ 8.35804733e-02 9.96498612e-01 -2.19559201e-03 1.67002470e+00] [ 4.28082556e-02 -1.38922126e-03 9.99082341e-01 8.42029921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.675099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:46.42, Y:1.68, Z:0.84 [[ 9.95835956e-01 -8.10706692e-02 -4.16928694e-02 4.64231212e+01] [ 8.10521344e-02 9.96707571e-01 -2.13753881e-03 1.67561901e+00] [ 4.17288903e-02 -1.25065805e-03 9.99128188e-01 8.42953359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.705099892999996 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:46.46, Y:1.68, Z:0.84 [[ 9.96186010e-01 -7.72898892e-02 -4.04932934e-02 4.64552591e+01] [ 7.71404096e-02 9.97006451e-01 -5.24337058e-03 1.68212204e+00] [ 4.07773342e-02 2.09970318e-03 9.99166052e-01 8.42281819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.735099893 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:46.49, Y:1.68, Z:0.84 [[ 9.96278328e-01 -7.51710177e-02 -4.21759667e-02 4.64861072e+01] [ 7.52803242e-02 9.97161902e-01 1.00722022e-03 1.68253703e+00] [ 4.19805533e-02 -4.17849211e-03 9.99109690e-01 8.42178736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.765099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:46.52, Y:1.69, Z:0.84 [[ 9.96642371e-01 -7.05204644e-02 -4.16034716e-02 4.65179367e+01] [ 7.04932408e-02 9.97509998e-01 -2.12284494e-03 1.69187582e+00] [ 4.16495829e-02 -8.17046333e-04 9.99131946e-01 8.44589090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.795099893 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:46.55, Y:1.70, Z:0.85 [[ 9.96939868e-01 -6.57179600e-02 -4.23326072e-02 4.65495410e+01] [ 6.56855743e-02 9.97838039e-01 -2.15702883e-03 1.69944689e+00] [ 4.23828413e-02 -6.30213573e-04 9.99101245e-01 8.45318886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.825099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:46.58, Y:1.71, Z:0.85 [[ 9.97170727e-01 -6.25515728e-02 -4.16874335e-02 4.65807707e+01] [ 6.25174957e-02 9.98041613e-01 -2.12188525e-03 1.70534108e+00] [ 4.17385206e-02 -4.90312086e-04 9.99128448e-01 8.46390905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.855099893 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:46.61, Y:1.71, Z:0.85 [[ 9.97246210e-01 -6.13809859e-02 -4.16217695e-02 4.66123476e+01] [ 6.13460583e-02 9.98114312e-01 -2.11707521e-03 1.71052979e+00] [ 4.16732320e-02 -4.42086272e-04 9.99131196e-01 8.46813233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.885099892999996 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:46.64, Y:1.72, Z:0.85 [[ 9.97263065e-01 -6.23615308e-02 -3.97167408e-02 4.66435837e+01] [ 6.23305596e-02 9.98053518e-01 -2.01880522e-03 1.71533380e+00] [ 3.97653286e-02 -4.62286797e-04 9.99208940e-01 8.48787400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.915099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:46.68, Y:1.72, Z:0.85 [[ 9.97257883e-01 -6.34905830e-02 -3.80218425e-02 4.66751621e+01] [ 6.34630691e-02 9.97982319e-01 -1.93134673e-03 1.72030430e+00] [ 3.80677488e-02 -4.86932059e-04 9.99275042e-01 8.51062084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.945099893 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:46.71, Y:1.72, Z:0.85 [[ 9.97141501e-01 -6.51062305e-02 -3.83406452e-02 4.67067061e+01] [ 6.50795201e-02 9.97878184e-01 -1.94563003e-03 1.72412081e+00] [ 3.83859660e-02 -5.55122343e-04 9.99262833e-01 8.52507290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.975099893 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:46.74, Y:1.73, Z:0.85 [[ 9.96994505e-01 -6.74690214e-02 -3.80773964e-02 4.67392385e+01] [ 6.74445036e-02 9.97721161e-01 -1.92951318e-03 1.72601336e+00] [ 3.81208065e-02 -6.44397057e-04 9.99272930e-01 8.53528583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.005099893 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:46.77, Y:1.73, Z:0.85 [[ 9.96726015e-01 -7.07500983e-02 -3.91366103e-02 4.67699813e+01] [ 7.07268263e-02 9.97493756e-01 -1.98058942e-03 1.72694914e+00] [ 3.91786513e-02 -7.93903245e-04 9.99231907e-01 8.53097519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.035099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:46.80, Y:1.73, Z:0.85 [[ 9.96463953e-01 -7.42230147e-02 -3.93768351e-02 4.68010720e+01] [ 7.42022885e-02 9.97241226e-01 -1.98960773e-03 1.72697959e+00] [ 3.94158780e-02 -9.39278897e-04 9.99222451e-01 8.53470429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.065099892999996 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:46.83, Y:1.73, Z:0.85 [[ 9.96114115e-01 -7.74716001e-02 -4.18905906e-02 4.68333164e+01] [ 7.74511918e-02 9.96993907e-01 -2.11235672e-03 1.72633883e+00] [ 4.19283112e-02 -1.14032782e-03 9.99119971e-01 8.52422347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.095099893 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:46.87, Y:1.73, Z:0.85 [[ 9.95888261e-01 -7.91482495e-02 -4.40695669e-02 4.68650528e+01] [ 7.91274305e-02 9.96862039e-01 -2.21935814e-03 1.72614583e+00] [ 4.41069367e-02 -1.27687888e-03 9.99026000e-01 8.52111148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.125099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:46.90, Y:1.73, Z:0.85 [[ 9.95906460e-01 -7.88542080e-02 -4.41852478e-02 4.68969844e+01] [ 7.88331113e-02 9.96885350e-01 -2.22245833e-03 1.72761461e+00] [ 4.42228764e-02 -1.26989994e-03 9.99020883e-01 8.52861719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.155099893 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:46.93, Y:1.73, Z:0.86 [[ 9.96018298e-01 -7.78977896e-02 -4.33530290e-02 4.69287584e+01] [ 7.78767083e-02 9.96960619e-01 -2.17752080e-03 1.72939096e+00] [ 4.33908867e-02 -1.20734063e-03 9.99057442e-01 8.55065862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.185099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:46.96, Y:1.73, Z:0.86 [[ 9.96173184e-01 -7.58871931e-02 -4.33603672e-02 4.69596675e+01] [ 7.58643231e-02 9.97115777e-01 -2.17510191e-03 1.73133504e+00] [ 4.34003686e-02 -1.12272671e-03 9.99057129e-01 8.55582338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.215099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:46.99, Y:1.73, Z:0.86 [[ 9.96618919e-01 -7.13018635e-02 -4.08261625e-02 4.69921794e+01] [ 7.12778424e-02 9.97454402e-01 -2.04553767e-03 1.73396401e+00] [ 4.08680861e-02 -8.71379230e-04 9.99164171e-01 8.57077209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.245099892999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:47.02, Y:1.74, Z:0.86 [[ 9.97076656e-01 -6.62621804e-02 -3.80455620e-02 4.70245232e+01] [ 6.62377515e-02 9.97802053e-01 -1.90360730e-03 1.73552038e+00] [ 3.80880771e-02 -6.22010085e-04 9.99274192e-01 8.59476652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.275099893 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:47.06, Y:1.74, Z:0.86 [[ 9.97247747e-01 -6.38376795e-02 -3.77051842e-02 4.70563930e+01] [ 6.38120559e-02 9.97960156e-01 -1.88386822e-03 1.73702595e+00] [ 3.77485333e-02 -5.27361989e-04 9.99287131e-01 8.59664811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.305099893 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.09, Y:1.74, Z:0.86 [[ 9.97640531e-01 -5.80323888e-02 -3.66825974e-02 4.70875480e+01] [ 5.80043005e-02 9.98314655e-01 -1.83038057e-03 1.73964625e+00] [ 3.67269959e-02 -3.01686561e-04 9.99325291e-01 8.62245526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.335099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:47.12, Y:1.74, Z:0.86 [[ 9.97747080e-01 -5.51021666e-02 -3.82690020e-02 4.71190548e+01] [ 5.50695125e-02 9.98480701e-01 -1.90766997e-03 1.74171486e+00] [ 3.83159767e-02 -2.04083140e-04 9.99265653e-01 8.61757398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.365099893 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:47.15, Y:1.74, Z:0.86 [[ 9.97763612e-01 -5.35852922e-02 -3.99548623e-02 4.71503105e+01] [ 5.35485395e-02 9.98563264e-01 -1.99024873e-03 1.74226078e+00] [ 4.00041058e-02 -1.53726762e-04 9.99199504e-01 8.61191166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.395099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:47.18, Y:1.74, Z:0.86 [[ 9.97709062e-01 -5.40571465e-02 -4.06749568e-02 4.71810390e+01] [ 5.40194833e-02 9.98537828e-01 -2.02526686e-03 1.74213347e+00] [ 4.07249631e-02 -1.76613052e-04 9.99170379e-01 8.61110045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.425099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:47.21, Y:1.74, Z:0.86 [[ 9.97582185e-01 -5.57201419e-02 -4.15337202e-02 4.72113193e+01] [ 5.56823115e-02 9.98446395e-01 -2.06802597e-03 1.74326158e+00] [ 4.15844239e-02 -2.49667679e-04 9.99134963e-01 8.61291674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.455099892999996 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:47.24, Y:1.75, Z:0.86 [[ 9.97380131e-01 -5.85688831e-02 -4.24565800e-02 4.72416369e+01] [ 5.85319316e-02 9.98283299e-01 -2.11397654e-03 1.74563755e+00] [ 4.25075080e-02 -3.76627440e-04 9.99096076e-01 8.62103227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.485099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:47.27, Y:1.75, Z:0.86 [[ 9.97182739e-01 -6.19997209e-02 -4.22210915e-02 4.72721508e+01] [ 6.19662512e-02 9.98076031e-01 -2.10225121e-03 1.74697265e+00] [ 4.22701984e-02 -5.19954139e-04 9.99106080e-01 8.62527428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.515099893 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:47.30, Y:1.75, Z:0.86 [[ 9.97067526e-01 -6.42887337e-02 -4.15127434e-02 4.73022827e+01] [ 6.42583735e-02 9.97931155e-01 -2.06666069e-03 1.74820584e+00] [ 4.15597229e-02 -6.06941112e-04 9.99135837e-01 8.63897674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.545099893 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:47.33, Y:1.75, Z:0.86 [[ 9.97070961e-01 -6.42353913e-02 -4.15128120e-02 4.73340918e+01] [ 6.42050423e-02 9.97934591e-01 -2.06528121e-03 1.74976268e+00] [ 4.15597352e-02 -6.06099933e-04 9.99135837e-01 8.64650370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.575099893 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.37, Y:1.75, Z:0.87 [[ 9.96972942e-01 -6.62450559e-02 -4.07006713e-02 4.73663402e+01] [ 6.62176570e-02 9.97803153e-01 -2.02240819e-03 1.75069890e+00] [ 4.07452326e-02 -6.78816846e-04 9.99169338e-01 8.65236538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.605099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:47.40, Y:1.75, Z:0.87 [[ 9.96647457e-01 -7.11064669e-02 -4.04687222e-02 4.73971922e+01] [ 7.10834874e-02 9.97468348e-01 -2.00829498e-03 1.75228251e+00] [ 4.05090723e-02 -8.75095826e-04 9.99178787e-01 8.65449507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.635099892999996 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:47.43, Y:1.76, Z:0.87 [[ 9.96339309e-01 -7.63381125e-02 -3.84769214e-02 4.74295043e+01] [ 7.63213224e-02 9.97081450e-01 -1.90717716e-03 1.75528000e+00] [ 3.85102149e-02 -1.03641395e-03 9.99257669e-01 8.68115713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.665099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:47.46, Y:1.76, Z:0.87 [[ 9.96006642e-01 -8.10596036e-02 -3.74180342e-02 4.74624025e+01] [ 8.10471696e-02 9.96708547e-01 -1.85152613e-03 1.75721986e+00] [ 3.74449585e-02 -1.18849345e-03 9.99297985e-01 8.69785569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.695099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:47.49, Y:1.76, Z:0.87 [[ 9.95833723e-01 -8.31687078e-02 -3.73920154e-02 4.74943459e+01] [ 8.31579187e-02 9.96534671e-01 -1.84641438e-03 1.75854279e+00] [ 3.74160037e-02 -1.27072048e-03 9.99298968e-01 8.70074764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.725099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:47.53, Y:1.76, Z:0.87 [[ 9.95526231e-01 -8.65483388e-02 -3.79065649e-02 4.75278196e+01] [ 8.65398378e-02 9.96246639e-01 -1.86809650e-03 1.75859366e+00] [ 3.79259686e-02 -1.42068892e-03 9.99279542e-01 8.70307852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.755099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:47.56, Y:1.76, Z:0.87 [[ 9.95450110e-01 -8.73430578e-02 -3.80823890e-02 4.75613222e+01] [ 8.73352180e-02 9.96177220e-01 -1.87257485e-03 1.75933025e+00] [ 3.81003648e-02 -1.46187891e-03 9.99272848e-01 8.71208070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.785099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:47.59, Y:1.76, Z:0.87 [[ 9.95466383e-01 -8.66870300e-02 -3.91412731e-02 4.75936735e+01] [ 8.66784583e-02 9.96234491e-01 -1.91914774e-03 1.75969451e+00] [ 3.91602515e-02 -1.48225815e-03 9.99231844e-01 8.71574209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.815099892999996 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:47.63, Y:1.76, Z:0.87 [[ 9.95522383e-01 -8.53679973e-02 -4.05892910e-02 4.76268688e+01] [ 8.53579441e-02 9.96348376e-01 -1.98381339e-03 1.76034717e+00] [ 4.06104283e-02 -1.48968780e-03 9.99173946e-01 8.71666197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.845099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:47.66, Y:1.76, Z:0.87 [[ 9.95543837e-01 -8.54142304e-02 -3.99609567e-02 4.76587282e+01] [ 8.54046858e-02 9.96344439e-01 -1.94902433e-03 1.76071249e+00] [ 3.99813514e-02 -1.47251379e-03 9.99199341e-01 8.73137685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.875099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:47.69, Y:1.76, Z:0.87 [[ 9.95573595e-01 -8.55227502e-02 -3.89753228e-02 4.76916155e+01] [ 8.55139000e-02 9.96335171e-01 -1.89717732e-03 1.76197520e+00] [ 3.89947368e-02 -1.44415221e-03 9.99238372e-01 8.73955083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.905099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:47.72, Y:1.76, Z:0.88 [[ 9.95675300e-01 -8.41057743e-02 -3.94577779e-02 4.77233047e+01] [ 8.40958078e-02 9.96455833e-01 -1.91523218e-03 1.76361763e+00] [ 3.94790150e-02 -1.41128433e-03 9.99219403e-01 8.75043328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.935099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:47.76, Y:1.77, Z:0.87 [[ 9.95918776e-01 -8.07124253e-02 -4.03893173e-02 4.77567549e+01] [ 8.06994464e-02 9.96736565e-01 -1.95427131e-03 1.76523259e+00] [ 4.04152433e-02 -1.31310005e-03 9.99182107e-01 8.74932054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.965099893 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:47.79, Y:1.77, Z:0.88 [[ 9.96596905e-01 -7.13598667e-02 -4.12598954e-02 4.77890305e+01] [ 7.13384888e-02 9.97450175e-01 -1.99211187e-03 1.76925783e+00] [ 4.12968468e-02 -9.58086063e-04 9.99146462e-01 8.75796374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.995099892999995 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:47.82, Y:1.77, Z:0.88 [[ 9.96894584e-01 -6.76508433e-02 -4.03057251e-02 4.78202670e+01] [ 6.76275342e-02 9.97708746e-01 -1.94303346e-03 1.77237820e+00] [ 4.03448223e-02 -7.88777276e-04 9.99185505e-01 8.78539641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.025099893 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:47.85, Y:1.78, Z:0.88 [[ 9.97462057e-01 -5.92538969e-02 -3.94768483e-02 4.78525252e+01] [ 5.92250549e-02 9.98242846e-01 -1.90069905e-03 1.77655100e+00] [ 3.95201052e-02 -4.42143322e-04 9.99218678e-01 8.79882890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.055099893 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:47.88, Y:1.78, Z:0.88 [[ 9.97902528e-01 -5.11942576e-02 -3.96193488e-02 4.78836013e+01] [ 5.11589450e-02 9.98688706e-01 -1.90528906e-03 1.77876935e+00] [ 3.96649361e-02 -1.25591319e-04 9.99213029e-01 8.80160176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.085099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:47.91, Y:1.78, Z:0.88 [[ 9.98113182e-01 -4.72798954e-02 -3.91750908e-02 4.79144806e+01] [ 4.72423891e-02 9.98881680e-01 -1.88308651e-03 1.78056108e+00] [ 3.92203127e-02 2.88085886e-05 9.99230587e-01 8.81198930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.115099893 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:47.94, Y:1.78, Z:0.88 [[ 9.98574178e-01 -3.78988341e-02 -3.75937384e-02 4.79427688e+01] [ 3.78576195e-02 9.99281508e-01 -1.80782267e-03 1.78294505e+00] [ 3.76352420e-02 3.82035593e-04 9.99291470e-01 8.81989009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.145099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:47.97, Y:1.78, Z:0.88 [[ 9.98549332e-01 -3.58761937e-02 -4.01513527e-02 4.79685467e+01] [ 3.60339422e-02 9.99345405e-01 3.21183568e-03 1.78343388e+00] [ 4.00098414e-02 -4.65398790e-03 9.99188447e-01 8.82255547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.175099893 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:48.00, Y:1.78, Z:0.89 [[ 9.98615715e-01 -3.58932647e-02 -3.84490346e-02 4.79996258e+01] [ 3.56344586e-02 9.99337525e-01 -7.39566063e-03 1.78323175e+00] [ 3.86890175e-02 6.01531239e-03 9.99233194e-01 8.85756796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.205099892999996 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:48.03, Y:1.78, Z:0.88 [[ 9.98384834e-01 -3.97446998e-02 -4.05965703e-02 4.80281553e+01] [ 3.96972668e-02 9.99209803e-01 -1.97416918e-03 1.77973467e+00] [ 4.06429537e-02 3.59407690e-04 9.99173669e-01 8.82736960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.235099893 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:48.06, Y:1.78, Z:0.88 [[ 9.98153903e-01 -4.54039155e-02 -4.03394410e-02 4.80561248e+01] [ 4.53612380e-02 9.98968701e-01 -1.97309896e-03 1.77858307e+00] [ 4.03874254e-02 1.39609436e-04 9.99184085e-01 8.84751227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.265099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:48.08, Y:1.78, Z:0.89 [[ 9.98021130e-01 -4.82621855e-02 -4.03061392e-02 4.80834475e+01] [ 4.82215473e-02 9.98834701e-01 -1.98040406e-03 1.77876982e+00] [ 4.03547492e-02 3.28606987e-05 9.99185415e-01 8.85111054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.295099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:48.11, Y:1.78, Z:0.89 [[ 9.97796144e-01 -5.36815830e-02 -3.90018200e-02 4.81110358e+01] [ 5.36474753e-02 9.98558089e-01 -1.92131915e-03 1.77780222e+00] [ 3.90487223e-02 -1.75264331e-04 9.99237292e-01 8.85495423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.325099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:48.14, Y:1.78, Z:0.89 [[ 9.97709244e-01 -5.63449673e-02 -3.74367254e-02 4.81415318e+01] [ 5.63152990e-02 9.98411325e-01 -1.84735702e-03 1.77842009e+00] [ 3.74813399e-02 -2.65135210e-04 9.99297293e-01 8.86956701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.355099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:48.17, Y:1.78, Z:0.89 [[ 9.97593785e-01 -5.84811668e-02 -3.72369773e-02 4.81717122e+01] [ 5.84533108e-02 9.98288453e-01 -1.83725851e-03 1.77899928e+00] [ 3.72806895e-02 -3.43786937e-04 9.99304774e-01 8.88091207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.385099892999996 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:48.20, Y:1.78, Z:0.89 [[ 9.97377958e-01 -6.24337693e-02 -3.65955304e-02 4.82040566e+01] [ 6.24095737e-02 9.98048992e-01 -1.80424541e-03 1.77862942e+00] [ 3.66367781e-02 -4.84396851e-04 9.99328530e-01 8.89268753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.415099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:48.24, Y:1.78, Z:0.89 [[ 9.97284834e-01 -6.41489621e-02 -3.61645036e-02 4.82364272e+01] [ 6.41265554e-02 9.97940186e-01 -1.78036636e-03 1.77899596e+00] [ 3.62042201e-02 -5.43572674e-04 9.99344264e-01 8.90246875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.445099893 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:48.27, Y:1.78, Z:0.89 [[ 9.97173214e-01 -6.56662513e-02 -3.65174645e-02 4.82679942e+01] [ 6.56445111e-02 9.97841458e-01 -1.79529970e-03 1.77847081e+00] [ 3.65565306e-02 -6.06946328e-04 9.99331402e-01 8.90821851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.475099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:48.30, Y:1.78, Z:0.89 [[ 9.98410537e-01 -3.85315247e-02 -4.11305316e-02 4.82993921e+01] [ 3.84809870e-02 9.99257291e-01 -2.02001065e-03 1.77895440e+00] [ 4.11778176e-02 4.34056469e-04 9.99151740e-01 8.90574976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.505099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:48.33, Y:1.78, Z:0.89 [[ 9.98562622e-01 -3.37952676e-02 -4.16001142e-02 4.83268441e+01] [ 3.37392781e-02 9.99428571e-01 -2.04744707e-03 1.78121214e+00] [ 4.16455367e-02 6.40946291e-04 9.99132243e-01 8.92413707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.535099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:48.35, Y:1.78, Z:0.89 [[ 9.98603162e-01 -3.16268268e-02 -4.23257463e-02 4.83534514e+01] [ 3.15665227e-02 9.99499463e-01 -2.09250898e-03 1.78219300e+00] [ 4.23707401e-02 7.53509448e-04 9.99101673e-01 8.92961309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.565099892999996 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:48.38, Y:1.78, Z:0.89 [[ 9.98618719e-01 -3.01710095e-02 -4.30158494e-02 4.83813027e+01] [ 3.01070013e-02 9.99544401e-01 -2.13522684e-03 1.78315127e+00] [ 4.30606733e-02 8.37199259e-04 9.99072108e-01 8.92869936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.595099893 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:48.41, Y:1.78, Z:0.89 [[ 9.98611826e-01 -2.85836058e-02 -4.42425026e-02 4.84079743e+01] [ 2.85139121e-02 9.99590962e-01 -2.20566487e-03 1.78325524e+00] [ 4.42874516e-02 9.41076188e-04 9.99018386e-01 8.92455313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.625099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:48.44, Y:1.78, Z:0.89 [[ 9.98608400e-01 -2.89492962e-02 -4.40817667e-02 4.84356011e+01] [ 2.88800762e-02 9.99580448e-01 -2.20644009e-03 1.78410769e+00] [ 4.41271471e-02 9.30284827e-04 9.99025490e-01 8.93741037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.655099893 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:48.46, Y:1.79, Z:0.90 [[ 9.98629668e-01 -2.96465000e-02 -4.31262282e-02 4.84620652e+01] [ 2.95805103e-02 9.99560051e-01 -2.16763368e-03 1.78527047e+00] [ 4.31715176e-02 8.88967460e-04 9.99067280e-01 8.95298152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.685099893 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:48.49, Y:1.79, Z:0.90 [[ 9.98610312e-01 -3.22376431e-02 -4.16914751e-02 4.84903293e+01] [ 3.21778991e-02 9.99479944e-01 -2.10344886e-03 1.78643029e+00] [ 4.17376034e-02 7.58981640e-04 9.99128318e-01 8.97216116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.715099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:48.52, Y:1.78, Z:0.90 [[ 9.98042065e-01 -4.71968330e-02 -4.10426070e-02 4.85183826e+01] [ 4.71512214e-02 9.98885599e-01 -2.07916840e-03 1.78091185e+00] [ 4.10949993e-02 1.39888476e-04 9.99155234e-01 8.97394255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.745099892999995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:48.55, Y:1.78, Z:0.90 [[ 9.97517843e-01 -5.82569730e-02 -3.95509554e-02 4.85455073e+01] [ 5.82231246e-02 9.98301575e-01 -2.00810027e-03 1.77801186e+00] [ 3.96007669e-02 -2.99664351e-04 9.99215537e-01 8.98931592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.775099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:48.58, Y:1.78, Z:0.90 [[ 9.97466643e-01 -5.88275890e-02 -3.99951235e-02 4.85760409e+01] [ 5.87933133e-02 9.98268106e-01 -2.03367276e-03 1.77891487e+00] [ 4.00454922e-02 -3.22925088e-04 9.99197805e-01 8.99398793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.805099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:48.61, Y:1.78, Z:0.90 [[ 9.97456588e-01 -5.91808396e-02 -3.97238264e-02 4.86067398e+01] [ 5.91473074e-02 9.98247222e-01 -2.01987784e-03 1.78037389e+00] [ 3.97737374e-02 -3.34816914e-04 9.99208656e-01 9.00382370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.835099893 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:48.64, Y:1.78, Z:0.90 [[ 9.97537860e-01 -5.86765533e-02 -3.84093798e-02 4.86371615e+01] [ 5.86448304e-02 9.98277000e-01 -1.95304083e-03 1.78299397e+00] [ 3.84577982e-02 -3.04279390e-04 9.99260179e-01 9.02370203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.865099893 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:48.67, Y:1.79, Z:0.90 [[ 9.97612823e-01 -5.77569130e-02 -3.78522730e-02 4.86676175e+01] [ 5.77254518e-02 9.98330641e-01 -1.92445657e-03 1.78506405e+00] [ 3.79002347e-02 -2.65177009e-04 9.99281493e-01 9.04019740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.895099893 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:48.70, Y:1.79, Z:0.90 [[ 9.97666611e-01 -5.68383604e-02 -3.78250476e-02 4.86985208e+01] [ 5.68063006e-02 9.98383367e-01 -1.92264782e-03 1.78659847e+00] [ 3.78731785e-02 -2.30539485e-04 9.99282527e-01 9.04490380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.925099893 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:48.73, Y:1.79, Z:0.90 [[ 9.97689635e-01 -5.61301057e-02 -3.82727422e-02 4.87284352e+01] [ 5.60967511e-02 9.98423442e-01 -1.94567118e-03 1.78749413e+00] [ 3.83216137e-02 -2.05800520e-04 9.99265436e-01 9.04409908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.955099892999996 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:48.76, Y:1.79, Z:0.90 [[ 9.97700480e-01 -5.54067704e-02 -3.90364243e-02 4.87588643e+01] [ 5.53715004e-02 9.98463849e-01 -1.98493272e-03 1.78760847e+00] [ 3.90864371e-02 -1.81137051e-04 9.99235817e-01 9.04788997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.985099893 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:48.79, Y:1.78, Z:0.91 [[ 9.97213107e-01 -6.47809828e-02 -3.70059844e-02 4.87888393e+01] [ 6.47557178e-02 9.97899371e-01 -1.88216692e-03 1.78044972e+00] [ 3.70501771e-02 -5.19427560e-04 9.99313271e-01 9.07407330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.015099893 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:48.82, Y:1.78, Z:0.91 [[ 9.96842639e-01 -6.97921966e-02 -3.78655718e-02 4.88210475e+01] [ 6.97693621e-02 9.97561290e-01 -1.92572276e-03 1.77770636e+00] [ 3.79076291e-02 -7.22214228e-04 9.99280987e-01 9.06282661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.045099893 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:48.85, Y:1.78, Z:0.91 [[ 9.96390700e-01 -7.62762338e-02 -3.72492922e-02 4.88537928e+01] [ 7.62587608e-02 9.97086266e-01 -1.89171929e-03 1.77742833e+00] [ 3.72850509e-02 -9.55693358e-04 9.99304214e-01 9.06899528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.075099893 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:48.89, Y:1.77, Z:0.91 [[ 9.95544617e-01 -8.71820721e-02 -3.59193875e-02 4.88865190e+01] [ 8.71729985e-02 9.96191523e-01 -1.82162826e-03 1.77402902e+00] [ 3.59414027e-02 -1.31768851e-03 9.99353030e-01 9.08620810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.105099893 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:48.92, Y:1.78, Z:0.91 [[ 9.95400585e-01 -8.84908802e-02 -3.67020383e-02 4.89183225e+01] [ 8.84824040e-02 9.96076006e-01 -1.85836909e-03 1.77564480e+00] [ 3.67224684e-02 -1.39766290e-03 9.99324525e-01 9.09632611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.135099892999996 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:48.95, Y:1.78, Z:0.91 [[ 9.95161198e-01 -9.05984527e-02 -3.80277597e-02 4.89505658e+01] [ 9.05910238e-02 9.95886325e-01 -1.92197386e-03 1.77710419e+00] [ 3.80454537e-02 -1.53229987e-03 9.99274835e-01 9.10564291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.165099893 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:48.98, Y:1.78, Z:0.91 [[ 9.95169180e-01 -9.05106598e-02 -3.80279307e-02 4.89832180e+01] [ 9.05032961e-02 9.95894308e-01 -1.91858655e-03 1.77869339e+00] [ 3.80454522e-02 -1.53233486e-03 9.99274835e-01 9.11336516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.195099893 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:49.02, Y:1.78, Z:0.91 [[ 9.94819990e-01 -9.35419499e-02 -3.97880662e-02 4.90158332e+01] [ 9.35364678e-02 9.95613839e-01 -2.00340992e-03 1.78003844e+00] [ 3.98009522e-02 -1.72860294e-03 9.99206133e-01 9.11421731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.225099893 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:49.05, Y:1.78, Z:0.91 [[ 9.94834930e-01 -9.33828218e-02 -3.97883275e-02 4.90493456e+01] [ 9.33774203e-02 9.95628778e-01 -1.99820944e-03 1.78164592e+00] [ 3.98010024e-02 -1.72744284e-03 9.99206133e-01 9.12214130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.255099893 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:49.08, Y:1.78, Z:0.91 [[ 9.94691207e-01 -9.46540511e-02 -4.03734352e-02 4.90824407e+01] [ 9.46497647e-02 9.95508581e-01 -2.02190810e-03 1.78322352e+00] [ 4.03834829e-02 -1.81016193e-03 9.99182615e-01 9.12039429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.285099893 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:49.11, Y:1.79, Z:0.91 [[ 9.94594455e-01 -9.59430437e-02 -3.97089821e-02 4.91141563e+01] [ 9.59400812e-02 9.95385133e-01 -1.98460293e-03 1.78504211e+00] [ 3.97161392e-02 -1.83580790e-03 9.99209316e-01 9.13283602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.315099892999996 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:49.15, Y:1.79, Z:0.91 [[ 9.94602920e-01 -9.58551759e-02 -3.97091604e-02 4.91468094e+01] [ 9.58522858e-02 9.95393598e-01 -1.98103015e-03 1.78661344e+00] [ 3.97161360e-02 -1.83587542e-03 9.99209316e-01 9.14055817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.345099893 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:49.18, Y:1.79, Z:0.92 [[ 9.94548218e-01 -9.68869148e-02 -3.85586165e-02 4.91796127e+01] [ 9.68851028e-02 9.95293721e-01 -1.91997360e-03 1.78863156e+00] [ 3.85631693e-02 -1.82624920e-03 9.99254496e-01 9.15393958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.375099893 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:49.21, Y:1.79, Z:0.92 [[ 9.94496970e-01 -9.74875207e-02 -3.83661249e-02 4.92130188e+01] [ 9.74863331e-02 9.95235038e-01 -1.90620051e-03 1.79107198e+00] [ 3.83691425e-02 -1.84446220e-03 9.99261931e-01 9.16290729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.405099893 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:49.25, Y:1.79, Z:0.92 [[ 9.94518789e-01 -9.75005735e-02 -3.77626359e-02 4.92460469e+01] [ 9.74995875e-02 9.95233805e-01 -1.87208962e-03 1.79330826e+00] [ 3.77651816e-02 -1.82001311e-03 9.99284984e-01 9.17086104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.435099893 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:49.28, Y:1.80, Z:0.92 [[ 9.94528777e-01 -9.74002758e-02 -3.77584060e-02 4.92778307e+01] [ 9.73993652e-02 9.95243626e-01 -1.86798160e-03 1.79579706e+00] [ 3.77607548e-02 -1.81988331e-03 9.99285151e-01 9.17981534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.465099893 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:49.31, Y:1.80, Z:0.92 [[ 9.94669203e-01 -9.61252963e-02 -3.73242992e-02 4.93107015e+01] [ 9.61236460e-02 9.95367695e-01 -1.84288087e-03 1.79971235e+00] [ 3.73285492e-02 -1.75469088e-03 9.99301506e-01 9.18759575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.495099892999995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:49.34, Y:1.80, Z:0.92 [[ 9.94677848e-01 -9.60357306e-02 -3.73244863e-02 4.93433565e+01] [ 9.60341596e-02 9.95376340e-01 -1.83908442e-03 1.80126549e+00] [ 3.73285284e-02 -1.75512914e-03 9.99301506e-01 9.19531668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.525099893 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:49.38, Y:1.80, Z:0.92 [[ 9.94774234e-01 -9.52744675e-02 -3.67014836e-02 4.93757619e+01] [ 9.52725510e-02 9.95449588e-01 -1.80511491e-03 1.80425084e+00] [ 3.67064581e-02 -1.70096216e-03 9.99324643e-01 9.20638963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.555099893 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:49.41, Y:1.81, Z:0.92 [[ 9.94894062e-01 -9.42729015e-02 -3.60336836e-02 4.94081574e+01] [ 9.42705226e-02 9.95545047e-01 -1.76881577e-03 1.80850682e+00] [ 3.60399066e-02 -1.63712988e-03 9.99349011e-01 9.21635255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.585099893 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:49.44, Y:1.81, Z:0.92 [[ 9.94933724e-01 -9.39001161e-02 -3.59117324e-02 4.94409652e+01] [ 9.38976526e-02 9.95580302e-01 -1.75888701e-03 1.81130176e+00] [ 3.59181730e-02 -1.62205137e-03 9.99353418e-01 9.22167266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.615099893 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:49.47, Y:1.81, Z:0.92 [[ 9.94937319e-01 -9.36367166e-02 -3.64951577e-02 4.94726232e+01] [ 9.36341779e-02 9.95605074e-01 -1.78249013e-03 1.81417696e+00] [ 3.65016707e-02 -1.64372814e-03 9.99332240e-01 9.23461616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.51, Y:1.82, Z:0.93 [[ 9.94931847e-01 -9.39224447e-02 -3.59053519e-02 4.95052151e+01] [ 9.39203720e-02 9.95578178e-01 -1.74812857e-03 1.81721209e+00] [ 3.59107734e-02 -1.63297522e-03 9.99353666e-01 9.26590712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.675099892999995 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:49.54, Y:1.82, Z:0.92 [[ 9.94942435e-01 -9.32343400e-02 -3.73752356e-02 4.95371312e+01] [ 9.32318052e-02 9.95642776e-01 -1.81451211e-03 1.81981770e+00] [ 3.73815582e-02 -1.67922559e-03 9.99299654e-01 9.24286294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.705099892999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:49.57, Y:1.82, Z:0.93 [[ 9.94983227e-01 -9.30459153e-02 -3.67537243e-02 4.95692342e+01] [ 9.30435326e-02 9.95660452e-01 -1.77897170e-03 1.82274857e+00] [ 3.67597558e-02 -1.64964934e-03 9.99322770e-01 9.25483044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.735099893 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:49.60, Y:1.82, Z:0.93 [[ 9.94997543e-01 -9.28926205e-02 -3.67539238e-02 4.96027507e+01] [ 9.28902856e-02 9.95674769e-01 -1.77484257e-03 1.82428368e+00] [ 3.67598243e-02 -1.64811848e-03 9.99322770e-01 9.26275590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.765099893 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:49.63, Y:1.83, Z:0.93 [[ 9.95039192e-01 -9.27576065e-02 -3.59587662e-02 4.96346250e+01] [ 9.27554887e-02 9.95687413e-01 -1.73072315e-03 1.82752776e+00] [ 3.59642286e-02 -1.61323556e-03 9.99351776e-01 9.27666530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.795099893 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:49.67, Y:1.83, Z:0.93 [[ 9.95050439e-01 -9.26367708e-02 -3.59590355e-02 4.96681301e+01] [ 9.26347767e-02 9.95698660e-01 -1.72511273e-03 1.82904380e+00] [ 3.59641723e-02 -1.61448304e-03 9.99351776e-01 9.28458092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.825099893 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:49.70, Y:1.83, Z:0.93 [[ 9.95055106e-01 -9.25627497e-02 -3.60204598e-02 4.97013561e+01] [ 9.25608518e-02 9.95705537e-01 -1.72385917e-03 1.83227580e+00] [ 3.60253364e-02 -1.61874957e-03 9.99349566e-01 9.29490297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.855099893 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:49.73, Y:1.83, Z:0.93 [[ 9.95069764e-01 -9.24049530e-02 -3.60206738e-02 4.97348758e+01] [ 9.24031138e-02 9.95720196e-01 -1.71937820e-03 1.83379247e+00] [ 3.60253914e-02 -1.61752116e-03 9.99349566e-01 9.30282750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.885099892999996 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:49.77, Y:1.84, Z:0.93 [[ 9.95008755e-01 -9.29216403e-02 -3.63750820e-02 4.97673098e+01] [ 9.29202978e-02 9.95672045e-01 -1.73112542e-03 1.83691228e+00] [ 3.63785113e-02 -1.65749851e-03 9.99336708e-01 9.30947981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.915099893 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:49.80, Y:1.84, Z:0.93 [[ 9.94927367e-01 -9.34380591e-02 -3.72674643e-02 4.97998676e+01] [ 9.34371649e-02 9.95623606e-01 -1.76950147e-03 1.83949652e+00] [ 3.72697060e-02 -1.72164077e-03 9.99303760e-01 9.31359766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.945099893 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:49.83, Y:1.84, Z:0.93 [[ 9.94811227e-01 -9.41793000e-02 -3.84822325e-02 4.98324688e+01] [ 9.41790659e-02 9.95553605e-01 -1.82290829e-03 1.84174224e+00] [ 3.84828056e-02 -1.81077108e-03 9.99257622e-01 9.31122886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.975099893 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:49.86, Y:1.84, Z:0.93 [[ 9.94673099e-01 -9.56192055e-02 -3.85018685e-02 4.98644220e+01] [ 9.56201996e-02 9.95416227e-01 -1.81987280e-03 1.84402349e+00] [ 3.84993995e-02 -1.87137784e-03 9.99256871e-01 9.32883244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.005099893 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:49.90, Y:1.85, Z:0.93 [[ 9.94549265e-01 -9.65727750e-02 -3.93123227e-02 4.98963636e+01] [ 9.65746966e-02 9.95324012e-01 -1.85459238e-03 1.84645044e+00] [ 3.93076019e-02 -1.95209215e-03 9.99225251e-01 9.32602558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.035099893 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:49.93, Y:1.85, Z:0.93 [[ 9.94460037e-01 -9.76087008e-02 -3.90099562e-02 4.99288622e+01] [ 9.76115334e-02 9.95222897e-01 -1.83657924e-03 1.84928785e+00] [ 3.90028678e-02 -1.98141699e-03 9.99237134e-01 9.34243696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.065099892999996 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:49.96, Y:1.85, Z:0.94 [[ 9.94373177e-01 -9.85473991e-02 -3.88638008e-02 4.99613685e+01] [ 9.85510899e-02 9.95130318e-01 -1.82545758e-03 1.85415490e+00] [ 3.88544406e-02 -2.01488388e-03 9.99242850e-01 9.35109720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.095099893 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:49.99, Y:1.86, Z:0.94 [[ 9.94448024e-01 -9.84072807e-02 -3.72710940e-02 4.99939665e+01] [ 9.84107230e-02 9.95144351e-01 -1.74667399e-03 1.85790821e+00] [ 3.72620040e-02 -1.93089881e-03 9.99303665e-01 9.38515325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.125099893 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:50.03, Y:1.86, Z:0.94 [[ 9.94558475e-01 -9.72834899e-02 -3.72741567e-02 5.00273791e+01] [ 9.72862968e-02 9.95254912e-01 -1.74276798e-03 1.86131025e+00] [ 3.72668300e-02 -1.89298001e-03 9.99303557e-01 9.38539366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.155099893 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:50.06, Y:1.87, Z:0.94 [[ 9.94762777e-01 -9.55902092e-02 -3.61874104e-02 5.00605333e+01] [ 9.55918756e-02 9.95419180e-01 -1.68809936e-03 1.86577901e+00] [ 3.61830081e-02 -1.77996402e-03 9.99343595e-01 9.39168499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.185099893 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:50.09, Y:1.87, Z:0.94 [[ 9.94877938e-01 -9.46427347e-02 -3.55055180e-02 5.00939426e+01] [ 9.46438737e-02 9.95509822e-01 -1.65242424e-03 1.86864046e+00] [ 3.55024818e-02 -1.71641934e-03 9.99368114e-01 9.40044703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.215099893 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:50.13, Y:1.87, Z:0.94 [[ 9.94890152e-01 -9.45141835e-02 -3.55057111e-02 5.01274548e+01] [ 9.45153889e-02 9.95522036e-01 -1.64826634e-03 1.87011566e+00] [ 3.55025023e-02 -1.71599214e-03 9.99368114e-01 9.40836849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.245099892999995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:50.16, Y:1.87, Z:0.94 [[ 9.95009930e-01 -9.34520537e-02 -3.49564430e-02 5.01595838e+01] [ 9.34527094e-02 9.95622404e-01 -1.61871600e-03 1.87323455e+00] [ 3.49546901e-02 -1.65613581e-03 9.99387526e-01 9.42136902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.275099893 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:50.19, Y:1.88, Z:0.94 [[ 9.95150079e-01 -9.19111122e-02 -3.50523502e-02 5.01925668e+01] [ 9.19109377e-02 9.95765914e-01 -1.61974244e-03 1.87675602e+00] [ 3.50528079e-02 -1.60980756e-03 9.99384165e-01 9.42467624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.305099893 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:50.22, Y:1.88, Z:0.94 [[ 9.95325207e-01 -9.02381420e-02 -3.44210787e-02 5.02248059e+01] [ 9.02370946e-02 9.95919047e-01 -1.58709679e-03 1.88042498e+00] [ 3.44238246e-02 -1.52638070e-03 9.99406159e-01 9.44505671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.335099893 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:50.26, Y:1.88, Z:0.95 [[ 9.95341085e-01 -9.00627577e-02 -3.44212634e-02 5.02583396e+01] [ 9.00617442e-02 9.95934926e-01 -1.58308185e-03 1.88188704e+00] [ 3.44239151e-02 -1.52433261e-03 9.99406159e-01 9.45298481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.365099893 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:50.29, Y:1.89, Z:0.95 [[ 9.95523994e-01 -8.82962859e-02 -3.37007767e-02 5.02912305e+01] [ 8.82944776e-02 9.96093218e-01 -1.54478808e-03 1.88536489e+00] [ 3.37055141e-02 -1.43771887e-03 9.99430774e-01 9.47075604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.395099893 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:50.32, Y:1.89, Z:0.95 [[ 9.95720028e-01 -8.57512915e-02 -3.44723424e-02 5.03244653e+01] [ 8.57480073e-02 9.96315610e-01 -1.57639703e-03 1.88818673e+00] [ 3.44805109e-02 -1.38628457e-03 9.99404409e-01 9.46406565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.425099892999995 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:50.36, Y:1.89, Z:0.95 [[ 9.95730848e-01 -8.56254873e-02 -3.44725218e-02 5.03579787e+01] [ 8.56222637e-02 9.96326430e-01 -1.57246518e-03 1.88963113e+00] [ 3.44805277e-02 -1.38586326e-03 9.99404409e-01 9.47198704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.455099892999996 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:50.39, Y:1.89, Z:0.95 [[ 9.95893816e-01 -8.36914231e-02 -3.45145284e-02 5.03912271e+01] [ 8.36871762e-02 9.96490838e-01 -1.57021166e-03 1.89258575e+00] [ 3.45248246e-02 -1.32465934e-03 9.99402963e-01 9.48205774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.485099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:50.42, Y:1.90, Z:0.95 [[ 9.96042265e-01 -8.19135983e-02 -3.44959290e-02 5.04231792e+01] [ 8.19084130e-02 9.96638631e-01 -1.56584172e-03 1.89542567e+00] [ 3.45082391e-02 -1.26586227e-03 9.99403612e-01 9.48878878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.515099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:50.46, Y:1.90, Z:0.95 [[ 9.96173232e-01 -8.04333913e-02 -3.41959325e-02 5.04563367e+01] [ 8.04275361e-02 9.96759255e-01 -1.54897612e-03 1.89844724e+00] [ 3.42097016e-02 -1.20724605e-03 9.99413948e-01 9.49676579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.545099893 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:50.49, Y:1.90, Z:0.95 [[ 9.96308973e-01 -7.87673646e-02 -3.41194018e-02 5.04887158e+01] [ 7.87606801e-02 9.96892360e-01 -1.54198970e-03 1.90232463e+00] [ 3.41348294e-02 -1.15096911e-03 9.99416574e-01 9.49605931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.575099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:50.52, Y:1.90, Z:0.95 [[ 9.96368086e-01 -7.80525621e-02 -3.40357765e-02 5.05212153e+01] [ 7.80456055e-02 9.96948608e-01 -1.53493031e-03 1.90489577e+00] [ 3.40517253e-02 -1.12698721e-03 9.99419436e-01 9.50688659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.605099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:50.55, Y:1.91, Z:0.95 [[ 9.96421714e-01 -7.73335947e-02 -3.41069267e-02 5.05534538e+01] [ 7.73263102e-02 9.97004657e-01 -1.53457242e-03 1.90755746e+00] [ 3.41234387e-02 -1.10828151e-03 9.99417011e-01 9.51738144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.635099892999996 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:50.59, Y:1.91, Z:0.95 [[ 9.96522679e-01 -7.54711147e-02 -3.53080753e-02 5.05851995e+01] [ 7.54622943e-02 9.97147397e-01 -1.58428059e-03 1.91099210e+00] [ 3.53269228e-02 -1.08565683e-03 9.99375220e-01 9.52107329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.665099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:50.62, Y:1.91, Z:0.95 [[ 9.96544276e-01 -7.46825766e-02 -3.63595674e-02 5.06178795e+01] [ 7.46729092e-02 9.97206756e-01 -1.62569757e-03 1.91311407e+00] [ 3.63794176e-02 -1.09499507e-03 9.99337450e-01 9.51836772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.695099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:50.65, Y:1.92, Z:0.95 [[ 9.96619732e-01 -7.31317537e-02 -3.74280053e-02 5.06497728e+01] [ 7.31205637e-02 9.97321711e-01 -1.66958184e-03 1.91574796e+00] [ 3.74498618e-02 -1.07281864e-03 9.99297932e-01 9.51341696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.725099893 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:50.68, Y:1.92, Z:0.95 [[ 9.96764035e-01 -7.14466434e-02 -3.68352548e-02 5.06829637e+01] [ 7.14347858e-02 9.97443925e-01 -1.63959959e-03 1.91871637e+00] [ 3.68582450e-02 -9.97024631e-04 9.99320007e-01 9.53027297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.755099893 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:50.72, Y:1.92, Z:0.95 [[ 9.97008792e-01 -6.89485878e-02 -3.49222056e-02 5.07161094e+01] [ 6.89365271e-02 9.97619843e-01 -1.55075444e-03 1.92191669e+00] [ 3.49460076e-02 -8.61299765e-04 9.99388831e-01 9.54910213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.785099893 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:50.75, Y:1.93, Z:0.96 [[ 9.97212870e-01 -6.62336661e-02 -3.43452166e-02 5.07487730e+01] [ 6.62205196e-02 9.97803853e-01 -1.52140239e-03 1.92534085e+00] [ 3.43705575e-02 -7.57196044e-04 9.99408871e-01 9.56453812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.815099892999996 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:50.78, Y:1.93, Z:0.96 [[ 9.97303489e-01 -6.50934071e-02 -3.38909790e-02 5.07821256e+01] [ 6.50800733e-02 9.97878921e-01 -1.49758474e-03 1.92754667e+00] [ 3.39165764e-02 -7.12080911e-04 9.99424414e-01 9.58155244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.845099893 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:50.81, Y:1.93, Z:0.96 [[ 9.97350908e-01 -6.40935419e-02 -3.43974423e-02 5.08143836e+01] [ 6.40793368e-02 9.97943655e-01 -1.51635489e-03 1.92964501e+00] [ 3.44238979e-02 -6.91827369e-04 9.99407083e-01 9.58061911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.875099893 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:50.85, Y:1.93, Z:0.96 [[ 9.97408876e-01 -6.34283815e-02 -3.39466457e-02 5.08466378e+01] [ 6.34142578e-02 9.97986173e-01 -1.49363857e-03 1.93096958e+00] [ 3.39730221e-02 -6.62932972e-04 9.99422530e-01 9.58656641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.905099893 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:50.88, Y:1.93, Z:0.96 [[ 9.97438599e-01 -6.35268470e-02 -3.28721861e-02 5.08790089e+01] [ 6.35137311e-02 9.97979920e-01 -1.44409795e-03 1.93207979e+00] [ 3.28975206e-02 -6.47436155e-04 9.99458520e-01 9.60200962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.935099893 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:50.91, Y:1.93, Z:0.96 [[ 9.97441259e-01 -6.37664092e-02 -3.23230445e-02 5.09108489e+01] [ 6.37539271e-02 9.97964642e-01 -1.41770104e-03 1.93309549e+00] [ 3.23476573e-02 -6.46647519e-04 9.99476468e-01 9.61044083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.965099893 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:50.94, Y:1.93, Z:0.96 [[ 9.97421051e-01 -6.39548939e-02 -3.25732906e-02 5.09423919e+01] [ 6.39424008e-02 9.97952572e-01 -1.42614603e-03 1.93412381e+00] [ 3.25978081e-02 -6.60346329e-04 9.99468332e-01 9.62128981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.995099892999995 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:50.97, Y:1.93, Z:0.96 [[ 9.97290371e-01 -6.54796885e-02 -3.35309752e-02 5.09747467e+01] [ 6.54674146e-02 9.97853632e-01 -1.46499741e-03 1.93451446e+00] [ 3.35549330e-02 -7.34158449e-04 9.99436605e-01 9.63094677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.025099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:51.01, Y:1.93, Z:0.96 [[ 9.97126854e-01 -6.75395749e-02 -3.42993087e-02 5.10080944e+01] [ 6.75280642e-02 9.97716255e-01 -1.49523452e-03 1.93450262e+00] [ 3.43219653e-02 -8.25227421e-04 9.99410487e-01 9.63179205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.055099893 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:51.04, Y:1.93, Z:0.96 [[ 9.96945724e-01 -7.01089024e-02 -3.44087926e-02 5.10401765e+01] [ 7.00989698e-02 9.97538919e-01 -1.49643413e-03 1.93470844e+00] [ 3.44290231e-02 -9.20157305e-04 9.99406722e-01 9.63404247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.085099893 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:51.07, Y:1.94, Z:0.96 [[ 9.96907685e-01 -7.09682987e-02 -3.37426857e-02 5.10736827e+01] [ 7.09593470e-02 9.97478134e-01 -1.46425431e-03 1.93563768e+00] [ 3.37615068e-02 -9.34632574e-04 9.99429481e-01 9.64619228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.115099893 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:51.11, Y:1.94, Z:0.97 [[ 9.96812844e-01 -7.27071504e-02 -3.28302202e-02 5.11060044e+01] [ 7.26997283e-02 9.97352861e-01 -1.42129649e-03 1.93621292e+00] [ 3.28466525e-02 -9.69981494e-04 9.99459932e-01 9.66346693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.145099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:51.14, Y:1.94, Z:0.97 [[ 9.96777286e-01 -7.34166639e-02 -3.23270047e-02 5.11379416e+01] [ 7.34099592e-02 9.97300872e-01 -1.39582987e-03 1.93661907e+00] [ 3.23422272e-02 -9.81792588e-04 9.99476371e-01 9.69104134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.175099892999995 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:51.17, Y:1.94, Z:0.97 [[ 9.96672942e-01 -7.41136041e-02 -3.39148879e-02 5.11713644e+01] [ 7.41068170e-02 9.97249242e-01 -1.45883466e-03 1.93658716e+00] [ 3.39297157e-02 -1.05934336e-03 9.99423660e-01 9.68770614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.205099892999996 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:51.20, Y:1.94, Z:0.97 [[ 9.96632786e-01 -7.44827139e-02 -3.42843289e-02 5.12032813e+01] [ 7.44761493e-02 9.97221711e-01 -1.47027095e-03 1.93701082e+00] [ 3.42985870e-02 -1.08804457e-03 9.99411038e-01 9.69187188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.235099893 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:51.24, Y:1.94, Z:0.97 [[ 9.96534731e-01 -7.55921833e-02 -3.47037593e-02 5.12362285e+01] [ 7.55863168e-02 9.97138160e-01 -1.48285459e-03 1.93755580e+00] [ 3.47165349e-02 -1.14541324e-03 9.99396543e-01 9.69122708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.265099893 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:51.27, Y:1.94, Z:0.97 [[ 9.96509686e-01 -7.60116619e-02 -3.45061162e-02 5.12696863e+01] [ 7.60062403e-02 9.97106257e-01 -1.47072511e-03 1.93853224e+00] [ 3.45180566e-02 -1.15708834e-03 9.99403404e-01 9.70734703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.295099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:51.30, Y:1.94, Z:0.97 [[ 9.96348998e-01 -7.79092750e-02 -3.49115807e-02 5.13027970e+01] [ 7.79050212e-02 9.96959681e-01 -1.48420854e-03 1.93845147e+00] [ 3.49210720e-02 -1.24099774e-03 9.99389303e-01 9.71963233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.325099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:51.33, Y:1.94, Z:0.97 [[ 9.96311581e-01 -7.87220893e-02 -3.41477188e-02 5.13341973e+01] [ 7.84136427e-02 9.96867887e-01 -1.02818737e-02 1.94446505e+00] [ 3.48501749e-02 7.56630286e-03 9.99363906e-01 9.73496377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.355099893 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:51.37, Y:1.94, Z:0.97 [[ 9.96360053e-01 -7.74571674e-02 -3.55953818e-02 5.13673378e+01] [ 7.77586689e-02 9.96946476e-01 7.16332868e-03 1.93563344e+00] [ 3.49318393e-02 -9.90510406e-03 9.99340610e-01 9.71782281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.385099892999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:51.40, Y:1.94, Z:0.98 [[ 9.96366878e-01 -7.75360205e-02 -3.52308131e-02 5.14006117e+01] [ 7.75318379e-02 9.96988768e-01 -1.48694385e-03 1.94094844e+00] [ 3.52400167e-02 -1.24996809e-03 9.99378096e-01 9.75846889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.415099893 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:51.43, Y:1.94, Z:0.97 [[ 9.96460070e-01 -7.61876335e-02 -3.55355132e-02 5.14334745e+01] [ 7.61826774e-02 9.97092756e-01 -1.49544396e-03 1.94178598e+00] [ 3.55461372e-02 -1.21704035e-03 9.99367295e-01 9.73527366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.445099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:51.47, Y:1.94, Z:0.97 [[ 9.96485885e-01 -7.60394775e-02 -3.51266012e-02 5.14658470e+01] [ 7.60346694e-02 9.97104084e-01 -1.47462898e-03 1.94341980e+00] [ 3.51370075e-02 -1.20139254e-03 9.99381783e-01 9.74835361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.50, Y:1.95, Z:0.98 [[ 9.96544240e-01 -7.54955877e-02 -3.46409170e-02 5.14973720e+01] [ 7.54907241e-02 9.97145450e-01 -1.45017717e-03 1.94515428e+00] [ 3.46515147e-02 -1.16990220e-03 9.99398771e-01 9.78156815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.505099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:51.53, Y:1.95, Z:0.98 [[ 9.96598024e-01 -7.45316869e-02 -3.51767898e-02 5.15309070e+01] [ 7.45262657e-02 9.97217972e-01 -1.46711974e-03 1.94660712e+00] [ 3.51882739e-02 -1.15946615e-03 9.99380028e-01 9.75940897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.535099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:51.56, Y:1.95, Z:0.98 [[ 9.96628952e-01 -7.42724717e-02 -3.48472561e-02 5.15642905e+01] [ 7.42671235e-02 9.97237330e-01 -1.44963840e-03 1.94813352e+00] [ 3.48586529e-02 -1.14325387e-03 9.99391599e-01 9.76627758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.565099892999996 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:51.60, Y:1.95, Z:0.98 [[ 9.96614119e-01 -7.43992046e-02 -3.50008125e-02 5.15962364e+01] [ 7.43940135e-02 9.97227868e-01 -1.45242172e-03 1.94929356e+00] [ 3.50118447e-02 -1.15634693e-03 9.99386228e-01 9.77361894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.595099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:51.63, Y:1.95, Z:0.98 [[ 9.96519404e-01 -7.55936349e-02 -3.51380196e-02 5.16292536e+01] [ 7.55892635e-02 9.97137978e-01 -1.45473312e-03 1.94968708e+00] [ 3.51474224e-02 -1.20638724e-03 9.99381410e-01 9.78897102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.625099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:51.66, Y:1.95, Z:0.98 [[ 9.96427868e-01 -7.63459811e-02 -3.60942414e-02 5.16618900e+01] [ 7.63420068e-02 9.97080577e-01 -1.49031384e-03 1.94947336e+00] [ 3.61026465e-02 -1.27051658e-03 9.99347279e-01 9.77940525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.655099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:51.69, Y:1.95, Z:0.98 [[ 9.96460256e-01 -7.59782449e-02 -3.59759008e-02 5.16947786e+01] [ 7.59741996e-02 9.97108683e-01 -1.48147525e-03 1.95034489e+00] [ 3.59844430e-02 -1.25700907e-03 9.99351560e-01 9.78823538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.685099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:51.73, Y:1.95, Z:0.98 [[ 9.96550251e-01 -7.48286339e-02 -3.58925105e-02 5.17268240e+01] [ 7.48239956e-02 9.97195666e-01 -1.47434109e-03 1.95229958e+00] [ 3.59021788e-02 -1.21636606e-03 9.99354569e-01 9.80072755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.715099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:51.76, Y:1.95, Z:0.98 [[ 9.96766460e-01 -7.22374815e-02 -3.51904836e-02 5.17589037e+01] [ 7.22315199e-02 9.97386849e-01 -1.44237169e-03 1.95468173e+00] [ 3.52027188e-02 -1.10415439e-03 9.99379582e-01 9.81769256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.745099892999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.79, Y:1.96, Z:0.99 [[ 9.97030610e-01 -6.98130868e-02 -3.24976159e-02 5.17914781e+01] [ 6.98068090e-02 9.97559644e-01 -1.32909877e-03 1.95752235e+00] [ 3.25110986e-02 -9.43402711e-04 9.99470929e-01 9.86593263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.775099893 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:51.82, Y:1.96, Z:0.98 [[ 9.97200465e-01 -6.73810777e-02 -3.24194709e-02 5.18234225e+01] [ 6.73736784e-02 9.97726937e-01 -1.32182309e-03 1.95879339e+00] [ 3.24348453e-02 -8.66096408e-04 9.99473477e-01 9.84502598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.805099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:51.86, Y:1.96, Z:0.99 [[ 9.97442133e-01 -6.40122568e-02 -3.18060109e-02 5.18567773e+01] [ 6.40035801e-02 9.97948833e-01 -1.29187925e-03 1.96124235e+00] [ 3.18234676e-02 -7.47123774e-04 9.99493226e-01 9.86853485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.835099893 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:51.89, Y:1.96, Z:0.99 [[ 9.97691698e-01 -5.99044407e-02 -3.19802221e-02 5.18894056e+01] [ 5.98936700e-02 9.98203922e-01 -1.29550085e-03 1.96458462e+00] [ 3.20003894e-02 -6.22902433e-04 9.99487662e-01 9.89769940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.865099893 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:51.92, Y:1.97, Z:0.99 [[ 9.97877188e-01 -5.61006394e-02 -3.30731897e-02 5.19215887e+01] [ 5.60871420e-02 9.98424983e-01 -1.33644109e-03 1.96784752e+00] [ 3.30960740e-02 -5.21376610e-04 9.99452039e-01 9.90909800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.895099893 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:51.95, Y:1.97, Z:0.99 [[ 9.98001046e-01 -5.28140327e-02 -3.47072064e-02 5.19533138e+01] [ 5.27972722e-02 9.98604270e-01 -1.39987276e-03 1.97036103e+00] [ 3.47326974e-02 -4.35371342e-04 9.99396543e-01 9.90433325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.925099892999995 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:51.99, Y:1.97, Z:0.99 [[ 9.98088338e-01 -5.07660379e-02 -3.52488031e-02 5.19858583e+01] [ 5.07475651e-02 9.98710504e-01 -1.41912094e-03 1.97175203e+00] [ 3.52753930e-02 -3.72382873e-04 9.99377560e-01 9.90338657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.955099892999996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:52.02, Y:1.97, Z:0.99 [[ 9.98264974e-01 -4.72194276e-02 -3.51762288e-02 5.20176143e+01] [ 4.71989195e-02 9.98884510e-01 -1.41364371e-03 1.97325442e+00] [ 3.52037415e-02 -2.49088992e-04 9.99380125e-01 9.91867311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.985099893 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:52.05, Y:1.97, Z:0.99 [[ 9.98358126e-01 -4.50939430e-02 -3.53212185e-02 5.20483950e+01] [ 4.50720038e-02 9.98982735e-01 -1.41753880e-03 1.97425561e+00] [ 3.53492099e-02 -1.76786713e-04 9.99375006e-01 9.91657474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.015099893 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:52.08, Y:1.98, Z:0.99 [[ 9.98539791e-01 -4.11761594e-02 -3.49687037e-02 5.20789478e+01] [ 4.11522688e-02 9.99151902e-01 -1.40297158e-03 1.97596119e+00] [ 3.49968157e-02 -3.81185435e-05 9.99387423e-01 9.91648427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.045099893 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:52.11, Y:1.98, Z:0.99 [[ 9.98685850e-01 -3.81260142e-02 -3.42488061e-02 5.21081526e+01] [ 3.81012911e-02 9.99272937e-01 -1.37447025e-03 1.97799125e+00] [ 3.42763081e-02 6.77402571e-05 9.99412392e-01 9.92195334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.075099893 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:52.14, Y:1.99, Z:0.99 [[ 9.98805613e-01 -3.72444954e-02 -3.16258455e-02 5.21360313e+01] [ 3.68242916e-02 9.99226922e-01 -1.37670092e-02 1.98627448e+00] [ 3.21141415e-02 1.25859667e-02 9.99404961e-01 9.92872636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.105099893 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:52.17, Y:1.97, Z:0.99 [[ 9.98764586e-01 -3.60839231e-02 -3.41650669e-02 5.21664922e+01] [ 3.64723539e-02 9.99276141e-01 1.08149080e-02 1.97301891e+00] [ 3.37500919e-02 -1.20476275e-02 9.99357687e-01 9.86917261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.135099892999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:52.19, Y:1.98, Z:0.99 [[ 9.98764596e-01 -3.78152556e-02 -3.22379952e-02 5.21946513e+01] [ 3.77927760e-02 9.99284744e-01 -1.30657473e-03 1.97819322e+00] [ 3.22643452e-02 8.65972503e-05 9.99479367e-01 9.94004303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.165099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:52.22, Y:1.98, Z:0.99 [[ 9.98689664e-01 -3.99294565e-02 -3.20092608e-02 5.22243937e+01] [ 3.99081842e-02 9.99202501e-01 -1.30342919e-03 1.97797177e+00] [ 3.20357787e-02 2.42897809e-05 9.99486722e-01 9.93306934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.195099893 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:52.25, Y:1.98, Z:1.00 [[ 9.98625925e-01 -4.16993027e-02 -3.17400291e-02 5.22544743e+01] [ 4.16792670e-02 9.99130205e-01 -1.29288809e-03 1.97842813e+00] [ 3.17663343e-02 -3.17895812e-05 9.99495322e-01 9.95290201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.225099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:52.28, Y:1.98, Z:0.99 [[ 9.98404774e-01 -4.58456707e-02 -3.29557658e-02 5.22844280e+01] [ 4.58263471e-02 9.98948520e-01 -1.34183325e-03 1.97795153e+00] [ 3.29826307e-02 -1.70549642e-04 9.99455910e-01 9.94789829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.255099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:52.32, Y:1.98, Z:0.99 [[ 9.98155848e-01 -5.05434372e-02 -3.36194113e-02 5.23156910e+01] [ 5.05260528e-02 9.98721808e-01 -1.36700613e-03 1.97729275e+00] [ 3.36455324e-02 -3.34170983e-04 9.99433773e-01 9.94345245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.285099893 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:52.35, Y:1.98, Z:0.99 [[ 9.97952257e-01 -5.49119469e-02 -3.28019942e-02 5.23468718e+01] [ 5.48977995e-02 9.98491090e-01 -1.33244245e-03 1.97604951e+00] [ 3.28256660e-02 -4.71043350e-04 9.99460982e-01 9.94723052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.315099892999996 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:52.38, Y:1.97, Z:1.00 [[ 9.97836783e-01 -5.76371939e-02 -3.16181640e-02 5.23790807e+01] [ 5.76254735e-02 9.98337448e-01 -1.28255229e-03 1.97463708e+00] [ 3.16395199e-02 -5.42233822e-04 9.99499198e-01 9.95978525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.345099893 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:52.41, Y:1.97, Z:1.00 [[ 9.98793060e-01 -3.66654648e-02 -3.26812854e-02 5.24110801e+01] [ 3.66417887e-02 9.99327588e-01 -1.32327426e-03 1.97304574e+00] [ 3.27078286e-02 1.24176393e-04 9.99464948e-01 9.95512699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.375099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:52.44, Y:1.97, Z:1.00 [[ 9.98899590e-01 -3.42954601e-02 -3.19910933e-02 5.24392319e+01] [ 3.42715976e-02 9.99411718e-01 -1.29410907e-03 1.97473478e+00] [ 3.20166556e-02 1.96299146e-04 9.99487316e-01 9.98681727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.405099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:52.47, Y:1.98, Z:1.00 [[ 9.99031536e-01 -3.05352170e-02 -3.16794856e-02 5.24678005e+01] [ 3.05098236e-02 9.99533641e-01 -1.28476590e-03 1.97676133e+00] [ 3.17039422e-02 3.16986134e-04 9.99497253e-01 9.99289379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.435099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:52.50, Y:1.98, Z:1.00 [[ 9.99070874e-01 -2.94444446e-02 -3.14708234e-02 5.24952168e+01] [ 2.94185879e-02 9.99566354e-01 -1.28441977e-03 1.97809240e+00] [ 3.14949953e-02 3.57399199e-04 9.99503846e-01 1.00010404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.465099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:52.52, Y:1.98, Z:1.00 [[ 9.99032173e-01 -2.91938705e-02 -3.29003966e-02 5.25228451e+01] [ 2.91651549e-02 9.99573691e-01 -1.35247167e-03 1.97721660e+00] [ 3.29258547e-02 3.91617547e-04 9.99457720e-01 9.99650683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.495099892999995 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:52.55, Y:1.98, Z:1.00 [[ 9.98925887e-01 -3.30565753e-02 -3.24705194e-02 5.25507578e+01] [ 3.30303473e-02 9.99453446e-01 -1.34395868e-03 1.97757681e+00] [ 3.24971992e-02 2.70002587e-04 9.99471790e-01 1.00134194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.525099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:52.58, Y:1.98, Z:1.00 [[ 9.98852697e-01 -3.57177253e-02 -3.18988041e-02 5.25786013e+01] [ 3.56934841e-02 9.99361901e-01 -1.32923540e-03 1.97855944e+00] [ 3.19259267e-02 1.89130904e-04 9.99490220e-01 1.00279193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.555099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:52.61, Y:1.98, Z:1.00 [[ 9.98737928e-01 -3.86233560e-02 -3.21058946e-02 5.26075110e+01] [ 3.86000116e-02 9.99253834e-01 -1.34682424e-03 1.97948221e+00] [ 3.21339572e-02 1.05836541e-04 9.99483565e-01 1.00431503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.585099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:52.64, Y:1.98, Z:1.00 [[ 9.98615768e-01 -4.13820354e-02 -3.24665260e-02 5.26357431e+01] [ 4.13594053e-02 9.99143396e-01 -1.36858272e-03 1.97955633e+00] [ 3.24953498e-02 2.38920780e-05 9.99471886e-01 1.00417196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.615099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:52.66, Y:1.98, Z:1.00 [[ 9.98473892e-01 -4.44844457e-02 -3.27264649e-02 5.26649611e+01] [ 4.44630643e-02 9.99010074e-01 -1.38116227e-03 1.97947210e+00] [ 3.27555083e-02 -7.60644413e-05 9.99463391e-01 1.00405087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.645099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:52.70, Y:1.98, Z:1.00 [[ 9.98298600e-01 -4.81010900e-02 -3.29573882e-02 5.26957612e+01] [ 4.80813480e-02 9.98842454e-01 -1.39174692e-03 1.97920166e+00] [ 3.29861831e-02 -1.95256649e-04 9.99455789e-01 1.00414351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.675099892999995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:52.73, Y:1.98, Z:1.00 [[ 9.98103354e-01 -5.21606157e-02 -3.26950356e-02 5.27269959e+01] [ 5.21433744e-02 9.98638655e-01 -1.38033780e-03 1.97875625e+00] [ 3.27225257e-02 -3.27109699e-04 9.99464421e-01 1.00448614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.705099892999996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:52.76, Y:1.98, Z:1.01 [[ 9.97884357e-01 -5.66588223e-02 -3.18839868e-02 5.27591133e+01] [ 5.66447664e-02 9.98393491e-01 -1.34465772e-03 1.97842139e+00] [ 3.19089516e-02 -4.64248082e-04 9.99490672e-01 1.00568447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.735099893 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:52.79, Y:1.98, Z:1.00 [[ 9.97606541e-01 -6.13592539e-02 -3.18783964e-02 5.27902703e+01] [ 6.13476699e-02 9.98115555e-01 -1.34225954e-03 1.97831049e+00] [ 3.19006833e-02 -6.16618442e-04 9.99490853e-01 1.00443280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.765099893 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:52.82, Y:1.98, Z:1.01 [[ 9.97292014e-01 -6.63731560e-02 -3.16740255e-02 5.28221805e+01] [ 6.63643048e-02 9.97794571e-01 -1.33179982e-03 1.97868291e+00] [ 3.16925664e-02 -7.73831356e-04 9.99497365e-01 1.00506658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.795099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:52.85, Y:1.99, Z:1.00 [[ 9.96978415e-01 -7.02534203e-02 -3.31435756e-02 5.28535269e+01] [ 7.02459589e-02 9.97528732e-01 -1.39093250e-03 1.99124790e+00] [ 3.31593867e-02 -9.41472567e-04 9.99449633e-01 1.00383687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.825099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:52.89, Y:2.00, Z:1.01 [[ 9.97274463e-01 -6.55692851e-02 -3.38277094e-02 5.28863337e+01] [ 6.55589308e-02 9.97847694e-01 -1.41636797e-03 1.99778841e+00] [ 3.38477721e-02 -8.05200854e-04 9.99426676e-01 1.00524684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.855099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:52.92, Y:2.00, Z:1.01 [[ 9.97417912e-01 -6.28599842e-02 -3.47294054e-02 5.29183626e+01] [ 6.28475476e-02 9.98022085e-01 -1.45072310e-03 2.00153141e+00] [ 3.47519060e-02 -7.35680755e-04 9.99395699e-01 1.00539010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.885099892999996 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:52.95, Y:2.00, Z:1.01 [[ 9.97519672e-01 -6.12602529e-02 -3.46653215e-02 5.29496027e+01] [ 6.12470006e-02 9.98121594e-01 -1.44505386e-03 2.00410833e+00] [ 3.46887303e-02 -6.81677314e-04 9.99397932e-01 1.00571323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.915099893 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:52.98, Y:2.01, Z:1.01 [[ 9.97558974e-01 -6.05237863e-02 -3.48276562e-02 5.29815313e+01] [ 6.05100846e-02 9.98166535e-01 -1.44828106e-03 2.00674615e+00] [ 3.48514564e-02 -6.62678653e-04 9.99392284e-01 1.00616680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.945099893 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:53.01, Y:2.01, Z:1.01 [[ 9.97594970e-01 -6.02158711e-02 -3.43267459e-02 5.30138005e+01] [ 6.02024615e-02 9.98185170e-01 -1.42503214e-03 2.00942029e+00] [ 3.43502582e-02 -6.44949699e-04 9.99409648e-01 1.00716374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.975099893 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:53.05, Y:2.01, Z:1.01 [[ 9.97609491e-01 -6.04669958e-02 -3.34521443e-02 5.30453169e+01] [ 6.04544750e-02 9.98169993e-01 -1.38654046e-03 2.01214529e+00] [ 3.34747665e-02 -6.39105896e-04 9.99439359e-01 1.00958483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.005099893 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:53.08, Y:2.01, Z:1.01 [[ 9.97599138e-01 -6.08935528e-02 -3.29838661e-02 5.30772621e+01] [ 6.08816763e-02 9.98144057e-01 -1.36521366e-03 2.01499655e+00] [ 3.30057826e-02 -6.46177089e-04 9.99454952e-01 1.01131089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.035099893 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:53.11, Y:2.02, Z:1.01 [[ 9.97604547e-01 -6.08048179e-02 -3.29839701e-02 5.31099331e+01] [ 6.07929761e-02 9.98149466e-01 -1.36269719e-03 2.01629108e+00] [ 3.30057907e-02 -6.45760794e-04 9.99454952e-01 1.01208348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.065099892999996 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:53.14, Y:2.02, Z:1.01 [[ 9.97573582e-01 -6.13045171e-02 -3.29955250e-02 5.31410884e+01] [ 6.12930262e-02 9.98118888e-01 -1.36057183e-03 2.01867850e+00] [ 3.30168659e-02 -6.65125061e-04 9.99454573e-01 1.01239067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.095099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:53.17, Y:2.02, Z:1.01 [[ 9.97306859e-01 -6.50444156e-02 -3.38858828e-02 5.31732131e+01] [ 6.50345216e-02 9.97882039e-01 -1.39526192e-03 2.02002733e+00] [ 3.39048678e-02 -8.12247887e-04 9.99424735e-01 1.01197991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.125099893 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:53.21, Y:2.02, Z:1.01 [[ 9.97175977e-01 -6.59893824e-02 -3.58534786e-02 5.32055243e+01] [ 6.59790127e-02 9.97819923e-01 -1.47360857e-03 2.01763015e+00] [ 3.58725578e-02 -8.96130051e-04 9.99355971e-01 1.01187953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.155099893 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:53.24, Y:2.02, Z:1.01 [[ 9.97131032e-01 -6.68632304e-02 -3.54825756e-02 5.32380192e+01] [ 6.68537171e-02 9.97761726e-01 -1.45581724e-03 2.01748778e+00] [ 3.55004965e-02 -9.20501522e-04 9.99369235e-01 1.01388392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.185099893 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:53.27, Y:2.02, Z:1.01 [[ 9.97137082e-01 -6.67728871e-02 -3.54826898e-02 5.32706911e+01] [ 6.67634158e-02 9.97767776e-01 -1.45302874e-03 2.01877222e+00] [ 3.55005074e-02 -9.20076737e-04 9.99369235e-01 1.01465652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.215099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:53.30, Y:2.02, Z:1.01 [[ 9.97103967e-01 -6.68338211e-02 -3.62893780e-02 5.33027292e+01] [ 6.68240683e-02 9.97763672e-01 -1.48294458e-03 2.01988394e+00] [ 3.63073339e-02 -9.46353951e-04 9.99340223e-01 1.01451806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.245099892999995 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:53.33, Y:2.02, Z:1.01 [[ 9.97068373e-01 -6.75647360e-02 -3.59119238e-02 5.33334125e+01] [ 6.75557440e-02 9.97714425e-01 -1.46513975e-03 2.02139052e+00] [ 3.59288362e-02 -9.65212223e-04 9.99353885e-01 1.01493435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.275099893 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:53.37, Y:2.02, Z:1.02 [[ 9.97074408e-01 -6.74755644e-02 -3.59120209e-02 5.33660842e+01] [ 6.74666004e-02 9.97720461e-01 -1.46275568e-03 2.02266575e+00] [ 3.59288583e-02 -9.64385715e-04 9.99353885e-01 1.01570710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.305099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:53.40, Y:2.02, Z:1.02 [[ 9.97106953e-01 -6.81206898e-02 -3.37238261e-02 5.33986484e+01] [ 6.81132444e-02 9.97676654e-01 -1.37090892e-03 2.02382819e+00] [ 3.37388612e-02 -9.30096389e-04 9.99430250e-01 1.01676962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.335099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:53.43, Y:2.02, Z:1.02 [[ 9.97172286e-01 -6.79385679e-02 -3.21213652e-02 5.34313227e+01] [ 6.79318003e-02 9.97689116e-01 -1.30321610e-03 2.02404516e+00] [ 3.21356751e-02 -8.82531189e-04 9.99483126e-01 1.01758428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.365099893 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:53.46, Y:2.02, Z:1.02 [[ 9.97196545e-01 -6.74908979e-02 -3.23114444e-02 5.34647551e+01] [ 6.74839291e-02 9.97719505e-01 -1.30740863e-03 2.02474077e+00] [ 3.23259965e-02 -8.76759854e-04 9.99476994e-01 1.01764651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.395099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:53.50, Y:2.03, Z:1.02 [[ 9.97250918e-01 -6.72665209e-02 -3.10776599e-02 5.34968541e+01] [ 6.72600809e-02 9.97734689e-01 -1.25375758e-03 2.02559687e+00] [ 3.10915952e-02 -8.39975021e-04 9.99516187e-01 1.01927345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.425099892999995 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:53.53, Y:2.03, Z:1.02 [[ 9.97295359e-01 -6.68391601e-02 -3.05695030e-02 5.35295870e+01] [ 6.68328716e-02 9.97763428e-01 -1.22857310e-03 2.02736850e+00] [ 3.05832489e-02 -8.17797421e-04 9.99531888e-01 1.02062557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.455099892999996 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:53.56, Y:2.03, Z:1.02 [[ 9.97241661e-01 -6.72733469e-02 -3.13586858e-02 5.35631269e+01] [ 6.72670524e-02 9.97734215e-01 -1.25684336e-03 2.02840859e+00] [ 3.13721858e-02 -8.56029802e-04 9.99507405e-01 1.02064804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.485099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:53.60, Y:2.03, Z:1.02 [[ 9.97197546e-01 -6.78123297e-02 -3.15997309e-02 5.35961194e+01] [ 6.78063166e-02 9.97697704e-01 -1.26308449e-03 2.02950397e+00] [ 3.16126316e-02 -8.83116599e-04 9.99499806e-01 1.02171741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.515099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:53.63, Y:2.04, Z:1.02 [[ 9.96948948e-01 -7.08678156e-02 -3.27192233e-02 5.36260532e+01] [ 7.06220195e-02 9.97465995e-01 -8.60925624e-03 2.03670785e+00] [ 3.32464318e-02 6.27229133e-03 9.99427503e-01 1.02270208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.545099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:53.66, Y:2.03, Z:1.02 [[ 9.96902570e-01 -7.01472828e-02 -3.55615648e-02 5.36608689e+01] [ 7.03894625e-02 9.97503850e-01 5.60299831e-03 2.03092708e+00] [ 3.50797627e-02 -8.08880284e-03 9.99351781e-01 1.02020094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.575099893 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:53.69, Y:2.04, Z:1.02 [[ 9.96890648e-01 -7.02676367e-02 -3.56580391e-02 5.36922842e+01] [ 7.02620167e-02 9.97527571e-01 -1.41223701e-03 2.03670366e+00] [ 3.56691117e-02 -1.09755988e-03 9.99363052e-01 1.02457866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.605099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:53.73, Y:2.04, Z:1.02 [[ 9.96967056e-01 -6.89814266e-02 -3.60312765e-02 5.37250514e+01] [ 6.89750548e-02 9.97617372e-01 -1.42132724e-03 2.03804961e+00] [ 3.60434726e-02 -1.06824284e-03 9.99349652e-01 1.02364825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.635099892999996 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:53.76, Y:2.04, Z:1.02 [[ 9.97166998e-01 -6.64176785e-02 -3.53082179e-02 5.37567926e+01] [ 6.64100821e-02 9.97791447e-01 -1.38917548e-03 2.03917438e+00] [ 3.53225036e-02 -9.59581705e-04 9.99375505e-01 1.02430648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.665099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:53.79, Y:2.04, Z:1.03 [[ 9.97349051e-01 -6.39019136e-02 -3.48054107e-02 5.37883381e+01] [ 6.38930964e-02 9.97955813e-01 -1.36665766e-03 2.03984945e+00] [ 3.48215940e-02 -8.60790738e-04 9.99393174e-01 1.02530602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.695099893 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:53.82, Y:2.04, Z:1.03 [[ 9.97624191e-01 -6.04159313e-02 -3.31042205e-02 5.38202381e+01] [ 6.04060986e-02 9.98173040e-01 -1.29797965e-03 2.04317295e+00] [ 3.31221590e-02 -7.04800906e-04 9.99451062e-01 1.02782825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.725099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:53.85, Y:2.05, Z:1.03 [[ 9.97764061e-01 -5.78551159e-02 -3.34613858e-02 5.38523430e+01] [ 5.78437111e-02 9.98324792e-01 -1.30958446e-03 2.04595919e+00] [ 3.34810972e-02 -6.28874422e-04 9.99439153e-01 1.02874616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.755099893 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:53.88, Y:2.05, Z:1.03 [[ 9.97739872e-01 -5.83537466e-02 -3.33164692e-02 5.38834320e+01] [ 5.83427923e-02 9.98295760e-01 -1.30168889e-03 2.04739237e+00] [ 3.33356483e-02 -6.45028936e-04 9.99444005e-01 1.03078166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.785099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:53.92, Y:2.05, Z:1.03 [[ 9.97706860e-01 -5.85945474e-02 -3.38777247e-02 5.39160214e+01] [ 5.85834284e-02 9.98281641e-01 -1.32159192e-03 2.04835933e+00] [ 3.38969487e-02 -6.66111932e-04 9.99425111e-01 1.03135304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.815099892999996 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:53.95, Y:2.05, Z:1.03 [[ 9.97682928e-01 -5.88391126e-02 -3.41574918e-02 5.39484220e+01] [ 5.88280365e-02 9.98267245e-01 -1.33005022e-03 2.04905670e+00] [ 3.41765642e-02 -6.82449781e-04 9.99415578e-01 1.03179694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.845099893 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:53.98, Y:2.05, Z:1.03 [[ 9.97588483e-01 -6.01598696e-02 -3.46122723e-02 5.39804861e+01] [ 6.01493780e-02 9.98188481e-01 -1.34524532e-03 2.04919569e+00] [ 3.46305013e-02 -7.39905409e-04 9.99399910e-01 1.03174756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.875099893 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:54.01, Y:2.05, Z:1.03 [[ 9.97593920e-01 -6.00695741e-02 -3.46123773e-02 5.40131609e+01] [ 6.00591222e-02 9.98193919e-01 -1.34253853e-03 2.05040961e+00] [ 3.46305102e-02 -7.39480719e-04 9.99399910e-01 1.03252064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.905099893 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:54.05, Y:2.05, Z:1.03 [[ 9.97612637e-01 -6.06618767e-02 -3.30024774e-02 5.40451011e+01] [ 6.06527877e-02 9.98158108e-01 -1.27737662e-03 2.05060711e+00] [ 3.30191784e-02 -7.27365197e-04 9.99454454e-01 1.03475259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.935099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:54.08, Y:2.05, Z:1.03 [[ 9.97599905e-01 -6.06684691e-02 -3.33731421e-02 5.40776254e+01] [ 6.06592596e-02 9.98157699e-01 -1.28929648e-03 2.05150161e+00] [ 3.33898784e-02 -7.38188045e-04 9.99442130e-01 1.03416448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.965099893 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:54.11, Y:2.05, Z:1.03 [[ 9.97554694e-01 -6.08116002e-02 -3.44467997e-02 5.41101120e+01] [ 6.08019622e-02 9.98148965e-01 -1.32822359e-03 2.05284760e+00] [ 3.44638089e-02 -7.69457335e-04 9.99405650e-01 1.03430552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.995099892999995 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:54.14, Y:2.05, Z:1.04 [[ 9.97370005e-01 -6.43178565e-02 -3.34108637e-02 5.41419607e+01] [ 6.43108341e-02 9.97929087e-01 -1.28589517e-03 2.05284099e+00] [ 3.34243788e-02 -8.66167239e-04 9.99440874e-01 1.03628474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.025099893 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:54.17, Y:2.05, Z:1.04 [[ 9.96912400e-01 -7.14275291e-02 -3.26155501e-02 5.41745625e+01] [ 7.14247422e-02 9.97445206e-01 -1.25202045e-03 2.04983009e+00] [ 3.26216528e-02 -1.08140255e-03 9.99467187e-01 1.03578823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.055099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:54.21, Y:2.05, Z:1.04 [[ 9.96900157e-01 -7.17868685e-02 -3.21981721e-02 5.42075887e+01] [ 7.17845022e-02 9.97419405e-01 -1.23094503e-03 2.05010266e+00] [ 3.22034473e-02 -1.08420046e-03 9.99480746e-01 1.03681421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.085099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:54.24, Y:2.05, Z:1.04 [[ 9.96823897e-01 -7.24619656e-02 -3.30360709e-02 5.42407033e+01] [ 7.24599650e-02 9.97370527e-01 -1.25935452e-03 2.04819274e+00] [ 3.30404588e-02 -1.13843787e-03 9.99453367e-01 1.03665979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.115099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:54.27, Y:2.05, Z:1.04 [[ 9.96816862e-01 -7.22598831e-02 -3.36846211e-02 5.42738200e+01] [ 7.22578128e-02 9.97385166e-01 -1.28038802e-03 2.04997116e+00] [ 3.36890621e-02 -1.15766467e-03 9.99431692e-01 1.03698227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.145099893 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:54.31, Y:2.05, Z:1.04 [[ 9.96893364e-01 -7.12181993e-02 -3.36390843e-02 5.43057702e+01] [ 7.12156603e-02 9.97460126e-01 -1.27514947e-03 2.05137874e+00] [ 3.36444591e-02 -1.12444155e-03 9.99433232e-01 1.03750178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.175099892999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:54.34, Y:2.05, Z:1.04 [[ 9.96941932e-01 -7.11582379e-02 -3.23000057e-02 5.43385520e+01] [ 7.11559623e-02 9.97464454e-01 -1.22137517e-03 2.05239268e+00] [ 3.23050185e-02 -1.08069787e-03 9.99477472e-01 1.04017671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.205099892999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:54.37, Y:2.05, Z:1.04 [[ 9.96950185e-01 -7.12511680e-02 -3.18370658e-02 5.43702466e+01] [ 7.12491088e-02 9.97457830e-01 -1.20058847e-03 2.05312134e+00] [ 3.18416739e-02 -1.07143567e-03 9.99492351e-01 1.04168481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.235099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:54.40, Y:2.05, Z:1.04 [[ 9.96959293e-01 -7.08717672e-02 -3.23938224e-02 5.44035219e+01] [ 7.08695371e-02 9.97484849e-01 -1.21845411e-03 2.05353626e+00] [ 3.23987010e-02 -1.08098605e-03 9.99474440e-01 1.04002609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.265099893 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:54.44, Y:2.05, Z:1.04 [[ 9.96957755e-01 -7.11051639e-02 -3.19263158e-02 5.44350753e+01] [ 7.11032460e-02 9.97468243e-01 -1.19682996e-03 2.05456397e+00] [ 3.19305869e-02 -1.07687578e-03 9.99489509e-01 1.04135173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.295099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:54.47, Y:2.06, Z:1.04 [[ 9.96942653e-01 -7.12510380e-02 -3.20723693e-02 5.44682282e+01] [ 7.12493448e-02 9.97457818e-01 -1.19710787e-03 2.05581955e+00] [ 3.20761306e-02 -1.09168740e-03 9.99484832e-01 1.04248378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.325099893 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:54.50, Y:2.06, Z:1.04 [[ 9.96908176e-01 -7.12300370e-02 -3.31718237e-02 5.45004551e+01] [ 7.12283317e-02 9.97459273e-01 -1.23462138e-03 2.05738728e+00] [ 3.31754853e-02 -1.13196951e-03 9.99448901e-01 1.04325695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.355099893 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:54.53, Y:2.06, Z:1.04 [[ 9.96917054e-01 -7.11056266e-02 -3.31719470e-02 5.45339799e+01] [ 7.11039629e-02 9.97468150e-01 -1.23130136e-03 2.05854654e+00] [ 3.31755130e-02 -1.13115156e-03 9.99448901e-01 1.04404993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.385099892999996 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:54.57, Y:2.06, Z:1.04 [[ 9.96858678e-01 -7.10298906e-02 -3.50361473e-02 5.45672222e+01] [ 7.10281420e-02 9.97473470e-01 -1.29613892e-03 2.06092630e+00] [ 3.50396920e-02 -1.19648511e-03 9.99385205e-01 1.04486409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.415099893 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:54.60, Y:2.06, Z:1.05 [[ 9.96875873e-01 -7.05380460e-02 -3.55369820e-02 5.45994882e+01] [ 7.05360664e-02 9.97508368e-01 -1.31098473e-03 2.06288911e+00] [ 3.55409112e-02 -1.19974987e-03 9.99367502e-01 1.04537212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.445099893 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:54.63, Y:2.07, Z:1.05 [[ 9.97101740e-01 -6.86863625e-02 -3.27154955e-02 5.46313938e+01] [ 6.86837781e-02 9.97637754e-01 -1.20413050e-03 2.06516842e+00] [ 3.27209208e-02 -1.04638322e-03 9.99463980e-01 1.04968554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.475099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:54.66, Y:2.07, Z:1.05 [[ 9.97178949e-01 -6.75072256e-02 -3.28164430e-02 5.46644690e+01] [ 6.75040895e-02 9.97718270e-01 -1.20474279e-03 2.06532104e+00] [ 3.28228935e-02 -1.01389996e-03 9.99460669e-01 1.04826372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.505099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:54.70, Y:2.07, Z:1.05 [[ 9.97201838e-01 -6.72652696e-02 -3.26171293e-02 5.46978501e+01] [ 6.72621579e-02 9.97734622e-01 -1.19387511e-03 2.06594673e+00] [ 3.26235455e-02 -1.00336405e-03 9.99467207e-01 1.04819064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.535099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:54.73, Y:2.07, Z:1.05 [[ 9.97227483e-01 -6.70413415e-02 -3.22925131e-02 5.47296741e+01] [ 6.70382831e-02 9.97749708e-01 -1.17861740e-03 2.06694736e+00] [ 3.22988616e-02 -9.89484970e-04 9.99477766e-01 1.04954779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.565099892999996 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:54.76, Y:2.07, Z:1.05 [[ 9.97288491e-01 -6.63038956e-02 -3.19289695e-02 5.47612141e+01] [ 6.63006204e-02 9.97799016e-01 -1.16246133e-03 2.06799887e+00] [ 3.19357700e-02 -9.57601183e-04 9.99489464e-01 1.05117533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.595099893 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:54.79, Y:2.07, Z:1.05 [[ 9.97331042e-01 -6.54902293e-02 -3.22772825e-02 5.47930778e+01] [ 6.54865761e-02 9.97852763e-01 -1.17144559e-03 2.06886758e+00] [ 3.22846938e-02 -9.45409668e-04 9.99478266e-01 1.05062233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.625099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:54.83, Y:2.07, Z:1.05 [[ 9.97361098e-01 -6.53223423e-02 -3.16833178e-02 5.48256930e+01] [ 6.53188867e-02 9.97863784e-01 -1.14518228e-03 2.06972506e+00] [ 3.16904414e-02 -9.27358793e-04 9.99497302e-01 1.05271413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.655099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:54.86, Y:2.07, Z:1.05 [[ 9.97392341e-01 -6.44903814e-02 -3.23961144e-02 5.48589517e+01] [ 6.44864167e-02 9.97917901e-01 -1.16828440e-03 2.06986992e+00] [ 3.24040056e-02 -9.23871423e-04 9.99474425e-01 1.05272114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.685099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:54.89, Y:2.07, Z:1.05 [[ 9.97391007e-01 -6.42494501e-02 -3.29118056e-02 5.48916036e+01] [ 6.42453346e-02 9.97933433e-01 -1.18362664e-03 2.07018961e+00] [ 3.29198385e-02 -9.33891401e-04 9.99457559e-01 1.05339672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.715099893 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:54.92, Y:2.07, Z:1.05 [[ 9.97637658e-01 -5.90825049e-02 -3.50479830e-02 5.49239477e+01] [ 5.90747445e-02 9.98252770e-01 -1.25783057e-03 2.06985875e+00] [ 3.50610619e-02 -8.15591501e-04 9.99384839e-01 1.05374056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.745099892999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:54.96, Y:2.07, Z:1.06 [[ 9.97712627e-01 -5.79677718e-02 -3.47743036e-02 5.49556159e+01] [ 5.79595418e-02 9.98318156e-01 -1.24552553e-03 2.07092070e+00] [ 3.47880190e-02 -7.72826162e-04 9.99394415e-01 1.05727399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.775099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:54.99, Y:2.07, Z:1.06 [[ 9.97780641e-01 -5.62396951e-02 -3.56495272e-02 5.49883056e+01] [ 5.62300369e-02 9.98417027e-01 -1.27426139e-03 2.07120610e+00] [ 3.56647591e-02 -7.33140891e-04 9.99363541e-01 1.05546861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.805099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:55.02, Y:2.07, Z:1.06 [[ 9.97848066e-01 -5.52950368e-02 -3.52377040e-02 5.50196701e+01] [ 5.52850933e-02 9.98469818e-01 -1.25722980e-03 2.07158389e+00] [ 3.52533025e-02 -6.93595425e-04 9.99378168e-01 1.05619632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.835099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:55.05, Y:2.07, Z:1.06 [[ 9.97946159e-01 -5.38178552e-02 -3.47433747e-02 5.50523598e+01] [ 5.38073655e-02 9.98550568e-01 -1.23753297e-03 2.07195281e+00] [ 3.47596179e-02 -6.34458187e-04 9.99395501e-01 1.05648208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.865099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:55.08, Y:2.07, Z:1.06 [[ 9.98061777e-01 -5.25630591e-02 -3.33138622e-02 5.50847063e+01] [ 5.25527943e-02 9.98617445e-01 -1.18426749e-03 2.07250781e+00] [ 3.33300527e-02 -5.68764427e-04 9.99444238e-01 1.05821264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.895099893 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:55.12, Y:2.07, Z:1.06 [[ 9.98156294e-01 -5.13181246e-02 -3.24108414e-02 5.51160243e+01] [ 5.13078403e-02 9.98682224e-01 -1.14946344e-03 2.07321670e+00] [ 3.24271195e-02 -5.15586104e-04 9.99473970e-01 1.05882498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.925099892999995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:55.15, Y:2.07, Z:1.06 [[ 9.98264166e-01 -5.01273742e-02 -3.09176621e-02 5.51479083e+01] [ 5.01175429e-02 9.98742728e-01 -1.09333270e-03 2.07403477e+00] [ 3.09335961e-02 -4.58082400e-04 9.99521337e-01 1.06135917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.955099892999996 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:55.18, Y:2.07, Z:1.06 [[ 9.98384169e-01 -4.82720060e-02 -2.99810581e-02 5.51802806e+01] [ 4.82619875e-02 9.98834151e-01 -1.05812791e-03 2.07402650e+00] [ 2.99971827e-02 -3.90527302e-04 9.99549907e-01 1.06225456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.985099893 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:55.21, Y:2.07, Z:1.06 [[ 9.98016169e-01 -5.42585109e-02 -3.19333611e-02 5.52127039e+01] [ 5.42502837e-02 9.98526736e-01 -1.12463623e-03 2.06525541e+00] [ 3.19473359e-02 -6.09988760e-04 9.99489367e-01 1.06062223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.015099893 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:55.24, Y:2.06, Z:1.06 [[ 9.97907826e-01 -5.61470724e-02 -3.20542744e-02 5.52449499e+01] [ 5.61398322e-02 9.98422280e-01 -1.12653329e-03 2.06451132e+00] [ 3.20669533e-02 -6.75345200e-04 9.99485495e-01 1.06171150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.045099893 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:55.28, Y:2.06, Z:1.06 [[ 9.97691381e-01 -5.95619657e-02 -3.26233078e-02 5.52759461e+01] [ 5.95563640e-02 9.98224289e-01 -1.14426572e-03 2.06207957e+00] [ 3.26335330e-02 -8.01301550e-04 9.99467063e-01 1.06159056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.075099893 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:55.31, Y:2.06, Z:1.06 [[ 9.97597440e-01 -6.12907696e-02 -3.22922537e-02 5.53082930e+01] [ 6.12862474e-02 9.98119591e-01 -1.13074589e-03 2.06149193e+00] [ 3.23008354e-02 -8.51041850e-04 9.99477830e-01 1.06467574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.105099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:55.34, Y:2.06, Z:1.06 [[ 9.97512519e-01 -6.18855223e-02 -3.37484328e-02 5.53403212e+01] [ 6.18810085e-02 9.98082837e-01 -1.17922809e-03 2.06054957e+00] [ 3.37567087e-02 -9.12092272e-04 9.99429664e-01 1.06259564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.135099892999996 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:55.37, Y:2.06, Z:1.06 [[ 9.97458192e-01 -6.28753638e-02 -3.35237914e-02 5.53722737e+01] [ 6.28715488e-02 9.98020943e-01 -1.16897542e-03 2.06041670e+00] [ 3.35309457e-02 -9.41688579e-04 9.99437236e-01 1.06388685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.165099893 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:55.40, Y:2.06, Z:1.06 [[ 9.97463872e-01 -6.27851316e-02 -3.35238821e-02 5.54049496e+01] [ 6.27813532e-02 9.98026624e-01 -1.16637002e-03 2.06149976e+00] [ 3.35309576e-02 -9.41262728e-04 9.99437236e-01 1.06465990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.195099893 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:55.44, Y:2.06, Z:1.06 [[ 9.97428106e-01 -6.33511733e-02 -3.35231479e-02 5.54364664e+01] [ 6.33478041e-02 9.97990832e-01 -1.16367040e-03 2.06152188e+00] [ 3.35295141e-02 -9.62940239e-04 9.99437264e-01 1.06495064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.225099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:55.47, Y:2.06, Z:1.07 [[ 9.97430643e-01 -6.37420250e-02 -3.26965816e-02 5.54687498e+01] [ 6.37390914e-02 9.97965954e-01 -1.13308151e-03 2.06202795e+00] [ 3.27023001e-02 -9.53880183e-04 9.99464682e-01 1.06681285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.255099893 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:55.50, Y:2.06, Z:1.07 [[ 9.97577670e-01 -6.22409953e-02 -3.10620419e-02 5.55006628e+01] [ 6.22376869e-02 9.98060778e-01 -1.07428593e-03 2.05852302e+00] [ 3.10686703e-02 -8.61545983e-04 9.99516881e-01 1.06895874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.285099893 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:55.53, Y:2.06, Z:1.07 [[ 9.97700652e-01 -5.98862276e-02 -3.17340184e-02 5.55327017e+01] [ 5.98816584e-02 9.98204883e-01 -1.09519874e-03 2.05849204e+00] [ 3.17426394e-02 -8.07605149e-04 9.99495749e-01 1.06948233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.315099892999996 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:55.57, Y:2.06, Z:1.07 [[ 9.97706012e-01 -5.97968335e-02 -3.17341017e-02 5.55653773e+01] [ 5.97922961e-02 9.98210242e-01 -1.09277995e-03 2.05956193e+00] [ 3.17426501e-02 -8.07181681e-04 9.99495749e-01 1.07025538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.345099893 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:55.60, Y:2.06, Z:1.07 [[ 9.97711363e-01 -5.97074289e-02 -3.17341993e-02 5.55980530e+01] [ 5.97029366e-02 9.98215594e-01 -1.08993769e-03 2.06062869e+00] [ 3.17426500e-02 -8.07181678e-04 9.99495749e-01 1.07102829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.375099893 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:55.63, Y:2.06, Z:1.07 [[ 9.97781044e-01 -5.82899680e-02 -3.21755819e-02 5.56303600e+01] [ 5.82847027e-02 9.98299393e-01 -1.10233323e-03 2.06132766e+00] [ 3.21851189e-02 -7.75457022e-04 9.99481624e-01 1.07150521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.405099893 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:55.66, Y:2.06, Z:1.07 [[ 9.97786267e-01 -5.82004524e-02 -3.21756663e-02 5.56630356e+01] [ 5.81952201e-02 9.98304616e-01 -1.09986713e-03 2.06238987e+00] [ 3.21851289e-02 -7.75037662e-04 9.99481624e-01 1.07227826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.435099893 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:55.70, Y:2.06, Z:1.07 [[ 9.97791481e-01 -5.81109264e-02 -3.21757647e-02 5.56957114e+01] [ 5.81057406e-02 9.98309831e-01 -1.09698168e-03 2.06344896e+00] [ 3.21851288e-02 -7.75037660e-04 9.99481624e-01 1.07305116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.465099893 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:55.73, Y:2.06, Z:1.07 [[ 9.97863428e-01 -5.67004509e-02 -3.24597765e-02 5.57278609e+01] [ 5.66945175e-02 9.98390962e-01 -1.10389242e-03 2.06430030e+00] [ 3.24701387e-02 -7.38757492e-04 9.99472433e-01 1.07387800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.495099892999995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:55.76, Y:2.07, Z:1.07 [[ 9.97868484e-01 -5.66113682e-02 -3.24598605e-02 5.57605368e+01] [ 5.66054683e-02 9.98396018e-01 -1.10141615e-03 2.06535375e+00] [ 3.24701482e-02 -7.38337146e-04 9.99472433e-01 1.07465106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.525099893 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:55.79, Y:2.07, Z:1.07 [[ 9.97930932e-01 -5.51089841e-02 -3.31188016e-02 5.57923175e+01] [ 5.51020982e-02 9.98480096e-01 -1.12128311e-03 2.06624405e+00] [ 3.31302569e-02 -7.05952352e-04 9.99450793e-01 1.07490415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.555099893 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:55.82, Y:2.07, Z:1.08 [[ 9.98293604e-01 -4.83089241e-02 -3.28044027e-02 5.58235505e+01] [ 4.82985357e-02 9.98832329e-01 -1.10948300e-03 2.06782646e+00] [ 3.28196959e-02 -4.76814833e-04 9.99461175e-01 1.07573835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.585099893 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:55.85, Y:2.07, Z:1.08 [[ 9.98317769e-01 -4.81947223e-02 -3.22319959e-02 5.58543691e+01] [ 4.81846602e-02 9.98837851e-01 -1.08930430e-03 2.06948352e+00] [ 3.22470362e-02 -4.65615933e-04 9.99479821e-01 1.07671971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.615099893 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:55.88, Y:2.07, Z:1.08 [[ 9.98336643e-01 -4.83910269e-02 -3.13409517e-02 5.58844381e+01] [ 4.83816100e-02 9.98828363e-01 -1.05919079e-03 2.07090732e+00] [ 3.13554868e-02 -4.58896719e-04 9.99508190e-01 1.07880167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.645099893 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:55.92, Y:2.07, Z:1.08 [[ 9.98312472e-01 -4.85500538e-02 -3.18606413e-02 5.59156484e+01] [ 4.85404126e-02 9.98820639e-01 -1.07645476e-03 2.07180565e+00] [ 3.18753280e-02 -4.71890459e-04 9.99491741e-01 1.07820652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.675099892999995 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:55.95, Y:2.07, Z:1.08 [[ 9.98226492e-01 -5.06591799e-02 -3.12652901e-02 5.59463142e+01] [ 5.06509602e-02 9.98715859e-01 -1.05535719e-03 2.07249049e+00] [ 3.12786045e-02 -5.30131461e-04 9.99510564e-01 1.07925566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.705099892999996 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:55.98, Y:2.07, Z:1.08 [[ 9.98225495e-01 -5.06788151e-02 -3.12652994e-02 5.59772798e+01] [ 5.06706137e-02 9.98714862e-01 -1.05508038e-03 2.07353293e+00] [ 3.12785894e-02 -5.31023774e-04 9.99510564e-01 1.07998869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.735099893 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:56.01, Y:2.07, Z:1.08 [[ 9.98160522e-01 -5.20611024e-02 -3.10678990e-02 5.60082781e+01] [ 5.20536674e-02 9.98643738e-01 -1.04861136e-03 2.07422006e+00] [ 3.10803546e-02 -5.70515615e-04 9.99516726e-01 1.08045475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.765099893 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:56.04, Y:2.07, Z:1.08 [[ 9.98090794e-01 -5.37860685e-02 -3.03615864e-02 5.60393976e+01] [ 5.37798019e-02 9.98552295e-01 -1.02356383e-03 2.07497481e+00] [ 3.03726853e-02 -6.11230465e-04 9.99538457e-01 1.08196421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.795099893 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:56.07, Y:2.08, Z:1.08 [[ 9.97998556e-01 -5.55474994e-02 -3.02218060e-02 5.60711315e+01] [ 5.55421502e-02 9.98455825e-01 -1.01710091e-03 2.07605439e+00] [ 3.02316357e-02 -6.63518851e-04 9.99542699e-01 1.08261452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.825099893 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:56.10, Y:2.08, Z:1.08 [[ 9.98003472e-01 -5.54590602e-02 -3.02218820e-02 5.61038075e+01] [ 5.54537389e-02 9.98460742e-01 -1.01484008e-03 2.07709558e+00] [ 3.02316448e-02 -6.63102425e-04 9.99542699e-01 1.08338757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.855099893 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:56.14, Y:2.08, Z:1.09 [[ 9.97909979e-01 -5.71622984e-02 -3.01354638e-02 5.61364127e+01] [ 5.71578606e-02 9.98364643e-01 -1.00938319e-03 2.07849223e+00] [ 3.01438803e-02 -7.15205081e-04 9.99545314e-01 1.08529068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.885099892999996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:56.17, Y:2.08, Z:1.09 [[ 9.97915495e-01 -5.70658686e-02 -3.01355413e-02 5.61690919e+01] [ 5.70614567e-02 9.98370160e-01 -1.00706742e-03 2.07952991e+00] [ 3.01438943e-02 -7.14609703e-04 9.99545314e-01 1.08606380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.915099893 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:56.20, Y:2.08, Z:1.09 [[ 9.97774481e-01 -5.88373239e-02 -3.13728159e-02 5.62009162e+01] [ 5.88335097e-02 9.98267261e-01 -1.04547665e-03 2.08088592e+00] [ 3.13799681e-02 -8.02622947e-04 9.99507205e-01 1.08580975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.945099893 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:56.23, Y:2.08, Z:1.09 [[ 9.97654246e-01 -6.04478126e-02 -3.21258154e-02 5.62328522e+01] [ 6.04447232e-02 9.98170975e-01 -1.06821456e-03 2.08208737e+00] [ 3.21316277e-02 -8.76127227e-04 9.99483262e-01 1.08662742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.975099893 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:56.27, Y:2.08, Z:1.09 [[ 9.97376288e-01 -6.39899208e-02 -3.38501153e-02 5.62653898e+01] [ 6.39886145e-02 9.97949997e-01 -1.12302275e-03 2.08334369e+00] [ 3.38525845e-02 -1.04594572e-03 9.99426290e-01 1.08615040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.005099893 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:56.29, Y:2.13, Z:1.09 [[ 9.98235415e-01 -4.93107030e-02 -3.30833814e-02 5.62945525e+01] [ 4.93014657e-02 9.98783343e-01 -1.09540552e-03 2.12752485e+00] [ 3.30971455e-02 -5.37586605e-04 9.99451995e-01 1.09163338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.035099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:56.33, Y:2.13, Z:1.09 [[ 9.98209394e-01 -4.90063418e-02 -3.42984701e-02 5.63271381e+01] [ 4.89963058e-02 9.98798317e-01 -1.13354830e-03 2.13032365e+00] [ 3.43128052e-02 -5.48979770e-04 9.99410992e-01 1.09190659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.065099892999996 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:56.36, Y:2.13, Z:1.09 [[ 9.98225985e-01 -4.90335838e-02 -3.37726340e-02 5.63584420e+01] [ 4.90239663e-02 9.98796982e-01 -1.11328037e-03 2.13312695e+00] [ 3.37865930e-02 -5.44363073e-04 9.99428922e-01 1.09400557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.095099893 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:56.39, Y:2.14, Z:1.10 [[ 9.98217793e-01 -4.92926833e-02 -3.36373170e-02 5.63903207e+01] [ 4.92834085e-02 9.98784223e-01 -1.10529258e-03 2.13585844e+00] [ 3.36509044e-02 -5.54438913e-04 9.99433494e-01 1.09608232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.125099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:56.42, Y:2.14, Z:1.10 [[ 9.98207190e-01 -4.90117037e-02 -3.43548945e-02 5.64222567e+01] [ 4.90019483e-02 9.98798048e-01 -1.12638537e-03 2.13849604e+00] [ 3.43688076e-02 -5.59090787e-04 9.99409062e-01 1.09561147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.155099893 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:56.45, Y:2.14, Z:1.10 [[ 9.98254392e-01 -4.84674405e-02 -3.37501936e-02 5.64533401e+01] [ 4.84577901e-02 9.98824621e-01 -1.10432203e-03 2.14047390e+00] [ 3.37640480e-02 -5.33065476e-04 9.99429690e-01 1.09647576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.185099893 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:56.49, Y:2.14, Z:1.10 [[ 9.98341534e-01 -4.75873918e-02 -3.23978523e-02 5.64854998e+01] [ 4.75780963e-02 9.98866961e-01 -1.05820940e-03 2.14320474e+00] [ 3.24115017e-02 -4.84973745e-04 9.99474492e-01 1.09886054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.215099893 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:56.52, Y:2.14, Z:1.10 [[ 9.98352591e-01 -4.69403867e-02 -3.29955046e-02 5.65175593e+01] [ 4.69304720e-02 9.98897580e-01 -1.07530738e-03 2.14490296e+00] [ 3.30096050e-02 -4.74958693e-04 9.99454922e-01 1.09930494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.245099892999995 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:56.55, Y:2.15, Z:1.10 [[ 9.98349864e-01 -4.63698774e-02 -3.38730538e-02 5.65488618e+01] [ 4.63591791e-02 9.98924228e-01 -1.10157950e-03 2.14646905e+00] [ 3.38876943e-02 -4.70565225e-04 9.99425536e-01 1.09903856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.275099893 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:56.58, Y:2.15, Z:1.10 [[ 9.98352261e-01 -4.61044155e-02 -3.41635275e-02 5.65803263e+01] [ 4.60934347e-02 9.98936517e-01 -1.10935401e-03 2.14826293e+00] [ 3.41783413e-02 -4.67188239e-04 9.99415641e-01 1.10114021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.305099893 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:56.61, Y:2.15, Z:1.10 [[ 9.98291974e-01 -4.54194865e-02 -3.67451367e-02 5.66105153e+01] [ 4.54063620e-02 9.98967888e-01 -1.19204222e-03 2.15021149e+00] [ 3.67613535e-02 -4.78456796e-04 9.99323958e-01 1.09952919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.335099893 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:56.64, Y:2.15, Z:1.10 [[ 9.98256228e-01 -4.57360360e-02 -3.73191483e-02 5.66405513e+01] [ 4.57227353e-02 9.98953436e-01 -1.21023750e-03 2.15132142e+00] [ 3.73354429e-02 -4.98206419e-04 9.99302665e-01 1.10019217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.365099893 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:56.67, Y:2.15, Z:1.10 [[ 9.98218497e-01 -4.61438988e-02 -3.78229121e-02 5.66714731e+01] [ 4.61305293e-02 9.98934667e-01 -1.22657425e-03 2.15174462e+00] [ 3.78392170e-02 -5.20401845e-04 9.99283705e-01 1.10088441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.395099893 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:56.70, Y:2.15, Z:1.10 [[ 9.98236143e-01 -4.60240855e-02 -3.75018191e-02 5.67020633e+01] [ 4.60108669e-02 9.98940199e-01 -1.21591207e-03 2.15200270e+00] [ 3.75180359e-02 -5.11723835e-04 9.99295820e-01 1.10150152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.425099892999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.73, Y:2.15, Z:1.10 [[ 9.98259244e-01 -4.61350651e-02 -3.67428607e-02 5.67329088e+01] [ 4.61224665e-02 9.98935083e-01 -1.19088783e-03 2.15243610e+00] [ 3.67586743e-02 -5.05856578e-04 9.99324044e-01 1.10452156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.455099892999996 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:56.76, Y:2.15, Z:1.10 [[ 9.98652674e-01 -3.88639420e-02 -3.43864922e-02 5.67629713e+01] [ 3.88485972e-02 9.99244487e-01 -1.11451461e-03 2.15434113e+00] [ 3.44038272e-02 -2.22853992e-04 9.99407988e-01 1.10499791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.79, Y:2.16, Z:1.11 [[ 9.98762090e-01 -3.68680961e-02 -3.33920894e-02 5.67924841e+01] [ 3.68525051e-02 9.99320129e-01 -1.08245883e-03 2.15616426e+00] [ 3.34092953e-02 -1.49463301e-04 9.99441742e-01 1.10874765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.515099893 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:56.82, Y:2.16, Z:1.11 [[ 9.98901184e-01 -3.21846774e-02 -3.40671580e-02 5.68215968e+01] [ 3.21656877e-02 9.99481939e-01 -1.10547274e-03 2.15715624e+00] [ 3.40850884e-02 8.46446530e-06 9.99418935e-01 1.10673370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.545099893 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:56.85, Y:2.16, Z:1.11 [[ 9.98989689e-01 -2.80820944e-02 -3.50855676e-02 5.68497946e+01] [ 2.80592519e-02 9.99605608e-01 -1.14336822e-03 2.15711830e+00] [ 3.51038383e-02 1.57738284e-04 9.99383658e-01 1.10614163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.575099893 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:56.88, Y:2.16, Z:1.11 [[ 9.99030129e-01 -2.60904980e-02 -3.54695322e-02 5.68765554e+01] [ 2.60656082e-02 9.99659557e-01 -1.16403383e-03 2.15755971e+00] [ 3.54878270e-02 2.38369940e-04 9.99370080e-01 1.10699248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.605099892999995 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:56.90, Y:2.16, Z:1.11 [[ 9.99057439e-01 -2.31577751e-02 -3.67144602e-02 5.69046274e+01] [ 2.31288832e-02 9.99731758e-01 -1.21152167e-03 2.15792298e+00] [ 3.67326680e-02 3.61215273e-04 9.99325063e-01 1.10695091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.635099892999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.93, Y:2.16, Z:1.11 [[ 9.99051250e-01 -2.17779096e-02 -3.77137012e-02 5.69323999e+01] [ 2.17460358e-02 9.99762739e-01 -1.25520059e-03 2.15772494e+00] [ 3.77320888e-02 4.33886221e-04 9.99287797e-01 1.10998318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.665099893 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:56.96, Y:2.16, Z:1.11 [[ 9.99010198e-01 -2.15571285e-02 -3.89090525e-02 5.69603355e+01] [ 2.15225970e-02 9.99767509e-01 -1.30619232e-03 2.15575961e+00] [ 3.89281642e-02 4.67475589e-04 9.99241902e-01 1.10882023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.695099893 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:56.99, Y:2.15, Z:1.11 [[ 9.99037860e-01 -2.20856661e-02 -3.78890237e-02 5.69876991e+01] [ 2.20529817e-02 9.99755984e-01 -1.28040292e-03 2.15428213e+00] [ 3.79080567e-02 4.43605053e-04 9.99281133e-01 1.10862011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.725099893 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:57.01, Y:2.15, Z:1.11 [[ 9.99055065e-01 -2.53370566e-02 -3.53130404e-02 5.70149759e+01] [ 2.53105489e-02 9.99678919e-01 -1.19755469e-03 2.15334483e+00] [ 3.53320446e-02 3.02630648e-04 9.99375583e-01 1.11105505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.755099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:57.04, Y:2.15, Z:1.11 [[ 9.98859156e-01 -3.42432478e-02 -3.32834350e-02 5.70426898e+01] [ 3.42245154e-02 9.99413528e-01 -1.13253065e-03 2.15081587e+00] [ 3.33026967e-02 -7.87082491e-06 9.99445311e-01 1.11194582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.785099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:57.07, Y:2.15, Z:1.11 [[ 9.98528655e-01 -4.26059346e-02 -3.35448783e-02 5.70710402e+01] [ 4.25914386e-02 9.99091915e-01 -1.14690893e-03 2.14796424e+00] [ 3.35632818e-02 -2.83503187e-04 9.99436554e-01 1.11166973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.815099892999996 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:57.10, Y:2.15, Z:1.11 [[ 9.98088776e-01 -5.19673106e-02 -3.34394136e-02 5.71001718e+01] [ 5.19579258e-02 9.98648612e-01 -1.15014349e-03 2.14513180e+00] [ 3.34539939e-02 -5.89497260e-04 9.99440085e-01 1.11157053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.13, Y:2.14, Z:1.11 [[ 9.97570332e-01 -6.21562756e-02 -3.14647489e-02 5.71318289e+01] [ 6.21530436e-02 9.98066044e-01 -1.08171050e-03 2.14308824e+00] [ 3.14711326e-02 -8.76547609e-04 9.99504277e-01 1.11487231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.875099893 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:57.17, Y:2.14, Z:1.11 [[ 9.97269873e-01 -6.65199178e-02 -3.20608930e-02 5.71651488e+01] [ 6.65188848e-02 9.97784560e-01 -1.10000287e-03 2.14233479e+00] [ 3.20630361e-02 -1.03565513e-03 9.99485312e-01 1.11364223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.20, Y:2.14, Z:1.12 [[ 9.96643382e-01 -7.52731137e-02 -3.21858329e-02 5.71985920e+01] [ 7.52767387e-02 9.97162073e-01 -1.10081725e-03 2.14056574e+00] [ 3.21773539e-02 -1.32572231e-03 9.99481296e-01 1.11667531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.935099893 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:57.23, Y:2.14, Z:1.12 [[ 9.96136177e-01 -8.12936851e-02 -3.32272940e-02 5.72311602e+01] [ 8.13010064e-02 9.96688950e-01 -1.13292026e-03 2.13924335e+00] [ 3.32093761e-02 -1.57286959e-03 9.99447179e-01 1.11520050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.965099893 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:57.26, Y:2.14, Z:1.12 [[ 9.95860841e-01 -8.47691457e-02 -3.27929510e-02 5.72642243e+01] [ 8.47782568e-02 9.96399219e-01 -1.11500901e-03 2.13762962e+00] [ 3.27693891e-02 -1.66973541e-03 9.99461545e-01 1.11526401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.995099892999995 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:57.30, Y:2.14, Z:1.12 [[ 9.96604639e-01 -7.55840462e-02 -3.26534232e-02 5.72956737e+01] [ 7.55882683e-02 9.97138500e-01 -1.10688709e-03 2.14283160e+00] [ 3.26436485e-02 -1.36508691e-03 9.99466122e-01 1.11543110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.025099893 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:57.33, Y:2.15, Z:1.12 [[ 9.96737167e-01 -7.37630704e-02 -3.27723896e-02 5.73289784e+01] [ 7.37664433e-02 9.97274929e-01 -1.10779379e-03 2.14569045e+00] [ 3.27647968e-02 -1.31332338e-03 9.99462227e-01 1.11755310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.055099893 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:57.36, Y:2.15, Z:1.12 [[ 9.96819823e-01 -7.24975861e-02 -3.30808127e-02 5.73621089e+01] [ 7.25004456e-02 9.97367757e-01 -1.11464820e-03 2.14838900e+00] [ 3.30745453e-02 -1.28727024e-03 9.99452059e-01 1.11844943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.085099893 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:57.40, Y:2.15, Z:1.12 [[ 9.96831447e-01 -7.23375239e-02 -3.30809485e-02 5.73956523e+01] [ 7.23404293e-02 9.97379381e-01 -1.11060682e-03 2.14943274e+00] [ 3.30745945e-02 -1.28600221e-03 9.99452059e-01 1.11924262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.115099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:57.43, Y:2.15, Z:1.12 [[ 9.96853689e-01 -7.16224710e-02 -3.39550209e-02 5.74283275e+01] [ 7.16252890e-02 9.97430965e-01 -1.13493610e-03 2.15129548e+00] [ 3.39490761e-02 -1.30067294e-03 9.99422718e-01 1.11821085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.145099893 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:57.46, Y:2.15, Z:1.12 [[ 9.96931741e-01 -7.03174448e-02 -3.43883790e-02 5.74599089e+01] [ 7.03196826e-02 9.97523849e-01 -1.14586723e-03 2.15479744e+00] [ 3.43838026e-02 -1.27582848e-03 9.99407888e-01 1.11747906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.175099892999995 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:57.49, Y:2.16, Z:1.12 [[ 9.96974264e-01 -6.97137070e-02 -3.43848300e-02 5.74927051e+01] [ 6.97156985e-02 9.97566246e-01 -1.14247568e-03 2.15739546e+00] [ 3.43807920e-02 -1.25814359e-03 9.99408014e-01 1.11778189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.205099892999996 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:57.53, Y:2.16, Z:1.12 [[ 9.97023694e-01 -6.90429310e-02 -3.43049128e-02 5.75253913e+01] [ 6.90446432e-02 9.97612924e-01 -1.13613931e-03 2.15991008e+00] [ 3.43014668e-02 -1.23581265e-03 9.99410767e-01 1.11927023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.235099893 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:57.56, Y:2.16, Z:1.12 [[ 9.97052017e-01 -6.83549470e-02 -3.48550843e-02 5.75579979e+01] [ 6.83564269e-02 9.97660300e-01 -1.15058128e-03 2.16238627e+00] [ 3.48521818e-02 -1.23537963e-03 9.99391715e-01 1.11874697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.265099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:57.59, Y:2.17, Z:1.12 [[ 9.97022883e-01 -6.85365621e-02 -3.53286046e-02 5.75912822e+01] [ 6.85383314e-02 9.97647807e-01 -1.16240249e-03 2.16678467e+00] [ 3.53251719e-02 -1.26242172e-03 9.99375074e-01 1.11989096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.295099893 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:57.62, Y:2.17, Z:1.12 [[ 9.96931074e-01 -6.98698049e-02 -3.53078584e-02 5.76243889e+01] [ 6.98725400e-02 9.97555255e-01 -1.15794982e-03 2.17109645e+00] [ 3.53024454e-02 -1.31265359e-03 9.99375812e-01 1.12199439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.66, Y:2.18, Z:1.13 [[ 9.96879804e-01 -7.09037610e-02 -3.46888129e-02 5.76572687e+01] [ 7.09071529e-02 9.97482275e-01 -1.13397555e-03 2.17603909e+00] [ 3.46818791e-02 -1.32924763e-03 9.99397519e-01 1.12608276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.355099892999995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:57.69, Y:2.18, Z:1.13 [[ 9.96934136e-01 -6.95806485e-02 -3.57891358e-02 5.76889437e+01] [ 6.95835795e-02 9.97575445e-01 -1.16517648e-03 2.17863615e+00] [ 3.57834368e-02 -1.32873197e-03 9.99358684e-01 1.12502173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.385099892999996 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:57.72, Y:2.18, Z:1.12 [[ 9.97244938e-01 -6.43361522e-02 -3.69241552e-02 5.77216823e+01] [ 6.43358943e-02 9.97927583e-01 -1.19639505e-03 2.18380285e+00] [ 3.69246044e-02 -1.18244964e-03 9.99317355e-01 1.12405999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.415099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:57.75, Y:2.19, Z:1.13 [[ 9.97408108e-01 -6.22893723e-02 -3.60152825e-02 5.77537344e+01] [ 6.22879154e-02 9.98057544e-01 -1.16356703e-03 2.18575910e+00] [ 3.60178023e-02 -1.08276568e-03 9.99350562e-01 1.12569082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.445099893 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:57.78, Y:2.19, Z:1.13 [[ 9.97467167e-01 -6.15156936e-02 -3.57081384e-02 5.77846077e+01] [ 6.15138501e-02 9.98105566e-01 -1.15128999e-03 2.18704572e+00] [ 3.57113140e-02 -1.04817111e-03 9.99361598e-01 1.12690327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.475099893 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:57.82, Y:2.19, Z:1.13 [[ 9.97478898e-01 -6.14670263e-02 -3.54633917e-02 5.78170402e+01] [ 6.14652527e-02 9.98108571e-01 -1.14126851e-03 2.18829110e+00] [ 3.54664656e-02 -1.04137508e-03 9.99370324e-01 1.12804123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.505099893 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:57.85, Y:2.19, Z:1.13 [[ 9.97483741e-01 -6.17442324e-02 -3.48401642e-02 5.78476901e+01] [ 6.17427691e-02 9.98091468e-01 -1.11891809e-03 2.18913104e+00] [ 3.48427574e-02 -1.03502561e-03 9.99392271e-01 1.13035642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.535099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:57.88, Y:2.19, Z:1.13 [[ 9.97452345e-01 -6.19930538e-02 -3.52941899e-02 5.78797862e+01] [ 6.19918268e-02 9.98076017e-01 -1.13013667e-03 2.18960776e+00] [ 3.52963451e-02 -1.06069384e-03 9.99376327e-01 1.13006872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.565099892999996 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:57.91, Y:2.19, Z:1.13 [[ 9.97391988e-01 -6.25188098e-02 -3.60641234e-02 5.79124363e+01] [ 6.25180597e-02 9.98043171e-01 -1.14959948e-03 2.19021500e+00] [ 3.60654237e-02 -1.10805772e-03 9.99348817e-01 1.13006016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.595099893 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:57.94, Y:2.19, Z:1.13 [[ 9.97248076e-01 -6.41226534e-02 -3.72096691e-02 5.79431839e+01] [ 6.41230980e-02 9.97941296e-01 -1.18269482e-03 2.19065290e+00] [ 3.72089029e-02 -1.20655912e-03 9.99306781e-01 1.13079911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.625099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:57.97, Y:2.19, Z:1.13 [[ 9.97709588e-01 -6.01685532e-02 -3.09083056e-02 5.79747228e+01] [ 6.01670466e-02 9.98187841e-01 -9.79638758e-04 2.19195841e+00] [ 3.09112383e-02 -8.82266483e-04 9.99521744e-01 1.13407400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.655099893 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:58.01, Y:2.19, Z:1.13 [[ 9.97921862e-01 -5.36142405e-02 -3.57417146e-02 5.80078414e+01] [ 5.36081262e-02 9.98561411e-01 -1.13006934e-03 2.19147646e+00] [ 3.57508848e-02 -7.88325448e-04 9.99360422e-01 1.13456752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.685099893 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:58.04, Y:2.19, Z:1.14 [[ 9.98988970e-01 -3.20871491e-02 -3.14873556e-02 5.80399982e+01] [ 3.20717927e-02 9.99485075e-01 -9.92763825e-04 2.19482119e+00] [ 3.15029970e-02 -1.80958317e-05 9.99503657e-01 1.13625958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.715099893 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:58.07, Y:2.20, Z:1.14 [[ 9.99051972e-01 -3.01396939e-02 -3.14126864e-02 5.80682288e+01] [ 3.01234399e-02 9.99545695e-01 -9.90659234e-04 2.19584844e+00] [ 3.14282736e-02 4.34618912e-05 9.99506009e-01 1.13631826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.745099892999995 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:58.10, Y:2.20, Z:1.14 [[ 9.99086139e-01 -2.90185416e-02 -3.13816883e-02 5.80965634e+01] [ 2.90015136e-02 9.99578870e-01 -9.97742456e-04 2.19667315e+00] [ 3.13974255e-02 8.67142005e-05 9.99506976e-01 1.13707456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.775099893 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:58.12, Y:2.20, Z:1.14 [[ 9.99126837e-01 -2.82644989e-02 -3.07681931e-02 5.81232998e+01] [ 2.82475426e-02 9.99600473e-01 -9.85710452e-04 2.19670248e+00] [ 3.07837610e-02 1.15723921e-04 9.99526061e-01 1.13754738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.805099893 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:58.15, Y:2.19, Z:1.14 [[ 9.99014546e-01 -3.13709199e-02 -3.13974975e-02 5.81517180e+01] [ 3.13546329e-02 9.99507811e-01 -1.01106993e-03 2.19370778e+00] [ 3.14137622e-02 2.56165581e-05 9.99506466e-01 1.13651398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.835099893 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:58.18, Y:2.18, Z:1.14 [[ 9.98197703e-01 -5.19118234e-02 -3.01082926e-02 5.81811996e+01] [ 5.19059684e-02 9.98651499e-01 -9.76535476e-04 2.18248651e+00] [ 3.01183853e-02 -5.88024617e-04 9.99546166e-01 1.13852716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.865099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:58.21, Y:2.18, Z:1.14 [[ 9.97874398e-01 -5.72198647e-02 -3.11860873e-02 5.82131208e+01] [ 5.72161352e-02 9.98361301e-01 -1.01269536e-03 2.18127295e+00] [ 3.11929290e-02 -7.73804619e-04 9.99513083e-01 1.13788134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.895099893 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:58.25, Y:2.18, Z:1.14 [[ 9.97709275e-01 -5.96587281e-02 -3.18910525e-02 5.82453944e+01] [ 5.96561535e-02 9.98218451e-01 -1.03306498e-03 2.18100954e+00] [ 3.18958683e-02 -8.71799011e-04 9.99490817e-01 1.13771170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.925099892999995 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:58.28, Y:2.18, Z:1.14 [[ 9.97547363e-01 -6.22815246e-02 -3.19416687e-02 5.82776362e+01] [ 6.22803728e-02 9.98058160e-01 -1.03194951e-03 2.18058694e+00] [ 3.19439145e-02 -9.59920519e-04 9.99489202e-01 1.13803438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.955099892999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.31, Y:2.18, Z:1.14 [[ 9.97421049e-01 -6.49370935e-02 -3.05683656e-02 5.83101768e+01] [ 6.49373479e-02 9.97888856e-01 -9.85471879e-04 2.18007970e+00] [ 3.05678251e-02 -1.00209820e-03 9.99532193e-01 1.14127794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.985099893 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:58.34, Y:2.18, Z:1.14 [[ 9.97163503e-01 -6.85299073e-02 -3.11223506e-02 5.83429456e+01] [ 6.85319965e-02 9.97648417e-01 -1.00081840e-03 2.17881684e+00] [ 3.11177498e-02 -1.13489724e-03 9.99515081e-01 1.13999968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.015099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:58.38, Y:2.18, Z:1.14 [[ 9.97053180e-01 -6.98722008e-02 -3.16675142e-02 5.83760315e+01] [ 6.98751493e-02 9.97555228e-01 -1.01490066e-03 2.17904642e+00] [ 3.16610077e-02 -1.20086235e-03 9.99497943e-01 1.14058687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.045099893 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:58.41, Y:2.18, Z:1.14 [[ 9.96957542e-01 -7.09479955e-02 -3.22806507e-02 5.84093892e+01] [ 7.09517372e-02 9.97479217e-01 -1.03100125e-03 2.17869764e+00] [ 3.22724257e-02 -1.26250378e-03 9.99478312e-01 1.14151142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.075099893 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:58.44, Y:2.18, Z:1.14 [[ 9.97085532e-01 -6.90396395e-02 -3.24649094e-02 5.84418892e+01] [ 6.90425267e-02 9.97613182e-01 -1.03342404e-03 2.17911083e+00] [ 3.24587688e-02 -1.21104721e-03 9.99472342e-01 1.14117963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.105099892999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:58.47, Y:2.19, Z:1.15 [[ 9.97476239e-01 -6.54458342e-02 -2.75317278e-02 5.84731264e+01] [ 6.48025365e-02 9.97617968e-01 -2.36436203e-02 2.19117107e+00] [ 2.90135228e-02 2.17998237e-02 9.99341275e-01 1.14504301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.135099892999996 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:58.51, Y:2.18, Z:1.14 [[ 9.97528491e-01 -6.28385291e-02 -3.14361184e-02 5.85068848e+01] [ 6.29616848e-02 9.98011608e-01 2.94225259e-03 2.18110333e+00] [ 3.11887242e-02 -4.91425177e-03 9.99501433e-01 1.13521843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.54, Y:2.19, Z:1.14 [[ 9.97921191e-01 -5.67318541e-02 -3.05743757e-02 5.85390552e+01] [ 5.66534146e-02 9.98388026e-01 -3.42642550e-03 2.18609637e+00] [ 3.07194780e-02 1.68715983e-03 9.99526622e-01 1.13973695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.57, Y:2.18, Z:1.14 [[ 9.98139896e-01 -4.74534175e-02 -3.82742933e-02 5.85720862e+01] [ 4.82506078e-02 9.98631382e-01 2.01802500e-02 2.18028465e+00] [ 3.72642886e-02 -2.19894705e-02 9.99063479e-01 1.14020077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.225099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:58.60, Y:2.19, Z:1.15 [[ 9.98219290e-01 -4.59271812e-02 -3.80649773e-02 5.86018008e+01] [ 4.59153125e-02 9.98944631e-01 -1.18640511e-03 2.19198671e+00] [ 3.80792930e-02 -5.63472858e-04 9.99274562e-01 1.14686745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.255099893 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:58.63, Y:2.19, Z:1.15 [[ 9.98331129e-01 -4.43796324e-02 -3.69513955e-02 5.86308836e+01] [ 4.43673882e-02 9.99014619e-01 -1.15169664e-03 2.19388188e+00] [ 3.69660961e-02 -4.89662304e-04 9.99316400e-01 1.15006698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.66, Y:2.21, Z:1.15 [[ 9.98962129e-01 -3.39621276e-02 -3.03519076e-02 5.86592386e+01] [ 3.32395303e-02 9.99159140e-01 -2.40030464e-02 2.21243144e+00] [ 3.11415804e-02 2.29692512e-02 9.99251027e-01 1.15438198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.315099892999996 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:58.69, Y:2.19, Z:1.14 [[ 9.98988768e-01 -2.97776085e-02 -3.36858444e-02 5.86893223e+01] [ 3.05196166e-02 9.99297895e-01 2.17317621e-02 2.19468346e+00] [ 3.30150735e-02 -2.27378653e-02 9.99196174e-01 1.14220640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.345099893 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:58.72, Y:2.21, Z:1.15 [[ 9.99038585e-01 -3.01578135e-02 -3.18184289e-02 5.87165718e+01] [ 3.01410878e-02 9.99545149e-01 -1.00528154e-03 2.20801384e+00] [ 3.18342734e-02 4.52729885e-05 9.99493160e-01 1.15319867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.375099893 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:58.74, Y:2.21, Z:1.15 [[ 9.99021536e-01 -3.02888333e-02 -3.22266444e-02 5.87430449e+01] [ 3.02714594e-02 9.99541187e-01 -1.02699415e-03 2.21020946e+00] [ 3.22429648e-02 5.04417154e-05 9.99480059e-01 1.15361988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.405099893 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:58.77, Y:2.21, Z:1.15 [[ 9.98956973e-01 -3.03415442e-02 -3.41226635e-02 5.87699754e+01] [ 3.03218767e-02 9.99539588e-01 -1.09383232e-03 2.21356359e+00] [ 3.41401416e-02 5.80282308e-05 9.99417054e-01 1.15241898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.435099893 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:58.80, Y:2.22, Z:1.15 [[ 9.98921735e-01 -3.05093808e-02 -3.49935104e-02 5.87980997e+01] [ 3.04885910e-02 9.99534479e-01 -1.12768972e-03 2.21571452e+00] [ 3.50116252e-02 5.95709415e-05 9.99386903e-01 1.15323806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.83, Y:2.22, Z:1.16 [[ 9.98893429e-01 -3.10430682e-02 -3.53305262e-02 5.88255312e+01] [ 3.10218583e-02 9.99518047e-01 -1.14848230e-03 2.21885751e+00] [ 3.53491510e-02 5.11928422e-05 9.99375022e-01 1.15614865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.495099892999995 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:58.85, Y:2.22, Z:1.15 [[ 9.98897920e-01 -3.07856853e-02 -3.54286298e-02 5.88537215e+01] [ 3.07638396e-02 9.99526006e-01 -1.16170736e-03 2.22136993e+00] [ 3.54476008e-02 7.05063796e-05 9.99371534e-01 1.15402273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.525099893 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:58.88, Y:2.22, Z:1.16 [[ 9.98972665e-01 -3.24336017e-02 -3.16492773e-02 5.88814838e+01] [ 3.24167355e-02 9.99473892e-01 -1.04601177e-03 2.22386777e+00] [ 3.16665523e-02 1.89709123e-05 9.99498489e-01 1.15597470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.555099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:58.91, Y:2.21, Z:1.15 [[ 9.97817858e-01 -5.74952204e-02 -3.24626281e-02 5.89103580e+01] [ 5.74904635e-02 9.98345471e-01 -1.08068081e-03 2.21436667e+00] [ 3.24710517e-02 -7.87968930e-04 9.99472366e-01 1.15410206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.585099893 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:58.94, Y:2.21, Z:1.16 [[ 9.97163942e-01 -6.63830722e-02 -3.54592808e-02 5.89422938e+01] [ 6.63829664e-02 9.97793519e-01 -1.18160223e-03 2.21209300e+00] [ 3.54594790e-02 -1.17564111e-03 9.99370423e-01 1.15532160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.97, Y:2.21, Z:1.16 [[ 9.97001937e-01 -6.86030574e-02 -3.57876827e-02 5.89735966e+01] [ 6.86044636e-02 9.97643228e-01 -1.19014540e-03 2.21269025e+00] [ 3.57849870e-02 -1.26861751e-03 9.99358707e-01 1.15822488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.645099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:59.01, Y:2.21, Z:1.16 [[ 9.96875697e-01 -6.97162734e-02 -3.71279735e-02 5.90063407e+01] [ 6.97186430e-02 9.97565934e-01 -1.23245498e-03 2.21329753e+00] [ 3.71235237e-02 -1.35990751e-03 9.99309759e-01 1.15618230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.675099892999995 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:59.04, Y:2.21, Z:1.16 [[ 9.96816052e-01 -7.02993585e-02 -3.76265695e-02 5.90388645e+01] [ 7.03023098e-02 9.97524953e-01 -1.24628456e-03 2.21390248e+00] [ 3.76210550e-02 -1.40291829e-03 9.99291093e-01 1.15671035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.705099892999996 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:59.07, Y:2.21, Z:1.16 [[ 9.96808966e-01 -7.02943073e-02 -3.78232248e-02 5.90708330e+01] [ 7.02973985e-02 9.97525295e-01 -1.24982668e-03 2.21487741e+00] [ 3.78174792e-02 -1.41303587e-03 9.99283664e-01 1.15698873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.735099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:59.10, Y:2.22, Z:1.16 [[ 9.97044428e-01 -6.79165725e-02 -3.59130699e-02 5.91027263e+01] [ 6.79179220e-02 9.97690210e-01 -1.18379658e-03 2.21646842e+00] [ 3.59105177e-02 -1.25884330e-03 9.99354216e-01 1.15821369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.765099893 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:59.14, Y:2.22, Z:1.16 [[ 9.97267215e-01 -6.56015595e-02 -3.39784836e-02 5.91352799e+01] [ 6.56015033e-02 9.97845275e-01 -1.11769793e-03 2.21841566e+00] [ 3.39785920e-02 -1.11439610e-03 9.99421940e-01 1.15949599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.795099893 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:59.17, Y:2.22, Z:1.16 [[ 9.97771935e-01 -5.90174660e-02 -3.11143909e-02 5.91673942e+01] [ 5.90142866e-02 9.98256616e-01 -1.02129374e-03 2.22157396e+00] [ 3.11204207e-02 -8.17175352e-04 9.99515308e-01 1.16153091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.825099893 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:59.20, Y:2.22, Z:1.16 [[ 9.98010639e-01 -5.56202303e-02 -2.96842503e-02 5.91999259e+01] [ 5.56159079e-02 9.98451765e-01 -9.71872415e-04 2.22365834e+00] [ 2.96923479e-02 -6.80977523e-04 9.99558853e-01 1.16347057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.855099892999995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:59.23, Y:2.23, Z:1.16 [[ 9.98601517e-01 -4.38150476e-02 -2.95846453e-02 5.92312469e+01] [ 4.38056344e-02 9.99039605e-01 -9.66546563e-04 2.22814597e+00] [ 2.95985816e-02 -3.30779289e-04 9.99561811e-01 1.16405259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.885099892999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:59.26, Y:2.23, Z:1.17 [[ 9.98721325e-01 -3.97142212e-02 -3.12809146e-02 5.92630882e+01] [ 3.97017454e-02 9.99211054e-01 -1.02008054e-03 2.23039375e+00] [ 3.12967473e-02 -2.23130720e-04 9.99510112e-01 1.16548655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.915099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:59.29, Y:2.23, Z:1.16 [[ 9.98543927e-01 -4.03874960e-02 -3.57613897e-02 5.92941446e+01] [ 4.03717086e-02 9.99184053e-01 -1.16375675e-03 2.22896758e+00] [ 3.57792115e-02 -2.81686170e-04 9.99359679e-01 1.16258002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.945099893 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:59.32, Y:2.23, Z:1.16 [[ 9.98467806e-01 -4.20188224e-02 -3.60063668e-02 5.93226263e+01] [ 4.20038895e-02 9.99116760e-01 -1.17141267e-03 2.23050712e+00] [ 3.60237860e-02 -3.42789614e-04 9.99350874e-01 1.16383170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.975099893 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:59.35, Y:2.23, Z:1.16 [[ 9.98467070e-01 -4.20363579e-02 -3.60063167e-02 5.93527587e+01] [ 4.20213809e-02 9.99116023e-01 -1.17295197e-03 2.23152050e+00] [ 3.60237946e-02 -3.41881229e-04 9.99350874e-01 1.16458625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.005099893 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:59.38, Y:2.23, Z:1.17 [[ 9.98404906e-01 -4.28766433e-02 -3.67319639e-02 5.93821918e+01] [ 4.28615932e-02 9.99080302e-01 -1.19745154e-03 2.23335533e+00] [ 3.67495242e-02 -3.78849006e-04 9.99324436e-01 1.16603412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.035099893 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:59.41, Y:2.23, Z:1.17 [[ 9.98386438e-01 -4.30673097e-02 -3.70098260e-02 5.94112282e+01] [ 4.30521214e-02 9.99072098e-01 -1.20760599e-03 2.23485610e+00] [ 3.70274929e-02 -3.87694077e-04 9.99314172e-01 1.16629744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.065099892999996 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:59.44, Y:2.24, Z:1.17 [[ 9.98429125e-01 -4.33811349e-02 -3.54592539e-02 5.94411400e+01] [ 4.33673624e-02 9.99058522e-01 -1.15780196e-03 2.23622756e+00] [ 3.54760966e-02 -3.81791114e-04 9.99370452e-01 1.16782552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.47, Y:2.24, Z:1.17 [[ 9.98467530e-01 -4.39423465e-02 -3.36401796e-02 5.94716995e+01] [ 4.39302409e-02 9.99033996e-01 -1.09924774e-03 2.23757965e+00] [ 3.36559866e-02 -3.80258024e-04 9.99433404e-01 1.17190468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.125099893 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:59.50, Y:2.24, Z:1.17 [[ 9.98458548e-01 -4.45866101e-02 -3.30539279e-02 5.95027284e+01] [ 4.45752853e-02 9.99005444e-01 -1.07980081e-03 2.23871913e+00] [ 3.30691986e-02 -3.95251917e-04 9.99452986e-01 1.17084491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.155099893 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:59.53, Y:2.24, Z:1.17 [[ 9.98315304e-01 -4.76899685e-02 -3.30487669e-02 5.95334120e+01] [ 4.76803811e-02 9.98862061e-01 -1.07858928e-03 2.23930384e+00] [ 3.30625973e-02 -4.99005615e-04 9.99453158e-01 1.16967650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.185099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.57, Y:2.24, Z:1.17 [[ 9.98097717e-01 -5.30497755e-02 -3.14112790e-02 5.95652366e+01] [ 5.30437944e-02 9.98591662e-01 -1.02426133e-03 2.24039550e+00] [ 3.14213781e-02 -6.43860530e-04 9.99506019e-01 1.17318505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.215099893 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:59.60, Y:2.24, Z:1.17 [[ 9.97714010e-01 -5.86501866e-02 -3.35694730e-02 5.95971218e+01] [ 5.86466076e-02 9.98278209e-01 -1.09209967e-03 2.23974246e+00] [ 3.35757253e-02 -8.79132571e-04 9.99435790e-01 1.17045237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.245099892999995 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:59.63, Y:2.24, Z:1.17 [[ 9.97712575e-01 -5.87736452e-02 -3.33957430e-02 5.96279791e+01] [ 5.87702647e-02 9.98270946e-01 -1.08367725e-03 2.23706272e+00] [ 3.34016916e-02 -8.81478238e-04 9.99441619e-01 1.17082749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.275099893 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:59.66, Y:2.24, Z:1.17 [[ 9.97615805e-01 -5.94944852e-02 -3.49730104e-02 5.96599201e+01] [ 5.94913533e-02 9.98228180e-01 -1.13108387e-03 2.23529232e+00] [ 3.49783378e-02 -9.52204570e-04 9.99387617e-01 1.17091095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.305099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.69, Y:2.24, Z:1.17 [[ 9.97561777e-01 -6.06328667e-02 -3.45565728e-02 5.96923740e+01] [ 6.06305752e-02 9.98159651e-01 -1.11517978e-03 2.23617708e+00] [ 3.45605932e-02 -9.82724161e-04 9.99402121e-01 1.17478706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.72, Y:2.24, Z:1.18 [[ 9.97442605e-01 -6.20877139e-02 -3.54029004e-02 5.97249952e+01] [ 6.20863160e-02 9.98070133e-01 -1.13990840e-03 2.23723512e+00] [ 3.54053518e-02 -1.06104246e-03 9.99372471e-01 1.17602622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.365099893 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:59.76, Y:2.24, Z:1.17 [[ 9.97385239e-01 -6.21961756e-02 -3.68010988e-02 5.97562774e+01] [ 6.21948315e-02 9.98063327e-01 -1.18244018e-03 2.23920183e+00] [ 3.68033703e-02 -1.10948976e-03 9.99321911e-01 1.17478976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.395099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:59.79, Y:2.24, Z:1.18 [[ 9.97521089e-01 -6.02880095e-02 -3.62909557e-02 5.97873315e+01] [ 6.02855341e-02 9.98180495e-01 -1.16347074e-03 2.24143366e+00] [ 3.62950675e-02 -1.02723305e-03 9.99340589e-01 1.17672501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.425099892999995 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:59.82, Y:2.25, Z:1.18 [[ 9.98482863e-01 -4.31074121e-02 -3.42596369e-02 5.98196932e+01] [ 4.30952033e-02 9.99070370e-01 -1.09505577e-03 2.24566763e+00] [ 3.42749931e-02 -3.83031599e-04 9.99412366e-01 1.17980726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.455099892999996 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:59.85, Y:2.25, Z:1.18 [[ 9.98708582e-01 -3.80748666e-02 -3.36373771e-02 5.98502600e+01] [ 3.80603016e-02 9.99274868e-01 -1.07343249e-03 2.24694289e+00] [ 3.36538563e-02 -2.08202476e-04 9.99433527e-01 1.18051140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.88, Y:2.25, Z:1.18 [[ 9.98834759e-01 -3.58326091e-02 -3.23287607e-02 5.98800634e+01] [ 3.58179770e-02 9.99357798e-01 -1.03180347e-03 2.24798648e+00] [ 3.23449713e-02 -1.27349633e-04 9.99476756e-01 1.18380477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.515099893 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:59.91, Y:2.25, Z:1.18 [[ 9.99056682e-01 -2.72819862e-02 -3.37851882e-02 5.99093947e+01] [ 2.72610902e-02 9.99627765e-01 -1.07907126e-03 2.24826872e+00] [ 3.38020514e-02 1.57032288e-04 9.99428535e-01 1.18114727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.545099893 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:59.94, Y:2.25, Z:1.18 [[ 9.99344758e-01 -1.59119648e-02 -3.25094588e-02 5.99365081e+01] [ 1.58865435e-02 9.99873260e-01 -1.04013195e-03 2.24949912e+00] [ 3.25218891e-02 5.22987480e-04 9.99470887e-01 1.18195260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.575099893 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:59.96, Y:2.25, Z:1.18 [[ 9.99471767e-01 -1.22307847e-02 -3.01097051e-02 5.99639135e+01] [ 1.22071786e-02 9.99925021e-01 -9.67705998e-04 2.24948017e+00] [ 3.01192833e-02 5.99640278e-04 9.99546132e-01 1.18280873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.605099892999995 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:59.99, Y:2.25, Z:1.18 [[ 9.99542837e-01 -1.01331891e-02 -2.84857071e-02 5.99906516e+01] [ 1.01109987e-02 9.99948457e-01 -9.22937800e-04 2.24922098e+00] [ 2.84935912e-02 6.34496920e-04 9.99593774e-01 1.18434599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.635099892999996 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:60.02, Y:2.22, Z:1.18 [[ 9.98520067e-01 -4.40500146e-02 -3.18947009e-02 6.00197338e+01] [ 4.40392713e-02 9.99029260e-01 -1.03958853e-03 2.22257424e+00] [ 3.19095333e-02 -3.66569378e-04 9.99490694e-01 1.17810077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.665099893 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:60.05, Y:2.22, Z:1.18 [[ 9.98258335e-01 -4.97121575e-02 -3.17647299e-02 6.00501063e+01] [ 4.97042847e-02 9.98763439e-01 -1.03790687e-03 2.21762306e+00] [ 3.17770474e-02 -5.42743995e-04 9.99494835e-01 1.17712460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.695099893 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:60.08, Y:2.22, Z:1.18 [[ 9.98186772e-01 -5.18336427e-02 -3.06013474e-02 6.00814100e+01] [ 5.18273515e-02 9.98655560e-01 -9.99264559e-04 2.21628448e+00] [ 3.06120012e-02 -5.88534122e-04 9.99531170e-01 1.17814473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.725099893 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:60.11, Y:2.21, Z:1.18 [[ 9.98088659e-01 -5.48821762e-02 -2.84073290e-02 6.01136498e+01] [ 5.48780185e-02 9.98492636e-01 -9.26555813e-04 2.21438465e+00] [ 2.84153602e-02 -6.34153076e-04 9.99596001e-01 1.18040990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.15, Y:2.21, Z:1.18 [[ 9.98079329e-01 -5.59279309e-02 -2.66405541e-02 6.01457019e+01] [ 5.59246939e-02 9.98434613e-01 -8.67141065e-04 2.21438122e+00] [ 2.66473487e-02 -6.24389261e-04 9.99644701e-01 1.18449089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.785099893 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:60.18, Y:2.21, Z:1.18 [[ 9.98029856e-01 -5.66162354e-02 -2.70371540e-02 6.01785116e+01] [ 5.66132067e-02 9.98395800e-01 -8.78092366e-04 2.21247229e+00] [ 2.70434953e-02 -6.54297589e-04 9.99634044e-01 1.18341824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.815099892999996 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:60.21, Y:2.21, Z:1.18 [[ 9.98013356e-01 -5.72224786e-02 -2.63615153e-02 6.02107017e+01] [ 5.72198593e-02 9.98361236e-01 -8.54303657e-04 2.21135286e+00] [ 2.63672004e-02 -6.55795736e-04 9.99652110e-01 1.18473376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.24, Y:2.21, Z:1.19 [[ 9.98003225e-01 -5.79367008e-02 -2.51575346e-02 6.02433372e+01] [ 5.79345851e-02 9.98320050e-01 -8.13565387e-04 2.21011635e+00] [ 2.51624065e-02 -6.45550448e-04 9.99683168e-01 1.18844311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.28, Y:2.21, Z:1.19 [[ 9.98008496e-01 -5.78458022e-02 -2.51575939e-02 6.02760146e+01] [ 5.78437040e-02 9.98325321e-01 -8.11726216e-04 2.21111731e+00] [ 2.51624180e-02 -6.45098755e-04 9.99683168e-01 1.18926011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.905099893 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:60.31, Y:2.21, Z:1.19 [[ 9.97982609e-01 -5.79094026e-02 -2.60233173e-02 6.03077250e+01] [ 5.79072421e-02 9.98321617e-01 -8.37246782e-04 2.20965102e+00] [ 2.60281247e-02 -6.71380808e-04 9.99660986e-01 1.18734308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.935099893 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:60.34, Y:2.21, Z:1.19 [[ 9.97951375e-01 -5.81519271e-02 -2.66722218e-02 6.03398669e+01] [ 5.81497845e-02 9.98307502e-01 -8.56609448e-04 2.20883279e+00] [ 2.66768927e-02 -6.96129377e-04 9.99643866e-01 1.18780091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.965099893 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:60.37, Y:2.21, Z:1.19 [[ 9.97925579e-01 -5.83342061e-02 -2.72334293e-02 6.03723366e+01] [ 5.83320949e-02 9.98296852e-01 -8.72632780e-04 2.20843070e+00] [ 2.72379511e-02 -7.17760409e-04 9.99628720e-01 1.18894406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.995099892999995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:60.40, Y:2.21, Z:1.19 [[ 9.97941082e-01 -5.77284273e-02 -2.79468382e-02 6.04048214e+01] [ 5.77260246e-02 9.98332063e-01 -8.93428303e-04 2.20740536e+00] [ 2.79518009e-02 -7.21671062e-04 9.99609012e-01 1.19076691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.025099893 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:60.44, Y:2.21, Z:1.19 [[ 9.97946259e-01 -5.76388220e-02 -2.79469040e-02 6.04374979e+01] [ 5.76364419e-02 9.98337241e-01 -8.91365553e-04 2.20839262e+00] [ 2.79518123e-02 -7.21225191e-04 9.99609012e-01 1.19158390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.055099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.47, Y:2.21, Z:1.19 [[ 9.98016032e-01 -5.60570263e-02 -2.86637410e-02 6.04701515e+01] [ 5.60539445e-02 9.98427325e-01 -9.11659770e-04 2.20752543e+00] [ 2.86697672e-02 -6.96864682e-04 9.99588695e-01 1.19398866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.085099893 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:60.50, Y:2.20, Z:1.19 [[ 9.98307206e-01 -5.00475330e-02 -2.96305075e-02 6.05015122e+01] [ 5.00416569e-02 9.98746689e-01 -9.40285905e-04 2.20249505e+00] [ 2.96404302e-02 -5.44065495e-04 9.99560478e-01 1.19006020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.115099893 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:60.53, Y:2.20, Z:1.19 [[ 9.98414587e-01 -4.84032821e-02 -2.87303662e-02 6.05330647e+01] [ 4.83971185e-02 9.98827758e-01 -9.10279845e-04 2.20351497e+00] [ 2.87407478e-02 -4.81630263e-04 9.99586783e-01 1.19199378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.145099893 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:60.56, Y:2.20, Z:1.19 [[ 9.98514020e-01 -4.64329769e-02 -2.85259691e-02 6.05648409e+01] [ 4.64261257e-02 9.98921318e-01 -9.02793616e-04 2.20448221e+00] [ 2.85371180e-02 -4.22898146e-04 9.99592644e-01 1.19360616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.175099892999995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:60.60, Y:2.21, Z:1.19 [[ 9.98516537e-01 -4.63787878e-02 -2.85260038e-02 6.05966697e+01] [ 4.63719458e-02 9.98923836e-01 -9.01697065e-04 2.20546311e+00] [ 2.85371247e-02 -4.22446870e-04 9.99592644e-01 1.19440226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.205099892999996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:60.63, Y:2.21, Z:1.19 [[ 9.98614112e-01 -4.43865677e-02 -2.82787514e-02 6.06268692e+01] [ 4.43790833e-02 9.99014364e-01 -8.92536033e-04 2.20624274e+00] [ 2.82904955e-02 -3.63685987e-04 9.99599678e-01 1.19423611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.66, Y:2.21, Z:1.20 [[ 9.98712533e-01 -4.27442378e-02 -2.73167882e-02 6.06576351e+01] [ 4.27366398e-02 9.99086000e-01 -8.62174478e-04 2.20701171e+00] [ 2.73286736e-02 -3.06363279e-04 9.99626455e-01 1.19756407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.265099893 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:60.69, Y:2.21, Z:1.20 [[ 9.98803696e-01 -4.07952651e-02 -2.69615041e-02 6.06891456e+01] [ 4.07871554e-02 9.99167495e-01 -8.50888678e-04 2.20731591e+00] [ 2.69737708e-02 -2.49812302e-04 9.99636110e-01 1.19595887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.295099893 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:60.72, Y:2.21, Z:1.20 [[ 9.98804442e-01 -4.07769771e-02 -2.69615341e-02 6.07201272e+01] [ 4.07688865e-02 9.99168242e-01 -8.49937440e-04 2.20829534e+00] [ 2.69737665e-02 -2.50270433e-04 9.99636110e-01 1.19673379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.75, Y:2.21, Z:1.20 [[ 9.98896533e-01 -3.94252138e-02 -2.55219389e-02 6.07507665e+01] [ 3.94175343e-02 9.99222503e-01 -8.04112734e-04 2.20903222e+00] [ 2.55337980e-02 -2.02786480e-04 9.99673939e-01 1.19986211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.355099892999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.78, Y:2.21, Z:1.20 [[ 9.98967799e-01 -3.80549943e-02 -2.48023152e-02 6.07818286e+01] [ 3.80473303e-02 9.99275633e-01 -7.81005101e-04 2.20997372e+00] [ 2.48140704e-02 -1.63462932e-04 9.99692070e-01 1.20138367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.385099892999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:60.81, Y:2.21, Z:1.20 [[ 9.99055867e-01 -3.54533287e-02 -2.51084843e-02 6.08133675e+01] [ 3.54446755e-02 9.99371328e-01 -7.89741685e-04 2.21077281e+00] [ 2.51206983e-02 -1.00966013e-04 9.99684420e-01 1.20087184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.415099893 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:60.84, Y:2.21, Z:1.20 [[ 9.99130843e-01 -3.27833032e-02 -2.57451677e-02 6.08439629e+01] [ 3.27733429e-02 9.99462482e-01 -8.08848661e-04 2.21086024e+00] [ 2.57578459e-02 -3.56095635e-05 9.99668211e-01 1.20210535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.87, Y:2.21, Z:1.20 [[ 9.99166814e-01 -3.17243011e-02 -2.56757998e-02 6.08721955e+01] [ 3.17140438e-02 9.99496658e-01 -8.06706549e-04 2.21125226e+00] [ 2.56884683e-02 -8.24902659e-06 9.99669997e-01 1.20483508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.475099893 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:60.90, Y:2.21, Z:1.20 [[ 9.99181049e-01 -3.02683454e-02 -2.68525175e-02 6.09006252e+01] [ 3.02565498e-02 9.99541808e-01 -8.45564348e-04 2.21126978e+00] [ 2.68658077e-02 3.24073406e-05 9.99639049e-01 1.20241630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.505099893 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:60.93, Y:2.21, Z:1.20 [[ 9.99216562e-01 -2.75660618e-02 -2.83967193e-02 6.09288898e+01] [ 2.75515621e-02 9.99619977e-01 -9.01824563e-04 2.21084220e+00] [ 2.84107877e-02 1.18744063e-04 9.99596325e-01 1.20211914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.535099893 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:60.96, Y:2.21, Z:1.20 [[ 9.99234910e-01 -2.65316733e-02 -2.87343719e-02 6.09555171e+01] [ 2.65161729e-02 9.99647961e-01 -9.20409235e-04 2.21127282e+00] [ 2.87486762e-02 1.57779466e-04 9.99586659e-01 1.20348996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.565099892999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.98, Y:2.21, Z:1.21 [[ 9.99253004e-01 -2.57784465e-02 -2.87907307e-02 6.09838194e+01] [ 2.57624491e-02 9.99667664e-01 -9.26502044e-04 2.21152225e+00] [ 2.88050463e-02 1.84090215e-04 9.99585032e-01 1.20533613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.595099893 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:61.01, Y:2.21, Z:1.20 [[ 9.99249019e-01 -2.50851649e-02 -2.95318954e-02 6.10109963e+01] [ 2.50677899e-02 9.99685294e-01 -9.58488363e-04 2.21170174e+00] [ 2.95466454e-02 2.17469206e-04 9.99563379e-01 1.20412848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.625099893 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:61.04, Y:2.21, Z:1.20 [[ 9.99242157e-01 -2.53571864e-02 -2.95317511e-02 6.10393674e+01] [ 2.53397994e-02 9.99678432e-01 -9.62913258e-04 2.21268101e+00] [ 2.95466714e-02 2.13854870e-04 9.99563379e-01 1.20483947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.07, Y:2.21, Z:1.21 [[ 9.99264611e-01 -2.54188726e-02 -2.87074590e-02 6.10676640e+01] [ 2.54022470e-02 9.99676865e-01 -9.43738784e-04 2.21313933e+00] [ 2.87221714e-02 2.13810804e-04 9.99587410e-01 1.20706203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.685099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.10, Y:2.21, Z:1.21 [[ 9.99257645e-01 -2.56915698e-02 -2.87071843e-02 6.10960348e+01] [ 2.56748187e-02 9.99669894e-01 -9.52024365e-04 2.21413598e+00] [ 2.87221669e-02 2.14265871e-04 9.99587410e-01 1.20777435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.12, Y:2.22, Z:1.21 [[ 9.99250604e-01 -2.59642536e-02 -2.87069227e-02 6.11244053e+01] [ 2.59473902e-02 9.99662849e-01 -9.59854898e-04 2.21514015e+00] [ 2.87221660e-02 2.14265864e-04 9.99587411e-01 1.20848652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.745099892999995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:61.15, Y:2.22, Z:1.21 [[ 9.99256875e-01 -2.60611451e-02 -2.83992015e-02 6.11522053e+01] [ 2.60444600e-02 9.99660327e-01 -9.57321413e-04 2.21544682e+00] [ 2.84145039e-02 2.16968137e-04 9.99596203e-01 1.20689947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.775099893 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:61.18, Y:2.22, Z:1.21 [[ 9.99258164e-01 -2.61580058e-02 -2.82644870e-02 6.11787396e+01] [ 2.61412906e-02 9.99657796e-01 -9.60797420e-04 2.21556569e+00] [ 2.82799474e-02 2.21214497e-04 9.99600018e-01 1.20678174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.805099893 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:61.21, Y:2.22, Z:1.21 [[ 9.99250977e-01 -2.64313401e-02 -2.82642764e-02 6.12071094e+01] [ 2.64145599e-02 9.99650607e-01 -9.66956275e-04 2.21659095e+00] [ 2.82799590e-02 2.19643579e-04 9.99600018e-01 1.20749341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.835099893 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:61.24, Y:2.22, Z:1.21 [[ 9.99236728e-01 -2.76672648e-02 -2.75768616e-02 6.12350885e+01] [ 2.76515567e-02 9.99617170e-01 -9.50864156e-04 2.21692936e+00] [ 2.75926122e-02 1.87595234e-04 9.99619234e-01 1.20908004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.865099893 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:61.26, Y:2.22, Z:1.21 [[ 9.99229201e-01 -2.79380653e-02 -2.75765860e-02 6.12634587e+01] [ 2.79222414e-02 9.99609638e-01 -9.58796269e-04 2.21797384e+00] [ 2.75926080e-02 1.88057138e-04 9.99619234e-01 1.20979235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.895099893 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:61.29, Y:2.22, Z:1.21 [[ 9.99194667e-01 -2.89443453e-02 -2.77892577e-02 6.12903551e+01] [ 2.89284657e-02 9.99581010e-01 -9.73371112e-04 2.21781368e+00] [ 2.78057879e-02 1.68686636e-04 9.99613330e-01 1.20967778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.925099892999995 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:61.32, Y:2.22, Z:1.21 [[ 9.99186893e-01 -2.92115880e-02 -2.77891213e-02 6.13187260e+01] [ 2.91957039e-02 9.99573237e-01 -9.77249008e-04 2.21887230e+00] [ 2.78058090e-02 1.65131444e-04 9.99613330e-01 1.21038882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.955099892999996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:61.35, Y:2.22, Z:1.21 [[ 9.99145269e-01 -3.11981802e-02 -2.71183551e-02 6.13461847e+01] [ 3.11835915e-02 9.99513212e-01 -9.60799921e-04 2.21875224e+00] [ 2.71351294e-02 1.14330986e-04 9.99631768e-01 1.21063469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.985099893 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:61.37, Y:2.22, Z:1.21 [[ 9.99069732e-01 -3.36956257e-02 -2.69123533e-02 6.13740048e+01] [ 3.36819577e-02 9.99432140e-01 -9.61149260e-04 2.21850235e+00] [ 2.69294574e-02 5.37943881e-05 9.99637335e-01 1.21155556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.015099893 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:61.40, Y:2.22, Z:1.21 [[ 9.99063706e-01 -3.38740564e-02 -2.69120838e-02 6.14024088e+01] [ 3.38602514e-02 9.99426108e-01 -9.68638884e-04 2.21960159e+00] [ 2.69294509e-02 5.64820304e-05 9.99637335e-01 1.21226872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.045099893 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:61.43, Y:2.22, Z:1.21 [[ 9.98955525e-01 -3.71060125e-02 -2.66646477e-02 6.14313406e+01] [ 3.70934816e-02 9.99311334e-01 -9.64589764e-04 2.21905310e+00] [ 2.66820768e-02 -2.55023473e-05 9.99643970e-01 1.21227078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.075099893 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:61.46, Y:2.20, Z:1.21 [[ 9.96688614e-01 -7.64706501e-02 -2.76413882e-02 6.14601597e+01] [ 7.64720847e-02 9.97071214e-01 -1.00674667e-03 2.20462840e+00] [ 2.76374191e-02 -1.11038164e-03 9.99617397e-01 1.21093995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.105099892999995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:61.49, Y:2.21, Z:1.21 [[ 9.96608850e-01 -7.76968650e-02 -2.70923729e-02 6.14918454e+01] [ 7.76986631e-02 9.96976400e-01 -9.87934561e-04 2.20609835e+00] [ 2.70872158e-02 -1.12045683e-03 9.99632446e-01 1.21239328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.135099892999996 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:61.52, Y:2.21, Z:1.21 [[ 9.96549517e-01 -7.83208650e-02 -2.74754811e-02 6.15243972e+01] [ 7.83230103e-02 9.96927533e-01 -9.99749678e-04 2.20738015e+00] [ 2.74693649e-02 -1.15566233e-03 9.99621978e-01 1.21273177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.165099893 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:61.56, Y:2.21, Z:1.21 [[ 9.96480312e-01 -7.95625601e-02 -2.63967300e-02 6.15569207e+01] [ 7.95650492e-02 9.96829216e-01 -9.57670143e-04 2.20919700e+00] [ 2.63892263e-02 -1.14595768e-03 9.99651087e-01 1.21488734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.195099893 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:61.59, Y:2.21, Z:1.21 [[ 9.96395371e-01 -8.04551774e-02 -2.68929209e-02 6.15896584e+01] [ 8.04581668e-02 9.96757512e-01 -9.72653558e-04 2.21066363e+00] [ 2.68839759e-02 -1.19460761e-03 9.99637847e-01 1.21468843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.225099893 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:61.62, Y:2.21, Z:1.22 [[ 9.96405699e-01 -8.03271288e-02 -2.68930291e-02 6.16231747e+01] [ 8.03301524e-02 9.96767840e-01 -9.69653778e-04 2.21178972e+00] [ 2.68839960e-02 -1.19415257e-03 9.99637847e-01 1.21552630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.255099893 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:61.66, Y:2.21, Z:1.22 [[ 9.96297362e-01 -8.15980168e-02 -2.70800636e-02 6.16563897e+01] [ 8.16016450e-02 9.96664550e-01 -9.72930692e-04 2.21325743e+00] [ 2.70691287e-02 -1.24044946e-03 9.99632794e-01 1.21609385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.69, Y:2.21, Z:1.22 [[ 9.96208003e-01 -8.28588472e-02 -2.65334787e-02 6.16896444e+01] [ 8.28628523e-02 9.96560507e-01 -9.50427207e-04 2.21489602e+00] [ 2.65209683e-02 -1.25181654e-03 9.99647473e-01 1.21936333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.315099892999996 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:61.72, Y:2.22, Z:1.22 [[ 9.96087475e-01 -8.37607998e-02 -2.81757231e-02 6.17221544e+01] [ 8.37657696e-02 9.96484964e-01 -1.00596236e-03 2.21654949e+00] [ 2.81609447e-02 -1.35813462e-03 9.99602479e-01 1.21731333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.345099893 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:61.76, Y:2.22, Z:1.22 [[ 9.96098025e-01 -8.36352066e-02 -2.81758204e-02 6.17556707e+01] [ 8.36402033e-02 9.96495514e-01 -1.00323225e-03 2.21765733e+00] [ 2.81609841e-02 -1.35731368e-03 9.99602479e-01 1.21815131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.375099893 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:61.79, Y:2.22, Z:1.22 [[ 9.95992455e-01 -8.48178645e-02 -2.83718074e-02 6.17883127e+01] [ 8.48235100e-02 9.96395483e-01 -1.00667061e-03 2.21952158e+00] [ 2.83549244e-02 -1.40395996e-03 9.99596932e-01 1.21938476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.405099893 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:61.82, Y:2.22, Z:1.22 [[ 9.95939425e-01 -8.54317352e-02 -2.83915642e-02 6.18208683e+01] [ 8.54377244e-02 9.96343007e-01 -1.00430446e-03 2.22173285e+00] [ 2.83735359e-02 -1.42548423e-03 9.99596374e-01 1.22068047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.435099893 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:61.85, Y:2.22, Z:1.22 [[ 9.95914347e-01 -8.56493624e-02 -2.86146777e-02 6.18543626e+01] [ 8.56556270e-02 9.96324292e-01 -1.00901256e-03 2.22379157e+00] [ 2.85959198e-02 -1.44611807e-03 9.99590007e-01 1.22070363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.465099893 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:61.89, Y:2.23, Z:1.22 [[ 9.95879482e-01 -8.59360880e-02 -2.89663087e-02 6.18861854e+01] [ 8.59427315e-02 9.96299559e-01 -1.01786371e-03 2.22614043e+00] [ 2.89465918e-02 -1.47577410e-03 9.99579870e-01 1.22174578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.495099892999995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:61.92, Y:2.23, Z:1.22 [[ 9.95890216e-01 -8.58115421e-02 -2.89664848e-02 6.19197029e+01] [ 8.58182791e-02 9.96310292e-01 -1.01282710e-03 2.22722445e+00] [ 2.89465192e-02 -1.47718927e-03 9.99579870e-01 1.22258308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.525099893 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:61.95, Y:2.23, Z:1.22 [[ 9.95905986e-01 -8.55152855e-02 -2.92984991e-02 6.19523212e+01] [ 8.55221566e-02 9.96335746e-01 -1.02080404e-03 2.22946432e+00] [ 2.92784363e-02 -1.48904597e-03 9.99570186e-01 1.22250252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.555099893 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:61.99, Y:2.23, Z:1.22 [[ 9.95928071e-01 -8.51441501e-02 -2.96268504e-02 6.19856983e+01] [ 8.51511094e-02 9.96367517e-01 -1.02897696e-03 2.23185527e+00] [ 2.96068428e-02 -1.49797214e-03 9.99560499e-01 1.22368267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.585099893 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:62.02, Y:2.23, Z:1.22 [[ 9.95939049e-01 -8.50156110e-02 -2.96269669e-02 6.20192175e+01] [ 8.50226134e-02 9.96378494e-01 -1.02561265e-03 2.23293354e+00] [ 2.96068658e-02 -1.49751447e-03 9.99560499e-01 1.22452055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.615099893 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:62.05, Y:2.24, Z:1.23 [[ 9.96000026e-01 -8.46083866e-02 -2.87292408e-02 6.20520079e+01] [ 8.46149033e-02 9.96413236e-01 -9.90988366e-04 2.23583579e+00] [ 2.87100417e-02 -1.44389750e-03 9.99586739e-01 1.22648078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.645099893 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:62.09, Y:2.24, Z:1.23 [[ 9.96084248e-01 -8.33673834e-02 -2.94287399e-02 6.20853469e+01] [ 8.33737801e-02 9.96517832e-01 -1.01176704e-03 2.23882088e+00] [ 2.94106125e-02 -1.44578009e-03 9.99566369e-01 1.22661828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.675099892999995 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:62.12, Y:2.24, Z:1.23 [[ 9.96095057e-01 -8.32380969e-02 -2.94288550e-02 6.21188671e+01] [ 8.32445364e-02 9.96528640e-01 -1.00840937e-03 2.23988856e+00] [ 2.94106349e-02 -1.44531980e-03 9.99566369e-01 1.22745616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.705099892999996 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:62.15, Y:2.24, Z:1.23 [[ 9.96190550e-01 -8.20462259e-02 -2.95432596e-02 6.21508657e+01] [ 8.20523014e-02 9.96627514e-01 -1.00865048e-03 2.24322777e+00] [ 2.95263813e-02 -1.41928436e-03 9.99562994e-01 1.22833533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.18, Y:2.25, Z:1.23 [[ 9.96335274e-01 -8.07546456e-02 -2.81905751e-02 6.21839989e+01] [ 8.07597329e-02 9.96733136e-01 -9.59914632e-04 2.24664796e+00] [ 2.81759979e-02 -1.32026651e-03 9.99602106e-01 1.23148165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.22, Y:2.25, Z:1.23 [[ 9.96345593e-01 -8.06271907e-02 -2.81906821e-02 6.22175197e+01] [ 8.06323160e-02 9.96743455e-01 -9.56762461e-04 2.24770249e+00] [ 2.81760189e-02 -1.31981393e-03 9.99602106e-01 1.23231953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.795099893 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:62.25, Y:2.25, Z:1.23 [[ 9.96529770e-01 -7.76608488e-02 -2.99534647e-02 6.22496526e+01] [ 7.76654145e-02 9.96978966e-01 -1.01273838e-03 2.25336388e+00] [ 2.99416244e-02 -1.31712431e-03 9.99550781e-01 1.23021861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.28, Y:2.28, Z:1.23 [[ 9.97650422e-01 -6.41442036e-02 -2.40656770e-02 6.22801603e+01] [ 6.38907116e-02 9.97894508e-01 -1.11591766e-02 2.27991633e+00] [ 2.47308034e-02 9.59538406e-03 9.99648096e-01 1.23430280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.855099892999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.31, Y:2.28, Z:1.23 [[ 9.97665487e-01 -6.37027805e-02 -2.46075499e-02 6.23130503e+01] [ 6.36985550e-02 9.97968727e-01 -9.56325764e-04 2.27608279e+00] [ 2.46184858e-02 -6.13372160e-04 9.99696731e-01 1.23174797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.885099892999996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:62.35, Y:2.27, Z:1.23 [[ 9.97784651e-01 -6.03957647e-02 -2.78952075e-02 6.23474741e+01] [ 6.06765473e-02 9.98113870e-01 9.33053125e-03 2.27251127e+00] [ 2.72790690e-02 -1.10024457e-02 9.99567306e-01 1.22966048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.915099893 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:62.38, Y:2.28, Z:1.23 [[ 9.97890372e-01 -5.82563364e-02 -2.86531868e-02 6.23791805e+01] [ 5.82529551e-02 9.98301399e-01 -9.53441680e-04 2.27949968e+00] [ 2.86600605e-02 -7.17702533e-04 9.99588958e-01 1.23288339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.945099893 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:62.41, Y:2.28, Z:1.23 [[ 9.97896389e-01 -5.81531413e-02 -2.86532602e-02 6.24118612e+01] [ 5.81497809e-02 9.98307417e-01 -9.51231757e-04 2.28053440e+00] [ 2.86600793e-02 -7.16950068e-04 9.99588958e-01 1.23370946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.975099893 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:62.44, Y:2.28, Z:1.23 [[ 9.98011631e-01 -5.60542716e-02 -2.88219267e-02 6.24427659e+01] [ 5.60500851e-02 9.98427503e-01 -9.53774662e-04 2.28275706e+00] [ 2.88300674e-02 -6.63593235e-04 9.99584107e-01 1.23440985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.005099893 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:62.48, Y:2.28, Z:1.24 [[ 9.98016719e-01 -5.59635465e-02 -2.88220370e-02 6.24754423e+01] [ 5.59594187e-02 9.98432592e-01 -9.50428657e-04 2.28378071e+00] [ 2.88300505e-02 -6.64320748e-04 9.99584107e-01 1.23523540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.51, Y:2.29, Z:1.24 [[ 9.98125175e-01 -5.40473488e-02 -2.87231358e-02 6.25076274e+01] [ 5.40425294e-02 9.98538188e-01 -9.44625280e-04 2.28604582e+00] [ 2.87322024e-02 -6.09416638e-04 9.99586959e-01 1.23773587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.065099892999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.54, Y:2.29, Z:1.24 [[ 9.98260587e-01 -5.08243295e-02 -2.98778934e-02 6.25390436e+01] [ 5.08177453e-02 9.98707463e-01 -9.80153140e-04 2.28997140e+00] [ 2.98890907e-02 -5.39878928e-04 9.99553076e-01 1.23797311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.095099893 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:62.57, Y:2.29, Z:1.24 [[ 9.98295230e-01 -4.93677768e-02 -3.11360835e-02 6.25715790e+01] [ 4.93600265e-02 9.98780532e-01 -1.01796364e-03 2.29242695e+00] [ 3.11483686e-02 -5.20649660e-04 9.99514636e-01 1.23672523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.125099893 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:62.60, Y:2.30, Z:1.24 [[ 9.98411140e-01 -4.77085877e-02 -2.99847781e-02 6.26027113e+01] [ 4.77007100e-02 9.98861194e-01 -9.78382187e-04 2.29571861e+00] [ 2.99973085e-02 -4.53467531e-04 9.99549877e-01 1.23853897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.155099893 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:62.63, Y:2.30, Z:1.24 [[ 9.98471549e-01 -4.67744858e-02 -2.94400102e-02 6.26335333e+01] [ 4.67665196e-02 9.98905387e-01 -9.59464232e-04 2.29786314e+00] [ 2.94526632e-02 -4.18809076e-04 9.99566088e-01 1.23940827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.185099893 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:62.66, Y:2.30, Z:1.24 [[ 9.98464623e-01 -4.65412694e-02 -3.00384328e-02 6.26646245e+01] [ 4.65329305e-02 9.98916279e-01 -9.76974084e-04 2.29934230e+00] [ 3.00513491e-02 -4.22302246e-04 9.99548267e-01 1.23844568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.70, Y:2.30, Z:1.24 [[ 9.98476262e-01 -4.82528427e-02 -2.67734616e-02 6.26958717e+01] [ 4.82469070e-02 9.98835063e-01 -8.68018021e-04 2.30146855e+00] [ 2.67841566e-02 -4.25041325e-04 9.99641150e-01 1.24261000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.245099892999995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:62.73, Y:2.30, Z:1.24 [[ 9.98433072e-01 -4.90507976e-02 -2.69336293e-02 6.27283715e+01] [ 4.90451086e-02 9.98796184e-01 -8.72179146e-04 2.30271794e+00] [ 2.69439872e-02 -4.50150270e-04 9.99636844e-01 1.24192361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.275099893 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:62.76, Y:2.30, Z:1.24 [[ 9.98256239e-01 -5.24955968e-02 -2.69943106e-02 6.27608186e+01] [ 5.24911934e-02 9.98621006e-01 -8.72195944e-04 2.30367918e+00] [ 2.70028720e-02 -5.46288534e-04 9.99635207e-01 1.24228905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.305099893 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:62.79, Y:2.30, Z:1.24 [[ 9.97940314e-01 -5.79283901e-02 -2.75577635e-02 6.27929924e+01] [ 5.79259262e-02 9.98320489e-01 -8.88376390e-04 2.30361377e+00] [ 2.75629421e-02 -7.09762361e-04 9.99619818e-01 1.24183266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.335099893 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:62.83, Y:2.30, Z:1.24 [[ 9.97738921e-01 -6.12045272e-02 -2.77678294e-02 6.28252771e+01] [ 6.12033509e-02 9.98124918e-01 -8.93064442e-04 2.30389498e+00] [ 2.77704220e-02 -8.08439055e-04 9.99614001e-01 1.24286673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.365099893 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:62.86, Y:2.31, Z:1.24 [[ 9.96620729e-01 -7.69084279e-02 -2.88481665e-02 6.28568661e+01] [ 7.69137977e-02 9.97037317e-01 -9.25102834e-04 2.30585674e+00] [ 2.88338467e-02 -1.29684538e-03 9.99583377e-01 1.24297948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.89, Y:2.31, Z:1.25 [[ 9.96607444e-01 -7.79700375e-02 -2.63491036e-02 6.28894973e+01] [ 7.79749439e-02 9.96954963e-01 -8.42770213e-04 2.30998142e+00] [ 2.63345805e-02 -1.21465881e-03 9.99652447e-01 1.24684712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.425099892999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.92, Y:2.31, Z:1.25 [[ 9.97025370e-01 -7.21855330e-02 -2.70122319e-02 6.29216498e+01] [ 7.21886502e-02 9.97390624e-01 -8.61025124e-04 2.31468285e+00] [ 2.70039004e-02 -1.09151266e-03 9.99634732e-01 1.24741505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.455099892999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.96, Y:2.32, Z:1.25 [[ 9.97152592e-01 -7.03800640e-02 -2.70805340e-02 6.29550140e+01] [ 7.03825989e-02 9.97519699e-01 -8.60739246e-04 2.31651791e+00] [ 2.70739450e-02 -1.04770999e-03 9.99632885e-01 1.24777264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.99, Y:2.32, Z:1.25 [[ 9.97322960e-01 -6.77811803e-02 -2.74340199e-02 6.29878013e+01] [ 6.77828826e-02 9.97699717e-01 -8.68972200e-04 2.31868605e+00] [ 2.74298138e-02 -9.92911022e-04 9.99623239e-01 1.24773969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.02, Y:2.32, Z:1.25 [[ 9.97411151e-01 -6.64506428e-02 -2.74828619e-02 6.30207201e+01] [ 6.64519294e-02 9.97789251e-01 -8.67513512e-04 2.32060174e+00] [ 2.74797510e-02 -9.61021549e-04 9.99621898e-01 1.24836295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.05, Y:2.32, Z:1.25 [[ 9.97486306e-01 -6.52182499e-02 -2.77064901e-02 6.30523158e+01] [ 6.52191711e-02 9.97870583e-01 -8.71385210e-04 2.32260573e+00] [ 2.77043216e-02 -9.37799503e-04 9.99615722e-01 1.24921119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.575099893 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:63.09, Y:2.33, Z:1.25 [[ 9.97631310e-01 -6.26098820e-02 -2.84916132e-02 6.30855774e+01] [ 6.26099355e-02 9.98037676e-01 -8.91110656e-04 2.32560645e+00] [ 2.84914957e-02 -8.94858170e-04 9.99593634e-01 1.24876210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.605099892999995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:63.12, Y:2.33, Z:1.25 [[ 9.97637443e-01 -6.25120324e-02 -2.84917057e-02 6.31182609e+01] [ 6.25121307e-02 9.98043809e-01 -8.88143530e-04 2.32656686e+00] [ 2.84914901e-02 -8.95031988e-04 9.99593634e-01 1.24958784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.635099892999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.15, Y:2.33, Z:1.25 [[ 9.97719502e-01 -6.11237863e-02 -2.86300269e-02 6.31514103e+01] [ 6.11233964e-02 9.98129821e-01 -8.89598864e-04 2.32864098e+00] [ 2.86308592e-02 -8.62394346e-04 9.99589681e-01 1.25181244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.18, Y:2.33, Z:1.25 [[ 9.97827365e-01 -5.91656503e-02 -2.89823422e-02 6.31835653e+01] [ 5.91645255e-02 9.98247842e-01 -8.97106457e-04 2.33068520e+00] [ 2.89846384e-02 -8.19569150e-04 9.99579521e-01 1.25294302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.695099893 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:63.22, Y:2.33, Z:1.25 [[ 9.97945163e-01 -5.68420870e-02 -2.95707537e-02 6.32153326e+01] [ 5.68400424e-02 9.98382883e-01 -9.10402461e-04 2.33289741e+00] [ 2.95746835e-02 -7.72271163e-04 9.99562275e-01 1.25290656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.725099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:63.25, Y:2.34, Z:1.25 [[ 9.98075591e-01 -5.41305363e-02 -3.02489644e-02 6.32478951e+01] [ 5.41272191e-02 9.98533615e-01 -9.29084800e-04 2.33530790e+00] [ 3.02548996e-02 -7.09995463e-04 9.99541964e-01 1.25343394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.28, Y:2.34, Z:1.26 [[ 9.98330534e-01 -4.84413429e-02 -3.14576190e-02 6.32797227e+01] [ 4.84350060e-02 9.98825871e-01 -9.63872452e-04 2.33933264e+00] [ 3.14673750e-02 -5.61386669e-04 9.99504622e-01 1.25651061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.31, Y:2.35, Z:1.26 [[ 9.98977144e-01 -3.17556158e-02 -3.21907978e-02 6.33099122e+01] [ 3.17403892e-02 9.99495663e-01 -9.84035276e-04 2.34628699e+00] [ 3.22058114e-02 -3.87197025e-05 9.99481258e-01 1.25573078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.815099892999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.34, Y:2.35, Z:1.26 [[ 9.98968648e-01 -3.20217576e-02 -3.21907862e-02 6.33382709e+01] [ 3.20066572e-02 9.99487171e-01 -9.84407606e-04 2.34721481e+00] [ 3.22058003e-02 -4.69271242e-05 9.99481258e-01 1.25644762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.37, Y:2.35, Z:1.26 [[ 9.99128360e-01 -2.85062804e-02 -3.04944588e-02 6.33658720e+01] [ 2.84908525e-02 9.99593611e-01 -9.40399533e-04 2.34634137e+00] [ 3.05088735e-02 7.07667138e-05 9.99534493e-01 1.25689735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.39, Y:2.35, Z:1.26 [[ 9.99157655e-01 -2.76446704e-02 -3.03274188e-02 6.33933946e+01] [ 2.76287536e-02 9.99617808e-01 -9.43839544e-04 2.34679859e+00] [ 3.03419200e-02 1.05135726e-04 9.99539572e-01 1.25747199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.905099893 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:63.42, Y:2.35, Z:1.26 [[ 9.99138145e-01 -2.79094436e-02 -3.07250609e-02 6.34198069e+01] [ 2.78236177e-02 9.99607670e-01 -3.21744352e-03 2.35019545e+00] [ 3.08028036e-02 2.35978821e-03 9.99522695e-01 1.25735616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.935099893 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:63.45, Y:2.35, Z:1.26 [[ 9.99137116e-01 -2.78391533e-02 -3.08221488e-02 6.34473495e+01] [ 2.78125605e-02 9.99612322e-01 -1.29125407e-03 2.35016315e+00] [ 3.08461471e-02 4.32896993e-04 9.99524051e-01 1.25733849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.965099893 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:63.48, Y:2.35, Z:1.26 [[ 9.99158914e-01 -2.69757052e-02 -3.08832483e-02 6.34785660e+01] [ 2.70194236e-02 9.99634409e-01 9.99081093e-04 2.34729618e+00] [ 3.08450067e-02 -1.83268835e-03 9.99522499e-01 1.25783385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.995099892999995 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:63.51, Y:2.35, Z:1.26 [[ 9.99062206e-01 -2.95633624e-02 -3.16340988e-02 6.35062607e+01] [ 2.95465744e-02 9.99562906e-01 -9.98120689e-04 2.34693263e+00] [ 3.16497795e-02 6.25054066e-05 9.99499018e-01 1.25809457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02509989299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:63.53, Y:2.34, Z:1.26 [[ 9.98942787e-01 -3.39693987e-02 -3.09739951e-02 6.35336775e+01] [ 3.39551735e-02 9.99422871e-01 -9.85288450e-04 2.34274802e+00] [ 3.09895888e-02 -6.74805898e-05 9.99519705e-01 1.25893951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.05509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.56, Y:2.34, Z:1.26 [[ 9.98774196e-01 -3.96890484e-02 -2.95784567e-02 6.35615118e+01] [ 3.96784564e-02 9.99212053e-01 -9.45185389e-04 2.33844431e+00] [ 2.95926640e-02 -2.29600729e-04 9.99562015e-01 1.26007650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08509989299999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:63.59, Y:2.34, Z:1.26 [[ 9.98550026e-01 -4.48654103e-02 -2.97479481e-02 6.35921347e+01] [ 4.48567768e-02 9.98992969e-01 -9.57841767e-04 2.33604830e+00] [ 2.97609649e-02 -3.77944145e-04 9.99556973e-01 1.25865714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.62, Y:2.34, Z:1.26 [[ 9.98271081e-01 -5.19935021e-02 -2.74139664e-02 6.36220996e+01] [ 5.18214842e-02 9.98632188e-01 -6.94885652e-03 2.33938262e+00] [ 2.77377646e-02 5.51621008e-03 9.99600014e-01 1.26364674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.66, Y:2.33, Z:1.26 [[ 9.97972253e-01 -5.69877822e-02 -2.83509295e-02 6.36554593e+01] [ 5.71512074e-02 9.98353078e-01 4.98718837e-03 2.33040929e+00] [ 2.80200289e-02 -6.59736546e-03 9.99585591e-01 1.26277637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.175099893 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:63.69, Y:2.33, Z:1.26 [[ 9.97431296e-01 -6.68210134e-02 -2.58023521e-02 6.36872865e+01] [ 6.68219650e-02 9.97764573e-01 -8.26307749e-04 2.32708548e+00] [ 2.57998875e-02 -8.99978659e-04 9.99666722e-01 1.26273871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.72, Y:2.32, Z:1.26 [[ 9.97008341e-01 -7.29870726e-02 -2.54412284e-02 6.37204403e+01] [ 7.29900590e-02 9.97332337e-01 -8.12467669e-04 2.32322697e+00] [ 2.54326594e-02 -1.04691972e-03 9.99675989e-01 1.26455334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.75, Y:2.32, Z:1.27 [[ 9.96935599e-01 -7.39996666e-02 -2.53665355e-02 6.37536459e+01] [ 7.40030308e-02 9.97257690e-01 -8.07389136e-04 2.32342150e+00] [ 2.53567191e-02 -1.07228554e-03 9.99677892e-01 1.26509234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.79, Y:2.32, Z:1.27 [[ 9.96886471e-01 -7.46237137e-02 -2.54689123e-02 6.37871794e+01] [ 7.46273790e-02 9.97211162e-01 -8.07880448e-04 2.32371109e+00] [ 2.54581707e-02 -1.09531308e-03 9.99675288e-01 1.26569340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.82, Y:2.32, Z:1.27 [[ 9.96866780e-01 -7.47768853e-02 -2.57883585e-02 6.38194668e+01] [ 7.47807694e-02 9.97199665e-01 -8.15102004e-04 2.32384995e+00] [ 2.57770932e-02 -1.11592518e-03 9.99667093e-01 1.26577325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32509989299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:63.85, Y:2.32, Z:1.27 [[ 9.96859305e-01 -7.45183103e-02 -2.68057500e-02 6.38511959e+01] [ 7.45225493e-02 9.97218973e-01 -8.42213504e-04 2.32375883e+00] [ 2.67939628e-02 -1.15806445e-03 9.99640307e-01 1.26503298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.35509989299999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:63.88, Y:2.32, Z:1.26 [[ 9.96861400e-01 -7.39722837e-02 -2.82037187e-02 6.38838497e+01] [ 7.39769027e-02 9.97259566e-01 -8.81045002e-04 2.32381945e+00] [ 2.81916012e-02 -1.20814400e-03 9.99601808e-01 1.26273338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.92, Y:2.32, Z:1.27 [[ 9.96904038e-01 -7.31047690e-02 -2.89487791e-02 6.39161665e+01] [ 7.31093639e-02 9.97323523e-01 -9.01097204e-04 2.32344543e+00] [ 2.89371729e-02 -1.21811938e-03 9.99580490e-01 1.26518646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.41509989299999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:63.95, Y:2.33, Z:1.26 [[ 9.97312575e-01 -6.61639116e-02 -3.14636976e-02 6.39494175e+01] [ 6.61659927e-02 9.97808152e-01 -9.76164170e-04 2.32587589e+00] [ 3.14593209e-02 -1.10828599e-03 9.99504419e-01 1.26409619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44509989299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:63.98, Y:2.33, Z:1.27 [[ 9.97970252e-01 -5.58169055e-02 -3.06569596e-02 6.39804392e+01] [ 5.58140941e-02 9.98440728e-01 -9.48111966e-04 2.33012338e+00] [ 3.06620777e-02 -7.64902887e-04 9.99529515e-01 1.26714686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.47509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.01, Y:2.33, Z:1.27 [[ 9.98380947e-01 -4.82940460e-02 -3.00527906e-02 6.40129663e+01] [ 4.82879879e-02 9.98833024e-01 -9.27730493e-04 2.33403950e+00] [ 3.00625236e-02 -5.24960342e-04 9.99547882e-01 1.26927854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.505099893 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:64.04, Y:2.34, Z:1.27 [[ 9.98560100e-01 -4.39851385e-02 -3.07088570e-02 6.40447069e+01] [ 4.39768390e-02 9.99032103e-01 -9.45935590e-04 2.33610761e+00] [ 3.07207411e-02 -4.05904922e-04 9.99527924e-01 1.26746532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.07, Y:2.34, Z:1.27 [[ 9.98924252e-01 -3.61514921e-02 -2.90414858e-02 6.40745735e+01] [ 3.61407840e-02 9.99346309e-01 -8.93705742e-04 2.34002585e+00] [ 2.90548104e-02 -1.56837723e-04 9.99577808e-01 1.27141926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.565099893 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:64.10, Y:2.34, Z:1.27 [[ 9.99059553e-01 -3.16646535e-02 -2.96202534e-02 6.41043356e+01] [ 3.16515379e-02 9.99498549e-01 -9.11673257e-04 2.34197950e+00] [ 2.96342681e-02 -2.67106946e-05 9.99560808e-01 1.27011051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.13, Y:2.34, Z:1.27 [[ 9.99199282e-01 -2.79641873e-02 -2.86146521e-02 6.41312668e+01] [ 2.79503925e-02 9.99608922e-01 -8.82028825e-04 2.34420202e+00] [ 2.86281268e-02 8.15318097e-05 9.99590128e-01 1.27338131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.625099893 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:64.16, Y:2.35, Z:1.27 [[ 9.99370640e-01 -2.09594549e-02 -2.86186269e-02 6.41596626e+01] [ 2.09426656e-02 9.99780285e-01 -8.86298045e-04 2.34614891e+00] [ 2.86309153e-02 2.86389910e-04 9.99590010e-01 1.26999614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.65509989299998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:64.19, Y:2.35, Z:1.27 [[ 9.99436531e-01 -1.87369861e-02 -2.78486124e-02 6.41861778e+01] [ 1.87200196e-02 9.99824387e-01 -8.69853740e-04 2.34724101e+00] [ 2.78600203e-02 3.48037035e-04 9.99611774e-01 1.27185586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68509989299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:64.21, Y:2.35, Z:1.27 [[ 9.99482108e-01 -1.64376299e-02 -2.76644029e-02 6.42142189e+01] [ 1.64199016e-02 9.99864808e-01 -8.67895881e-04 2.34835196e+00] [ 2.76749290e-02 4.13199633e-04 9.99616890e-01 1.27262822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.71509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.24, Y:2.35, Z:1.27 [[ 9.99495501e-01 -1.62086720e-02 -2.73133936e-02 6.42417547e+01] [ 1.61910964e-02 9.99868542e-01 -8.64531142e-04 2.34935878e+00] [ 2.73238160e-02 4.21861198e-04 9.99626546e-01 1.27498704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74509989299999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:64.27, Y:2.35, Z:1.27 [[ 9.99470801e-01 -1.59831442e-02 -2.83312014e-02 6.42695429e+01] [ 1.59639092e-02 9.99872159e-01 -9.05004380e-04 2.35027874e+00] [ 2.83420444e-02 4.52248726e-04 9.99598181e-01 1.27350640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.77509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.30, Y:2.35, Z:1.28 [[ 9.99460085e-01 -1.65540833e-02 -2.83813387e-02 6.42966373e+01] [ 1.65347913e-02 9.99862873e-01 -9.14310761e-04 2.35112137e+00] [ 2.83925824e-02 4.44537601e-04 9.99596751e-01 1.27627945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.80509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.32, Y:2.35, Z:1.28 [[ 9.99373185e-01 -1.89444351e-02 -2.99056012e-02 6.43246186e+01] [ 1.89239444e-02 9.99820457e-01 -9.68087022e-04 2.35105466e+00] [ 2.99185717e-02 4.01548277e-04 9.99552259e-01 1.27608105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.83509989299999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:64.35, Y:2.35, Z:1.27 [[ 9.99290143e-01 -2.32012348e-02 -2.96801769e-02 6.43523237e+01] [ 2.31826744e-02 9.99730776e-01 -9.69349551e-04 2.34995102e+00] [ 2.96946763e-02 2.80595576e-04 9.99558976e-01 1.27291982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.865099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:64.38, Y:2.35, Z:1.27 [[ 9.99249563e-01 -2.61335714e-02 -2.85893007e-02 6.43796916e+01] [ 2.61173203e-02 9.99658441e-01 -9.41763445e-04 2.34977661e+00] [ 2.86041474e-02 1.94380789e-04 9.99590799e-01 1.27462757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.41, Y:2.35, Z:1.28 [[ 9.99199736e-01 -2.90545773e-02 -2.74903507e-02 6.44068284e+01] [ 2.90404556e-02 9.99577820e-01 -9.12884558e-04 2.35006754e+00] [ 2.75052683e-02 1.13821700e-04 9.99621652e-01 1.27744327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.43, Y:2.35, Z:1.28 [[ 9.99046101e-01 -3.45632678e-02 -2.66883502e-02 6.44346519e+01] [ 3.45518301e-02 9.99402511e-01 -8.89733171e-04 2.35026830e+00] [ 2.67031563e-02 -3.32468842e-05 9.99643407e-01 1.27884188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.46, Y:2.35, Z:1.28 [[ 9.98860640e-01 -3.99802913e-02 -2.60575907e-02 6.44642153e+01] [ 3.99710444e-02 9.99200455e-01 -8.75839243e-04 2.34980866e+00] [ 2.60717728e-02 -1.66707766e-04 9.99660060e-01 1.28009259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.985099893 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:64.50, Y:2.35, Z:1.28 [[ 9.98744086e-01 -4.23005036e-02 -2.68499073e-02 6.44958228e+01] [ 4.22915003e-02 9.99104906e-01 -9.03351695e-04 2.34938677e+00] [ 2.68640863e-02 -2.33305699e-04 9.99639068e-01 1.27722807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.01509989299998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:64.53, Y:2.35, Z:1.28 [[ 9.98370033e-01 -5.03222632e-02 -2.69248385e-02 6.45263364e+01] [ 5.03161520e-02 9.98732930e-01 -9.04856505e-04 2.34594909e+00] [ 2.69362572e-02 -4.51372645e-04 9.99637051e-01 1.27834483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04509989299999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:64.56, Y:2.34, Z:1.28 [[ 9.98115752e-01 -5.44776237e-02 -2.82335754e-02 6.45587801e+01] [ 5.44726170e-02 9.98514816e-01 -9.47004291e-04 2.34446402e+00] [ 2.82432339e-02 -5.92736839e-04 9.99600905e-01 1.27663505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.07509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.59, Y:2.34, Z:1.28 [[ 9.97911760e-01 -5.82194644e-02 -2.79752087e-02 6.45898433e+01] [ 5.82160721e-02 9.98303567e-01 -9.36401223e-04 2.34446697e+00] [ 2.79822674e-02 -6.94160971e-04 9.99608179e-01 1.27941819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10509989299999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:64.62, Y:2.35, Z:1.28 [[ 9.97825730e-01 -5.93067801e-02 -2.87492399e-02 6.46216567e+01] [ 5.93036955e-02 9.98239525e-01 -9.60678541e-04 2.34507287e+00] [ 2.87556023e-02 -7.46346401e-04 9.99586194e-01 1.27828831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.13509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.65, Y:2.35, Z:1.28 [[ 9.97777498e-01 -6.03712607e-02 -2.82024141e-02 6.46535469e+01] [ 6.03687725e-02 9.98175699e-01 -9.40437275e-04 2.34586002e+00] [ 2.82077398e-02 -7.64197969e-04 9.99601790e-01 1.28041757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16509989299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:64.69, Y:2.35, Z:1.28 [[ 9.97682716e-01 -6.17447751e-02 -2.85793806e-02 6.46851429e+01] [ 6.17428405e-02 9.98091638e-01 -9.50997379e-04 2.34715630e+00] [ 2.85835599e-02 -8.15778489e-04 9.99591074e-01 1.27961114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.19509989299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:64.72, Y:2.35, Z:1.28 [[ 9.97634822e-01 -6.26115552e-02 -2.83646696e-02 6.47175153e+01] [ 6.26100438e-02 9.98037622e-01 -9.42289136e-04 2.34885089e+00] [ 2.83680056e-02 -8.35852749e-04 9.99597198e-01 1.28083387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.22509989299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:64.75, Y:2.35, Z:1.28 [[ 9.97609278e-01 -6.33529221e-02 -2.76068210e-02 6.47495472e+01] [ 6.33518277e-02 9.97990836e-01 -9.15157479e-04 2.35171617e+00] [ 2.76093323e-02 -8.35972975e-04 9.99618440e-01 1.28209405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.255099893 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.78, Y:2.35, Z:1.28 [[ 9.97573320e-01 -6.38647560e-02 -2.77266042e-02 6.47802271e+01] [ 6.38639044e-02 9.97958196e-01 -9.17153973e-04 2.35443350e+00] [ 2.77285657e-02 -8.55800868e-04 9.99615123e-01 1.28336393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.81, Y:2.36, Z:1.29 [[ 9.97514088e-01 -6.43938025e-02 -2.86196312e-02 6.48122617e+01] [ 6.43931602e-02 9.97924159e-01 -9.45044585e-04 2.35765796e+00] [ 2.86210764e-02 -9.00213210e-04 9.99589928e-01 1.28511625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.84, Y:2.36, Z:1.29 [[ 9.97487697e-01 -6.43286831e-02 -2.96667293e-02 6.48438270e+01] [ 6.43280271e-02 9.97928329e-01 -9.77512328e-04 2.36087645e+00] [ 2.96681517e-02 -9.33345649e-04 9.99559368e-01 1.28529017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.88, Y:2.36, Z:1.29 [[ 9.97473298e-01 -6.42061309e-02 -3.04071258e-02 6.48761882e+01] [ 6.42054383e-02 9.97936201e-01 -1.00016108e-03 2.36280807e+00] [ 3.04085881e-02 -9.54668877e-04 9.99537096e-01 1.28563852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.91, Y:2.37, Z:1.29 [[ 9.97439510e-01 -6.41724076e-02 -3.15646255e-02 6.49082267e+01] [ 6.41717184e-02 9.97938333e-01 -1.03590887e-03 2.36593256e+00] [ 3.15660265e-02 -9.92299826e-04 9.99501176e-01 1.28598581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40509989299998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:64.94, Y:2.37, Z:1.28 [[ 9.97423896e-01 -6.38252376e-02 -3.27400355e-02 6.49397443e+01] [ 6.38243847e-02 9.97960570e-01 -1.07220296e-03 2.36811833e+00] [ 3.27416981e-02 -1.02017177e-03 9.99463326e-01 1.28419574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.43509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.97, Y:2.37, Z:1.29 [[ 9.97546699e-01 -6.19308772e-02 -3.26366436e-02 6.49716366e+01] [ 6.19290789e-02 9.98079982e-01 -1.06691657e-03 2.37071138e+00] [ 3.26400557e-02 -9.56858169e-04 9.99466713e-01 1.28642243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46509989299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:65.00, Y:2.38, Z:1.29 [[ 9.97670086e-01 -5.92663184e-02 -3.37920554e-02 6.50022511e+01] [ 5.92629468e-02 9.98241798e-01 -1.10224161e-03 2.37717060e+00] [ 3.37979680e-02 -9.02943304e-04 9.99428278e-01 1.28673546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.49509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.03, Y:2.38, Z:1.29 [[ 9.97930693e-01 -5.59282318e-02 -3.17232576e-02 6.50340149e+01] [ 5.59236311e-02 9.98434515e-01 -1.03296650e-03 2.38176435e+00] [ 3.17313673e-02 -7.43250773e-04 9.99496157e-01 1.28934675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.07, Y:2.39, Z:1.29 [[ 9.98223927e-01 -5.10890993e-02 -3.06413969e-02 6.50657257e+01] [ 5.10825972e-02 9.98693936e-01 -9.95481165e-04 2.38607805e+00] [ 3.06522355e-02 -5.71529015e-04 9.99529946e-01 1.29176928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.55509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.10, Y:2.39, Z:1.29 [[ 9.98370961e-01 -4.91132310e-02 -2.90398833e-02 6.50965940e+01] [ 4.91066261e-02 9.98793099e-01 -9.41004353e-04 2.38907829e+00] [ 2.90510507e-02 -4.86579268e-04 9.99577811e-01 1.29214145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.13, Y:2.39, Z:1.29 [[ 9.98692155e-01 -4.26932970e-02 -2.81293685e-02 6.51275689e+01] [ 4.26845953e-02 9.99088183e-01 -9.10012134e-04 2.39340836e+00] [ 2.81425711e-02 -2.91868732e-04 9.99603877e-01 1.29348053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.16, Y:2.40, Z:1.30 [[ 9.98795359e-01 -3.99475604e-02 -2.84960333e-02 6.51584533e+01] [ 3.99375455e-02 9.99201754e-01 -9.20735441e-04 2.39692554e+00] [ 2.85100676e-02 -2.18435342e-04 9.99593482e-01 1.29575148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.19, Y:2.40, Z:1.30 [[ 9.99068827e-01 -3.28981566e-02 -2.79139661e-02 6.51883121e+01] [ 3.28858227e-02 9.99458709e-01 -9.00941576e-04 2.39985177e+00] [ 2.79284958e-02 -1.78710941e-05 9.99609923e-01 1.29520208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.22, Y:2.40, Z:1.29 [[ 9.99080630e-01 -3.18020058e-02 -2.87493842e-02 6.52171574e+01] [ 3.17884773e-02 9.99494188e-01 -9.27601920e-04 2.39798827e+00] [ 2.87643421e-02 1.28499614e-05 9.99586221e-01 1.29463872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.25, Y:2.40, Z:1.30 [[ 9.99072146e-01 -3.20674985e-02 -2.87493102e-02 6.52455168e+01] [ 3.20540142e-02 9.99485705e-01 -9.29887711e-04 2.39896930e+00] [ 2.87643438e-02 7.49411096e-06 9.99586221e-01 1.29535798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.27, Y:2.40, Z:1.30 [[ 9.99018691e-01 -3.25156480e-02 -3.00730413e-02 6.52746524e+01] [ 3.25008482e-02 9.99471227e-01 -9.80934489e-04 2.39752018e+00] [ 3.00890352e-02 2.57253753e-06 9.99547222e-01 1.29533403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76509989299998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:65.30, Y:2.40, Z:1.29 [[ 9.98972375e-01 -3.27190558e-02 -3.13633037e-02 6.53024444e+01] [ 3.27028278e-02 9.99464588e-01 -1.03038030e-03 2.39765528e+00] [ 3.13802245e-02 3.65273589e-06 9.99507519e-01 1.29423505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.33, Y:2.40, Z:1.30 [[ 9.98967340e-01 -3.37577531e-02 -3.04083579e-02 6.53298878e+01] [ 3.37428402e-02 9.99430044e-01 -1.00358396e-03 2.39735049e+00] [ 3.04249052e-02 -2.35167600e-05 9.99537055e-01 1.29668692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82509989299999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:65.36, Y:2.40, Z:1.30 [[ 9.98916135e-01 -3.49056179e-02 -3.07920812e-02 6.53583095e+01] [ 3.48906038e-02 9.99390612e-01 -1.02493001e-03 2.39576724e+00] [ 3.08090927e-02 -5.05351858e-05 9.99525286e-01 1.29542503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.85509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.39, Y:2.39, Z:1.30 [[ 9.98891798e-01 -3.73173099e-02 -2.86809187e-02 6.53863804e+01] [ 3.73050586e-02 9.99303461e-01 -9.62306632e-04 2.39325692e+00] [ 2.86968520e-02 -1.08703152e-04 9.99588155e-01 1.29796089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88509989299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:65.42, Y:2.39, Z:1.30 [[ 9.98623517e-01 -4.30407618e-02 -2.99760690e-02 6.54166165e+01] [ 4.30297240e-02 9.99073278e-01 -1.01349730e-03 2.38919654e+00] [ 2.99919112e-02 -2.77759735e-04 9.99550103e-01 1.29788780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.91509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.45, Y:2.39, Z:1.30 [[ 9.98363172e-01 -4.86763536e-02 -3.00264875e-02 6.54466252e+01] [ 4.86678065e-02 9.98814504e-01 -1.01584582e-03 2.38848256e+00] [ 3.00403389e-02 -4.47140233e-04 9.99548587e-01 1.29995905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.48, Y:2.39, Z:1.30 [[ 9.98211993e-01 -5.18624279e-02 -2.97170798e-02 6.54783919e+01] [ 5.18555165e-02 9.98654093e-01 -1.00371391e-03 2.38875653e+00] [ 2.97291384e-02 -5.39075259e-04 9.99557846e-01 1.30104685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.97509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.51, Y:2.39, Z:1.30 [[ 9.98022287e-01 -5.53078712e-02 -2.98756553e-02 6.55105554e+01] [ 5.53024650e-02 9.98469139e-01 -1.00784095e-03 2.38875430e+00] [ 2.98856613e-02 -6.46349650e-04 9.99553115e-01 1.30196675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.005099893 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:65.54, Y:2.39, Z:1.30 [[ 9.97526150e-01 -6.25841458e-02 -3.20125651e-02 6.55414953e+01] [ 6.25817540e-02 9.98039259e-01 -1.07764840e-03 2.38712361e+00] [ 3.20172405e-02 -9.28420017e-04 9.99486886e-01 1.29994790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.57, Y:2.39, Z:1.30 [[ 9.97294882e-01 -6.64969132e-02 -3.13221743e-02 6.55734827e+01] [ 6.64966044e-02 9.97786096e-01 -1.05267641e-03 2.38680107e+00] [ 3.13228297e-02 -1.03298944e-03 9.99508786e-01 1.30207768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.065099893 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:65.61, Y:2.39, Z:1.30 [[ 9.96573260e-01 -7.58624180e-02 -3.29640832e-02 6.56058509e+01] [ 7.58672675e-02 9.97117313e-01 -1.10545343e-03 2.38504100e+00] [ 3.29529204e-02 -1.39922959e-03 9.99455926e-01 1.30035339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.64, Y:2.39, Z:1.30 [[ 9.96317640e-01 -7.97043167e-02 -3.15971771e-02 6.56376219e+01] [ 7.97107708e-02 9.96817473e-01 -1.05732683e-03 2.38514871e+00] [ 3.15808917e-02 -1.46520196e-03 9.99500125e-01 1.30278596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.67, Y:2.39, Z:1.30 [[ 9.96304878e-01 -7.99653507e-02 -3.13390076e-02 6.56709499e+01] [ 7.99719185e-02 9.96796568e-01 -1.04580905e-03 2.38559562e+00] [ 3.13222437e-02 -1.46429590e-03 9.99508266e-01 1.30314811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.15509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.70, Y:2.39, Z:1.30 [[ 9.96352731e-01 -7.95677676e-02 -3.08254128e-02 6.57042888e+01] [ 7.95740322e-02 9.96828432e-01 -1.02540841e-03 2.38628998e+00] [ 3.08092373e-02 -1.43123392e-03 9.99524258e-01 1.30389485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.74, Y:2.39, Z:1.31 [[ 9.96615277e-01 -7.72405177e-02 -2.81405926e-02 6.57376770e+01] [ 7.72448891e-02 9.97011713e-01 -9.33327036e-04 2.38817190e+00] [ 2.81285911e-02 -1.24354897e-03 9.99603539e-01 1.30603005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.21509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.77, Y:2.39, Z:1.31 [[ 9.96671171e-01 -7.66429444e-02 -2.77927465e-02 6.57708744e+01] [ 7.66470585e-02 9.97057864e-01 -9.18835377e-04 2.38991392e+00] [ 2.77813987e-02 -1.21445553e-03 9.99613285e-01 1.30723880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24509989299999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:65.80, Y:2.39, Z:1.30 [[ 9.96546254e-01 -7.71139914e-02 -3.08057910e-02 6.58036384e+01] [ 7.71193839e-02 9.97021349e-01 -1.01483016e-03 2.38980011e+00] [ 3.07922889e-02 -1.36439843e-03 9.99524874e-01 1.30462464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.27509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.84, Y:2.39, Z:1.31 [[ 9.96355245e-01 -7.88580464e-02 -3.25212960e-02 6.58364345e+01] [ 7.88651045e-02 9.96884725e-01 -1.06765313e-03 2.39015859e+00] [ 3.25041762e-02 -1.50103360e-03 9.99470473e-01 1.30653270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.30509989299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:65.87, Y:2.39, Z:1.31 [[ 9.96038865e-01 -8.13474169e-02 -3.59051165e-02 6.58684428e+01] [ 8.13577824e-02 9.96684269e-01 -1.17469229e-03 2.39254839e+00] [ 3.58816229e-02 -1.75112148e-03 9.99354513e-01 1.30680851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.33509989299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:65.90, Y:2.39, Z:1.31 [[ 9.95957399e-01 -8.20032969e-02 -3.66649395e-02 6.59011376e+01] [ 8.20146814e-02 9.96630404e-01 -1.19596720e-03 2.39438618e+00] [ 3.66394667e-02 -1.81593096e-03 9.99326899e-01 1.30765185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.93, Y:2.40, Z:1.31 [[ 9.95906713e-01 -8.26749550e-02 -3.65331538e-02 6.59346054e+01] [ 8.26868519e-02 9.96574871e-01 -1.18773721e-03 2.39583003e+00] [ 3.65062192e-02 -1.83793601e-03 9.99331736e-01 1.30992878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.97, Y:2.40, Z:1.31 [[ 9.96152988e-01 -8.04120804e-02 -3.48298868e-02 6.59666398e+01] [ 8.04216327e-02 9.96760295e-01 -1.12889343e-03 2.39548828e+00] [ 3.48078249e-02 -1.67652580e-03 9.99392618e-01 1.30943519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.425099893 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:66.00, Y:2.40, Z:1.31 [[ 9.96493435e-01 -7.65686628e-02 -3.37353403e-02 6.59993244e+01] [ 7.65755300e-02 9.97063187e-01 -1.09031101e-03 2.39731734e+00] [ 3.37197496e-02 -1.49681381e-03 9.99430207e-01 1.30961305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.03, Y:2.40, Z:1.31 [[ 9.96774375e-01 -7.32119228e-02 -3.28764239e-02 6.60325271e+01] [ 7.32167362e-02 9.97315491e-01 -1.05906532e-03 2.40117963e+00] [ 3.28657030e-02 -1.35145528e-03 9.99458863e-01 1.31180615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.07, Y:2.40, Z:1.31 [[ 9.97043536e-01 -6.90778139e-02 -3.36517776e-02 6.60652263e+01] [ 6.90806331e-02 9.97610495e-01 -1.08028128e-03 2.40387851e+00] [ 3.36459900e-02 -1.24759863e-03 9.99433035e-01 1.31172272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.51509989299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:66.10, Y:2.41, Z:1.31 [[ 9.97101508e-01 -6.77897319e-02 -3.45418006e-02 6.60959729e+01] [ 6.77920478e-02 9.97698860e-01 -1.10547940e-03 2.40504859e+00] [ 3.45372553e-02 -1.23938422e-03 9.99402643e-01 1.31102629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54509989299999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:66.13, Y:2.41, Z:1.31 [[ 9.97203247e-01 -6.52251032e-02 -3.64879522e-02 6.61282447e+01] [ 6.52260578e-02 9.97869833e-01 -1.16548647e-03 2.40741391e+00] [ 3.64862457e-02 -1.21773839e-03 9.99333413e-01 1.31090423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.57509989299999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:66.16, Y:2.41, Z:1.31 [[ 9.97295698e-01 -6.32659746e-02 -3.73992945e-02 6.61603000e+01] [ 6.32657068e-02 9.97996007e-01 -1.19181136e-03 2.41006915e+00] [ 3.73997477e-02 -1.17750446e-03 9.99299691e-01 1.31157813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.19, Y:2.41, Z:1.32 [[ 9.97454267e-01 -6.12368030e-02 -3.65381762e-02 6.61910991e+01] [ 6.12352676e-02 9.98122684e-01 -1.16215706e-03 2.41316878e+00] [ 3.65407493e-02 -1.07822648e-03 9.99331582e-01 1.31500027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.63509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.22, Y:2.42, Z:1.32 [[ 9.97761144e-01 -5.60858599e-02 -3.64290442e-02 6.62201324e+01] [ 5.59021844e-02 9.98417969e-01 -6.04195859e-03 2.42292544e+00] [ 3.67102808e-02 3.99196837e-03 9.99317977e-01 1.31698363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.66509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.25, Y:2.42, Z:1.32 [[ 9.98355979e-01 -4.45545010e-02 -3.60587924e-02 6.62511973e+01] [ 4.47045852e-02 9.98994579e-01 3.36630684e-03 2.42055174e+00] [ 3.58725540e-02 -4.97276591e-03 9.99344001e-01 1.31574739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.69509989299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:66.28, Y:2.42, Z:1.32 [[ 9.98600449e-01 -4.00458974e-02 -3.45466345e-02 6.62803476e+01] [ 4.00317815e-02 9.99197801e-01 -1.10047594e-03 2.42260581e+00] [ 3.45629908e-02 -2.84027558e-04 9.99402481e-01 1.31687633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.72509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.31, Y:2.42, Z:1.32 [[ 9.98771495e-01 -3.65248285e-02 -3.34878721e-02 6.63083793e+01] [ 3.65093538e-02 9.99332735e-01 -1.07366650e-03 2.42312992e+00] [ 3.35047423e-02 -1.50273080e-04 9.99438547e-01 1.31920761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.34, Y:2.42, Z:1.32 [[ 9.98817972e-01 -3.53060317e-02 -3.34087117e-02 6.63362800e+01] [ 3.52897958e-02 9.99376542e-01 -1.07569569e-03 2.42391814e+00] [ 3.34258614e-02 -1.04562427e-04 9.99441194e-01 1.32006760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.36, Y:2.43, Z:1.32 [[ 9.98926294e-01 -3.46124549e-02 -3.07934630e-02 6.63632795e+01] [ 3.42054131e-02 9.99321622e-01 -1.36486113e-02 2.43207433e+00] [ 3.12449853e-02 1.25806536e-02 9.99432578e-01 1.32208085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.39, Y:2.42, Z:1.32 [[ 9.98875543e-01 -3.35573355e-02 -3.34896364e-02 6.63937631e+01] [ 3.39511209e-02 9.99360066e-01 1.12597001e-02 2.41902369e+00] [ 3.30903597e-02 -1.23840497e-02 9.99375637e-01 1.31781074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.42, Y:2.42, Z:1.32 [[ 9.98871924e-01 -3.42722560e-02 -3.28677853e-02 6.64203868e+01] [ 3.42552905e-02 9.99412533e-01 -1.07930014e-03 2.42488095e+00] [ 3.28854666e-02 -4.78129323e-05 9.99459126e-01 1.32287573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.875099893 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:66.45, Y:2.42, Z:1.32 [[ 9.98828320e-01 -3.52432098e-02 -3.31647860e-02 6.64484591e+01] [ 3.52262896e-02 9.99378762e-01 -1.09452637e-03 2.42424791e+00] [ 3.31827574e-02 -7.50284250e-05 9.99449298e-01 1.32293964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.48, Y:2.42, Z:1.32 [[ 9.98775333e-01 -3.66615387e-02 -3.32229765e-02 6.64756016e+01] [ 3.66450634e-02 9.99327733e-01 -1.10486548e-03 2.42389053e+00] [ 3.32411479e-02 -1.13945692e-04 9.99447354e-01 1.32401663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.93509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.50, Y:2.42, Z:1.32 [[ 9.98495726e-01 -4.15242028e-02 -3.58053955e-02 6.65026645e+01] [ 4.15080200e-02 9.99137456e-01 -1.19550955e-03 2.42075634e+00] [ 3.58241544e-02 -2.92499900e-04 9.99358066e-01 1.32332325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96509989299999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:66.53, Y:2.42, Z:1.32 [[ 9.98198219e-01 -4.60430761e-02 -3.84753254e-02 6.65305820e+01] [ 4.60274693e-02 9.98939339e-01 -1.29179253e-03 2.42063706e+00] [ 3.84939942e-02 -4.81456860e-04 9.99258716e-01 1.32212850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.99509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.56, Y:2.42, Z:1.33 [[ 9.97966451e-01 -5.13690915e-02 -3.77382980e-02 6.65584942e+01] [ 5.13574794e-02 9.98679517e-01 -1.27769664e-03 2.42182910e+00] [ 3.77540993e-02 -6.63045481e-04 9.99286840e-01 1.32516925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.59, Y:2.42, Z:1.33 [[ 9.97869841e-01 -5.37427041e-02 -3.69797593e-02 6.65883150e+01] [ 5.37329026e-02 9.98554550e-01 -1.25957380e-03 2.42250063e+00] [ 3.69939998e-02 -7.30139097e-04 9.99315221e-01 1.32631465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.05509989299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:66.62, Y:2.42, Z:1.33 [[ 9.97798186e-01 -5.55793053e-02 -3.61900534e-02 6.66183310e+01] [ 5.55710854e-02 9.98453971e-01 -1.23376012e-03 2.42275349e+00] [ 3.62026741e-02 -7.80076941e-04 9.99344164e-01 1.32580623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.65, Y:2.42, Z:1.33 [[ 9.97702098e-01 -5.89578840e-02 -3.33839947e-02 6.66497814e+01] [ 5.89527737e-02 9.98260124e-01 -1.13822791e-03 2.42283229e+00] [ 3.33930182e-02 -8.32466706e-04 9.99441951e-01 1.32759799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.68, Y:2.43, Z:1.33 [[ 9.97620203e-01 -6.20955604e-02 -2.99678358e-02 6.66823387e+01] [ 6.20928896e-02 9.98069853e-01 -1.02061718e-03 2.42527584e+00] [ 2.99733692e-02 -8.42601200e-04 9.99550342e-01 1.33009530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.71, Y:2.43, Z:1.33 [[ 9.97501550e-01 -6.30716133e-02 -3.18218364e-02 6.67139223e+01] [ 6.30691740e-02 9.98008572e-01 -1.08139427e-03 2.42869319e+00] [ 3.18266708e-02 -9.28284474e-04 9.99492972e-01 1.33151557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.75, Y:2.43, Z:1.33 [[ 9.97413619e-01 -6.26823156e-02 -3.51710215e-02 6.67461926e+01] [ 6.26791905e-02 9.98033014e-01 -1.19251829e-03 2.42925939e+00] [ 3.51765904e-02 -1.01505717e-03 9.99380597e-01 1.33100872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.205099893 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:66.78, Y:2.43, Z:1.33 [[ 9.97688531e-01 -5.68385770e-02 -3.72420594e-02 6.67770078e+01] [ 5.68311317e-02 9.98383011e-01 -1.25936380e-03 2.43228900e+00] [ 3.72534198e-02 -8.60055565e-04 9.99305480e-01 1.33150217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.235099893 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:66.81, Y:2.43, Z:1.33 [[ 9.97830268e-01 -5.34386809e-02 -3.84585967e-02 6.68078815e+01] [ 5.34283392e-02 9.98570843e-01 -1.29735984e-03 2.43450367e+00] [ 3.84729626e-02 -7.60234030e-04 9.99259352e-01 1.33131180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.84, Y:2.44, Z:1.34 [[ 9.98350447e-01 -4.13161140e-02 -3.98668125e-02 6.68368315e+01] [ 4.12953261e-02 9.99146079e-01 -1.34512779e-03 2.43987542e+00] [ 3.98883449e-02 -3.03404090e-04 9.99204097e-01 1.33510835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.86, Y:2.44, Z:1.34 [[ 9.98651430e-01 -3.35466767e-02 -3.96224836e-02 6.68645065e+01] [ 3.35198488e-02 9.99437152e-01 -1.34141242e-03 2.44328411e+00] [ 3.96451821e-02 1.14637719e-05 9.99213821e-01 1.33617293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.89, Y:2.45, Z:1.34 [[ 9.98897482e-01 -2.70025050e-02 -3.84016297e-02 6.68909191e+01] [ 2.69721406e-02 9.99635329e-01 -1.30866065e-03 2.44517980e+00] [ 3.84229629e-02 2.71443674e-04 9.99261528e-01 1.33667017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.35509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.92, Y:2.45, Z:1.34 [[ 9.99030336e-01 -2.31105162e-02 -3.74738944e-02 6.69183517e+01] [ 2.30786184e-02 9.99732829e-01 -1.28360982e-03 2.44651635e+00] [ 3.74935474e-02 4.17519440e-04 9.99296783e-01 1.33762052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.95, Y:2.44, Z:1.34 [[ 9.99001800e-01 -2.43513406e-02 -3.74488474e-02 6.69466071e+01] [ 2.43199502e-02 9.99703389e-01 -1.29359679e-03 2.44255715e+00] [ 3.74692404e-02 3.81551416e-04 9.99297709e-01 1.33865894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.41509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.97, Y:2.44, Z:1.34 [[ 9.98861274e-01 -3.04318960e-02 -3.67430863e-02 6.69747494e+01] [ 3.04054042e-02 9.99536830e-01 -1.27969859e-03 2.43800684e+00] [ 3.67650116e-02 1.61052972e-04 9.99323925e-01 1.33947452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.00, Y:2.44, Z:1.34 [[ 9.98799496e-01 -3.28400333e-02 -3.63469253e-02 6.70013018e+01] [ 3.28153915e-02 9.99460617e-01 -1.27447940e-03 2.43767110e+00] [ 3.63691743e-02 8.02108030e-05 9.99338420e-01 1.34053709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.47509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.03, Y:2.44, Z:1.34 [[ 9.98686155e-01 -3.80899938e-02 -3.42799635e-02 6.70286062e+01] [ 3.80710271e-02 9.99274308e-01 -1.20608224e-03 2.43606160e+00] [ 3.43010264e-02 -1.00575788e-04 9.99411542e-01 1.34155361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.06, Y:2.44, Z:1.34 [[ 9.98573679e-01 -4.14514282e-02 -3.36509415e-02 6.70565433e+01] [ 4.14348747e-02 9.99140499e-01 -1.18942822e-03 2.43537169e+00] [ 3.36713220e-02 -2.06590836e-04 9.99432939e-01 1.34258977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.09, Y:2.43, Z:1.34 [[ 9.96840702e-01 -7.15459991e-02 -3.44932641e-02 6.70855358e+01] [ 7.15462916e-02 9.97436525e-01 -1.22740575e-03 2.42624721e+00] [ 3.44926574e-02 -1.24433712e-03 9.99404177e-01 1.34267935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.12, Y:2.43, Z:1.34 [[ 9.96269188e-01 -7.90647650e-02 -3.45899899e-02 6.71176044e+01] [ 7.90695395e-02 9.96868341e-01 -1.23201010e-03 2.42570173e+00] [ 3.45790744e-02 -1.50760087e-03 9.99400828e-01 1.34349931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.15, Y:2.43, Z:1.34 [[ 9.96276328e-01 -7.89747112e-02 -3.45900848e-02 6.71502773e+01] [ 7.89795240e-02 9.96875480e-01 -1.22934112e-03 2.42680823e+00] [ 3.45790942e-02 -1.50714497e-03 9.99400828e-01 1.34432629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.18, Y:2.43, Z:1.34 [[ 9.95793162e-01 -8.49302592e-02 -3.43922953e-02 6.71833687e+01] [ 8.49386714e-02 9.96385435e-01 -1.21902647e-03 2.42631037e+00] [ 3.43715144e-02 -1.70733766e-03 9.99407667e-01 1.34495161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.65509989299998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:67.22, Y:2.43, Z:1.34 [[ 9.95488426e-01 -8.83771749e-02 -3.45292532e-02 6.72157393e+01] [ 8.83878770e-02 9.96085386e-01 -1.21936748e-03 2.42652328e+00] [ 3.45018488e-02 -1.83810118e-03 9.99402944e-01 1.34223874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.25, Y:2.43, Z:1.35 [[ 9.95427578e-01 -8.95157927e-02 -3.33295746e-02 6.72477984e+01] [ 8.95265724e-02 9.95983745e-01 -1.17179171e-03 2.42813143e+00] [ 3.33006084e-02 -1.81744880e-03 9.99443728e-01 1.34658121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.71509989299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:67.28, Y:2.43, Z:1.35 [[ 9.95459548e-01 -8.97451169e-02 -3.17191296e-02 6.72807830e+01] [ 8.97550859e-02 9.95963246e-01 -1.11228675e-03 2.43040449e+00] [ 3.16909096e-02 -1.73971674e-03 9.99496203e-01 1.34737532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.31, Y:2.43, Z:1.35 [[ 9.95652335e-01 -8.78226762e-02 -3.10419800e-02 6.73137048e+01] [ 8.78313946e-02 9.96134764e-01 -1.08523216e-03 2.43258205e+00] [ 3.10173034e-02 -1.64594646e-03 9.99517492e-01 1.34932824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.77509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.35, Y:2.44, Z:1.35 [[ 9.95945513e-01 -8.28529218e-02 -3.50418112e-02 6.73467674e+01] [ 8.28611181e-02 9.96560357e-01 -1.22078601e-03 2.43683598e+00] [ 3.50224255e-02 -1.68776730e-03 9.99385102e-01 1.34829824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.80509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.38, Y:2.44, Z:1.35 [[ 9.95831907e-01 -8.33007411e-02 -3.71456602e-02 6.73798357e+01] [ 8.33104240e-02 9.96522809e-01 -1.28979330e-03 2.43975010e+00] [ 3.71239384e-02 -1.81020338e-03 9.99309029e-01 1.34814019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.83509989299999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:67.41, Y:2.44, Z:1.34 [[ 9.95601573e-01 -8.41725041e-02 -4.11399820e-02 6.74122558e+01] [ 8.41853762e-02 9.96449095e-01 -1.42252503e-03 2.44354801e+00] [ 4.11136353e-02 -2.04711670e-03 9.99152380e-01 1.34411097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.865099893 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:67.44, Y:2.45, Z:1.35 [[ 9.95616610e-01 -8.42411134e-02 -4.06325198e-02 6.74443058e+01] [ 8.42539556e-02 9.96443331e-01 -1.39932438e-03 2.44948772e+00] [ 4.06058840e-02 -2.03025992e-03 9.99173178e-01 1.34625660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.48, Y:2.46, Z:1.35 [[ 9.95906657e-01 -8.16929136e-02 -3.86807266e-02 6.74757076e+01] [ 8.17027465e-02 9.96655856e-01 -1.32912431e-03 2.45568282e+00] [ 3.86599527e-02 -1.83663785e-03 9.99250737e-01 1.34856214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.51, Y:2.46, Z:1.35 [[ 9.96321708e-01 -7.72113905e-02 -3.71679324e-02 6.75079583e+01] [ 7.72174766e-02 9.97013460e-01 -1.27387600e-03 2.45991070e+00] [ 3.71552866e-02 -1.60082364e-03 9.99308222e-01 1.35020292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.54, Y:2.46, Z:1.35 [[ 9.96523683e-01 -7.50289861e-02 -3.62105098e-02 6.75402894e+01] [ 7.50334315e-02 9.97180250e-01 -1.23808525e-03 2.46226298e+00] [ 3.62012975e-02 -1.48321753e-03 9.99343418e-01 1.35106407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.57, Y:2.47, Z:1.35 [[ 9.96789719e-01 -7.17645394e-02 -3.54979957e-02 6.75725751e+01] [ 7.17668412e-02 9.97420701e-01 -1.21098941e-03 2.46536027e+00] [ 3.54933418e-02 -1.34047723e-03 9.99369014e-01 1.35291314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.60, Y:2.47, Z:1.35 [[ 9.96889579e-01 -7.04446633e-02 -3.53371972e-02 6.76043888e+01] [ 7.04462225e-02 9.97514854e-01 -1.20249944e-03 2.46733575e+00] [ 3.53340887e-02 -1.29061290e-03 9.99374723e-01 1.35390574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04509989299999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:67.64, Y:2.47, Z:1.35 [[ 9.96934856e-01 -6.96428604e-02 -3.56477899e-02 6.76362065e+01] [ 6.96440274e-02 9.97571172e-01 -1.21049558e-03 2.46912271e+00] [ 3.56455099e-02 -1.27587042e-03 9.99363682e-01 1.35372349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.07509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.67, Y:2.47, Z:1.36 [[ 9.96956019e-01 -6.98828308e-02 -3.45700225e-02 6.76686740e+01] [ 6.98841563e-02 9.97554426e-01 -1.17144574e-03 2.47059102e+00] [ 3.45673429e-02 -1.24801697e-03 9.99401592e-01 1.35617466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.70, Y:2.47, Z:1.36 [[ 9.96914608e-01 -7.05875631e-02 -3.43316315e-02 6.77003723e+01] [ 7.05893734e-02 9.97504783e-01 -1.16086355e-03 2.47181685e+00] [ 3.43279092e-02 -1.26616653e-03 9.99409822e-01 1.35734064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.13509989299999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:67.73, Y:2.47, Z:1.36 [[ 9.96817181e-01 -7.14710005e-02 -3.53185912e-02 6.77316034e+01] [ 7.14735572e-02 9.97441783e-01 -1.19179029e-03 2.47336051e+00] [ 3.53134170e-02 -1.33634831e-03 9.99375393e-01 1.35620914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.16509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.76, Y:2.47, Z:1.36 [[ 9.96793204e-01 -7.18291620e-02 -3.52686876e-02 6.77629560e+01] [ 7.18320026e-02 9.97416037e-01 -1.18819705e-03 2.47477164e+00] [ 3.52629018e-02 -1.34903372e-03 9.99377160e-01 1.35902523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.19509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.80, Y:2.48, Z:1.36 [[ 9.96807200e-01 -7.15879993e-02 -3.53633234e-02 6.77952288e+01] [ 7.15907778e-02 9.97433379e-01 -1.18929229e-03 2.47602756e+00] [ 3.53576982e-02 -1.34619270e-03 9.99373814e-01 1.35938084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.22509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.83, Y:2.48, Z:1.36 [[ 9.96827857e-01 -7.11575474e-02 -3.56486546e-02 6.78260495e+01] [ 7.11601823e-02 9.97464183e-01 -1.19647913e-03 2.47744900e+00] [ 3.56433947e-02 -1.34408104e-03 9.99363668e-01 1.36007739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.86, Y:2.48, Z:1.36 [[ 9.96862824e-01 -7.06715536e-02 -3.56376424e-02 6.78586198e+01] [ 7.06739523e-02 9.97498755e-01 -1.19399258e-03 2.47896278e+00] [ 3.56328853e-02 -1.32840622e-03 9.99364064e-01 1.36096797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.89, Y:2.48, Z:1.36 [[ 9.96913503e-01 -6.99971981e-02 -3.55508129e-02 6.78904675e+01] [ 6.99992486e-02 9.97546336e-01 -1.18850796e-03 2.48030698e+00] [ 3.55467753e-02 -1.30369055e-03 9.99367163e-01 1.36162796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.92, Y:2.48, Z:1.36 [[ 9.96940062e-01 -6.94582070e-02 -3.58618347e-02 6.79213521e+01] [ 6.94600327e-02 9.97584018e-01 -1.19647885e-03 2.47729830e+00] [ 3.58582984e-02 -1.29814651e-03 9.99356041e-01 1.35937528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.95, Y:2.48, Z:1.36 [[ 9.96902770e-01 -6.96280906e-02 -3.65622294e-02 6.79538190e+01] [ 6.96301838e-02 9.97572130e-01 -1.21763741e-03 2.47674086e+00] [ 3.65582428e-02 -1.33196864e-03 9.99330636e-01 1.35960533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.99, Y:2.48, Z:1.36 [[ 9.96893520e-01 -6.93758329e-02 -3.72867879e-02 6.79860117e+01] [ 6.93779359e-02 9.97589679e-01 -1.23905063e-03 2.47814854e+00] [ 3.72828749e-02 -1.35167883e-03 9.99303838e-01 1.36086097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.02, Y:2.48, Z:1.36 [[ 9.97021991e-01 -6.78330498e-02 -3.66854995e-02 6.80182836e+01] [ 6.78341375e-02 9.97695870e-01 -1.21647160e-03 2.47954385e+00] [ 3.66834883e-02 -1.27568028e-03 9.99326120e-01 1.36252304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.43509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.05, Y:2.48, Z:1.36 [[ 9.97120460e-01 -6.65325135e-02 -3.63897331e-02 6.80502493e+01] [ 6.65328133e-02 9.97783511e-01 -1.20406235e-03 2.48106931e+00] [ 3.63891850e-02 -1.22051611e-03 9.99336949e-01 1.36384911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.08, Y:2.48, Z:1.37 [[ 9.97383638e-01 -6.30207792e-02 -3.54155397e-02 6.80810234e+01] [ 6.30189325e-02 9.98011646e-01 -1.16952812e-03 2.48329476e+00] [ 3.54188257e-02 -1.06538130e-03 9.99371989e-01 1.36571468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.49509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.11, Y:2.48, Z:1.37 [[ 9.97389598e-01 -6.29263318e-02 -3.54156157e-02 6.81137034e+01] [ 6.29245074e-02 9.98017607e-01 -1.16722406e-03 2.48431492e+00] [ 3.54188572e-02 -1.06433303e-03 9.99371989e-01 1.36654189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.15, Y:2.49, Z:1.37 [[ 9.97522542e-01 -6.10617279e-02 -3.49319799e-02 6.81463344e+01] [ 6.10589176e-02 9.98133503e-01 -1.14822094e-03 2.48609644e+00] [ 3.49368918e-02 -9.87532613e-04 9.99389033e-01 1.36763510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.55509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.18, Y:2.49, Z:1.37 [[ 9.97655168e-01 -5.88755205e-02 -3.48975342e-02 6.81778771e+01] [ 5.88714818e-02 9.98264915e-01 -1.14416081e-03 2.48756568e+00] [ 3.49043470e-02 -9.12991603e-04 9.99390241e-01 1.36845214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.21, Y:2.49, Z:1.37 [[ 9.97853554e-01 -5.51121925e-02 -3.53684955e-02 6.82104917e+01] [ 5.51058110e-02 9.98479851e-01 -1.15595607e-03 2.48989938e+00] [ 3.53784374e-02 -7.95534759e-04 9.99373671e-01 1.36850687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.24, Y:2.49, Z:1.37 [[ 9.97918850e-01 -5.38209732e-02 -3.55143987e-02 6.82420421e+01] [ 5.38138062e-02 9.98550315e-01 -1.15835020e-03 2.49177397e+00] [ 3.55252576e-02 -7.55225472e-04 9.99368493e-01 1.36929340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.27, Y:2.49, Z:1.37 [[ 9.98048094e-01 -5.03620257e-02 -3.69278915e-02 6.82734910e+01] [ 5.03519783e-02 9.98730811e-01 -1.20263452e-03 2.49413924e+00] [ 3.69415902e-02 -6.59105299e-04 9.99317209e-01 1.36851672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.30, Y:2.49, Z:1.37 [[ 9.97381001e-01 -5.96461331e-02 -4.09081572e-02 6.83031458e+01] [ 5.96416194e-02 9.98218966e-01 -1.33184089e-03 2.49202787e+00] [ 4.09147375e-02 -1.11147595e-03 9.99162023e-01 1.36864298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.33, Y:2.50, Z:1.37 [[ 9.97945700e-01 -5.57064315e-02 -3.16413314e-02 6.83340220e+01] [ 5.57017328e-02 9.98446921e-01 -1.03062189e-03 2.49809933e+00] [ 3.16496022e-02 -7.33972309e-04 9.99498756e-01 1.37244101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.37, Y:2.50, Z:1.37 [[ 9.97755311e-01 -5.79732664e-02 -3.35177399e-02 6.83650204e+01] [ 5.79693199e-02 9.98317770e-01 -1.09032197e-03 2.49723964e+00] [ 3.35245649e-02 -8.55126045e-04 9.99437528e-01 1.37304004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.40, Y:2.50, Z:1.37 [[ 9.98356812e-01 -4.37211669e-02 -3.70423395e-02 6.83974135e+01] [ 4.37066259e-02 9.99043685e-01 -1.20262277e-03 2.49837664e+00] [ 3.70594954e-02 -4.18349042e-04 9.99312973e-01 1.37365987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.79509989299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:68.43, Y:2.50, Z:1.37 [[ 9.98528278e-01 -3.95826850e-02 -3.70741138e-02 6.84257708e+01] [ 3.95652261e-02 9.99216264e-01 -1.20476486e-03 2.50030269e+00] [ 3.70927453e-02 -2.63853910e-04 9.99311792e-01 1.37437599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82509989299999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:68.45, Y:2.50, Z:1.37 [[ 9.98647246e-01 -3.48148032e-02 -3.86213244e-02 6.84534926e+01] [ 3.47918936e-02 9.99393778e-01 -1.26533685e-03 2.50120846e+00] [ 3.86419638e-02 -8.00838516e-05 9.99253117e-01 1.37252161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.85509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.48, Y:2.50, Z:1.37 [[ 9.98772272e-01 -2.88258032e-02 -4.02867414e-02 6.84814957e+01] [ 2.87955295e-02 9.99584436e-01 -1.33164951e-03 2.50269367e+00] [ 4.03083856e-02 1.69936556e-04 9.99187272e-01 1.37470748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.51, Y:2.48, Z:1.37 [[ 9.99183231e-01 -2.58817208e-02 -3.10323497e-02 6.85136026e+01] [ 2.54581067e-02 9.99578286e-01 -1.39690620e-02 2.47949750e+00] [ 3.13808063e-02 1.31676277e-02 9.99420762e-01 1.37363864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.91509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.54, Y:2.47, Z:1.37 [[ 9.98950867e-01 -2.40139640e-02 -3.89935185e-02 6.85389097e+01] [ 2.44969361e-02 9.99628412e-01 1.19557027e-02 2.47043864e+00] [ 3.86919251e-02 -1.28983813e-02 9.99167937e-01 1.37207403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.57, Y:2.48, Z:1.38 [[ 9.99004598e-01 -2.30840589e-02 -3.81698882e-02 6.85668418e+01] [ 2.30516533e-02 9.99733444e-01 -1.28892450e-03 2.47709076e+00] [ 3.81894674e-02 4.07762468e-04 9.99270433e-01 1.37686697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.97509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.59, Y:2.48, Z:1.38 [[ 9.99056269e-01 -2.18885641e-02 -3.75161460e-02 6.85933834e+01] [ 2.18560895e-02 9.99760313e-01 -1.27556980e-03 2.47734736e+00] [ 3.75350742e-02 4.54409765e-04 9.99295207e-01 1.37780810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.62, Y:2.48, Z:1.38 [[ 9.99050459e-01 -2.21525573e-02 -3.75159285e-02 6.86217494e+01] [ 2.21200296e-02 9.99754500e-01 -1.28193820e-03 2.47837988e+00] [ 3.75351165e-02 4.50867497e-04 9.99295208e-01 1.37853130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.65, Y:2.48, Z:1.38 [[ 9.99320479e-01 -1.85004843e-02 -3.18796456e-02 6.86530984e+01] [ 1.80895245e-02 9.99750134e-01 -1.31315570e-02 2.48139760e+00] [ 3.21146201e-02 1.25459462e-02 9.99405448e-01 1.37629027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.68, Y:2.48, Z:1.37 [[ 9.99297289e-01 -1.86939406e-02 -3.24879233e-02 6.86788614e+01] [ 1.85440255e-02 9.99815990e-01 -4.90971071e-03 2.47949874e+00] [ 3.25737270e-02 4.30380372e-03 9.99460069e-01 1.37435148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.71, Y:2.48, Z:1.37 [[ 9.99282409e-01 -1.88490607e-02 -3.28539143e-02 6.87064462e+01] [ 1.88203775e-02 9.99822182e-01 -1.18210600e-03 2.47875095e+00] [ 3.28703538e-02 5.62934667e-04 9.99459465e-01 1.37391438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.73, Y:2.47, Z:1.38 [[ 9.99122785e-01 -1.88457521e-02 -3.73965107e-02 6.87341140e+01] [ 1.93787827e-02 9.99714994e-01 1.39425416e-02 2.47334038e+00] [ 3.71230948e-02 -1.46550098e-02 9.99203236e-01 1.37599199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.15509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.76, Y:2.48, Z:1.38 [[ 9.99129091e-01 -1.85780198e-02 -3.73619667e-02 6.87601624e+01] [ 1.85424347e-02 9.99827231e-01 -1.29875759e-03 2.48159324e+00] [ 3.73796400e-02 6.04844657e-04 9.99300954e-01 1.38220074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.79, Y:2.48, Z:1.38 [[ 9.99127746e-01 -1.83877335e-02 -3.74918345e-02 6.87876273e+01] [ 1.83515161e-02 9.99830739e-01 -1.30994478e-03 2.48221331e+00] [ 3.75095755e-02 6.20770170e-04 9.99296075e-01 1.38305725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.21509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.82, Y:2.48, Z:1.39 [[ 9.99240300e-01 -1.87262567e-02 -3.41782079e-02 6.88153290e+01] [ 1.86960481e-02 9.99824490e-01 -1.20326291e-03 2.48143669e+00] [ 3.41947418e-02 5.63351372e-04 9.99415030e-01 1.38544403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.84, Y:2.48, Z:1.39 [[ 9.99222819e-01 -2.32431396e-02 -3.18357406e-02 6.88423499e+01] [ 2.32189647e-02 9.99729766e-01 -1.12889418e-03 2.47767552e+00] [ 3.18533765e-02 3.88823886e-04 9.99492477e-01 1.38715397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.27509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.87, Y:2.48, Z:1.39 [[ 9.99165457e-01 -2.63515292e-02 -3.12087571e-02 6.88698361e+01] [ 2.63296057e-02 9.99652696e-01 -1.11329850e-03 2.47657741e+00] [ 3.12272553e-02 2.90655138e-04 9.99512268e-01 1.38766261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.90, Y:2.48, Z:1.39 [[ 9.99082461e-01 -2.96269773e-02 -3.09269750e-02 6.88967141e+01] [ 2.96067673e-02 9.99561006e-01 -1.11130295e-03 2.47521949e+00] [ 3.09463228e-02 1.94635531e-04 9.99521029e-01 1.38838014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.33509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.92, Y:2.47, Z:1.39 [[ 9.98953762e-01 -3.37795804e-02 -3.08272983e-02 6.89241998e+01] [ 3.37613268e-02 9.99429305e-01 -1.11259048e-03 2.47381442e+00] [ 3.08472882e-02 7.06559543e-05 9.99524107e-01 1.38893227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.95, Y:2.47, Z:1.39 [[ 9.98944463e-01 -3.40537332e-02 -3.08269746e-02 6.89525651e+01] [ 3.40353353e-02 9.99420001e-01 -1.12149497e-03 2.47490092e+00] [ 3.08472861e-02 7.11047756e-05 9.99524107e-01 1.38964680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.98, Y:2.47, Z:1.39 [[ 9.98793055e-01 -3.83449797e-02 -3.06935639e-02 6.89799288e+01] [ 3.83285337e-02 9.99264559e-01 -1.12421022e-03 2.47336905e+00] [ 3.07140984e-02 -5.35859387e-05 9.99528209e-01 1.39017440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.01, Y:2.47, Z:1.39 [[ 9.98786264e-01 -3.85215967e-02 -3.06934106e-02 6.90083308e+01] [ 3.85051058e-02 9.99257766e-01 -1.12838255e-03 2.47449021e+00] [ 3.07140960e-02 -5.48400299e-05 9.99528209e-01 1.39088852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.04, Y:2.47, Z:1.39 [[ 9.98607571e-01 -4.30335853e-02 -3.05127866e-02 6.90365223e+01] [ 4.30192102e-02 9.99073609e-01 -1.12773567e-03 2.47272673e+00] [ 3.05330504e-02 -1.86470600e-04 9.99533740e-01 1.39133721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.07, Y:2.46, Z:1.39 [[ 9.97640015e-01 -5.96337939e-02 -3.40325043e-02 6.90656135e+01] [ 5.96252626e-02 9.98220028e-01 -1.26642464e-03 2.46387289e+00] [ 3.40474491e-02 -7.65761107e-04 9.99419924e-01 1.39195858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.10, Y:2.47, Z:1.39 [[ 9.97639088e-01 -5.96493242e-02 -3.40324488e-02 6.90965763e+01] [ 5.96407511e-02 9.98219101e-01 -1.26791358e-03 2.46502488e+00] [ 3.40474706e-02 -7.64800665e-04 9.99419924e-01 1.39273631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.13, Y:2.47, Z:1.39 [[ 9.97674277e-01 -5.78006354e-02 -3.61265013e-02 6.91268143e+01] [ 5.77897494e-02 9.98327868e-01 -1.34634346e-03 2.46731084e+00] [ 3.61439125e-02 -7.44529216e-04 9.99346318e-01 1.39215915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.57509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.16, Y:2.47, Z:1.39 [[ 9.97698741e-01 -5.67775466e-02 -3.70612021e-02 6.91557962e+01] [ 5.67653868e-02 9.98386590e-01 -1.38112709e-03 2.46892129e+00] [ 3.70798242e-02 -7.25844712e-04 9.99312043e-01 1.39231683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.19, Y:2.47, Z:1.39 [[ 9.97737369e-01 -5.56900958e-02 -3.76663801e-02 6.91850016e+01] [ 5.56767481e-02 9.98447860e-01 -1.40403183e-03 2.47056267e+00] [ 3.76861073e-02 -6.96286532e-04 9.99289384e-01 1.39268493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.63509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.21, Y:2.47, Z:1.39 [[ 9.97985748e-01 -5.07674070e-02 -3.80409843e-02 6.92133282e+01] [ 5.07501476e-02 9.98710372e-01 -1.41983395e-03 2.47451714e+00] [ 3.80640069e-02 -5.13611527e-04 9.99275171e-01 1.39354295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.24, Y:2.48, Z:1.40 [[ 9.98179451e-01 -4.79301468e-02 -3.66126210e-02 6.92410910e+01] [ 4.79120647e-02 9.98850616e-01 -1.37161055e-03 2.48039493e+00] [ 3.66362805e-02 -3.85072799e-04 9.99328592e-01 1.39571020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.69509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.27, Y:2.48, Z:1.40 [[ 9.98204527e-01 -4.79496177e-02 -3.58964641e-02 6.92686945e+01] [ 4.79319546e-02 9.98849687e-01 -1.35296071e-03 2.48263092e+00] [ 3.59200459e-02 -3.70056184e-04 9.99354598e-01 1.39662078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.72509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.30, Y:2.49, Z:1.40 [[ 9.98198601e-01 -4.90453011e-02 -3.45559149e-02 6.92972750e+01] [ 4.90294306e-02 9.98796479e-01 -1.30701140e-03 2.48559142e+00] [ 3.45784289e-02 -3.89599884e-04 9.99401911e-01 1.39811582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.33, Y:2.49, Z:1.40 [[ 9.98191564e-01 -4.95825356e-02 -3.39878559e-02 6.93271741e+01] [ 4.95672716e-02 9.98769952e-01 -1.29206007e-03 2.48735279e+00] [ 3.40101129e-02 -3.94961827e-04 9.99421411e-01 1.39893660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.36, Y:2.49, Z:1.40 [[ 9.98176002e-01 -5.00324872e-02 -3.37848954e-02 6.93571582e+01] [ 5.00176210e-02 9.98747508e-01 -1.28557310e-03 2.48911376e+00] [ 3.38069005e-02 -4.06611876e-04 9.99428301e-01 1.39985317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.39, Y:2.49, Z:1.40 [[ 9.98180297e-01 -5.02227201e-02 -3.33732307e-02 6.93870323e+01] [ 5.02082852e-02 9.98737960e-01 -1.27095867e-03 2.49083716e+00] [ 3.33949434e-02 -4.06966779e-04 9.99442150e-01 1.40076446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.42, Y:2.49, Z:1.40 [[ 9.98217009e-01 -4.99062816e-02 -3.27439452e-02 6.94171490e+01] [ 4.98922012e-02 9.98753830e-01 -1.24743694e-03 2.49386468e+00] [ 3.27653956e-02 -3.88454733e-04 9.99462995e-01 1.40227269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.87509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.45, Y:2.50, Z:1.40 [[ 9.98272696e-01 -4.85959512e-02 -3.30160124e-02 6.94471930e+01] [ 4.85809195e-02 9.98818458e-01 -1.25780181e-03 2.49718289e+00] [ 3.30381267e-02 -3.48319040e-04 9.99454031e-01 1.40374989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90509989299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:69.48, Y:2.50, Z:1.40 [[ 9.98263049e-01 -4.66600639e-02 -3.59683802e-02 6.94780375e+01] [ 4.66409672e-02 9.98910778e-01 -1.37027734e-03 2.50069884e+00] [ 3.59931399e-02 -3.09702808e-04 9.99351989e-01 1.40236143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.93509989299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:69.51, Y:2.50, Z:1.40 [[ 9.98228820e-01 -4.62754205e-02 -3.73872708e-02 6.95065917e+01] [ 4.62544008e-02 9.98928673e-01 -1.42744939e-03 2.50264477e+00] [ 3.74132726e-02 -3.04404684e-04 9.99299832e-01 1.40289124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.53, Y:2.50, Z:1.40 [[ 9.98217899e-01 -4.67352691e-02 -3.71058035e-02 6.95342017e+01] [ 4.67145196e-02 9.98907262e-01 -1.42646414e-03 2.50426408e+00] [ 3.71319228e-02 -3.09457750e-04 9.99310324e-01 1.40328449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.99509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.56, Y:2.51, Z:1.40 [[ 9.98195756e-01 -4.73337031e-02 -3.69425562e-02 6.95621606e+01] [ 4.73132402e-02 9.98879080e-01 -1.42843987e-03 2.50705266e+00] [ 3.69687599e-02 -3.22009420e-04 9.99316370e-01 1.40403717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.02509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.59, Y:2.51, Z:1.40 [[ 9.98192299e-01 -4.75053045e-02 -3.68155030e-02 6.95896286e+01] [ 4.74849785e-02 9.98870933e-01 -1.42679057e-03 2.50908521e+00] [ 3.68417160e-02 -3.23972008e-04 9.99321061e-01 1.40471235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.05509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.62, Y:2.51, Z:1.41 [[ 9.98181352e-01 -4.80752183e-02 -3.63698026e-02 6.96183448e+01] [ 4.80555746e-02 9.98843662e-01 -1.41460001e-03 2.51251623e+00] [ 3.63957540e-02 -3.35744408e-04 9.99337399e-01 1.40524942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.08509989299999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:69.65, Y:2.51, Z:1.40 [[ 9.98143300e-01 -4.84470127e-02 -3.69166713e-02 6.96469430e+01] [ 4.84267577e-02 9.98825694e-01 -1.44317615e-03 2.51490699e+00] [ 3.69432374e-02 -3.47258093e-04 9.99317305e-01 1.40445078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.68, Y:2.52, Z:1.41 [[ 9.98076977e-01 -4.95202341e-02 -3.72839666e-02 6.96757936e+01] [ 4.95001439e-02 9.98773046e-01 -1.46231797e-03 2.51744883e+00] [ 3.73106352e-02 -3.86055810e-04 9.99303641e-01 1.40588962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.145099893 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:69.70, Y:2.52, Z:1.40 [[ 9.97924229e-01 -5.15878742e-02 -3.85476886e-02 6.97045556e+01] [ 5.15676592e-02 9.98668348e-01 -1.51916915e-03 2.52043409e+00] [ 3.85747271e-02 -4.71798367e-04 9.99255607e-01 1.40378513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.73, Y:2.53, Z:1.41 [[ 9.97888633e-01 -5.52424542e-02 -3.41547602e-02 6.97334966e+01] [ 5.47838767e-02 9.98396970e-01 -1.42203050e-02 2.53059304e+00] [ 3.48855736e-02 1.23191506e-02 9.99315383e-01 1.40679656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.76, Y:2.52, Z:1.40 [[ 9.97556121e-01 -5.89234208e-02 -3.75475262e-02 6.97642296e+01] [ 5.93856671e-02 9.98170973e-01 1.13159910e-02 2.52250180e+00] [ 3.68120739e-02 -1.35181210e-02 9.99230770e-01 1.40444516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.79, Y:2.53, Z:1.41 [[ 9.97384670e-01 -6.22898176e-02 -3.66578700e-02 6.97941688e+01] [ 6.22786414e-02 9.98057751e-01 -1.44779672e-03 2.53229472e+00] [ 3.66768543e-02 -8.38992080e-04 9.99326826e-01 1.40980736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.83, Y:2.54, Z:1.41 [[ 9.97334157e-01 -6.45349861e-02 -3.40560550e-02 6.98262892e+01] [ 6.45266830e-02 9.97915077e-01 -1.34398112e-03 2.53666944e+00] [ 3.40717846e-02 -8.57125989e-04 9.99419021e-01 1.41139612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.29509989299999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:69.86, Y:2.54, Z:1.41 [[ 9.97344278e-01 -6.44450852e-02 -3.39296671e-02 6.98582816e+01] [ 6.44368735e-02 9.97920890e-01 -1.33657745e-03 2.54037240e+00] [ 3.39452595e-02 -8.53293798e-04 9.99423329e-01 1.41062813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32509989299999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:69.89, Y:2.54, Z:1.41 [[ 9.97372479e-01 -6.38724221e-02 -3.41826139e-02 6.98906233e+01] [ 6.38638364e-02 9.97957716e-01 -1.34406411e-03 2.54316596e+00] [ 3.41986519e-02 -8.42500305e-04 9.99414700e-01 1.41076403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.35509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.92, Y:2.55, Z:1.42 [[ 9.97389579e-01 -6.38006573e-02 -3.38157273e-02 6.99223658e+01] [ 6.37922961e-02 9.97962315e-01 -1.32720033e-03 2.54654641e+00] [ 3.38314977e-02 -8.33447105e-04 9.99427204e-01 1.41514565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.95, Y:2.55, Z:1.42 [[ 9.97399213e-01 -6.37591530e-02 -3.36092286e-02 6.99539209e+01] [ 6.37509468e-02 9.97964971e-01 -1.31681097e-03 2.54946548e+00] [ 3.36247916e-02 -8.29233922e-04 9.99434183e-01 1.41592846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.41509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.99, Y:2.55, Z:1.42 [[ 9.97223832e-01 -6.54315184e-02 -3.55435755e-02 6.99860637e+01] [ 6.54234803e-02 9.97856620e-01 -1.39040819e-03 2.55453451e+00] [ 3.55583687e-02 -9.38836232e-04 9.99367160e-01 1.41591550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.02, Y:2.56, Z:1.42 [[ 9.97018850e-01 -6.73361508e-02 -3.76730046e-02 7.00185758e+01] [ 6.73285858e-02 9.97729772e-01 -1.47089911e-03 2.55743348e+00] [ 3.76865230e-02 -1.06995598e-03 9.99289038e-01 1.41576201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.47509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.05, Y:2.56, Z:1.42 [[ 9.96820912e-01 -6.92676197e-02 -3.93708808e-02 7.00498687e+01] [ 6.92609680e-02 9.97597396e-01 -1.53452888e-03 2.56134687e+00] [ 3.93825813e-02 -1.19721484e-03 9.99223488e-01 1.41632426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.08, Y:2.57, Z:1.42 [[ 9.96783417e-01 -7.01770520e-02 -3.87040139e-02 7.00821080e+01] [ 7.01713968e-02 9.97533812e-01 -1.50624013e-03 2.56569222e+00] [ 3.87142660e-02 -1.21451954e-03 9.99249584e-01 1.41858068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.11, Y:2.57, Z:1.42 [[ 9.96890717e-01 -6.95177168e-02 -3.70969605e-02 7.01145480e+01] [ 6.95121597e-02 9.97580063e-01 -1.44113232e-03 2.56944260e+00] [ 3.71073724e-02 -1.14203841e-03 9.99310632e-01 1.42109480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.15, Y:2.57, Z:1.42 [[ 9.97090013e-01 -6.76035093e-02 -3.52316871e-02 7.01454047e+01] [ 6.75973808e-02 9.97711745e-01 -1.36643949e-03 2.57135770e+00] [ 3.52434441e-02 -1.01910660e-03 9.99378237e-01 1.42301587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.18, Y:2.57, Z:1.42 [[ 9.97230353e-01 -6.60080979e-02 -3.42717586e-02 7.01771471e+01] [ 6.60014243e-02 9.97818646e-01 -1.32725061e-03 2.57244638e+00] [ 3.42846091e-02 -9.38410290e-04 9.99411669e-01 1.42398155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.21, Y:2.57, Z:1.43 [[ 9.97491207e-01 -6.23879239e-02 -3.34520514e-02 7.02084278e+01] [ 6.23796051e-02 9.98051658e-01 -1.29329269e-03 2.57368598e+00] [ 3.34675613e-02 -7.96677671e-04 9.99439487e-01 1.42546029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.65509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.24, Y:2.58, Z:1.43 [[ 9.97824970e-01 -5.83099451e-02 -3.07454133e-02 7.02378755e+01] [ 5.78753984e-02 9.98213513e-01 -1.48398549e-02 2.58334151e+00] [ 3.15557981e-02 1.30281747e-02 9.99417079e-01 1.42749607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.27, Y:2.57, Z:1.42 [[ 9.97889769e-01 -5.56836572e-02 -3.33966982e-02 7.02724792e+01] [ 5.61109400e-02 9.98352476e-01 1.19956739e-02 2.57065563e+00] [ 3.26737133e-02 -1.38442804e-02 9.99370184e-01 1.42265629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.71509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.30, Y:2.58, Z:1.43 [[ 9.98044371e-01 -5.25821331e-02 -3.38016649e-02 7.03034017e+01] [ 5.25684042e-02 9.98616485e-01 -1.29534998e-03 2.57824672e+00] [ 3.38230121e-02 -4.84082827e-04 9.99427721e-01 1.42844452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.33, Y:2.59, Z:1.43 [[ 9.98227719e-01 -4.95045677e-02 -3.30260245e-02 7.03328652e+01] [ 4.89066951e-02 9.98628802e-01 -1.86721973e-02 2.58726743e+00] [ 3.39050984e-02 1.70239112e-02 9.99280056e-01 1.42959112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.77509989299999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:70.36, Y:2.58, Z:1.42 [[ 9.98239087e-01 -4.77703380e-02 -3.51670229e-02 7.03636467e+01] [ 4.79090434e-02 9.98846856e-01 3.11166238e-03 2.57744826e+00] [ 3.49778250e-02 -4.79100144e-03 9.99376605e-01 1.42201679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.80509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.39, Y:2.58, Z:1.43 [[ 9.98300689e-01 -4.64797981e-02 -3.51477331e-02 7.03934514e+01] [ 4.64428370e-02 9.98919203e-01 -1.86773707e-03 2.58150535e+00] [ 3.51965576e-02 2.32202758e-04 9.99380382e-01 1.42827303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.83509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.42, Y:2.58, Z:1.43 [[ 9.98464814e-01 -4.35438584e-02 -3.42337157e-02 7.04242645e+01] [ 4.34077260e-02 9.99046337e-01 -4.71012649e-03 2.58161805e+00] [ 3.44061654e-02 3.21688782e-03 9.99402755e-01 1.43047410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.45, Y:2.58, Z:1.43 [[ 9.98460908e-01 -4.41461906e-02 -3.35697498e-02 7.04547614e+01] [ 4.41566134e-02 9.99024528e-01 -4.31188005e-04 2.57783856e+00] [ 3.35560387e-02 -1.05180210e-03 9.99436284e-01 1.42989899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.48, Y:2.57, Z:1.43 [[ 9.98174280e-01 -4.82477255e-02 -3.63354416e-02 7.04838169e+01] [ 4.87940883e-02 9.98706450e-01 1.43025460e-02 2.56910110e+00] [ 3.55983746e-02 -1.60493883e-02 9.99237296e-01 1.43169023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.51, Y:2.57, Z:1.44 [[ 9.97932966e-01 -5.39696464e-02 -3.48865571e-02 7.05141291e+01] [ 5.39559787e-02 9.98542424e-01 -1.33380230e-03 2.57463072e+00] [ 3.49076921e-02 -5.51293042e-04 9.99390389e-01 1.43920057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.955099893 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:70.55, Y:2.57, Z:1.44 [[ 9.97778698e-01 -5.69118926e-02 -3.46223387e-02 7.05458862e+01] [ 5.69002103e-02 9.98378993e-01 -1.32343177e-03 2.57390567e+00] [ 3.46415347e-02 -6.49526330e-04 9.99399591e-01 1.43817160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.58, Y:2.57, Z:1.44 [[ 9.97558760e-01 -6.08302690e-02 -3.42957580e-02 7.05767455e+01] [ 6.08211662e-02 9.98147820e-01 -1.30958668e-03 2.57325752e+00] [ 3.43118986e-02 -7.79518337e-04 9.99410869e-01 1.44154754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.61, Y:2.57, Z:1.44 [[ 9.97308569e-01 -6.47614067e-02 -3.43740987e-02 7.06090522e+01] [ 6.47546634e-02 9.97900354e-01 -1.31057778e-03 2.57187603e+00] [ 3.43868001e-02 -9.18832743e-04 9.99408177e-01 1.44214474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.64, Y:2.58, Z:1.44 [[ 9.96909515e-01 -7.23365141e-02 -3.06406355e-02 7.06414421e+01] [ 7.17819865e-02 9.97242620e-01 -1.88282495e-02 2.57508885e+00] [ 3.19181175e-02 1.65706154e-02 9.99353115e-01 1.44147925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.07509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.67, Y:2.55, Z:1.44 [[ 9.95924332e-01 -8.25881001e-02 -3.62481899e-02 7.06736349e+01] [ 8.32205090e-02 9.96397897e-01 1.62965546e-02 2.55472903e+00] [ 3.47717187e-02 -1.92467281e-02 9.99209933e-01 1.43618166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10509989299999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:70.70, Y:2.56, Z:1.44 [[ 9.95751945e-01 -8.51563422e-02 -3.50208653e-02 7.07048785e+01] [ 8.51622045e-02 9.96366217e-01 -1.32697415e-03 2.56174195e+00] [ 3.50066073e-02 -1.66111700e-03 9.99385700e-01 1.44133225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.13509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.74, Y:2.56, Z:1.45 [[ 9.95760940e-01 -8.52145848e-02 -3.46211510e-02 7.07374718e+01] [ 8.52205452e-02 9.96361256e-01 -1.30615318e-03 2.56152267e+00] [ 3.46064768e-02 -1.64981705e-03 9.99399655e-01 1.44570045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.77, Y:2.56, Z:1.45 [[ 9.96053986e-01 -8.14613924e-02 -3.52207124e-02 7.07707716e+01] [ 8.14653552e-02 9.96675293e-01 -1.32494278e-03 2.56063076e+00] [ 3.52115456e-02 -1.54955331e-03 9.99378680e-01 1.44613229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.19509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.80, Y:2.56, Z:1.45 [[ 9.96446628e-01 -7.64724941e-02 -3.52997971e-02 7.08038234e+01] [ 7.64734852e-02 9.97070736e-01 -1.32407284e-03 2.56208045e+00] [ 3.52976498e-02 -1.38013059e-03 9.99375891e-01 1.44756624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.22509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.84, Y:2.56, Z:1.45 [[ 9.96933620e-01 -6.98378884e-02 -3.52991097e-02 7.08362158e+01] [ 6.98348586e-02 9.97557692e-01 -1.32027173e-03 2.56318388e+00] [ 3.53051034e-02 -1.14888506e-03 9.99375920e-01 1.44839555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.87, Y:2.56, Z:1.45 [[ 9.97414509e-01 -6.24220265e-02 -3.56060137e-02 7.08680318e+01] [ 6.24143340e-02 9.98049441e-01 -1.32860406e-03 2.56384255e+00] [ 3.56194963e-02 -8.97156672e-04 9.99365022e-01 1.44894921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.90, Y:2.57, Z:1.45 [[ 9.97851440e-01 -5.45712196e-02 -3.62558466e-02 7.08996585e+01] [ 5.45581559e-02 9.98509682e-01 -1.35031338e-03 2.56506101e+00] [ 3.62755021e-02 -6.30639977e-04 9.99341628e-01 1.45007075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.93, Y:2.57, Z:1.45 [[ 9.98049784e-01 -5.05751485e-02 -3.65893891e-02 7.09304868e+01] [ 5.05592142e-02 9.98720137e-01 -1.36122904e-03 2.56614631e+00] [ 3.66114041e-02 -4.91356409e-04 9.99329457e-01 1.45053631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.96, Y:2.57, Z:1.45 [[ 9.98217012e-01 -4.67441325e-02 -3.71185068e-02 7.09595825e+01] [ 4.67250795e-02 9.98906832e-01 -1.38109251e-03 2.56731307e+00] [ 3.71424880e-02 -3.55735148e-04 9.99309916e-01 1.45142225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.37509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.99, Y:2.57, Z:1.45 [[ 9.98520496e-01 -3.88999884e-02 -3.79948581e-02 7.09880004e+01] [ 3.88742225e-02 9.99243107e-01 -1.41696455e-03 2.56939362e+00] [ 3.80212200e-02 -6.21524200e-05 9.99276930e-01 1.45254135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.02, Y:2.57, Z:1.45 [[ 9.98509803e-01 -3.91738800e-02 -3.79944858e-02 7.10163576e+01] [ 3.91479347e-02 9.99232407e-01 -1.42688663e-03 2.57051271e+00] [ 3.80212182e-02 -6.26453607e-05 9.99276930e-01 1.45331720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.43509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.04, Y:2.57, Z:1.45 [[ 9.98614781e-01 -3.56724772e-02 -3.86780768e-02 7.10440081e+01] [ 3.56425384e-02 9.99363531e-01 -1.46354592e-03 2.57201010e+00] [ 3.87056677e-02 8.29337495e-05 9.99250651e-01 1.45411261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.07, Y:2.57, Z:1.45 [[ 9.98733834e-01 -3.21834341e-02 -3.86646465e-02 7.10711678e+01] [ 3.21505347e-02 9.99481953e-01 -1.47252722e-03 2.57307272e+00] [ 3.86920074e-02 2.27573697e-04 9.99251158e-01 1.45468544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.49509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.10, Y:2.57, Z:1.46 [[ 9.99036362e-01 -2.25231495e-02 -3.76703550e-02 7.10995510e+01] [ 2.24848134e-02 9.99746146e-01 -1.44107262e-03 2.57310538e+00] [ 3.76932497e-02 5.92673046e-04 9.99289181e-01 1.45563782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.13, Y:2.57, Z:1.46 [[ 9.99313623e-01 -1.33794828e-02 -3.45437693e-02 7.11261057e+01] [ 1.33415076e-02 9.99910114e-01 -1.32961347e-03 2.57288483e+00] [ 3.45584539e-02 8.67834897e-04 9.99402301e-01 1.45839495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.55509989299999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:71.15, Y:2.57, Z:1.46 [[ 9.99397317e-01 -9.63891518e-03 -3.33480643e-02 7.11544018e+01] [ 9.60127517e-03 9.99953076e-01 -1.28865758e-03 2.57134042e+00] [ 3.33589207e-02 9.67696990e-04 9.99442968e-01 1.45768905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.18, Y:2.57, Z:1.46 [[ 9.99420470e-01 -9.10240042e-03 -3.28004609e-02 7.11826770e+01] [ 9.06539082e-03 9.99958093e-01 -1.27686664e-03 2.57067810e+00] [ 3.28107089e-02 9.78777664e-04 9.99461104e-01 1.46073996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.21, Y:2.57, Z:1.46 [[ 9.99431440e-01 -9.33090054e-03 -3.23995684e-02 7.12102201e+01] [ 9.29461057e-03 9.99955997e-01 -1.27050874e-03 2.56941362e+00] [ 3.24099977e-02 9.68645006e-04 9.99474189e-01 1.46127177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.24, Y:2.57, Z:1.46 [[ 9.99424677e-01 -1.03742060e-02 -3.22907143e-02 7.12371076e+01] [ 1.03384149e-02 9.99945744e-01 -1.27516859e-03 2.56778405e+00] [ 3.23021912e-02 9.40600150e-04 9.99477705e-01 1.46136373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.27, Y:2.57, Z:1.46 [[ 9.99385390e-01 -1.25093795e-02 -3.27468851e-02 7.12653826e+01] [ 1.24734826e-02 9.99921358e-01 -1.30025959e-03 2.56586379e+00] [ 3.27605752e-02 8.90992735e-04 9.99462831e-01 1.46192317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.705099893 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:71.29, Y:2.56, Z:1.46 [[ 9.99325672e-01 -1.50462263e-02 -3.34934627e-02 7.12924639e+01] [ 1.50097995e-02 9.99886450e-01 -1.33876185e-03 2.56343409e+00] [ 3.35098028e-02 8.35128926e-04 9.99438040e-01 1.45906871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.32, Y:2.56, Z:1.46 [[ 9.99184422e-01 -2.30487821e-02 -3.31548577e-02 7.13201420e+01] [ 2.30173569e-02 9.99734182e-01 -1.32924206e-03 2.55735630e+00] [ 3.31766820e-02 5.65020762e-04 9.99449343e-01 1.46156364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.35, Y:2.55, Z:1.46 [[ 9.98939694e-01 -3.21496935e-02 -3.29527647e-02 7.13471761e+01] [ 3.21234794e-02 9.99483030e-01 -1.32475685e-03 2.55114546e+00] [ 3.29783196e-02 2.64794741e-04 9.99456032e-01 1.46213169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.38, Y:2.54, Z:1.46 [[ 9.98352866e-01 -4.75052418e-02 -3.21684097e-02 7.13752758e+01] [ 4.74881010e-02 9.98870962e-01 -1.29707479e-03 2.53824696e+00] [ 3.21937082e-02 -2.32678352e-04 9.99481621e-01 1.46140722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82509989299999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:71.40, Y:2.54, Z:1.46 [[ 9.98188000e-01 -5.06307177e-02 -3.25153295e-02 7.14045222e+01] [ 5.06147553e-02 9.98717387e-01 -1.31435587e-03 2.53662146e+00] [ 3.25401717e-02 -3.33781188e-04 9.99470373e-01 1.46080662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.85509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.43, Y:2.53, Z:1.46 [[ 9.97902545e-01 -5.60994780e-02 -3.23010776e-02 7.14339234e+01] [ 5.60864988e-02 9.98425056e-01 -1.30845767e-03 2.53262685e+00] [ 3.23236090e-02 -5.05941113e-04 9.99477328e-01 1.46183650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.46, Y:2.53, Z:1.46 [[ 9.97813768e-01 -5.78742270e-02 -3.19101578e-02 7.14633525e+01] [ 5.78622453e-02 9.98323731e-01 -1.29956130e-03 2.53127222e+00] [ 3.19318789e-02 -5.49673225e-04 9.99489896e-01 1.46216048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.91509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.49, Y:2.53, Z:1.46 [[ 9.97735877e-01 -5.94535179e-02 -3.14388176e-02 7.14934452e+01] [ 5.94426558e-02 9.98230900e-01 -1.28085015e-03 2.53041858e+00] [ 3.14593503e-02 -5.90856667e-04 9.99504858e-01 1.46300242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.52, Y:2.53, Z:1.46 [[ 9.97669821e-01 -6.09791110e-02 -3.06018854e-02 7.15240140e+01] [ 6.09695366e-02 9.98138849e-01 -1.24675266e-03 2.52990009e+00] [ 3.06209565e-02 -6.21935268e-04 9.99530875e-01 1.46382936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.97509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.56, Y:2.53, Z:1.46 [[ 9.97509248e-01 -6.43895928e-02 -2.87972168e-02 7.15556232e+01] [ 6.43825357e-02 9.97924603e-01 -1.17317073e-03 2.52794046e+00] [ 2.88129912e-02 -6.83789192e-04 9.99584586e-01 1.46478951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.59, Y:2.53, Z:1.47 [[ 9.97107788e-01 -7.09723457e-02 -2.71842946e-02 7.15880793e+01] [ 7.09685253e-02 9.97477942e-01 -1.10652147e-03 2.52506440e+00] [ 2.71942667e-02 -8.25908127e-04 9.99629826e-01 1.46578642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.035099893 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:71.62, Y:2.52, Z:1.46 [[ 9.96738952e-01 -7.54806253e-02 -2.85330866e-02 7.16199670e+01] [ 7.54783235e-02 9.97146769e-01 -1.15923759e-03 2.52298214e+00] [ 2.85391751e-02 -9.98172280e-04 9.99592176e-01 1.46284120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.065099893 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:71.65, Y:2.52, Z:1.46 [[ 9.96297094e-01 -8.07148185e-02 -2.96178598e-02 7.16519432e+01] [ 8.07146983e-02 9.96736522e-01 -1.20157197e-03 2.52121789e+00] [ 2.96181872e-02 -1.19347396e-03 9.99560573e-01 1.46333127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.68, Y:2.52, Z:1.46 [[ 9.95593828e-01 -8.82760377e-02 -3.16270597e-02 7.16835091e+01] [ 8.82797826e-02 9.96094895e-01 -1.28066972e-03 2.51968379e+00] [ 3.16166051e-02 -1.51700308e-03 9.99498919e-01 1.46479491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.72, Y:2.52, Z:1.47 [[ 9.95428671e-01 -8.98335206e-02 -3.24299217e-02 7.17161369e+01] [ 8.98383459e-02 9.95955497e-01 -1.31124103e-03 2.52054142e+00] [ 3.24165522e-02 -1.60820361e-03 9.99473152e-01 1.46541224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.15509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.75, Y:2.52, Z:1.47 [[ 9.95308530e-01 -9.08434646e-02 -3.32925676e-02 7.17487503e+01] [ 9.08491979e-02 9.95863755e-01 -1.34360728e-03 2.52231211e+00] [ 3.32769193e-02 -1.68729927e-03 9.99444746e-01 1.46664154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.78, Y:2.52, Z:1.47 [[ 9.95372469e-01 -9.00345484e-02 -3.35771906e-02 7.17800254e+01] [ 9.00400153e-02 9.95937230e-01 -1.35230130e-03 2.52450731e+00] [ 3.35625281e-02 -1.67724728e-03 9.99435212e-01 1.46743675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.21509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.81, Y:2.53, Z:1.47 [[ 9.95487197e-01 -8.86053955e-02 -3.39753588e-02 7.18122186e+01] [ 8.86102942e-02 9.96065437e-01 -1.36447657e-03 2.52690498e+00] [ 3.39625806e-02 -1.65224759e-03 9.99421739e-01 1.46849289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.84, Y:2.53, Z:1.47 [[ 9.95915104e-01 -8.32141678e-02 -3.50500807e-02 7.18439270e+01] [ 8.32161430e-02 9.96530531e-01 -1.40499540e-03 2.53101575e+00] [ 3.50453910e-02 -1.51747638e-03 9.99384570e-01 1.46914627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.27509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.88, Y:2.53, Z:1.47 [[ 9.96234691e-01 -7.92122241e-02 -3.52400816e-02 7.18761780e+01] [ 7.92118128e-02 9.96856810e-01 -1.41001979e-03 2.53388773e+00] [ 3.52410061e-02 -1.38672012e-03 9.99377881e-01 1.46987765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.30509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.91, Y:2.54, Z:1.47 [[ 9.96607092e-01 -7.46988722e-02 -3.45598332e-02 7.19081570e+01] [ 7.46958522e-02 9.97205407e-01 -1.38030692e-03 2.53694852e+00] [ 3.45663599e-02 -1.20585253e-03 9.99401677e-01 1.47118609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.33509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.94, Y:2.55, Z:1.47 [[ 9.97981287e-01 -5.53143164e-02 -3.12037901e-02 7.19376594e+01] [ 5.53024336e-02 9.98468874e-01 -1.24437913e-03 2.54751889e+00] [ 3.12248451e-02 -4.83778439e-04 9.99512269e-01 1.47393258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.97, Y:2.55, Z:1.47 [[ 9.98392735e-01 -4.79566733e-02 -3.02010545e-02 7.19669149e+01] [ 4.79421869e-02 9.98849387e-01 -1.20401770e-03 2.55130164e+00] [ 3.02240454e-02 -2.45822076e-04 9.99543119e-01 1.47449562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.00, Y:2.55, Z:1.48 [[ 9.98640311e-01 -4.32703497e-02 -2.90724381e-02 7.19965258e+01] [ 4.32549107e-02 9.99063395e-01 -1.16003598e-03 2.55455357e+00] [ 2.90954039e-02 -9.90670173e-05 9.99576634e-01 1.47513447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.02, Y:2.56, Z:1.48 [[ 9.98750684e-01 -4.07504812e-02 -2.89217777e-02 7.20249383e+01] [ 4.07341140e-02 9.99169354e-01 -1.15510637e-03 2.55743802e+00] [ 2.89448250e-02 -2.44397096e-05 9.99581010e-01 1.47614139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.05, Y:2.56, Z:1.48 [[ 9.98745932e-01 -4.05228304e-02 -2.94017765e-02 7.20528438e+01] [ 4.05057667e-02 9.99178613e-01 -1.17597519e-03 2.55954020e+00] [ 2.94252801e-02 -1.64410625e-05 9.99566983e-01 1.47707846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.08, Y:2.56, Z:1.48 [[ 9.98728667e-01 -4.09853141e-02 -2.93471130e-02 7.20811433e+01] [ 4.09684238e-02 9.99159749e-01 -1.17683834e-03 2.56130617e+00] [ 2.93706871e-02 -2.69627735e-05 9.99568588e-01 1.47790736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.11, Y:2.56, Z:1.48 [[ 9.98593167e-01 -4.33794385e-02 -3.04944512e-02 7.21098545e+01] [ 4.33620375e-02 9.99058665e-01 -1.23201411e-03 2.56292675e+00] [ 3.05191898e-02 -9.20206594e-05 9.99534177e-01 1.47860765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.14, Y:2.56, Z:1.48 [[ 9.98511727e-01 -4.50855466e-02 -3.06858985e-02 7.21387000e+01] [ 4.50684882e-02 9.98983120e-01 -1.24767550e-03 2.56406651e+00] [ 3.07109467e-02 -1.37148437e-04 9.99528298e-01 1.47935769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.57509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.17, Y:2.57, Z:1.48 [[ 9.98414774e-01 -4.73349729e-02 -3.04522339e-02 7.21675557e+01] [ 4.73189835e-02 9.98879052e-01 -1.24590714e-03 2.56529178e+00] [ 3.04770735e-02 -1.97036655e-04 9.99535447e-01 1.48013763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.20, Y:2.57, Z:1.48 [[ 9.98016947e-01 -5.47375539e-02 -3.10801166e-02 7.21970874e+01] [ 5.47242602e-02 9.98500686e-01 -1.27882472e-03 2.56564428e+00] [ 3.11035175e-02 -4.24547648e-04 9.99516078e-01 1.48049676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.63509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.23, Y:2.57, Z:1.48 [[ 9.97750636e-01 -5.91408499e-02 -3.15599103e-02 7.22271052e+01] [ 5.91293141e-02 9.98249486e-01 -1.29950521e-03 2.56640244e+00] [ 3.15815181e-02 -5.69533698e-04 9.99501017e-01 1.48046573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.26, Y:2.57, Z:1.48 [[ 9.97545980e-01 -6.29262328e-02 -3.06970107e-02 7.22583515e+01] [ 6.29171285e-02 9.98017955e-01 -1.26336511e-03 2.56682242e+00] [ 3.07156667e-02 -6.71102978e-04 9.99527937e-01 1.48067379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.69509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.29, Y:2.57, Z:1.48 [[ 9.97324518e-01 -6.71134268e-02 -2.89757293e-02 7.22892886e+01] [ 6.71071096e-02 9.97745066e-01 -1.19150335e-03 2.56676040e+00] [ 2.89903568e-02 -7.56161934e-04 9.99579405e-01 1.48116531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.72509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.32, Y:2.57, Z:1.48 [[ 9.97060424e-01 -7.15875431e-02 -2.73081476e-02 7.23216268e+01] [ 7.15836456e-02 9.97433970e-01 -1.12154237e-03 2.56677352e+00] [ 2.73183625e-02 -8.36571245e-04 9.99626434e-01 1.48146001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.35, Y:2.57, Z:1.48 [[ 9.96631839e-01 -7.77043254e-02 -2.62109795e-02 7.23540456e+01] [ 7.77028945e-02 9.96975980e-01 -1.07463904e-03 2.56699408e+00] [ 2.62152211e-02 -9.65649493e-04 9.99655856e-01 1.48198903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.39, Y:2.57, Z:1.48 [[ 9.96372671e-01 -8.07871844e-02 -2.67381949e-02 7.23864465e+01] [ 8.07868573e-02 9.96730799e-01 -1.09424382e-03 2.56788677e+00] [ 2.67391833e-02 -1.06982010e-03 9.99641872e-01 1.48276980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.42, Y:2.57, Z:1.48 [[ 9.96082979e-01 -8.40622689e-02 -2.74268973e-02 7.24197867e+01] [ 8.40632205e-02 9.96459793e-01 -1.12036055e-03 2.56924469e+00] [ 2.74239804e-02 -1.18962124e-03 9.99623184e-01 1.48352335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.45, Y:2.57, Z:1.48 [[ 9.95793815e-01 -8.70259342e-02 -2.86559728e-02 7.24527355e+01] [ 8.70282918e-02 9.96205157e-01 -1.16728537e-03 2.57068845e+00] [ 2.86488120e-02 -1.33150481e-03 9.99588652e-01 1.48424849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.87509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.49, Y:2.57, Z:1.49 [[ 9.95504396e-01 -9.00136744e-02 -2.94709182e-02 7.24851329e+01] [ 9.00175710e-02 9.95939458e-01 -1.19719147e-03 2.57260999e+00] [ 2.94590139e-02 -1.46109110e-03 9.99564921e-01 1.48529230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.52, Y:2.58, Z:1.48 [[ 9.94794975e-01 -9.71273388e-02 -3.08096916e-02 7.25178154e+01] [ 9.71350894e-02 9.95270423e-01 -1.24859079e-03 2.57537178e+00] [ 3.07852471e-02 -1.75061031e-03 9.99524489e-01 1.48481368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.93509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.55, Y:2.58, Z:1.49 [[ 9.94522888e-01 -9.95556920e-02 -3.18259163e-02 7.25505057e+01] [ 9.95653148e-02 9.95030197e-01 -1.28623080e-03 2.57866223e+00] [ 3.17957994e-02 -1.88957140e-03 9.99492600e-01 1.48567521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.58, Y:2.58, Z:1.49 [[ 9.94466267e-01 -9.96691418e-02 -3.32100381e-02 7.25822928e+01] [ 9.96798071e-02 9.95018665e-01 -1.33847458e-03 2.58291852e+00] [ 3.31780124e-02 -1.97930238e-03 9.99447498e-01 1.48640080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.99509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.62, Y:2.59, Z:1.49 [[ 9.94599540e-01 -9.80770951e-02 -3.39505430e-02 7.26151294e+01] [ 9.80874296e-02 9.95176865e-01 -1.36503571e-03 2.58839814e+00] [ 3.39206737e-02 -1.97245761e-03 9.99422582e-01 1.48758991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.65, Y:2.59, Z:1.49 [[ 9.94849910e-01 -9.53430667e-02 -3.43999574e-02 7.26464951e+01] [ 9.53521736e-02 9.95442645e-01 -1.37945713e-03 2.59403916e+00] [ 3.43747063e-02 -1.90775791e-03 9.99407194e-01 1.48862679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.05509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.68, Y:2.60, Z:1.49 [[ 9.95160277e-01 -9.25502281e-02 -3.30223814e-02 7.26785826e+01] [ 9.25571769e-02 9.95706494e-01 -1.32144656e-03 2.59990688e+00] [ 3.30028998e-02 -1.74140728e-03 9.99453739e-01 1.49043909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08509989299999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:72.71, Y:2.60, Z:1.49 [[ 9.95314044e-01 -9.10039503e-02 -3.26838647e-02 7.27104619e+01] [ 9.10100046e-02 9.95849122e-01 -1.30548603e-03 2.60331487e+00] [ 3.26670024e-02 -1.67519010e-03 9.99464887e-01 1.48954588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.74, Y:2.61, Z:1.49 [[ 9.95477893e-01 -8.96766407e-02 -3.13347178e-02 7.27429671e+01] [ 8.96816350e-02 9.95969701e-01 -1.24883534e-03 2.60693145e+00] [ 3.13204209e-02 -1.56696075e-03 9.99508167e-01 1.49310009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.78, Y:2.61, Z:1.50 [[ 9.95720649e-01 -8.75568157e-02 -2.95667608e-02 7.27758622e+01] [ 8.75604173e-02 9.96158517e-01 -1.17538034e-03 2.61255819e+00] [ 2.95560931e-02 -1.41852744e-03 9.99562117e-01 1.49505164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.81, Y:2.62, Z:1.50 [[ 9.95789778e-01 -8.67408816e-02 -2.96435210e-02 7.28076856e+01] [ 8.67442447e-02 9.96229921e-01 -1.17494454e-03 2.61635934e+00] [ 2.96336783e-02 -1.40140708e-03 9.99559844e-01 1.49678191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.84, Y:2.62, Z:1.50 [[ 9.96020227e-01 -8.35307062e-02 -3.10858412e-02 7.28401616e+01] [ 8.35330217e-02 9.96504255e-01 -1.22644155e-03 2.62489131e+00] [ 3.10796185e-02 -1.37513365e-03 9.99515966e-01 1.49815938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.87, Y:2.63, Z:1.50 [[ 9.96315818e-01 -7.91014612e-02 -3.31322916e-02 7.28725680e+01] [ 7.91017777e-02 9.96865693e-01 -1.30327741e-03 2.63314795e+00] [ 3.31315360e-02 -1.32234727e-03 9.99450125e-01 1.49850408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.90, Y:2.64, Z:1.50 [[ 9.96603055e-01 -7.52278590e-02 -3.35129736e-02 7.29049440e+01] [ 7.52261221e-02 9.97165635e-01 -1.31449356e-03 2.63900213e+00] [ 3.35168721e-02 -1.21102274e-03 9.99437418e-01 1.49954406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.94, Y:2.64, Z:1.50 [[ 9.96777784e-01 -7.28867005e-02 -3.34899667e-02 7.29370654e+01] [ 7.28837669e-02 9.97339581e-01 -1.30999442e-03 2.64297107e+00] [ 3.34963505e-02 -1.13510159e-03 9.99438195e-01 1.50056438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.97, Y:2.64, Z:1.50 [[ 9.96784359e-01 -7.27966731e-02 -3.34900861e-02 7.29697328e+01] [ 7.27937915e-02 9.97346156e-01 -1.30693335e-03 2.64419075e+00] [ 3.34963491e-02 -1.13513962e-03 9.99438195e-01 1.50145444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.35509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.00, Y:2.65, Z:1.50 [[ 9.97198355e-01 -6.72862565e-02 -3.26802831e-02 7.30016842e+01] [ 6.72806502e-02 9.97733278e-01 -1.27243723e-03 2.65098641e+00] [ 3.26918236e-02 -9.29878385e-04 9.99465047e-01 1.50281752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.03, Y:2.66, Z:1.50 [[ 9.97608212e-01 -6.10183991e-02 -3.24747660e-02 7.30340155e+01] [ 6.10096353e-02 9.98136380e-01 -1.26161794e-03 2.65694334e+00] [ 3.24912273e-02 -7.22673213e-04 9.99471759e-01 1.50397084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.41509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.07, Y:2.66, Z:1.50 [[ 9.98271025e-01 -5.03440635e-02 -3.03386960e-02 7.30664226e+01] [ 5.03315467e-02 9.98731871e-01 -1.17658357e-03 2.66493137e+00] [ 3.03594566e-02 -3.52444206e-04 9.99538983e-01 1.50434094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.10, Y:2.67, Z:1.50 [[ 9.97767665e-01 -5.70408729e-02 -3.47278692e-02 7.30970143e+01] [ 5.70286185e-02 9.98371639e-01 -1.34411548e-03 2.67370118e+00] [ 3.47479892e-02 -6.39367436e-04 9.99395902e-01 1.50311959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.47509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.13, Y:2.68, Z:1.50 [[ 9.97615875e-01 -5.93259282e-02 -3.52562164e-02 7.31293239e+01] [ 5.93147972e-02 9.98238398e-01 -1.36248876e-03 2.67563001e+00] [ 3.52749399e-02 -7.31974914e-04 9.99377378e-01 1.50432487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.16, Y:2.68, Z:1.51 [[ 9.97475828e-01 -6.15845919e-02 -3.53455831e-02 7.31612555e+01] [ 6.15749108e-02 9.98101534e-01 -1.36340806e-03 2.67781247e+00] [ 3.53624456e-02 -8.16434539e-04 9.99374220e-01 1.50555662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.19, Y:2.68, Z:1.51 [[ 9.97339466e-01 -6.36413894e-02 -3.55494498e-02 7.31935559e+01] [ 6.36329943e-02 9.97972429e-01 -1.36866890e-03 2.67961824e+00] [ 3.55644747e-02 -8.97090424e-04 9.99366981e-01 1.50656896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.23, Y:2.68, Z:1.51 [[ 9.97345788e-01 -6.35421737e-02 -3.55495580e-02 7.32262300e+01] [ 6.35338159e-02 9.97978752e-01 -1.36585309e-03 2.68082219e+00] [ 3.55644928e-02 -8.96371243e-04 9.99366981e-01 1.50745931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.26, Y:2.68, Z:1.51 [[ 9.97203485e-01 -6.57263973e-02 -3.55703558e-02 7.32586529e+01] [ 6.57195360e-02 9.97837203e-01 -1.36332976e-03 2.68222904e+00] [ 3.55830311e-02 -9.78150096e-04 9.99366245e-01 1.50829296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.29, Y:2.68, Z:1.51 [[ 9.97068848e-01 -6.78253323e-02 -3.54039189e-02 7.32912736e+01] [ 6.78199480e-02 9.97696657e-01 -1.35436987e-03 2.68356032e+00] [ 3.54142321e-02 -1.05069194e-03 9.99372167e-01 1.50891180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.65509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.32, Y:2.68, Z:1.51 [[ 9.97075045e-01 -6.77341065e-02 -3.54040237e-02 7.33239450e+01] [ 6.77287621e-02 9.97702856e-01 -1.35162468e-03 2.68475419e+00] [ 3.54142467e-02 -1.05019947e-03 9.99372167e-01 1.50980206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.36, Y:2.69, Z:1.51 [[ 9.96939365e-01 -6.96778724e-02 -3.54527460e-02 7.33564788e+01] [ 6.96738506e-02 9.97568910e-01 -1.35038553e-03 2.68585759e+00] [ 3.54606492e-02 -1.12387683e-03 9.99370441e-01 1.51053680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.71509989299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:73.39, Y:2.69, Z:1.51 [[ 9.96845324e-01 -7.10976217e-02 -3.52778751e-02 7.33872167e+01] [ 7.10946127e-02 9.97468675e-01 -1.34130274e-03 2.68688940e+00] [ 3.52839388e-02 -1.17099551e-03 9.99376642e-01 1.51021759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74509989299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:73.42, Y:2.69, Z:1.51 [[ 9.96851737e-01 -7.10076103e-02 -3.52779589e-02 7.34198878e+01] [ 7.10046230e-02 9.97475088e-01 -1.33909624e-03 2.68807535e+00] [ 3.52839712e-02 -1.17001776e-03 9.99376642e-01 1.51110803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.77509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.45, Y:2.69, Z:1.51 [[ 9.96944645e-01 -7.00085701e-02 -3.46435355e-02 7.34508100e+01] [ 7.00051841e-02 9.97545765e-01 -1.31219764e-03 2.68835224e+00] [ 3.46503772e-02 -1.11703867e-03 9.99398871e-01 1.51276101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.48, Y:2.69, Z:1.51 [[ 9.97236893e-01 -6.63710953e-02 -3.33685143e-02 7.34832737e+01] [ 6.63659807e-02 9.97794550e-01 -1.26205164e-03 2.69031740e+00] [ 3.33786855e-02 -9.55969723e-04 9.99442319e-01 1.51475413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.83509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.52, Y:2.69, Z:1.52 [[ 9.97274195e-01 -6.56780584e-02 -3.36239831e-02 7.35152563e+01] [ 6.56725529e-02 9.97840420e-01 -1.26930492e-03 2.69159313e+00] [ 3.36347349e-02 -9.42327763e-04 9.99433748e-01 1.51573808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.55, Y:2.69, Z:1.52 [[ 9.97167447e-01 -6.69866453e-02 -3.42033979e-02 7.35475834e+01] [ 6.69818023e-02 9.97753365e-01 -1.28870272e-03 2.69330167e+00] [ 3.42128813e-02 -1.00595284e-03 9.99414062e-01 1.51681492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.58, Y:2.69, Z:1.52 [[ 9.97126970e-01 -6.74976470e-02 -3.43783921e-02 7.35797032e+01] [ 6.74931426e-02 9.97718900e-01 -1.29282858e-03 2.69455645e+00] [ 3.43872344e-02 -1.03119148e-03 9.99408052e-01 1.51752290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.61, Y:2.70, Z:1.52 [[ 9.97055527e-01 -6.77858936e-02 -3.58517693e-02 7.36120375e+01] [ 6.77812763e-02 9.97699297e-01 -1.34560402e-03 2.69646114e+00] [ 3.58604980e-02 -1.08843676e-03 9.99356213e-01 1.51803760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.64, Y:2.70, Z:1.52 [[ 9.97081280e-01 -6.70063057e-02 -3.65933881e-02 7.36438408e+01] [ 6.70010680e-02 9.97751962e-01 -1.37080132e-03 2.69833101e+00] [ 3.66029771e-02 -1.08499576e-03 9.99329298e-01 1.51922038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.68, Y:2.70, Z:1.52 [[ 9.97170736e-01 -6.55120002e-02 -3.68605533e-02 7.36755058e+01] [ 6.55057644e-02 9.97851239e-01 -1.37814722e-03 2.70027774e+00] [ 3.68716339e-02 -1.04033064e-03 9.99319469e-01 1.52031226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.71, Y:2.70, Z:1.52 [[ 9.97310677e-01 -6.33100288e-02 -3.69222786e-02 7.37062906e+01] [ 6.33023568e-02 9.97993443e-01 -1.37795664e-03 2.70224406e+00] [ 3.69354304e-02 -9.63016378e-04 9.99317190e-01 1.52112675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.74, Y:2.70, Z:1.52 [[ 9.97668966e-01 -5.75168636e-02 -3.67211802e-02 7.37383545e+01] [ 5.75054321e-02 9.98344256e-01 -1.36829644e-03 2.70463138e+00] [ 3.67390795e-02 -7.46560445e-04 9.99324613e-01 1.52242321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.07509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.77, Y:2.71, Z:1.52 [[ 9.98067994e-01 -5.09928954e-02 -3.54965361e-02 7.37701488e+01] [ 5.09781673e-02 9.98698895e-01 -1.32044229e-03 2.70651710e+00] [ 3.55176846e-02 -4.91657171e-04 9.99368927e-01 1.52293771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.80, Y:2.71, Z:1.52 [[ 9.98516324e-01 -4.20719388e-02 -3.45702658e-02 7.38006431e+01] [ 4.20526606e-02 9.99114569e-01 -1.28488869e-03 2.70622889e+00] [ 3.45937140e-02 -1.70789322e-04 9.99401444e-01 1.52227418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.13509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.83, Y:2.71, Z:1.52 [[ 9.98664636e-01 -3.78445041e-02 -3.51673014e-02 7.38299078e+01] [ 3.78219408e-02 9.99283640e-01 -1.30686956e-03 2.70621395e+00] [ 3.51915668e-02 -2.49711794e-05 9.99380585e-01 1.52200867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.86, Y:2.71, Z:1.52 [[ 9.98692300e-01 -3.57983502e-02 -3.64988882e-02 7.38564197e+01] [ 3.57725733e-02 9.99359032e-01 -1.35924828e-03 2.70611351e+00] [ 3.65241524e-02 5.18116340e-05 9.99332769e-01 1.52234063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.19509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.88, Y:2.70, Z:1.52 [[ 9.98596350e-01 -3.73498082e-02 -3.75542588e-02 7.38841732e+01] [ 3.73232908e-02 9.99302252e-01 -1.40717846e-03 2.70484762e+00] [ 3.75806133e-02 3.55475440e-06 9.99293599e-01 1.52355315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.22509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.91, Y:2.70, Z:1.52 [[ 9.98532282e-01 -3.92287648e-02 -3.73414780e-02 7.39115898e+01] [ 3.92034565e-02 9.99230254e-01 -1.41000744e-03 2.70461174e+00] [ 3.73680474e-02 -5.59770587e-05 9.99301569e-01 1.52478437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.94, Y:2.70, Z:1.53 [[ 9.98402634e-01 -4.35160085e-02 -3.60352213e-02 7.39388118e+01] [ 4.34949148e-02 9.99052710e-01 -1.36945748e-03 2.70199746e+00] [ 3.60606788e-02 -2.00078927e-04 9.99349582e-01 1.52633573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.97, Y:2.70, Z:1.53 [[ 9.98277990e-01 -4.65251745e-02 -3.57276197e-02 7.39677431e+01] [ 4.65061662e-02 9.98917073e-01 -1.36334233e-03 2.70152766e+00] [ 3.57523590e-02 -3.00559976e-04 9.99360635e-01 1.52775506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.00, Y:2.70, Z:1.53 [[ 9.98021457e-01 -5.22381643e-02 -3.49906525e-02 7.39963835e+01] [ 5.22231885e-02 9.98634536e-01 -1.34242428e-03 2.69972246e+00] [ 3.50129998e-02 -4.87555204e-04 9.99386738e-01 1.52909825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.03, Y:2.70, Z:1.53 [[ 9.97863729e-01 -5.51555346e-02 -3.50120808e-02 7.40279638e+01] [ 5.51422930e-02 9.98477601e-01 -1.34444464e-03 2.69945263e+00] [ 3.50329320e-02 -5.89073876e-04 9.99385985e-01 1.53015436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.37509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.06, Y:2.70, Z:1.53 [[ 9.97678554e-01 -5.84798279e-02 -3.48943192e-02 7.40591017e+01] [ 5.84687500e-02 9.98288342e-01 -1.33868465e-03 2.69938620e+00] [ 3.49128781e-02 -7.04650258e-04 9.99390111e-01 1.53094605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.09, Y:2.70, Z:1.53 [[ 9.97312680e-01 -6.47329562e-02 -3.43083366e-02 7.40917823e+01] [ 6.47259926e-02 9.97902208e-01 -1.31474389e-03 2.69787213e+00] [ 3.43214721e-02 -9.09430387e-04 9.99410431e-01 1.53114952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.43509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.12, Y:2.70, Z:1.53 [[ 9.96864363e-01 -7.13049153e-02 -3.43081717e-02 7.41240695e+01] [ 7.13019222e-02 9.97453916e-01 -1.31227485e-03 2.69597676e+00] [ 3.43143918e-02 -1.13807856e-03 9.99410440e-01 1.53154473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.16, Y:2.69, Z:1.53 [[ 9.96159181e-01 -8.01000707e-02 -3.53675621e-02 7.41565339e+01] [ 8.01025195e-02 9.96785716e-01 -1.34999639e-03 2.69333459e+00] [ 3.53620155e-02 -1.48821953e-03 9.99373460e-01 1.53139637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.49509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.19, Y:2.69, Z:1.53 [[ 9.95927850e-01 -8.27729362e-02 -3.57261513e-02 7.41897410e+01] [ 8.27772735e-02 9.96567144e-01 -1.36025117e-03 2.69395868e+00] [ 3.57161006e-02 -1.60260137e-03 9.99360692e-01 1.53208560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.22, Y:2.69, Z:1.53 [[ 9.95549723e-01 -8.72017751e-02 -3.57295417e-02 7.42230781e+01] [ 8.72090958e-02 9.96189105e-01 -1.35650190e-03 2.69344520e+00] [ 3.57116696e-02 -1.76547594e-03 9.99360575e-01 1.53274995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.55509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.25, Y:2.69, Z:1.53 [[ 9.95292265e-01 -9.05004960e-02 -3.46838317e-02 7.42549262e+01] [ 9.05095141e-02 9.95894725e-01 -1.31321615e-03 2.69295160e+00] [ 3.46602917e-02 -1.83218287e-03 9.99397472e-01 1.53323780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.29, Y:2.69, Z:1.53 [[ 9.95215844e-01 -9.14831278e-02 -3.42966521e-02 7.42883346e+01] [ 9.14926366e-02 9.95804910e-01 -1.29535286e-03 2.69361644e+00] [ 3.42712775e-02 -1.84873544e-03 9.99410857e-01 1.53457366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.32, Y:2.69, Z:1.54 [[ 9.95199099e-01 -9.18388161e-02 -3.38287565e-02 7.43210025e+01] [ 9.18483922e-02 9.95772188e-01 -1.27411165e-03 2.69460219e+00] [ 3.38027478e-02 -1.83912213e-03 9.99426832e-01 1.53526161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.35, Y:2.70, Z:1.54 [[ 9.95263459e-01 -9.11983644e-02 -3.36675801e-02 7.43533249e+01] [ 9.12076219e-02 9.95831096e-01 -1.26394437e-03 2.69658332e+00] [ 3.36424929e-02 -1.81278227e-03 9.99432287e-01 1.53668613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.39, Y:2.70, Z:1.54 [[ 9.95326026e-01 -9.03485709e-02 -3.41062569e-02 7.43862345e+01] [ 9.03577689e-02 9.95908554e-01 -1.27471021e-03 2.69842487e+00] [ 3.40818813e-02 -1.81301304e-03 9.99417399e-01 1.53804281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.42, Y:2.70, Z:1.54 [[ 9.95541962e-01 -8.75687621e-02 -3.50416106e-02 7.44180783e+01] [ 8.75769151e-02 9.96156906e-01 -1.30511316e-03 2.70119295e+00] [ 3.50212295e-02 -1.76954124e-03 9.99385002e-01 1.53908696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.45, Y:2.70, Z:1.54 [[ 9.95621996e-01 -8.62161560e-02 -3.61056138e-02 7.44509980e+01] [ 8.62241465e-02 9.96274864e-01 -1.33863556e-03 2.70374957e+00] [ 3.60865275e-02 -1.78040073e-03 9.99347083e-01 1.54006497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.48, Y:2.71, Z:1.54 [[ 9.95599438e-01 -8.56018146e-02 -3.81325116e-02 7.44838421e+01] [ 8.56104431e-02 9.96327690e-01 -1.40953517e-03 2.70668150e+00] [ 3.81131360e-02 -1.86120880e-03 9.99271697e-01 1.54112078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.52, Y:2.71, Z:1.54 [[ 9.95538089e-01 -8.57402054e-02 -3.94021625e-02 7.45168917e+01] [ 8.57496987e-02 9.96315653e-01 -1.45214096e-03 2.70879565e+00] [ 3.93814981e-02 -1.93306192e-03 9.99222378e-01 1.54137672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.55, Y:2.71, Z:1.54 [[ 9.95335902e-01 -8.69778005e-02 -4.17289413e-02 7.45493693e+01] [ 8.69897744e-02 9.96208026e-01 -1.53220857e-03 2.71099510e+00] [ 4.17039744e-02 -2.10492899e-03 9.99127794e-01 1.54070875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.85509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.58, Y:2.71, Z:1.54 [[ 9.95139989e-01 -8.83741596e-02 -4.34328350e-02 7.45815314e+01] [ 8.83887287e-02 9.96084790e-01 -1.58860878e-03 2.71376711e+00] [ 4.34031783e-02 -2.25808495e-03 9.99055086e-01 1.54066277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.61, Y:2.72, Z:1.54 [[ 9.95107160e-01 -8.85344014e-02 -4.38565786e-02 7.46137606e+01] [ 8.85495657e-02 9.96070486e-01 -1.60061025e-03 2.71631372e+00] [ 4.38259526e-02 -2.29070227e-03 9.99036555e-01 1.54159895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.91509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.65, Y:2.72, Z:1.54 [[ 9.95204002e-01 -8.77430681e-02 -4.32452214e-02 7.46457462e+01] [ 8.77572209e-02 9.96140648e-01 -1.57472436e-03 2.72030611e+00] [ 4.32164941e-02 -2.22790846e-03 9.99063247e-01 1.54214704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.68, Y:2.72, Z:1.54 [[ 9.95571537e-01 -8.41134520e-02 -4.19790613e-02 7.46788948e+01] [ 8.41237140e-02 9.96454151e-01 -1.52511873e-03 2.72386997e+00] [ 4.19584929e-02 -2.01306976e-03 9.99117327e-01 1.54257242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.97509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.71, Y:2.73, Z:1.54 [[ 9.96028430e-01 -7.92708321e-02 -4.05401196e-02 7.47112858e+01] [ 7.92765525e-02 9.96851579e-01 -1.46901413e-03 2.72792554e+00] [ 4.05289322e-02 -1.75070108e-03 9.99176832e-01 1.54344453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.74, Y:2.73, Z:1.54 [[ 9.96413270e-01 -7.51909491e-02 -3.88190224e-02 7.47436875e+01] [ 7.51932062e-02 9.97167995e-01 -1.40393761e-03 2.73210272e+00] [ 3.88146501e-02 -1.52002469e-03 9.99245271e-01 1.54477607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.77, Y:2.74, Z:1.55 [[ 9.96573532e-01 -7.27942004e-02 -3.92708601e-02 7.47744459e+01] [ 7.27947830e-02 9.97345934e-01 -1.41697336e-03 2.73613355e+00] [ 3.92697801e-02 -1.44659560e-03 9.99227598e-01 1.54546218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.80, Y:2.74, Z:1.55 [[ 9.96478504e-01 -7.26727164e-02 -4.18242401e-02 7.48040874e+01] [ 7.25522873e-02 9.97354939e-01 -4.39214112e-03 2.74214131e+00] [ 4.20328012e-02 1.34222993e-03 9.99115330e-01 1.54588219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.84, Y:2.74, Z:1.54 [[ 9.96335660e-01 -7.29473842e-02 -4.46534619e-02 7.48362249e+01] [ 7.30647457e-02 9.97326699e-01 9.99649405e-04 2.73978990e+00] [ 4.44611679e-02 -4.25858019e-03 9.99002037e-01 1.54461014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.87, Y:2.74, Z:1.55 [[ 9.96202840e-01 -7.38806198e-02 -4.60603556e-02 7.48676863e+01] [ 7.38831099e-02 9.97265542e-01 -1.65071385e-03 2.74188170e+00] [ 4.60563613e-02 -1.75863649e-03 9.98937295e-01 1.54638704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.15509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.90, Y:2.74, Z:1.55 [[ 9.96264007e-01 -7.40532868e-02 -4.44312925e-02 7.48988425e+01] [ 7.40559330e-02 9.97252824e-01 -1.58871982e-03 2.74053980e+00] [ 4.44268818e-02 -1.70761645e-03 9.99011179e-01 1.54812039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.93, Y:2.74, Z:1.55 [[ 9.96315758e-01 -7.39990049e-02 -4.33480990e-02 7.49311141e+01] [ 7.40015613e-02 9.97256924e-01 -1.54789586e-03 2.74066444e+00] [ 4.33437346e-02 -1.66563397e-03 9.99058830e-01 1.54918265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.21509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.96, Y:2.74, Z:1.55 [[ 9.96322352e-01 -7.39101025e-02 -4.33482195e-02 7.49637874e+01] [ 7.39127218e-02 9.97263518e-01 -1.54451534e-03 2.74177259e+00] [ 4.33437531e-02 -1.66514973e-03 9.99058830e-01 1.55007299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.00, Y:2.74, Z:1.55 [[ 9.96362349e-01 -7.41160155e-02 -4.20581207e-02 7.49950930e+01] [ 7.41187949e-02 9.97248298e-01 -1.49540021e-03 2.74217622e+00] [ 4.20532224e-02 -1.62733676e-03 9.99114047e-01 1.55102379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.27509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.03, Y:2.74, Z:1.55 [[ 9.96373724e-01 -7.50316608e-02 -4.01204653e-02 7.50276284e+01] [ 7.50350213e-02 9.97179882e-01 -1.42418588e-03 2.74239045e+00] [ 4.01141798e-02 -1.59141858e-03 9.99193835e-01 1.55284870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.30509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.06, Y:2.74, Z:1.55 [[ 9.96380525e-01 -7.49412401e-02 -4.01205766e-02 7.50603025e+01] [ 7.49446539e-02 9.97186682e-01 -1.42104220e-03 2.74349299e+00] [ 4.01141994e-02 -1.59092396e-03 9.99193835e-01 1.55373904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.33509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.09, Y:2.74, Z:1.55 [[ 9.96455589e-01 -7.42432853e-02 -3.95498961e-02 7.50927529e+01] [ 7.42461851e-02 9.97238964e-01 -1.39749481e-03 2.74444682e+00] [ 3.95444520e-02 -1.54388739e-03 9.99216620e-01 1.55472373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.12, Y:2.75, Z:1.56 [[ 9.96493735e-01 -7.40351975e-02 -3.89746872e-02 7.51235214e+01] [ 7.40379551e-02 9.97254477e-01 -1.37457952e-03 2.74529263e+00] [ 3.89694485e-02 -1.51584626e-03 9.99239253e-01 1.55540547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.16, Y:2.74, Z:1.56 [[ 9.96282899e-01 -7.65074443e-02 -3.95853040e-02 7.51558824e+01] [ 7.65123319e-02 9.97067661e-01 -1.39371736e-03 2.74458060e+00] [ 3.95758562e-02 -1.64022714e-03 9.99215223e-01 1.55774106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.19, Y:2.74, Z:1.56 [[ 9.96060355e-01 -7.88949257e-02 -4.04890160e-02 7.51868487e+01] [ 7.89021521e-02 9.96881351e-01 -1.42197926e-03 2.74293334e+00] [ 4.04749320e-02 -1.77829333e-03 9.99178972e-01 1.55759675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.22, Y:2.75, Z:1.56 [[ 9.96650267e-01 -7.28219400e-02 -3.72184134e-02 7.52184989e+01] [ 7.28239481e-02 9.97343959e-01 -1.30351228e-03 2.74609086e+00] [ 3.72144841e-02 -1.41124594e-03 9.99306305e-01 1.55906212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.25, Y:2.75, Z:1.56 [[ 9.98819073e-01 -3.29463097e-02 -3.57071457e-02 7.52508407e+01] [ 3.29227367e-02 9.99457120e-01 -1.24811084e-03 2.74877507e+00] [ 3.57288816e-02 7.10599548e-05 9.99361517e-01 1.56265798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.28, Y:2.75, Z:1.56 [[ 9.98963264e-01 -2.80092615e-02 -3.58870372e-02 7.52789943e+01] [ 2.79822448e-02 9.99607633e-01 -1.25496520e-03 2.74838849e+00] [ 3.59081069e-02 2.49464271e-04 9.99355065e-01 1.56308660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.31, Y:2.75, Z:1.56 [[ 9.98955610e-01 -2.82813817e-02 -3.58866754e-02 7.53073495e+01] [ 2.82541716e-02 9.99599970e-01 -1.26523659e-03 2.74944397e+00] [ 3.59081023e-02 2.49966907e-04 9.99355065e-01 1.56386287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.57509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.33, Y:2.75, Z:1.56 [[ 9.99080451e-01 -2.36981827e-02 -3.57302222e-02 7.53344637e+01] [ 2.36679767e-02 9.99719070e-01 -1.26817976e-03 2.74884546e+00] [ 3.57502381e-02 4.21351542e-04 9.99360667e-01 1.56398943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.36, Y:2.75, Z:1.56 [[ 9.99106914e-01 -2.22398845e-02 -3.59271749e-02 7.53627408e+01] [ 2.22081883e-02 9.99752547e-01 -1.28111299e-03 2.74882350e+00] [ 3.59467764e-02 4.82091383e-04 9.99353590e-01 1.56457532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.63509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.39, Y:2.75, Z:1.56 [[ 9.99129593e-01 -2.09867275e-02 -3.60501674e-02 7.53910713e+01] [ 2.09536244e-02 9.99779609e-01 -1.29586203e-03 2.74874405e+00] [ 3.60694181e-02 5.39352436e-04 9.99349141e-01 1.56498102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.42, Y:2.75, Z:1.57 [[ 9.99171689e-01 -1.88705783e-02 -3.60532542e-02 7.54179515e+01] [ 1.88357719e-02 9.99821740e-01 -1.30485855e-03 2.74849862e+00] [ 3.60714507e-02 6.24686849e-04 9.99349018e-01 1.56600789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.69509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.45, Y:2.75, Z:1.57 [[ 9.99174473e-01 -1.84374988e-02 -3.61998899e-02 7.54450168e+01] [ 1.84019618e-02 9.99829805e-01 -1.31465413e-03 2.74876067e+00] [ 3.62179678e-02 6.47419860e-04 9.99343704e-01 1.56670127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.72509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.47, Y:2.75, Z:1.57 [[ 9.99171242e-01 -1.86120966e-02 -3.61997114e-02 7.54734124e+01] [ 1.85764967e-02 9.99826571e-01 -1.31955337e-03 2.74987319e+00] [ 3.62179929e-02 6.45995960e-04 9.99343704e-01 1.56747701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.50, Y:2.75, Z:1.57 [[ 9.99053486e-01 -2.00138488e-02 -3.86209423e-02 7.54980171e+01] [ 2.02176560e-02 9.99783625e-01 4.89375380e-03 2.75005693e+00] [ 3.85146429e-02 -5.66994672e-03 9.99241950e-01 1.56799490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.53, Y:2.75, Z:1.57 [[ 9.99138717e-01 -1.92132771e-02 -3.67787209e-02 7.55290308e+01] [ 1.89305938e-02 9.99788642e-01 -8.01895754e-03 2.75308610e+00] [ 3.69250179e-02 7.31580792e-03 9.99291260e-01 1.57182794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.56, Y:2.75, Z:1.57 [[ 9.99128130e-01 -1.92904100e-02 -3.70251264e-02 7.55575726e+01] [ 1.92528177e-02 9.99813706e-01 -1.37162655e-03 2.75105399e+00] [ 3.70446881e-02 6.57592657e-04 9.99313394e-01 1.57022423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.59, Y:2.75, Z:1.57 [[ 9.99122347e-01 -2.01444347e-02 -3.67251678e-02 7.55854612e+01] [ 2.01076734e-02 9.99796882e-01 -1.37009862e-03 2.75049639e+00] [ 3.67453081e-02 6.30438465e-04 9.99324464e-01 1.57106717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.87509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.61, Y:2.75, Z:1.57 [[ 9.99118887e-01 -2.03159407e-02 -3.67248258e-02 7.56138571e+01] [ 2.02789603e-02 9.99793409e-01 -1.37921371e-03 2.75164666e+00] [ 3.67452588e-02 6.33257183e-04 9.99324464e-01 1.57184452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.64, Y:2.75, Z:1.57 [[ 9.99103799e-01 -2.18183646e-02 -3.62706058e-02 7.56417238e+01] [ 2.17830219e-02 9.99761784e-01 -1.36934855e-03 2.75059979e+00] [ 3.62918425e-02 5.78037941e-04 9.99341067e-01 1.57306661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.93509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.67, Y:2.75, Z:1.57 [[ 9.99070957e-01 -2.42651551e-02 -3.56149684e-02 7.56658538e+01] [ 2.41690233e-02 9.99702995e-01 -3.12730794e-03 2.75225179e+00] [ 3.56802752e-02 2.26362353e-03 9.99360693e-01 1.57418476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.69, Y:2.75, Z:1.57 [[ 9.99028366e-01 -2.82984684e-02 -3.37863859e-02 7.56941778e+01] [ 2.83176633e-02 9.99598971e-01 8.96532142e-05 2.74646884e+00] [ 3.37702995e-02 -1.04631761e-03 9.99429073e-01 1.57477977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.99509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.72, Y:2.75, Z:1.58 [[ 9.99030699e-01 -2.82950977e-02 -3.37201655e-02 7.57216113e+01] [ 2.82563905e-02 9.99599389e-01 -1.62397995e-03 2.74831100e+00] [ 3.37526075e-02 6.69595661e-04 9.99429994e-01 1.57612466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.75, Y:2.71, Z:1.58 [[ 9.98474480e-01 -4.32626610e-02 -3.43082231e-02 7.57537217e+01] [ 4.32309085e-02 9.99063716e-01 -1.66712227e-03 2.71195999e+00] [ 3.43482250e-02 1.81403393e-04 9.99409909e-01 1.57969452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.05509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.78, Y:2.71, Z:1.58 [[ 9.98394063e-01 -4.43671856e-02 -3.52256623e-02 7.57816646e+01] [ 4.43477207e-02 9.99015265e-01 -1.33410198e-03 2.70881306e+00] [ 3.52501647e-02 -2.30218337e-04 9.99378493e-01 1.57995197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.81, Y:2.70, Z:1.58 [[ 9.98311051e-01 -4.54441295e-02 -3.61922190e-02 7.58095961e+01] [ 4.54239012e-02 9.98966847e-01 -1.38140791e-03 2.70227530e+00] [ 3.62176037e-02 -2.64916997e-04 9.99343892e-01 1.57988574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.84, Y:2.70, Z:1.58 [[ 9.98298468e-01 -4.57200326e-02 -3.61918158e-02 7.58379651e+01] [ 4.56996052e-02 9.98954258e-01 -1.39189955e-03 2.70342006e+00] [ 3.62176062e-02 -2.64420511e-04 9.99343892e-01 1.58066453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.87, Y:2.70, Z:1.58 [[ 9.98281130e-01 -4.56800794e-02 -3.67166973e-02 7.58661917e+01] [ 4.56586441e-02 9.98956087e-01 -1.42252851e-03 2.70131678e+00] [ 3.67433495e-02 -2.56351247e-04 9.99324702e-01 1.58130903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.89, Y:2.70, Z:1.58 [[ 9.98311991e-01 -4.52058075e-02 -3.64637309e-02 7.58937333e+01] [ 4.51839590e-02 9.98977669e-01 -1.42344613e-03 2.69933100e+00] [ 3.64908010e-02 -2.26532380e-04 9.99333963e-01 1.58182540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.92, Y:2.70, Z:1.58 [[ 9.98299460e-01 -4.54820344e-02 -3.64633149e-02 7.59221028e+01] [ 4.54599833e-02 9.98965131e-01 -1.43403416e-03 2.70049963e+00] [ 3.64908029e-02 -2.26026156e-04 9.99333963e-01 1.58260419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.95, Y:2.70, Z:1.58 [[ 9.98345577e-01 -4.47410179e-02 -3.61157923e-02 7.59504517e+01] [ 4.47185358e-02 9.98998602e-01 -1.43045089e-03 2.69866947e+00] [ 3.61436259e-02 -1.86961029e-04 9.99346588e-01 1.58338411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.98, Y:2.70, Z:1.58 [[ 9.98389989e-01 -4.38320379e-02 -3.60025427e-02 7.59779697e+01] [ 4.38087767e-02 9.99038904e-01 -1.43509195e-03 2.69700800e+00] [ 3.60308438e-02 -1.44445914e-04 9.99350668e-01 1.58424389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.00, Y:2.69, Z:1.58 [[ 9.98295073e-01 -4.39909469e-02 -3.83633203e-02 7.60036545e+01] [ 4.43298972e-02 9.98984679e-01 8.02943816e-03 2.69268347e+00] [ 3.79711466e-02 -9.71639060e-03 9.99231597e-01 1.58491988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.03, Y:2.68, Z:1.59 [[ 9.98617029e-01 -4.02984542e-02 -3.37648469e-02 7.60342683e+01] [ 3.99436856e-02 9.99140090e-01 -1.11167838e-02 2.67811986e+00] [ 3.41838013e-02 9.75271722e-03 9.99367976e-01 1.58874619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.35509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.06, Y:2.67, Z:1.59 [[ 9.98543698e-01 -4.17877696e-02 -3.41213222e-02 7.60627705e+01] [ 4.17650955e-02 9.99126508e-01 -1.37730334e-03 2.67129492e+00] [ 3.41490720e-02 -4.97827125e-05 9.99416749e-01 1.58692600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.09, Y:2.67, Z:1.59 [[ 9.98464786e-01 -4.39057257e-02 -3.37692058e-02 7.60900291e+01] [ 4.38844315e-02 9.99035672e-01 -1.37186377e-03 2.66899807e+00] [ 3.37968739e-02 -1.12184726e-04 9.99428716e-01 1.58776586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.41509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.12, Y:2.67, Z:1.59 [[ 9.98376764e-01 -4.62927523e-02 -3.31785855e-02 7.61172477e+01] [ 4.62733763e-02 9.98927899e-01 -1.35201859e-03 2.66662829e+00] [ 3.32056034e-02 -1.85461233e-04 9.99448525e-01 1.58823230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.15, Y:2.67, Z:1.59 [[ 9.98368623e-01 -4.64681291e-02 -3.31784045e-02 7.61456568e+01] [ 4.64487028e-02 9.98919756e-01 -1.35644801e-03 2.66786895e+00] [ 3.32055953e-02 -1.86858720e-04 9.99448525e-01 1.58901098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.47509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.17, Y:2.67, Z:1.59 [[ 9.98244401e-01 -4.93023354e-02 -3.28236916e-02 7.61732528e+01] [ 4.92846459e-02 9.98783863e-01 -1.34827013e-03 2.66574221e+00] [ 3.28502464e-02 -2.71800913e-04 9.99460248e-01 1.59018771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.20, Y:2.66, Z:1.59 [[ 9.98130694e-01 -5.21614922e-02 -3.18480274e-02 7.62011803e+01] [ 5.21460103e-02 9.98638603e-01 -1.31707406e-03 2.66402325e+00] [ 3.18733701e-02 -3.46135522e-04 9.99491855e-01 1.59144792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.23, Y:2.66, Z:1.59 [[ 9.97998168e-01 -5.48653300e-02 -3.14555698e-02 7.62289354e+01] [ 5.48512840e-02 9.98493676e-01 -1.30991404e-03 2.66230833e+00] [ 3.14800564e-02 -4.18086578e-04 9.99504293e-01 1.59282083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.26, Y:2.65, Z:1.59 [[ 9.96562740e-01 -7.42630805e-02 -3.67110475e-02 7.62580293e+01] [ 7.42567081e-02 9.97237972e-01 -1.53891818e-03 2.64520696e+00] [ 3.67239354e-02 -1.19241302e-03 9.99324737e-01 1.59104154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.29, Y:2.65, Z:1.59 [[ 9.96386025e-01 -7.63131180e-02 -3.72987588e-02 7.62859664e+01] [ 7.63077729e-02 9.97083077e-01 -1.56895333e-03 2.64527457e+00] [ 3.73096929e-02 -1.28290204e-03 9.99302928e-01 1.59122931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.31, Y:2.64, Z:1.59 [[ 9.96219064e-01 -7.82284997e-02 -3.77872810e-02 7.63136558e+01] [ 7.82239708e-02 9.96934526e-01 -1.60057226e-03 2.64496641e+00] [ 3.77966554e-02 -1.36135056e-03 9.99284524e-01 1.59160076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.65509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.34, Y:2.64, Z:1.59 [[ 9.96055759e-01 -8.00293605e-02 -3.83174450e-02 7.63417050e+01] [ 8.00256689e-02 9.96791466e-01 -1.63255124e-03 2.64495676e+00] [ 3.83251542e-02 -1.44026710e-03 9.99264283e-01 1.59245296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.37, Y:2.65, Z:1.59 [[ 9.96034282e-01 -8.02963494e-02 -3.83171656e-02 7.63700921e+01] [ 8.02926040e-02 9.96769989e-01 -1.63908600e-03 2.64624016e+00] [ 3.83250134e-02 -1.44399915e-03 9.99264283e-01 1.59323102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.71509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.40, Y:2.65, Z:1.59 [[ 9.95913332e-01 -8.18312217e-02 -3.82136954e-02 7.63984688e+01] [ 8.18282217e-02 9.96645090e-01 -1.64517884e-03 2.64640322e+00] [ 3.82201189e-02 -1.48850320e-03 9.99268236e-01 1.59369558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.43, Y:2.65, Z:1.59 [[ 9.95832841e-01 -8.30575396e-02 -3.76616193e-02 7.64266851e+01] [ 8.30551664e-02 9.96543617e-01 -1.63027127e-03 2.64697878e+00] [ 3.76668527e-02 -1.50451439e-03 9.99289220e-01 1.59467511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.77509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.46, Y:2.65, Z:1.60 [[ 9.95810182e-01 -8.33288726e-02 -3.76613893e-02 7.64550713e+01] [ 8.33264930e-02 9.96520958e-01 -1.63556857e-03 2.64827370e+00] [ 3.76666538e-02 -1.50947565e-03 9.99289220e-01 1.59545291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.80509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.48, Y:2.65, Z:1.60 [[ 9.95762781e-01 -8.43658542e-02 -3.65908048e-02 7.64826384e+01] [ 8.43640097e-02 9.96433722e-01 -1.59715396e-03 2.64921444e+00] [ 3.65950571e-02 -1.49656054e-03 9.99329056e-01 1.59674186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.83509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.51, Y:2.65, Z:1.60 [[ 9.95719085e-01 -8.52392198e-02 -3.57460236e-02 7.65100234e+01] [ 8.52379075e-02 9.96359400e-01 -1.56343760e-03 2.65062235e+00] [ 3.57491529e-02 -1.49017160e-03 9.99359684e-01 1.59814040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.54, Y:2.65, Z:1.60 [[ 9.95291858e-01 -9.01539956e-02 -3.55861475e-02 7.65391501e+01] [ 9.01557307e-02 9.95926460e-01 -1.55917180e-03 2.65362207e+00] [ 3.55817515e-02 -1.65646413e-03 9.99365396e-01 1.59941550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.57, Y:2.66, Z:1.60 [[ 9.95136952e-01 -9.24861174e-02 -3.38934191e-02 7.65691759e+01] [ 9.24890070e-02 9.95712597e-01 -1.48593942e-03 2.65653048e+00] [ 3.38855331e-02 -1.65605545e-03 9.99424348e-01 1.60083184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.60, Y:2.66, Z:1.60 [[ 9.95037050e-01 -9.37497816e-02 -3.33503827e-02 7.66001606e+01] [ 9.37532940e-02 9.95594387e-01 -1.46190984e-03 2.65905121e+00] [ 3.33405075e-02 -1.67205377e-03 9.99442652e-01 1.60239309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.63, Y:2.66, Z:1.60 [[ 9.95042207e-01 -9.36950096e-02 -3.33504411e-02 7.66319675e+01] [ 9.36985360e-02 9.95599544e-01 -1.46057455e-03 2.66041855e+00] [ 3.33405325e-02 -1.67155418e-03 9.99442652e-01 1.60326370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.66, Y:2.66, Z:1.60 [[ 9.94922444e-01 -9.50600572e-02 -3.30592694e-02 7.66625399e+01] [ 9.50643261e-02 9.95470081e-01 -1.44622509e-03 2.66326093e+00] [ 3.30469918e-02 -1.70387537e-03 9.99452347e-01 1.60453351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.69, Y:2.66, Z:1.61 [[ 9.94927502e-01 -9.50070916e-02 -3.30593045e-02 7.66943465e+01] [ 9.50113580e-02 9.95475139e-01 -1.44542203e-03 2.66462354e+00] [ 3.30470411e-02 -1.70291929e-03 9.99452347e-01 1.60540422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.73, Y:2.67, Z:1.61 [[ 9.94811168e-01 -9.61967688e-02 -3.31198039e-02 7.67257267e+01] [ 9.62017635e-02 9.95360803e-01 -1.44639596e-03 2.66756193e+00] [ 3.31052932e-02 -1.74729268e-03 9.99450342e-01 1.60664510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.07509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.76, Y:2.67, Z:1.61 [[ 9.94668604e-01 -9.75208319e-02 -3.35269417e-02 7.67571076e+01] [ 9.75267455e-02 9.95231829e-01 -1.46282941e-03 2.67040637e+00] [ 3.35097358e-02 -1.81474302e-03 9.99436744e-01 1.60749827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.79, Y:2.67, Z:1.61 [[ 9.94526179e-01 -9.89236124e-02 -3.36422191e-02 7.67892176e+01] [ 9.89304326e-02 9.95093272e-01 -1.46589937e-03 2.67315872e+00] [ 3.36221580e-02 -1.87036400e-03 9.99432865e-01 1.60822179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.13509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.82, Y:2.67, Z:1.61 [[ 9.94531607e-01 -9.88689934e-02 -3.36423216e-02 7.68210252e+01] [ 9.88758619e-02 9.95098700e-01 -1.46354335e-03 2.67451605e+00] [ 3.36221296e-02 -1.87087343e-03 9.99432865e-01 1.60909217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.85, Y:2.68, Z:1.61 [[ 9.94423813e-01 -9.98171758e-02 -3.40266293e-02 7.68527016e+01] [ 9.98248241e-02 9.95003929e-01 -1.47825062e-03 2.67755158e+00] [ 3.40041847e-02 -1.92669467e-03 9.99419833e-01 1.60980626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.19509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.88, Y:2.70, Z:1.61 [[ 9.94429157e-01 -9.92855442e-02 -3.53982068e-02 7.68841156e+01] [ 9.92935825e-02 9.95056997e-01 -1.53516024e-03 2.69622800e+00] [ 3.53756526e-02 -1.98820667e-03 9.99372108e-01 1.60966691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.22509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.92, Y:2.70, Z:1.61 [[ 9.94715262e-01 -9.65085623e-02 -3.50377773e-02 7.69158325e+01] [ 9.65148093e-02 9.95330393e-01 -1.51697642e-03 2.70230040e+00] [ 3.50205659e-02 -1.87270480e-03 9.99384837e-01 1.61017460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.95, Y:2.70, Z:1.61 [[ 9.94724165e-01 -9.64167040e-02 -3.50378954e-02 7.69484865e+01] [ 9.64229901e-02 9.95339296e-01 -1.51424459e-03 2.70365791e+00] [ 3.50205926e-02 -1.87220295e-03 9.99384837e-01 1.61106807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.98, Y:2.71, Z:1.61 [[ 9.95069106e-01 -9.28090776e-02 -3.49849838e-02 7.69791984e+01] [ 9.28132239e-02 9.95682393e-01 -1.50901247e-03 2.71074073e+00] [ 3.49739825e-02 -1.74549744e-03 9.99386699e-01 1.61183848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.01, Y:2.71, Z:1.61 [[ 9.95077483e-01 -9.27191887e-02 -3.49850785e-02 7.70118527e+01] [ 9.27233566e-02 9.95690770e-01 -1.50681549e-03 2.71209163e+00] [ 3.49740304e-02 -1.74453574e-03 9.99386699e-01 1.61273206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.04, Y:2.72, Z:1.61 [[ 9.95309550e-01 -9.02743328e-02 -3.47770708e-02 7.70429116e+01] [ 9.02770618e-02 9.95915567e-01 -1.49499706e-03 2.71618742e+00] [ 3.47699860e-02 -1.65158692e-03 9.99393977e-01 1.61372974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.37509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.07, Y:2.72, Z:1.61 [[ 9.95566014e-01 -8.77385407e-02 -3.39155007e-02 7.70748080e+01] [ 8.77397318e-02 9.96142369e-01 -1.45605426e-03 2.72049117e+00] [ 3.39124193e-02 -1.52613880e-03 9.99423643e-01 1.61458208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.11, Y:2.72, Z:1.62 [[ 9.95808308e-01 -8.51359193e-02 -3.34318548e-02 7.71070694e+01] [ 8.51356910e-02 9.96368336e-01 -1.43294197e-03 2.72476267e+00] [ 3.34324364e-02 -1.41930854e-03 9.99439972e-01 1.61534384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.43509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.14, Y:2.73, Z:1.62 [[ 9.95815950e-01 -8.50464396e-02 -3.34319626e-02 7.71397250e+01] [ 8.50462453e-02 9.96375978e-01 -1.43042443e-03 2.72610395e+00] [ 3.34324569e-02 -1.41882343e-03 9.99439972e-01 1.61623731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.17, Y:2.73, Z:1.62 [[ 9.96042189e-01 -8.23977918e-02 -3.33250843e-02 7.71711441e+01] [ 8.23962112e-02 9.96598635e-01 -1.42307865e-03 2.72973030e+00] [ 3.33289920e-02 -1.32841430e-03 9.99443552e-01 1.61692642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.49509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.20, Y:2.75, Z:1.62 [[ 9.97337208e-01 -6.48008568e-02 -3.34565793e-02 7.72028972e+01] [ 6.47894272e-02 9.97897938e-01 -1.42677224e-03 2.74778488e+00] [ 3.34787075e-02 -7.44659560e-04 9.99439154e-01 1.61754734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.23, Y:2.75, Z:1.62 [[ 9.97477606e-01 -6.26419161e-02 -3.33828574e-02 7.72330412e+01] [ 6.26293950e-02 9.98035840e-01 -1.42163521e-03 2.75105658e+00] [ 3.34063421e-02 -6.72698880e-04 9.99441626e-01 1.61806676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.55509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.26, Y:2.75, Z:1.62 [[ 9.97616342e-01 -6.03797582e-02 -3.34053718e-02 7.72637541e+01] [ 6.03659565e-02 9.98175299e-01 -1.42248302e-03 2.75377254e+00] [ 3.34303061e-02 -5.97454908e-04 9.99440873e-01 1.61860258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.29, Y:2.76, Z:1.62 [[ 9.97722950e-01 -5.85296601e-02 -3.35140847e-02 7.72933326e+01] [ 5.85147344e-02 9.98285525e-01 -1.42683539e-03 2.75605726e+00] [ 3.35401378e-02 -5.37481355e-04 9.99437227e-01 1.61963977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.32, Y:2.76, Z:1.62 [[ 9.97721901e-01 -5.85475634e-02 -3.35140382e-02 7.73234533e+01] [ 5.85326111e-02 9.98284476e-01 -1.42792672e-03 2.75737184e+00] [ 3.35401457e-02 -5.36990403e-04 9.99437227e-01 1.62046474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.35, Y:2.76, Z:1.62 [[ 9.97835401e-01 -5.67586924e-02 -3.32108868e-02 7.73540327e+01] [ 5.67430028e-02 9.98387814e-01 -1.41549641e-03 2.75979113e+00] [ 3.32376864e-02 -4.72053016e-04 9.99447364e-01 1.62159001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.38, Y:2.76, Z:1.62 [[ 9.97965739e-01 -5.48131395e-02 -3.25561546e-02 7.73839384e+01] [ 5.47970275e-02 9.98496550e-01 -1.38759077e-03 2.76260437e+00] [ 3.25832663e-02 -3.99212453e-04 9.99468945e-01 1.62278575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.41, Y:2.77, Z:1.62 [[ 9.98075496e-01 -5.30641442e-02 -3.20858382e-02 7.74142180e+01] [ 5.30475909e-02 9.98591049e-01 -1.36754520e-03 2.76583655e+00] [ 3.21131984e-02 -3.37163066e-04 9.99484181e-01 1.62444407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.44, Y:2.77, Z:1.63 [[ 9.98070845e-01 -5.31515524e-02 -3.20858203e-02 7.74443147e+01] [ 5.31350308e-02 9.98586399e-01 -1.36796283e-03 2.76713839e+00] [ 3.21131731e-02 -3.39557232e-04 9.99484181e-01 1.62526809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.47, Y:2.77, Z:1.63 [[ 9.98173515e-01 -5.15067151e-02 -3.15704201e-02 7.74743576e+01] [ 5.14898230e-02 9.98672609e-01 -1.34834784e-03 2.77025693e+00] [ 3.15979628e-02 -2.79670239e-04 9.99500621e-01 1.62678526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.50, Y:2.77, Z:1.63 [[ 9.98172576e-01 -5.15249225e-02 -3.15704168e-02 7.75044779e+01] [ 5.15080370e-02 9.98671670e-01 -1.34842543e-03 2.77157369e+00] [ 3.15979584e-02 -2.80168916e-04 9.99500621e-01 1.62760995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.53, Y:2.77, Z:1.63 [[ 9.98257727e-01 -4.99882968e-02 -3.13477407e-02 7.75349270e+01] [ 4.99708757e-02 9.98749777e-01 -1.33941037e-03 2.77457699e+00] [ 3.13755038e-02 -2.29397303e-04 9.99507641e-01 1.62911165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.85509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.57, Y:2.78, Z:1.63 [[ 9.98253510e-01 -5.00724425e-02 -3.13477261e-02 7.75650243e+01] [ 5.00550523e-02 9.98745562e-01 -1.33975012e-03 2.77588274e+00] [ 3.13754869e-02 -2.31701808e-04 9.99507641e-01 1.62993569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.60, Y:2.78, Z:1.63 [[ 9.97395772e-01 -6.48176644e-02 -3.16282355e-02 7.75952722e+01] [ 6.48072863e-02 9.97896879e-01 -1.35422383e-03 2.77541470e+00] [ 3.16494952e-02 -6.99042996e-04 9.99498785e-01 1.62816121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.91509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.63, Y:2.78, Z:1.63 [[ 9.97101920e-01 -6.89063551e-02 -3.22439859e-02 7.76262982e+01] [ 6.88976804e-02 9.97622775e-01 -1.38133401e-03 2.77539697e+00] [ 3.22625174e-02 -8.44205038e-04 9.99479073e-01 1.62875291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.66, Y:2.78, Z:1.63 [[ 9.96761765e-01 -7.31405693e-02 -3.34131872e-02 7.76585762e+01] [ 7.31336966e-02 9.97321121e-01 -1.42943697e-03 2.77522666e+00] [ 3.34282272e-02 -1.01882177e-03 9.99440601e-01 1.62870127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.97509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.69, Y:2.78, Z:1.63 [[ 9.96396898e-01 -7.73627764e-02 -3.47594948e-02 7.76907601e+01] [ 7.73579944e-02 9.97002275e-01 -1.48444262e-03 2.77554471e+00] [ 3.47701360e-02 -1.20983078e-03 9.99394604e-01 1.62881859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.72, Y:2.78, Z:1.63 [[ 9.96404436e-01 -7.72655770e-02 -3.47596097e-02 7.77234204e+01] [ 7.72608299e-02 9.97009814e-01 -1.48174588e-03 2.77688297e+00] [ 3.47701600e-02 -1.20913813e-03 9.99394604e-01 1.62971215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.75, Y:2.78, Z:1.63 [[ 9.96058842e-01 -8.09731325e-02 -3.61957907e-02 7.77547642e+01] [ 8.09705663e-02 9.96715305e-01 -1.53918081e-03 2.77762523e+00] [ 3.62015308e-02 -1.39767902e-03 9.99343532e-01 1.63009194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.79, Y:2.78, Z:1.63 [[ 9.95731900e-01 -8.45502624e-02 -3.70031954e-02 7.77874013e+01] [ 8.45501887e-02 9.96417985e-01 -1.56965190e-03 2.77888052e+00] [ 3.70033639e-02 -1.56567468e-03 9.99313915e-01 1.63087726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.82, Y:2.78, Z:1.63 [[ 9.95739417e-01 -8.44616389e-02 -3.70033143e-02 7.78200593e+01] [ 8.44616082e-02 9.96425502e-01 -1.56684440e-03 2.78020642e+00] [ 3.70033843e-02 -1.56519071e-03 9.99313915e-01 1.63177074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.85, Y:2.78, Z:1.63 [[ 9.95453313e-01 -8.76266373e-02 -3.73399764e-02 7.78519733e+01] [ 8.76289462e-02 9.96151935e-01 -1.57791890e-03 2.78198482e+00] [ 3.73345575e-02 -1.70131819e-03 9.99301374e-01 1.63302817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.15509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.88, Y:2.78, Z:1.63 [[ 9.95230165e-01 -9.01426878e-02 -3.72989775e-02 7.78838099e+01] [ 9.01468543e-02 9.95927241e-01 -1.57349376e-03 2.78406377e+00] [ 3.72889067e-02 -1.79639703e-03 9.99302912e-01 1.63423786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.92, Y:2.79, Z:1.64 [[ 9.94517832e-01 -9.87607206e-02 -3.43598990e-02 7.79156807e+01] [ 9.87694563e-02 9.95109291e-01 -1.44718340e-03 2.79112870e+00] [ 3.43347796e-02 -1.95445885e-03 9.99408477e-01 1.63845673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.21509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.95, Y:2.79, Z:1.64 [[ 9.94540304e-01 -9.83626017e-02 -3.48479892e-02 7.79488615e+01] [ 9.83714426e-02 9.95148689e-01 -1.46492374e-03 2.79331160e+00] [ 3.48230244e-02 -1.97112126e-03 9.99391551e-01 1.63923285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.98, Y:2.79, Z:1.64 [[ 9.94555871e-01 -9.82050123e-02 -3.48481645e-02 7.79823786e+01] [ 9.82139030e-02 9.95164256e-01 -1.46074125e-03 2.79463631e+00] [ 3.48230998e-02 -1.96978547e-03 9.99391551e-01 1.64014949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.27509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.02, Y:2.80, Z:1.64 [[ 9.94586600e-01 -9.77230404e-02 -3.53228289e-02 7.80151731e+01] [ 9.77320587e-02 9.95211670e-01 -1.47537022e-03 2.79650545e+00] [ 3.52978692e-02 -1.98478934e-03 9.99374865e-01 1.64060631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.30509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.05, Y:2.80, Z:1.64 [[ 9.94618708e-01 -9.72336172e-02 -3.57665926e-02 7.80483358e+01] [ 9.72426905e-02 9.95259584e-01 -1.48994387e-03 2.79801422e+00] [ 3.57419167e-02 -1.99611365e-03 9.99359060e-01 1.64053818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.33509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.08, Y:2.80, Z:1.64 [[ 9.94631323e-01 -9.71044325e-02 -3.57667644e-02 7.80818435e+01] [ 9.71135708e-02 9.95272197e-01 -1.48580913e-03 2.79932437e+00] [ 3.57419448e-02 -1.99560591e-03 9.99359060e-01 1.64145453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.11, Y:2.80, Z:1.64 [[ 9.94662992e-01 -9.66482865e-02 -3.61198209e-02 7.81134430e+01] [ 9.66574658e-02 9.95316581e-01 -1.49607479e-03 2.80075199e+00] [ 3.60952497e-02 -2.00316013e-03 9.99346347e-01 1.64184363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.15, Y:2.80, Z:1.64 [[ 9.94692875e-01 -9.62640496e-02 -3.63223999e-02 7.81466206e+01] [ 9.62732051e-02 9.95353815e-01 -1.50094045e-03 2.80261067e+00] [ 3.62981260e-02 -2.00389909e-03 9.99338997e-01 1.64259106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.18, Y:2.84, Z:1.65 [[ 9.98801889e-01 -3.51389919e-02 -3.40593268e-02 7.81768307e+01] [ 3.51115345e-02 9.99382414e-01 -1.40412602e-03 2.84069399e+00] [ 3.40876318e-02 2.06568499e-04 9.99418826e-01 1.64636065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.21, Y:2.84, Z:1.65 [[ 9.98697920e-01 -3.71689563e-02 -3.49418574e-02 7.82050335e+01] [ 3.71412922e-02 9.99308986e-01 -1.44070172e-03 2.84018434e+00] [ 3.49712615e-02 1.41040072e-04 9.99388308e-01 1.64566697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.23, Y:2.84, Z:1.65 [[ 9.98634136e-01 -4.01619608e-02 -3.34197377e-02 7.82326806e+01] [ 4.01380139e-02 9.99193182e-01 -1.38740011e-03 2.83980862e+00] [ 3.34484947e-02 4.41032101e-05 9.99440442e-01 1.64749142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.26, Y:2.84, Z:1.65 [[ 9.98608704e-01 -4.09550340e-02 -3.32165793e-02 7.82608919e+01] [ 4.09314949e-02 9.99160990e-01 -1.38862019e-03 2.84009462e+00] [ 3.32455813e-02 2.70839661e-05 9.99447213e-01 1.64878152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.29, Y:2.84, Z:1.65 [[ 9.98597510e-01 -4.12274104e-02 -3.32161773e-02 7.82892478e+01] [ 4.12037041e-02 9.99149789e-01 -1.39817555e-03 2.84134559e+00] [ 3.32455797e-02 2.75850803e-05 9.99447213e-01 1.64956055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.57509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.32, Y:2.84, Z:1.65 [[ 9.98568139e-01 -4.14378070e-02 -3.38316305e-02 7.83171054e+01] [ 4.14130572e-02 9.99141085e-01 -1.43226710e-03 2.84187241e+00] [ 3.38619220e-02 2.91450486e-05 9.99426520e-01 1.65023870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.35, Y:2.84, Z:1.65 [[ 9.98557379e-01 -4.16964534e-02 -3.38314545e-02 7.83454650e+01] [ 4.16717116e-02 9.99130324e-01 -1.43641079e-03 2.84314924e+00] [ 3.38619254e-02 2.45239769e-05 9.99426520e-01 1.65101603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.63509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.37, Y:2.84, Z:1.65 [[ 9.98546370e-01 -4.18451016e-02 -3.39725514e-02 7.83737102e+01] [ 4.18199329e-02 9.99124110e-01 -1.45139776e-03 2.84309388e+00] [ 3.40035291e-02 2.85581441e-05 9.99421712e-01 1.65132929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.40, Y:2.84, Z:1.65 [[ 9.98535295e-01 -4.21088741e-02 -3.39721451e-02 7.84020682e+01] [ 4.20835364e-02 9.99113028e-01 -1.46085216e-03 2.84438145e+00] [ 3.40035276e-02 2.90444367e-05 9.99421712e-01 1.65210831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.69509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.43, Y:2.84, Z:1.65 [[ 9.98513858e-01 -4.23307683e-02 -3.43246572e-02 7.84304469e+01] [ 4.23047113e-02 9.99103651e-01 -1.48536639e-03 2.84446963e+00] [ 3.43567670e-02 3.10642096e-05 9.99409632e-01 1.65234903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.72509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.46, Y:2.85, Z:1.65 [[ 9.98502208e-01 -4.26050321e-02 -3.43242253e-02 7.84588014e+01] [ 4.25787960e-02 9.99091993e-01 -1.49528857e-03 2.84575903e+00] [ 3.43567654e-02 3.15647541e-05 9.99409632e-01 1.65312805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.49, Y:2.85, Z:1.65 [[ 9.98490482e-01 -4.28792791e-02 -3.43238125e-02 7.84871555e+01] [ 4.28528811e-02 9.99080260e-01 -1.50471039e-03 2.84705597e+00] [ 3.43567644e-02 3.15647533e-05 9.99409632e-01 1.65390691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.52, Y:2.85, Z:1.65 [[ 9.98467844e-01 -4.29914825e-02 -3.48381615e-02 7.85154040e+01] [ 4.29640656e-02 9.99075438e-01 -1.53556659e-03 2.84680557e+00] [ 3.48719678e-02 3.64248104e-05 9.99391787e-01 1.65402134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.54, Y:2.85, Z:1.65 [[ 9.98449339e-01 -4.32817037e-02 -3.50087302e-02 7.85421777e+01] [ 4.32540748e-02 9.99062908e-01 -1.54653863e-03 2.84684729e+00] [ 3.50428606e-02 2.98702407e-05 9.99385810e-01 1.65413002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.57, Y:2.85, Z:1.65 [[ 9.98415189e-01 -4.36283039e-02 -3.55482942e-02 7.85704481e+01] [ 4.35998293e-02 9.99047832e-01 -1.57618274e-03 2.84702585e+00] [ 3.55832124e-02 2.37852331e-05 9.99366717e-01 1.65460538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.87509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.60, Y:2.84, Z:1.65 [[ 9.98583119e-01 -4.18509256e-02 -3.28672148e-02 7.85990522e+01] [ 4.18253339e-02 9.99123862e-01 -1.46608228e-03 2.84148551e+00] [ 3.28997755e-02 8.93227813e-05 9.99458652e-01 1.65489869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.63, Y:2.84, Z:1.66 [[ 9.98624706e-01 -4.12691209e-02 -3.23350601e-02 7.86265974e+01] [ 4.12437465e-02 9.99148060e-01 -1.45160748e-03 2.84119149e+00] [ 3.23674191e-02 1.15992076e-04 9.99476031e-01 1.65619023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.93509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.65, Y:2.84, Z:1.66 [[ 9.98675741e-01 -4.05198958e-02 -3.17002091e-02 7.86534759e+01] [ 4.04948573e-02 9.99178721e-01 -1.43172824e-03 2.84070450e+00] [ 3.17321879e-02 1.46136813e-04 9.99496397e-01 1.65667619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.68, Y:2.84, Z:1.66 [[ 9.98674487e-01 -4.03463996e-02 -3.19599377e-02 7.86809978e+01] [ 4.03206419e-02 9.99185740e-01 -1.45028003e-03 2.84025113e+00] [ 3.19924275e-02 1.59712461e-04 9.99488099e-01 1.65717559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.99509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.71, Y:2.84, Z:1.66 [[ 9.98663405e-01 -4.03390613e-02 -3.23135312e-02 7.87080671e+01] [ 4.03124475e-02 9.99186034e-01 -1.47494373e-03 2.83956408e+00] [ 3.23467270e-02 1.70334794e-04 9.99476693e-01 1.65769101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.74, Y:2.84, Z:1.66 [[ 9.98652705e-01 -4.06032569e-02 -3.23133142e-02 7.87364261e+01] [ 4.05766280e-02 9.99175334e-01 -1.47968313e-03 2.84092815e+00] [ 3.23467465e-02 1.66524233e-04 9.99476693e-01 1.65846869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.05509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.76, Y:2.84, Z:1.66 [[ 9.98641937e-01 -4.08675537e-02 -3.23129207e-02 7.87647847e+01] [ 4.08407865e-02 9.99164559e-01 -1.48823044e-03 2.84230152e+00] [ 3.23467455e-02 1.66524228e-04 9.99476693e-01 1.65924755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.79, Y:2.84, Z:1.66 [[ 9.98631099e-01 -4.11318476e-02 -3.23125250e-02 7.87931428e+01] [ 4.11049422e-02 9.99153714e-01 -1.49677764e-03 2.84368240e+00] [ 3.23467446e-02 1.66524223e-04 9.99476693e-01 1.66002640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.82, Y:2.84, Z:1.66 [[ 9.98603477e-01 -4.18420524e-02 -3.22542656e-02 7.88208806e+01] [ 4.18153345e-02 9.99124226e-01 -1.50274170e-03 2.84318407e+00] [ 3.22888959e-02 1.51920186e-04 9.99478566e-01 1.66073431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.85, Y:2.84, Z:1.66 [[ 9.98555881e-01 -4.31234033e-02 -3.20394163e-02 7.88477233e+01] [ 4.30974164e-02 9.99069746e-01 -1.50155712e-03 2.84276589e+00] [ 3.20743637e-02 1.18572629e-04 9.99485478e-01 1.66160540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.88, Y:2.84, Z:1.66 [[ 9.98473514e-01 -4.49291054e-02 -3.21250181e-02 7.88761203e+01] [ 4.49036934e-02 9.98990176e-01 -1.51241461e-03 2.84202037e+00] [ 3.21605289e-02 6.75739714e-05 9.99482714e-01 1.66251025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.90, Y:2.83, Z:1.66 [[ 9.97559138e-01 -6.09947785e-02 -3.39912124e-02 7.89043010e+01] [ 6.09753390e-02 9.98137976e-01 -1.60918512e-03 2.82864514e+00] [ 3.40260718e-02 -4.67368377e-04 9.99420836e-01 1.66398063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.94, Y:2.83, Z:1.66 [[ 9.97386494e-01 -6.33816843e-02 -3.46834925e-02 7.89351579e+01] [ 6.33627944e-02 9.97989204e-01 -1.64462526e-03 2.82802261e+00] [ 3.47179902e-02 -5.57315985e-04 9.99396993e-01 1.66488467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.97, Y:2.83, Z:1.67 [[ 9.97260767e-01 -6.50912597e-02 -3.51296295e-02 7.89653347e+01] [ 6.50729406e-02 9.97879120e-01 -1.66578023e-03 2.82736850e+00] [ 3.51635515e-02 -6.24771029e-04 9.99381376e-01 1.66584090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.00, Y:2.83, Z:1.67 [[ 9.97170140e-01 -6.61092277e-02 -3.57949882e-02 7.89960187e+01] [ 6.60908636e-02 9.97812165e-01 -1.69733027e-03 2.82685923e+00] [ 3.58288838e-02 -6.73194618e-04 9.99357713e-01 1.66702530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.03, Y:2.83, Z:1.67 [[ 9.97144345e-01 -6.66365049e-02 -3.55349423e-02 7.90253893e+01] [ 6.66187359e-02 9.97777081e-01 -1.68514830e-03 2.82608742e+00] [ 3.55682434e-02 -6.86956839e-04 9.99367014e-01 1.66776406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.35509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.06, Y:2.82, Z:1.67 [[ 9.97204604e-01 -6.56972470e-02 -3.55928356e-02 7.90552782e+01] [ 6.56787938e-02 9.97839388e-01 -1.68868970e-03 2.82406746e+00] [ 3.56268756e-02 -6.53725363e-04 9.99364948e-01 1.66915322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.09, Y:2.82, Z:1.67 [[ 9.97809327e-01 -5.65559452e-02 -3.43215860e-02 7.90851177e+01] [ 5.65333412e-02 9.98399382e-01 -1.62945785e-03 2.81950855e+00] [ 3.43588058e-02 -3.14425687e-04 9.99409512e-01 1.66937777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.41509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.11, Y:2.82, Z:1.67 [[ 9.97902032e-01 -5.55027316e-02 -3.33313919e-02 7.91134225e+01] [ 5.54807605e-02 9.98458499e-01 -1.58440415e-03 2.81962037e+00] [ 3.33679503e-02 -2.68170857e-04 9.99443099e-01 1.67004789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.44509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.14, Y:2.82, Z:1.67 [[ 9.97889391e-01 -5.57297666e-02 -3.33310067e-02 7.91426343e+01] [ 5.57076528e-02 9.98445853e-01 -1.59247029e-03 2.82105844e+00] [ 3.33679534e-02 -2.67682938e-04 9.99443099e-01 1.67084972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.47509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.17, Y:2.82, Z:1.67 [[ 9.97977364e-01 -5.46621649e-02 -3.24534857e-02 7.91712052e+01] [ 5.46403964e-02 9.98504882e-01 -1.55791459e-03 2.82134280e+00] [ 3.24901229e-02 -2.18507830e-04 9.99472033e-01 1.67199004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.20, Y:2.82, Z:1.67 [[ 9.97964448e-01 -5.48977051e-02 -3.24530924e-02 7.92004148e+01] [ 5.48757960e-02 9.98491960e-01 -1.56606778e-03 2.82278335e+00] [ 3.24901254e-02 -2.18009312e-04 9.99472033e-01 1.67279187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.23, Y:2.82, Z:1.67 [[ 9.98059489e-01 -5.36628495e-02 -3.15840904e-02 7.92288303e+01] [ 5.36412739e-02 9.98559097e-01 -1.53064832e-03 2.82334896e+00] [ 3.16207197e-02 -1.66532766e-04 9.99499926e-01 1.67414497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.26, Y:2.82, Z:1.68 [[ 9.98126740e-01 -5.23571082e-02 -3.16503517e-02 7.92584159e+01] [ 5.23347337e-02 9.98628418e-01 -1.53549670e-03 2.82381252e+00] [ 3.16873348e-02 -1.23792409e-04 9.99497823e-01 1.67546419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.29, Y:2.83, Z:1.68 [[ 9.98114401e-01 -5.25918642e-02 -3.16502541e-02 7.92876258e+01] [ 5.25695441e-02 9.98616082e-01 -1.53750427e-03 2.82526062e+00] [ 3.16873129e-02 -1.29234274e-04 9.99497823e-01 1.67626443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.32, Y:2.82, Z:1.68 [[ 9.98222268e-01 -4.89666937e-02 -3.39789216e-02 7.93166444e+01] [ 4.89385744e-02 9.98800412e-01 -1.65924013e-03 2.81669380e+00] [ 3.40194084e-02 -6.58953868e-06 9.99421172e-01 1.67637231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.65509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.34, Y:2.82, Z:1.68 [[ 9.98183796e-01 -4.94306110e-02 -3.44343563e-02 7.93444178e+01] [ 4.94016928e-02 9.98777560e-01 -1.69063186e-03 2.81683849e+00] [ 3.44758313e-02 -1.35541653e-05 9.99405532e-01 1.67703405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.37, Y:2.82, Z:1.68 [[ 9.98151426e-01 -4.99176404e-02 -3.46692894e-02 7.93718118e+01] [ 4.98883066e-02 9.98753337e-01 -1.71118580e-03 2.81705665e+00] [ 3.47114868e-02 -2.15695874e-05 9.99397375e-01 1.67756653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.71509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.40, Y:2.82, Z:1.68 [[ 9.98064052e-01 -5.17190431e-02 -3.45440116e-02 7.93998597e+01] [ 5.16908058e-02 9.98661672e-01 -1.71059794e-03 2.81565018e+00] [ 3.45862508e-02 -7.83214863e-05 9.99401714e-01 1.67847338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.43, Y:2.82, Z:1.68 [[ 9.98054579e-01 -5.19018454e-02 -3.45435466e-02 7.94282546e+01] [ 5.18733942e-02 9.98652188e-01 -1.71994037e-03 2.81713453e+00] [ 3.45862565e-02 -7.52966549e-05 9.99401714e-01 1.67925317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.77509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.46, Y:2.82, Z:1.68 [[ 9.97974867e-01 -5.32606709e-02 -3.47773612e-02 7.94556898e+01] [ 5.32324296e-02 9.98580636e-01 -1.73813572e-03 2.81703926e+00] [ 3.48205737e-02 -1.16667660e-04 9.99393573e-01 1.68012321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.80509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.48, Y:2.82, Z:1.68 [[ 9.97886936e-01 -5.46737319e-02 -3.51062143e-02 7.94823718e+01] [ 5.46455974e-02 9.98504260e-01 -1.76112583e-03 2.81642050e+00] [ 3.51499918e-02 -1.60995595e-04 9.99382035e-01 1.68024093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.83509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.51, Y:2.81, Z:1.68 [[ 9.97321219e-01 -6.42994926e-02 -3.48706389e-02 7.95105393e+01] [ 6.42774176e-02 9.97930526e-01 -1.75488344e-03 2.81103207e+00] [ 3.49113131e-02 -4.91212127e-04 9.99390294e-01 1.68075524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.54, Y:2.81, Z:1.68 [[ 9.96868207e-01 -7.10770074e-02 -3.46675312e-02 7.95386089e+01] [ 7.10589377e-02 9.97470575e-01 -1.75459813e-03 2.80858642e+00] [ 3.47045539e-02 -7.14334846e-04 9.99397360e-01 1.68096693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.57, Y:2.81, Z:1.68 [[ 9.96629054e-01 -7.47700645e-02 -3.37633854e-02 7.95677106e+01] [ 7.47547657e-02 9.97200470e-01 -1.71700725e-03 2.80801329e+00] [ 3.37972445e-02 -8.12754653e-04 9.99428379e-01 1.68198497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.60, Y:2.81, Z:1.68 [[ 9.96357079e-01 -7.89103973e-02 -3.23376077e-02 7.95983715e+01] [ 7.88984832e-02 9.96881296e-01 -1.64628689e-03 2.80771666e+00] [ 3.23666655e-02 -9.11098604e-04 9.99475647e-01 1.68371064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.63, Y:2.81, Z:1.68 [[ 9.96358520e-01 -7.88921909e-02 -3.23376124e-02 7.96293248e+01] [ 7.88802701e-02 9.96882738e-01 -1.64619495e-03 2.80929532e+00] [ 3.23666795e-02 -9.10599234e-04 9.99475647e-01 1.68455842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.66, Y:2.81, Z:1.69 [[ 9.95773680e-01 -8.57834917e-02 -3.28020066e-02 7.96602730e+01] [ 8.57749749e-02 9.96313137e-01 -1.66932806e-03 2.80747194e+00] [ 3.28242708e-02 -1.15131835e-03 9.99460475e-01 1.68528739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.69, Y:2.80, Z:1.69 [[ 9.93459489e-01 -1.09572666e-01 -3.21259099e-02 7.96922745e+01] [ 1.09576879e-01 9.93976979e-01 -1.63474395e-03 2.80138496e+00] [ 3.21115382e-02 -1.89620504e-03 9.99482493e-01 1.68832669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.72, Y:2.80, Z:1.69 [[ 9.93088903e-01 -1.12809920e-01 -3.23782762e-02 7.97243244e+01] [ 1.12815958e-01 9.93614538e-01 -1.64620071e-03 2.80143725e+00] [ 3.23572337e-02 -2.01796258e-03 9.99474330e-01 1.68943925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.07509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.76, Y:2.80, Z:1.69 [[ 9.93099292e-01 -1.12718389e-01 -3.23784021e-02 7.97569648e+01] [ 1.12724459e-01 9.93624927e-01 -1.64371986e-03 2.80303943e+00] [ 3.23572649e-02 -2.01746082e-03 9.99474330e-01 1.69033271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.79, Y:2.80, Z:1.69 [[ 9.92836777e-01 -1.14851569e-01 -3.29279673e-02 7.97884900e+01] [ 1.14859109e-01 9.93380391e-01 -1.66874406e-03 2.80352316e+00] [ 3.29016549e-02 -2.12528652e-03 9.99456334e-01 1.69097430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.13509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.82, Y:2.80, Z:1.69 [[ 9.92654142e-01 -1.16230874e-01 -3.35877617e-02 7.98203413e+01] [ 1.16239573e-01 9.93219750e-01 -1.70018945e-03 2.80475569e+00] [ 3.35576428e-02 -2.21652700e-03 9.99434326e-01 1.69181682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.85, Y:2.81, Z:1.69 [[ 9.92541322e-01 -1.17334432e-01 -3.30810530e-02 7.98511838e+01] [ 1.17343555e-01 9.93089973e-01 -1.67227089e-03 2.80666873e+00] [ 3.30486770e-02 -2.22205042e-03 9.99451273e-01 1.69294616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.19509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.88, Y:2.81, Z:1.69 [[ 9.93112451e-01 -1.13029287e-01 -3.08551393e-02 7.98830760e+01] [ 1.13035202e-01 9.93589762e-01 -1.55810461e-03 2.81038354e+00] [ 3.08334620e-02 -1.94034382e-03 9.99522652e-01 1.69451802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.22509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.91, Y:2.81, Z:1.70 [[ 9.93498794e-01 -1.09724731e-01 -3.03418938e-02 7.99139012e+01] [ 1.09728981e-01 9.93960366e-01 -1.53001942e-03 2.81238362e+00] [ 3.03265208e-02 -1.80931265e-03 9.99538408e-01 1.69561337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.95, Y:2.81, Z:1.70 [[ 9.93750729e-01 -1.07652029e-01 -2.95047499e-02 7.99463161e+01] [ 1.07655184e-01 9.94187182e-01 -1.48617222e-03 2.81493854e+00] [ 2.94932336e-02 -1.69945456e-03 9.99563535e-01 1.69677276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.98, Y:2.82, Z:1.70 [[ 9.93975220e-01 -1.05729526e-01 -2.88882113e-02 7.99787718e+01] [ 1.05731802e-01 9.94393622e-01 -1.45302595e-03 2.81794676e+00] [ 2.88798808e-02 -1.61013084e-03 9.99581592e-01 1.69813956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.01, Y:2.82, Z:1.70 [[ 9.94346100e-01 -1.02314682e-01 -2.84172221e-02 8.00111980e+01] [ 1.02315552e-01 9.94750969e-01 -1.42728413e-03 2.82253299e+00] [ 2.84140913e-02 -1.48830934e-03 9.99595130e-01 1.69980072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.04, Y:2.83, Z:1.70 [[ 9.94685421e-01 -9.91047517e-02 -2.79134575e-02 8.00419181e+01] [ 9.91043861e-02 9.95076058e-01 -1.39995596e-03 2.82576313e+00] [ 2.79147555e-02 -1.37383028e-03 9.99609363e-01 1.70015674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.37509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.07, Y:2.83, Z:1.70 [[ 9.94973865e-01 -9.61774530e-02 -2.78730241e-02 8.00740567e+01] [ 9.61760354e-02 9.95363363e-01 -1.39459078e-03 2.82921761e+00] [ 2.78779152e-02 -1.29313558e-03 9.99610499e-01 1.70041730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.11, Y:2.83, Z:1.70 [[ 9.95111895e-01 -9.47461218e-02 -2.78475828e-02 8.01066171e+01] [ 9.47442041e-02 9.95500678e-01 -1.39128699e-03 2.83219966e+00] [ 2.78541066e-02 -1.25391083e-03 9.99611213e-01 1.70115327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.43509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.14, Y:2.84, Z:1.70 [[ 9.95245683e-01 -9.34376001e-02 -2.74853743e-02 8.01385077e+01] [ 9.34352881e-02 9.95624410e-01 -1.37121853e-03 2.83541918e+00] [ 2.74932329e-02 -1.20340454e-03 9.99621265e-01 1.70197684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.17, Y:2.84, Z:1.70 [[ 9.95415238e-01 -9.14643167e-02 -2.79782486e-02 8.01704576e+01] [ 9.14612012e-02 9.95807665e-01 -1.39373796e-03 2.84116032e+00] [ 2.79884317e-02 -1.17157622e-03 9.99607561e-01 1.70302005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.49509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.20, Y:2.85, Z:1.70 [[ 9.95512287e-01 -9.01613209e-02 -2.87440728e-02 8.02014309e+01] [ 9.01575514e-02 9.95926489e-01 -1.42977495e-03 2.84681792e+00] [ 2.87558939e-02 -1.16813669e-03 9.99585781e-01 1.70401638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52509989299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:80.23, Y:2.85, Z:1.70 [[ 9.95587315e-01 -8.90987701e-02 -2.94500778e-02 8.02331665e+01] [ 8.90943987e-02 9.96022112e-01 -1.46322319e-03 2.85158752e+00] [ 2.94633001e-02 -1.16707053e-03 9.99565181e-01 1.70451161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.55509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.26, Y:2.86, Z:1.71 [[ 9.95694992e-01 -8.77748453e-02 -2.97835343e-02 8.02646543e+01] [ 8.77698490e-02 9.96139684e-01 -1.47758063e-03 2.85663630e+00] [ 2.97982548e-02 -1.14287667e-03 9.99555280e-01 1.70531876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.30, Y:2.86, Z:1.71 [[ 9.95724649e-01 -8.72277734e-02 -3.03930668e-02 8.02960187e+01] [ 8.72223841e-02 9.96187728e-01 -1.50559202e-03 2.86010943e+00] [ 3.04085296e-02 -1.15180065e-03 9.99536890e-01 1.70612585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.615099893 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:80.33, Y:2.86, Z:1.71 [[ 9.95775663e-01 -8.64240522e-02 -3.10114740e-02 8.03276152e+01] [ 8.64181086e-02 9.96257776e-01 -1.53441962e-03 2.86370151e+00] [ 3.10280329e-02 -1.15201521e-03 9.99517851e-01 1.70688315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.36, Y:2.87, Z:1.71 [[ 9.95848660e-01 -8.53811870e-02 -3.15515340e-02 8.03599979e+01] [ 8.53745870e-02 9.96347705e-01 -1.55877287e-03 2.86701059e+00] [ 3.15693884e-02 -1.14139731e-03 9.99500911e-01 1.70754333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.39, Y:2.87, Z:1.71 [[ 9.95913509e-01 -8.43514028e-02 -3.22664522e-02 8.03921191e+01] [ 8.43440394e-02 9.96435422e-01 -1.59166458e-03 2.86999829e+00] [ 3.22856950e-02 -1.13632265e-03 9.99478035e-01 1.70803596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.42, Y:2.87, Z:1.71 [[ 9.96106507e-01 -8.20270778e-02 -3.23014879e-02 8.04243776e+01] [ 8.20185547e-02 9.96629533e-01 -1.59101574e-03 2.87356331e+00] [ 3.23231232e-02 -1.06450022e-03 9.99476904e-01 1.70848092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.46, Y:2.88, Z:1.71 [[ 9.96335883e-01 -7.92049680e-02 -3.22704441e-02 8.04568546e+01] [ 7.91950590e-02 9.96857875e-01 -1.58711963e-03 2.87718951e+00] [ 3.22947541e-02 -9.74355489e-04 9.99477913e-01 1.70887931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.49, Y:2.88, Z:1.71 [[ 9.96527087e-01 -7.67928138e-02 -3.21967022e-02 8.04880790e+01] [ 7.67817653e-02 9.97046669e-01 -1.58122547e-03 2.88130335e+00] [ 3.22230414e-02 -8.96385618e-04 9.99480301e-01 1.70958768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.52, Y:2.88, Z:1.71 [[ 9.96608062e-01 -7.56025212e-02 -3.25058338e-02 8.05204968e+01] [ 7.55906884e-02 9.97137656e-01 -1.59452046e-03 2.88437584e+00] [ 3.25333407e-02 -8.68026410e-04 9.99470274e-01 1.71053548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82509989299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:80.55, Y:2.89, Z:1.71 [[ 9.96729687e-01 -7.35261053e-02 -3.35237574e-02 8.05512840e+01] [ 7.35124233e-02 9.97292949e-01 -1.64217039e-03 2.88871420e+00] [ 3.35537492e-02 -8.27612664e-04 9.99436572e-01 1.71141707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.85509989299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:80.58, Y:2.89, Z:1.71 [[ 9.96811977e-01 -7.20658861e-02 -3.42401969e-02 8.05820479e+01] [ 7.20507959e-02 9.97399556e-01 -1.67599979e-03 2.89251372e+00] [ 3.42719396e-02 -7.96376774e-04 9.99412227e-01 1.71230548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.61, Y:2.90, Z:1.71 [[ 9.96836510e-01 -7.09869715e-02 -3.57466408e-02 8.06125691e+01] [ 7.09698740e-02 9.97476927e-01 -1.74854662e-03 2.89838928e+00] [ 3.57805734e-02 -7.93919484e-04 9.99359355e-01 1.71307406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.91509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.64, Y:2.91, Z:1.72 [[ 9.96966964e-01 -7.07301931e-02 -3.24671067e-02 8.06438809e+01] [ 7.07159729e-02 9.97495229e-01 -1.58749432e-03 2.90521896e+00] [ 3.24980678e-02 -7.13263653e-04 9.99471544e-01 1.71616844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.68, Y:2.91, Z:1.72 [[ 9.96970766e-01 -7.06765477e-02 -3.24671682e-02 8.06756835e+01] [ 7.06623400e-02 9.97499031e-01 -1.58623641e-03 2.90674662e+00] [ 3.24980785e-02 -7.12774751e-04 9.99471544e-01 1.71703908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.97509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.71, Y:2.91, Z:1.72 [[ 9.97116442e-01 -6.88037852e-02 -3.20131275e-02 8.07070666e+01] [ 6.87890594e-02 9.97630004e-01 -1.56243012e-03 2.90948628e+00] [ 3.20447576e-02 -6.44228171e-04 9.99486227e-01 1.71838872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.74, Y:2.91, Z:1.72 [[ 9.97382641e-01 -6.47471303e-02 -3.21819415e-02 8.07379032e+01] [ 6.47301786e-02 9.97901569e-01 -1.56940329e-03 2.91272522e+00] [ 3.22160243e-02 -5.17847221e-04 9.99480795e-01 1.71967221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.035099893 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:80.77, Y:2.91, Z:1.72 [[ 9.97601401e-01 -6.12470578e-02 -3.22528008e-02 8.07684436e+01] [ 6.12282536e-02 9.98122554e-01 -1.57128010e-03 2.91433298e+00] [ 3.22884842e-02 -4.07271435e-04 9.99478508e-01 1.72005939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.80, Y:2.92, Z:1.72 [[ 9.97690562e-01 -5.96223488e-02 -3.25379330e-02 8.07993965e+01] [ 5.96023627e-02 9.98220941e-01 -1.58468517e-03 2.91581034e+00] [ 3.25745287e-02 -3.58312245e-04 9.99469245e-01 1.72042664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.83, Y:2.92, Z:1.72 [[ 9.97895593e-01 -5.58722022e-02 -3.29041314e-02 8.08292611e+01] [ 5.58497260e-02 9.98437900e-01 -1.60249781e-03 2.91710194e+00] [ 3.29422669e-02 -2.38561225e-04 9.99457228e-01 1.72068942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.86, Y:2.92, Z:1.72 [[ 9.98045166e-01 -5.29110732e-02 -3.32605470e-02 8.08586752e+01] [ 5.28864598e-02 9.98599218e-01 -1.61995824e-03 2.91901570e+00] [ 3.32996700e-02 -1.42241093e-04 9.99445402e-01 1.72184436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.15509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.89, Y:2.92, Z:1.72 [[ 9.98103813e-01 -5.16877964e-02 -3.34237968e-02 8.08877987e+01] [ 5.16622149e-02 9.98663287e-01 -1.62910774e-03 2.92068738e+00] [ 3.34633238e-02 -1.00728727e-04 9.99439941e-01 1.72238737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.92, Y:2.92, Z:1.72 [[ 9.98129090e-01 -5.08915188e-02 -3.38876529e-02 8.09162763e+01] [ 5.08646728e-02 9.98704184e-01 -1.65438688e-03 2.92209505e+00] [ 3.39279350e-02 -7.23927057e-05 9.99424279e-01 1.72295506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.21509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.95, Y:2.92, Z:1.72 [[ 9.98138582e-01 -5.03923365e-02 -3.43508892e-02 8.09452864e+01] [ 5.03641514e-02 9.98729498e-01 -1.68584618e-03 2.92316664e+00] [ 3.43922001e-02 -4.73452748e-05 9.99408412e-01 1.72359676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.97, Y:2.92, Z:1.72 [[ 9.98161198e-01 -4.98965479e-02 -3.44174072e-02 8.09727008e+01] [ 4.98676814e-02 9.98754391e-01 -1.69715634e-03 2.92414420e+00] [ 3.44592188e-02 -2.22806945e-05 9.99406105e-01 1.72405975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.27509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.00, Y:2.93, Z:1.72 [[ 9.98167359e-01 -4.98011180e-02 -3.43769046e-02 8.10004964e+01] [ 4.97720624e-02 9.98759154e-01 -1.70098012e-03 2.92505256e+00] [ 3.44189588e-02 -1.31466057e-05 9.99407492e-01 1.72469906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.03, Y:2.93, Z:1.73 [[ 9.98145960e-01 -5.02580133e-02 -3.43332842e-02 8.10288658e+01] [ 5.02289577e-02 9.98736267e-01 -1.70881975e-03 2.92618280e+00] [ 3.43757780e-02 -1.88735540e-05 9.99408978e-01 1.72543286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.33509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.06, Y:2.93, Z:1.73 [[ 9.98141756e-01 -5.05946477e-02 -3.39590351e-02 8.10568801e+01] [ 5.05661306e-02 9.98719270e-01 -1.69861202e-03 2.92716275e+00] [ 3.40014834e-02 -2.17214153e-05 9.99421782e-01 1.72610068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.08, Y:2.93, Z:1.73 [[ 9.98106329e-01 -5.13968355e-02 -3.37952774e-02 8.10848663e+01] [ 5.13689076e-02 9.98678308e-01 -1.69470125e-03 2.92807714e+00] [ 3.38377127e-02 -4.45344359e-05 9.99427340e-01 1.72687474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.11, Y:2.93, Z:1.73 [[ 9.98003564e-01 -5.44675452e-02 -3.19714430e-02 8.11141028e+01] [ 5.44438525e-02 9.98515533e-01 -1.61178368e-03 2.92773683e+00] [ 3.20117724e-02 -1.32082672e-04 9.99487483e-01 1.72756237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.14, Y:2.93, Z:1.73 [[ 9.97805911e-01 -5.91202970e-02 -2.98019351e-02 8.11440559e+01] [ 5.91015903e-02 9.98250833e-01 -1.50894953e-03 2.92603065e+00] [ 2.98390161e-02 -2.55703000e-04 9.99554685e-01 1.72917326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.18, Y:2.92, Z:1.73 [[ 9.97443722e-01 -6.53095466e-02 -2.89945552e-02 8.11751037e+01] [ 6.52944407e-02 9.97864961e-01 -1.46848883e-03 2.92370105e+00] [ 2.90285570e-02 -4.28448298e-04 9.99578491e-01 1.73025166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.21, Y:2.92, Z:1.73 [[ 9.96943993e-01 -7.23560326e-02 -2.94496057e-02 8.12068473e+01] [ 7.23435572e-02 9.97378659e-01 -1.49027131e-03 2.92135183e+00] [ 2.94802383e-02 -6.44772209e-04 9.99565155e-01 1.73090832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.24, Y:2.92, Z:1.73 [[ 9.96354692e-01 -7.98174937e-02 -3.01080741e-02 8.12390531e+01] [ 7.98079642e-02 9.96809098e-01 -1.52000239e-03 2.91963334e+00] [ 3.01333250e-02 -8.88402584e-04 9.99545493e-01 1.73109270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.27, Y:2.92, Z:1.73 [[ 9.95219328e-01 -9.24684121e-02 -3.14337568e-02 8.12709592e+01] [ 9.24643938e-02 9.95714731e-01 -1.58454185e-03 2.91667050e+00] [ 3.14455748e-02 -1.32953659e-03 9.99504581e-01 1.73164249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.57509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.30, Y:2.92, Z:1.73 [[ 9.94726508e-01 -9.76533736e-02 -3.13527226e-02 8.13016719e+01] [ 9.76520141e-02 9.95219369e-01 -1.57823422e-03 2.91721089e+00] [ 3.13569567e-02 -1.49174509e-03 9.99507137e-01 1.73239390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.33, Y:2.92, Z:1.73 [[ 9.94314078e-01 -1.01918571e-01 -3.08564147e-02 8.13335941e+01] [ 1.01919354e-01 9.94791455e-01 -1.55152117e-03 2.91864784e+00] [ 3.08538265e-02 -1.60216652e-03 9.99522623e-01 1.73360343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.63509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.37, Y:2.92, Z:1.73 [[ 9.94323641e-01 -1.01825197e-01 -3.08565286e-02 8.13662397e+01] [ 1.01826006e-01 9.94801018e-01 -1.54925234e-03 2.92022904e+00] [ 3.08538590e-02 -1.60153883e-03 9.99522623e-01 1.73449694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.40, Y:2.92, Z:1.74 [[ 9.94189467e-01 -1.03067546e-01 -3.10545447e-02 8.13990744e+01] [ 1.03069063e-01 9.94672985e-01 -1.55620108e-03 2.92201797e+00] [ 3.10495105e-02 -1.65360409e-03 9.99516480e-01 1.73519354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.69509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.43, Y:2.92, Z:1.74 [[ 9.94069726e-01 -1.04013380e-01 -3.17269133e-02 8.14319036e+01] [ 1.04015556e-01 9.94574405e-01 -1.58638041e-03 2.92402442e+00] [ 3.17197807e-02 -1.72311978e-03 9.99495316e-01 1.73581031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.72509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.46, Y:2.93, Z:1.74 [[ 9.94079186e-01 -1.03922879e-01 -3.17270828e-02 8.14645488e+01] [ 1.03925117e-01 9.94583865e-01 -1.58298420e-03 2.92559712e+00] [ 3.17197529e-02 -1.72362913e-03 9.99495316e-01 1.73670352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.50, Y:2.93, Z:1.74 [[ 9.94028000e-01 -1.04133182e-01 -3.26284553e-02 8.14962071e+01] [ 1.04135762e-01 9.94561764e-01 -1.62491129e-03 2.92749878e+00] [ 3.26202213e-02 -1.78258174e-03 9.99466229e-01 1.73683930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.53, Y:2.93, Z:1.74 [[ 9.94061838e-01 -1.03897874e-01 -3.23464777e-02 8.15284268e+01] [ 1.03900376e-01 9.94586410e-01 -1.60804314e-03 2.93056158e+00] [ 3.23384393e-02 -1.76231688e-03 9.99475422e-01 1.73698835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.56, Y:2.94, Z:1.74 [[ 9.94293749e-01 -1.01738148e-01 -3.20825656e-02 8.15604112e+01] [ 1.01739561e-01 9.94809793e-01 -1.59264237e-03 2.93501964e+00] [ 3.20780830e-02 -1.68051179e-03 9.99483953e-01 1.73769278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.59, Y:2.94, Z:1.74 [[ 9.94443872e-01 -1.00193074e-01 -3.22913940e-02 8.15911747e+01] [ 1.00193766e-01 9.94966656e-01 -1.60078410e-03 2.93850557e+00] [ 3.22892478e-02 -1.64350641e-03 9.99477215e-01 1.73835921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.87509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.62, Y:2.94, Z:1.74 [[ 9.94631472e-01 -9.83778678e-02 -3.20940707e-02 8.16233708e+01] [ 9.83776656e-02 9.95147883e-01 -1.58921745e-03 2.94276036e+00] [ 3.20946904e-02 -1.57665406e-03 9.99483589e-01 1.73980314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.66, Y:2.95, Z:1.74 [[ 9.94927928e-01 -9.54396800e-02 -3.17755631e-02 8.16551560e+01] [ 9.54380582e-02 9.95434131e-01 -1.57118781e-03 2.94848799e+00] [ 3.17804337e-02 -1.46937940e-03 9.99493794e-01 1.74157802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.93509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.69, Y:2.95, Z:1.74 [[ 9.95142731e-01 -9.31410176e-02 -3.18699973e-02 8.16875406e+01] [ 9.31382893e-02 9.95651939e-01 -1.57336892e-03 2.95204623e+00] [ 3.18779698e-02 -1.40259038e-03 9.99490784e-01 1.74279640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.72, Y:2.96, Z:1.74 [[ 9.95351602e-01 -9.07181088e-02 -3.23328548e-02 8.17208194e+01] [ 9.07141408e-02 9.95875699e-01 -1.59264313e-03 2.95590024e+00] [ 3.23439859e-02 -1.34780725e-03 9.99475888e-01 1.74382853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.99509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.75, Y:2.96, Z:1.74 [[ 9.95622173e-01 -8.77324003e-02 -3.22415090e-02 8.17530175e+01] [ 8.77269984e-02 9.96143294e-01 -1.58483431e-03 2.95941003e+00] [ 3.22562043e-02 -1.25055463e-03 9.99478851e-01 1.74456965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.78, Y:2.97, Z:1.75 [[ 9.96099341e-01 -8.20173301e-02 -3.25462721e-02 8.17844462e+01] [ 8.20088553e-02 9.96630321e-01 -1.59745545e-03 2.96531468e+00] [ 3.25676206e-02 -1.07785819e-03 9.99468953e-01 1.74584925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.05509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.82, Y:2.97, Z:1.75 [[ 9.96591276e-01 -7.58931490e-02 -3.23428323e-02 8.18150115e+01] [ 7.58816294e-02 9.97115573e-01 -1.58523319e-03 2.97155161e+00] [ 3.23698501e-02 -8.74397241e-04 9.99475577e-01 1.74715654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.85, Y:2.98, Z:1.75 [[ 9.96800746e-01 -7.27843872e-02 -3.30258197e-02 8.18471932e+01] [ 7.27707342e-02 9.97347385e-01 -1.61679620e-03 2.97559819e+00] [ 3.30558924e-02 -7.91689488e-04 9.99453191e-01 1.74826009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.88, Y:2.98, Z:1.75 [[ 9.97182386e-01 -6.67511788e-02 -3.42281879e-02 8.18794445e+01] [ 6.67330475e-02 9.97769463e-01 -1.67313136e-03 2.98111452e+00] [ 3.42635242e-02 -6.15734169e-04 9.99412643e-01 1.74848588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.91, Y:2.99, Z:1.75 [[ 9.97522480e-01 -6.14680655e-02 -3.42137116e-02 8.19091709e+01] [ 6.14469153e-02 9.98108955e-01 -1.67030177e-03 2.98648794e+00] [ 3.42516822e-02 -4.36163475e-04 9.99413144e-01 1.74876820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.94, Y:2.99, Z:1.75 [[ 9.97812515e-01 -5.68418619e-02 -3.37518534e-02 8.19407880e+01] [ 5.68186570e-02 9.98383157e-01 -1.64703663e-03 2.99153709e+00] [ 3.37909026e-02 -2.74301223e-04 9.99428887e-01 1.74932241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.97, Y:2.99, Z:1.75 [[ 9.97926352e-01 -5.49250097e-02 -3.35594745e-02 8.19707715e+01] [ 5.49010176e-02 9.98490460e-01 -1.63667644e-03 2.99449860e+00] [ 3.35987096e-02 -2.09166754e-04 9.99435382e-01 1.75052851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.00, Y:3.00, Z:1.75 [[ 9.98042316e-01 -5.32952183e-02 -3.27285156e-02 8.20013175e+01] [ 5.32715237e-02 9.98578789e-01 -1.59615104e-03 2.99750659e+00] [ 3.27670686e-02 -1.50471610e-04 9.99463004e-01 1.75133550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.03, Y:3.00, Z:1.75 [[ 9.98152651e-01 -5.10638372e-02 -3.29206559e-02 8.20316552e+01] [ 5.10386500e-02 9.98695388e-01 -1.60552162e-03 3.00196082e+00] [ 3.29596913e-02 -7.76701766e-05 9.99456679e-01 1.75261867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.06, Y:3.00, Z:1.75 [[ 9.98137386e-01 -5.06128326e-02 -3.40602305e-02 8.20611113e+01] [ 5.05856044e-02 9.98718347e-01 -1.66121921e-03 3.00473291e+00] [ 3.41006561e-02 -6.48323413e-05 9.99418401e-01 1.75301134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.09, Y:3.01, Z:1.75 [[ 9.98072023e-01 -5.07334517e-02 -3.57540865e-02 8.20902765e+01] [ 5.07034953e-02 9.98712227e-01 -1.74465086e-03 3.00882392e+00] [ 3.57965555e-02 -7.15699467e-05 9.99359095e-01 1.75286750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.35509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.12, Y:3.01, Z:1.75 [[ 9.98087183e-01 -5.16511730e-02 -3.39725166e-02 8.21186953e+01] [ 5.16245714e-02 9.98665183e-01 -1.66031429e-03 3.01232047e+00] [ 3.40129267e-02 -9.66781996e-05 9.99421388e-01 1.75435820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.15, Y:3.01, Z:1.76 [[ 9.98049015e-01 -5.29032162e-02 -3.31573946e-02 8.21484999e+01] [ 5.28783419e-02 9.98599636e-01 -1.62725049e-03 3.01387361e+00] [ 3.31970490e-02 -1.29232300e-04 9.99448818e-01 1.75556611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.41509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.18, Y:3.02, Z:1.76 [[ 9.97984169e-01 -5.38482373e-02 -3.35852068e-02 8.21786357e+01] [ 5.38232353e-02 9.98549118e-01 -1.64873576e-03 3.01524029e+00] [ 3.36252602e-02 -1.62252306e-04 9.99434498e-01 1.75652465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.44509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.21, Y:3.02, Z:1.76 [[ 9.97809191e-01 -5.64855048e-02 -3.44413358e-02 8.22087208e+01] [ 5.64607862e-02 9.98403386e-01 -1.69063683e-03 3.01707350e+00] [ 3.44818427e-02 -2.57651928e-04 9.99405291e-01 1.75801079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.47509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.24, Y:3.02, Z:1.76 [[ 9.97604159e-01 -5.98046409e-02 -3.47756679e-02 8.22386737e+01] [ 5.97814726e-02 9.98210030e-01 -1.70655627e-03 3.01852034e+00] [ 3.48154804e-02 -3.76473006e-04 9.99393686e-01 1.75913137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.27, Y:3.02, Z:1.76 [[ 9.97489560e-01 -6.16032356e-02 -3.49230515e-02 8.22688449e+01] [ 6.15809722e-02 9.98100620e-01 -1.71378887e-03 3.01946267e+00] [ 3.49622942e-02 -4.41108961e-04 9.99388535e-01 1.75993618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.30, Y:3.02, Z:1.76 [[ 9.97270601e-01 -6.45684057e-02 -3.58087755e-02 8.22990671e+01] [ 6.45469142e-02 9.97913127e-01 -1.75710182e-03 3.01963130e+00] [ 3.58475004e-02 -5.59039971e-04 9.99357115e-01 1.76039711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.33, Y:3.02, Z:1.76 [[ 9.97185305e-01 -6.56432203e-02 -3.62275403e-02 8.23307233e+01] [ 6.56219615e-02 9.97842974e-01 -1.77683635e-03 3.02057947e+00] [ 3.62660339e-02 -6.05487160e-04 9.99341988e-01 1.76103910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.36, Y:3.02, Z:1.76 [[ 9.97143977e-01 -6.64165721e-02 -3.59545225e-02 8.23606077e+01] [ 6.63961754e-02 9.97791783e-01 -1.76232528e-03 3.02163394e+00] [ 3.59921747e-02 -6.29950738e-04 9.99351873e-01 1.76146272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.39, Y:3.02, Z:1.76 [[ 9.97238956e-01 -6.56603948e-02 -3.46868356e-02 8.23915257e+01] [ 6.56409790e-02 9.97841858e-01 -1.69946294e-03 3.02357771e+00] [ 3.47235639e-02 -5.82107193e-04 9.99396786e-01 1.76344165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.65509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.42, Y:3.03, Z:1.76 [[ 9.97468650e-01 -6.26247717e-02 -3.36813128e-02 8.24231424e+01] [ 6.26047746e-02 9.98037035e-01 -1.64902816e-03 3.02523998e+00] [ 3.37184676e-02 -4.63757105e-04 9.99431263e-01 1.76452187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.45, Y:3.03, Z:1.77 [[ 9.97594230e-01 -6.05947957e-02 -3.36752509e-02 8.24532816e+01] [ 6.05736877e-02 9.98162368e-01 -1.64760419e-03 3.02668707e+00] [ 3.37132044e-02 -3.96193696e-04 9.99431470e-01 1.76527008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.71509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.48, Y:3.03, Z:1.77 [[ 9.97851330e-01 -5.60829785e-02 -3.38736155e-02 8.24831334e+01] [ 5.60590428e-02 9.98426081e-01 -1.65668818e-03 3.02825992e+00] [ 3.39132132e-02 -2.45793950e-04 9.99424751e-01 1.76647518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.51, Y:3.03, Z:1.77 [[ 9.98074289e-01 -5.24024441e-02 -3.31918291e-02 8.25136776e+01] [ 5.23774433e-02 9.98626041e-01 -1.62286415e-03 3.03022143e+00] [ 3.32312669e-02 -1.18764165e-04 9.99447682e-01 1.76720741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.77509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.54, Y:3.03, Z:1.77 [[ 9.98167657e-01 -5.00659573e-02 -3.39813013e-02 8.25446245e+01] [ 5.00383991e-02 9.98745913e-01 -1.66146419e-03 3.03104196e+00] [ 3.40218685e-02 -4.19500915e-05 9.99421088e-01 1.76756868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.80509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.57, Y:3.03, Z:1.77 [[ 9.98196924e-01 -4.95487946e-02 -3.38794616e-02 8.25731359e+01] [ 4.95210885e-02 9.98771704e-01 -1.65692914e-03 3.03097288e+00] [ 3.39199464e-02 -2.38062406e-05 9.99424553e-01 1.76812999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.83509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.60, Y:3.03, Z:1.77 [[ 9.98185652e-01 -4.97754656e-02 -3.38792982e-02 8.26023366e+01] [ 4.97477768e-02 9.98760433e-01 -1.66026323e-03 3.03244307e+00] [ 3.39199429e-02 -2.81688295e-05 9.99424553e-01 1.76893032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.63, Y:3.03, Z:1.77 [[ 9.98151684e-01 -5.01789702e-02 -3.42824416e-02 8.26317528e+01] [ 5.01506317e-02 9.98740241e-01 -1.68655879e-03 3.03245892e+00] [ 3.43238837e-02 -3.58445980e-05 9.99410761e-01 1.76969298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.66, Y:3.03, Z:1.77 [[ 9.97941809e-01 -5.28291783e-02 -3.63486549e-02 8.26604180e+01] [ 5.27989552e-02 9.98603555e-01 -1.79155132e-03 3.03230155e+00] [ 3.63925422e-02 -1.31307038e-04 9.99337563e-01 1.76963372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.69, Y:3.03, Z:1.77 [[ 9.97750437e-01 -5.56825727e-02 -3.73298358e-02 8.26890903e+01] [ 5.56524033e-02 9.98448495e-01 -1.84761577e-03 3.03254775e+00] [ 3.73747984e-02 -2.34035635e-04 9.99301291e-01 1.77027003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.72, Y:3.03, Z:1.77 [[ 9.97193612e-01 -6.66515782e-02 -3.40949842e-02 8.27182763e+01] [ 6.66327126e-02 9.97776139e-01 -1.69054399e-03 3.03152942e+00] [ 3.41318391e-02 -5.86041615e-04 9.99417167e-01 1.77312746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.75, Y:3.03, Z:1.77 [[ 9.96962177e-01 -7.02737729e-02 -3.35859350e-02 8.27506588e+01] [ 7.02573109e-02 9.97527502e-01 -1.67151939e-03 3.03345957e+00] [ 3.36203578e-02 -6.93215873e-04 9.99434436e-01 1.77412674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.78, Y:3.04, Z:1.78 [[ 9.96968565e-01 -7.01830305e-02 -3.35860623e-02 8.27833083e+01] [ 7.01666033e-02 9.97533890e-01 -1.66895888e-03 3.03502887e+00] [ 3.36203680e-02 -6.92720371e-04 9.99434436e-01 1.77502023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.82, Y:3.04, Z:1.78 [[ 9.96799828e-01 -7.26673937e-02 -3.33099424e-02 8.28158271e+01] [ 7.26527184e-02 9.97355931e-01 -1.65232386e-03 3.03656256e+00] [ 3.33419387e-02 -7.73021725e-04 9.99443704e-01 1.77590442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.07509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.85, Y:3.04, Z:1.78 [[ 9.96619518e-01 -7.50234889e-02 -3.34815333e-02 8.28481494e+01] [ 7.50100736e-02 9.97181397e-01 -1.65835078e-03 3.03763936e+00] [ 3.35115774e-02 -8.58707524e-04 9.99437960e-01 1.77664976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.88, Y:3.04, Z:1.78 [[ 9.96359391e-01 -7.81845439e-02 -3.39873537e-02 8.28805253e+01] [ 7.81726432e-02 9.96938420e-01 -1.68087048e-03 3.03846572e+00] [ 3.40147168e-02 -9.82130184e-04 9.99420850e-01 1.77688358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.13509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.91, Y:3.04, Z:1.78 [[ 9.96366555e-01 -7.80931418e-02 -3.39874831e-02 8.29131752e+01] [ 7.80812774e-02 9.96945584e-01 -1.67824999e-03 3.04002525e+00] [ 3.40147310e-02 -9.81633937e-04 9.99420850e-01 1.77777707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.94, Y:3.04, Z:1.78 [[ 9.96060716e-01 -8.17493325e-02 -3.43525358e-02 8.29439306e+01] [ 8.17394836e-02 9.96652291e-01 -1.69335220e-03 3.04080461e+00] [ 3.43759639e-02 -1.12127693e-03 9.99408343e-01 1.77812608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.19509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.98, Y:3.04, Z:1.78 [[ 9.95726697e-01 -8.56172642e-02 -3.46125670e-02 8.29766053e+01] [ 8.56096689e-02 9.96327296e-01 -1.70413667e-03 3.04180241e+00] [ 3.46313488e-02 -1.26631603e-03 9.99399353e-01 1.77844602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.22509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.01, Y:3.04, Z:1.78 [[ 9.94950201e-01 -9.37579721e-02 -3.58265385e-02 8.30084335e+01] [ 9.37551936e-02 9.95593723e-01 -1.76125999e-03 3.04289582e+00] [ 3.58338090e-02 -1.60655807e-03 9.99356471e-01 1.77909137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.04, Y:3.04, Z:1.78 [[ 9.94230307e-01 -1.00770024e-01 -3.67627346e-02 8.30404010e+01] [ 1.00771983e-01 9.94907911e-01 -1.80439706e-03 3.04444290e+00] [ 3.67573646e-02 -1.91066743e-03 9.99322393e-01 1.77949499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.07, Y:3.05, Z:1.78 [[ 9.93943531e-01 -1.03505463e-01 -3.69171659e-02 8.30729020e+01] [ 1.03509449e-01 9.94626826e-01 -1.80845471e-03 3.04610835e+00] [ 3.69059884e-02 -2.02377365e-03 9.99316693e-01 1.78007478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.11, Y:3.05, Z:1.78 [[ 9.93594129e-01 -1.06493503e-01 -3.78132413e-02 8.31056294e+01] [ 1.06499999e-01 9.94310985e-01 -1.84818868e-03 3.04841270e+00] [ 3.77949413e-02 -2.19076074e-03 9.99283115e-01 1.78074117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.14, Y:3.05, Z:1.78 [[ 9.93552608e-01 -1.06793062e-01 -3.80585939e-02 8.31375992e+01] [ 1.06800046e-01 9.94278788e-01 -1.85536655e-03 3.05076394e+00] [ 3.80389929e-02 -2.22125529e-03 9.99273787e-01 1.78126803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.37509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.17, Y:3.05, Z:1.78 [[ 9.93707994e-01 -1.05415647e-01 -3.78413022e-02 8.31703436e+01] [ 1.05421776e-01 9.94425898e-01 -1.83894932e-03 3.05468784e+00] [ 3.78242249e-02 -2.16191864e-03 9.99282069e-01 1.78265478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.20, Y:3.06, Z:1.78 [[ 9.94128406e-01 -1.01711765e-01 -3.69246407e-02 8.32019522e+01] [ 1.01715223e-01 9.94811947e-01 -1.78976642e-03 3.05987419e+00] [ 3.69151140e-02 -1.97654042e-03 9.99316450e-01 1.78449146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.43509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.23, Y:3.07, Z:1.79 [[ 9.94701917e-01 -9.65261249e-02 -3.53666930e-02 8.32346916e+01] [ 9.65262225e-02 9.95328975e-01 -1.70868091e-03 3.06547702e+00] [ 3.53664266e-02 -1.71418509e-03 9.99372942e-01 1.78665446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.27, Y:3.07, Z:1.79 [[ 9.95285619e-01 -9.07994838e-02 -3.40879741e-02 8.32671558e+01] [ 9.07963419e-02 9.95868126e-01 -1.64334505e-03 3.07144475e+00] [ 3.40963418e-02 -1.45946566e-03 9.99417485e-01 1.78873269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.49509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.30, Y:3.08, Z:1.79 [[ 9.95543870e-01 -8.80715986e-02 -3.37015925e-02 8.33001166e+01] [ 8.80670879e-02 9.96113226e-01 -1.62113182e-03 3.07503875e+00] [ 3.37133778e-02 -1.35409327e-03 9.99430625e-01 1.78985412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.33, Y:3.08, Z:1.79 [[ 9.96056314e-01 -8.21880167e-02 -3.34207962e-02 8.33315633e+01] [ 8.21804061e-02 9.96616179e-01 -1.60363633e-03 3.08053127e+00] [ 3.34395059e-02 -1.14922251e-03 9.99440083e-01 1.79106884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.55509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.36, Y:3.09, Z:1.79 [[ 9.96487648e-01 -7.66514714e-02 -3.37182222e-02 8.33641119e+01] [ 7.66407463e-02 9.97057469e-01 -1.61233485e-03 3.08677223e+00] [ 3.37425932e-02 -9.77517948e-04 9.99430079e-01 1.79253554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.40, Y:3.09, Z:1.79 [[ 9.96873871e-01 -7.07979816e-02 -3.50732350e-02 8.33962336e+01] [ 7.07828900e-02 9.97490342e-01 -1.67333691e-03 3.09224689e+00] [ 3.51036821e-02 -8.14479095e-04 9.99383344e-01 1.79291540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.43, Y:3.10, Z:1.79 [[ 9.97057780e-01 -6.77163793e-02 -3.59204071e-02 8.34280059e+01] [ 6.76986648e-02 9.97704347e-01 -1.71060234e-03 3.09574415e+00] [ 3.59537821e-02 -7.26194228e-04 9.99353190e-01 1.79341858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.46, Y:3.10, Z:1.79 [[ 9.97399467e-01 -6.19047023e-02 -3.69067910e-02 8.34588736e+01] [ 6.18821196e-02 9.98081922e-01 -1.75499285e-03 3.10116424e+00] [ 3.69446432e-02 -5.33441523e-04 9.99317171e-01 1.79413669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.49, Y:3.11, Z:1.79 [[ 9.97685411e-01 -5.66300300e-02 -3.76411957e-02 8.34895829e+01] [ 5.66028576e-02 9.98395172e-01 -1.78802143e-03 3.10693969e+00] [ 3.76820438e-02 -3.46716350e-04 9.99289719e-01 1.79486370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.52, Y:3.11, Z:1.80 [[ 9.97865002e-01 -5.29411914e-02 -3.82448404e-02 8.35197533e+01] [ 5.29104698e-02 9.98597609e-01 -1.81569845e-03 3.11255379e+00] [ 3.82873314e-02 -2.11730530e-04 9.99266749e-01 1.79549183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.55, Y:3.12, Z:1.80 [[ 9.97921367e-01 -5.15262691e-02 -3.87038487e-02 8.35505201e+01] [ 5.14937416e-02 9.98671627e-01 -1.83749017e-03 3.11555921e+00] [ 3.87471146e-02 -1.59335281e-04 9.99249036e-01 1.79574917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.58, Y:3.12, Z:1.80 [[ 9.97968201e-01 -5.05680501e-02 -3.87600593e-02 8.35793849e+01] [ 5.05346974e-02 9.98720610e-01 -1.84036709e-03 3.11985889e+00] [ 3.88035338e-02 -1.22100038e-04 9.99246852e-01 1.79605183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.61, Y:3.12, Z:1.80 [[ 9.97975199e-01 -5.08231657e-02 -3.82427608e-02 8.36081679e+01] [ 5.07908440e-02 9.98707659e-01 -1.81687359e-03 3.12270070e+00] [ 3.82856774e-02 -1.29187308e-04 9.99266826e-01 1.79705821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.64, Y:3.13, Z:1.80 [[ 9.97891858e-01 -5.42908529e-02 -3.55575959e-02 8.36370798e+01] [ 5.42650540e-02 9.98525135e-01 -1.69093757e-03 3.12822960e+00] [ 3.55969557e-02 -2.42162031e-04 9.99366198e-01 1.79882475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.85509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.67, Y:3.13, Z:1.80 [[ 9.97788763e-01 -5.64841305e-02 -3.50303674e-02 8.36684746e+01] [ 5.64604184e-02 9.98403447e-01 -1.66654128e-03 3.13079739e+00] [ 3.50685727e-02 -3.14973039e-04 9.99384859e-01 1.79984779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.70, Y:3.13, Z:1.80 [[ 9.97453232e-01 -6.27200060e-02 -3.39595352e-02 8.37006102e+01] [ 6.27013808e-02 9.98031027e-01 -1.61418609e-03 3.13399150e+00] [ 3.39939116e-02 -5.19234620e-04 9.99421905e-01 1.80053149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.91509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.73, Y:3.14, Z:1.80 [[ 9.96907542e-01 -7.10958904e-02 -3.34772509e-02 8.37331288e+01] [ 7.10825875e-02 9.97469168e-01 -1.58887205e-03 3.13662023e+00] [ 3.35054879e-02 -7.95691085e-04 9.99438217e-01 1.80236114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.77, Y:3.14, Z:1.80 [[ 9.96571698e-01 -7.57511673e-02 -3.32657811e-02 8.37665170e+01] [ 7.57407086e-02 9.97126301e-01 -1.57623516e-03 3.13829268e+00] [ 3.32895869e-02 -9.48742476e-04 9.99445298e-01 1.80334821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.97509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.80, Y:3.14, Z:1.80 [[ 9.95713136e-01 -8.55950989e-02 -3.50546581e-02 8.37995324e+01] [ 8.55897116e-02 9.96329090e-01 -1.65703542e-03 3.13999004e+00] [ 3.50678097e-02 -1.35038613e-03 9.99384023e-01 1.80401653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.83, Y:3.14, Z:1.80 [[ 9.95268173e-01 -9.02067663e-02 -3.61109712e-02 8.38322378e+01] [ 9.02042226e-02 9.95921833e-01 -1.70298075e-03 3.14152188e+00] [ 3.61173250e-02 -1.56243954e-03 9.99346335e-01 1.80452748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.87, Y:3.14, Z:1.80 [[ 9.94633092e-01 -9.65276485e-02 -3.72481636e-02 8.38652782e+01] [ 9.65295151e-02 9.95328580e-01 -1.75249383e-03 3.14260822e+00] [ 3.72433259e-02 -1.85245881e-03 9.99304510e-01 1.80454567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.90, Y:3.14, Z:1.80 [[ 9.94756646e-01 -9.49232260e-02 -3.80630665e-02 8.38969631e+01] [ 9.49241569e-02 9.95482904e-01 -1.78684537e-03 3.14400155e+00] [ 3.80607451e-02 -1.83562819e-03 9.99273741e-01 1.80496542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.93, Y:3.15, Z:1.81 [[ 9.95250368e-01 -9.03045911e-02 -3.63563660e-02 8.39291050e+01] [ 9.03024768e-02 9.95912928e-01 -1.70359280e-03 3.14738372e+00] [ 3.63616171e-02 -1.58756854e-03 9.99337437e-01 1.80709643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.96, Y:3.15, Z:1.81 [[ 9.95463409e-01 -8.82315816e-02 -3.56060382e-02 8.39617801e+01] [ 8.82283429e-02 9.96098884e-01 -1.66525078e-03 3.15026938e+00] [ 3.56140626e-02 -1.48376553e-03 9.99364517e-01 1.80857797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.15509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.99, Y:3.15, Z:1.81 [[ 9.95824228e-01 -8.46843301e-02 -3.40979514e-02 8.39943318e+01] [ 8.46793995e-02 9.96406979e-01 -1.59129430e-03 3.15478221e+00] [ 3.41101945e-02 -1.30274463e-03 9.99417229e-01 1.81098315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.03, Y:3.16, Z:1.81 [[ 9.96049261e-01 -8.22670532e-02 -3.34365173e-02 8.40263028e+01] [ 8.22610653e-02 9.96609599e-01 -1.55702525e-03 3.15727129e+00] [ 3.34512460e-02 -1.19964968e-03 9.99439630e-01 1.81156246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.21509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.06, Y:3.16, Z:1.81 [[ 9.96198608e-01 -8.05069773e-02 -3.32710068e-02 8.40596523e+01] [ 8.05001695e-02 9.96753396e-01 -1.54627761e-03 3.15835265e+00] [ 3.32874751e-02 -1.13792208e-03 9.99445171e-01 1.81083551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.09, Y:3.16, Z:1.81 [[ 9.96272900e-01 -7.95455760e-02 -3.33588155e-02 8.40923378e+01] [ 7.95383133e-02 9.96830610e-01 -1.54678485e-03 3.15972816e+00] [ 3.33761283e-02 -1.11228410e-03 9.99442243e-01 1.81135175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.27509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.12, Y:3.16, Z:1.81 [[ 9.96431060e-01 -7.73877274e-02 -3.37087920e-02 8.41249833e+01] [ 7.73792017e-02 9.97000515e-01 -1.55936004e-03 3.16243498e+00] [ 3.37283583e-02 -1.05456464e-03 9.99430481e-01 1.81244349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.30509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.16, Y:3.17, Z:1.81 [[ 9.96599982e-01 -7.45017257e-02 -3.51847729e-02 8.41564789e+01] [ 7.44907767e-02 9.97220381e-01 -1.62378561e-03 3.16561358e+00] [ 3.52079474e-02 -1.00267634e-03 9.99379505e-01 1.81404647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.33509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.19, Y:3.17, Z:1.81 [[ 9.96716280e-01 -7.27867316e-02 -3.54788416e-02 8.41892485e+01] [ 7.27746344e-02 9.97347072e-01 -1.63395273e-03 3.16732230e+00] [ 3.55036489e-02 -9.53372442e-04 9.99369092e-01 1.81474692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.22, Y:3.17, Z:1.82 [[ 9.96934596e-01 -6.92342611e-02 -3.64421215e-02 8.42212373e+01] [ 6.92192694e-02 9.97600065e-01 -1.67440861e-03 3.16844828e+00] [ 3.64705892e-02 -8.53221147e-04 9.99334363e-01 1.81540773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.25, Y:3.17, Z:1.82 [[ 9.97205568e-01 -6.49679530e-02 -3.68811736e-02 8.42531696e+01] [ 6.49497996e-02 9.97887099e-01 -1.69138778e-03 3.17043833e+00] [ 3.69131333e-02 -7.08763520e-04 9.99318227e-01 1.81625188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.28, Y:3.18, Z:1.82 [[ 9.97540862e-01 -6.05071252e-02 -3.53711368e-02 8.42818784e+01] [ 6.04172702e-02 9.98166699e-01 -3.60468340e-03 3.17725002e+00] [ 3.55243999e-02 1.45879146e-03 9.99367745e-01 1.81816874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.32, Y:3.18, Z:1.82 [[ 9.97857526e-01 -5.50236536e-02 -3.53942704e-02 8.43152478e+01] [ 5.50588710e-02 9.98483110e-01 2.03449386e-05 3.17574064e+00] [ 3.53394617e-02 -1.96906992e-03 9.99373426e-01 1.81918158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.35, Y:3.18, Z:1.82 [[ 9.98314051e-01 -4.70506696e-02 -3.39895475e-02 8.43474624e+01] [ 4.70250720e-02 9.98892503e-01 -1.55256334e-03 3.17956103e+00] [ 3.40249533e-02 -4.84151208e-05 9.99420982e-01 1.82120701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.51509989299998 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:84.38, Y:3.18, Z:1.82 [[ 9.98579942e-01 -4.25487928e-02 -3.20577490e-02 8.43763155e+01] [ 4.23952974e-02 9.99086034e-01 -5.45300467e-03 3.18467355e+00] [ 3.22604681e-02 4.08616329e-03 9.99471143e-01 1.82254900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.41, Y:3.18, Z:1.82 [[ 9.98791356e-01 -3.78069539e-02 -3.14079710e-02 8.44068749e+01] [ 3.78957463e-02 9.99279196e-01 2.23641736e-03 3.17796252e+00] [ 3.13007799e-02 -3.42394283e-03 9.99504146e-01 1.82200318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.57509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.44, Y:3.18, Z:1.82 [[ 9.98827901e-01 -3.71111808e-02 -3.10738691e-02 8.44360835e+01] [ 3.70848258e-02 9.99311106e-01 -1.42423347e-03 3.17909376e+00] [ 3.11053175e-02 2.70195107e-04 9.99516076e-01 1.82413886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.46, Y:3.18, Z:1.83 [[ 9.98709290e-01 -3.95239890e-02 -3.18999727e-02 8.44640481e+01] [ 3.93385515e-02 9.99205314e-01 -6.42016155e-03 3.18201802e+00] [ 3.21283726e-02 5.15697626e-03 9.99470446e-01 1.82562262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.63509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.50, Y:3.18, Z:1.82 [[ 9.98667146e-01 -4.02987563e-02 -3.22481411e-02 8.44954501e+01] [ 4.00762277e-02 9.99168345e-01 -7.51763270e-03 3.17768688e+00] [ 3.25242730e-02 6.21522895e-03 9.99451621e-01 1.82356727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.52, Y:3.17, Z:1.82 [[ 9.98463552e-01 -4.20027299e-02 -3.61428639e-02 8.45241515e+01] [ 4.23658540e-02 9.99058506e-01 9.34006057e-03 3.16894013e+00] [ 3.57165275e-02 -1.08569333e-02 9.99302985e-01 1.82222409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.69509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.55, Y:3.17, Z:1.83 [[ 9.98362792e-01 -4.48569231e-02 -3.54907347e-02 8.45527730e+01] [ 4.48276206e-02 9.98993421e-01 -1.62134325e-03 3.17148791e+00] [ 3.55277390e-02 2.77235883e-05 9.99368690e-01 1.82708140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.72509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.58, Y:3.17, Z:1.83 [[ 9.98336501e-01 -4.56146429e-02 -3.52638055e-02 8.45812224e+01] [ 4.55859228e-02 9.98959110e-01 -1.61844299e-03 3.17114882e+00] [ 3.53009245e-02 8.21759569e-06 9.99376728e-01 1.82811963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.61, Y:3.17, Z:1.83 [[ 9.98335693e-01 -4.56323655e-02 -3.52637304e-02 8.46113363e+01] [ 4.56035987e-02 9.98958301e-01 -1.62007777e-03 3.17256382e+00] [ 3.53009242e-02 9.22845329e-06 9.99376728e-01 1.82897907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.64, Y:3.17, Z:1.83 [[ 9.98300298e-01 -4.70401189e-02 -3.44055684e-02 8.46406340e+01] [ 4.70135469e-02 9.98893000e-01 -1.58136019e-03 3.17123712e+00] [ 3.44418688e-02 -3.88554535e-05 9.99406702e-01 1.83118509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.67, Y:3.17, Z:1.83 [[ 9.98296495e-01 -4.84593562e-02 -3.24930520e-02 8.46705160e+01] [ 4.84363774e-02 9.98825152e-01 -1.49441150e-03 3.16997801e+00] [ 3.25272958e-02 -8.19799607e-05 9.99470844e-01 1.83306064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.70, Y:3.17, Z:1.83 [[ 9.98287685e-01 -4.90524976e-02 -3.18677008e-02 8.47017028e+01] [ 4.90307045e-02 9.98796197e-01 -1.46542027e-03 3.16941526e+00] [ 3.19012209e-02 -9.95848155e-05 9.99491022e-01 1.83409222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.87509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.73, Y:3.17, Z:1.84 [[ 9.98266553e-01 -4.96901059e-02 -3.15401765e-02 8.47332170e+01] [ 4.96691121e-02 9.98764676e-01 -1.44924102e-03 3.16659838e+00] [ 3.15732271e-02 -1.19843722e-04 9.99501434e-01 1.83515098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.76, Y:3.16, Z:1.84 [[ 9.98256867e-01 -4.93176323e-02 -3.24191226e-02 8.47632423e+01] [ 4.92952965e-02 9.98783139e-01 -1.48836089e-03 3.16384864e+00] [ 3.24530755e-02 -1.12343785e-04 9.99473254e-01 1.83549966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.93509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.79, Y:3.16, Z:1.84 [[ 9.98314111e-01 -4.75944519e-02 -3.32220515e-02 8.47937356e+01] [ 4.75700958e-02 9.98866740e-01 -1.52360173e-03 3.16156373e+00] [ 3.32569173e-02 -5.93430693e-05 9.99446834e-01 1.83638324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.82, Y:3.16, Z:1.84 [[ 9.98378780e-01 -4.62307785e-02 -3.32043122e-02 8.48245596e+01] [ 4.62056943e-02 9.98930786e-01 -1.52278818e-03 3.16136141e+00] [ 3.32392094e-02 -1.39088927e-05 9.99447425e-01 1.83729601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.99509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.85, Y:3.16, Z:1.84 [[ 9.98471425e-01 -4.31908286e-02 -3.44871869e-02 8.48540849e+01] [ 4.31619550e-02 9.99066837e-01 -1.58162563e-03 3.15915389e+00] [ 3.45233165e-02 9.06735875e-05 9.99403889e-01 1.83838040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.88, Y:3.16, Z:1.84 [[ 9.98521026e-01 -4.10386042e-02 -3.56594242e-02 8.48831990e+01] [ 4.10062974e-02 9.99157547e-01 -1.63718271e-03 3.15647141e+00] [ 3.56965705e-02 1.72500406e-04 9.99362659e-01 1.83858638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.05509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.91, Y:3.15, Z:1.84 [[ 9.98524890e-01 -3.96210502e-02 -3.71243451e-02 8.49110890e+01] [ 3.95846899e-02 9.99214749e-01 -1.71422710e-03 3.15348659e+00] [ 3.71631126e-02 2.42142738e-04 9.99309184e-01 1.83920665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.94, Y:3.15, Z:1.84 [[ 9.98482300e-01 -3.96948687e-02 -3.81760897e-02 8.49383541e+01] [ 3.96561070e-02 9.99211815e-01 -1.77233663e-03 3.15082645e+00] [ 3.82163526e-02 2.55731655e-04 9.99269456e-01 1.83955261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.97, Y:3.15, Z:1.84 [[ 9.98426621e-01 -4.04566197e-02 -3.88271058e-02 8.49663088e+01] [ 4.04168476e-02 9.99181268e-01 -1.80904345e-03 3.15012042e+00] [ 3.88685046e-02 2.36927921e-04 9.99244306e-01 1.84003571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.99, Y:3.15, Z:1.84 [[ 9.98313961e-01 -4.24125424e-02 -3.96284215e-02 8.49941575e+01] [ 4.23721992e-02 9.99100168e-01 -1.85776436e-03 3.14661583e+00] [ 3.96715551e-02 1.75488724e-04 9.99212759e-01 1.83992280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.02, Y:3.14, Z:1.84 [[ 9.98166104e-01 -4.53546726e-02 -4.00921655e-02 8.50213042e+01] [ 4.53153570e-02 9.98970945e-01 -1.88931710e-03 3.14262286e+00] [ 4.01365978e-02 6.90614975e-05 9.99194200e-01 1.84003966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.05, Y:3.14, Z:1.84 [[ 9.98082134e-01 -4.72980947e-02 -3.99367453e-02 8.50488966e+01] [ 4.72603639e-02 9.98880819e-01 -1.88885574e-03 3.14158679e+00] [ 3.99813882e-02 -2.19195018e-06 9.99200425e-01 1.84115096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.08, Y:3.14, Z:1.84 [[ 9.97907279e-01 -5.15514941e-02 -3.90321224e-02 8.50771045e+01] [ 5.15182728e-02 9.98670325e-01 -1.85713678e-03 3.13915010e+00] [ 3.90759605e-02 -1.57617214e-04 9.99236231e-01 1.84253303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.10, Y:3.14, Z:1.84 [[ 9.97680385e-01 -5.64551871e-02 -3.80349934e-02 8.51044768e+01] [ 5.64268499e-02 9.98405079e-01 -1.81896029e-03 3.13688489e+00] [ 3.80770203e-02 -3.31453863e-04 9.99274752e-01 1.84452890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.13, Y:3.14, Z:1.85 [[ 9.97533431e-01 -5.95626576e-02 -3.71395076e-02 8.51333751e+01] [ 5.95375815e-02 9.98224475e-01 -1.78178436e-03 3.13607575e+00] [ 3.71796933e-02 -4.33806995e-04 9.99308502e-01 1.84562279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.16, Y:3.13, Z:1.85 [[ 9.97206542e-01 -6.53882375e-02 -3.61039002e-02 8.51628622e+01] [ 6.53680980e-02 9.97859703e-01 -1.73921197e-03 3.13260529e+00] [ 3.61403512e-02 -6.25689729e-04 9.99346528e-01 1.84779934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.35509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.19, Y:3.13, Z:1.85 [[ 9.96897833e-01 -7.02323885e-02 -3.55263485e-02 8.51927886e+01] [ 7.02159205e-02 9.97530346e-01 -1.71252773e-03 3.12971121e+00] [ 3.55588857e-02 -7.87300083e-04 9.99367273e-01 1.84910302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.22, Y:3.13, Z:1.85 [[ 9.96680422e-01 -7.34380664e-02 -3.51423688e-02 8.52239305e+01] [ 7.34239334e-02 9.97299381e-01 -1.69428631e-03 3.12854217e+00] [ 3.51718878e-02 -8.91628954e-04 9.99380880e-01 1.85087868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.41509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.26, Y:3.13, Z:1.85 [[ 9.96604692e-01 -7.46235263e-02 -3.47910500e-02 8.52556282e+01] [ 7.46104388e-02 9.97211348e-01 -1.67611895e-03 3.12899082e+00] [ 3.48191078e-02 -9.25347498e-04 9.99393203e-01 1.85175510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.29, Y:3.13, Z:1.85 [[ 9.96437169e-01 -7.66333489e-02 -3.52178738e-02 8.52870360e+01] [ 7.66212376e-02 9.97058831e-01 -1.69539515e-03 3.12797322e+00] [ 3.52442159e-02 -1.00908233e-03 9.99378220e-01 1.85193007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.47509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.32, Y:3.13, Z:1.85 [[ 9.96269709e-01 -7.88149325e-02 -3.51407676e-02 8.53191837e+01] [ 7.88042824e-02 9.96888674e-01 -1.69017484e-03 3.12739003e+00] [ 3.51646443e-02 -1.08537298e-03 9.99380943e-01 1.85183279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.35, Y:3.13, Z:1.85 [[ 9.96030303e-01 -8.16652895e-02 -3.54177292e-02 8.53504299e+01] [ 8.16563720e-02 9.96659092e-01 -1.70062516e-03 3.12771758e+00] [ 3.54382839e-02 -1.19820907e-03 9.99371148e-01 1.85186699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.38, Y:3.13, Z:1.85 [[ 9.95874398e-01 -8.33961140e-02 -3.57669182e-02 8.53821831e+01] [ 8.33882688e-02 9.96515660e-01 -1.71363950e-03 3.12910110e+00] [ 3.57852049e-02 -1.27597168e-03 9.99358690e-01 1.85263818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.41, Y:3.13, Z:1.85 [[ 9.95541685e-01 -8.66068470e-02 -3.73631886e-02 8.54140135e+01] [ 8.66006447e-02 9.96241504e-01 -1.78742111e-03 3.13084997e+00] [ 3.73775621e-02 -1.45622400e-03 9.99300154e-01 1.85285290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.45, Y:3.13, Z:1.85 [[ 9.95235281e-01 -8.92242301e-02 -3.93163204e-02 8.54452985e+01] [ 8.92195383e-02 9.96010215e-01 -1.87739821e-03 3.13213434e+00] [ 3.93269662e-02 -1.63933102e-03 9.99225051e-01 1.85230939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.48, Y:3.13, Z:1.85 [[ 9.95119431e-01 -9.03885182e-02 -3.95883073e-02 8.54776025e+01] [ 9.03848475e-02 9.95905127e-01 -1.88618058e-03 3.13365393e+00] [ 3.95966873e-02 -1.70120817e-03 9.99214295e-01 1.85301807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.65509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.51, Y:3.14, Z:1.85 [[ 9.94965508e-01 -9.24780924e-02 -3.86191653e-02 8.55094666e+01] [ 9.24762699e-02 9.95713193e-01 -1.83737529e-03 3.13603280e+00] [ 3.86235293e-02 -1.74323131e-03 9.99252313e-01 1.85410084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.54, Y:3.14, Z:1.86 [[ 9.94985256e-01 -9.24328414e-02 -3.82166178e-02 8.55413854e+01] [ 9.24311268e-02 9.95717425e-01 -1.81550554e-03 3.13957277e+00] [ 3.82207646e-02 -1.72600381e-03 9.99267829e-01 1.85651865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.71509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.57, Y:3.14, Z:1.86 [[ 9.95209700e-01 -9.02709051e-02 -3.75341991e-02 8.55735879e+01] [ 9.02678164e-02 9.95915936e-01 -1.78041347e-03 3.14351818e+00] [ 3.75416265e-02 -1.61624544e-03 9.99293758e-01 1.85842853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.61, Y:3.15, Z:1.86 [[ 9.95393316e-01 -8.84147020e-02 -3.70808199e-02 8.56051464e+01] [ 8.84105171e-02 9.96082576e-01 -1.75579346e-03 3.14629478e+00] [ 3.70907965e-02 -1.53062939e-03 9.99310727e-01 1.85944798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.77509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.64, Y:3.15, Z:1.86 [[ 9.95866359e-01 -8.35377328e-02 -3.56601047e-02 8.56358601e+01] [ 8.35308719e-02 9.96503766e-01 -1.68479822e-03 3.15010174e+00] [ 3.56761728e-02 -1.30088577e-03 9.99362556e-01 1.86114386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.80509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.67, Y:3.15, Z:1.86 [[ 9.96446689e-01 -7.70880879e-02 -3.39326145e-02 8.56673829e+01] [ 7.70782011e-02 9.97023764e-01 -1.60133010e-03 3.15405835e+00] [ 3.39550665e-02 -1.01982481e-03 9.99422840e-01 1.86312335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.83509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.70, Y:3.16, Z:1.86 [[ 9.96722216e-01 -7.35498686e-02 -3.36933417e-02 8.56991288e+01] [ 7.35381813e-02 9.97291139e-01 -1.58764695e-03 3.15691153e+00] [ 3.37188423e-02 -8.95304079e-04 9.99430957e-01 1.86438359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.73, Y:3.16, Z:1.87 [[ 9.97284315e-01 -6.55675937e-02 -3.35393092e-02 8.57306744e+01] [ 6.55515806e-02 9.97847934e-01 -1.57799161e-03 3.16168697e+00] [ 3.35705955e-02 -6.24848443e-04 9.99436153e-01 1.86569634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.76, Y:3.17, Z:1.87 [[ 9.97815396e-01 -5.68186248e-02 -3.37057808e-02 8.57613870e+01] [ 5.67975412e-02 9.98384461e-01 -1.58343908e-03 3.16601164e+00] [ 3.37412967e-02 -3.34425582e-04 9.99430544e-01 1.86598864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.79, Y:3.17, Z:1.87 [[ 9.98037476e-01 -5.25944154e-02 -3.39856481e-02 8.57913152e+01] [ 5.25705846e-02 9.98615937e-01 -1.59502236e-03 3.16865357e+00] [ 3.40224991e-02 -1.94753297e-04 9.99421048e-01 1.86644451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.82, Y:3.17, Z:1.87 [[ 9.98396066e-01 -4.46526472e-02 -3.48056822e-02 8.58207540e+01] [ 4.46228181e-02 9.99002570e-01 -1.63373511e-03 3.17178891e+00] [ 3.48439166e-02 7.79870857e-05 9.99392763e-01 1.86639153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.85, Y:3.17, Z:1.87 [[ 9.98658756e-01 -3.84316846e-02 -3.46942952e-02 8.58488228e+01] [ 3.83981941e-02 9.99261186e-01 -1.63133232e-03 3.17441036e+00] [ 3.47313574e-02 2.96946029e-04 9.99396640e-01 1.86703837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.88, Y:3.18, Z:1.87 [[ 9.98750268e-01 -3.60769411e-02 -3.45883915e-02 8.58754108e+01] [ 3.60419312e-02 9.99348940e-01 -1.63536088e-03 3.17591288e+00] [ 3.46248713e-02 3.86684691e-04 9.99400305e-01 1.86780201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.90, Y:3.18, Z:1.87 [[ 9.98866655e-01 -3.34518465e-02 -3.38582286e-02 8.59032175e+01] [ 3.34166206e-02 9.99440219e-01 -1.60589455e-03 3.17705016e+00] [ 3.38929955e-02 4.72646941e-04 9.99425356e-01 1.86812595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.07509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.93, Y:3.18, Z:1.87 [[ 9.98865166e-01 -3.38996841e-02 -3.34543091e-02 8.59306386e+01] [ 3.38652252e-02 9.99425134e-01 -1.59628272e-03 3.17755414e+00] [ 3.34891908e-02 4.61533493e-04 9.99438973e-01 1.86917930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.96, Y:3.18, Z:1.87 [[ 9.98843866e-01 -3.53788648e-02 -3.25463962e-02 8.59575627e+01] [ 3.53467595e-02 9.99373888e-01 -1.56145478e-03 3.17796991e+00] [ 3.25812610e-02 4.09239888e-04 9.99469006e-01 1.87008859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.13509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.99, Y:3.18, Z:1.87 [[ 9.98683085e-01 -4.03569988e-02 -3.16766117e-02 8.59853942e+01] [ 4.03289511e-02 9.99185295e-01 -1.52410221e-03 3.17659737e+00] [ 3.17123128e-02 2.44610575e-04 9.99497008e-01 1.87126576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.01, Y:3.17, Z:1.87 [[ 9.98332148e-01 -4.78760706e-02 -3.22614842e-02 8.60127844e+01] [ 4.78506198e-02 9.98853283e-01 -1.56093999e-03 3.17450702e+00] [ 3.22992211e-02 1.46045577e-05 9.99478244e-01 1.87172901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.19509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.04, Y:3.17, Z:1.87 [[ 9.98079041e-01 -5.28375710e-02 -3.23484070e-02 8.60412042e+01] [ 5.28144416e-02 9.98603110e-01 -1.56964358e-03 3.17384158e+00] [ 3.23861560e-02 -1.41834697e-04 9.99475421e-01 1.87207005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.22509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.07, Y:3.17, Z:1.87 [[ 9.97465603e-01 -6.32526372e-02 -3.25802693e-02 8.60706341e+01] [ 6.32344844e-02 9.97997434e-01 -1.58827547e-03 3.17051223e+00] [ 3.26154878e-02 -4.75946386e-04 9.99467860e-01 1.87228130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.10, Y:3.17, Z:1.87 [[ 9.96791788e-01 -7.33597844e-02 -3.20073872e-02 8.61022383e+01] [ 7.33474399e-02 9.97305227e-01 -1.56122178e-03 3.16771227e+00] [ 3.20356654e-02 -7.91446862e-04 9.99486413e-01 1.87276556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.13, Y:3.17, Z:1.87 [[ 9.96453231e-01 -7.77863180e-02 -3.20974671e-02 8.61332265e+01] [ 7.77762375e-02 9.96969613e-01 -1.56436846e-03 3.16703729e+00] [ 3.21218859e-02 -9.37600219e-04 9.99483519e-01 1.87333936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.16, Y:3.16, Z:1.87 [[ 9.95830475e-01 -8.52963854e-02 -3.23448736e-02 8.61646339e+01] [ 8.52901688e-02 9.96354911e-01 -1.57438055e-03 3.16492225e+00] [ 3.23612626e-02 -1.19088359e-03 9.99475528e-01 1.87423042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.20, Y:3.16, Z:1.87 [[ 9.95589181e-01 -8.81768190e-02 -3.20473296e-02 8.61969691e+01] [ 8.81723225e-02 9.96104020e-01 -1.55624740e-03 3.16496339e+00] [ 3.20596988e-02 -1.27630441e-03 9.99485141e-01 1.87492998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.37509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.23, Y:3.16, Z:1.88 [[ 9.95220696e-01 -9.22999838e-02 -3.18822650e-02 8.62289417e+01] [ 9.22977169e-02 9.95730255e-01 -1.54594942e-03 3.16420882e+00] [ 3.18888270e-02 -1.40409941e-03 9.99490436e-01 1.87565426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.26, Y:3.17, Z:1.88 [[ 9.95106606e-01 -9.35905174e-02 -3.16805708e-02 8.62608408e+01] [ 9.35890050e-02 9.95609736e-01 -1.53385001e-03 3.16517466e+00] [ 3.16850385e-02 -1.43860881e-03 9.99496868e-01 1.87638138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.43509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.29, Y:3.17, Z:1.88 [[ 9.95048679e-01 -9.42173149e-02 -3.16421262e-02 8.62935697e+01] [ 9.42162141e-02 9.95550585e-01 -1.52908792e-03 3.16628225e+00] [ 3.16454038e-02 -1.45968442e-03 9.99498093e-01 1.87738327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.33, Y:3.17, Z:1.88 [[ 9.94960488e-01 -9.52981249e-02 -3.11752297e-02 8.63256532e+01] [ 9.52976974e-02 9.95447683e-01 -1.50292887e-03 3.16776234e+00] [ 3.11765365e-02 -1.47557276e-03 9.99512804e-01 1.87850198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.49509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.36, Y:3.17, Z:1.88 [[ 9.94951853e-01 -9.54417415e-02 -3.10110358e-02 8.63577715e+01] [ 9.54415515e-02 9.95433921e-01 -1.48974147e-03 3.16916398e+00] [ 3.10116205e-02 -1.47752033e-03 9.99517932e-01 1.87952796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.39, Y:3.17, Z:1.88 [[ 9.94905297e-01 -9.58289873e-02 -3.13090131e-02 8.63901345e+01] [ 9.58290750e-02 9.95396672e-01 -1.50118652e-03 3.17038298e+00] [ 3.13087446e-02 -1.50677534e-03 9.99508625e-01 1.88025355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.55509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.42, Y:3.17, Z:1.88 [[ 9.94790357e-01 -9.67506852e-02 -3.21162043e-02 8.64232232e+01] [ 9.67513537e-02 9.95307397e-01 -1.53688757e-03 3.17187309e+00] [ 3.21141906e-02 -1.57840530e-03 9.99482960e-01 1.88104157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.46, Y:3.17, Z:1.88 [[ 9.94715041e-01 -9.72388165e-02 -3.29636074e-02 8.64563128e+01] [ 9.72399068e-02 9.95259727e-01 -1.57385814e-03 3.17351213e+00] [ 3.29603910e-02 -1.63983775e-03 9.99455313e-01 1.88182162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.49, Y:3.18, Z:1.88 [[ 9.94526286e-01 -9.87594577e-02 -3.41179609e-02 8.64877879e+01] [ 9.85488820e-02 9.95101614e-01 -7.80357704e-03 3.17904806e+00] [ 3.47215149e-02 4.39857560e-03 9.99387347e-01 1.88222978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.52, Y:3.18, Z:1.88 [[ 9.94540207e-01 -9.84768546e-02 -3.45265948e-02 8.65196836e+01] [ 9.84759448e-02 9.95137926e-01 -1.73102305e-03 3.17761390e+00] [ 3.45291897e-02 -1.67846703e-03 9.99402280e-01 1.88153188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.55, Y:3.18, Z:1.88 [[ 9.94253533e-01 -9.99808014e-02 -3.82590008e-02 8.65522880e+01] [ 1.00216754e-01 9.94956358e-01 4.29512757e-03 3.17672817e+00] [ 3.76366058e-02 -8.10463861e-03 9.99258626e-01 1.88150761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.58, Y:3.18, Z:1.88 [[ 9.94199391e-01 -1.00376433e-01 -3.86282630e-02 8.65844757e+01] [ 1.00380579e-01 9.94947418e-01 -1.83705290e-03 3.18128986e+00] [ 3.86174873e-02 -2.05113054e-03 9.99251961e-01 1.88359688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.62, Y:3.18, Z:1.88 [[ 9.94120993e-01 -1.00831598e-01 -3.94517362e-02 8.66161778e+01] [ 1.00836396e-01 9.94901257e-01 -1.87331057e-03 3.18490549e+00] [ 3.94394709e-02 -2.11587352e-03 9.99219721e-01 1.88460373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.65, Y:3.19, Z:1.89 [[ 9.94146904e-01 -1.00681911e-01 -3.91801707e-02 8.66483115e+01] [ 1.00686638e-01 9.94916454e-01 -1.85757219e-03 3.18826675e+00] [ 3.91680204e-02 -2.09822002e-03 9.99230436e-01 1.88580619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.68, Y:3.19, Z:1.89 [[ 9.94296526e-01 -9.97472706e-02 -3.77478625e-02 8.66789784e+01] [ 9.97510814e-02 9.95010818e-01 -1.78711357e-03 3.19364549e+00] [ 3.77377912e-02 -1.98846928e-03 9.99285697e-01 1.88763067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.71, Y:3.20, Z:1.89 [[ 9.94381945e-01 -9.92378841e-02 -3.68291922e-02 8.67111029e+01] [ 9.92412402e-02 9.95061879e-01 -1.74149878e-03 3.19724812e+00] [ 3.68201478e-02 -1.92325976e-03 9.99320058e-01 1.88902539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.85509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.74, Y:3.20, Z:1.89 [[ 9.94703270e-01 -9.68059905e-02 -3.45543807e-02 8.67429177e+01] [ 9.68075582e-02 9.95301781e-01 -1.63163038e-03 3.20230291e+00] [ 3.45499882e-02 -1.72213714e-03 9.99401487e-01 1.89023693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.77, Y:3.21, Z:1.89 [[ 9.94829799e-01 -9.57552609e-02 -3.38319622e-02 8.67745105e+01] [ 9.57562357e-02 9.95403536e-01 -1.59519532e-03 3.20556956e+00] [ 3.38292031e-02 -1.65267350e-03 9.99426262e-01 1.89095944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.91509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.81, Y:3.21, Z:1.89 [[ 9.94950354e-01 -9.46896244e-02 -3.32816447e-02 8.68067003e+01] [ 9.46900483e-02 9.95505570e-01 -1.56697248e-03 3.21087683e+00] [ 3.32804387e-02 -1.59238071e-03 9.99444784e-01 1.89218548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.84, Y:3.21, Z:1.89 [[ 9.94968063e-01 -9.48679979e-02 -3.22275895e-02 8.68394351e+01] [ 9.48685624e-02 9.95488654e-01 -1.51503364e-03 3.21451965e+00] [ 3.22259279e-02 -1.54997500e-03 9.99479408e-01 1.89309797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.97509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.87, Y:3.22, Z:1.90 [[ 9.94858616e-01 -9.60882078e-02 -3.19904731e-02 8.68707075e+01] [ 9.60895030e-02 9.95371567e-01 -1.50044896e-03 3.21999444e+00] [ 3.19865828e-02 -1.58121408e-03 9.99487048e-01 1.89500411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.90, Y:3.22, Z:1.90 [[ 9.94754644e-01 -9.71954115e-02 -3.18786893e-02 8.69021236e+01] [ 9.71973567e-02 9.95264009e-01 -1.49231214e-03 3.22294667e+00] [ 3.18727580e-02 -1.61403990e-03 9.99490631e-01 1.89607891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.93, Y:3.23, Z:1.90 [[ 9.94422254e-01 -1.00216094e-01 -3.28803137e-02 8.69348757e+01] [ 1.00219912e-01 9.94964125e-01 -1.53610812e-03 3.22686566e+00] [ 3.28686753e-02 -1.76772203e-03 9.99458116e-01 1.89658766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.97, Y:3.23, Z:1.90 [[ 9.94224028e-01 -1.01853464e-01 -3.38297726e-02 8.69674038e+01] [ 1.01858576e-01 9.94797640e-01 -1.57675685e-03 3.22989303e+00] [ 3.38143761e-02 -1.87820292e-03 9.99426366e-01 1.89747971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.00, Y:3.23, Z:1.90 [[ 9.93892769e-01 -1.04683644e-01 -3.49070006e-02 8.70005313e+01] [ 1.04690961e-01 9.94503478e-01 -1.62314077e-03 3.23488001e+00] [ 3.48850498e-02 -2.04121956e-03 9.99389247e-01 1.89871104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.03, Y:3.24, Z:1.90 [[ 9.93674272e-01 -1.06546745e-01 -3.54856605e-02 8.70337870e+01] [ 1.06555628e-01 9.94305380e-01 -1.64620183e-03 3.24017432e+00] [ 3.54589806e-02 -2.14540841e-03 9.99368830e-01 1.89963329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.15509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.07, Y:3.24, Z:1.90 [[ 9.93603162e-01 -1.07084603e-01 -3.58558925e-02 8.70654776e+01] [ 1.07094156e-01 9.94247498e-01 -1.65961659e-03 3.24349387e+00] [ 3.58273508e-02 -2.19095624e-03 9.99355593e-01 1.90044404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.10, Y:3.25, Z:1.90 [[ 9.93579224e-01 -1.07390719e-01 -3.56027975e-02 8.70985470e+01] [ 1.07400449e-01 9.94214483e-01 -1.64461055e-03 3.24864215e+00] [ 3.55734328e-02 -2.18970559e-03 9.99364666e-01 1.90084091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.21509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.13, Y:3.25, Z:1.90 [[ 9.93623146e-01 -1.06877077e-01 -3.59212114e-02 8.71309452e+01] [ 1.06886784e-01 9.94269820e-01 -1.65554662e-03 3.25185317e+00] [ 3.58923163e-02 -2.19451333e-03 9.99353254e-01 1.90124134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.16, Y:3.26, Z:1.90 [[ 9.93694894e-01 -1.06257853e-01 -3.57732637e-02 8.71634333e+01] [ 1.06267199e-01 9.94336248e-01 -1.64540922e-03 3.25703625e+00] [ 3.57454905e-02 -2.16648980e-03 9.99358577e-01 1.90194209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.27509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.20, Y:3.26, Z:1.90 [[ 9.93785236e-01 -1.05715803e-01 -3.48578997e-02 8.71964444e+01] [ 1.05724472e-01 9.94394176e-01 -1.59960884e-03 3.26058526e+00] [ 3.48315964e-02 -2.09566540e-03 9.99390999e-01 1.90286917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.30509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.23, Y:3.27, Z:1.90 [[ 9.93913174e-01 -1.05021972e-01 -3.32714391e-02 8.72285139e+01] [ 1.05029596e-01 9.94467930e-01 -1.52335025e-03 3.26557032e+00] [ 3.32473644e-02 -1.98040791e-03 9.99445191e-01 1.90425433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.33509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.26, Y:3.27, Z:1.91 [[ 9.93912885e-01 -1.04907465e-01 -3.36392641e-02 8.72602069e+01] [ 1.04915298e-01 9.94479974e-01 -1.53708656e-03 3.26842118e+00] [ 3.36148263e-02 -2.00154326e-03 9.99432858e-01 1.90514264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.29, Y:3.27, Z:1.90 [[ 9.93943100e-01 -1.04340881e-01 -3.44977562e-02 8.72926917e+01] [ 1.04348892e-01 9.94539509e-01 -1.57307942e-03 3.27225452e+00] [ 3.44735180e-02 -2.03625119e-03 9.99403537e-01 1.90491855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.33, Y:3.28, Z:1.91 [[ 9.93946442e-01 -1.04234318e-01 -3.47228677e-02 8.73253936e+01] [ 1.04242497e-01 9.94550656e-01 -1.57964930e-03 3.27516203e+00] [ 3.46983045e-02 -2.04951165e-03 9.99395731e-01 1.90581311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.36, Y:3.28, Z:1.91 [[ 9.94070288e-01 -1.03088894e-01 -3.45968544e-02 8.73585258e+01] [ 1.03096451e-01 9.94670124e-01 -1.57021771e-03 3.28073199e+00] [ 3.45743295e-02 -2.00590614e-03 9.99400116e-01 1.90702845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.39, Y:3.28, Z:1.91 [[ 9.94169173e-01 -1.02089786e-01 -3.47178714e-02 8.73907602e+01] [ 1.02096916e-01 9.94773215e-01 -1.57205288e-03 3.28454956e+00] [ 3.46968991e-02 -1.98170110e-03 9.99395917e-01 1.90828440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.42, Y:3.29, Z:1.91 [[ 9.94555219e-01 -9.83828064e-02 -3.43619076e-02 8.74230933e+01] [ 9.83876926e-02 9.95146949e-01 -1.55278270e-03 3.29059441e+00] [ 3.43479147e-02 -1.83646067e-03 9.99408249e-01 1.90975011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.46, Y:3.30, Z:1.91 [[ 9.95138354e-01 -9.27482964e-02 -3.31271812e-02 8.74558357e+01] [ 9.27498350e-02 9.95688323e-01 -1.49356749e-03 3.29632908e+00] [ 3.31228734e-02 -1.58623430e-03 9.99450028e-01 1.91124873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.49, Y:3.30, Z:1.91 [[ 9.95411680e-01 -8.98528508e-02 -3.28945711e-02 8.74882633e+01] [ 8.98529067e-02 9.95953948e-01 -1.47953737e-03 3.30017584e+00] [ 3.28944186e-02 -1.48292404e-03 9.99457732e-01 1.91248851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.57509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.52, Y:3.31, Z:1.91 [[ 9.95866288e-01 -8.47694479e-02 -3.26263249e-02 8.75197744e+01] [ 8.47668918e-02 9.96399734e-01 -1.46401765e-03 3.30543359e+00] [ 3.26329654e-02 -1.30766633e-03 9.99466548e-01 1.91375233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.55, Y:3.31, Z:1.91 [[ 9.96052002e-01 -8.24599729e-02 -3.28749495e-02 8.75531409e+01] [ 8.24562227e-02 9.96593600e-01 -1.47210999e-03 3.30847299e+00] [ 3.28843545e-02 -1.24444606e-03 9.99458389e-01 1.91477001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.63509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.59, Y:3.31, Z:1.92 [[ 9.96224750e-01 -8.03172225e-02 -3.29452727e-02 8.75858322e+01] [ 8.03124033e-02 9.96768655e-01 -1.47171259e-03 3.31114176e+00] [ 3.29570191e-02 -1.17975753e-03 9.99456074e-01 1.91536267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.62, Y:3.31, Z:1.92 [[ 9.96541118e-01 -7.58217354e-02 -3.40127134e-02 8.76192138e+01] [ 7.58141121e-02 9.97120817e-01 -1.51562966e-03 3.31461392e+00] [ 3.40297023e-02 -1.06825639e-03 9.99420251e-01 1.91575892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.69509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.65, Y:3.32, Z:1.92 [[ 9.96870228e-01 -7.11428514e-02 -3.44737913e-02 8.76523547e+01] [ 7.11323563e-02 9.97465709e-01 -1.53236497e-03 3.31821718e+00] [ 3.44954414e-02 -9.24632989e-04 9.99404427e-01 1.91637374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.68, Y:3.32, Z:1.92 [[ 9.97003234e-01 -6.90802117e-02 -3.48206195e-02 8.76848193e+01] [ 6.90683807e-02 9.97610733e-01 -1.54396292e-03 3.32065505e+00] [ 3.48440811e-02 -8.65667780e-04 9.99392386e-01 1.91750054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.72, Y:3.32, Z:1.92 [[ 9.97202683e-01 -6.57923223e-02 -3.54708297e-02 8.77158008e+01] [ 6.57780925e-02 9.97833042e-01 -1.56925598e-03 3.32326158e+00] [ 3.54972109e-02 -7.68337244e-04 9.99369480e-01 1.91847358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.75, Y:3.32, Z:1.92 [[ 9.97305847e-01 -6.40904536e-02 -3.56855970e-02 8.77471780e+01] [ 6.40750310e-02 9.97943838e-01 -1.57683279e-03 3.32482825e+00] [ 3.57132815e-02 -7.13971174e-04 9.99361822e-01 1.91915067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.78, Y:3.33, Z:1.92 [[ 9.97397173e-01 -6.25432527e-02 -3.58778696e-02 8.77798005e+01] [ 6.25267364e-02 9.98042033e-01 -1.58328697e-03 3.32605799e+00] [ 3.59066458e-02 -6.64160149e-04 9.99354928e-01 1.91957951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.81, Y:3.33, Z:1.92 [[ 9.97398012e-01 -6.22573444e-02 -3.63487065e-02 8.78109565e+01] [ 6.22402928e-02 9.98059908e-01 -1.60157488e-03 3.32721219e+00] [ 3.63778965e-02 -6.64946532e-04 9.99337884e-01 1.92037997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.87509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.84, Y:3.33, Z:1.92 [[ 9.97466430e-01 -6.12871795e-02 -3.61192703e-02 8.78434075e+01] [ 6.12697806e-02 9.98119977e-01 -1.58942238e-03 3.32879133e+00] [ 3.61487764e-02 -6.27624292e-04 9.99346222e-01 1.92130086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.88, Y:3.33, Z:1.92 [[ 9.97543727e-01 -6.02706002e-02 -3.56926901e-02 8.78754786e+01] [ 6.02530483e-02 9.98181903e-01 -1.56816456e-03 3.33062299e+00] [ 3.57223116e-02 -5.86280662e-04 9.99361583e-01 1.92306546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.93509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.91, Y:3.33, Z:1.92 [[ 9.97650818e-01 -5.93069030e-02 -3.42860856e-02 8.79078027e+01] [ 5.92902192e-02 9.98239655e-01 -1.50401114e-03 3.33139113e+00] [ 3.43149285e-02 -5.32351584e-04 9.99410928e-01 1.92415897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.94, Y:3.33, Z:1.93 [[ 9.97712907e-01 -5.90467759e-02 -3.29003519e-02 8.79388094e+01] [ 5.90313439e-02 9.98255090e-01 -1.44104375e-03 3.33235473e+00] [ 3.29280328e-02 -5.04404039e-04 9.99457598e-01 1.92567867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.99509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.97, Y:3.33, Z:1.93 [[ 9.97757702e-01 -5.90890795e-02 -3.14332326e-02 8.79708244e+01] [ 5.90750660e-02 9.98252596e-01 -1.37513261e-03 3.33338441e+00] [ 3.14595613e-02 -4.84871135e-04 9.99504908e-01 1.92705222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.00, Y:3.33, Z:1.93 [[ 9.97729597e-01 -6.01990770e-02 -3.01947423e-02 8.80031972e+01] [ 6.01867169e-02 9.98186265e-01 -1.31887273e-03 3.33304781e+00] [ 3.02193719e-02 -5.01444045e-04 9.99543165e-01 1.92777152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.05509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.04, Y:3.33, Z:1.93 [[ 9.97420023e-01 -6.48701942e-02 -3.07433727e-02 8.80360439e+01] [ 6.48596687e-02 9.97893494e-01 -1.34053323e-03 3.33107678e+00] [ 3.07655723e-02 -6.56930287e-04 9.99526412e-01 1.92782559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.07, Y:3.33, Z:1.93 [[ 9.97253580e-01 -6.70564484e-02 -3.14440644e-02 8.80677443e+01] [ 6.70466280e-02 9.97748906e-01 -1.36776631e-03 3.33111231e+00] [ 3.14649984e-02 -7.44208645e-04 9.99504577e-01 1.92830331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.10, Y:3.33, Z:1.93 [[ 9.97260042e-01 -6.69602416e-02 -3.14441431e-02 8.81004094e+01] [ 6.69504306e-02 9.97755368e-01 -1.36595595e-03 3.33247399e+00] [ 3.14650273e-02 -7.42985631e-04 9.99504577e-01 1.92923829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.13, Y:3.33, Z:1.93 [[ 9.96914697e-01 -7.13766710e-02 -3.26566510e-02 8.81335558e+01] [ 7.13685638e-02 9.97449009e-01 -1.41531732e-03 3.33123510e+00] [ 3.26743648e-02 -9.19707648e-04 9.99465627e-01 1.92932344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.17, Y:3.33, Z:1.93 [[ 9.96752948e-01 -7.32925022e-02 -3.33432268e-02 8.81658432e+01] [ 7.32852414e-02 9.97309980e-01 -1.44147847e-03 3.33104721e+00] [ 3.33591824e-02 -1.00676851e-03 9.99442921e-01 1.93001425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.20, Y:3.33, Z:1.93 [[ 9.96572107e-01 -7.51422432e-02 -3.46074945e-02 8.81992327e+01] [ 7.51356503e-02 9.97172205e-01 -1.49282679e-03 3.33095688e+00] [ 3.46218060e-02 -1.11254707e-03 9.99399866e-01 1.93088494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.23, Y:3.33, Z:1.93 [[ 9.96327641e-01 -7.77946912e-02 -3.57661420e-02 8.82326563e+01] [ 7.77894962e-02 9.96968618e-01 -1.53890102e-03 3.32977712e+00] [ 3.57774395e-02 -1.24898055e-03 9.99359002e-01 1.93074141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.27, Y:3.33, Z:1.93 [[ 9.96208377e-01 -7.89139923e-02 -3.66258219e-02 8.82650817e+01] [ 7.89094416e-02 9.96880549e-01 -1.57203733e-03 3.32939930e+00] [ 3.66356252e-02 -1.32404640e-03 9.99327813e-01 1.93119199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.30, Y:3.33, Z:1.93 [[ 9.96198467e-01 -7.88141835e-02 -3.71071299e-02 8.82979921e+01] [ 7.88095730e-02 9.96888422e-01 -1.58921508e-03 3.33054842e+00] [ 3.71169209e-02 -1.34122344e-03 9.99310030e-01 1.93208257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.33, Y:3.33, Z:1.93 [[ 9.96317898e-01 -7.72212383e-02 -3.72495218e-02 8.83304456e+01] [ 7.72156238e-02 9.97013147e-01 -1.59147885e-03 3.33143274e+00] [ 3.72611589e-02 -1.29062620e-03 9.99304728e-01 1.93281504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.35509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.36, Y:3.33, Z:1.93 [[ 9.96434201e-01 -7.57330954e-02 -3.71938278e-02 8.83622497e+01] [ 7.57265797e-02 9.97127359e-01 -1.58594746e-03 3.33265916e+00] [ 3.72070920e-02 -1.23626908e-03 9.99306812e-01 1.93362234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.39, Y:3.33, Z:1.93 [[ 9.96793029e-01 -7.15547848e-02 -3.58269527e-02 8.83934390e+01] [ 7.15461281e-02 9.97436126e-01 -1.52526711e-03 3.33398901e+00] [ 3.58442371e-02 -1.04290413e-03 9.99356845e-01 1.93459215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.41509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.43, Y:3.34, Z:1.94 [[ 9.97022329e-01 -6.86643695e-02 -3.50952981e-02 8.84252863e+01] [ 6.86543428e-02 9.97639391e-01 -1.49213657e-03 3.33550347e+00] [ 3.51149085e-02 -9.21751155e-04 9.99382856e-01 1.93584130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.46, Y:3.34, Z:1.94 [[ 9.97409864e-01 -6.34892396e-02 -3.38035556e-02 8.84562584e+01] [ 6.34770420e-02 9.97982267e-01 -1.43498007e-03 3.33768536e+00] [ 3.38264549e-02 -7.14486441e-04 9.99427466e-01 1.93753582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.47509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.49, Y:3.34, Z:1.94 [[ 9.97743084e-01 -5.83697609e-02 -3.31920093e-02 8.84881249e+01] [ 5.83552289e-02 9.98294890e-01 -1.40720459e-03 3.34028359e+00] [ 3.32175514e-02 -5.32898650e-04 9.99448003e-01 1.93904498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.52, Y:3.34, Z:1.94 [[ 9.97868771e-01 -5.61268594e-02 -3.32820011e-02 8.85189306e+01] [ 5.61110778e-02 9.98423539e-01 -1.40873107e-03 3.34187264e+00] [ 3.33086009e-02 -4.61760204e-04 9.99445008e-01 1.94028843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.55, Y:3.34, Z:1.94 [[ 9.97966541e-01 -5.41663452e-02 -3.35974696e-02 8.85506475e+01] [ 5.41492096e-02 9.98531845e-01 -1.42038116e-03 3.34329031e+00] [ 3.36250802e-02 -4.01783552e-04 9.99434436e-01 1.94109104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.58, Y:3.34, Z:1.94 [[ 9.97969334e-01 -5.41148304e-02 -3.35975221e-02 8.85824617e+01] [ 5.40977074e-02 9.98534638e-01 -1.41913781e-03 3.34460549e+00] [ 3.36250860e-02 -4.01292912e-04 9.99434436e-01 1.94200183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.61, Y:3.35, Z:1.94 [[ 9.98072088e-01 -5.14649387e-02 -3.46910335e-02 8.86137726e+01] [ 5.14451431e-02 9.98674749e-01 -1.46358784e-03 3.34551649e+00] [ 3.47203826e-02 -3.23919011e-04 9.99397013e-01 1.94290899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.64, Y:3.35, Z:1.94 [[ 9.98115551e-01 -5.03146983e-02 -3.51251712e-02 8.86447261e+01] [ 5.02937276e-02 9.98733372e-01 -1.48089217e-03 3.34653605e+00] [ 3.51551913e-02 -2.88474283e-04 9.99381824e-01 1.94402920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.65509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.68, Y:3.35, Z:1.94 [[ 9.98155370e-01 -4.93062714e-02 -3.54224378e-02 8.86755971e+01] [ 4.92843094e-02 9.98783674e-01 -1.49342506e-03 3.34776640e+00] [ 3.54529878e-02 -2.55100140e-04 9.99371313e-01 1.94480117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.70, Y:3.35, Z:1.95 [[ 9.98249193e-01 -4.74631328e-02 -3.52958892e-02 8.87049275e+01] [ 4.74401714e-02 9.98872973e-01 -1.48820995e-03 3.34906592e+00] [ 3.53267449e-02 -1.88838655e-04 9.99375798e-01 1.94589767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.71509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.73, Y:3.35, Z:1.95 [[ 9.98304645e-01 -4.67826991e-02 -3.46296836e-02 8.87347748e+01] [ 4.67601661e-02 9.98905077e-01 -1.46072910e-03 3.35034320e+00] [ 3.46601036e-02 -1.61037113e-04 9.99399145e-01 1.94647499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.77, Y:3.35, Z:1.95 [[ 9.98360295e-01 -4.63472187e-02 -3.35954934e-02 8.87655171e+01] [ 4.63257488e-02 9.98925380e-01 -1.41759648e-03 3.35114033e+00] [ 3.36250927e-02 -1.41064355e-04 9.99434507e-01 1.94682580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.77509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.80, Y:3.35, Z:1.95 [[ 9.98337266e-01 -4.67318836e-02 -3.37466071e-02 8.87962556e+01] [ 4.67104397e-02 9.98907457e-01 -1.42397287e-03 3.35216026e+00] [ 3.37762824e-02 -1.54713671e-04 9.99429407e-01 1.94738306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.83, Y:3.35, Z:1.95 [[ 9.98244812e-01 -4.84520912e-02 -3.40542282e-02 8.88268968e+01] [ 4.84312551e-02 9.98825485e-01 -1.43695326e-03 3.35271685e+00] [ 3.40838544e-02 -2.14857873e-04 9.99418954e-01 1.94767660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.83509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.86, Y:3.35, Z:1.95 [[ 9.98167549e-01 -5.00385946e-02 -3.40247298e-02 8.88570617e+01] [ 5.00187159e-02 9.98747249e-01 -1.43570855e-03 3.35385372e+00] [ 3.40539461e-02 -2.68795611e-04 9.99419960e-01 1.94797024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.89, Y:3.35, Z:1.95 [[ 9.97970747e-01 -5.42536157e-02 -3.33306611e-02 8.88876364e+01] [ 5.42368986e-02 9.98527106e-01 -1.40614435e-03 3.35476286e+00] [ 3.33578570e-02 -4.04460753e-04 9.99443390e-01 1.94846173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.92, Y:3.36, Z:1.95 [[ 9.97839154e-01 -5.67456946e-02 -3.31202256e-02 8.89189839e+01] [ 5.67306226e-02 9.98388546e-01 -1.39537244e-03 3.35563729e+00] [ 3.31460353e-02 -4.86573761e-04 9.99450401e-01 1.94905185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.95, Y:3.36, Z:1.95 [[ 9.97400049e-01 -6.35154913e-02 -3.40429784e-02 8.89512489e+01] [ 6.35035730e-02 9.97980583e-01 -1.43231472e-03 3.35563961e+00] [ 3.40652056e-02 -7.33259990e-04 9.99419343e-01 1.94880294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.98, Y:3.36, Z:1.95 [[ 9.97144479e-01 -6.75305559e-02 -3.38010785e-02 8.89827400e+01] [ 6.75211898e-02 9.97716830e-01 -1.41979242e-03 3.35618383e+00] [ 3.38197843e-02 -8.66550873e-04 9.99427572e-01 1.94923650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.01, Y:3.36, Z:1.95 [[ 9.96859074e-01 -7.18691323e-02 -3.32688158e-02 8.90137568e+01] [ 7.18625408e-02 9.97413569e-01 -1.39535745e-03 3.35686460e+00] [ 3.32830514e-02 -9.99806894e-04 9.99445466e-01 1.95002232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.05, Y:3.36, Z:1.95 [[ 9.96268767e-01 -8.07962112e-02 -3.03400198e-02 8.90459133e+01] [ 8.05895451e-02 9.96715462e-01 -7.97581153e-03 3.36097321e+00] [ 3.08847822e-02 5.50096352e-03 9.99507814e-01 1.95135842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.08, Y:3.36, Z:1.95 [[ 9.95563135e-01 -8.87983939e-02 -3.11269847e-02 8.90779716e+01] [ 8.90060769e-02 9.96016722e-01 5.34853149e-03 3.35511658e+00] [ 3.05280563e-02 -8.09529157e-03 9.99501128e-01 1.95177997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.07509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.11, Y:3.36, Z:1.96 [[ 9.95287520e-01 -9.18967030e-02 -3.09475106e-02 8.91097191e+01] [ 9.19010169e-02 9.95767317e-01 -1.28598971e-03 3.35939641e+00] [ 3.09346978e-02 -1.56417819e-03 9.99520184e-01 1.95545657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.14, Y:3.36, Z:1.96 [[ 9.95055030e-01 -9.43437913e-02 -3.10602201e-02 8.91425812e+01] [ 9.43494126e-02 9.95538312e-01 -1.28785740e-03 3.36062528e+00] [ 3.10431404e-02 -1.64902454e-03 9.99516685e-01 1.95659870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.13509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.18, Y:3.36, Z:1.96 [[ 9.94733360e-01 -9.77581828e-02 -3.08038944e-02 8.91754225e+01] [ 9.77654439e-02 9.95208669e-01 -1.27394495e-03 3.36147003e+00] [ 3.07808413e-02 -1.74432087e-03 9.99524636e-01 1.95716452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.21, Y:3.36, Z:1.96 [[ 9.94653336e-01 -9.86306261e-02 -3.06062094e-02 8.92077502e+01] [ 9.86383040e-02 9.95122551e-01 -1.26255650e-03 3.36246188e+00] [ 3.05814559e-02 -1.76313856e-03 9.99530723e-01 1.95797050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.19509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.24, Y:3.36, Z:1.96 [[ 9.94618441e-01 -9.89799741e-02 -3.06124450e-02 8.92412639e+01] [ 9.89879040e-02 9.95087839e-01 -1.26006683e-03 3.36373920e+00] [ 3.05867931e-02 -1.77697606e-03 9.99530535e-01 1.95845633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.22509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.27, Y:3.37, Z:1.96 [[ 9.94639816e-01 -9.81105223e-02 -3.26490774e-02 8.92743607e+01] [ 9.81191977e-02 9.95173767e-01 -1.34023195e-03 3.36580426e+00] [ 3.26229962e-02 -1.87045322e-03 9.99465978e-01 1.95874425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.31, Y:3.37, Z:1.96 [[ 9.94748439e-01 -9.68336235e-02 -3.31480378e-02 8.93077103e+01] [ 9.68419780e-02 9.95298844e-01 -1.35715632e-03 3.36784471e+00] [ 3.31236221e-02 -1.86009242e-03 9.99449531e-01 1.95887721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.34, Y:3.37, Z:1.96 [[ 9.94877090e-01 -9.53759028e-02 -3.35113726e-02 8.93404438e+01] [ 9.53837382e-02 9.95439636e-01 -1.36843284e-03 3.37017770e+00] [ 3.34890641e-02 -1.83501751e-03 9.99437399e-01 1.95983947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.37, Y:3.37, Z:1.96 [[ 9.95308999e-01 -9.09877323e-02 -3.28820494e-02 8.93723985e+01] [ 9.09930014e-02 9.95850631e-01 -1.33925734e-03 3.37431828e+00] [ 3.28674656e-02 -1.65906148e-03 9.99458342e-01 1.96113750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.41, Y:3.38, Z:1.96 [[ 9.95930067e-01 -8.42689344e-02 -3.19694763e-02 8.94057332e+01] [ 8.42705521e-02 9.96442064e-01 -1.29918472e-03 3.37912285e+00] [ 3.19652119e-02 -1.40018829e-03 9.99488001e-01 1.96268124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.37509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.44, Y:3.38, Z:1.96 [[ 9.96288096e-01 -8.00598070e-02 -3.16299901e-02 8.94383196e+01] [ 8.00593802e-02 9.96789272e-01 -1.28198672e-03 3.38220721e+00] [ 3.16310704e-02 -1.25504930e-03 9.99498825e-01 1.96400429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.47, Y:3.39, Z:1.97 [[ 9.96574964e-01 -7.62219030e-02 -3.20711973e-02 8.94680585e+01] [ 7.62543934e-02 9.97088373e-01 -2.10587490e-04 3.38684325e+00] [ 3.19938693e-02 -2.23570347e-03 9.99485565e-01 1.96530881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.43509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.50, Y:3.39, Z:1.97 [[ 9.97389095e-01 -6.56505247e-02 -3.00832513e-02 8.95019733e+01] [ 6.56026778e-02 9.97842500e-01 -2.57579465e-03 3.39200823e+00] [ 3.01874489e-02 5.95527655e-04 9.99544078e-01 1.96759072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.53, Y:3.40, Z:1.97 [[ 9.98001197e-01 -5.51850759e-02 -3.07931474e-02 8.95340954e+01] [ 5.51733272e-02 9.98476032e-01 -1.23173618e-03 3.39735879e+00] [ 3.08141931e-02 -4.69686220e-04 9.99525020e-01 1.96831238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.49509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.57, Y:3.40, Z:1.97 [[ 9.98275878e-01 -4.99855729e-02 -3.07687139e-02 8.95666408e+01] [ 4.99714405e-02 9.98749891e-01 -1.22858007e-03 3.40043073e+00] [ 3.07916609e-02 -3.11095107e-04 9.99525776e-01 1.96918219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.60, Y:3.40, Z:1.97 [[ 9.98466385e-01 -4.53827093e-02 -3.17062634e-02 8.95976954e+01] [ 4.53654512e-02 9.98969658e-01 -1.26383601e-03 3.40351192e+00] [ 3.17309514e-02 -1.76471173e-04 9.99496431e-01 1.97041268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.55509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.63, Y:3.41, Z:1.97 [[ 9.98763626e-01 -3.73172533e-02 -3.28426777e-02 8.96286519e+01] [ 3.72944135e-02 9.99303465e-01 -1.30795675e-03 3.40756840e+00] [ 3.28686110e-02 8.14912221e-05 9.99459678e-01 1.97091109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.66, Y:3.41, Z:1.97 [[ 9.98958689e-01 -3.14139495e-02 -3.30862739e-02 8.96576682e+01] [ 3.13875285e-02 9.99506421e-01 -1.31776509e-03 3.41095390e+00] [ 3.31113395e-02 2.77896523e-04 9.99451631e-01 1.97233336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.68, Y:3.41, Z:1.97 [[ 9.99021832e-01 -2.95438768e-02 -3.29019484e-02 8.96844373e+01] [ 2.95164855e-02 9.99563425e-01 -1.31801365e-03 3.41264690e+00] [ 3.29265235e-02 3.45574529e-04 9.99457715e-01 1.97325172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.71, Y:3.41, Z:1.97 [[ 9.99089688e-01 -2.73860665e-02 -3.27077723e-02 8.97114233e+01] [ 2.73577110e-02 9.99624844e-01 -1.31422899e-03 3.41346270e+00] [ 3.27314933e-02 4.18222846e-04 9.99464094e-01 1.97363287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.74, Y:3.41, Z:1.97 [[ 9.99099035e-01 -2.72319721e-02 -3.25505355e-02 8.97389021e+01] [ 2.72036577e-02 9.99629050e-01 -1.31249037e-03 3.41280606e+00] [ 3.25742026e-02 4.25814239e-04 9.99469229e-01 1.97417425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.77, Y:3.41, Z:1.97 [[ 9.99099756e-01 -2.79393034e-02 -3.19229095e-02 8.97670121e+01] [ 2.79121490e-02 9.99609540e-01 -1.29602695e-03 3.41325623e+00] [ 3.19466549e-02 4.03823201e-04 9.99489494e-01 1.97457140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.79, Y:3.41, Z:1.98 [[ 9.99085267e-01 -2.95506676e-02 -3.09093261e-02 8.97941055e+01] [ 2.95257328e-02 9.99563223e-01 -1.26291650e-03 3.41291034e+00] [ 3.09331457e-02 3.49140767e-04 9.99521395e-01 1.97602699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.82, Y:3.41, Z:1.98 [[ 9.98990088e-01 -3.27495153e-02 -3.07615663e-02 8.98217234e+01] [ 3.27262091e-02 9.99463559e-01 -1.26094373e-03 3.41227619e+00] [ 3.07863599e-02 2.52960839e-04 9.99525956e-01 1.97708797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.85, Y:3.41, Z:1.98 [[ 9.98899094e-01 -3.52359057e-02 -3.09682214e-02 8.98499848e+01] [ 3.52132090e-02 9.99379005e-01 -1.27814305e-03 3.41229744e+00] [ 3.09940269e-02 1.86245485e-04 9.99519552e-01 1.97802525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.88, Y:3.41, Z:1.98 [[ 9.98664614e-01 -4.13899699e-02 -3.09169817e-02 8.98782657e+01] [ 4.13700398e-02 9.99143068e-01 -1.28430309e-03 3.40971169e+00] [ 3.09436452e-02 3.55128301e-06 9.99521131e-01 1.97790311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.85509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.91, Y:3.41, Z:1.98 [[ 9.98497766e-01 -4.48413071e-02 -3.14875886e-02 8.99092887e+01] [ 4.48222338e-02 9.98994118e-01 -1.31168198e-03 3.40878459e+00] [ 3.15147333e-02 -1.01632533e-04 9.99503282e-01 1.97891131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.94, Y:3.41, Z:1.98 [[ 9.98317580e-01 -4.85528981e-02 -3.16958387e-02 8.99405360e+01] [ 4.85354449e-02 9.98820588e-01 -1.32024801e-03 3.40798071e+00] [ 3.17225581e-02 -2.20344835e-04 9.99496689e-01 1.97951806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.91509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.97, Y:3.41, Z:1.98 [[ 9.98101419e-01 -5.23208907e-02 -3.24974266e-02 8.99716893e+01] [ 5.23045775e-02 9.98630263e-01 -1.35247119e-03 3.40748044e+00] [ 3.25236762e-02 -3.49860756e-04 9.99470904e-01 1.98041185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.00, Y:3.41, Z:1.98 [[ 9.97893431e-01 -5.55647591e-02 -3.34851930e-02 9.00038256e+01] [ 5.55493109e-02 9.98454974e-01 -1.39218816e-03 3.40681846e+00] [ 3.35108141e-02 -4.70823973e-04 9.99438244e-01 1.98134287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.97509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.04, Y:3.40, Z:1.98 [[ 9.97546251e-01 -6.09587002e-02 -3.44312797e-02 9.00366398e+01] [ 6.09456633e-02 9.98140062e-01 -1.42901859e-03 3.40435024e+00] [ 3.44543508e-02 -6.72925037e-04 9.99406046e-01 1.98163027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.07, Y:3.40, Z:1.98 [[ 9.97362719e-01 -6.42525252e-02 -3.37523355e-02 9.00693185e+01] [ 6.42419611e-02 9.97933372e-01 -1.39848630e-03 3.40189168e+00] [ 3.37724382e-02 -7.73518128e-04 9.99429249e-01 1.98191663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.10, Y:3.40, Z:1.98 [[ 9.97333833e-01 -6.49268409e-02 -3.33126234e-02 9.01013933e+01] [ 6.49170038e-02 9.97889715e-01 -1.37793127e-03 3.40143521e+00] [ 3.33317890e-02 -7.88298230e-04 9.99444031e-01 1.98323160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.13, Y:3.40, Z:1.98 [[ 9.97348565e-01 -6.54215235e-02 -3.18726360e-02 9.01331841e+01] [ 6.54128395e-02 9.97857419e-01 -1.31620470e-03 3.40139964e+00] [ 3.18904544e-02 -7.72164749e-04 9.99491072e-01 1.98431620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.16, Y:3.40, Z:1.99 [[ 9.97412490e-01 -6.52558039e-02 -3.01662981e-02 9.01642254e+01] [ 6.52480102e-02 9.97868303e-01 -1.24370420e-03 3.40043395e+00] [ 3.01831516e-02 -7.27804826e-04 9.99544120e-01 1.98633958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.20, Y:3.40, Z:1.99 [[ 9.97440041e-01 -6.52146465e-02 -2.93328088e-02 9.01964702e+01] [ 6.52073051e-02 9.97871008e-01 -1.20779281e-03 3.39967138e+00] [ 2.93491253e-02 -7.08012501e-04 9.99568971e-01 1.98758131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.15509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:3.40, Z:1.99 [[ 9.97434432e-01 -6.52399947e-02 -2.94668659e-02 9.02276224e+01] [ 6.52326584e-02 9.97869347e-01 -1.21123349e-03 3.39987524e+00] [ 2.94831031e-02 -7.14076005e-04 9.99565024e-01 1.98833050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:3.40, Z:1.99 [[ 9.97309725e-01 -6.64859201e-02 -3.08696505e-02 9.02602827e+01] [ 6.64785194e-02 9.97787052e-01 -1.26714674e-03 3.39865696e+00] [ 3.08855849e-02 -7.88430894e-04 9.99522616e-01 1.98836189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.21509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.29, Y:3.40, Z:1.99 [[ 9.97230639e-01 -6.72471597e-02 -3.17627393e-02 9.02911630e+01] [ 6.72397849e-02 9.97735996e-01 -1.30146688e-03 3.39849551e+00] [ 3.17783482e-02 -8.37857105e-04 9.99494590e-01 1.98860873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.32, Y:3.40, Z:1.99 [[ 9.97067995e-01 -6.84912051e-02 -3.41228482e-02 9.03237513e+01] [ 6.84834933e-02 9.97651273e-01 -1.39609261e-03 3.39793851e+00] [ 3.41383230e-02 -9.44852589e-04 9.99416671e-01 1.98864014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.27509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.36, Y:3.40, Z:1.99 [[ 9.96980954e-01 -6.88627840e-02 -3.58733063e-02 9.03559164e+01] [ 6.88545981e-02 9.97625630e-01 -1.46502886e-03 3.39855251e+00] [ 3.58890157e-02 -1.00943622e-03 9.99355272e-01 1.98926317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.39, Y:3.40, Z:1.99 [[ 9.96895896e-01 -6.86551273e-02 -3.85362859e-02 9.03866377e+01] [ 6.86456346e-02 9.97639869e-01 -1.57100893e-03 3.39887451e+00] [ 3.85531930e-02 -1.07921545e-03 9.99255967e-01 1.98912597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.33509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.42, Y:3.40, Z:1.99 [[ 9.96912385e-01 -6.80878190e-02 -3.91119656e-02 9.04174931e+01] [ 6.80776882e-02 9.97678752e-01 -1.59234524e-03 3.39986956e+00] [ 3.91295963e-02 -1.07522350e-03 9.99233566e-01 1.98996885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.45, Y:3.40, Z:1.99 [[ 9.97073154e-01 -6.61086081e-02 -3.84028302e-02 9.04490035e+01] [ 6.60974451e-02 9.97811951e-01 -1.56163421e-03 3.40163026e+00] [ 3.84220404e-02 -9.81265418e-04 9.99261119e-01 1.99174667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.48, Y:3.40, Z:1.99 [[ 9.97396520e-01 -6.26411123e-02 -3.57249567e-02 9.04798399e+01] [ 6.26292708e-02 9.98035805e-01 -1.45154053e-03 3.40353124e+00] [ 3.57457120e-02 -7.89666512e-04 9.99360606e-01 1.99417845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.51, Y:3.41, Z:2.00 [[ 9.97582824e-01 -6.03111589e-02 -3.45119237e-02 9.05113682e+01] [ 6.02987558e-02 9.98179391e-01 -1.40104766e-03 3.40547634e+00] [ 3.45335898e-02 -6.83364974e-04 9.99403304e-01 1.99593193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.54, Y:3.41, Z:2.00 [[ 9.97585121e-01 -6.02731246e-02 -3.45119743e-02 9.05431781e+01] [ 6.02607418e-02 9.98181689e-01 -1.39980100e-03 3.40673803e+00] [ 3.45335911e-02 -6.83296517e-04 9.99403304e-01 1.99684273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.57, Y:3.41, Z:2.00 [[ 9.97757474e-01 -5.75432439e-02 -3.41876981e-02 9.05748044e+01] [ 5.75295348e-02 9.98342844e-01 -1.38536511e-03 3.40875137e+00] [ 3.42107621e-02 -5.84543973e-04 9.99414470e-01 1.99803435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.61, Y:3.41, Z:2.00 [[ 9.98075086e-01 -5.22429425e-02 -3.34185345e-02 9.06063216e+01] [ 5.22269123e-02 9.98634327e-01 -1.35301204e-03 3.41094490e+00] [ 3.34435810e-02 -3.94939258e-04 9.99440529e-01 1.99959961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.64, Y:3.41, Z:2.00 [[ 9.98228008e-01 -4.97438188e-02 -3.26557320e-02 9.06365475e+01] [ 4.97272107e-02 9.98761963e-01 -1.32104537e-03 3.41206709e+00] [ 3.26810169e-02 -3.05173975e-04 9.99465786e-01 2.00035550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.57509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.67, Y:3.41, Z:2.00 [[ 9.98412509e-01 -4.61354538e-02 -3.23106928e-02 9.06670821e+01] [ 4.61173219e-02 9.98935176e-01 -1.30657994e-03 3.41232347e+00] [ 3.23365672e-02 -1.85576864e-04 9.99477019e-01 2.00102678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.70, Y:3.41, Z:2.00 [[ 9.98472742e-01 -4.49262673e-02 -3.21529653e-02 9.06975037e+01] [ 4.49076853e-02 9.98990295e-01 -1.30020175e-03 3.41253214e+00] [ 3.21789135e-02 -1.45699233e-04 9.99482114e-01 2.00156916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.63509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.73, Y:3.41, Z:2.00 [[ 9.98505340e-01 -4.41017898e-02 -3.22818634e-02 9.07271170e+01] [ 4.40826279e-02 9.99027036e-01 -1.30540722e-03 3.41198231e+00] [ 3.23080251e-02 -1.19613292e-04 9.99477952e-01 2.00212003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.76, Y:3.41, Z:2.00 [[ 9.98446255e-01 -4.45519708e-02 -3.34693532e-02 9.07564312e+01] [ 4.45316217e-02 9.99007058e-01 -1.35354762e-03 3.41179400e+00] [ 3.34964233e-02 -1.39000021e-04 9.99438828e-01 2.00279975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.69509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.78, Y:3.41, Z:2.00 [[ 9.98369308e-01 -4.54152742e-02 -3.45857951e-02 9.07846832e+01] [ 4.53940143e-02 9.98968179e-01 -1.40008784e-03 3.41132081e+00] [ 3.46136941e-02 -1.72183353e-04 9.99400752e-01 2.00368074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.81, Y:3.41, Z:2.00 [[ 9.98319012e-01 -4.60127516e-02 -3.52416856e-02 9.08133584e+01] [ 4.59909365e-02 9.98940834e-01 -1.42984256e-03 3.41119315e+00] [ 3.52701498e-02 -1.93359110e-04 9.99377796e-01 2.00397122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.84, Y:3.41, Z:2.00 [[ 9.98288467e-01 -4.63868624e-02 -3.56145369e-02 9.08417803e+01] [ 4.63645052e-02 9.98923530e-01 -1.45383167e-03 3.41104668e+00] [ 3.56436376e-02 -1.99906988e-04 9.99364544e-01 2.00432203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.87, Y:3.41, Z:2.00 [[ 9.98295784e-01 -4.66446882e-02 -3.50685222e-02 9.08701732e+01] [ 4.66228653e-02 9.98911525e-01 -1.44023269e-03 3.41116362e+00] [ 3.50975302e-02 -1.97216763e-04 9.99383872e-01 2.00462170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.90, Y:3.41, Z:2.01 [[ 9.98309444e-01 -4.67527187e-02 -3.45316764e-02 9.08986074e+01] [ 4.67313643e-02 9.98906476e-01 -1.42567851e-03 3.41077129e+00] [ 3.45605695e-02 -1.90444030e-04 9.99402587e-01 2.00556174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.93, Y:3.41, Z:2.01 [[ 9.98306213e-01 -4.71703154e-02 -3.40538812e-02 9.09272805e+01] [ 4.71496929e-02 9.98886841e-01 -1.40882619e-03 3.41155187e+00] [ 3.40824286e-02 -1.99190104e-04 9.99419005e-01 2.00663437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.87509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.96, Y:3.41, Z:2.01 [[ 9.98307501e-01 -4.77392533e-02 -3.32129016e-02 9.09571900e+01] [ 4.77197177e-02 9.98859811e-01 -1.38107131e-03 3.41221807e+00] [ 3.32409639e-02 -2.06176439e-04 9.99447345e-01 2.00729598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.99, Y:3.41, Z:2.01 [[ 9.98207535e-01 -5.00335317e-02 -3.28384361e-02 9.09870007e+01] [ 5.00156372e-02 9.98747500e-01 -1.36665117e-03 3.41154788e+00] [ 3.28656843e-02 -2.78233815e-04 9.99459739e-01 2.00756042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.93509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.02, Y:3.41, Z:2.01 [[ 9.98117165e-01 -5.19356620e-02 -3.26314616e-02 9.10175210e+01] [ 5.19189757e-02 9.98650376e-01 -1.35904333e-03 3.41172050e+00] [ 3.26580042e-02 -3.37707578e-04 9.99466528e-01 2.00848041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.05, Y:3.41, Z:2.01 [[ 9.97897772e-01 -5.63542909e-02 -3.20035975e-02 9.10484290e+01] [ 5.63405115e-02 9.98410722e-01 -1.33289389e-03 3.41052471e+00] [ 3.20278491e-02 -4.73007204e-04 9.99486865e-01 2.00896455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.99509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.08, Y:3.41, Z:2.01 [[ 9.97757717e-01 -5.87781786e-02 -3.20103667e-02 9.10799551e+01] [ 5.87656439e-02 9.98270916e-01 -1.33305332e-03 3.41050805e+00] [ 3.20333725e-02 -5.51045569e-04 9.99486648e-01 2.00969668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.11, Y:3.41, Z:2.01 [[ 9.97454851e-01 -6.36572180e-02 -3.21181978e-02 9.11112930e+01] [ 6.36471627e-02 9.97971569e-01 -1.33639189e-03 3.40890385e+00] [ 3.21381192e-02 -7.11241588e-04 9.99483184e-01 2.01012853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.05509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.14, Y:3.41, Z:2.01 [[ 9.97322206e-01 -6.57884178e-02 -3.19421681e-02 9.11433044e+01] [ 6.57796049e-02 9.97833293e-01 -1.32780323e-03 3.40876087e+00] [ 3.19603128e-02 -7.76895548e-04 9.99488837e-01 2.01121276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.17, Y:3.41, Z:2.01 [[ 9.97218358e-01 -6.76891860e-02 -3.12045063e-02 9.11746511e+01] [ 6.76817787e-02 9.97706119e-01 -1.29477649e-03 3.40863066e+00] [ 3.12205693e-02 -8.20801606e-04 9.99512182e-01 2.01212019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.21, Y:3.41, Z:2.01 [[ 9.97079903e-01 -7.01051532e-02 -3.02809183e-02 9.12069930e+01] [ 7.00993948e-02 9.97539225e-01 -1.25301217e-03 3.40736037e+00] [ 3.02942464e-02 -8.73320797e-04 9.99540642e-01 2.01323537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.24, Y:3.41, Z:2.01 [[ 9.97047697e-01 -7.07446320e-02 -2.98510640e-02 9.12383879e+01] [ 7.07393840e-02 9.97494070e-01 -1.23315336e-03 3.40775245e+00] [ 2.98634983e-02 -8.82133164e-04 9.99553597e-01 2.01428548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.27, Y:3.41, Z:2.02 [[ 9.97075965e-01 -6.99190390e-02 -3.08358339e-02 9.12708856e+01] [ 6.99130982e-02 9.97552275e-01 -1.27210981e-03 3.40808592e+00] [ 3.08493009e-02 -8.87438572e-04 9.99523653e-01 2.01500415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.30, Y:3.41, Z:2.01 [[ 9.97230307e-01 -6.67762402e-02 -3.27513004e-02 9.13029353e+01] [ 6.67679255e-02 9.97767621e-01 -1.34868974e-03 3.40945620e+00] [ 3.27682475e-02 -8.41782104e-04 9.99462622e-01 2.01497329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.33, Y:3.41, Z:2.02 [[ 9.97397458e-01 -6.40246945e-02 -3.31534063e-02 9.13339147e+01] [ 6.40147415e-02 9.97948023e-01 -1.36266181e-03 3.41114739e+00] [ 3.31726202e-02 -7.63191301e-04 9.99449346e-01 2.01593815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.37, Y:3.41, Z:2.02 [[ 9.97788437e-01 -5.80886004e-02 -3.23101944e-02 9.13650568e+01] [ 5.80761460e-02 9.98311277e-01 -1.32459416e-03 3.41358788e+00] [ 3.23325753e-02 -5.54786825e-04 9.99477012e-01 2.01758053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.40, Y:3.42, Z:2.02 [[ 9.98141522e-01 -5.17002614e-02 -3.22580854e-02 9.13956755e+01] [ 5.16845460e-02 9.98662586e-01 -1.32138459e-03 3.41601640e+00] [ 3.22832589e-02 -3.48315674e-04 9.99478699e-01 2.01911916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.43, Y:3.42, Z:2.02 [[ 9.98436668e-01 -4.50172775e-02 -3.31310219e-02 9.14256022e+01] [ 4.49970324e-02 9.98986199e-01 -1.35679082e-03 3.41912335e+00] [ 3.31585126e-02 -1.36127960e-04 9.99450096e-01 2.02008824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.35509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.45, Y:3.42, Z:2.02 [[ 9.98642096e-01 -3.93857874e-02 -3.40987254e-02 9.14542053e+01] [ 3.93610134e-02 9.99224077e-01 -1.39776813e-03 3.42181710e+00] [ 3.41273196e-02 5.37097112e-05 9.99417492e-01 2.02104461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.48, Y:3.42, Z:2.02 [[ 9.98706367e-01 -3.74092628e-02 -3.44403778e-02 9.14822883e+01] [ 3.73827039e-02 9.99300021e-01 -1.41498559e-03 3.42311856e+00] [ 3.44692038e-02 1.25680673e-04 9.99405753e-01 2.02183521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.41509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.51, Y:3.42, Z:2.02 [[ 9.98769997e-01 -3.56280073e-02 -3.44838946e-02 9.15092487e+01] [ 3.56000118e-02 9.99365102e-01 -1.42569381e-03 3.42418472e+00] [ 3.45127955e-02 1.96313148e-04 9.99404237e-01 2.02240402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.54, Y:3.42, Z:2.02 [[ 9.98824602e-01 -3.43249314e-02 -3.42229886e-02 9.15369907e+01] [ 3.42964180e-02 9.99410696e-01 -1.42002480e-03 3.42496701e+00] [ 3.42515631e-02 2.44629779e-04 9.99413213e-01 2.02313150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.47509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.56, Y:3.43, Z:2.02 [[ 9.98885341e-01 -3.26619966e-02 -3.40774050e-02 9.15645914e+01] [ 3.26324291e-02 9.99466407e-01 -1.42362090e-03 3.42507777e+00] [ 3.41057198e-02 3.10005541e-04 9.99418183e-01 2.02352772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.59, Y:3.43, Z:2.02 [[ 9.98883592e-01 -3.27741298e-02 -3.40209645e-02 9.15918440e+01] [ 3.27444273e-02 9.99462734e-01 -1.43000684e-03 3.42590221e+00] [ 3.40495535e-02 3.14413365e-04 9.99420096e-01 2.02438916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.62, Y:3.43, Z:2.03 [[ 9.98840149e-01 -3.48773714e-02 -3.31952675e-02 9.16196894e+01] [ 3.48500971e-02 9.99391570e-01 -1.40004486e-03 3.42599969e+00] [ 3.32239004e-02 2.41562719e-04 9.99447905e-01 2.02570802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.65, Y:3.43, Z:2.03 [[ 9.98789048e-01 -3.67518319e-02 -3.27068858e-02 9.16466127e+01] [ 3.67260771e-02 9.99324406e-01 -1.38805628e-03 3.42607958e+00] [ 3.27358028e-02 1.85179803e-04 9.99464023e-01 2.02642980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.67, Y:3.42, Z:2.03 [[ 9.98587985e-01 -4.23141670e-02 -3.21177011e-02 9.16747431e+01] [ 4.22920634e-02 9.99104355e-01 -1.36753596e-03 3.42432866e+00] [ 3.21468012e-02 7.28112537e-06 9.99483158e-01 2.02710531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.70, Y:3.42, Z:2.03 [[ 9.98441987e-01 -4.56554207e-02 -3.20808614e-02 9.17030902e+01] [ 4.56348255e-02 9.98957243e-01 -1.37425734e-03 3.42369649e+00] [ 3.21101512e-02 -9.18882854e-05 9.99484332e-01 2.02753561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.65509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.73, Y:3.42, Z:2.03 [[ 9.98242370e-01 -4.97125844e-02 -3.22618954e-02 9.17320020e+01] [ 4.96937640e-02 9.98763541e-01 -1.38541338e-03 3.42305464e+00] [ 3.22908773e-02 -2.20236680e-04 9.99478489e-01 2.02827429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.76, Y:3.42, Z:2.03 [[ 9.98022277e-01 -5.39270422e-02 -3.23018279e-02 9.17613846e+01] [ 5.39101482e-02 9.98544817e-01 -1.39433626e-03 3.42266860e+00] [ 3.23300152e-02 -3.49817680e-04 9.99477187e-01 2.02865800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.71509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.79, Y:3.42, Z:2.03 [[ 9.97501831e-01 -6.26760353e-02 -3.25854473e-02 9.17906424e+01] [ 6.26634730e-02 9.98033721e-01 -1.40761268e-03 3.42022915e+00] [ 3.26095988e-02 -6.37821078e-04 9.99467962e-01 2.02870153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.82, Y:3.42, Z:2.03 [[ 9.97004818e-01 -7.03396380e-02 -3.21516327e-02 9.18207971e+01] [ 7.03313912e-02 9.97522715e-01 -1.38875620e-03 3.41854855e+00] [ 3.21696686e-02 -8.76672434e-04 9.99482038e-01 2.02926803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.77509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.85, Y:3.42, Z:2.03 [[ 9.96810768e-01 -7.33308654e-02 -3.14781961e-02 9.18527660e+01] [ 7.33244720e-02 9.97307212e-01 -1.35896191e-03 3.41882892e+00] [ 3.14930859e-02 -9.53494247e-04 9.99503515e-01 2.03015405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.80509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.88, Y:3.42, Z:2.03 [[ 9.96520209e-01 -7.69834216e-02 -3.19535006e-02 9.18842031e+01] [ 7.69787825e-02 9.97031780e-01 -1.37717164e-03 3.41840297e+00] [ 3.19646749e-02 -1.08736220e-03 9.99488408e-01 2.03107089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.83509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.92, Y:3.42, Z:2.03 [[ 9.96436945e-01 -7.80182437e-02 -3.20401064e-02 9.19160734e+01] [ 7.80141718e-02 9.96951296e-01 -1.37909186e-03 3.41915174e+00] [ 3.20500200e-02 -1.12540429e-03 9.99485633e-01 2.03219283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.95, Y:3.42, Z:2.03 [[ 9.96318708e-01 -7.96670450e-02 -3.16574348e-02 9.19475780e+01] [ 7.96639697e-02 9.96820847e-01 -1.36043345e-03 3.41972156e+00] [ 3.16651727e-02 -1.16653163e-03 9.99497852e-01 2.03344054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.98, Y:3.42, Z:2.03 [[ 9.96293608e-01 -8.01186378e-02 -3.13057671e-02 9.19795867e+01] [ 8.01159064e-02 9.96784649e-01 -1.34361497e-03 3.42075096e+00] [ 3.13127567e-02 -1.16945490e-03 9.99508951e-01 2.03432806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.01, Y:3.42, Z:2.04 [[ 9.96235797e-01 -8.10275493e-02 -3.08021710e-02 9.20115788e+01] [ 8.10254056e-02 9.96711163e-01 -1.31982120e-03 3.42132568e+00] [ 3.08078095e-02 -1.18090527e-03 9.99524629e-01 2.03514349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.04, Y:3.42, Z:2.04 [[ 9.96148439e-01 -8.22648093e-02 -3.03445068e-02 9.20425420e+01] [ 8.22633685e-02 9.96609780e-01 -1.29800473e-03 3.42221343e+00] [ 3.03484123e-02 -1.20323596e-03 9.99538657e-01 2.03540328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.07, Y:3.42, Z:2.04 [[ 9.96066485e-01 -8.32775433e-02 -3.02722516e-02 9.20742206e+01] [ 8.32766772e-02 9.96525628e-01 -1.29158035e-03 3.42338088e+00] [ 3.02746341e-02 -1.23447263e-03 9.99540856e-01 2.03623525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.11, Y:3.42, Z:2.04 [[ 9.95778003e-01 -8.61823277e-02 -3.16034152e-02 9.21059785e+01] [ 8.61829185e-02 9.96278421e-01 -1.34602594e-03 3.42481764e+00] [ 3.16018043e-02 -1.38333153e-03 9.99499581e-01 2.03682552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.14, Y:3.43, Z:2.04 [[ 9.95354838e-01 -9.03191017e-02 -3.33347525e-02 9.21373880e+01] [ 9.03221544e-02 9.95911592e-01 -1.41734815e-03 3.42628909e+00] [ 3.33264800e-02 -1.60010232e-03 9.99443238e-01 2.03691811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.07509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.17, Y:3.43, Z:2.04 [[ 9.94862384e-01 -9.49864379e-02 -3.50201839e-02 9.21697272e+01] [ 9.49927634e-02 9.95476853e-01 -1.48694769e-03 3.42767595e+00] [ 3.50030223e-02 -1.84735572e-03 9.99385499e-01 2.03770117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.20, Y:3.43, Z:2.04 [[ 9.94870784e-01 -9.48983748e-02 -3.50202938e-02 9.22023842e+01] [ 9.49047370e-02 9.95485252e-01 -1.48435303e-03 3.42900182e+00] [ 3.50030487e-02 -1.84685231e-03 9.99385499e-01 2.03863602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.13509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.24, Y:3.43, Z:2.04 [[ 9.94657590e-01 -9.68760133e-02 -3.56555196e-02 9.22358059e+01] [ 9.68839952e-02 9.95294538e-01 -1.50792217e-03 3.43052805e+00] [ 3.56338254e-02 -1.95458296e-03 9.99363002e-01 2.03955898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.27, Y:3.43, Z:2.04 [[ 9.94254002e-01 -1.00340650e-01 -3.72925479e-02 9.22691387e+01] [ 1.00351970e-01 9.94950757e-01 -1.57291446e-03 3.43237050e+00] [ 3.72620760e-02 -2.17850414e-03 9.99303153e-01 2.04070389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.19509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.30, Y:3.43, Z:2.04 [[ 9.94122199e-01 -1.01449109e-01 -3.78038638e-02 9.23013147e+01] [ 1.01461694e-01 9.94838175e-01 -1.59044181e-03 3.43440119e+00] [ 3.77700758e-02 -2.25455054e-03 9.99283913e-01 2.04136117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.22509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.33, Y:3.44, Z:2.04 [[ 9.93969065e-01 -1.02591614e-01 -3.87357465e-02 9.23329253e+01] [ 1.02605831e-01 9.94720764e-01 -1.62606336e-03 3.43825870e+00] [ 3.86980718e-02 -2.35825679e-03 9.99248166e-01 2.04243552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.37, Y:3.44, Z:2.04 [[ 9.94010232e-01 -1.02238577e-01 -3.86125873e-02 9.23662145e+01] [ 1.02252578e-01 9.94757154e-01 -1.61725147e-03 3.44091463e+00] [ 3.85754930e-02 -2.34067210e-03 9.99252947e-01 2.04333419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.40, Y:3.45, Z:2.04 [[ 9.94295044e-01 -9.97821810e-02 -3.76945736e-02 9.23974357e+01] [ 9.97939209e-02 9.95006881e-01 -1.57464993e-03 3.44540218e+00] [ 3.76634821e-02 -2.19602267e-03 9.99288066e-01 2.04468095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.43, Y:3.45, Z:2.05 [[ 9.94483592e-01 -9.82500246e-02 -3.67330611e-02 9.24297613e+01] [ 9.82602749e-02 9.95159573e-01 -1.53053979e-03 3.44899111e+00] [ 3.67056330e-02 -2.08730397e-03 9.99323941e-01 2.04627436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.46, Y:3.45, Z:2.05 [[ 9.94709877e-01 -9.63820314e-02 -3.55354089e-02 9.24623754e+01] [ 9.63905318e-02 9.95342494e-01 -1.47789302e-03 3.45276528e+00] [ 3.55123449e-02 -1.95520218e-03 9.99367325e-01 2.04789731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.37509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.50, Y:3.45, Z:2.05 [[ 9.94718652e-01 -9.62913683e-02 -3.55355655e-02 9.24950356e+01] [ 9.62999455e-02 9.95351268e-01 -1.47411834e-03 3.45406472e+00] [ 3.55123151e-02 -1.95574002e-03 9.99367325e-01 2.04883185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.53, Y:3.46, Z:2.05 [[ 9.95128913e-01 -9.26378324e-02 -3.37146677e-02 9.25278648e+01] [ 9.26435621e-02 9.95698359e-01 -1.39554853e-03 3.45943811e+00] [ 3.36989199e-02 -1.73469621e-03 9.99430525e-01 2.05104076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.43509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.56, Y:3.46, Z:2.05 [[ 9.95278166e-01 -9.13637009e-02 -3.27726349e-02 9.25596139e+01] [ 9.13685369e-02 9.95816228e-01 -1.35314584e-03 3.46231824e+00] [ 3.27591501e-02 -1.64763119e-03 9.99461917e-01 2.05217069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.59, Y:3.47, Z:2.05 [[ 9.95433524e-01 -9.00130429e-02 -3.17765970e-02 9.25921724e+01] [ 9.00169926e-02 9.95939369e-01 -1.30917182e-03 3.46606544e+00] [ 3.17654065e-02 -1.55724018e-03 9.99494139e-01 2.05349947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.49509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.63, Y:3.47, Z:2.05 [[ 9.95469825e-01 -8.96429878e-02 -3.16853541e-02 9.26254174e+01] [ 8.96468366e-02 9.95972765e-01 -1.30197947e-03 3.46829974e+00] [ 3.16744631e-02 -1.54441049e-03 9.99497045e-01 2.05412385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.66, Y:3.47, Z:2.05 [[ 9.95421273e-01 -8.99563907e-02 -3.23162034e-02 9.26576952e+01] [ 8.99606747e-02 9.95944438e-01 -1.32434043e-03 3.47124173e+00] [ 3.23042760e-02 -1.58891082e-03 9.99476818e-01 2.05484319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.55509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.69, Y:3.47, Z:2.06 [[ 9.95373837e-01 -9.02404067e-02 -3.29786910e-02 9.26894403e+01] [ 9.02451252e-02 9.95918671e-01 -1.34842812e-03 3.47378142e+00] [ 3.29657768e-02 -1.63397603e-03 9.99455145e-01 2.05563976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.58509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.72, Y:3.48, Z:2.06 [[ 9.95375078e-01 -8.99178099e-02 -3.38118516e-02 9.27222159e+01] [ 8.99226930e-02 9.95947793e-01 -1.37930339e-03 3.47621389e+00] [ 3.37988630e-02 -1.66752853e-03 9.99427264e-01 2.05633028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.76, Y:3.48, Z:2.06 [[ 9.95403297e-01 -8.89249685e-02 -3.55615915e-02 9.27552764e+01] [ 8.89298821e-02 9.96036838e-01 -1.44669045e-03 3.48034313e+00] [ 3.55493021e-02 -1.72244770e-03 9.99366439e-01 2.05677541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.79, Y:3.48, Z:2.06 [[ 9.95472051e-01 -8.77801915e-02 -3.64696207e-02 9.27883905e+01] [ 8.77847427e-02 9.96138369e-01 -1.47955718e-03 3.48309892e+00] [ 3.64586642e-02 -1.72861844e-03 9.99333667e-01 2.05752732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.82, Y:3.49, Z:2.06 [[ 9.95794839e-01 -8.32168029e-02 -3.83093029e-02 9.28199943e+01] [ 8.32186185e-02 9.96530109e-01 -1.54998610e-03 3.48727250e+00] [ 3.83053587e-02 -1.64457911e-03 9.99264727e-01 2.05760975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.85, Y:3.49, Z:2.06 [[ 9.96273596e-01 -7.65992180e-02 -3.96419249e-02 9.28516090e+01] [ 7.65960721e-02 9.97060921e-01 -1.60039565e-03 3.49328549e+00] [ 3.96480032e-02 -1.44198381e-03 9.99212668e-01 2.05852466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.88, Y:3.50, Z:2.06 [[ 9.96563428e-01 -7.25760018e-02 -3.99256603e-02 9.28830352e+01] [ 7.25696943e-02 9.97362046e-01 -1.60914905e-03 3.49733378e+00] [ 3.99371238e-02 -1.29377387e-03 9.99201357e-01 2.05962618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.92, Y:3.50, Z:2.06 [[ 9.96862414e-01 -6.83961295e-02 -3.98408925e-02 9.29150363e+01] [ 6.83866073e-02 9.97657607e-01 -1.60338923e-03 3.50152098e+00] [ 3.98572351e-02 -1.12622502e-03 9.99204750e-01 2.06128888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.95, Y:3.51, Z:2.06 [[ 9.97507985e-01 -5.97444655e-02 -3.75289086e-02 9.29463313e+01] [ 5.97299784e-02 9.98213432e-01 -1.50810516e-03 3.50801049e+00] [ 3.75519616e-02 -7.37253965e-04 9.99294404e-01 2.06297698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.98, Y:3.51, Z:2.06 [[ 9.97801483e-01 -5.55837497e-02 -3.60921980e-02 9.29777082e+01] [ 5.55676741e-02 9.98453872e-01 -1.44913435e-03 3.51125771e+00] [ 3.61169431e-02 -5.59611090e-04 9.99347414e-01 2.06418740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.85509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.01, Y:3.52, Z:2.07 [[ 9.98279877e-01 -4.81658087e-02 -3.34266590e-02 9.30075965e+01] [ 4.81478924e-02 9.98839317e-01 -1.34118391e-03 3.51590280e+00] [ 3.34524604e-02 -2.70546275e-04 9.99440273e-01 2.06516661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.04, Y:3.52, Z:2.07 [[ 9.98441964e-01 -4.54739469e-02 -3.23382907e-02 9.30376957e+01] [ 4.54557669e-02 9.98965510e-01 -1.29751511e-03 3.51866262e+00] [ 3.23638402e-02 -1.74468269e-04 9.99476138e-01 2.06600182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.91509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.07, Y:3.52, Z:2.07 [[ 9.98553862e-01 -4.33740237e-02 -3.17628543e-02 9.30679752e+01] [ 4.33554228e-02 9.99058899e-01 -1.27442677e-03 3.52123645e+00] [ 3.17882392e-02 -1.04508204e-04 9.99494621e-01 2.06689384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.10, Y:3.52, Z:2.07 [[ 9.98658784e-01 -4.10337580e-02 -3.15731592e-02 9.30980883e+01] [ 4.10142093e-02 9.99157760e-01 -1.26681560e-03 3.52413870e+00] [ 3.15985493e-02 -2.98316333e-05 9.99500641e-01 2.06717267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.97509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.13, Y:3.53, Z:2.07 [[ 9.98650293e-01 -4.10198177e-02 -3.18585377e-02 9.31281743e+01] [ 4.09999030e-02 9.99158333e-01 -1.27838476e-03 3.52600754e+00] [ 3.18841626e-02 -2.95376431e-05 9.99491570e-01 2.06785534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.16, Y:3.53, Z:2.07 [[ 9.98545110e-01 -4.27727543e-02 -3.28352576e-02 9.31564056e+01] [ 4.27525042e-02 9.99084823e-01 -1.31887690e-03 3.52710018e+00] [ 3.28616196e-02 -8.68314096e-05 9.99459907e-01 2.06777801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.19, Y:3.53, Z:2.07 [[ 9.98455399e-01 -4.43371878e-02 -3.34817766e-02 9.31857892e+01] [ 4.43169528e-02 9.99016614e-01 -1.34659424e-03 3.52777597e+00] [ 3.35085553e-02 -1.39296027e-04 9.99438421e-01 2.06807550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.21, Y:3.53, Z:2.07 [[ 9.98177117e-01 -4.89670917e-02 -3.52798297e-02 9.32140576e+01] [ 4.89474636e-02 9.98800345e-01 -1.42035534e-03 3.52786804e+00] [ 3.53070567e-02 -3.09091983e-04 9.99376464e-01 2.06811756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.24, Y:3.53, Z:2.07 [[ 9.98033033e-01 -5.15367765e-02 -3.56934914e-02 9.32440316e+01] [ 5.15182634e-02 9.98671016e-01 -1.43881140e-03 3.52835005e+00] [ 3.57202071e-02 -4.02885390e-04 9.99361749e-01 2.06864854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.27, Y:3.53, Z:2.07 [[ 9.97775912e-01 -5.66302599e-02 -3.51602398e-02 9.32736324e+01] [ 5.66154171e-02 9.98395053e-01 -1.41841719e-03 3.52845740e+00] [ 3.51841349e-02 -5.75349133e-04 9.99380681e-01 2.06904640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.15509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.31, Y:3.53, Z:2.07 [[ 9.97562165e-01 -6.12510700e-02 -3.34370057e-02 9.33050684e+01] [ 6.12402297e-02 9.98122144e-01 -1.34919941e-03 3.52927195e+00] [ 3.34568557e-02 -7.01779626e-04 9.99439916e-01 2.07038627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.34, Y:3.53, Z:2.07 [[ 9.97367177e-01 -6.49521502e-02 -3.22479730e-02 9.33366268e+01] [ 6.49440376e-02 9.97888061e-01 -1.30004305e-03 3.53006894e+00] [ 3.22643078e-02 -7.97693305e-04 9.99479053e-01 2.07115156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.21509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.37, Y:3.53, Z:2.07 [[ 9.97259843e-01 -6.69036231e-02 -3.15707122e-02 9.33692764e+01] [ 6.68968782e-02 9.97759085e-01 -1.27103516e-03 3.53062902e+00] [ 3.15850018e-02 -8.44429760e-04 9.99500713e-01 2.07202382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.40, Y:3.53, Z:2.07 [[ 9.97037273e-01 -7.09567114e-02 -2.96954791e-02 9.34006749e+01] [ 7.09525972e-02 9.97478974e-01 -1.19357163e-03 3.53010359e+00] [ 2.97053079e-02 -9.16935959e-04 9.99558279e-01 2.07288640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.27509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.43, Y:3.53, Z:2.07 [[ 9.96887739e-01 -7.32595515e-02 -2.91182766e-02 9.34332521e+01] [ 7.32566214e-02 9.97312439e-01 -1.16883238e-03 3.53006701e+00] [ 2.91256476e-02 -9.67911900e-04 9.99575290e-01 2.07383433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.30509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.46, Y:3.53, Z:2.07 [[ 9.96714545e-01 -7.55169680e-02 -2.92797360e-02 9.34648486e+01] [ 7.55150723e-02 9.97143972e-01 -1.17208962e-03 3.53026800e+00] [ 2.92846249e-02 -1.04282261e-03 9.99570569e-01 2.07434158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.33509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.50, Y:3.53, Z:2.07 [[ 9.96367809e-01 -7.92463050e-02 -3.11642653e-02 9.34982452e+01] [ 7.92461565e-02 9.96854305e-01 -1.24183636e-03 3.52946588e+00] [ 3.11646430e-02 -1.23232247e-03 9.99513505e-01 2.07463173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.53, Y:3.53, Z:2.08 [[ 9.96248899e-01 -8.02617240e-02 -3.23448050e-02 9.35301712e+01] [ 8.02622154e-02 9.96772956e-01 -1.28527910e-03 3.52992118e+00] [ 3.23435855e-02 -1.31560781e-03 9.99475944e-01 2.07507760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.56, Y:3.53, Z:2.08 [[ 9.96179888e-01 -8.02017139e-02 -3.45444006e-02 9.35630902e+01] [ 8.02023583e-02 9.96777662e-01 -1.36926946e-03 3.53010806e+00] [ 3.45429046e-02 -1.40650369e-03 9.99402226e-01 2.07509140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.59, Y:3.53, Z:2.08 [[ 9.96261483e-01 -7.88934699e-02 -3.51976896e-02 9.35948839e+01] [ 7.88934730e-02 9.96882082e-01 -1.39094768e-03 3.53118432e+00] [ 3.51976828e-02 -1.39112037e-03 9.99379401e-01 2.07546709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.63, Y:3.53, Z:2.08 [[ 9.96559378e-01 -7.46704796e-02 -3.59684085e-02 9.36270922e+01] [ 7.46679328e-02 9.97207448e-01 -1.41595933e-03 3.53333130e+00] [ 3.59736952e-02 -1.27459916e-03 9.99351924e-01 2.07675029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.66, Y:3.54, Z:2.08 [[ 9.96750543e-01 -7.18513646e-02 -3.64106559e-02 9.36593224e+01] [ 7.18469724e-02 9.97414641e-01 -1.43074030e-03 3.53561538e+00] [ 3.64193219e-02 -1.18990421e-03 9.99335888e-01 2.07806999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.69, Y:3.54, Z:2.08 [[ 9.97222041e-01 -6.46663168e-02 -3.69657664e-02 9.36905987e+01] [ 6.46569516e-02 9.97906497e-01 -1.45000058e-03 3.53901612e+00] [ 3.69821446e-02 -9.44121233e-04 9.99315481e-01 2.07867845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.72, Y:3.54, Z:2.08 [[ 9.97456616e-01 -6.08743478e-02 -3.70757787e-02 9.37217372e+01] [ 6.08623829e-02 9.98145110e-01 -1.45232547e-03 3.54162689e+00] [ 3.70954166e-02 -8.07888591e-04 9.99311402e-01 2.07968687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.57509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.75, Y:3.55, Z:2.08 [[ 9.97918245e-01 -5.33150513e-02 -3.62860988e-02 9.37533167e+01] [ 5.32986571e-02 9.98577607e-01 -1.41966070e-03 3.54569065e+00] [ 3.63101750e-02 -5.17295026e-04 9.99340434e-01 2.08126274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.78, Y:3.55, Z:2.08 [[ 9.98210766e-01 -4.78383083e-02 -3.58714805e-02 9.37840319e+01] [ 4.78187869e-02 9.98855043e-01 -1.40244023e-03 3.54930074e+00] [ 3.58974996e-02 -3.15399745e-04 9.99355427e-01 2.08179202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.63509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.81, Y:3.55, Z:2.08 [[ 9.98298662e-01 -4.59073629e-02 -3.59485158e-02 9.38141108e+01] [ 4.58864964e-02 9.98945671e-01 -1.40571821e-03 3.55112556e+00] [ 3.59751470e-02 -2.46224830e-04 9.99352655e-01 2.08200270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.84, Y:3.55, Z:2.08 [[ 9.98352544e-01 -4.46920780e-02 -3.59835647e-02 9.38431492e+01] [ 4.46703300e-02 9.99000790e-01 -1.40852112e-03 3.55308460e+00] [ 3.60105593e-02 -2.01197064e-04 9.99351389e-01 2.08283724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.69509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.87, Y:3.55, Z:2.08 [[ 9.98409706e-01 -4.46231299e-02 -3.44504858e-02 9.38717715e+01] [ 4.46030536e-02 9.99003874e-01 -1.35144870e-03 3.55491680e+00] [ 3.44764747e-02 -1.87297364e-04 9.99405492e-01 2.08383492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.72509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.90, Y:3.56, Z:2.08 [[ 9.98371554e-01 -4.56993479e-02 -3.41439612e-02 9.39011102e+01] [ 4.56800075e-02 9.98955216e-01 -1.34670627e-03 3.55636894e+00] [ 3.41698317e-02 -2.15183173e-04 9.99416018e-01 2.08476167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.93, Y:3.56, Z:2.09 [[ 9.98188786e-01 -4.88746552e-02 -3.50772757e-02 9.39301402e+01] [ 4.88561534e-02 9.98804865e-01 -1.38491251e-03 3.55740053e+00] [ 3.51030407e-02 -3.31336625e-04 9.99383643e-01 2.08559862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.96, Y:3.56, Z:2.09 [[ 9.98078982e-01 -5.07859564e-02 -3.54842439e-02 9.39602890e+01] [ 5.07681754e-02 9.98709480e-01 -1.40251780e-03 3.55843000e+00] [ 3.55096790e-02 -4.01646777e-04 9.99369252e-01 2.08618605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.99, Y:3.56, Z:2.09 [[ 9.97786310e-01 -5.57608965e-02 -3.62381299e-02 9.39905920e+01] [ 5.57456303e-02 9.98443976e-01 -1.43231521e-03 3.55944051e+00] [ 3.62616096e-02 -5.90972883e-04 9.99342157e-01 2.08705396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.02, Y:3.56, Z:2.09 [[ 9.97629680e-01 -5.86039153e-02 -3.60638729e-02 9.40221354e+01] [ 5.85906614e-02 9.98281074e-01 -1.42515803e-03 3.56056205e+00] [ 3.60854016e-02 -6.91226221e-04 9.99348471e-01 2.08804977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.87509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.05, Y:3.56, Z:2.09 [[ 9.97475368e-01 -6.13475961e-02 -3.57681707e-02 9.40535928e+01] [ 6.13363669e-02 9.98116153e-01 -1.41219155e-03 3.56173718e+00] [ 3.57874236e-02 -7.85263360e-04 9.99359116e-01 2.08944954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.08, Y:3.56, Z:2.09 [[ 9.97144165e-01 -6.67572341e-02 -3.53126949e-02 9.40843985e+01] [ 6.67497255e-02 9.97768778e-01 -1.39283038e-03 3.56343225e+00] [ 3.53268859e-02 -9.68260005e-04 9.99375342e-01 2.09113289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.93509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.12, Y:3.57, Z:2.09 [[ 9.96795149e-01 -7.17628306e-02 -3.53486583e-02 9.41161408e+01] [ 7.17585210e-02 9.97421063e-01 -1.39222116e-03 3.56555266e+00] [ 3.53574060e-02 -1.14880814e-03 9.99374071e-01 2.09217942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.15, Y:3.57, Z:2.09 [[ 9.96631748e-01 -7.38476157e-02 -3.56607330e-02 9.41485324e+01] [ 7.38446548e-02 9.97268771e-01 -1.40192201e-03 3.56752473e+00] [ 3.56668639e-02 -1.23615453e-03 9.99362970e-01 2.09348181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.99509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.18, Y:3.57, Z:2.10 [[ 9.96364035e-01 -7.76012640e-02 -3.51675160e-02 9.41801938e+01] [ 7.76008060e-02 9.96983556e-01 -1.38002135e-03 3.57078638e+00] [ 3.51685265e-02 -1.35402394e-03 9.99380479e-01 2.09508355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.21, Y:3.57, Z:2.10 [[ 9.96341069e-01 -7.78823241e-02 -3.51968572e-02 9.42120492e+01] [ 7.78821566e-02 9.96961620e-01 -1.37787509e-03 3.57288229e+00] [ 3.51972279e-02 -1.36837360e-03 9.99379449e-01 2.09576844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.05509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.24, Y:3.57, Z:2.10 [[ 9.96520540e-01 -7.55638161e-02 -3.51699125e-02 9.42441016e+01] [ 7.55624107e-02 9.97140132e-01 -1.37103605e-03 3.57485135e+00] [ 3.51729319e-02 -1.29125779e-03 9.99380407e-01 2.09637305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.28, Y:3.58, Z:2.10 [[ 9.96688850e-01 -7.36005623e-02 -3.45585427e-02 9.42769180e+01] [ 7.35981360e-02 9.97287074e-01 -1.34403481e-03 3.57735997e+00] [ 3.45637096e-02 -1.20385982e-03 9.99401771e-01 2.09803039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.31, Y:3.58, Z:2.10 [[ 9.96743738e-01 -7.30307161e-02 -3.41823750e-02 9.43085669e+01] [ 7.30281239e-02 9.97329000e-01 -1.32600079e-03 3.57874650e+00] [ 3.41879127e-02 -1.17459173e-03 9.99414732e-01 2.09909737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.34, Y:3.58, Z:2.10 [[ 9.96762170e-01 -7.26838204e-02 -3.43836999e-02 9.43405232e+01] [ 7.26810756e-02 9.97354345e-01 -1.33136838e-03 3.58022986e+00] [ 3.43895014e-02 -1.17198665e-03 9.99407819e-01 2.10008592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.37, Y:3.58, Z:2.10 [[ 9.96775593e-01 -7.22148025e-02 -3.49776903e-02 9.43723896e+01] [ 7.22117655e-02 9.97388407e-01 -1.35175977e-03 3.58148781e+00] [ 3.49839599e-02 -1.17839963e-03 9.99387179e-01 2.10114344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.40, Y:3.58, Z:2.10 [[ 9.96712791e-01 -7.25580510e-02 -3.60408407e-02 9.44046581e+01] [ 7.25551641e-02 9.97363433e-01 -1.38972180e-03 3.58292021e+00] [ 3.60466521e-02 -1.22979562e-03 9.99349352e-01 2.10159624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.44, Y:3.58, Z:2.10 [[ 9.96705554e-01 -7.26008691e-02 -3.61545552e-02 9.44355039e+01] [ 7.25980822e-02 9.97360307e-01 -1.39161899e-03 3.58416399e+00] [ 3.61601510e-02 -1.23771699e-03 9.99345241e-01 2.10238370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.47, Y:3.59, Z:2.10 [[ 9.96711891e-01 -7.25137841e-02 -3.61546400e-02 9.44681718e+01] [ 7.25110199e-02 9.97366643e-01 -1.38941234e-03 3.58535899e+00] [ 3.61601835e-02 -1.23676602e-03 9.99345241e-01 2.10331875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.50, Y:3.59, Z:2.10 [[ 9.96713238e-01 -7.23392366e-02 -3.64658146e-02 9.45003203e+01] [ 7.23364209e-02 9.97379309e-01 -1.39828371e-03 3.58715464e+00] [ 3.64713998e-02 -1.24411863e-03 9.99333923e-01 2.10459504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.53, Y:3.59, Z:2.11 [[ 9.96732515e-01 -7.19892598e-02 -3.66311319e-02 9.45323105e+01] [ 7.19862794e-02 9.97404637e-01 -1.40198359e-03 3.58884161e+00] [ 3.66369885e-02 -1.23953626e-03 9.99327871e-01 2.10583262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.35509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.56, Y:3.59, Z:2.11 [[ 9.96743304e-01 -7.16716415e-02 -3.69589258e-02 9.45636650e+01] [ 7.16685031e-02 9.97427508e-01 -1.41146371e-03 3.59039701e+00] [ 3.69650112e-02 -1.24192388e-03 9.99315789e-01 2.10697216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.60, Y:3.59, Z:2.11 [[ 9.96831020e-01 -7.09440668e-02 -3.59841172e-02 9.45962802e+01] [ 7.09407546e-02 9.97479589e-01 -1.37043433e-03 3.59192583e+00] [ 3.59906467e-02 -1.18664898e-03 9.99351422e-01 2.10835678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.41509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.63, Y:3.59, Z:2.11 [[ 9.96863640e-01 -7.06297826e-02 -3.56975837e-02 9.46287225e+01] [ 7.06264118e-02 9.97501914e-01 -1.35699450e-03 3.59304484e+00] [ 3.57042522e-02 -1.16845376e-03 9.99361717e-01 2.10962935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.66, Y:3.59, Z:2.11 [[ 9.96911947e-01 -7.04876863e-02 -3.46129557e-02 9.46599579e+01] [ 7.04845108e-02 9.97512009e-01 -1.31345836e-03 3.59372074e+00] [ 3.46194217e-02 -1.13027493e-03 9.99399929e-01 2.11162765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.47509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.69, Y:3.59, Z:2.11 [[ 9.96920280e-01 -7.08544371e-02 -3.36095757e-02 9.46924506e+01] [ 7.08517125e-02 9.97486046e-01 -1.27354180e-03 3.59390774e+00] [ 3.36153188e-02 -1.11167635e-03 9.99434227e-01 2.11341986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.72, Y:3.59, Z:2.11 [[ 9.96889409e-01 -7.11259915e-02 -3.39499450e-02 9.47241403e+01] [ 7.11234716e-02 9.97466693e-01 -1.28342061e-03 3.59376242e+00] [ 3.39552239e-02 -1.13520953e-03 9.99422710e-01 2.11481595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.76, Y:3.59, Z:2.12 [[ 9.96866055e-01 -7.09908715e-02 -3.49050731e-02 9.47564400e+01] [ 7.09883233e-02 9.97476281e-01 -1.31386662e-03 3.59352779e+00] [ 3.49102551e-02 -1.16810359e-03 9.99389769e-01 2.11608073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.79, Y:3.59, Z:2.12 [[ 9.96895404e-01 -7.02965310e-02 -3.54676208e-02 9.47887622e+01] [ 7.02935511e-02 9.97525459e-01 -1.33252140e-03 3.59400026e+00] [ 3.54735263e-02 -1.16476056e-03 9.99369938e-01 2.11709509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.82, Y:3.60, Z:2.12 [[ 9.96901528e-01 -7.02095702e-02 -3.54677182e-02 9.48214308e+01] [ 7.02066276e-02 9.97531584e-01 -1.32992477e-03 3.59516666e+00] [ 3.54735425e-02 -1.16426484e-03 9.99369938e-01 2.11802997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.85, Y:3.60, Z:2.12 [[ 9.97017659e-01 -6.79391709e-02 -3.66067835e-02 9.48536798e+01] [ 6.79346236e-02 9.97688835e-01 -1.36949911e-03 3.59505293e+00] [ 3.66152218e-02 -1.12145326e-03 9.99328809e-01 2.11838992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.65509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.89, Y:3.60, Z:2.12 [[ 9.97111410e-01 -6.60838926e-02 -3.74400136e-02 9.48854252e+01] [ 6.60779309e-02 9.97813486e-01 -1.39797958e-03 3.59582968e+00] [ 3.74505344e-02 -1.08001724e-03 9.99297899e-01 2.11909258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.92, Y:3.60, Z:2.12 [[ 9.97430777e-01 -6.05496500e-02 -3.82829475e-02 9.49168057e+01] [ 6.05394461e-02 9.98164786e-01 -1.42678718e-03 3.59673398e+00] [ 3.82990816e-02 -8.94506994e-04 9.99265921e-01 2.11999117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.71509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.95, Y:3.60, Z:2.12 [[ 9.97653222e-01 -5.69579969e-02 -3.79978295e-02 9.49473337e+01] [ 5.69454062e-02 9.98376292e-01 -1.41444391e-03 3.59828869e+00] [ 3.80166960e-02 -7.52677316e-04 9.99276821e-01 2.12084678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.98, Y:3.60, Z:2.12 [[ 9.97872089e-01 -5.28903499e-02 -3.81300934e-02 9.49779010e+01] [ 5.28747227e-02 9.98600145e-01 -1.41885543e-03 3.60002197e+00] [ 3.81517605e-02 -6.00281876e-04 9.99271776e-01 2.12197517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.77509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.01, Y:3.60, Z:2.12 [[ 9.98264878e-01 -4.44324731e-02 -3.86392097e-02 9.50073020e+01] [ 4.44100771e-02 9.99012351e-01 -1.43815386e-03 3.60240855e+00] [ 3.86649485e-02 -2.80311799e-04 9.99252192e-01 2.12252529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.80509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.03, Y:3.60, Z:2.12 [[ 9.98570595e-01 -3.64238916e-02 -3.91160620e-02 9.50346697e+01] [ 3.63947196e-02 9.99336429e-01 -1.45783868e-03 3.60467348e+00] [ 3.91432058e-02 3.21367338e-05 9.99233611e-01 2.12330972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.83509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.06, Y:3.61, Z:2.12 [[ 9.98687134e-01 -3.34923149e-02 -3.87591800e-02 9.50625528e+01] [ 3.34612557e-02 9.99438964e-01 -1.44995098e-03 3.60622191e+00] [ 3.87859969e-02 1.51116550e-04 9.99247529e-01 2.12416959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.09, Y:3.61, Z:2.13 [[ 9.98899763e-01 -2.84305300e-02 -3.72956777e-02 9.50901461e+01] [ 2.83978548e-02 9.99595711e-01 -1.40566876e-03 3.60801159e+00] [ 3.73205633e-02 3.45004949e-04 9.99303286e-01 2.12555543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.12, Y:3.61, Z:2.13 [[ 9.98971134e-01 -2.67861024e-02 -3.65947839e-02 9.51167847e+01] [ 2.67532093e-02 9.99641105e-01 -1.38831868e-03 3.60935406e+00] [ 3.66188379e-02 4.07862371e-04 9.99329222e-01 2.12676223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.14, Y:3.61, Z:2.13 [[ 9.99049921e-01 -2.55326265e-02 -3.53176974e-02 9.51446565e+01] [ 2.55010180e-02 9.99673891e-01 -1.34521980e-03 3.61050410e+00] [ 3.53405270e-02 4.43304503e-04 9.99375230e-01 2.12825958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.17, Y:3.61, Z:2.13 [[ 9.99036065e-01 -2.63982366e-02 -3.50724196e-02 9.51729563e+01] [ 2.63672496e-02 9.99651418e-01 -1.34582726e-03 3.61115940e+00] [ 3.50957214e-02 4.19766727e-04 9.99383867e-01 2.12939242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.20, Y:3.61, Z:2.13 [[ 9.98949296e-01 -2.99108431e-02 -3.47224029e-02 9.52004747e+01] [ 2.98822827e-02 9.99552525e-01 -1.34130965e-03 3.60980714e+00] [ 3.47469852e-02 3.02315672e-04 9.99396095e-01 2.12985775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.23, Y:3.61, Z:2.13 [[ 9.98857480e-01 -3.31177426e-02 -3.44521271e-02 9.52285938e+01] [ 3.30913529e-02 9.99451438e-01 -1.33605931e-03 3.60921622e+00] [ 3.44774753e-02 1.94465341e-04 9.99405456e-01 2.13064514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.26, Y:3.61, Z:2.13 [[ 9.98547380e-01 -4.15847008e-02 -3.42613988e-02 9.52563115e+01] [ 4.15632532e-02 9.99134978e-01 -1.33828481e-03 3.60639540e+00] [ 3.42874142e-02 -8.76744007e-05 9.99412010e-01 2.13121677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.07509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.29, Y:3.61, Z:2.13 [[ 9.98347625e-01 -4.63373902e-02 -3.39833116e-02 9.52853928e+01] [ 4.63187237e-02 9.98925818e-01 -1.33676327e-03 3.60513637e+00] [ 3.40087494e-02 -2.39509186e-04 9.99421506e-01 2.13228479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.32, Y:3.60, Z:2.13 [[ 9.98121009e-01 -5.12945140e-02 -3.35160378e-02 9.53151343e+01] [ 5.12789118e-02 9.98683492e-01 -1.32549078e-03 3.60381521e+00] [ 3.35399041e-02 -3.95665749e-04 9.99437301e-01 2.13287051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.13509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.35, Y:3.60, Z:2.13 [[ 9.97636628e-01 -6.00173493e-02 -3.34525901e-02 9.53468120e+01] [ 6.00066771e-02 9.98197098e-01 -1.32380868e-03 3.59954573e+00] [ 3.34717298e-02 -6.86698741e-04 9.99439429e-01 2.13347952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.38, Y:3.60, Z:2.13 [[ 9.97131817e-01 -6.74329455e-02 -3.43647650e-02 9.53795616e+01] [ 6.74261312e-02 9.97723344e-01 -1.35845889e-03 3.59565867e+00] [ 3.43781331e-02 -9.62520566e-04 9.99408434e-01 2.13439382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.19509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.41, Y:3.59, Z:2.14 [[ 9.96919198e-01 -7.04811926e-02 -3.44167644e-02 9.54115031e+01] [ 7.04762564e-02 9.97512533e-01 -1.35805632e-03 3.59467954e+00] [ 3.44268712e-02 -1.07169229e-03 9.99406645e-01 2.13543548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.22509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.44, Y:3.59, Z:2.14 [[ 9.96591758e-01 -7.48948496e-02 -3.45778693e-02 9.54432229e+01] [ 7.48926150e-02 9.97190675e-01 -1.36164334e-03 3.59188641e+00] [ 3.45827089e-02 -1.23262453e-03 9.99401079e-01 2.13618075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.48, Y:3.59, Z:2.14 [[ 9.96456165e-01 -7.66999422e-02 -3.45286853e-02 9.54750854e+01] [ 7.66989277e-02 9.97053377e-01 -1.35588612e-03 3.58944418e+00] [ 3.45309387e-02 -1.29723206e-03 9.99402787e-01 2.13633646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.51, Y:3.59, Z:2.14 [[ 9.96439816e-01 -7.68011535e-02 -3.47746540e-02 9.55058163e+01] [ 7.68002713e-02 9.97045566e-01 -1.36310168e-03 3.58886676e+00] [ 3.47766024e-02 -1.31245408e-03 9.99394249e-01 2.13712085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.54, Y:3.59, Z:2.14 [[ 9.96581977e-01 -7.47534378e-02 -3.51608796e-02 9.55376668e+01] [ 7.47513358e-02 9.97201255e-01 -1.37619067e-03 3.58747631e+00] [ 3.51653483e-02 -1.25683590e-03 9.99380718e-01 2.13743717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.57, Y:3.59, Z:2.14 [[ 9.96699501e-01 -7.28464758e-02 -3.58259131e-02 9.55688963e+01] [ 7.28431703e-02 9.97342426e-01 -1.39924943e-03 3.58809089e+00] [ 3.58326335e-02 -1.21504188e-03 9.99357066e-01 2.13827910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.37509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.60, Y:3.59, Z:2.14 [[ 9.97070294e-01 -6.71201805e-02 -3.66839103e-02 9.56014476e+01] [ 6.71129938e-02 9.97744359e-01 -1.42866245e-03 3.58881774e+00] [ 3.66970566e-02 -1.03749015e-03 9.99325898e-01 2.13898383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.63, Y:3.59, Z:2.14 [[ 9.97285794e-01 -6.37087879e-02 -3.69084661e-02 9.56317994e+01] [ 6.36992734e-02 9.97968108e-01 -1.43484633e-03 3.59010711e+00] [ 3.69248843e-02 -9.20090605e-04 9.99317620e-01 2.13980739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.43509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.66, Y:3.59, Z:2.14 [[ 9.97694655e-01 -5.63622420e-02 -3.77978021e-02 9.56629856e+01] [ 5.63470717e-02 9.98410163e-01 -1.46736065e-03 3.59198473e+00] [ 3.78204135e-02 -6.65817585e-04 9.99284330e-01 2.13996357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.69, Y:3.59, Z:2.14 [[ 9.97899867e-01 -5.25018469e-02 -3.79395744e-02 9.56927981e+01] [ 5.24837994e-02 9.98620690e-01 -1.47218512e-03 3.59333010e+00] [ 3.79645364e-02 -5.22119675e-04 9.99278951e-01 2.14051045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.49509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.72, Y:3.59, Z:2.14 [[ 9.98259359e-01 -4.55515760e-02 -3.74607311e-02 9.57218287e+01] [ 4.55289657e-02 9.98961957e-01 -1.45686997e-03 3.59473810e+00] [ 3.74882079e-02 -2.51214258e-04 9.99297039e-01 2.14067883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.75, Y:3.60, Z:2.14 [[ 9.98391416e-01 -4.28022223e-02 -3.71826673e-02 9.57499007e+01] [ 4.27776788e-02 9.99083556e-01 -1.45576364e-03 3.59607974e+00] [ 3.72109014e-02 -1.37166281e-04 9.99307425e-01 2.14142102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.55509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.78, Y:3.60, Z:2.14 [[ 9.98591101e-01 -3.81457566e-02 -3.68878614e-02 9.57764468e+01] [ 3.81180789e-02 9.99272185e-01 -1.45357347e-03 3.59784315e+00] [ 3.69164616e-02 4.54311246e-05 9.99318354e-01 2.14170840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.58509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.80, Y:3.60, Z:2.14 [[ 9.98617975e-01 -3.69033615e-02 -3.74203485e-02 9.58028460e+01] [ 3.68738031e-02 9.99318834e-01 -1.47998621e-03 3.59912266e+00] [ 3.74494755e-02 9.81102645e-05 9.99298518e-01 2.14226782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.83, Y:3.60, Z:2.14 [[ 9.98627565e-01 -3.67422483e-02 -3.73228351e-02 9.58304352e+01] [ 3.67124266e-02 9.99324769e-01 -1.48428205e-03 3.59994324e+00] [ 3.73521694e-02 1.12033123e-04 9.99302158e-01 2.14261771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.86, Y:3.60, Z:2.14 [[ 9.98602873e-01 -3.79116950e-02 -3.68103986e-02 9.58568986e+01] [ 3.78831482e-02 9.99281090e-01 -1.47293372e-03 3.60087117e+00] [ 3.68397767e-02 7.63820554e-05 9.99321182e-01 2.14351254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.89, Y:3.60, Z:2.14 [[ 9.98555077e-01 -3.98469482e-02 -3.60552138e-02 9.58850039e+01] [ 3.98206202e-02 9.99205795e-01 -1.44830587e-03 3.60168910e+00] [ 3.60842891e-02 1.04721999e-05 9.99348750e-01 2.14478129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.91, Y:3.60, Z:2.15 [[ 9.98358735e-01 -4.55037372e-02 -3.47742246e-02 9.59133294e+01] [ 4.54823395e-02 9.98964153e-01 -1.40653966e-03 3.60155828e+00] [ 3.48022066e-02 -1.77381935e-04 9.99394204e-01 2.14610844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.94, Y:3.60, Z:2.15 [[ 9.98215448e-01 -4.91699371e-02 -3.38856361e-02 9.59416026e+01] [ 4.91514048e-02 9.98790386e-01 -1.38019740e-03 3.60193427e+00] [ 3.39125118e-02 -2.87792252e-04 9.99424764e-01 2.14692981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.97, Y:3.60, Z:2.15 [[ 9.97864259e-01 -5.67110843e-02 -3.24156414e-02 9.59713613e+01] [ 5.66978394e-02 9.98390500e-01 -1.32838357e-03 3.60171219e+00] [ 3.24388025e-02 -5.12350349e-04 9.99473592e-01 2.14831241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.00, Y:3.60, Z:2.15 [[ 9.97641980e-01 -6.06808057e-02 -3.20674070e-02 9.60025191e+01] [ 6.06698642e-02 9.98157021e-01 -1.31500417e-03 3.60213113e+00] [ 3.20881029e-02 -6.33621863e-04 9.99484843e-01 2.14914615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.03, Y:3.60, Z:2.15 [[ 9.97164218e-01 -6.83139367e-02 -3.15710131e-02 9.60349970e+01] [ 6.83071907e-02 9.97663498e-01 -1.29342383e-03 3.60086965e+00] [ 3.15856063e-02 -8.66771249e-04 9.99500674e-01 2.14921889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.85509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.07, Y:3.60, Z:2.15 [[ 9.96891521e-01 -7.19681773e-02 -3.20605240e-02 9.60662991e+01] [ 7.19631882e-02 9.97406427e-01 -1.31097155e-03 3.60111888e+00] [ 3.20717210e-02 -1.00028111e-03 9.99485069e-01 2.14983728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.10, Y:3.60, Z:2.15 [[ 9.96362257e-01 -7.88402135e-02 -3.23492393e-02 9.60982196e+01] [ 7.88388696e-02 9.96886499e-01 -1.31905345e-03 3.60076775e+00] [ 3.23525144e-02 -1.23612239e-03 9.99475756e-01 2.15003772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.91509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.13, Y:3.60, Z:2.15 [[ 9.96095781e-01 -8.19538039e-02 -3.28141736e-02 9.61296726e+01] [ 8.19541821e-02 9.96635203e-01 -1.33573483e-03 3.60152501e+00] [ 3.28132291e-02 -1.35873892e-03 9.99460577e-01 2.15098004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.16, Y:3.60, Z:2.15 [[ 9.95715207e-01 -8.66979098e-02 -3.21667390e-02 9.61617915e+01] [ 8.67007978e-02 9.96233538e-01 -1.30764019e-03 3.60264035e+00] [ 3.21589539e-02 -1.48684472e-03 9.99481661e-01 2.15196563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.97509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.19, Y:3.60, Z:2.15 [[ 9.95582605e-01 -8.84064004e-02 -3.16162266e-02 9.61946009e+01] [ 8.84101248e-02 9.96083332e-01 -1.28287241e-03 3.60438797e+00] [ 3.16058104e-02 -1.51798908e-03 9.99499259e-01 2.15285785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.23, Y:3.61, Z:2.15 [[ 9.95325570e-01 -9.11416374e-02 -3.19407482e-02 9.62262906e+01] [ 9.11469563e-02 9.95836614e-01 -1.29249896e-03 3.60666567e+00] [ 3.19255670e-02 -1.62484471e-03 9.99488928e-01 2.15387322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.26, Y:3.61, Z:2.15 [[ 9.95253037e-01 -9.20779425e-02 -3.15126264e-02 9.62585022e+01] [ 9.20836854e-02 9.95750459e-01 -1.27205905e-03 3.60837569e+00] [ 3.14958408e-02 -1.63577815e-03 9.99502544e-01 2.15462557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.29, Y:3.61, Z:2.16 [[ 9.95208711e-01 -9.25305428e-02 -3.15867035e-02 9.62909610e+01] [ 9.25367045e-02 9.95708464e-01 -1.26984476e-03 3.61005315e+00] [ 3.15686475e-02 -1.65916888e-03 9.99500209e-01 2.15567617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.32, Y:3.61, Z:2.16 [[ 9.95231064e-01 -9.25726240e-02 -3.07479969e-02 9.63240780e+01] [ 9.25785653e-02 9.95704619e-01 -1.23342282e-03 3.61268488e+00] [ 3.07301038e-02 -1.61906474e-03 9.99526408e-01 2.15611749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.36, Y:3.62, Z:2.16 [[ 9.95341289e-01 -9.16218815e-02 -3.00191382e-02 9.63573217e+01] [ 9.16272055e-02 9.95792655e-01 -1.20109609e-03 3.61606046e+00] [ 3.00028840e-02 -1.55506922e-03 9.99548602e-01 2.15698722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.15509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.39, Y:3.62, Z:2.16 [[ 9.95430023e-01 -9.06611678e-02 -2.99937148e-02 9.63889723e+01] [ 9.06661460e-02 9.95880624e-01 -1.19680583e-03 3.61850693e+00] [ 2.99786632e-02 -1.52807807e-03 9.99549371e-01 2.15790078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.42, Y:3.62, Z:2.16 [[ 9.95441386e-01 -9.05362807e-02 -2.99938255e-02 9.64224826e+01] [ 9.05412859e-02 9.95891987e-01 -1.19402377e-03 3.61975406e+00] [ 2.99787130e-02 -1.52709885e-03 9.99549371e-01 2.15885970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.21509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.45, Y:3.62, Z:2.16 [[ 9.95593029e-01 -8.86418242e-02 -3.06128677e-02 9.64541376e+01] [ 8.86462632e-02 9.96062430e-01 -1.21482084e-03 3.62345805e+00] [ 3.06000113e-02 -1.50424917e-03 9.99530578e-01 2.15976471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.49, Y:3.63, Z:2.16 [[ 9.95685550e-01 -8.74451851e-02 -3.10422987e-02 9.64870312e+01] [ 8.74492583e-02 9.96168217e-01 -1.22900922e-03 3.62566200e+00] [ 3.10308223e-02 -1.49091927e-03 9.99517316e-01 2.16066479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.27509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.52, Y:3.63, Z:2.16 [[ 9.95765289e-01 -8.64285669e-02 -3.13303829e-02 9.65196803e+01] [ 8.64323208e-02 9.96256957e-01 -1.23701402e-03 3.62804196e+00] [ 3.13200252e-02 -1.47618208e-03 9.99508318e-01 2.16159669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.30509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.55, Y:3.63, Z:2.16 [[ 9.95985288e-01 -8.34037852e-02 -3.25133152e-02 9.65528991e+01] [ 8.34063388e-02 9.96514799e-01 -1.28008701e-03 3.63195797e+00] [ 3.25067639e-02 -1.43686876e-03 9.99470483e-01 2.16230647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.33509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.59, Y:3.64, Z:2.16 [[ 9.96261478e-01 -7.95026598e-02 -3.37993418e-02 9.65852344e+01] [ 7.95033070e-02 9.96833719e-01 -1.32694646e-03 3.63636794e+00] [ 3.37978194e-02 -1.36517381e-03 9.99427758e-01 2.16329209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.62, Y:3.64, Z:2.16 [[ 9.96461451e-01 -7.68599986e-02 -3.40164240e-02 9.66184554e+01] [ 7.68592270e-02 9.97041065e-01 -1.33223813e-03 3.63932112e+00] [ 3.40181674e-02 -1.28695212e-03 9.99420386e-01 2.16409574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.65, Y:3.64, Z:2.17 [[ 9.96907671e-01 -7.07857349e-02 -3.41244049e-02 9.66504780e+01] [ 7.07815285e-02 9.97490952e-01 -1.33281040e-03 3.64457863e+00] [ 3.41331291e-02 -1.08668862e-03 9.99416704e-01 2.16524977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.68, Y:3.65, Z:2.17 [[ 9.97200978e-01 -6.67350004e-02 -3.37142364e-02 9.66821102e+01] [ 6.67286804e-02 9.97770293e-01 -1.31385179e-03 3.64806268e+00] [ 3.37267434e-02 -9.39532218e-04 9.99430650e-01 2.16618967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.71, Y:3.65, Z:2.17 [[ 9.97801706e-01 -5.74894888e-02 -3.29653440e-02 9.67140612e+01] [ 5.74784781e-02 9.98345922e-01 -1.28235147e-03 3.65360867e+00] [ 3.29845384e-02 -6.15265315e-04 9.99455673e-01 2.16729616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.75, Y:3.66, Z:2.17 [[ 9.98105022e-01 -5.23179295e-02 -3.23913364e-02 9.67455159e+01] [ 5.23046457e-02 9.98630383e-01 -1.25787858e-03 3.65690111e+00] [ 3.24127823e-02 -4.38722451e-04 9.99474471e-01 2.16852759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.78, Y:3.66, Z:2.17 [[ 9.98620269e-01 -4.23849194e-02 -3.10012350e-02 9.67755078e+01] [ 4.23679968e-02 9.99101349e-01 -1.20284620e-03 3.66253429e+00] [ 3.10243583e-02 -1.12273636e-04 9.99518622e-01 2.16974453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.81, Y:3.67, Z:2.17 [[ 9.98818797e-01 -3.79027160e-02 -3.04038766e-02 9.68062419e+01] [ 3.78843785e-02 9.99281434e-01 -1.17915865e-03 3.66576186e+00] [ 3.04267227e-02 2.59338603e-05 9.99537000e-01 2.17143950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.57509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.83, Y:3.67, Z:2.17 [[ 9.99089612e-01 -3.01902017e-02 -3.01413194e-02 9.68344657e+01] [ 3.01686674e-02 9.99544139e-01 -1.16905894e-03 3.67008337e+00] [ 3.01628733e-02 2.58671198e-04 9.99544964e-01 2.17251648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.86, Y:3.67, Z:2.17 [[ 9.99128651e-01 -2.66421184e-02 -3.21268675e-02 9.68624893e+01] [ 2.66157337e-02 9.99644959e-01 -1.24871244e-03 3.67262771e+00] [ 3.21487295e-02 3.92544229e-04 9.99483019e-01 2.17243344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.63509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.89, Y:3.67, Z:2.17 [[ 9.99139902e-01 -2.57842945e-02 -3.24749988e-02 9.68897465e+01] [ 2.57565972e-02 9.99667436e-01 -1.27099424e-03 3.67405923e+00] [ 3.24969705e-02 4.33455593e-04 9.99471740e-01 2.17265431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.92, Y:3.68, Z:2.17 [[ 9.99138941e-01 -2.59385265e-02 -3.23816188e-02 9.69171118e+01] [ 2.59109204e-02 9.99663447e-01 -1.27193102e-03 3.67542343e+00] [ 3.24037126e-02 4.31798265e-04 9.99474769e-01 2.17316188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.69509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.94, Y:3.68, Z:2.17 [[ 9.99100189e-01 -2.72617128e-02 -3.24901816e-02 9.69445041e+01] [ 2.72343246e-02 9.99628251e-01 -1.28529196e-03 3.67659124e+00] [ 3.25131427e-02 3.99287287e-04 9.99471228e-01 2.17390813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.72509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.97, Y:3.68, Z:2.17 [[ 9.99065214e-01 -2.88905149e-02 -3.21564330e-02 9.69719907e+01] [ 2.88642412e-02 9.99582520e-01 -1.28105971e-03 3.67748735e+00] [ 3.21800188e-02 3.51691156e-04 9.99482027e-01 2.17443657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.00, Y:3.68, Z:2.18 [[ 9.98979879e-01 -3.24423119e-02 -3.14117381e-02 9.69990085e+01] [ 3.24187336e-02 9.99473581e-01 -1.25975424e-03 3.67814277e+00] [ 3.14360717e-02 2.40140368e-04 9.99505736e-01 2.17548287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.03, Y:3.68, Z:2.18 [[ 9.98925927e-01 -3.47968938e-02 -3.05968849e-02 9.70269612e+01] [ 3.47755036e-02 9.99394391e-01 -1.23111475e-03 3.67925421e+00] [ 3.06211941e-02 1.65770364e-04 9.99531048e-01 2.17604973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.05, Y:3.68, Z:2.18 [[ 9.98746094e-01 -3.98346266e-02 -3.03222981e-02 9.70549619e+01] [ 3.98156872e-02 9.99206286e-01 -1.22837905e-03 3.68031548e+00] [ 3.03471629e-02 1.95356449e-05 9.99539419e-01 2.17720038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.08, Y:3.68, Z:2.18 [[ 9.98656870e-01 -4.22738050e-02 -2.99563359e-02 9.70848387e+01] [ 4.22563400e-02 9.99106062e-01 -1.21612253e-03 3.68104535e+00] [ 2.99809669e-02 -5.13559983e-05 9.99550468e-01 2.17816342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.87509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.12, Y:3.68, Z:2.18 [[ 9.98424707e-01 -4.75532002e-02 -2.97791412e-02 9.71156644e+01] [ 4.75382587e-02 9.98868685e-01 -1.20992548e-03 3.68166563e+00] [ 2.98029874e-02 -2.07629020e-04 9.99555771e-01 2.17920132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.15, Y:3.68, Z:2.18 [[ 9.98311173e-01 -4.99997978e-02 -2.95773999e-02 9.71470949e+01] [ 4.99861325e-02 9.98749189e-01 -1.20169376e-03 3.68219320e+00] [ 2.96004886e-02 -2.78795522e-04 9.99561771e-01 2.17970862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.93509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.18, Y:3.68, Z:2.18 [[ 9.98091116e-01 -5.47024027e-02 -2.86665571e-02 9.71795478e+01] [ 5.46915328e-02 9.98502620e-01 -1.16370439e-03 3.68131416e+00] [ 2.86872898e-02 -4.06334933e-04 9.99588352e-01 2.17995843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.21, Y:3.68, Z:2.18 [[ 9.97997391e-01 -5.67265544e-02 -2.79875936e-02 9.72109737e+01] [ 5.67170423e-02 9.98389649e-01 -1.13423055e-03 3.68127617e+00] [ 2.80068647e-02 -4.55414398e-04 9.99607627e-01 2.18059184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.99509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.24, Y:3.68, Z:2.18 [[ 9.97803912e-01 -6.06059678e-02 -2.67258152e-02 9.72433853e+01] [ 6.05987675e-02 9.98161622e-01 -1.07999861e-03 3.68037764e+00] [ 2.67421374e-02 -5.41924620e-04 9.99642218e-01 2.18095527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.28, Y:3.68, Z:2.18 [[ 9.97696496e-01 -6.24545640e-02 -2.64788589e-02 9.72753372e+01] [ 6.24481963e-02 9.98047635e-01 -1.06814485e-03 3.68054197e+00] [ 2.64938730e-02 -5.87872602e-04 9.99648803e-01 2.18166220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.05509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.31, Y:3.68, Z:2.18 [[ 9.97490327e-01 -6.54773517e-02 -2.69400168e-02 9.73076917e+01] [ 6.54719146e-02 9.97853823e-01 -1.08479077e-03 3.67949604e+00] [ 2.69532280e-02 -6.81746183e-04 9.99636463e-01 2.18135772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.34, Y:3.68, Z:2.18 [[ 9.97297867e-01 -6.77633970e-02 -2.83740343e-02 9.73407658e+01] [ 6.77583499e-02 9.97701110e-01 -1.14042762e-03 3.67906443e+00] [ 2.83860848e-02 -7.85231714e-04 9.99596725e-01 2.18128036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.37, Y:3.68, Z:2.18 [[ 9.97247449e-01 -6.83932783e-02 -2.86336247e-02 9.73727085e+01] [ 6.83884891e-02 9.97658106e-01 -1.14768175e-03 3.67940569e+00] [ 2.86450615e-02 -8.13687634e-04 9.99589315e-01 2.18137574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.41, Y:3.68, Z:2.18 [[ 9.97269760e-01 -6.78745727e-02 -2.90872661e-02 9.74053115e+01] [ 6.78694726e-02 9.97693530e-01 -1.16371789e-03 3.67942077e+00] [ 2.90991640e-02 -8.13596752e-04 9.99576199e-01 2.18229176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.44, Y:3.68, Z:2.18 [[ 9.97351122e-01 -6.65999042e-02 -2.92436625e-02 9.74369959e+01] [ 6.65942643e-02 9.97779455e-01 -1.16783804e-03 3.68059366e+00] [ 2.92565035e-02 -7.82715610e-04 9.99571630e-01 2.18314552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.47, Y:3.68, Z:2.18 [[ 9.97621421e-01 -6.21898546e-02 -2.97308371e-02 9.74691470e+01] [ 6.21821329e-02 9.98064115e-01 -1.18511260e-03 3.68203882e+00] [ 2.97469836e-02 -6.66433148e-04 9.99557238e-01 2.18369845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.50, Y:3.68, Z:2.18 [[ 9.97780736e-01 -5.93632821e-02 -3.01596317e-02 9.75000212e+01] [ 5.93541117e-02 9.98236269e-01 -1.20001347e-03 3.68375632e+00] [ 3.01776750e-02 -5.92747825e-04 9.99544374e-01 2.18477301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.53, Y:3.69, Z:2.19 [[ 9.97971368e-01 -5.60153693e-02 -3.02560254e-02 9.75326313e+01] [ 5.60046528e-02 9.98429784e-01 -1.20217815e-03 3.68576286e+00] [ 3.02758574e-02 -4.94738830e-04 9.99541459e-01 2.18571141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.56, Y:3.69, Z:2.19 [[ 9.98151934e-01 -5.26494560e-02 -3.03438910e-02 9.75635627e+01] [ 5.26371884e-02 9.98612977e-01 -1.20349173e-03 3.68790308e+00] [ 3.03651666e-02 -3.95949510e-04 9.99538794e-01 2.18658765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.59, Y:3.69, Z:2.19 [[ 9.98309161e-01 -4.94050648e-02 -3.06260993e-02 9.75948475e+01] [ 4.93910917e-02 9.98778779e-01 -1.21305019e-03 3.69003085e+00] [ 3.06486289e-02 -3.01657367e-04 9.99530175e-01 2.18759314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.35509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.63, Y:3.69, Z:2.19 [[ 9.98551026e-01 -4.34812807e-02 -3.17053092e-02 9.76263596e+01] [ 4.34633568e-02 9.99054234e-01 -1.25461863e-03 3.69188028e+00] [ 3.17298758e-02 -1.25218441e-04 9.99496473e-01 2.18809622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.66, Y:3.69, Z:2.19 [[ 9.98634668e-01 -4.10219704e-02 -3.23418986e-02 9.76563787e+01] [ 4.10020594e-02 9.99158244e-01 -1.27889695e-03 3.69324768e+00] [ 3.23671375e-02 -4.89336136e-05 9.99476046e-01 2.18877481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.41509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.69, Y:3.69, Z:2.19 [[ 9.98730425e-01 -3.76577439e-02 -3.34579207e-02 9.76854518e+01] [ 3.76345028e-02 9.99290694e-01 -1.32435064e-03 3.69434125e+00] [ 3.34840609e-02 6.34970693e-05 9.99439250e-01 2.18963727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.71, Y:3.70, Z:2.19 [[ 9.98756659e-01 -3.68731949e-02 -3.35485146e-02 9.77133620e+01] [ 3.68492869e-02 9.99319948e-01 -1.33086460e-03 3.69520802e+00] [ 3.35747731e-02 9.29710455e-05 9.99436204e-01 2.19025915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.47509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.74, Y:3.70, Z:2.19 [[ 9.98756755e-01 -3.66358043e-02 -3.38047538e-02 9.77417117e+01] [ 3.66110699e-02 9.99328677e-01 -1.35059589e-03 3.69569078e+00] [ 3.38315400e-02 1.11288567e-04 9.99427543e-01 2.19130154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.77, Y:3.70, Z:2.19 [[ 9.98701119e-01 -3.79409588e-02 -3.40082201e-02 9.77686299e+01] [ 3.79163824e-02 9.99279980e-01 -1.36752250e-03 3.69585697e+00] [ 3.40356186e-02 7.62775687e-05 9.99420618e-01 2.19207697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.80, Y:3.70, Z:2.19 [[ 9.98635136e-01 -3.93973982e-02 -3.42886416e-02 9.77967786e+01] [ 3.93730949e-02 9.99223621e-01 -1.38398163e-03 3.69644283e+00] [ 3.43165458e-02 3.20427422e-05 9.99411013e-01 2.19276129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.82, Y:3.70, Z:2.19 [[ 9.98555911e-01 -4.12120342e-02 -3.44624605e-02 9.78232783e+01] [ 4.11882509e-02 9.99150423e-01 -1.40007396e-03 3.69682362e+00] [ 3.44908819e-02 -2.13963445e-05 9.99405012e-01 2.19322127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.85, Y:3.70, Z:2.19 [[ 9.98448562e-01 -4.37802636e-02 -3.44057644e-02 9.78516304e+01] [ 4.37579040e-02 9.99041179e-01 -1.40295676e-03 3.69739250e+00] [ 3.44341973e-02 -1.04743980e-04 9.99406962e-01 2.19370974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.88, Y:3.70, Z:2.19 [[ 9.98328226e-01 -4.66476783e-02 -3.41283893e-02 9.78805991e+01] [ 4.66270397e-02 9.98911386e-01 -1.40080369e-03 3.69799342e+00] [ 3.41565809e-02 -1.92843902e-04 9.99416475e-01 2.19439714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.65509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.91, Y:3.70, Z:2.20 [[ 9.98084146e-01 -5.24360223e-02 -3.28405461e-02 9.79091771e+01] [ 5.24198127e-02 9.98624217e-01 -1.35496508e-03 3.69775854e+00] [ 3.28664136e-02 -3.69126108e-04 9.99459685e-01 2.19532254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.94, Y:3.70, Z:2.20 [[ 9.97922282e-01 -5.59160198e-02 -3.20080897e-02 9.79390996e+01] [ 5.59023618e-02 9.98435365e-01 -1.32213838e-03 3.69820533e+00] [ 3.20319374e-02 -4.69936458e-04 9.99486735e-01 2.19627408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.71509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.97, Y:3.70, Z:2.20 [[ 9.97705903e-01 -5.97752809e-02 -3.17780882e-02 9.79702154e+01] [ 5.97637628e-02 9.98211685e-01 -1.31301001e-03 3.69865841e+00] [ 3.17997446e-02 -5.89180289e-04 9.99494087e-01 2.19731234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.00, Y:3.70, Z:2.20 [[ 9.97168062e-01 -6.82978268e-02 -3.14843406e-02 9.80021647e+01] [ 6.82907997e-02 9.97664612e-01 -1.29970927e-03 3.69850499e+00] [ 3.14995798e-02 -8.54062226e-04 9.99503400e-01 2.19826826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.77509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.03, Y:3.70, Z:2.20 [[ 9.96530357e-01 -7.69661396e-02 -3.16774440e-02 9.80343497e+01] [ 7.69634724e-02 9.97033059e-01 -1.30531301e-03 3.69850565e+00] [ 3.16839238e-02 -1.13722205e-03 9.99497291e-01 2.19896927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.07, Y:3.70, Z:2.20 [[ 9.96232759e-01 -8.06572471e-02 -3.18543361e-02 9.80671196e+01] [ 8.06565279e-02 9.96741094e-01 -1.30963370e-03 3.69943886e+00] [ 3.18561573e-02 -1.26456016e-03 9.99491664e-01 2.19985668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.83509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.10, Y:3.70, Z:2.20 [[ 9.96006346e-01 -8.31767184e-02 -3.24498385e-02 9.80990148e+01] [ 8.31774229e-02 9.96533866e-01 -1.33053605e-03 3.70012250e+00] [ 3.24480326e-02 -1.37387159e-03 9.99472480e-01 2.20072997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.13, Y:3.70, Z:2.20 [[ 9.95793312e-01 -8.51873381e-02 -3.37460685e-02 9.81321916e+01] [ 8.51893639e-02 9.96363822e-01 -1.38039666e-03 3.69983677e+00] [ 3.37409542e-02 -1.50021635e-03 9.99429486e-01 2.20091775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.16, Y:3.70, Z:2.20 [[ 9.95776450e-01 -8.54566600e-02 -3.35621857e-02 9.81648459e+01] [ 8.54589376e-02 9.96340753e-01 -1.36925963e-03 3.70076923e+00] [ 3.35563857e-02 -1.50471224e-03 9.99435693e-01 2.20182662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.20, Y:3.70, Z:2.20 [[ 9.95731573e-01 -8.60170820e-02 -3.34618518e-02 9.81966680e+01] [ 8.60197805e-02 9.96292499e-01 -1.36161816e-03 3.70226650e+00] [ 3.34549143e-02 -1.52257495e-03 9.99439068e-01 2.20328442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.23, Y:3.70, Z:2.20 [[ 9.95720589e-01 -8.61352652e-02 -3.34846844e-02 9.82293803e+01] [ 8.61381384e-02 9.96282276e-01 -1.35943069e-03 3.70347694e+00] [ 3.34772925e-02 -1.53069524e-03 9.99438306e-01 2.20448911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.26, Y:3.70, Z:2.21 [[ 9.95683250e-01 -8.66003992e-02 -3.33951702e-02 9.82623599e+01] [ 8.66036385e-02 9.96241929e-01 -1.35218840e-03 3.70485137e+00] [ 3.33867688e-02 -1.54579191e-03 9.99441311e-01 2.20550076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.29, Y:3.71, Z:2.21 [[ 9.95589982e-01 -8.71139820e-02 -3.48100801e-02 9.82945725e+01] [ 8.71179489e-02 9.96197012e-01 -1.40566774e-03 3.70537745e+00] [ 3.48001511e-02 -1.63311406e-03 9.99392957e-01 2.20559573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.33, Y:3.71, Z:2.21 [[ 9.95567120e-01 -8.70416120e-02 -3.56351967e-02 9.83277572e+01] [ 8.70458450e-02 9.96203272e-01 -1.43558729e-03 3.70612280e+00] [ 3.56248554e-02 -1.67267231e-03 9.99363834e-01 2.20573057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.07509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.36, Y:3.71, Z:2.21 [[ 9.95574840e-01 -8.69532070e-02 -3.56353449e-02 9.83604209e+01] [ 8.69575152e-02 9.96210992e-01 -1.43190136e-03 3.70737730e+00] [ 3.56248307e-02 -1.67319607e-03 9.99363834e-01 2.20666511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.39, Y:3.71, Z:2.21 [[ 9.95596952e-01 -8.63044827e-02 -3.65820335e-02 9.83935064e+01] [ 8.63087143e-02 9.96267361e-01 -1.46646560e-03 3.70889649e+00] [ 3.65720485e-02 -1.69733960e-03 9.99329577e-01 2.20695193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.13509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.43, Y:3.71, Z:2.21 [[ 9.95703674e-01 -8.49857432e-02 -3.67643488e-02 9.84257699e+01] [ 8.49892622e-02 9.96380783e-01 -1.46992146e-03 3.71080300e+00] [ 3.67562130e-02 -1.66096869e-03 9.99322882e-01 2.20807442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.46, Y:3.71, Z:2.21 [[ 9.95797399e-01 -8.39093861e-02 -3.66981608e-02 9.84580653e+01] [ 8.39122835e-02 9.96472070e-01 -1.46399670e-03 3.71360880e+00] [ 3.66915353e-02 -1.62158236e-03 9.99325323e-01 2.20933997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.19509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.49, Y:3.72, Z:2.21 [[ 9.96048965e-01 -8.08588453e-02 -3.67192863e-02 9.84907649e+01] [ 8.08598025e-02 9.96724414e-01 -1.46142643e-03 3.71768259e+00] [ 3.67171784e-02 -1.51346196e-03 9.99324551e-01 2.21113738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.22509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.52, Y:3.72, Z:2.21 [[ 9.96208288e-01 -7.90844501e-02 -3.62587342e-02 9.85230874e+01] [ 7.90843431e-02 9.96866889e-01 -1.43942312e-03 3.71996587e+00] [ 3.62589676e-02 -1.43353293e-03 9.99341399e-01 2.21211624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.55, Y:3.72, Z:2.21 [[ 9.96444311e-01 -7.62120197e-02 -3.59230175e-02 9.85537603e+01] [ 7.62101398e-02 9.97090762e-01 -1.42361598e-03 3.72336941e+00] [ 3.59270055e-02 -1.31914414e-03 9.99353546e-01 2.21336693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.59, Y:3.73, Z:2.21 [[ 9.96581610e-01 -7.45973769e-02 -3.55010727e-02 9.85854690e+01] [ 7.45945896e-02 9.97212953e-01 -1.40486743e-03 3.72546474e+00] [ 3.55069290e-02 -1.24812290e-03 9.99368651e-01 2.21432381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.62, Y:3.73, Z:2.22 [[ 9.96682488e-01 -7.32331805e-02 -3.55094283e-02 9.86179061e+01] [ 7.32296157e-02 9.97314121e-01 -1.40271059e-03 3.72741301e+00] [ 3.55167792e-02 -1.20228471e-03 9.99368357e-01 2.21534892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.65, Y:3.73, Z:2.22 [[ 9.96860316e-01 -7.05143334e-02 -3.60172169e-02 9.86492034e+01] [ 7.05089829e-02 9.97510133e-01 -1.42029693e-03 3.73065513e+00] [ 3.60276901e-02 -1.12369968e-03 9.99350160e-01 2.21683817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.37509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.68, Y:3.73, Z:2.22 [[ 9.96982390e-01 -6.85553292e-02 -3.64181318e-02 9.86817054e+01] [ 6.85486300e-02 9.97646746e-01 -1.43401111e-03 3.73292612e+00] [ 3.64307398e-02 -1.06672922e-03 9.99335611e-01 2.21806913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.71, Y:3.74, Z:2.22 [[ 9.97245750e-01 -6.43859102e-02 -3.68153387e-02 9.87138212e+01] [ 6.43763232e-02 9.97924644e-01 -1.44700179e-03 3.73634224e+00] [ 3.68321003e-02 -9.27019760e-04 9.99321038e-01 2.21940960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.43509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.74, Y:3.74, Z:2.22 [[ 9.97394552e-01 -6.19376989e-02 -3.69841770e-02 9.87445461e+01] [ 6.19264556e-02 9.98079661e-01 -1.45056851e-03 3.73886889e+00] [ 3.70029997e-02 -8.43509864e-04 9.99314799e-01 2.22071906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.78, Y:3.74, Z:2.22 [[ 9.97564986e-01 -5.92425658e-02 -3.68023998e-02 9.87757945e+01] [ 5.92297369e-02 9.98243340e-01 -1.43971947e-03 3.74105306e+00] [ 3.68230432e-02 -7.43582724e-04 9.99321525e-01 2.22164743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.49509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.81, Y:3.74, Z:2.22 [[ 9.97706173e-01 -5.67203020e-02 -3.69486113e-02 9.88065919e+01] [ 5.67056915e-02 9.98389893e-01 -1.44410917e-03 3.74335688e+00] [ 3.69710304e-02 -6.54399922e-04 9.99316123e-01 2.22272679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.84, Y:3.75, Z:2.22 [[ 9.97975583e-01 -5.19490584e-02 -3.66882883e-02 9.88373124e+01] [ 5.19314673e-02 9.98649623e-01 -1.43291675e-03 3.74564410e+00] [ 3.67131840e-02 -4.75260712e-04 9.99325731e-01 2.22330165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.55509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.87, Y:3.75, Z:2.22 [[ 9.98215100e-01 -4.80921037e-02 -3.54085124e-02 9.88674936e+01] [ 4.80732925e-02 9.98842854e-01 -1.38293316e-03 3.74774339e+00] [ 3.54340477e-02 -3.21739006e-04 9.99371965e-01 2.22351813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.90, Y:3.75, Z:2.22 [[ 9.98291632e-01 -4.66127043e-02 -3.52288757e-02 9.88971563e+01] [ 4.65931584e-02 9.98913001e-01 -1.37603568e-03 3.74927432e+00] [ 3.52547227e-02 -2.67739685e-04 9.99378323e-01 2.22425752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.93, Y:3.75, Z:2.22 [[ 9.98316118e-01 -4.58117159e-02 -3.55839284e-02 9.89265905e+01] [ 4.57912381e-02 9.98950063e-01 -1.39066802e-03 3.75078208e+00] [ 3.56102764e-02 -2.41105838e-04 9.99365724e-01 2.22476975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.96, Y:3.75, Z:2.23 [[ 9.98269545e-01 -4.68318524e-02 -3.55625114e-02 9.89550527e+01] [ 4.68119482e-02 9.98902749e-01 -1.39258654e-03 3.75119320e+00] [ 3.55887078e-02 -2.74573707e-04 9.99366484e-01 2.22517601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.98, Y:3.75, Z:2.23 [[ 9.98254527e-01 -4.79164325e-02 -3.45241254e-02 9.89848223e+01] [ 4.78980757e-02 9.98851304e-01 -1.35905491e-03 3.75164624e+00] [ 3.45495888e-02 -2.96956458e-04 9.99402941e-01 2.22572625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.01, Y:3.75, Z:2.23 [[ 9.98096075e-01 -5.13835331e-02 -3.41168266e-02 9.90147892e+01] [ 5.13675936e-02 9.98678909e-01 -1.34412187e-03 3.75114914e+00] [ 3.41408209e-02 -4.10936522e-04 9.99416948e-01 2.22651521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.05, Y:3.75, Z:2.23 [[ 9.97972760e-01 -5.35830904e-02 -3.43398239e-02 9.90451855e+01] [ 5.35682258e-02 9.98563275e-01 -1.35341457e-03 3.75158287e+00] [ 3.43630072e-02 -4.88852571e-04 9.99409298e-01 2.22726725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.08, Y:3.75, Z:2.23 [[ 9.97846679e-01 -5.57136449e-02 -3.46120738e-02 9.90755898e+01] [ 5.56998246e-02 9.98446628e-01 -1.36414459e-03 3.75162918e+00] [ 3.46343098e-02 -5.66679294e-04 9.99399892e-01 2.22807550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.11, Y:3.75, Z:2.23 [[ 9.97605597e-01 -5.96378982e-02 -3.50198963e-02 9.91062835e+01] [ 5.96261701e-02 9.98219823e-01 -1.38010528e-03 3.75118837e+00] [ 3.50398612e-02 -7.11301543e-04 9.99385662e-01 2.22915410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.14, Y:3.75, Z:2.23 [[ 9.97431659e-01 -6.29209720e-02 -3.42204176e-02 9.91381981e+01] [ 6.29117268e-02 9.98018185e-01 -1.34791426e-03 3.75005995e+00] [ 3.42374112e-02 -8.08413206e-04 9.99413401e-01 2.22960120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.85509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.17, Y:3.75, Z:2.23 [[ 9.97355743e-01 -6.44423959e-02 -3.35961125e-02 9.91699823e+01] [ 6.44343916e-02 9.97921070e-01 -1.32200222e-03 3.75010876e+00] [ 3.36114615e-02 -8.46238563e-04 9.99434617e-01 2.23058475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.20, Y:3.75, Z:2.23 [[ 9.97317341e-01 -6.54874948e-02 -3.27033668e-02 9.92022468e+01] [ 6.54805441e-02 9.97853019e-01 -1.28464977e-03 3.75025121e+00] [ 3.27172818e-02 -8.60230753e-04 9.99464276e-01 2.23131421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.91509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.23, Y:3.75, Z:2.23 [[ 9.97294259e-01 -6.62637586e-02 -3.18319840e-02 9.92333357e+01] [ 6.62576427e-02 9.97801767e-01 -1.24807633e-03 3.75062305e+00] [ 3.18447122e-02 -8.64412863e-04 9.99492455e-01 2.23224816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.27, Y:3.75, Z:2.23 [[ 9.97308444e-01 -6.65168203e-02 -3.08444645e-02 9.92657826e+01] [ 6.65113000e-02 9.97784943e-01 -1.20607208e-03 3.75041922e+00] [ 3.08563663e-02 -8.48679558e-04 9.99523469e-01 2.23266914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.97509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.30, Y:3.75, Z:2.23 [[ 9.97360215e-01 -6.58891470e-02 -3.05159316e-02 9.92977619e+01] [ 6.58835160e-02 9.97826610e-01 -1.19106489e-03 3.75087102e+00] [ 3.05280868e-02 -8.22576139e-04 9.99533571e-01 2.23333249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.33, Y:3.75, Z:2.23 [[ 9.97527157e-01 -6.39859999e-02 -2.90751074e-02 9.93299464e+01] [ 6.39801375e-02 9.97950529e-01 -1.13285195e-03 3.75165608e+00] [ 2.90880055e-02 -7.30178783e-04 9.99576588e-01 2.23442925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.36, Y:3.75, Z:2.24 [[ 9.97625487e-01 -6.26875362e-02 -2.85247375e-02 9.93613241e+01] [ 6.26814202e-02 9.98032970e-01 -1.10940740e-03 3.75297002e+00] [ 2.85381745e-02 -6.81197959e-04 9.99592471e-01 2.23570910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.39, Y:3.75, Z:2.24 [[ 9.97783458e-01 -6.01216790e-02 -2.85228954e-02 9.93938599e+01] [ 6.01145593e-02 9.98190870e-01 -1.10781824e-03 3.75379641e+00] [ 2.85378976e-02 -6.09278577e-04 9.99592526e-01 2.23654459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.43, Y:3.75, Z:2.24 [[ 9.97817224e-01 -5.91204496e-02 -2.94204111e-02 9.94264093e+01] [ 5.91125042e-02 9.98250675e-01 -1.14049968e-03 3.75474749e+00] [ 2.94363721e-02 -6.01103952e-04 9.99566475e-01 2.23730804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.46, Y:3.75, Z:2.24 [[ 9.97815274e-01 -5.85184272e-02 -3.06638814e-02 9.94583510e+01] [ 5.85095821e-02 9.98286142e-01 -1.18641957e-03 3.75397084e+00] [ 3.06807552e-02 -6.10303318e-04 9.99529048e-01 2.23713785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.15509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.49, Y:3.75, Z:2.24 [[ 9.97794928e-01 -5.86551672e-02 -3.10620873e-02 9.94898182e+01] [ 5.86462266e-02 9.98278108e-01 -1.19959444e-03 3.75317324e+00] [ 3.10789642e-02 -6.24724960e-04 9.99516737e-01 2.23704458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.52, Y:3.75, Z:2.24 [[ 9.97767351e-01 -5.88335756e-02 -3.16057689e-02 9.95225492e+01] [ 5.88244654e-02 9.98267598e-01 -1.21880128e-03 3.75244920e+00] [ 3.16227214e-02 -6.43112337e-04 9.99499670e-01 2.23746151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.21509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.55, Y:3.75, Z:2.24 [[ 9.97777125e-01 -5.85052274e-02 -3.19052868e-02 9.95545693e+01] [ 5.84958504e-02 9.98286896e-01 -1.22802389e-03 3.75040010e+00] [ 3.19224756e-02 -6.41032743e-04 9.99490142e-01 2.23806007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.59, Y:3.75, Z:2.24 [[ 9.97820667e-01 -5.78421837e-02 -3.17521257e-02 9.95855738e+01] [ 5.78326319e-02 9.98325547e-01 -1.21989635e-03 3.75047614e+00] [ 3.17695197e-02 -6.19071202e-04 9.99495030e-01 2.23935448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.27509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.62, Y:3.75, Z:2.24 [[ 9.97867778e-01 -5.70453636e-02 -3.17131590e-02 9.96180657e+01] [ 5.70354892e-02 9.98371410e-01 -1.21663296e-03 3.75088377e+00] [ 3.17309146e-02 -5.94736707e-04 9.99496271e-01 2.24093356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.65, Y:3.75, Z:2.24 [[ 9.97976881e-01 -5.47282493e-02 -3.23568050e-02 9.96483138e+01] [ 5.47168229e-02 9.98501144e-01 -1.23915767e-03 3.75049164e+00] [ 3.23761237e-02 -5.33810861e-04 9.99475613e-01 2.24232602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.33509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.68, Y:3.75, Z:2.24 [[ 9.98021952e-01 -5.36548972e-02 -3.27618093e-02 9.96793000e+01] [ 5.36426219e-02 9.98559410e-01 -1.25415305e-03 3.75080882e+00] [ 3.27819044e-02 -5.05757074e-04 9.99462401e-01 2.24320946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.71, Y:3.75, Z:2.24 [[ 9.98152081e-01 -5.15840489e-02 -3.21171307e-02 9.97096336e+01] [ 5.15711803e-02 9.98668565e-01 -1.22947414e-03 3.74939049e+00] [ 3.21377901e-02 -4.29116164e-04 9.99483356e-01 2.24362454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.74, Y:3.75, Z:2.24 [[ 9.98183644e-01 -5.08690610e-02 -3.22761723e-02 9.97403522e+01] [ 5.08556910e-02 9.98705248e-01 -1.23556241e-03 3.74930295e+00] [ 3.22972346e-02 -4.08108860e-04 9.99478225e-01 2.24473395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.77, Y:3.75, Z:2.25 [[ 9.98294185e-01 -4.91729106e-02 -3.14760919e-02 9.97707585e+01] [ 4.91593524e-02 9.98790221e-01 -1.20493457e-03 3.74829140e+00] [ 3.14972630e-02 -3.44465117e-04 9.99503779e-01 2.24550771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.80, Y:3.75, Z:2.25 [[ 9.98364565e-01 -4.81272704e-02 -3.08538636e-02 9.98009674e+01] [ 4.81137438e-02 9.98841165e-01 -1.18111508e-03 3.74878279e+00] [ 3.08749529e-02 -3.05311440e-04 9.99523208e-01 2.24662146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.83, Y:3.75, Z:2.25 [[ 9.98542106e-01 -4.51914351e-02 -2.95194155e-02 9.98314029e+01] [ 4.51777707e-02 9.98978324e-01 -1.13003115e-03 3.74870951e+00] [ 2.95403239e-02 -2.05237700e-04 9.99563568e-01 2.24831460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.86, Y:3.75, Z:2.25 [[ 9.98619368e-01 -4.36281289e-02 -2.92565258e-02 9.98608784e+01] [ 4.36140360e-02 9.99047827e-01 -1.11996687e-03 3.74915615e+00] [ 2.92775306e-02 -1.57574561e-04 9.99571309e-01 2.24964134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.89, Y:3.75, Z:2.25 [[ 9.98749808e-01 -4.09592498e-02 -2.86559047e-02 9.98901492e+01] [ 4.09446319e-02 9.99160815e-01 -1.09695144e-03 3.74871455e+00] [ 2.86767874e-02 -7.77254257e-05 9.99588733e-01 2.25063878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.57509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.92, Y:3.75, Z:2.25 [[ 9.98778800e-01 -3.99253045e-02 -2.91011781e-02 9.99183408e+01] [ 3.99097581e-02 9.99202666e-01 -1.11508622e-03 3.74880682e+00] [ 2.91224949e-02 -4.76965043e-05 9.99575849e-01 2.25154768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.95, Y:3.75, Z:2.25 [[ 9.98784388e-01 -3.93533064e-02 -2.96826987e-02 9.99468658e+01] [ 3.93368244e-02 9.99225358e-01 -1.13923309e-03 3.74852188e+00] [ 2.97045379e-02 -2.97748877e-05 9.99558722e-01 2.25196459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.63509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.98, Y:3.75, Z:2.25 [[ 9.98751921e-01 -3.92576159e-02 -3.08778094e-02 9.99751441e+01] [ 3.92394913e-02 9.99229122e-01 -1.19295519e-03 3.74823872e+00] [ 3.09008390e-02 -2.01632390e-05 9.99522455e-01 2.25214455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.00, Y:3.75, Z:2.25 [[ 9.98663926e-01 -4.00641052e-02 -3.26378624e-02 1.00003356e+02] [ 4.00441157e-02 9.99197111e-01 -1.26614767e-03 3.74580049e+00] [ 3.26623849e-02 -4.24983407e-05 9.99466441e-01 2.25174276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.69509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.03, Y:3.75, Z:2.25 [[ 9.98584623e-01 -4.11074540e-02 -3.37480060e-02 1.00030097e+02] [ 4.10863684e-02 9.99154729e-01 -1.31834228e-03 3.74527814e+00] [ 3.37736735e-02 -7.01066754e-05 9.99429504e-01 2.25251918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.72509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.06, Y:3.74, Z:2.25 [[ 9.98471116e-01 -4.30091470e-02 -3.47223892e-02 1.00057560e+02] [ 4.29878218e-02 9.99074670e-01 -1.36081858e-03 3.74301951e+00] [ 3.47487872e-02 -1.33901836e-04 9.99396070e-01 2.25281109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.09, Y:3.74, Z:2.25 [[ 9.98394639e-01 -4.43821380e-02 -3.51904920e-02 1.00085376e+02] [ 4.43608932e-02 9.99014611e-01 -1.38464646e-03 3.74255048e+00] [ 3.52172692e-02 -1.78658051e-04 9.99379664e-01 2.25358037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.11, Y:3.74, Z:2.25 [[ 9.98331070e-01 -4.57465624e-02 -3.52466507e-02 1.00112182e+02] [ 4.57257748e-02 9.98953054e-01 -1.39606512e-03 3.74226257e+00] [ 3.52736145e-02 -2.17945226e-04 9.99377669e-01 2.25470183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.14, Y:3.74, Z:2.26 [[ 9.98221784e-01 -4.85758573e-02 -3.45493251e-02 1.00140369e+02] [ 4.85573958e-02 9.98819449e-01 -1.37371101e-03 3.74036834e+00] [ 3.45752671e-02 -3.06356998e-04 9.99402050e-01 2.25642361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.17, Y:3.74, Z:2.26 [[ 9.98157379e-01 -5.02634117e-02 -3.39917101e-02 1.00167526e+02] [ 5.02462066e-02 9.98735935e-01 -1.36072975e-03 3.73963813e+00] [ 3.40171373e-02 -3.49732047e-04 9.99421189e-01 2.25740939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.87509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.20, Y:3.74, Z:2.26 [[ 9.97979307e-01 -5.42179339e-02 -3.31318204e-02 1.00195397e+02] [ 5.42035397e-02 9.98529018e-01 -1.33313592e-03 3.73769360e+00] [ 3.31553639e-02 -4.65419876e-04 9.99450101e-01 2.25907397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.23, Y:3.74, Z:2.26 [[ 9.97921270e-01 -5.59318755e-02 -3.20119296e-02 1.00225200e+02] [ 5.58345113e-02 9.98432310e-01 -3.92807470e-03 3.73830553e+00] [ 3.21814494e-02 2.13253885e-03 9.99479768e-01 2.25952450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.93509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.25, Y:3.73, Z:2.26 [[ 9.97600394e-01 -6.13217309e-02 -3.21418477e-02 1.00254777e+02] [ 6.13965370e-02 9.98112547e-01 1.34468204e-03 3.73414611e+00] [ 3.19987232e-02 -3.31485347e-03 9.99482413e-01 2.26064881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.29, Y:3.73, Z:2.26 [[ 9.97415998e-01 -6.43620182e-02 -3.19195436e-02 1.00285208e+02] [ 6.43535395e-02 9.97926324e-01 -1.29395332e-03 3.73465929e+00] [ 3.19366343e-02 -7.63525871e-04 9.99489604e-01 2.26223153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.99509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.32, Y:3.74, Z:2.26 [[ 9.97417127e-01 -6.43445038e-02 -3.19195670e-02 1.00316175e+02] [ 6.43360345e-02 9.97927453e-01 -1.29337769e-03 3.73591585e+00] [ 3.19366339e-02 -7.63541303e-04 9.99489604e-01 2.26311845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.35, Y:3.74, Z:2.26 [[ 9.97205011e-01 -6.75599470e-02 -3.19032766e-02 1.00346614e+02] [ 6.75531461e-02 9.97714840e-01 -1.29221534e-03 3.73510975e+00] [ 3.19176745e-02 -8.66563092e-04 9.99490126e-01 2.26328522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.05509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.38, Y:3.73, Z:2.26 [[ 9.96971818e-01 -7.08621316e-02 -3.20273581e-02 1.00377904e+02] [ 7.08569853e-02 9.97485642e-01 -1.29705692e-03 3.73432479e+00] [ 3.20387421e-02 -9.76232849e-04 9.99486151e-01 2.26391165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.41, Y:3.73, Z:2.26 [[ 9.96482726e-01 -7.72825189e-02 -3.23973629e-02 1.00409304e+02] [ 7.72806945e-02 9.97008514e-01 -1.31036009e-03 3.73243602e+00] [ 3.24017145e-02 -1.19793950e-03 9.99474209e-01 2.26409615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.44, Y:3.73, Z:2.26 [[ 9.96027223e-01 -8.27592948e-02 -3.28735331e-02 1.00441884e+02] [ 8.27604364e-02 9.96568586e-01 -1.32829359e-03 3.73108608e+00] [ 3.28706590e-02 -1.39761136e-03 9.99458637e-01 2.26393805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.47, Y:3.73, Z:2.26 [[ 9.95840827e-01 -8.49244668e-02 -3.29982127e-02 1.00472951e+02] [ 8.49268798e-02 9.96386297e-01 -1.33100478e-03 3.73152125e+00] [ 3.29920018e-02 -1.47696634e-03 9.99454524e-01 2.26449065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.51, Y:3.73, Z:2.27 [[ 9.95648868e-01 -8.66588243e-02 -3.42575451e-02 1.00505214e+02] [ 8.64928489e-02 9.96232550e-01 -6.30034337e-03 3.73438588e+00] [ 3.46744619e-02 3.30989707e-03 9.99393179e-01 2.26647980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.54, Y:3.73, Z:2.26 [[ 9.95483420e-01 -8.89416597e-02 -3.31985249e-02 1.00537697e+02] [ 8.91090701e-02 9.96015387e-01 3.59474437e-03 3.72963830e+00] [ 3.27465191e-02 -6.53679810e-03 9.99442312e-01 2.26444175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.57, Y:3.73, Z:2.27 [[ 9.95426726e-01 -8.97825234e-02 -3.26302135e-02 1.00569227e+02] [ 8.97876976e-02 9.95960067e-01 -1.30964837e-03 3.73285272e+00] [ 3.26159731e-02 -1.62613275e-03 9.99466635e-01 2.26613468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.60, Y:3.73, Z:2.27 [[ 9.95354869e-01 -9.05659646e-02 -3.26571698e-02 1.00601561e+02] [ 9.05716269e-02 9.95889084e-01 -1.30892111e-03 3.73405418e+00] [ 3.26414626e-02 -1.65497200e-03 9.99465755e-01 2.26650443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.63, Y:3.74, Z:2.27 [[ 9.95379429e-01 -9.03122303e-02 -3.26112407e-02 1.00633133e+02] [ 9.03178162e-02 9.95912140e-01 -1.30477039e-03 3.73584253e+00] [ 3.25957672e-02 -1.64663444e-03 9.99467260e-01 2.26737607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.66, Y:3.74, Z:2.27 [[ 9.95570401e-01 -8.82922258e-02 -3.23119139e-02 1.00663887e+02] [ 8.82967125e-02 9.96093381e-01 -1.29080339e-03 3.73960190e+00] [ 3.22996514e-02 -1.56795011e-03 9.99477000e-01 2.26883398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.35509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.70, Y:3.74, Z:2.27 [[ 9.95727743e-01 -8.64609020e-02 -3.24156593e-02 1.00695356e+02] [ 8.64645762e-02 9.96254089e-01 -1.29103748e-03 3.74243212e+00] [ 3.24058574e-02 -1.51728441e-03 9.99473641e-01 2.27019930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.73, Y:3.75, Z:2.27 [[ 9.96161885e-01 -8.13317780e-02 -3.23518327e-02 1.00727463e+02] [ 8.13328552e-02 9.96686167e-01 -1.28486360e-03 3.74723208e+00] [ 3.23491244e-02 -1.35133478e-03 9.99475717e-01 2.27131577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.41509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.76, Y:3.75, Z:2.27 [[ 9.96406026e-01 -7.83781341e-02 -3.21232048e-02 1.00759775e+02] [ 7.83777376e-02 9.96922920e-01 -1.27348240e-03 3.75030951e+00] [ 3.21241723e-02 -1.24883858e-03 9.99483105e-01 2.27249124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.79, Y:3.75, Z:2.27 [[ 9.96674814e-01 -7.52495473e-02 -3.12541346e-02 1.00791934e+02] [ 7.52477037e-02 9.97164106e-01 -1.23684125e-03 3.75357134e+00] [ 3.12585729e-02 -1.11907334e-03 9.99510705e-01 2.27386667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.47509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.82, Y:3.76, Z:2.28 [[ 9.97217107e-01 -6.83859163e-02 -2.96885311e-02 1.00824138e+02] [ 6.83812734e-02 9.97658572e-01 -1.17284253e-03 3.75873018e+00] [ 2.96992235e-02 -8.60560927e-04 9.99558510e-01 2.27550715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.86, Y:3.76, Z:2.28 [[ 9.97460109e-01 -6.47943500e-02 -2.95808049e-02 1.00855800e+02] [ 6.47882264e-02 9.97898354e-01 -1.16642824e-03 3.76198748e+00] [ 2.95942144e-02 -7.53022245e-04 9.99561712e-01 2.27686477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.89, Y:3.77, Z:2.28 [[ 9.97930652e-01 -5.72002303e-02 -2.93691589e-02 1.00886641e+02] [ 5.71909680e-02 9.98362588e-01 -1.15597572e-03 3.76716688e+00] [ 2.93871916e-02 -5.26067018e-04 9.99567965e-01 2.27734791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.92, Y:3.77, Z:2.28 [[ 9.98133964e-01 -5.32622074e-02 -2.98618037e-02 1.00917224e+02] [ 5.32509176e-02 9.98580473e-01 -1.17376796e-03 3.77017439e+00] [ 2.98819315e-02 -4.18590782e-04 9.99553348e-01 2.27778357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.59509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.95, Y:3.77, Z:2.28 [[ 9.98313387e-01 -4.92714063e-02 -3.07035723e-02 1.00948121e+02] [ 4.92576000e-02 9.98785379e-01 -1.20633406e-03 3.77309040e+00] [ 3.07257169e-02 -3.08084841e-04 9.99527806e-01 2.27823445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.98, Y:3.78, Z:2.28 [[ 9.98485536e-01 -4.54785988e-02 -3.09569288e-02 1.00977122e+02] [ 4.54627397e-02 9.98965295e-01 -1.21632958e-03 3.77598074e+00] [ 3.09802144e-02 -1.92899305e-04 9.99519979e-01 2.27856801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.65509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.01, Y:3.78, Z:2.28 [[ 9.98792346e-01 -3.77404724e-02 -3.14564060e-02 1.01005942e+02] [ 3.77202204e-02 9.99287573e-01 -1.23719364e-03 3.78010707e+00] [ 3.14806879e-02 4.91569733e-05 9.99504359e-01 2.27871943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.03, Y:3.78, Z:2.28 [[ 9.98932627e-01 -3.40621187e-02 -3.11990293e-02 1.01033203e+02] [ 3.40401655e-02 9.99419703e-01 -1.23467368e-03 3.78252978e+00] [ 3.12229802e-02 1.71335701e-04 9.99512429e-01 2.27908601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.71509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.06, Y:3.79, Z:2.28 [[ 9.99130520e-01 -2.75846110e-02 -3.12617028e-02 1.01061445e+02] [ 2.75592619e-02 9.99619400e-01 -1.24154158e-03 3.78620828e+00] [ 3.12840521e-02 3.78912627e-04 9.99510462e-01 2.27997163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.09, Y:3.79, Z:2.28 [[ 9.99195332e-01 -2.51639219e-02 -3.12324310e-02 1.01088845e+02] [ 2.51371575e-02 9.99683231e-01 -1.24935205e-03 3.78860467e+00] [ 3.12539761e-02 4.63252197e-04 9.99511368e-01 2.28044966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.77509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.12, Y:3.79, Z:2.28 [[ 9.99225074e-01 -2.36644725e-02 -3.14522495e-02 1.01116966e+02] [ 2.36363009e-02 9.99719820e-01 -1.26724510e-03 3.79068152e+00] [ 3.14734259e-02 5.22848242e-04 9.99504452e-01 2.28116782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.80509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.14, Y:3.79, Z:2.28 [[ 9.99290738e-01 -2.18639221e-02 -3.06592469e-02 1.01144111e+02] [ 2.18360519e-02 9.99760792e-01 -1.24359197e-03 3.79215803e+00] [ 3.06791027e-02 5.73233032e-04 9.99529121e-01 2.28148147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.83509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.17, Y:3.79, Z:2.28 [[ 9.99311581e-01 -2.28649090e-02 -2.92157384e-02 1.01171675e+02] [ 2.28399256e-02 9.99738428e-01 -1.18860617e-03 3.79280804e+00] [ 2.92352738e-02 5.20502618e-04 9.99572423e-01 2.28201924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.20, Y:3.79, Z:2.28 [[ 9.99288584e-01 -2.45541961e-02 -2.86254534e-02 1.01199489e+02] [ 2.45306779e-02 9.99698390e-01 -1.17252213e-03 3.79337754e+00] [ 2.86456100e-02 4.69486202e-04 9.99589520e-01 2.28280582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.23, Y:3.79, Z:2.28 [[ 9.99242638e-01 -2.71872109e-02 -2.78389232e-02 1.01227586e+02] [ 2.71657691e-02 9.99630283e-01 -1.14819631e-03 3.79381766e+00] [ 2.78598469e-02 3.91060955e-04 9.99611763e-01 2.28342233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.25, Y:3.79, Z:2.28 [[ 9.99163034e-01 -3.04629255e-02 -2.72991089e-02 1.01254373e+02] [ 3.04433133e-02 9.99535852e-01 -1.13384236e-03 3.79407776e+00] [ 2.73209782e-02 3.01818047e-04 9.99626667e-01 2.28424292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.28, Y:3.79, Z:2.29 [[ 9.98890116e-01 -3.88265149e-02 -2.66653037e-02 1.01281083e+02] [ 3.88106386e-02 9.99245964e-01 -1.11287143e-03 3.79367821e+00] [ 2.66884060e-02 7.67388078e-05 9.99643798e-01 2.28537546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.31, Y:3.79, Z:2.29 [[ 9.98663458e-01 -4.40016889e-02 -2.71136293e-02 1.01309718e+02] [ 4.39870932e-02 9.99031455e-01 -1.13480612e-03 3.79364526e+00] [ 2.71373019e-02 -5.93603292e-05 9.99631714e-01 2.28617459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.34, Y:3.79, Z:2.29 [[ 9.98118168e-01 -5.50206090e-02 -2.70713115e-02 1.01339705e+02] [ 5.50099159e-02 9.98485157e-01 -1.14013536e-03 3.79136284e+00] [ 2.70930337e-02 -3.51200756e-04 9.99632855e-01 2.28608206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.37, Y:3.79, Z:2.29 [[ 9.97783031e-01 -6.05228364e-02 -2.76768739e-02 1.01370607e+02] [ 6.05137445e-02 9.98166682e-01 -1.16673050e-03 3.79072143e+00] [ 2.76967473e-02 -5.10687384e-04 9.99616241e-01 2.28699338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.07509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.40, Y:3.79, Z:2.29 [[ 9.97445814e-01 -6.59710964e-02 -2.73799565e-02 1.01403204e+02] [ 6.59642880e-02 9.97821319e-01 -1.15279612e-03 3.79057732e+00] [ 2.73963555e-02 -6.56247673e-04 9.99624434e-01 2.28763217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.43, Y:3.79, Z:2.29 [[ 9.96749380e-01 -7.59089995e-02 -2.69906910e-02 1.01434959e+02] [ 7.59060720e-02 9.97114327e-01 -1.13449501e-03 3.78934057e+00] [ 2.69989231e-02 -9.17950139e-04 9.99635041e-01 2.28812960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.13509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.47, Y:3.79, Z:2.29 [[ 9.96439153e-01 -8.00073033e-02 -2.66053631e-02 1.01466859e+02] [ 8.00059528e-02 9.96793760e-01 -1.11695085e-03 3.78945641e+00] [ 2.66094241e-02 -1.01561386e-03 9.99645391e-01 2.28883778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.50, Y:3.79, Z:2.29 [[ 9.96139257e-01 -8.37016100e-02 -2.64692669e-02 1.01499141e+02] [ 8.37016231e-02 9.96490245e-01 -1.10940895e-03 3.78979682e+00] [ 2.64692256e-02 -1.11039479e-03 9.99649012e-01 2.28939090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.19509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.53, Y:3.79, Z:2.29 [[ 9.95632173e-01 -8.93922487e-02 -2.69369996e-02 1.01532440e+02] [ 8.93944041e-02 9.95995668e-01 -1.12661689e-03 3.78969526e+00] [ 2.69298458e-02 -1.28632100e-03 9.99636498e-01 2.28953801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.22509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.57, Y:3.79, Z:2.29 [[ 9.95476246e-01 -9.11257669e-02 -2.68912470e-02 1.01565046e+02] [ 9.11286224e-02 9.95838499e-01 -1.12184975e-03 3.79066494e+00] [ 2.68815684e-02 -1.33378751e-03 9.99637736e-01 2.28967121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.60, Y:3.79, Z:2.29 [[ 9.95364805e-01 -9.25455976e-02 -2.61575339e-02 1.01597205e+02] [ 9.25488610e-02 9.95707549e-01 -1.08844894e-03 3.79270214e+00] [ 2.61459851e-02 -1.33744620e-03 9.99657241e-01 2.29033317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.63, Y:3.80, Z:2.29 [[ 9.95373086e-01 -9.24505922e-02 -2.61783829e-02 1.01630011e+02] [ 9.24538882e-02 9.95716374e-01 -1.08701702e-03 3.79522865e+00] [ 2.61667399e-02 -1.33830580e-03 9.99656696e-01 2.29138112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.66, Y:3.80, Z:2.29 [[ 9.95422234e-01 -9.19343143e-02 -2.61277122e-02 1.01663374e+02] [ 9.19374933e-02 9.95764192e-01 -1.08211475e-03 3.79755743e+00] [ 2.61165237e-02 -1.32495528e-03 9.99658027e-01 2.29237543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.70, Y:3.80, Z:2.29 [[ 9.95552436e-01 -9.04012083e-02 -2.65135606e-02 1.01696366e+02] [ 9.04040161e-02 9.95904571e-01 -1.09521607e-03 3.80000733e+00] [ 2.65039850e-02 -1.30658733e-03 9.99647854e-01 2.29229515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.37509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.73, Y:3.80, Z:2.29 [[ 9.95601145e-01 -8.97106064e-02 -2.70253025e-02 1.01728786e+02] [ 8.97133524e-02 9.95967005e-01 -1.11331335e-03 3.80202564e+00] [ 2.70161856e-02 -1.31611444e-03 9.99634130e-01 2.29289094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.76, Y:3.80, Z:2.29 [[ 9.95683616e-01 -8.88389657e-02 -2.68658524e-02 1.01761149e+02] [ 8.88414277e-02 9.96045170e-01 -1.10432565e-03 3.80413826e+00] [ 2.68577097e-02 -1.28724173e-03 9.99638438e-01 2.29297122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.43509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.79, Y:3.81, Z:2.29 [[ 9.95818946e-01 -8.69318861e-02 -2.80619623e-02 1.01794511e+02] [ 8.69338903e-02 9.96213418e-01 -1.15089661e-03 3.80785435e+00] [ 2.80557530e-02 -1.29345090e-03 9.99605523e-01 2.29289518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.83, Y:3.81, Z:2.29 [[ 9.95927533e-01 -8.53308728e-02 -2.91030999e-02 1.01826082e+02] [ 8.53324426e-02 9.96351824e-01 -1.19030986e-03 3.81029717e+00] [ 2.90984969e-02 -1.29797624e-03 9.99575706e-01 2.29324219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.49509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.86, Y:3.82, Z:2.29 [[ 9.96168574e-01 -8.18179016e-02 -3.08869490e-02 1.01858481e+02] [ 8.18180750e-02 9.96646484e-01 -1.26036530e-03 3.81517890e+00] [ 3.08864896e-02 -1.27157441e-03 9.99522090e-01 2.29376436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.89, Y:3.82, Z:2.29 [[ 9.96350830e-01 -7.93626350e-02 -3.14101359e-02 1.01890236e+02] [ 7.93616672e-02 9.96845068e-01 -1.27947122e-03 3.81836397e+00] [ 3.14125813e-02 -1.21795854e-03 9.99505761e-01 2.29426417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.55509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.92, Y:3.82, Z:2.30 [[ 9.96528581e-01 -7.67508708e-02 -3.22504362e-02 1.01922602e+02] [ 7.67485636e-02 9.97049617e-01 -1.31127324e-03 3.82169939e+00] [ 3.22559264e-02 -1.16845339e-03 9.99478959e-01 2.29532854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.95, Y:3.83, Z:2.30 [[ 9.96743500e-01 -7.37799742e-02 -3.25409208e-02 1.01953629e+02] [ 7.37761205e-02 9.97273954e-01 -1.32073917e-03 3.82524946e+00] [ 3.25496568e-02 -1.08430471e-03 9.99469531e-01 2.29638491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.99, Y:3.83, Z:2.30 [[ 9.97250080e-01 -6.67153725e-02 -3.22697519e-02 1.01985505e+02] [ 6.67079454e-02 9.97771687e-01 -1.30790862e-03 3.83209368e+00] [ 3.22851024e-02 -8.48336867e-04 9.99478340e-01 2.29778157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.02, Y:3.84, Z:2.30 [[ 9.97528916e-01 -6.27700318e-02 -3.15592325e-02 1.02016780e+02] [ 6.27610245e-02 9.98027767e-01 -1.27689884e-03 3.83624643e+00] [ 3.15771414e-02 -7.06946248e-04 9.99501068e-01 2.29885063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.05, Y:3.84, Z:2.30 [[ 9.98064454e-01 -5.36809138e-02 -3.13959498e-02 1.02048125e+02] [ 5.36675618e-02 9.98558052e-01 -1.26840975e-03 3.84308792e+00] [ 3.14187679e-02 -4.18989393e-04 9.99506221e-01 2.30035377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.08, Y:3.85, Z:2.30 [[ 9.98305955e-01 -4.95044090e-02 -3.05701493e-02 1.02078296e+02] [ 4.94898942e-02 9.98773865e-01 -1.23171791e-03 3.84766530e+00] [ 3.05936417e-02 -2.83282128e-04 9.99531865e-01 2.30125853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.11, Y:3.85, Z:2.30 [[ 9.98520781e-01 -4.51375487e-02 -3.03125570e-02 1.02108820e+02] [ 4.51212655e-02 9.98980770e-01 -1.22133913e-03 3.85222242e+00] [ 3.03367898e-02 -1.48208433e-04 9.99539723e-01 2.30236420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.14, Y:3.86, Z:2.30 [[ 9.98817126e-01 -3.86073910e-02 -2.95604038e-02 1.02137305e+02] [ 3.85890446e-02 9.99254456e-01 -1.19108293e-03 3.85899362e+00] [ 2.95843498e-02 4.89662877e-05 9.99562286e-01 2.30291270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.17, Y:3.86, Z:2.30 [[ 9.98895199e-01 -3.64804802e-02 -2.96235658e-02 1.02165412e+02] [ 3.64610667e-02 9.99334359e-01 -1.19542655e-03 3.86260705e+00] [ 2.96474569e-02 1.13999035e-04 9.99560411e-01 2.30382971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.19, Y:3.87, Z:2.30 [[ 9.99011397e-01 -3.38301686e-02 -2.88400603e-02 1.02193376e+02] [ 3.38104605e-02 9.99427577e-01 -1.17087443e-03 3.86788743e+00] [ 2.88631625e-02 1.94621183e-04 9.99583353e-01 2.30449110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.85509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.22, Y:3.87, Z:2.31 [[ 9.99017093e-01 -3.36093910e-02 -2.89008218e-02 1.02221412e+02] [ 3.35893934e-02 9.99435024e-01 -1.17727853e-03 3.87068365e+00] [ 2.89240611e-02 2.05360305e-04 9.99581591e-01 2.30545260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.25, Y:3.87, Z:2.31 [[ 9.99008038e-01 -3.38777566e-02 -2.89004826e-02 1.02249765e+02] [ 3.38576321e-02 9.99425963e-01 -1.18554658e-03 3.87191025e+00] [ 2.89240563e-02 2.05868654e-04 9.99581591e-01 2.30626954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.91509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.28, Y:3.87, Z:2.31 [[ 9.99005476e-01 -3.40220461e-02 -2.88194166e-02 1.02277056e+02] [ 3.40018720e-02 9.99421061e-01 -1.18992626e-03 3.87482418e+00] [ 2.88432156e-02 2.08828731e-04 9.99583926e-01 2.30701550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.31, Y:3.88, Z:2.31 [[ 9.98955053e-01 -3.59721278e-02 -2.81923488e-02 1.02305151e+02] [ 3.59535042e-02 9.99352782e-01 -1.16738516e-03 3.87949699e+00] [ 2.82160956e-02 1.52551575e-04 9.99601835e-01 2.30782010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.97509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.33, Y:3.88, Z:2.31 [[ 9.98895614e-01 -3.77273338e-02 -2.80035787e-02 1.02334117e+02] [ 3.77094219e-02 9.99288065e-01 -1.16764435e-03 3.88198418e+00] [ 2.80276940e-02 1.10356053e-04 9.99607141e-01 2.30811078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.36, Y:3.88, Z:2.31 [[ 9.98796613e-01 -3.97476332e-02 -2.87306659e-02 1.02363281e+02] [ 3.97294011e-02 9.99209749e-01 -1.20537831e-03 3.88403036e+00] [ 2.87558724e-02 6.24756263e-05 9.99586462e-01 2.30869677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.39, Y:3.89, Z:2.31 [[ 9.98523094e-01 -4.52539996e-02 -3.00617182e-02 1.02392830e+02] [ 4.52365006e-02 9.98975508e-01 -1.26229327e-03 3.88669141e+00] [ 3.00880440e-02 -9.94579497e-05 9.99547247e-01 2.30824208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.42, Y:3.89, Z:2.31 [[ 9.98355486e-01 -4.82690141e-02 -3.09261231e-02 1.02423609e+02] [ 4.82519469e-02 9.98834353e-01 -1.29836904e-03 3.88836212e+00] [ 3.09527451e-02 -1.96011793e-04 9.99520830e-01 2.30908470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.09509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.46, Y:3.89, Z:2.31 [[ 9.98203508e-01 -5.12831693e-02 -3.09805305e-02 1.02455185e+02] [ 5.12675481e-02 9.98684110e-01 -1.29887925e-03 3.88964814e+00] [ 3.10063741e-02 -2.91750011e-04 9.99519144e-01 2.30953574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.49, Y:3.89, Z:2.31 [[ 9.98037789e-01 -5.44947171e-02 -3.08366391e-02 1.02486979e+02] [ 5.44808068e-02 9.98513982e-01 -1.29174454e-03 3.89123548e+00] [ 3.08612085e-02 -3.90795109e-04 9.99523603e-01 2.31046796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.15509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.52, Y:3.89, Z:2.31 [[ 9.97892126e-01 -5.73559003e-02 -3.03579639e-02 1.02518199e+02] [ 5.73437753e-02 9.98353683e-01 -1.27058744e-03 3.89295802e+00] [ 3.03808608e-02 -4.72931060e-04 9.99538283e-01 2.31141464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.55, Y:3.90, Z:2.31 [[ 9.97632121e-01 -6.20415891e-02 -2.96815113e-02 1.02549862e+02] [ 6.20321175e-02 9.98073383e-01 -1.24069613e-03 3.89513183e+00] [ 2.97013011e-02 -6.03448677e-04 9.99558637e-01 2.31246365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.21509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.58, Y:3.90, Z:2.31 [[ 9.97537877e-01 -6.37281139e-02 -2.92730641e-02 1.02582488e+02] [ 6.37196869e-02 9.97967088e-01 -1.22157079e-03 3.89681508e+00] [ 2.92914029e-02 -6.46707346e-04 9.99570706e-01 2.31347846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.61, Y:3.90, Z:2.31 [[ 9.97474564e-01 -6.51365836e-02 -2.83146705e-02 1.02614771e+02] [ 6.51293210e-02 9.97876135e-01 -1.17964360e-03 3.89846493e+00] [ 2.83313719e-02 -6.67450776e-04 9.99598363e-01 2.31455185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.27509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.65, Y:3.90, Z:2.32 [[ 9.97434097e-01 -6.59708538e-02 -2.78040965e-02 1.02646471e+02] [ 6.59642290e-02 9.97821318e-01 -1.15641845e-03 3.90020771e+00] [ 2.78198101e-02 -6.80624589e-04 9.99612722e-01 2.31596256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.68, Y:3.90, Z:2.32 [[ 9.97358156e-01 -6.72878788e-02 -2.73687644e-02 1.02678282e+02] [ 6.72820078e-02 9.97733351e-01 -1.13638922e-03 3.90262773e+00] [ 2.73831943e-02 -7.08038368e-04 9.99624759e-01 2.31637024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.33509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.71, Y:3.90, Z:2.32 [[ 9.97313795e-01 -6.78417743e-02 -2.76168140e-02 1.02710691e+02] [ 6.78360635e-02 9.97695824e-01 -1.14470318e-03 3.90463225e+00] [ 2.76308387e-02 -7.31787672e-04 9.99617928e-01 2.31743895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.74, Y:3.91, Z:2.32 [[ 9.97277130e-01 -6.83311133e-02 -2.77341705e-02 1.02743605e+02] [ 6.83256117e-02 9.97662415e-01 -1.14708851e-03 3.90653060e+00] [ 2.77477214e-02 -7.50989032e-04 9.99614676e-01 2.31805948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.78, Y:3.91, Z:2.32 [[ 9.97251149e-01 -6.86433981e-02 -2.78967529e-02 1.02777043e+02] [ 6.86380377e-02 9.97640965e-01 -1.15081124e-03 3.90817929e+00] [ 2.79099391e-02 -7.67130552e-04 9.99610147e-01 2.31890960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.81, Y:3.91, Z:2.32 [[ 9.97153201e-01 -6.97107574e-02 -2.87385365e-02 1.02809761e+02] [ 6.97056031e-02 9.97566905e-01 -1.18236087e-03 3.90995000e+00] [ 2.87510362e-02 -8.24242091e-04 9.99586264e-01 2.31931944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.84, Y:3.91, Z:2.32 [[ 9.97109927e-01 -7.01443516e-02 -2.91815430e-02 1.02842391e+02] [ 7.01393155e-02 9.97536487e-01 -1.19740738e-03 3.91149636e+00] [ 2.91936452e-02 -8.52826665e-04 9.99573411e-01 2.31987965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.87, Y:3.91, Z:2.32 [[ 9.97088289e-01 -7.02322558e-02 -2.97047948e-02 1.02874715e+02] [ 7.02271722e-02 9.97530283e-01 -1.21566515e-03 3.91319392e+00] [ 2.97168113e-02 -8.73958257e-04 9.99557976e-01 2.32094854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.91, Y:3.92, Z:2.32 [[ 9.97042089e-01 -7.05153419e-02 -3.05722147e-02 1.02906949e+02] [ 7.05101757e-02 9.97510279e-01 -1.24837367e-03 3.91547866e+00] [ 3.05841280e-02 -9.10971140e-04 9.99531781e-01 2.32136413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.94, Y:3.92, Z:2.32 [[ 9.97035974e-01 -7.03301363e-02 -3.11919496e-02 1.02939081e+02] [ 7.03247553e-02 9.97523340e-01 -1.27088881e-03 3.91735136e+00] [ 3.12040795e-02 -9.26444361e-04 9.99512605e-01 2.32193330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.57509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.97, Y:3.92, Z:2.32 [[ 9.97009258e-01 -7.03813917e-02 -3.19217535e-02 1.02971065e+02] [ 7.03758720e-02 9.97519700e-01 -1.29782549e-03 3.91929481e+00] [ 3.19339208e-02 -9.52577208e-04 9.99489528e-01 2.32268628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.00, Y:3.92, Z:2.32 [[ 9.96992584e-01 -7.02988274e-02 -3.26169012e-02 1.03003170e+02] [ 7.02931009e-02 9.97525502e-01 -1.32363521e-03 3.92118541e+00] [ 3.26292407e-02 -9.73088637e-04 9.99467051e-01 2.32366480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.63509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.04, Y:3.92, Z:2.32 [[ 9.96959634e-01 -7.03869575e-02 -3.34240099e-02 1.03035057e+02] [ 7.03810928e-02 9.97519258e-01 -1.35342989e-03 3.92308341e+00] [ 3.34363574e-02 -1.00310338e-03 9.99440345e-01 2.32383210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.07, Y:3.92, Z:2.32 [[ 9.96967169e-01 -6.98873216e-02 -3.42377848e-02 1.03065996e+02] [ 6.98809550e-02 9.97554378e-01 -1.38401910e-03 3.92468951e+00] [ 3.42507775e-02 -1.01274750e-03 9.99412757e-01 2.32465301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.69509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.10, Y:3.93, Z:2.33 [[ 9.97020901e-01 -6.90958716e-02 -3.42794779e-02 1.03098462e+02] [ 6.90890875e-02 9.97609534e-01 -1.38380096e-03 3.92615241e+00] [ 3.42931489e-02 -9.88659362e-04 9.99411328e-01 2.32542356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.72509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.13, Y:3.93, Z:2.33 [[ 9.97207822e-01 -6.65632456e-02 -3.38510586e-02 1.03130361e+02] [ 6.65552520e-02 9.97781809e-01 -1.36414256e-03 3.92885455e+00] [ 3.38667722e-02 -8.92632110e-04 9.99425958e-01 2.32760441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.16, Y:3.93, Z:2.33 [[ 9.97318797e-01 -6.51036988e-02 -3.34174297e-02 1.03160981e+02] [ 6.50951673e-02 9.97878155e-01 -1.34435190e-03 3.93101187e+00] [ 3.34340454e-02 -8.34565760e-04 9.99440578e-01 2.32894918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.19, Y:3.93, Z:2.33 [[ 9.97422029e-01 -6.34045802e-02 -3.36029049e-02 1.03192968e+02] [ 6.33950542e-02 9.97987598e-01 -1.34991577e-03 3.93315505e+00] [ 3.36208732e-02 -7.83822248e-04 9.99434351e-01 2.33069669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.23, Y:3.94, Z:2.33 [[ 9.97588224e-01 -6.08655511e-02 -3.33634494e-02 1.03225454e+02] [ 6.08548173e-02 9.98145731e-01 -1.33802043e-03 3.93563210e+00] [ 3.33830240e-02 -6.95533196e-04 9.99442390e-01 2.33266234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.26, Y:3.94, Z:2.33 [[ 9.97636049e-01 -6.00654311e-02 -3.33835082e-02 1.03257503e+02] [ 6.00543157e-02 9.98194216e-01 -1.33646003e-03 3.93712072e+00] [ 3.34034998e-02 -6.71523032e-04 9.99441722e-01 2.33387626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.87509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.29, Y:3.94, Z:2.33 [[ 9.97682159e-01 -5.93576285e-02 -3.32713453e-02 1.03289429e+02] [ 5.93462734e-02 9.98236571e-01 -1.32959455e-03 3.93838210e+00] [ 3.32915952e-02 -6.48017590e-04 9.99445471e-01 2.33498782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.32, Y:3.94, Z:2.34 [[ 9.97730871e-01 -5.79781033e-02 -3.42293578e-02 1.03321575e+02] [ 5.79653603e-02 9.98317661e-01 -1.36534980e-03 3.93981058e+00] [ 3.42509329e-02 -6.21865413e-04 9.99413071e-01 2.33616388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.93509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.35, Y:3.94, Z:2.34 [[ 9.97757741e-01 -5.70590609e-02 -3.49821793e-02 1.03353818e+02] [ 5.70452773e-02 9.98370621e-01 -1.39279357e-03 3.94122021e+00] [ 3.50046515e-02 -6.05897554e-04 9.99386966e-01 2.33763214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.38, Y:3.94, Z:2.34 [[ 9.97843199e-01 -5.55754751e-02 -3.49330439e-02 1.03384780e+02] [ 5.55609210e-02 9.98454334e-01 -1.38799390e-03 3.94258726e+00] [ 3.49561875e-02 -5.55911821e-04 9.99388691e-01 2.33917149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.99509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.41, Y:3.94, Z:2.34 [[ 9.97941603e-01 -5.39685334e-02 -3.46403489e-02 1.03414981e+02] [ 5.39533828e-02 9.98542512e-01 -1.37266617e-03 3.94406905e+00] [ 3.46639418e-02 -4.99123331e-04 9.99398900e-01 2.34044668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.45, Y:3.95, Z:2.34 [[ 9.98124451e-01 -5.03245941e-02 -3.48570800e-02 1.03446432e+02] [ 5.03071009e-02 9.98732844e-01 -1.37927777e-03 3.94624502e+00] [ 3.48823223e-02 -3.76867773e-04 9.99391356e-01 2.34289828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.05509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.48, Y:3.95, Z:2.34 [[ 9.98221685e-01 -4.85433855e-02 -3.45977879e-02 1.03475777e+02] [ 4.85251134e-02 9.98821026e-01 -1.36811147e-03 3.94787152e+00] [ 3.46234108e-02 -3.13183050e-04 9.99400381e-01 2.34440225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.51, Y:3.95, Z:2.35 [[ 9.98314527e-01 -4.67113831e-02 -3.44405526e-02 1.03506333e+02] [ 4.66921695e-02 9.98908397e-01 -1.36239681e-03 3.94914235e+00] [ 3.44665967e-02 -2.48003593e-04 9.99405820e-01 2.34598853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.54, Y:3.95, Z:2.35 [[ 9.98387407e-01 -4.54386293e-02 -3.40281592e-02 1.03535740e+02] [ 4.54191308e-02 9.98967112e-01 -1.34617879e-03 3.94991044e+00] [ 3.40541805e-02 -2.01521459e-04 9.99419968e-01 2.34716432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.57, Y:3.95, Z:2.35 [[ 9.98470533e-01 -4.39649390e-02 -3.35213265e-02 1.03565295e+02] [ 4.39451642e-02 9.99033064e-01 -1.32680148e-03 3.94932339e+00] [ 3.35472463e-02 -1.48328015e-04 9.99437122e-01 2.34841674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.59, Y:3.95, Z:2.35 [[ 9.98488934e-01 -4.35883680e-02 -3.34649620e-02 1.03594742e+02] [ 4.35684086e-02 9.99049566e-01 -1.32575329e-03 3.94918760e+00] [ 3.34909431e-02 -1.34265146e-04 9.99439012e-01 2.34925923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.62, Y:3.95, Z:2.35 [[ 9.98490543e-01 -4.35146450e-02 -3.35128630e-02 1.03624496e+02] [ 4.34945472e-02 9.99052781e-01 -1.32883600e-03 3.94907104e+00] [ 3.35389428e-02 -1.30796621e-04 9.99437403e-01 2.35030088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.65, Y:3.95, Z:2.35 [[ 9.98479497e-01 -4.37461014e-02 -3.35405991e-02 1.03653254e+02] [ 4.37260573e-02 9.99042672e-01 -1.33123047e-03 3.94872641e+00] [ 3.35667258e-02 -1.37391829e-04 9.99436469e-01 2.35127743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.68, Y:3.95, Z:2.35 [[ 9.98442390e-01 -4.46175074e-02 -3.34973395e-02 1.03683359e+02] [ 4.45979481e-02 9.99004130e-01 -1.33121964e-03 3.94684589e+00] [ 3.35233762e-02 -1.64766483e-04 9.99437920e-01 2.35292225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.71, Y:3.95, Z:2.35 [[ 9.98410940e-01 -4.53646613e-02 -3.34311627e-02 1.03713439e+02] [ 4.53455581e-02 9.98970476e-01 -1.32977549e-03 3.94634781e+00] [ 3.34570693e-02 -1.88292336e-04 9.99440138e-01 2.35388640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.74, Y:3.95, Z:2.36 [[ 9.98357424e-01 -4.63134329e-02 -3.37271491e-02 1.03743250e+02] [ 4.62944971e-02 9.98926933e-01 -1.34255730e-03 3.94551783e+00] [ 3.37531361e-02 -2.21029363e-04 9.99430176e-01 2.35534899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.35509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.77, Y:3.94, Z:2.36 [[ 9.98263624e-01 -4.82395219e-02 -3.38036278e-02 1.03772842e+02] [ 4.82215999e-02 9.98835755e-01 -1.34571939e-03 3.94211742e+00] [ 3.38291889e-02 -2.86682296e-04 9.99427588e-01 2.35614528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.80, Y:3.94, Z:2.36 [[ 9.98186780e-01 -4.96573237e-02 -3.40191371e-02 1.03802101e+02] [ 4.96399570e-02 9.98766258e-01 -1.35542742e-03 3.94107130e+00] [ 3.40444731e-02 -3.35738775e-04 9.99420263e-01 2.35684564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.41509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.83, Y:3.94, Z:2.36 [[ 9.98128351e-01 -5.08988211e-02 -3.38984445e-02 1.03832837e+02] [ 5.08822758e-02 9.98703744e-01 -1.35112663e-03 3.93997778e+00] [ 3.39232742e-02 -3.76232206e-04 9.99424369e-01 2.35781493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.86, Y:3.94, Z:2.36 [[ 9.97969213e-01 -5.39111441e-02 -3.39269667e-02 1.03863627e+02] [ 5.38963106e-02 9.98545622e-01 -1.35226347e-03 3.93702756e+00] [ 3.39505261e-02 -4.79021024e-04 9.99423400e-01 2.35943780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.47509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.89, Y:3.94, Z:2.36 [[ 9.97867556e-01 -5.58235364e-02 -3.38241534e-02 1.03894280e+02] [ 5.58098906e-02 9.98440503e-01 -1.34816553e-03 3.93617969e+00] [ 3.38466641e-02 -5.42431658e-04 9.99426890e-01 2.36046321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.92, Y:3.93, Z:2.36 [[ 9.97757170e-01 -5.77400757e-02 -3.38631421e-02 1.03924869e+02] [ 5.77275015e-02 9.98331465e-01 -1.34971955e-03 3.93495075e+00] [ 3.38845732e-02 -6.08142232e-04 9.99425568e-01 2.36140412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.96, Y:3.93, Z:2.36 [[ 9.97528345e-01 -6.17776532e-02 -3.34771873e-02 1.03955548e+02] [ 6.17676385e-02 9.98089665e-01 -1.33424996e-03 3.93089070e+00] [ 3.34956614e-02 -7.36854649e-04 9.99438591e-01 2.36139054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.99, Y:3.93, Z:2.36 [[ 9.97411288e-01 -6.39650053e-02 -3.28511831e-02 1.03987995e+02] [ 6.39565734e-02 9.97951825e-01 -1.30849076e-03 3.92950413e+00] [ 3.28675957e-02 -7.95945646e-04 9.99459398e-01 2.36179849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.59509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.02, Y:3.93, Z:2.36 [[ 9.97299757e-01 -6.60188559e-02 -3.21668477e-02 1.04019712e+02] [ 6.60119110e-02 9.97818015e-01 -1.27898729e-03 3.92808560e+00] [ 3.21810974e-02 -8.47861378e-04 9.99481695e-01 2.36249592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.05, Y:3.92, Z:2.36 [[ 9.97025321e-01 -7.00441937e-02 -3.21608613e-02 1.04051890e+02] [ 7.00394009e-02 9.97543408e-01 -1.27694048e-03 3.92485510e+00] [ 3.21712975e-02 -9.79385468e-04 9.99481890e-01 2.36275880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.65509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.08, Y:3.92, Z:2.36 [[ 9.96909661e-01 -7.15970877e-02 -3.23262157e-02 1.04084584e+02] [ 7.15931342e-02 9.97433096e-01 -1.28124338e-03 3.92387079e+00] [ 3.23349707e-02 -1.03705119e-03 9.99476550e-01 2.36321964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.12, Y:3.92, Z:2.36 [[ 9.96800047e-01 -7.30070204e-02 -3.25521367e-02 1.04117212e+02] [ 7.30038368e-02 9.97330828e-01 -1.28790722e-03 3.92286461e+00] [ 3.25592757e-02 -1.09264490e-03 9.99469209e-01 2.36397875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.71509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.15, Y:3.92, Z:2.36 [[ 9.96614188e-01 -7.58225463e-02 -3.17978389e-02 1.04149129e+02] [ 7.58210104e-02 9.97120653e-01 -1.25581443e-03 3.91977510e+00] [ 3.18015009e-02 -1.15938179e-03 9.99493532e-01 2.36408915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.18, Y:3.92, Z:2.36 [[ 9.96504713e-01 -7.73132382e-02 -3.16388913e-02 1.04180540e+02] [ 7.73125375e-02 9.97006126e-01 -1.24733003e-03 3.91864474e+00] [ 3.16406036e-02 -1.20311272e-03 9.99498587e-01 2.36435278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.77509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.21, Y:3.92, Z:2.36 [[ 9.96402863e-01 -7.87185081e-02 -3.13804245e-02 1.04212401e+02] [ 7.87185682e-02 9.96896113e-01 -1.23542016e-03 3.91739202e+00] [ 3.13802736e-02 -1.23924590e-03 9.99506750e-01 2.36463893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.80509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.25, Y:3.92, Z:2.37 [[ 9.96409998e-01 -7.86281109e-02 -3.13805160e-02 1.04245064e+02] [ 7.86281996e-02 9.96903248e-01 -1.23309093e-03 3.91862069e+00] [ 3.13802940e-02 -1.23872935e-03 9.99506750e-01 2.36557591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.83509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.28, Y:3.92, Z:2.37 [[ 9.96135020e-01 -8.20899372e-02 -3.12452109e-02 1.04276663e+02] [ 8.20918096e-02 9.96624018e-01 -1.22504227e-03 3.91547970e+00] [ 3.12402913e-02 -1.34466840e-03 9.99510998e-01 2.36565757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.31, Y:3.91, Z:2.37 [[ 9.95998977e-01 -8.35882765e-02 -3.16075719e-02 1.04307510e+02] [ 8.35910057e-02 9.96499379e-01 -1.23734515e-03 3.91467986e+00] [ 3.16003534e-02 -1.40971422e-03 9.99499590e-01 2.36605260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.34, Y:3.91, Z:2.37 [[ 9.95867956e-01 -8.45689827e-02 -3.30923100e-02 1.04340067e+02] [ 8.45726380e-02 9.96416479e-01 -1.29177780e-03 3.91412116e+00] [ 3.30829673e-02 -1.51226384e-03 9.99451465e-01 2.36596360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:3.91, Z:2.37 [[ 9.95789365e-01 -8.49726943e-02 -3.43974112e-02 1.04372504e+02] [ 8.49769703e-02 9.96382014e-01 -1.34024809e-03 3.91353240e+00] [ 3.43868463e-02 -1.58838300e-03 9.99407335e-01 2.36557679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.40, Y:3.91, Z:2.37 [[ 9.95816713e-01 -8.47499056e-02 -3.41544709e-02 1.04404597e+02] [ 8.47540730e-02 9.96401015e-01 -1.32836333e-03 3.91336143e+00] [ 3.41441281e-02 -1.57192411e-03 9.99415683e-01 2.36557974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.44, Y:3.91, Z:2.37 [[ 9.95902371e-01 -8.41776588e-02 -3.30543494e-02 1.04435342e+02] [ 8.41813303e-02 9.96449626e-01 -1.28304533e-03 3.91460594e+00] [ 3.30449979e-02 -1.50477122e-03 9.99452732e-01 2.36656908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.47, Y:3.92, Z:2.37 [[ 9.95960030e-01 -8.36539451e-02 -3.26440969e-02 1.04467394e+02] [ 8.36573653e-02 9.96493778e-01 -1.26343686e-03 3.91604685e+00] [ 3.26353309e-02 -1.47258653e-03 9.99466241e-01 2.36801140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.50, Y:3.92, Z:2.37 [[ 9.96042242e-01 -8.27537543e-02 -3.24294274e-02 1.04499687e+02] [ 8.27567275e-02 9.96568991e-01 -1.25284374e-03 3.91756706e+00] [ 3.24218392e-02 -1.43586799e-03 9.99473243e-01 2.36926724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.07509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.53, Y:3.92, Z:2.37 [[ 9.96221257e-01 -8.08273638e-02 -3.17827657e-02 1.04530441e+02] [ 8.08293106e-02 9.96727205e-01 -1.22566355e-03 3.91878816e+00] [ 3.17778143e-02 -1.34794695e-03 9.99494049e-01 2.36954824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.56, Y:3.92, Z:2.37 [[ 9.96320510e-01 -7.98680259e-02 -3.10892213e-02 1.04562843e+02] [ 7.98694744e-02 9.96804612e-01 -1.19723561e-03 3.91975875e+00] [ 3.10855000e-02 -1.29024937e-03 9.99515896e-01 2.37006809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.13509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.60, Y:3.92, Z:2.37 [[ 9.96390133e-01 -7.91537535e-02 -3.06820125e-02 1.04595228e+02] [ 7.91548923e-02 9.96861631e-01 -1.17939321e-03 3.92086536e+00] [ 3.06790744e-02 -1.25349564e-03 9.99528500e-01 2.37113193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.63, Y:3.92, Z:2.37 [[ 9.96498697e-01 -7.79167465e-02 -3.03204020e-02 1.04626842e+02] [ 7.79173518e-02 9.96959143e-01 -1.16334964e-03 3.92280333e+00] [ 3.03188464e-02 -1.20320903e-03 9.99539554e-01 2.37175876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.19509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.66, Y:3.92, Z:2.37 [[ 9.96552665e-01 -7.71782230e-02 -3.04353173e-02 1.04659319e+02] [ 7.71785402e-02 9.97016606e-01 -1.16608179e-03 3.92477731e+00] [ 3.04345129e-02 -1.18689145e-03 9.99536058e-01 2.37282758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.22509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.69, Y:3.93, Z:2.37 [[ 9.96597620e-01 -7.63330606e-02 -3.10877362e-02 1.04691158e+02] [ 7.63330503e-02 9.97081668e-01 -1.18886200e-03 3.92678159e+00] [ 3.10877613e-02 -1.18820469e-03 9.99515952e-01 2.37386960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.72, Y:3.93, Z:2.37 [[ 9.96655715e-01 -7.55525278e-02 -3.11319977e-02 1.04723539e+02] [ 7.55522062e-02 9.97141139e-01 -1.18834624e-03 3.92865836e+00] [ 3.11327782e-02 -1.16771904e-03 9.99514575e-01 2.37400206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.76, Y:3.93, Z:2.37 [[ 9.96695882e-01 -7.48028386e-02 -3.16520789e-02 1.04755053e+02] [ 7.48022021e-02 9.97197662e-01 -1.20589031e-03 3.93069894e+00] [ 3.16535831e-02 -1.16573929e-03 9.99498220e-01 2.37419076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.79, Y:3.93, Z:2.38 [[ 9.96732694e-01 -7.43817511e-02 -3.14847819e-02 1.04787670e+02] [ 7.43809672e-02 9.97229180e-01 -1.19774493e-03 3.93238871e+00] [ 3.14866336e-02 -1.14803700e-03 9.99503514e-01 2.37502918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.82, Y:3.94, Z:2.38 [[ 9.96757764e-01 -7.41485583e-02 -3.12402097e-02 1.04818805e+02] [ 7.41477418e-02 9.97246562e-01 -1.18621464e-03 3.93540521e+00] [ 3.12421479e-02 -1.13402235e-03 9.99511202e-01 2.37642266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.37509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.85, Y:3.94, Z:2.38 [[ 9.96728594e-01 -7.43475229e-02 -3.16947399e-02 1.04850233e+02] [ 7.43468386e-02 9.97231720e-01 -1.20172273e-03 3.93755277e+00] [ 3.16963451e-02 -1.15861230e-03 9.99496873e-01 2.37748881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:3.94, Z:2.38 [[ 9.96707052e-01 -7.46857832e-02 -3.15766726e-02 1.04881871e+02] [ 7.46853264e-02 9.97206434e-01 -1.19556889e-03 3.93942514e+00] [ 3.15777531e-02 -1.16668215e-03 9.99500617e-01 2.37796583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.43509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.91, Y:3.94, Z:2.38 [[ 9.96596361e-01 -7.59683131e-02 -3.20079582e-02 1.04913727e+02] [ 7.59685611e-02 9.97109479e-01 -1.21012424e-03 3.94193877e+00] [ 3.20073696e-02 -1.22559312e-03 9.99486881e-01 2.37823808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.94, Y:3.94, Z:2.38 [[ 9.96504375e-01 -7.70762737e-02 -3.22223212e-02 1.04944695e+02] [ 7.70771755e-02 9.97024388e-01 -1.21599122e-03 3.94332541e+00] [ 3.22201641e-02 -1.27186493e-03 9.99479986e-01 2.37864802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.49509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.98, Y:3.94, Z:2.38 [[ 9.96419359e-01 -7.80804863e-02 -3.24330023e-02 1.04977193e+02] [ 7.80819894e-02 9.96946192e-01 -1.22214189e-03 3.94479495e+00] [ 3.24293836e-02 -1.31466750e-03 9.99473165e-01 2.37913657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.01, Y:3.95, Z:2.38 [[ 9.96328811e-01 -7.91274034e-02 -3.26765076e-02 1.05008682e+02] [ 7.91295742e-02 9.96863582e-01 -1.22877641e-03 3.94644895e+00] [ 3.26712503e-02 -1.36141279e-03 9.99465225e-01 2.37999168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.55509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.04, Y:3.95, Z:2.38 [[ 9.96182664e-01 -8.10484634e-02 -3.24229407e-02 1.05040355e+02] [ 8.10517285e-02 9.96709155e-01 -1.21576363e-03 3.94896024e+00] [ 3.24147776e-02 -1.41681274e-03 9.99473499e-01 2.38097077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.07, Y:3.95, Z:2.38 [[ 9.96114805e-01 -8.18430268e-02 -3.25117487e-02 1.05071627e+02] [ 8.18468070e-02 9.96644179e-01 -1.21679287e-03 3.95067489e+00] [ 3.25022311e-02 -1.44891743e-03 9.99470613e-01 2.38209432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.11, Y:3.96, Z:2.38 [[ 9.96253230e-01 -8.12650638e-02 -2.95886879e-02 1.05105187e+02] [ 8.09255654e-02 9.96641786e-01 -1.24981032e-02 3.95723201e+00] [ 3.05049819e-02 1.00567944e-02 9.99484020e-01 2.38149054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.14, Y:3.95, Z:2.38 [[ 9.95968067e-01 -8.29889035e-02 -3.40653994e-02 1.05136294e+02] [ 8.33800077e-02 9.96465384e-01 1.02231431e-02 3.94880705e+00] [ 3.30965838e-02 -1.30222973e-02 9.99367318e-01 2.38016548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.17, Y:3.96, Z:2.38 [[ 9.95858281e-01 -8.42735740e-02 -3.41210775e-02 1.05167893e+02] [ 8.42795218e-02 9.96441347e-01 -1.26648517e-03 3.95784363e+00] [ 3.41063837e-02 -1.61446835e-03 9.99416904e-01 2.38455653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.20, Y:3.96, Z:2.38 [[ 9.96058411e-01 -8.30370984e-02 -3.11846348e-02 1.05200825e+02] [ 8.26727723e-02 9.96494565e-01 -1.27981956e-02 3.96497414e+00] [ 3.21380441e-02 1.01696302e-02 9.99431701e-01 2.38444118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.23, Y:3.96, Z:2.38 [[ 9.95860808e-01 -8.39690993e-02 -3.47913899e-02 1.05232457e+02] [ 8.43812202e-02 9.96377704e-01 1.05489227e-02 3.95841880e+00] [ 3.37795817e-02 -1.34409986e-02 9.99338921e-01 2.38365033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.26, Y:3.97, Z:2.39 [[ 9.95911864e-01 -8.36393760e-02 -3.41176601e-02 1.05264716e+02] [ 8.36453232e-02 9.96494799e-01 -1.25546346e-03 3.96692407e+00] [ 3.41030771e-02 -1.60345175e-03 9.99417035e-01 2.38858379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.30, Y:3.97, Z:2.39 [[ 9.96046275e-01 -8.25332204e-02 -3.28646610e-02 1.05296811e+02] [ 8.25382112e-02 9.96587170e-01 -1.20709390e-03 3.96908809e+00] [ 3.28521249e-02 -1.51026895e-03 9.99459082e-01 2.38939871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.33, Y:3.97, Z:2.39 [[ 9.96312350e-01 -8.01711571e-02 -3.05660946e-02 1.05328923e+02] [ 8.01744258e-02 9.96780219e-01 -1.12062052e-03 3.97308670e+00] [ 3.05575200e-02 -1.33413103e-03 9.99532120e-01 2.39113074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.85509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.36, Y:3.98, Z:2.39 [[ 9.96444514e-01 -7.87838378e-02 -2.98569620e-02 1.05362168e+02] [ 7.87864119e-02 9.96890921e-01 -1.09203128e-03 3.97608863e+00] [ 2.98501688e-02 -1.26417433e-03 9.99553585e-01 2.39278500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.40, Y:3.98, Z:2.39 [[ 9.96608398e-01 -7.69371127e-02 -2.91955738e-02 1.05395060e+02] [ 7.69388730e-02 9.97035243e-01 -1.06474685e-03 3.98097412e+00] [ 2.91909346e-02 -1.18513889e-03 9.99573151e-01 2.39445086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.91509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.43, Y:3.98, Z:2.40 [[ 9.96638236e-01 -7.63236201e-02 -2.97814120e-02 1.05428315e+02] [ 7.63252764e-02 9.97082384e-01 -1.08283193e-03 3.98360329e+00] [ 2.97771669e-02 -1.19388279e-03 9.99555849e-01 2.39502831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.46, Y:3.99, Z:2.40 [[ 9.96646372e-01 -7.58250307e-02 -3.07664481e-02 1.05460926e+02] [ 7.58266686e-02 9.97120390e-01 -1.11517743e-03 3.98574619e+00] [ 3.07624111e-02 -1.22147973e-03 9.99525979e-01 2.39566656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.97509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.49, Y:3.99, Z:2.40 [[ 9.96611382e-01 -7.58696181e-02 -3.17734850e-02 1.05493174e+02] [ 7.58715080e-02 9.97116942e-01 -1.14791212e-03 3.98764286e+00] [ 3.17689719e-02 -1.26667994e-03 9.99494436e-01 2.39579969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.52, Y:3.99, Z:2.40 [[ 9.96563512e-01 -7.61414921e-02 -3.26134951e-02 1.05524200e+02] [ 7.61438085e-02 9.97096156e-01 -1.17276284e-03 3.98913105e+00] [ 3.26080865e-02 -1.31458306e-03 9.99467350e-01 2.39639277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.56, Y:3.99, Z:2.40 [[ 9.96425897e-01 -7.73725596e-02 -3.38956963e-02 1.05556221e+02] [ 7.73758398e-02 9.97001253e-01 -1.21691712e-03 3.99120347e+00] [ 3.38882077e-02 -1.41014024e-03 9.99424635e-01 2.39641181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.59, Y:3.99, Z:2.40 [[ 9.96284960e-01 -7.86588837e-02 -3.50579216e-02 1.05588574e+02] [ 7.86632777e-02 9.96900452e-01 -1.25609982e-03 3.99338043e+00] [ 3.50480613e-02 -1.50633766e-03 9.99384493e-01 2.39629630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.09509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.62, Y:4.00, Z:2.40 [[ 9.96223056e-01 -7.91583525e-02 -3.56872183e-02 1.05619464e+02] [ 7.91633133e-02 9.96860843e-01 -1.27620114e-03 3.99554264e+00] [ 3.56762125e-02 -1.55373745e-03 9.99362193e-01 2.39728699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.65, Y:4.00, Z:2.40 [[ 9.96159384e-01 -7.96958414e-02 -3.62636909e-02 1.05651422e+02] [ 7.97013958e-02 9.96817943e-01 -1.29472183e-03 3.99916536e+00] [ 3.62514817e-02 -1.60051748e-03 9.99341417e-01 2.39791735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.15509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.68, Y:4.00, Z:2.40 [[ 9.96209675e-01 -7.88981670e-02 -3.66246262e-02 1.05682402e+02] [ 7.89033884e-02 9.96881413e-01 -1.30506067e-03 4.00326660e+00] [ 3.66133760e-02 -1.58969304e-03 9.99328241e-01 2.39904400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.71, Y:4.01, Z:2.40 [[ 9.96313530e-01 -7.76492290e-02 -3.64684388e-02 1.05714125e+02] [ 7.76536482e-02 9.96979552e-01 -1.29737353e-03 4.00620910e+00] [ 3.64590279e-02 -1.53931652e-03 9.99333963e-01 2.40020822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.21509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.75, Y:4.01, Z:2.40 [[ 9.96456579e-01 -7.59262567e-02 -3.61868731e-02 1.05745045e+02] [ 7.59295637e-02 9.97112356e-01 -1.28487106e-03 4.00925450e+00] [ 3.61799338e-02 -1.46733527e-03 9.99344215e-01 2.40152726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.78, Y:4.01, Z:2.40 [[ 9.96840242e-01 -7.12294593e-02 -3.51553228e-02 1.05777182e+02] [ 7.12297324e-02 9.97459158e-01 -1.24626472e-03 4.01454140e+00] [ 3.51547695e-02 -1.26177741e-03 9.99381084e-01 2.40363829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.27509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.81, Y:4.02, Z:2.41 [[ 9.97054317e-01 -6.86469806e-02 -3.42093795e-02 1.05808078e+02] [ 6.86457997e-02 9.97640361e-01 -1.21041668e-03 4.01735714e+00] [ 3.42117492e-02 -1.14147903e-03 9.99413955e-01 2.40503472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.30509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.84, Y:4.02, Z:2.41 [[ 9.97387723e-01 -6.40934286e-02 -3.33131024e-02 1.05840509e+02] [ 6.40898317e-02 9.97943440e-01 -1.17687339e-03 4.02047851e+00] [ 3.33200219e-02 -9.61232059e-04 9.99444272e-01 2.40603804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.33509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.87, Y:4.02, Z:2.41 [[ 9.97509112e-01 -6.22241310e-02 -3.32224206e-02 1.05872686e+02] [ 6.22195965e-02 9.98061797e-01 -1.17130334e-03 4.02214667e+00] [ 3.32309121e-02 -8.98699844e-04 9.99447297e-01 2.40692455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.91, Y:4.02, Z:2.41 [[ 9.97625110e-01 -6.01240970e-02 -3.36040565e-02 1.05905004e+02] [ 6.01183488e-02 9.98190556e-01 -1.18234188e-03 4.02402524e+00] [ 3.36143391e-02 -8.40686438e-04 9.99434525e-01 2.40830627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.94, Y:4.03, Z:2.41 [[ 9.97647554e-01 -5.98053277e-02 -3.35064412e-02 1.05937089e+02] [ 5.97995127e-02 9.98209714e-01 -1.17653555e-03 4.02544013e+00] [ 3.35168182e-02 -8.29901041e-04 9.99437809e-01 2.40931191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.97, Y:4.03, Z:2.41 [[ 9.97599138e-01 -6.04147243e-02 -3.38529250e-02 1.05969499e+02] [ 6.04092213e-02 9.98172990e-01 -1.18627706e-03 4.02708855e+00] [ 3.38627440e-02 -8.61599861e-04 9.99426121e-01 2.41098065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.00, Y:4.03, Z:2.41 [[ 9.97537266e-01 -6.15251552e-02 -3.36757844e-02 1.06002155e+02] [ 6.15204217e-02 9.98105130e-01 -1.17769415e-03 4.02788940e+00] [ 3.36844310e-02 -8.96954654e-04 9.99432116e-01 2.41170969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.03, Y:4.03, Z:2.41 [[ 9.97469351e-01 -6.26288218e-02 -3.36530123e-02 1.06033519e+02] [ 6.26248010e-02 9.98036450e-01 -1.17455766e-03 4.02835379e+00] [ 3.36604941e-02 -9.35927935e-04 9.99432887e-01 2.41269505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.07, Y:4.03, Z:2.41 [[ 9.97325474e-01 -6.50068122e-02 -3.34067845e-02 1.06065865e+02] [ 6.50042446e-02 9.97884308e-01 -1.16409902e-03 4.02811267e+00] [ 3.34117805e-02 -1.01059719e-03 9.99441160e-01 2.41327144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.10, Y:4.03, Z:2.41 [[ 9.97137415e-01 -6.72604966e-02 -3.45398354e-02 1.06098442e+02] [ 6.72591896e-02 9.97734814e-01 -1.20106453e-03 4.02756616e+00] [ 3.45423805e-02 -1.12549496e-03 9.99402600e-01 2.41442633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.57509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.13, Y:4.03, Z:2.42 [[ 9.97076261e-01 -6.79910505e-02 -3.48732826e-02 1.06129462e+02] [ 6.79902493e-02 9.97685252e-01 -1.21023041e-03 4.02792666e+00] [ 3.48748445e-02 -1.16435116e-03 9.99391009e-01 2.41512188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.16, Y:4.03, Z:2.42 [[ 9.97027404e-01 -6.85113944e-02 -3.52497573e-02 1.06161399e+02] [ 6.85109723e-02 9.97649615e-01 -1.22127025e-03 4.02861712e+00] [ 3.52505778e-02 -1.19735524e-03 9.99377788e-01 2.41628888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.63509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.19, Y:4.03, Z:2.42 [[ 9.96967045e-01 -6.91105474e-02 -3.57832742e-02 1.06193855e+02] [ 6.91105904e-02 9.97608238e-01 -1.23717924e-03 4.02931215e+00] [ 3.57831912e-02 -1.23957627e-03 9.99358808e-01 2.41739803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.23, Y:4.03, Z:2.42 [[ 9.96964879e-01 -6.91430702e-02 -3.57808044e-02 1.06225966e+02] [ 6.91432266e-02 9.97605979e-01 -1.23450744e-03 4.03021965e+00] [ 3.57805021e-02 -1.24323971e-03 9.99358900e-01 2.41804943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.69509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.26, Y:4.03, Z:2.42 [[ 9.96971133e-01 -6.90527817e-02 -3.57808981e-02 1.06258638e+02] [ 6.90529777e-02 9.97612234e-01 -1.23178662e-03 4.03128977e+00] [ 3.57805200e-02 -1.24272185e-03 9.99358900e-01 2.41899041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.72509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.29, Y:4.04, Z:2.42 [[ 9.97253803e-01 -6.67622249e-02 -3.20570866e-02 1.06291926e+02] [ 6.64384489e-02 9.97729201e-01 -1.10623071e-02 4.03542804e+00] [ 3.27228356e-02 8.90210476e-03 9.99424819e-01 2.41803104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.32, Y:4.03, Z:2.42 [[ 9.97030769e-01 -6.79755984e-02 -3.61796143e-02 1.06321907e+02] [ 6.83402920e-02 9.97622019e-01 8.93929219e-03 4.02809113e+00] [ 3.54859262e-02 -1.13852748e-02 9.99305321e-01 2.41752873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.35, Y:4.03, Z:2.42 [[ 9.97065113e-01 -6.73354660e-02 -3.64293273e-02 1.06353579e+02] [ 6.73348130e-02 9.97729658e-01 -1.24620677e-03 4.03384763e+00] [ 3.64305342e-02 -1.21041265e-03 9.99335455e-01 2.42163972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.39, Y:4.03, Z:2.42 [[ 9.97073743e-01 -6.70748367e-02 -3.66731253e-02 1.06385316e+02] [ 6.70740957e-02 9.97747212e-01 -1.25191466e-03 4.03461086e+00] [ 3.66744805e-02 -1.21156548e-03 9.99326531e-01 2.42291475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.42, Y:4.04, Z:2.42 [[ 9.97057821e-01 -6.77595588e-02 -3.58377525e-02 1.06417235e+02] [ 6.77593829e-02 9.97700945e-01 -1.22086986e-03 4.03523365e+00] [ 3.58380851e-02 -1.21106615e-03 9.99356876e-01 2.42424597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.87509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.45, Y:4.04, Z:2.43 [[ 9.97062208e-01 -6.80335827e-02 -3.51906894e-02 1.06448805e+02] [ 6.80336679e-02 9.97682308e-01 -1.19641645e-03 4.03562744e+00] [ 3.51905248e-02 -1.20125005e-03 9.99379900e-01 2.42539295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.48, Y:4.04, Z:2.43 [[ 9.96989598e-01 -6.91107488e-02 -3.51489148e-02 1.06480266e+02] [ 6.91115692e-02 9.97608223e-01 -1.19308977e-03 4.03557745e+00] [ 3.51473018e-02 -1.23969857e-03 9.99381374e-01 2.42678406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.93509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.51, Y:4.04, Z:2.43 [[ 9.96982366e-01 -6.92820632e-02 -3.50165359e-02 1.06511100e+02] [ 6.92830485e-02 9.97596337e-01 -1.18671871e-03 4.03597862e+00] [ 3.50145863e-02 -1.24291473e-03 9.99386028e-01 2.42742123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.54, Y:4.04, Z:2.43 [[ 9.96931658e-01 -6.98420154e-02 -3.53463052e-02 1.06543033e+02] [ 6.98434425e-02 9.97557248e-01 -1.19587444e-03 4.03673491e+00] [ 3.53434852e-02 -1.27650255e-03 9.99374409e-01 2.42890274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.99509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.58, Y:4.04, Z:2.43 [[ 9.96900700e-01 -7.02355394e-02 -3.54395786e-02 1.06575086e+02] [ 7.02373131e-02 9.97529593e-01 -1.19647249e-03 4.03773703e+00] [ 3.54360633e-02 -1.29641652e-03 9.99371105e-01 2.43018323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.61, Y:4.04, Z:2.43 [[ 9.96875949e-01 -7.03443441e-02 -3.59167901e-02 1.06606039e+02] [ 7.03463266e-02 9.97521895e-01 -1.21008322e-03 4.03843144e+00] [ 3.59129070e-02 -1.32031139e-03 9.99354051e-01 2.43168135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.05509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.64, Y:4.04, Z:2.43 [[ 9.96813961e-01 -7.08692635e-02 -3.65988294e-02 1.06638493e+02] [ 7.08717547e-02 9.97484676e-01 -1.23090850e-03 4.03869935e+00] [ 3.65940051e-02 -1.36683649e-03 9.99329280e-01 2.43262378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.67, Y:4.04, Z:2.43 [[ 9.96760209e-01 -7.07764564e-02 -3.82070620e-02 1.06670013e+02] [ 7.07792301e-02 9.97491182e-01 -1.28172757e-03 4.03863723e+00] [ 3.82019236e-02 -1.42669139e-03 9.99269022e-01 2.43260027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.70, Y:4.04, Z:2.43 [[ 9.96759712e-01 -7.04455537e-02 -3.88265411e-02 1.06701791e+02] [ 7.04483256e-02 9.97514585e-01 -1.29845505e-03 4.03909321e+00] [ 3.88215114e-02 -1.44101713e-03 9.99245122e-01 2.43358931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.73, Y:4.04, Z:2.43 [[ 9.96796964e-01 -6.99061099e-02 -3.88451938e-02 1.06734244e+02] [ 6.99085817e-02 9.97552560e-01 -1.29634708e-03 4.04019927e+00] [ 3.88407451e-02 -1.42341758e-03 9.99244400e-01 2.43456211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.77, Y:4.04, Z:2.44 [[ 9.96856469e-01 -6.90848398e-02 -3.87874363e-02 1.06766622e+02] [ 6.90867903e-02 9.97609817e-01 -1.29167117e-03 4.04139931e+00] [ 3.87839621e-02 -1.39208872e-03 9.99246649e-01 2.43575915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.80, Y:4.04, Z:2.44 [[ 9.97048363e-01 -6.62323069e-02 -3.88309558e-02 1.06798672e+02] [ 6.62322099e-02 9.97803402e-01 -1.29032912e-03 4.04325336e+00] [ 3.88311213e-02 -1.28533948e-03 9.99244961e-01 2.43675865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.83, Y:4.04, Z:2.44 [[ 9.97176566e-01 -6.42337113e-02 -3.88963662e-02 1.06828939e+02] [ 6.42321837e-02 9.97934147e-01 -1.29023850e-03 4.04464861e+00] [ 3.88988888e-02 -1.21180294e-03 9.99242417e-01 2.43809082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.86, Y:4.05, Z:2.44 [[ 9.97453950e-01 -5.97902850e-02 -3.88682321e-02 1.06859881e+02] [ 5.97854230e-02 9.98210420e-01 -1.28843499e-03 4.04724755e+00] [ 3.88757102e-02 -1.03859913e-03 9.99243514e-01 2.43963009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.89, Y:4.05, Z:2.44 [[ 9.97561666e-01 -5.82267015e-02 -3.84756300e-02 1.06890097e+02] [ 5.82208142e-02 9.98302916e-01 -1.27440611e-03 4.04906375e+00] [ 3.84845381e-02 -9.68783821e-04 9.99258726e-01 2.44053186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.92, Y:4.05, Z:2.44 [[ 9.97661102e-01 -5.67717866e-02 -3.80695457e-02 1.06919199e+02] [ 5.67649582e-02 9.98386773e-01 -1.26111756e-03 4.05034294e+00] [ 3.80797268e-02 -9.02848233e-04 9.99274296e-01 2.44159918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.35509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.95, Y:4.05, Z:2.44 [[ 9.97738776e-01 -5.59558531e-02 -3.72327341e-02 1.06950112e+02] [ 5.59487350e-02 9.98432880e-01 -1.23389175e-03 4.05188263e+00] [ 3.72434294e-02 -8.52022724e-04 9.99305860e-01 2.44328648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.98, Y:4.05, Z:2.44 [[ 9.97747057e-01 -5.61754741e-02 -3.66759650e-02 1.06980273e+02] [ 5.61687153e-02 9.98420552e-01 -1.21544044e-03 4.05263025e+00] [ 3.66863152e-02 -8.47339712e-04 9.99326471e-01 2.44426111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.41509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.01, Y:4.05, Z:2.45 [[ 9.97634725e-01 -5.80846089e-02 -3.67577765e-02 1.07010139e+02] [ 5.80791093e-02 9.98311240e-01 -1.21829325e-03 4.05260070e+00] [ 3.67664655e-02 -9.19447267e-04 9.99323462e-01 2.44521231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.04, Y:4.05, Z:2.45 [[ 9.97537146e-01 -5.96149487e-02 -3.69553695e-02 1.07040695e+02] [ 5.96104198e-02 9.98220966e-01 -1.22536079e-03 4.05296017e+00] [ 3.69626745e-02 -9.80582187e-04 9.99316166e-01 2.44636922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.47509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.07, Y:4.05, Z:2.45 [[ 9.97420542e-01 -6.13965592e-02 -3.71850008e-02 1.07071252e+02] [ 6.13932160e-02 9.98112896e-01 -1.23282899e-03 4.05350064e+00] [ 3.71905203e-02 -1.05325782e-03 9.99307638e-01 2.44753197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.10, Y:4.05, Z:2.45 [[ 9.97065424e-01 -6.56535409e-02 -3.93719714e-02 1.07102785e+02] [ 6.56531439e-02 9.97841652e-01 -1.30442770e-03 4.05359451e+00] [ 3.93726333e-02 -1.28429395e-03 9.99223772e-01 2.44940728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.13, Y:4.05, Z:2.45 [[ 9.96625055e-01 -7.07422072e-02 -4.16418044e-02 1.07134227e+02] [ 7.07462631e-02 9.97493392e-01 -1.37808376e-03 4.05252530e+00] [ 4.16349134e-02 -1.57256924e-03 9.99131653e-01 2.44993528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.16, Y:4.05, Z:2.45 [[ 9.96402505e-01 -7.34166892e-02 -4.23324756e-02 1.07164393e+02] [ 7.34233453e-02 9.97299881e-01 -1.39964109e-03 4.05242422e+00] [ 4.23209299e-02 -1.71358609e-03 9.99102599e-01 2.45051331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.59509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.20, Y:4.05, Z:2.45 [[ 9.96168292e-01 -7.60712684e-02 -4.31496857e-02 1.07195337e+02] [ 7.60807148e-02 9.97100643e-01 -1.42561532e-03 4.05242175e+00] [ 4.31330277e-02 -1.86270615e-03 9.99067601e-01 2.45186308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.23, Y:4.05, Z:2.45 [[ 9.95857499e-01 -7.99738535e-02 -4.32669024e-02 1.07226195e+02] [ 7.99871037e-02 9.96794876e-01 -1.42765940e-03 4.05193466e+00] [ 4.32424020e-02 -2.03904888e-03 9.99062529e-01 2.45316134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.65509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.26, Y:4.05, Z:2.46 [[ 9.95726007e-01 -8.18647815e-02 -4.27536797e-02 1.07258723e+02] [ 8.18795652e-02 9.96641236e-01 -1.40817303e-03 4.05280149e+00] [ 4.27253600e-02 -2.09849820e-03 9.99084651e-01 2.45510102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.29, Y:4.05, Z:2.46 [[ 9.95748631e-01 -8.20328259e-02 -4.18960649e-02 1.07290113e+02] [ 8.20472844e-02 9.96627486e-01 -1.37717023e-03 4.05381282e+00] [ 4.18677430e-02 -2.06614299e-03 9.99121025e-01 2.45611313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.71509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.32, Y:4.05, Z:2.46 [[ 9.95820827e-01 -8.17312397e-02 -4.07539548e-02 1.07321946e+02] [ 8.17447633e-02 9.96652400e-01 -1.33725317e-03 4.05437576e+00] [ 4.07268222e-02 -1.99975783e-03 9.99168318e-01 2.45691042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.35, Y:4.05, Z:2.46 [[ 9.95840207e-01 -8.15941503e-02 -4.05546149e-02 1.07352889e+02] [ 8.16075376e-02 9.96663658e-01 -1.32801541e-03 4.05468469e+00] [ 4.05276691e-02 -1.98707111e-03 9.99176441e-01 2.45751885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.77509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.39, Y:4.05, Z:2.46 [[ 9.95852412e-01 -8.14823862e-02 -4.04795429e-02 1.07385542e+02] [ 8.14957282e-02 9.96672813e-01 -1.32317416e-03 4.05491406e+00] [ 4.04526753e-02 -1.98122365e-03 9.99179491e-01 2.45802093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.80509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.42, Y:4.06, Z:2.46 [[ 9.95846794e-01 -8.21722771e-02 -3.92030475e-02 1.07416996e+02] [ 8.20462066e-02 9.96616887e-01 -4.81664698e-03 4.05838109e+00] [ 3.94662140e-02 1.58018112e-03 9.99219656e-01 2.45926871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.83509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.45, Y:4.05, Z:2.46 [[ 9.95875108e-01 -8.11128825e-02 -4.06628707e-02 1.07449203e+02] [ 8.12646296e-02 9.96690369e-01 2.09018634e-03 4.05492390e+00] [ 4.03587505e-02 -5.38601767e-03 9.99170737e-01 2.45921203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.48, Y:4.06, Z:2.46 [[ 9.95883862e-01 -8.15658671e-02 -3.95264848e-02 1.07480750e+02] [ 8.14879838e-02 9.96667894e-01 -3.58020784e-03 4.05929631e+00] [ 3.96868012e-02 3.44537653e-04 9.99212109e-01 2.46145343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.51, Y:4.06, Z:2.46 [[ 9.95794035e-01 -8.15768293e-02 -4.17068544e-02 1.07512526e+02] [ 8.16862678e-02 9.96657665e-01 9.23733825e-04 4.05668448e+00] [ 4.14921009e-02 -4.32672591e-03 9.99129464e-01 2.46158747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.54, Y:4.06, Z:2.46 [[ 9.95682288e-01 -8.21249014e-02 -4.32698733e-02 1.07543971e+02] [ 8.21416007e-02 9.96619693e-01 -1.39489843e-03 4.05746909e+00] [ 4.32381637e-02 -2.16538099e-03 9.99062447e-01 2.46263522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.58, Y:4.06, Z:2.46 [[ 9.95636922e-01 -8.18646819e-02 -4.47805113e-02 1.07576546e+02] [ 8.18825170e-02 9.96640950e-01 -1.43895560e-03 4.05793559e+00] [ 4.47478910e-02 -2.23406366e-03 9.98995813e-01 2.46307607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.61, Y:4.06, Z:2.46 [[ 9.95631062e-01 -8.15387343e-02 -4.54997111e-02 1.07608976e+02] [ 8.15569593e-02 9.96667615e-01 -1.45877329e-03 4.05936435e+00] [ 4.54670350e-02 -2.25841808e-03 9.98963287e-01 2.46436018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.64, Y:4.06, Z:2.47 [[ 9.95671693e-01 -8.06853911e-02 -4.61275143e-02 1.07639751e+02] [ 8.07033513e-02 9.96737072e-01 -1.47586637e-03 4.06099072e+00] [ 4.60960844e-02 -2.25316663e-03 9.98934469e-01 2.46555996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.67, Y:4.06, Z:2.47 [[ 9.95735892e-01 -7.98082073e-02 -4.62675169e-02 1.07670691e+02] [ 7.98254331e-02 9.96807762e-01 -1.47818099e-03 4.06295683e+00] [ 4.62377910e-02 -2.22144671e-03 9.98927991e-01 2.46687708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.07509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.70, Y:4.06, Z:2.47 [[ 9.95739204e-01 -7.97668464e-02 -4.62675722e-02 1.07702512e+02] [ 7.97841079e-02 9.96811073e-01 -1.47644853e-03 4.06394275e+00] [ 4.62378000e-02 -2.22125930e-03 9.98927991e-01 2.46779607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.73, Y:4.07, Z:2.47 [[ 9.95969031e-01 -7.69760651e-02 -4.60475368e-02 1.07734098e+02] [ 7.69902702e-02 9.97030764e-01 -1.46761835e-03 4.06588309e+00] [ 4.60237823e-02 -2.08350987e-03 9.98938171e-01 2.46965641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.13509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.76, Y:4.07, Z:2.47 [[ 9.96143997e-01 -7.51974452e-02 -4.51938253e-02 1.07764192e+02] [ 7.52093592e-02 9.97166727e-01 -1.43910486e-03 4.06721320e+00] [ 4.51739959e-02 -1.96544298e-03 9.98977201e-01 2.47065335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.80, Y:4.07, Z:2.47 [[ 9.96475704e-01 -7.12494848e-02 -4.42682894e-02 1.07795755e+02] [ 7.12570721e-02 9.97456989e-01 -1.40858325e-03 4.06927039e+00] [ 4.42560755e-02 -1.75080970e-03 9.99018686e-01 2.47240646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.19509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.83, Y:4.07, Z:2.47 [[ 9.96640565e-01 -6.90977452e-02 -4.39668648e-02 1.07825881e+02] [ 6.91031954e-02 9.97608538e-01 -1.39770775e-03 4.07113832e+00] [ 4.39582982e-02 -1.64523861e-03 9.99032012e-01 2.47348250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.22509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.86, Y:4.07, Z:2.47 [[ 9.96803142e-01 -6.68754700e-02 -4.37169138e-02 1.07856667e+02] [ 6.68787464e-02 9.97760143e-01 -1.38925683e-03 4.07321682e+00] [ 4.37119014e-02 -1.53891682e-03 9.99042993e-01 2.47474150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.89, Y:4.08, Z:2.48 [[ 9.97090679e-01 -6.23889577e-02 -4.37926474e-02 1.07887004e+02] [ 6.23879238e-02 9.98051006e-01 -1.39166353e-03 4.07568547e+00] [ 4.37941202e-02 -1.34451762e-03 9.99039673e-01 2.47636111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.92, Y:4.08, Z:2.48 [[ 9.97221984e-01 -6.03175537e-02 -4.37047680e-02 1.07916869e+02] [ 6.03145135e-02 9.98178455e-01 -1.38940854e-03 4.07701204e+00] [ 4.37089635e-02 -1.25048308e-03 9.99043524e-01 2.47711954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.95, Y:4.08, Z:2.48 [[ 9.97423888e-01 -5.69262642e-02 -4.36461779e-02 1.07945007e+02] [ 5.69199081e-02 9.98377781e-01 -1.38938447e-03 4.07816141e+00] [ 4.36544667e-02 -1.09853118e-03 9.99046085e-01 2.47820049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.97, Y:4.08, Z:2.48 [[ 9.97445588e-01 -5.60356652e-02 -4.42978899e-02 1.07972415e+02] [ 5.60279746e-02 9.98428195e-01 -1.41613953e-03 4.07928922e+00] [ 4.43076166e-02 -1.06939892e-03 9.99017363e-01 2.47907978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.37509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.00, Y:4.08, Z:2.48 [[ 9.97506212e-01 -5.40650400e-02 -4.53688124e-02 1.07999672e+02] [ 5.40544589e-02 9.98536920e-01 -1.46091626e-03 4.08075914e+00] [ 4.53814187e-02 -9.95113560e-04 9.98969237e-01 2.48011426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.03, Y:4.08, Z:2.48 [[ 9.97541507e-01 -5.37120059e-02 -4.50107002e-02 1.08027226e+02] [ 5.37008672e-02 9.98556004e-01 -1.45747636e-03 4.08277129e+00] [ 4.50239889e-02 -9.63220470e-04 9.98985442e-01 2.48217696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.43509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.06, Y:4.08, Z:2.48 [[ 9.97523709e-01 -5.41535684e-02 -4.48758377e-02 1.08055074e+02] [ 5.41423760e-02 9.98532150e-01 -1.46571748e-03 4.08419970e+00] [ 4.48893406e-02 -9.67596546e-04 9.98991497e-01 2.48374398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.08, Y:4.09, Z:2.48 [[ 9.97483529e-01 -5.48851363e-02 -4.48801799e-02 1.08083292e+02] [ 5.48741082e-02 9.98492186e-01 -1.47861873e-03 4.08522611e+00] [ 4.48936632e-02 -9.87862020e-04 9.98991283e-01 2.48495220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.49509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.11, Y:4.09, Z:2.49 [[ 9.97388136e-01 -5.59357725e-02 -4.56956881e-02 1.08111273e+02] [ 5.59248424e-02 9.98433826e-01 -1.51859115e-03 4.08601411e+00] [ 4.57090643e-02 -1.04089936e-03 9.98954252e-01 2.48576528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.14, Y:4.09, Z:2.49 [[ 9.97149395e-01 -5.83670683e-02 -4.78159937e-02 1.08139158e+02] [ 5.83572277e-02 9.98294478e-01 -1.60297225e-03 4.08651353e+00] [ 4.78280032e-02 -1.19200603e-03 9.98854875e-01 2.48592758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.55509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.17, Y:4.09, Z:2.49 [[ 9.97067406e-01 -5.95880901e-02 -4.80192360e-02 1.08165680e+02] [ 5.95790743e-02 9.98222274e-01 -1.62030261e-03 4.08725397e+00] [ 4.80304217e-02 -1.24539070e-03 9.98845097e-01 2.48676414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.19, Y:4.09, Z:2.49 [[ 9.97002415e-01 -6.10692367e-02 -4.75050716e-02 1.08193506e+02] [ 6.10616737e-02 9.98132694e-01 -1.61173434e-03 4.08832991e+00] [ 4.75147925e-02 -1.29383615e-03 9.98869696e-01 2.48771840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.22, Y:4.09, Z:2.49 [[ 9.96986184e-01 -6.13339964e-02 -4.75046236e-02 1.08221866e+02] [ 6.13261089e-02 9.98116460e-01 -1.62485306e-03 4.08937036e+00] [ 4.75148055e-02 -1.29331767e-03 9.98869697e-01 2.48854079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.25, Y:4.09, Z:2.49 [[ 9.96905363e-01 -6.32800780e-02 -4.66404258e-02 1.08249318e+02] [ 6.32740106e-02 9.97994897e-01 -1.60792831e-03 4.09077582e+00] [ 4.66486568e-02 -1.34817444e-03 9.98910449e-01 2.48991937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.28, Y:4.09, Z:2.49 [[ 9.96791844e-01 -6.61412640e-02 -4.50705226e-02 1.08278235e+02] [ 6.61379676e-02 9.97809259e-01 -1.56596440e-03 4.09226584e+00] [ 4.50753596e-02 -1.41993222e-03 9.98982580e-01 2.49209845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.31, Y:4.09, Z:2.49 [[ 9.96712641e-01 -6.75532449e-02 -4.47266143e-02 1.08307311e+02] [ 6.75510770e-02 9.97714595e-01 -1.56162152e-03 4.09321373e+00] [ 4.47298885e-02 -1.46484306e-03 9.98998044e-01 2.49348454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.34, Y:4.09, Z:2.49 [[ 9.96453453e-01 -7.11851289e-02 -4.48686332e-02 1.08337969e+02] [ 7.11865986e-02 9.97461785e-01 -1.56710404e-03 4.09365841e+00] [ 4.48663015e-02 -1.63249915e-03 9.98991667e-01 2.49427477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.37, Y:4.09, Z:2.49 [[ 9.96287149e-01 -7.33213831e-02 -4.51208481e-02 1.08368188e+02] [ 7.33250692e-02 9.97306849e-01 -1.57562222e-03 4.09424015e+00] [ 4.51148577e-02 -1.73871714e-03 9.98980293e-01 2.49483220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.40, Y:4.09, Z:2.50 [[ 9.96093233e-01 -7.60501104e-02 -4.48848670e-02 1.08399207e+02] [ 7.60565703e-02 9.97102274e-01 -1.56629559e-03 4.09461443e+00] [ 4.48739199e-02 -1.85361261e-03 9.98990939e-01 2.49546001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.43, Y:4.09, Z:2.50 [[ 9.95713978e-01 -8.09097697e-02 -4.48027193e-02 1.08429454e+02] [ 8.09211703e-02 9.96719280e-01 -1.56211663e-03 4.09465723e+00] [ 4.47821246e-02 -2.07006711e-03 9.98994633e-01 2.49605142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.85509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.46, Y:4.09, Z:2.50 [[ 9.95537752e-01 -8.31234401e-02 -4.46662944e-02 1.08461743e+02] [ 8.31370670e-02 9.96536907e-01 -1.55569646e-03 4.09495934e+00] [ 4.46409257e-02 -2.16467015e-03 9.99000752e-01 2.49700557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.49, Y:4.09, Z:2.50 [[ 9.95195159e-01 -8.71860173e-02 -4.45555215e-02 1.08492536e+02] [ 8.72038078e-02 9.96189289e-01 -1.54794042e-03 4.09462118e+00] [ 4.45206921e-02 -2.34490832e-03 9.99005710e-01 2.49789457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.91509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.52, Y:4.09, Z:2.50 [[ 9.95042772e-01 -8.88317483e-02 -4.47079704e-02 1.08523791e+02] [ 8.88515027e-02 9.96043679e-01 -1.54907166e-03 4.09499862e+00] [ 4.46686981e-02 -2.43097779e-03 9.98998898e-01 2.49885343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.56, Y:4.10, Z:2.50 [[ 9.94958208e-01 -8.98515947e-02 -4.45517208e-02 1.08555569e+02] [ 8.98723481e-02 9.95952100e-01 -1.54099742e-03 4.09530914e+00] [ 4.45098410e-02 -2.47073973e-03 9.99005891e-01 2.49969383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.97509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.59, Y:4.10, Z:2.50 [[ 9.94826128e-01 -9.13361281e-02 -4.44824379e-02 1.08587721e+02] [ 9.13584372e-02 9.95816890e-01 -1.53540760e-03 4.09592533e+00] [ 4.44366012e-02 -2.53638241e-03 9.99008987e-01 2.50098561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.62, Y:4.10, Z:2.50 [[ 9.94859458e-01 -9.05704978e-02 -4.52950790e-02 1.08619764e+02] [ 9.05929923e-02 9.95886779e-01 -1.56012678e-03 4.09719605e+00] [ 4.52500718e-02 -2.55130987e-03 9.98972433e-01 2.50216560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.65, Y:4.10, Z:2.50 [[ 9.94897197e-01 -8.99268780e-02 -4.57463111e-02 1.08652047e+02] [ 8.99492995e-02 9.95945105e-01 -1.57232402e-03 4.09873467e+00] [ 4.57022088e-02 -2.55054787e-03 9.98951852e-01 2.50310350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.68, Y:4.10, Z:2.50 [[ 9.95057584e-01 -8.77255559e-02 -4.65255977e-02 1.08683159e+02] [ 8.77464961e-02 9.96141559e-01 -1.59601656e-03 4.10117434e+00] [ 4.64860929e-02 -2.49432979e-03 9.98915823e-01 2.50459711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.09509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.72, Y:4.10, Z:2.51 [[ 9.95221183e-01 -8.60988506e-02 -4.60628319e-02 1.08715399e+02] [ 8.61177671e-02 9.96283716e-01 -1.57733981e-03 4.10313232e+00] [ 4.60274564e-02 -2.39702623e-03 9.98937299e-01 2.50570373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.75, Y:4.11, Z:2.51 [[ 9.95540841e-01 -8.26902811e-02 -4.53954909e-02 1.08746305e+02] [ 8.27052526e-02 9.96572844e-01 -1.55151841e-03 4.10681461e+00] [ 4.53682090e-02 -2.20984560e-03 9.98967888e-01 2.50776236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.15509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.78, Y:4.11, Z:2.51 [[ 9.95728859e-01 -8.07548875e-02 -4.47513867e-02 1.08778811e+02] [ 8.07676055e-02 9.96731791e-01 -1.52683438e-03 4.10908536e+00] [ 4.47284292e-02 -2.09414929e-03 9.98996988e-01 2.50852956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.81, Y:4.11, Z:2.51 [[ 9.96087514e-01 -7.66878754e-02 -4.39162075e-02 1.08810749e+02] [ 7.66963130e-02 9.97053379e-01 -1.49524502e-03 4.11179008e+00] [ 4.39014703e-02 -1.87881631e-03 9.99034099e-01 2.50890801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.21509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.84, Y:4.11, Z:2.51 [[ 9.96247479e-01 -7.46575961e-02 -4.37858841e-02 1.08842247e+02] [ 7.46641528e-02 9.97207627e-01 -1.48792752e-03 4.11333247e+00] [ 4.37747027e-02 -1.78689190e-03 9.99039830e-01 2.50980083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.87, Y:4.12, Z:2.51 [[ 9.96518133e-01 -7.14053063e-02 -4.30452532e-02 1.08874053e+02] [ 7.14087229e-02 9.97446070e-01 -1.46020453e-03 4.11590854e+00] [ 4.30395850e-02 -1.61868627e-03 9.99072056e-01 2.51013091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.27509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.90, Y:4.12, Z:2.51 [[ 9.96729625e-01 -6.86742519e-02 -4.25899281e-02 1.08904927e+02] [ 6.86752268e-02 9.97638028e-01 -1.44194244e-03 4.11857985e+00] [ 4.25883562e-02 -1.48764622e-03 9.99091597e-01 2.51100469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.30509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.94, Y:4.12, Z:2.51 [[ 9.96851167e-01 -6.72365252e-02 -4.20357084e-02 1.08935047e+02] [ 6.72362951e-02 9.97736068e-01 -1.42086478e-03 4.12130351e+00] [ 4.20360764e-02 -1.40993458e-03 9.99115099e-01 2.51229090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.33509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.97, Y:4.12, Z:2.51 [[ 9.96902342e-01 -6.66392321e-02 -4.17723868e-02 1.08966363e+02] [ 6.66385702e-02 9.97776184e-01 -1.40982975e-03 4.12271752e+00] [ 4.17734426e-02 -1.37818954e-03 9.99126158e-01 2.51309054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.00, Y:4.12, Z:2.51 [[ 9.96912771e-01 -6.68614414e-02 -4.11640069e-02 1.08996748e+02] [ 6.68610579e-02 9.97761331e-01 -1.38757772e-03 4.12374018e+00] [ 4.11646298e-02 -1.36897510e-03 9.99151440e-01 2.51405538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.03, Y:4.12, Z:2.52 [[ 9.96869334e-01 -6.87638405e-02 -3.90264612e-02 1.09029367e+02] [ 6.87650399e-02 9.97632019e-01 -1.31319743e-03 4.12418730e+00] [ 3.90243477e-02 -1.37456991e-03 9.99237315e-01 2.51584999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.06, Y:4.13, Z:2.52 [[ 9.96706230e-01 -7.11844319e-02 -3.88518702e-02 1.09060721e+02] [ 7.11875573e-02 9.97462094e-01 -1.30471776e-03 4.12539170e+00] [ 3.88461434e-02 -1.46534942e-03 9.99244129e-01 2.51746271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.09, Y:4.13, Z:2.52 [[ 9.96712533e-01 -7.10960786e-02 -3.88519518e-02 1.09093394e+02] [ 7.10992316e-02 9.97468397e-01 -1.30228428e-03 4.12642975e+00] [ 3.88461814e-02 -1.46434086e-03 9.99244129e-01 2.51840613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.13, Y:4.13, Z:2.52 [[ 9.96582109e-01 -7.28373279e-02 -3.89720765e-02 1.09125795e+02] [ 7.28419584e-02 9.97342645e-01 -1.30300054e-03 4.12767889e+00] [ 3.89634209e-02 -1.54025535e-03 9.99239451e-01 2.51975954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.16, Y:4.13, Z:2.52 [[ 9.96446881e-01 -7.42477863e-02 -3.97602656e-02 1.09157211e+02] [ 7.42538373e-02 9.97238491e-01 -1.32659548e-03 4.12867873e+00] [ 3.97489641e-02 -1.63047037e-03 9.99208367e-01 2.52093978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.19, Y:4.13, Z:2.52 [[ 9.96274832e-01 -7.61392413e-02 -4.04879704e-02 1.09189075e+02] [ 7.61471735e-02 9.97095677e-01 -1.34844623e-03 4.12966682e+00] [ 4.04730500e-02 -1.73962147e-03 9.99179116e-01 2.52177559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.57509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.22, Y:4.13, Z:2.52 [[ 9.96155253e-01 -7.72016935e-02 -4.14078485e-02 1.09220908e+02] [ 7.72110310e-02 9.97013823e-01 -1.37610156e-03 4.13028091e+00] [ 4.13904347e-02 -1.82633188e-03 9.99141380e-01 2.52215411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.25, Y:4.13, Z:2.52 [[ 9.96074305e-01 -7.80663540e-02 -4.17327522e-02 1.09251932e+02] [ 7.80767115e-02 9.96946393e-01 -1.38413995e-03 4.13085364e+00] [ 4.17133715e-02 -1.87964982e-03 9.99127850e-01 2.52247212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.63509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.28, Y:4.13, Z:2.52 [[ 9.96044710e-01 -7.85062081e-02 -4.16138205e-02 1.09284055e+02] [ 7.85169916e-02 9.96911824e-01 -1.37773607e-03 4.13181156e+00] [ 4.15934705e-02 -1.89510528e-03 9.99132820e-01 2.52329947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.32, Y:4.13, Z:2.52 [[ 9.96144084e-01 -7.78338865e-02 -4.04827108e-02 1.09315374e+02] [ 7.78436763e-02 9.96964681e-01 -1.33682239e-03 4.13264627e+00] [ 4.04638829e-02 -1.81965532e-03 9.99179345e-01 2.52396967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.69509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.35, Y:4.13, Z:2.53 [[ 9.96173233e-01 -7.75642621e-02 -4.02824352e-02 1.09347860e+02] [ 7.75739094e-02 9.96985722e-01 -1.32588079e-03 4.13342835e+00] [ 4.02638537e-02 -1.80405903e-03 9.99187454e-01 2.52513482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.72509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.38, Y:4.13, Z:2.53 [[ 9.96231652e-01 -7.73300212e-02 -3.92754904e-02 1.09379715e+02] [ 7.73391174e-02 9.97004010e-01 -1.28997923e-03 4.13409199e+00] [ 3.92575755e-02 -1.75241362e-03 9.99227588e-01 2.52598927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.41, Y:4.13, Z:2.53 [[ 9.96321302e-01 -7.66694722e-02 -3.82838716e-02 1.09412086e+02] [ 7.66777305e-02 9.97055140e-01 -1.25470488e-03 4.13462786e+00] [ 3.82673285e-02 -1.68543118e-03 9.99266116e-01 2.52708181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.44, Y:4.13, Z:2.53 [[ 9.96483987e-01 -7.61209149e-02 -3.50038694e-02 1.09443552e+02] [ 7.61275563e-02 9.97097430e-01 -1.14495602e-03 4.13419792e+00] [ 3.49894233e-02 -1.52382869e-03 9.99386521e-01 2.52759062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.48, Y:4.13, Z:2.53 [[ 9.96616987e-01 -7.52215537e-02 -3.31104127e-02 1.09476014e+02] [ 7.52270605e-02 9.97165844e-01 -1.08116379e-03 4.13419109e+00] [ 3.30978994e-02 -1.41329281e-03 9.99451115e-01 2.52887734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.51, Y:4.13, Z:2.53 [[ 9.96698230e-01 -7.45612771e-02 -3.21442852e-02 1.09509511e+02] [ 7.45662155e-02 9.97215515e-01 -1.04676220e-03 4.13492649e+00] [ 3.21328279e-02 -1.35357166e-03 9.99482691e-01 2.52982469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.87509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.54, Y:4.14, Z:2.53 [[ 9.96796558e-01 -7.36367455e-02 -3.12130127e-02 1.09542030e+02] [ 7.36410502e-02 9.97284297e-01 -1.01318754e-03 4.13564359e+00] [ 3.12028553e-02 -1.28861718e-03 9.99512242e-01 2.53103917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.58, Y:4.14, Z:2.53 [[ 9.96915548e-01 -7.22086851e-02 -3.07456792e-02 1.09575370e+02] [ 7.22122838e-02 9.97388789e-01 -9.94757898e-04 4.13591480e+00] [ 3.07372259e-02 -1.22852610e-03 9.99526745e-01 2.53194995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.93509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.61, Y:4.14, Z:2.53 [[ 9.97087083e-01 -7.02146939e-02 -2.97866768e-02 1.09608304e+02] [ 7.02172760e-02 9.97531258e-01 -9.60598007e-04 4.13571672e+00] [ 2.97805892e-02 -1.13373944e-03 9.99555817e-01 2.53271034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.64, Y:4.14, Z:2.53 [[ 9.97162362e-01 -6.91013554e-02 -2.98701560e-02 1.09640818e+02] [ 6.91035513e-02 9.97609030e-01 -9.60014382e-04 4.13641033e+00] [ 2.98650756e-02 -1.10684365e-03 9.99553326e-01 2.53378286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.99509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.67, Y:4.14, Z:2.53 [[ 9.97230372e-01 -6.79320101e-02 -3.02791439e-02 1.09673440e+02] [ 6.79338138e-02 9.97689358e-01 -9.70343561e-04 4.13699382e+00] [ 3.02750970e-02 -1.08932165e-03 9.99541011e-01 2.53452096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.70, Y:4.14, Z:2.54 [[ 9.97283690e-01 -6.65578961e-02 -3.15481895e-02 1.09704519e+02] [ 6.65592770e-02 9.97781964e-01 -1.00756666e-03 4.13650766e+00] [ 3.15452760e-02 -1.09499489e-03 9.99501724e-01 2.53534698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.05509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.74, Y:4.14, Z:2.54 [[ 9.97342832e-01 -6.51761013e-02 -3.25476923e-02 1.09736534e+02] [ 6.51768981e-02 9.97873186e-01 -1.03760904e-03 4.13543026e+00] [ 3.25460968e-02 -1.08650569e-03 9.99469645e-01 2.53585675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.77, Y:4.14, Z:2.54 [[ 9.97386755e-01 -6.43907568e-02 -3.27641830e-02 1.09768413e+02] [ 6.43912190e-02 9.97924188e-01 -1.04213365e-03 4.13525336e+00] [ 3.27632745e-02 -1.07031539e-03 9.99462567e-01 2.53646775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.80, Y:4.13, Z:2.54 [[ 9.97444898e-01 -6.32867709e-02 -3.31430238e-02 1.09799420e+02] [ 6.32867131e-02 9.97994832e-01 -1.05184136e-03 4.13490729e+00] [ 3.31431341e-02 -1.04835924e-03 9.99450066e-01 2.53703488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.83, Y:4.13, Z:2.54 [[ 9.97584114e-01 -6.07595509e-02 -3.36780650e-02 1.09831588e+02] [ 6.07581179e-02 9.98151949e-01 -1.06689456e-03 4.13338691e+00] [ 3.36806502e-02 -9.81898776e-04 9.99432164e-01 2.53715685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.86, Y:4.13, Z:2.54 [[ 9.97790815e-01 -5.76408660e-02 -3.30305974e-02 1.09862624e+02] [ 5.76378546e-02 9.98337011e-01 -1.04412084e-03 4.13227896e+00] [ 3.30358519e-02 -8.61998584e-04 9.99453796e-01 2.53798837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.89, Y:4.13, Z:2.54 [[ 9.97932802e-01 -5.57305326e-02 -3.20035927e-02 1.09893541e+02] [ 5.57267753e-02 9.98445545e-01 -1.01004405e-03 4.13259139e+00] [ 3.20101349e-02 -7.75500931e-04 9.99487243e-01 2.53897663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.92, Y:4.13, Z:2.54 [[ 9.98192486e-01 -5.18929582e-02 -3.03130777e-02 1.09924018e+02] [ 5.18878486e-02 9.98652461e-01 -9.55689842e-04 4.13211391e+00] [ 3.03218232e-02 -6.18917967e-04 9.99539996e-01 2.54050554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.96, Y:4.13, Z:2.54 [[ 9.98347521e-01 -4.91783421e-02 -2.97274078e-02 1.09955192e+02] [ 4.91722408e-02 9.98789874e-01 -9.36692869e-04 4.13107674e+00] [ 2.97374989e-02 -5.26618250e-04 9.99557604e-01 2.54156290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.99, Y:4.13, Z:2.54 [[ 9.98389140e-01 -4.82642434e-02 -2.98276330e-02 1.09985802e+02] [ 4.82577243e-02 9.98834476e-01 -9.38808117e-04 4.12961606e+00] [ 2.98381791e-02 -5.02117862e-04 9.99554616e-01 2.54230735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.02, Y:4.13, Z:2.54 [[ 9.98382692e-01 -4.84772790e-02 -2.96976930e-02 1.10016390e+02] [ 4.84709111e-02 9.98824157e-01 -9.34703080e-04 4.12904943e+00] [ 2.97080850e-02 -5.06282860e-04 9.99558489e-01 2.54307590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.35509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.05, Y:4.12, Z:2.54 [[ 9.98229682e-01 -5.19635133e-02 -2.89360680e-02 1.10048098e+02] [ 5.19589462e-02 9.98648807e-01 -9.10222683e-04 4.12474530e+00] [ 2.89442681e-02 -5.94876298e-04 9.99580850e-01 2.54340739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.08, Y:4.12, Z:2.54 [[ 9.97970504e-01 -5.66723214e-02 -2.90365593e-02 1.10078948e+02] [ 5.66697438e-02 9.98392562e-01 -9.12348497e-04 4.12054601e+00] [ 2.90415898e-02 -7.34997488e-04 9.99577934e-01 2.54389945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.41509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.11, Y:4.12, Z:2.54 [[ 9.97785574e-01 -5.97095382e-02 -2.93039166e-02 1.10111618e+02] [ 5.97082374e-02 9.98215447e-01 -9.20200293e-04 4.11789930e+00] [ 2.93065669e-02 -8.31522632e-04 9.99570124e-01 2.54423836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.14, Y:4.12, Z:2.55 [[ 9.97791015e-01 -5.96185169e-02 -2.93039839e-02 1.10144290e+02] [ 5.96172399e-02 9.98220888e-01 -9.18051945e-04 4.11886909e+00] [ 2.93065817e-02 -8.30998656e-04 9.99570124e-01 2.54518159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.47509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.18, Y:4.12, Z:2.55 [[ 9.97704408e-01 -6.10567306e-02 -2.92914565e-02 1.10175037e+02] [ 6.10561516e-02 9.98133913e-01 -9.15002866e-04 4.11786608e+00] [ 2.92926632e-02 -8.75521218e-04 9.99570494e-01 2.54578696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.21, Y:4.12, Z:2.55 [[ 9.97709823e-01 -6.09681604e-02 -2.92915067e-02 1.10207708e+02] [ 6.09675906e-02 9.98139328e-01 -9.13393646e-04 4.11882816e+00] [ 2.92926928e-02 -8.74530775e-04 9.99570494e-01 2.54673034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.24, Y:4.12, Z:2.55 [[ 9.97713061e-01 -6.09151109e-02 -2.92915871e-02 1.10239534e+02] [ 6.09145940e-02 9.98142566e-01 -9.10809307e-04 4.11978959e+00] [ 2.92926619e-02 -8.75558793e-04 9.99570494e-01 2.54764896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.27, Y:4.12, Z:2.55 [[ 9.97647755e-01 -6.20019845e-02 -2.92354383e-02 1.10271699e+02] [ 6.20019813e-02 9.98075614e-01 -9.07505025e-04 4.11903155e+00] [ 2.92354451e-02 -9.07284746e-04 9.99572141e-01 2.54851068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.59509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.30, Y:4.12, Z:2.55 [[ 9.97653704e-01 -6.19061591e-02 -2.92355028e-02 1.10304373e+02] [ 6.19061758e-02 9.98081563e-01 -9.05421230e-04 4.11998699e+00] [ 2.92354675e-02 -9.06561332e-04 9.99572141e-01 2.54945398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.34, Y:4.12, Z:2.55 [[ 9.97618965e-01 -6.25944497e-02 -2.89540158e-02 1.10335205e+02] [ 6.25948353e-02 9.98038620e-01 -8.93945493e-04 4.11920208e+00] [ 2.89531820e-02 -9.20554873e-04 9.99580345e-01 2.55015918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.65509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.37, Y:4.12, Z:2.55 [[ 9.97594864e-01 -6.31399091e-02 -2.85978815e-02 1.10367745e+02] [ 6.31406002e-02 9.98004254e-01 -8.79762697e-04 4.11756110e+00] [ 2.85963555e-02 -9.28040655e-04 9.99590610e-01 2.55058732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.40, Y:4.12, Z:2.55 [[ 9.97614013e-01 -6.29138674e-02 -2.84275535e-02 1.10400025e+02] [ 6.29145151e-02 9.98018538e-01 -8.72537663e-04 4.11723329e+00] [ 2.84261201e-02 -9.18049945e-04 9.99595475e-01 2.55147424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.71509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.43, Y:4.12, Z:2.55 [[ 9.97680600e-01 -6.19740059e-02 -2.81539259e-02 1.10431725e+02] [ 6.19743232e-02 9.98077372e-01 -8.62152560e-04 4.11609431e+00] [ 2.81532275e-02 -8.84667624e-04 9.99603228e-01 2.55215152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.46, Y:4.12, Z:2.55 [[ 9.97718237e-01 -6.12476176e-02 -2.84086104e-02 1.10464345e+02] [ 6.12477396e-02 9.98122219e-01 -8.66679839e-04 4.11608779e+00] [ 2.84083473e-02 -8.75260891e-04 9.99596018e-01 2.55258008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.77509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.50, Y:4.11, Z:2.55 [[ 9.97776217e-01 -6.01589884e-02 -2.86970003e-02 1.10496706e+02] [ 6.01587227e-02 9.98188442e-01 -8.73407880e-04 4.11493639e+00] [ 2.86975573e-02 -8.54909271e-04 9.99587775e-01 2.55298291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.53, Y:4.11, Z:2.55 [[ 9.97816211e-01 -5.98606681e-02 -2.79197092e-02 1.10528618e+02] [ 5.98603538e-02 9.98206401e-01 -8.47810785e-04 4.11485133e+00] [ 2.79203830e-02 -8.25324325e-04 9.99609809e-01 2.55369337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.83509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.56, Y:4.11, Z:2.55 [[ 9.97811916e-01 -5.98765858e-02 -2.80387951e-02 1.10559466e+02] [ 5.98763326e-02 9.98205441e-01 -8.49378938e-04 4.11476658e+00] [ 2.80393357e-02 -8.31339793e-04 9.99606475e-01 2.55461073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.59, Y:4.11, Z:2.56 [[ 9.97804455e-01 -6.00476865e-02 -2.79382349e-02 1.10591228e+02] [ 6.00475435e-02 9.98195161e-01 -8.44851206e-04 4.11348890e+00] [ 2.79385422e-02 -8.34626079e-04 9.99609294e-01 2.55509158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.62, Y:4.11, Z:2.56 [[ 9.97772175e-01 -6.04115717e-02 -2.83042048e-02 1.10622641e+02] [ 6.04116302e-02 9.98173184e-01 -8.53840299e-04 4.11341837e+00] [ 2.83040800e-02 -8.57965058e-04 9.99598991e-01 2.55597076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.65, Y:4.11, Z:2.56 [[ 9.97745585e-01 -6.07294764e-02 -2.85600684e-02 1.10654987e+02] [ 6.07297101e-02 9.98153877e-01 -8.60015000e-04 4.11333875e+00] [ 2.85595712e-02 -8.76368504e-04 9.99591708e-01 2.55682536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.69, Y:4.11, Z:2.56 [[ 9.97707998e-01 -6.06630962e-02 -2.99789971e-02 1.10686143e+02] [ 6.06633909e-02 9.98157874e-01 -9.00527149e-04 4.11234408e+00] [ 2.99784008e-02 -9.20164478e-04 9.99550123e-01 2.55689865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.72, Y:4.11, Z:2.56 [[ 9.97735473e-01 -6.00904873e-02 -3.02168765e-02 1.10716625e+02] [ 6.00905564e-02 9.98192518e-01 -9.06615256e-04 4.11128612e+00] [ 3.02167390e-02 -9.11186719e-04 9.99542955e-01 2.55728501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.75, Y:4.11, Z:2.56 [[ 9.97773009e-01 -5.97072066e-02 -2.97333403e-02 1.10748445e+02] [ 5.97071192e-02 9.98215540e-01 -8.91576146e-04 4.11163578e+00] [ 2.97335159e-02 -8.85701479e-04 9.99557469e-01 2.55809643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.78, Y:4.11, Z:2.56 [[ 9.97837584e-01 -5.91178669e-02 -2.87268846e-02 1.10779331e+02] [ 5.91175687e-02 9.98250656e-01 -8.60432316e-04 4.11215585e+00] [ 2.87274983e-02 -8.39691867e-04 9.99586928e-01 2.55924227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.07509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.81, Y:4.11, Z:2.56 [[ 9.97838951e-01 -5.90415189e-02 -2.88362182e-02 1.10810282e+02] [ 5.90412167e-02 9.98255173e-01 -8.62663218e-04 4.11280898e+00] [ 2.88368369e-02 -8.41726445e-04 9.99583778e-01 2.56057104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.84, Y:4.11, Z:2.56 [[ 9.97806697e-01 -5.94792252e-02 -2.90519892e-02 1.10841013e+02] [ 5.94791498e-02 9.98229171e-01 -8.67537721e-04 4.11388992e+00] [ 2.90521436e-02 -8.62352671e-04 9.99577525e-01 2.56162327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.13509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.87, Y:4.11, Z:2.56 [[ 9.97754815e-01 -6.04382723e-02 -2.88538576e-02 1.10872145e+02] [ 6.04386468e-02 9.98171544e-01 -8.59943224e-04 4.11474160e+00] [ 2.88530731e-02 -8.85875616e-04 9.99583271e-01 2.56232416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.90, Y:4.12, Z:2.56 [[ 9.97592275e-01 -6.30737197e-02 -2.88332977e-02 1.10903214e+02] [ 6.30752221e-02 9.98008407e-01 -8.58319393e-04 4.11512510e+00] [ 2.88300109e-02 -9.62413861e-04 9.99583866e-01 2.56289771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.19509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.94, Y:4.12, Z:2.56 [[ 9.97482551e-01 -6.46675078e-02 -2.90976586e-02 1.10935717e+02] [ 6.46697601e-02 9.97906346e-01 -8.64645453e-04 4.11595420e+00] [ 2.90926527e-02 -1.01926985e-03 9.99576200e-01 2.56408302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.22509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.97, Y:4.12, Z:2.56 [[ 9.97356149e-01 -6.66327645e-02 -2.89963266e-02 1.10967899e+02] [ 6.66358902e-02 9.97776989e-01 -8.59567436e-04 4.11704951e+00] [ 2.89891427e-02 -1.07490117e-03 9.99579149e-01 2.56477687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.00, Y:4.12, Z:2.57 [[ 9.97233334e-01 -6.83901940e-02 -2.91283219e-02 1.11000086e+02] [ 6.83941575e-02 9.97658006e-01 -8.61393337e-04 4.11790888e+00] [ 2.91190144e-02 -1.13319689e-03 9.99575309e-01 2.56568062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.03, Y:4.12, Z:2.57 [[ 9.96866459e-01 -7.27831101e-02 -3.09819643e-02 1.11031087e+02] [ 7.24464217e-02 9.97301836e-01 -1.18559760e-02 4.12433757e+00] [ 3.17612847e-02 9.57429240e-03 9.99449625e-01 2.56994827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.06, Y:4.11, Z:2.56 [[ 9.96745881e-01 -7.53351912e-02 -2.86750461e-02 1.11062954e+02] [ 7.56518504e-02 9.97082921e-01 1.01216159e-02 4.11439286e+00] [ 2.78288848e-02 -1.22579992e-02 9.99537540e-01 2.56443029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.09, Y:4.12, Z:2.57 [[ 9.96649196e-01 -7.67260815e-02 -2.83458665e-02 1.11093874e+02] [ 7.67333453e-02 9.97051302e-01 -8.33016590e-04 4.12064503e+00] [ 2.83261972e-02 -1.34484785e-03 9.99597828e-01 2.56855055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.37509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.13, Y:4.12, Z:2.57 [[ 9.96582064e-01 -7.76904929e-02 -2.80780532e-02 1.11125981e+02] [ 7.76980433e-02 9.96976597e-01 -8.23664347e-04 4.12188179e+00] [ 2.80571528e-02 -1.36076068e-03 9.99605394e-01 2.56926410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.16, Y:4.12, Z:2.57 [[ 9.96449159e-01 -7.91407700e-02 -2.87369421e-02 1.11158503e+02] [ 7.91493431e-02 9.96862415e-01 -8.40823902e-04 4.12378302e+00] [ 2.87133209e-02 -1.43667182e-03 9.99586655e-01 2.56991159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.43509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.19, Y:4.13, Z:2.57 [[ 9.96399206e-01 -7.96191599e-02 -2.91446686e-02 1.11189388e+02] [ 7.96282456e-02 9.96824267e-01 -8.50584158e-04 4.12529229e+00] [ 2.91198357e-02 -1.47321745e-03 9.99574842e-01 2.57056359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.22, Y:4.13, Z:2.57 [[ 9.96318014e-01 -8.02699809e-02 -3.01188519e-02 1.11221873e+02] [ 8.02800336e-02 9.96771963e-01 -8.77285652e-04 4.12720187e+00] [ 3.00920469e-02 -1.54388695e-03 9.99545939e-01 2.57084867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.49509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.25, Y:4.13, Z:2.57 [[ 9.96298229e-01 -8.04631678e-02 -3.02575189e-02 1.11254207e+02] [ 8.04734691e-02 9.96756363e-01 -8.79113209e-04 4.12882954e+00] [ 3.02301107e-02 -1.55906858e-03 9.99541750e-01 2.57132988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.29, Y:4.13, Z:2.57 [[ 9.96322657e-01 -8.03056558e-02 -2.98691262e-02 1.11285365e+02] [ 8.03156867e-02 9.96769101e-01 -8.65708431e-04 4.13063540e+00] [ 2.98421433e-02 -1.53643446e-03 9.99553443e-01 2.57205802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.55509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.32, Y:4.13, Z:2.57 [[ 9.96421457e-01 -7.93736735e-02 -2.90533888e-02 1.11317629e+02] [ 7.93828127e-02 9.96843851e-01 -8.40534124e-04 4.13467935e+00] [ 2.90284082e-02 -1.46881348e-03 9.99577508e-01 2.57338322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.35, Y:4.14, Z:2.57 [[ 9.96518539e-01 -7.81989757e-02 -2.89088373e-02 1.11349464e+02] [ 7.82075920e-02 9.96936747e-01 -8.34244657e-04 4.13962665e+00] [ 2.88855193e-02 -1.42955029e-03 9.99581704e-01 2.57448225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.38, Y:4.14, Z:2.58 [[ 9.96569101e-01 -7.76889858e-02 -2.85385429e-02 1.11381411e+02] [ 7.76972475e-02 9.96976662e-01 -8.20981850e-04 4.14252597e+00] [ 2.85160425e-02 -1.39920109e-03 9.99592356e-01 2.57526877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.41, Y:4.15, Z:2.58 [[ 9.96725359e-01 -7.59147897e-02 -2.78478522e-02 1.11413259e+02] [ 7.59220167e-02 9.97113438e-01 -7.99257040e-04 4.14702587e+00] [ 2.78281431e-02 -1.31762534e-03 9.99611854e-01 2.57657808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.45, Y:4.15, Z:2.58 [[ 9.96817826e-01 -7.49504713e-02 -2.71412707e-02 1.11445410e+02] [ 7.49571084e-02 9.97186458e-01 -7.74212649e-04 4.14954509e+00] [ 2.71229352e-02 -1.26268220e-03 9.99631308e-01 2.57759262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.48, Y:4.15, Z:2.58 [[ 9.96905070e-01 -7.38839209e-02 -2.68597726e-02 1.11478707e+02] [ 7.38900833e-02 9.97266099e-01 -7.64372692e-04 4.15209972e+00] [ 2.68428155e-02 -1.22266382e-03 9.99638919e-01 2.57822268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.51, Y:4.16, Z:2.58 [[ 9.97092670e-01 -7.14951683e-02 -2.63561990e-02 1.11511746e+02] [ 7.15003413e-02 9.97440295e-01 -7.47286056e-04 4.15651859e+00] [ 2.63421623e-02 -1.13936378e-03 9.99652336e-01 2.57924145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.54, Y:4.16, Z:2.58 [[ 9.97172156e-01 -7.04620434e-02 -2.61302956e-02 1.11544829e+02] [ 7.04668474e-02 9.97513849e-01 -7.38070339e-04 4.15942445e+00] [ 2.61173377e-02 -1.10533636e-03 9.99658273e-01 2.58027703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.58, Y:4.16, Z:2.58 [[ 9.97264254e-01 -6.94880828e-02 -2.52074315e-02 1.11576864e+02] [ 6.94923101e-02 9.97582235e-01 -7.09322064e-04 4.16364762e+00] [ 2.51957753e-02 -1.04434111e-03 9.99681991e-01 2.58170273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.61, Y:4.17, Z:2.58 [[ 9.97224787e-01 -7.00626525e-02 -2.51783355e-02 1.11609893e+02] [ 7.00671079e-02 9.97542030e-01 -7.06315851e-04 4.16590822e+00] [ 2.51659343e-02 -1.05981748e-03 9.99682726e-01 2.58296503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.85509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.64, Y:4.17, Z:2.58 [[ 9.97033244e-01 -7.14872210e-02 -2.85357088e-02 1.11642178e+02] [ 7.14936258e-02 9.97440738e-01 -7.97063978e-04 4.16933499e+00] [ 2.85196584e-02 -1.24542201e-03 9.99592456e-01 2.58295323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.67, Y:4.17, Z:2.58 [[ 9.96867215e-01 -7.27764145e-02 -3.09733645e-02 1.11674072e+02] [ 7.27846725e-02 9.97347306e-01 -8.62260741e-04 4.17112190e+00] [ 3.09539539e-02 -1.39482673e-03 9.99519838e-01 2.58280056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.91509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.71, Y:4.17, Z:2.58 [[ 9.96745684e-01 -7.34413849e-02 -3.32325831e-02 1.11706014e+02] [ 7.34513445e-02 9.97298375e-01 -9.22684187e-04 4.17288382e+00] [ 3.32105643e-02 -1.52129643e-03 9.99447219e-01 2.58256580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.74, Y:4.17, Z:2.58 [[ 9.96673550e-01 -7.40584425e-02 -3.40173621e-02 1.11737209e+02] [ 7.40693295e-02 9.97252650e-01 -9.41765116e-04 4.17478342e+00] [ 3.39936501e-02 -1.58101082e-03 9.99420798e-01 2.58266736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.97509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.77, Y:4.18, Z:2.58 [[ 9.96639211e-01 -7.48424105e-02 -3.33000946e-02 1.11768911e+02] [ 7.48533956e-02 9.97194126e-01 -9.18406177e-04 4.17797435e+00] [ 3.32753945e-02 -1.57730555e-03 9.99444976e-01 2.58368407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.80, Y:4.18, Z:2.58 [[ 9.96674958e-01 -7.47286076e-02 -3.24755824e-02 1.11801114e+02] [ 7.47390672e-02 9.97202724e-01 -8.93424544e-04 4.17989118e+00] [ 3.24515036e-02 -1.53674086e-03 9.99472130e-01 2.58486183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.83, Y:4.18, Z:2.59 [[ 9.96801807e-01 -7.34005386e-02 -3.15993524e-02 1.11832552e+02] [ 7.34098421e-02 9.97301481e-01 -8.67187147e-04 4.18292124e+00] [ 3.15777329e-02 -1.45528975e-03 9.99500240e-01 2.58637099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.86, Y:4.19, Z:2.59 [[ 9.96957487e-01 -7.14363288e-02 -3.11868458e-02 1.11864308e+02] [ 7.14444836e-02 9.97444212e-01 -8.54201699e-04 4.18674056e+00] [ 3.11681598e-02 -1.37652531e-03 9.99513207e-01 2.58756110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.09509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.90, Y:4.19, Z:2.59 [[ 9.96991537e-01 -7.09699458e-02 -3.11631539e-02 1.11896632e+02] [ 7.09779291e-02 9.97477523e-01 -8.51363407e-04 4.18917630e+00] [ 3.11449668e-02 -1.36309401e-03 9.99513948e-01 2.58895868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.93, Y:4.19, Z:2.59 [[ 9.97069549e-01 -7.04015489e-02 -2.99321951e-02 1.11927753e+02] [ 7.04087184e-02 9.97517893e-01 -8.15695513e-04 4.19276562e+00] [ 2.99153265e-02 -1.29418234e-03 9.99551599e-01 2.59094340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.15509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.96, Y:4.19, Z:2.59 [[ 9.97101208e-01 -7.01695489e-02 -2.94179352e-02 1.11959502e+02] [ 7.01764204e-02 9.97534275e-01 -8.00071423e-04 4.19477503e+00] [ 2.94015393e-02 -1.26669321e-03 9.99566879e-01 2.59230841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.99, Y:4.20, Z:2.59 [[ 9.97118894e-01 -6.99391342e-02 -2.93671256e-02 1.11991229e+02] [ 6.99460307e-02 9.97550461e-01 -7.93638365e-04 4.19614211e+00] [ 2.93506961e-02 -1.26276206e-03 9.99568378e-01 2.59327827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.21509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.02, Y:4.20, Z:2.59 [[ 9.97080052e-01 -7.03684886e-02 -2.96588071e-02 1.12023848e+02] [ 7.03757767e-02 9.97520231e-01 -7.99353884e-04 4.19745121e+00] [ 2.96415095e-02 -1.29024177e-03 9.99559761e-01 2.59366128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.06, Y:4.20, Z:2.59 [[ 9.97006958e-01 -7.10889808e-02 -3.03888509e-02 1.12055780e+02] [ 7.10970346e-02 9.97469069e-01 -8.16790630e-04 4.19864333e+00] [ 3.03700036e-02 -1.34621124e-03 9.99537818e-01 2.59455664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.27509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.09, Y:4.20, Z:2.60 [[ 9.96890479e-01 -7.27651799e-02 -3.02423781e-02 1.12087825e+02] [ 7.27739917e-02 9.97348128e-01 -8.10667409e-04 4.20020707e+00] [ 3.02211676e-02 -1.39271195e-03 9.99542266e-01 2.59552576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.12, Y:4.21, Z:2.60 [[ 9.97007545e-01 -7.30009517e-02 -2.54325912e-02 1.12119770e+02] [ 7.23920106e-02 9.97085177e-01 -2.40945238e-02 4.21188057e+00] [ 2.71173829e-02 2.21813056e-02 9.99386130e-01 2.59727043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.33509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.15, Y:4.19, Z:2.59 [[ 9.96826381e-01 -7.35478256e-02 -3.04611674e-02 1.12151844e+02] [ 7.42515904e-02 9.96982192e-01 2.26541482e-02 4.19078087e+00] [ 2.87030781e-02 -2.48440427e-02 9.99279194e-01 2.58966161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.18, Y:4.20, Z:2.60 [[ 9.96672385e-01 -7.57480336e-02 -3.01063519e-02 1.12184780e+02] [ 7.57584554e-02 9.97125881e-01 -7.95987257e-04 4.20351993e+00] [ 3.00801171e-02 -1.48747220e-03 9.99546384e-01 2.59878503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.22, Y:4.20, Z:2.60 [[ 9.96643507e-01 -7.64549033e-02 -2.92637748e-02 1.12217976e+02] [ 7.64651421e-02 9.97071957e-01 -7.70670836e-04 4.20466318e+00] [ 2.92370108e-02 -1.46957461e-03 9.99571427e-01 2.59887909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.25, Y:4.21, Z:2.60 [[ 9.96653068e-01 -7.63301279e-02 -2.92638574e-02 1.12251504e+02] [ 7.63404053e-02 9.97081518e-01 -7.67521836e-04 4.20545506e+00] [ 2.92370364e-02 -1.46906174e-03 9.99571427e-01 2.59984695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.28, Y:4.21, Z:2.60 [[ 9.96638183e-01 -7.66213053e-02 -2.90087476e-02 1.12284390e+02] [ 7.66316315e-02 9.97059186e-01 -7.57231641e-04 4.20612994e+00] [ 2.89814584e-02 -1.46830169e-03 9.99578871e-01 2.60102530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.32, Y:4.21, Z:2.60 [[ 9.96658658e-01 -7.66542272e-02 -2.82072607e-02 1.12316438e+02] [ 7.66640858e-02 9.97056709e-01 -7.33378296e-04 4.20676475e+00] [ 2.81804551e-02 -1.43155603e-03 9.99601827e-01 2.60152156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.35, Y:4.21, Z:2.60 [[ 9.96674102e-01 -7.67365798e-02 -2.74268482e-02 1.12348935e+02] [ 7.67460639e-02 9.97050420e-01 -7.08242941e-04 4.20714677e+00] [ 2.74002987e-02 -1.39901525e-03 9.99623562e-01 2.60203978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.38, Y:4.21, Z:2.60 [[ 9.96734785e-01 -7.59954222e-02 -2.72848842e-02 1.12381603e+02] [ 7.60045959e-02 9.97107220e-01 -7.02205341e-04 4.20735499e+00] [ 2.72593194e-02 -1.37386411e-03 9.99627452e-01 2.60239779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.57509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.41, Y:4.21, Z:2.60 [[ 9.96797882e-01 -7.49447926e-02 -2.78794011e-02 1.12414896e+02] [ 7.49540438e-02 9.97186733e-01 -7.14532933e-04 4.20756784e+00] [ 2.78545194e-02 -1.37742894e-03 9.99611039e-01 2.60208333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.45, Y:4.21, Z:2.60 [[ 9.96850575e-01 -7.34144927e-02 -2.99873715e-02 1.12446582e+02] [ 7.34246110e-02 9.97300477e-01 -7.65084184e-04 4.20810204e+00] [ 2.99625882e-02 -1.43913648e-03 9.99549985e-01 2.60163811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.63509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.48, Y:4.21, Z:2.60 [[ 9.97367856e-01 -6.59722139e-02 -3.00836722e-02 1.12478523e+02] [ 6.59791025e-02 9.97820712e-01 -7.64717341e-04 4.21068936e+00] [ 3.00685613e-02 -1.22218920e-03 9.99547091e-01 2.60173988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.51, Y:4.21, Z:2.60 [[ 9.97471565e-01 -6.45694773e-02 -2.96860063e-02 1.12510766e+02] [ 6.45757160e-02 9.97912529e-01 -7.49506699e-04 4.21219346e+00] [ 2.96724328e-02 -1.16938349e-03 9.99558992e-01 2.60256342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.69509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.54, Y:4.21, Z:2.60 [[ 9.97477064e-01 -6.44844510e-02 -2.96860576e-02 1.12543445e+02] [ 6.44907127e-02 9.97918027e-01 -7.47468136e-04 4.21295378e+00] [ 2.96724521e-02 -1.16889269e-03 9.99558992e-01 2.60350714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.72509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.58, Y:4.21, Z:2.60 [[ 9.97482556e-01 -6.43994101e-02 -2.96861211e-02 1.12576124e+02] [ 6.44057093e-02 9.97923519e-01 -7.44938340e-04 4.21371107e+00] [ 2.96724520e-02 -1.16889269e-03 9.99558992e-01 2.60445069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.61, Y:4.21, Z:2.61 [[ 9.97588547e-01 -6.29176081e-02 -2.92995892e-02 1.12608083e+02] [ 6.29231782e-02 9.98018104e-01 -7.32777978e-04 4.21499618e+00] [ 2.92876251e-02 -1.11261235e-03 9.99570406e-01 2.60564348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.64, Y:4.22, Z:2.61 [[ 9.97594225e-01 -6.28274932e-02 -2.92996422e-02 1.12640764e+02] [ 6.28330868e-02 9.98023782e-01 -7.30653375e-04 4.21575486e+00] [ 2.92876448e-02 -1.11209137e-03 9.99570406e-01 2.60658721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.67, Y:4.22, Z:2.61 [[ 9.97678115e-01 -6.15088858e-02 -2.92409914e-02 1.12672309e+02] [ 6.15139682e-02 9.98105958e-01 -7.26567146e-04 4.21722310e+00] [ 2.92302981e-02 -1.07384928e-03 9.99572127e-01 2.60734802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.70, Y:4.22, Z:2.61 [[ 9.97684036e-01 -6.14127506e-02 -2.92410309e-02 1.12704992e+02] [ 6.14178384e-02 9.98111879e-01 -7.24975548e-04 4.21797679e+00] [ 2.92303430e-02 -1.07262438e-03 9.99572127e-01 2.60829200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.87509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.74, Y:4.22, Z:2.61 [[ 9.97752421e-01 -5.99849100e-02 -2.98649883e-02 1.12737191e+02] [ 5.99896659e-02 9.98198726e-01 -7.37530825e-04 4.21943660e+00] [ 2.98554339e-02 -1.05571750e-03 9.99553670e-01 2.60894190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.77, Y:4.22, Z:2.61 [[ 9.97758247e-01 -5.98878999e-02 -2.98650419e-02 1.12769875e+02] [ 5.98926775e-02 9.98204551e-01 -7.35354048e-04 4.22018603e+00] [ 2.98554595e-02 -1.05499175e-03 9.99553670e-01 2.60988571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.93509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.80, Y:4.22, Z:2.61 [[ 9.97764064e-01 -5.97908683e-02 -2.98651131e-02 1.12802559e+02] [ 5.97956893e-02 9.98210368e-01 -7.32450984e-04 4.22093192e+00] [ 2.98554594e-02 -1.05499175e-03 9.99553670e-01 2.61082926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.84, Y:4.22, Z:2.61 [[ 9.97894562e-01 -5.72036485e-02 -3.05644370e-02 1.12835092e+02] [ 5.72075777e-02 9.98362026e-01 -7.46607316e-04 4.22279174e+00] [ 3.05570819e-02 -1.00348203e-03 9.99532520e-01 2.61070366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.99509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.87, Y:4.22, Z:2.61 [[ 9.97952416e-01 -5.57894769e-02 -3.12811401e-02 1.12867619e+02] [ 5.57929706e-02 9.98442068e-01 -7.61831378e-04 4.22473441e+00] [ 3.12749084e-02 -9.84996266e-04 9.99510335e-01 2.61115311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.90, Y:4.23, Z:2.61 [[ 9.98078242e-01 -5.51360394e-02 -2.82814372e-02 1.12898337e+02] [ 5.46514043e-02 9.98349796e-01 -1.76326327e-02 4.23478827e+00] [ 2.92069606e-02 1.60531268e-02 9.99444471e-01 2.61270272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.05509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.93, Y:4.22, Z:2.61 [[ 9.98019380e-01 -5.43515047e-02 -3.16738259e-02 1.12930119e+02] [ 5.48801760e-02 9.98363666e-01 1.60672669e-02 4.21889513e+00] [ 3.07487168e-02 -1.77737089e-02 9.99369107e-01 2.60666243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.96, Y:4.23, Z:2.61 [[ 9.98019870e-01 -5.47171054e-02 -3.10222104e-02 1.12962064e+02] [ 5.47201611e-02 9.98501447e-01 -7.51101870e-04 4.22835978e+00] [ 3.10168201e-02 -9.47925760e-04 9.99518413e-01 2.61336679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.99, Y:4.23, Z:2.61 [[ 9.98007860e-01 -5.49216762e-02 -3.10470777e-02 1.12992900e+02] [ 5.49249032e-02 9.98490207e-01 -7.49532587e-04 4.22951802e+00] [ 3.10413686e-02 -9.57218321e-04 9.99517642e-01 2.61405419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.145099893 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:113.02, Y:4.24, Z:2.62 [[ 9.98060732e-01 -5.51969851e-02 -2.87761788e-02 1.13023009e+02] [ 5.46949854e-02 9.98341750e-01 -1.79501798e-02 4.23965204e+00] [ 2.97192565e-02 1.63414569e-02 9.99424696e-01 2.61624264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.06, Y:4.22, Z:2.61 [[ 9.98066808e-01 -5.34631449e-02 -3.16912926e-02 1.13055607e+02] [ 5.39985559e-02 9.98408194e-01 1.62860003e-02 4.22281156e+00] [ 3.07701454e-02 -1.79658004e-02 9.99365012e-01 2.60970926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.09, Y:4.24, Z:2.62 [[ 9.98218058e-01 -5.24113745e-02 -2.85264077e-02 1.13086993e+02] [ 5.20127603e-02 9.98540549e-01 -1.45411261e-02 4.23926019e+00] [ 2.92468952e-02 1.30314775e-02 9.99487268e-01 2.61672580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.12, Y:4.23, Z:2.61 [[ 9.98210049e-01 -5.04614767e-02 -3.20988686e-02 1.13118034e+02] [ 5.09018641e-02 9.98618352e-01 1.30532818e-02 4.22764884e+00] [ 3.13958314e-02 -1.46638093e-02 9.99399457e-01 2.61299515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.15, Y:4.24, Z:2.62 [[ 9.98264179e-01 -4.96243931e-02 -3.17182602e-02 1.13147646e+02] [ 4.96253533e-02 9.98767616e-01 -7.57425101e-04 4.23572746e+00] [ 3.17167578e-02 -8.17919519e-04 9.99496562e-01 2.61875440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.18, Y:4.24, Z:2.62 [[ 9.98364459e-01 -4.78097370e-02 -3.13470115e-02 1.13178545e+02] [ 4.78097969e-02 9.98856178e-01 -7.48050146e-04 4.23748627e+00] [ 3.13469202e-02 -7.51867573e-04 9.99508282e-01 2.61966718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.21, Y:4.24, Z:2.62 [[ 9.98395744e-01 -4.69656744e-02 -3.16253529e-02 1.13207547e+02] [ 4.69653108e-02 9.98896236e-01 -7.54740748e-04 4.23838676e+00] [ 3.16258929e-02 -7.31764579e-04 9.99499508e-01 2.62042171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.35509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.24, Y:4.24, Z:2.62 [[ 9.98405057e-01 -4.71212674e-02 -3.10954815e-02 1.13237655e+02] [ 4.71209753e-02 9.98888914e-01 -7.42601753e-04 4.23897656e+00] [ 3.10959241e-02 -7.23832072e-04 9.99516143e-01 2.62139975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.27, Y:4.24, Z:2.62 [[ 9.98385232e-01 -4.78324198e-02 -3.06429285e-02 1.13268205e+02] [ 4.78324738e-02 9.98855104e-01 -7.31694563e-04 4.23977839e+00] [ 3.06428443e-02 -7.35214029e-04 9.99530127e-01 2.62254967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.41509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.30, Y:4.24, Z:2.62 [[ 9.98337116e-01 -4.90324141e-02 -3.03121140e-02 1.13299719e+02] [ 4.90330707e-02 9.98796895e-01 -7.22103045e-04 4.24025191e+00] [ 3.03110518e-02 -7.65393756e-04 9.99540221e-01 2.62359422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.33, Y:4.24, Z:2.62 [[ 9.98178400e-01 -5.19780797e-02 -3.06294036e-02 1.13331251e+02] [ 5.19801689e-02 9.98647851e-01 -7.28575169e-04 4.23987728e+00] [ 3.06258580e-02 -8.64873574e-04 9.99530544e-01 2.62437304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.47509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.36, Y:4.24, Z:2.63 [[ 9.97992987e-01 -5.50167405e-02 -3.13553245e-02 1.13363074e+02] [ 5.50204633e-02 9.98484949e-01 -7.44715049e-04 4.23979939e+00] [ 3.13487913e-02 -9.81964083e-04 9.99508023e-01 2.62558091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.39, Y:4.25, Z:2.63 [[ 9.98066674e-01 -5.51562207e-02 -2.86479563e-02 1.13394119e+02] [ 5.47079003e-02 9.98370899e-01 -1.62047702e-02 4.24688149e+00] [ 2.94950798e-02 1.46061715e-02 9.99458203e-01 2.62586672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.42, Y:4.23, Z:2.62 [[ 9.97788416e-01 -5.73277466e-02 -3.36423427e-02 1.13424984e+02] [ 5.78509859e-02 9.98215659e-01 1.47905639e-02 4.23302325e+00] [ 3.27344036e-02 -1.67040960e-02 9.99324488e-01 2.62202709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.46, Y:4.24, Z:2.63 [[ 9.97586210e-01 -6.04512503e-02 -3.41672262e-02 1.13456060e+02] [ 6.04590117e-02 9.98170355e-01 -8.06900507e-04 4.24010884e+00] [ 3.41534905e-02 -1.26076391e-03 9.99415804e-01 2.62870365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.59509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.49, Y:4.24, Z:2.63 [[ 9.97511327e-01 -6.15329368e-02 -3.44216392e-02 1.13488713e+02] [ 6.15415243e-02 9.98104195e-01 -8.10964472e-04 4.24012591e+00] [ 3.44062835e-02 -1.30941390e-03 9.99407071e-01 2.62999108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.52, Y:4.25, Z:2.63 [[ 9.97649908e-01 -6.22018210e-02 -2.87331714e-02 1.13521135e+02] [ 6.15276525e-02 9.97822044e-01 -2.37805779e-02 4.24858329e+00] [ 3.01497871e-02 2.19568067e-02 9.99304202e-01 2.63053156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.65509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.55, Y:4.23, Z:2.62 [[ 9.97304859e-01 -6.46894694e-02 -3.46163343e-02 1.13551230e+02] [ 6.54868237e-02 9.97601591e-01 2.24174489e-02 4.22685121e+00] [ 3.30831373e-02 -2.46239445e-02 9.99149222e-01 2.62371725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.58, Y:4.24, Z:2.63 [[ 9.97254670e-01 -6.58071421e-02 -3.39491181e-02 1.13583014e+02] [ 6.58181329e-02 9.97831319e-01 -7.94925205e-04 4.23886329e+00] [ 3.39278051e-02 -1.44172469e-03 9.99423246e-01 2.63266864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.71509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.61, Y:4.24, Z:2.63 [[ 9.97248376e-01 -6.58417511e-02 -3.40667010e-02 1.13614953e+02] [ 6.58529205e-02 9.97829024e-01 -7.95267007e-04 4.23944518e+00] [ 3.40451047e-02 -1.45031302e-03 9.99419245e-01 2.63380771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.65, Y:4.24, Z:2.63 [[ 9.97249269e-01 -6.59592853e-02 -3.38122544e-02 1.13646839e+02] [ 6.59704374e-02 9.97821268e-01 -7.86909192e-04 4.23992175e+00] [ 3.37904906e-02 -1.44586460e-03 9.99427892e-01 2.63460328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.77509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.68, Y:4.24, Z:2.64 [[ 9.97226644e-01 -6.61231326e-02 -3.41577486e-02 1.13678705e+02] [ 6.61346967e-02 9.97810390e-01 -7.92412162e-04 4.23959916e+00] [ 3.41353532e-02 -1.46879782e-03 9.99416140e-01 2.63513582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.80509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.71, Y:4.24, Z:2.64 [[ 9.97157246e-01 -6.71486169e-02 -3.41831746e-02 1.13711085e+02] [ 6.71608852e-02 9.97741846e-01 -7.90495353e-04 4.23940078e+00] [ 3.41590644e-02 -1.50752409e-03 9.99415272e-01 2.63612643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.83509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.74, Y:4.24, Z:2.64 [[ 9.97141565e-01 -6.76941892e-02 -3.35588341e-02 1.13742748e+02] [ 6.77063992e-02 9.97704989e-01 -7.73725843e-04 4.23933265e+00] [ 3.35341929e-02 -1.50063362e-03 9.99436444e-01 2.63688991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.77, Y:4.24, Z:2.64 [[ 9.97086099e-01 -6.84667139e-02 -3.36395556e-02 1.13774153e+02] [ 6.84794832e-02 9.97652225e-01 -7.73752910e-04 4.23937033e+00] [ 3.36135538e-02 -1.53212111e-03 9.99433730e-01 2.63812079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.81, Y:4.24, Z:2.64 [[ 9.97032578e-01 -6.93121119e-02 -3.34943135e-02 1.13806661e+02] [ 6.93253096e-02 9.97593811e-01 -7.68538348e-04 4.23947993e+00] [ 3.34669888e-02 -1.55574588e-03 9.99438613e-01 2.63937249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.84, Y:4.24, Z:2.64 [[ 9.96908635e-01 -7.09449018e-02 -3.37637911e-02 1.13837695e+02] [ 7.09593362e-02 9.97478910e-01 -7.72078374e-04 4.23999176e+00] [ 3.37334445e-02 -1.62616460e-03 9.99429542e-01 2.64085662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.87, Y:4.24, Z:2.64 [[ 9.96745380e-01 -7.23618486e-02 -3.55304221e-02 1.13870123e+02] [ 7.23788731e-02 9.97376882e-01 -8.08534097e-04 4.24033752e+00] [ 3.54957287e-02 -1.76574929e-03 9.99368268e-01 2.64198646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.90, Y:4.24, Z:2.64 [[ 9.96663270e-01 -7.31865570e-02 -3.61393571e-02 1.13901890e+02] [ 7.32048072e-02 9.97316592e-01 -8.19743262e-04 4.24084089e+00] [ 3.61023747e-02 -1.82856667e-03 9.99346424e-01 2.64273233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.93, Y:4.24, Z:2.64 [[ 9.96531720e-01 -7.44058481e-02 -3.72599016e-02 1.13934201e+02] [ 7.44262019e-02 9.97226168e-01 -8.42402116e-04 4.24078298e+00] [ 3.72192286e-02 -1.93363253e-03 9.99305254e-01 2.64308883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.97, Y:4.24, Z:2.64 [[ 9.96488205e-01 -7.48856370e-02 -3.74619647e-02 1.13966713e+02] [ 7.49066520e-02 9.97190193e-01 -8.44258906e-04 4.24086645e+00] [ 3.74199267e-02 -1.96485631e-03 9.99297698e-01 2.64406753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.07509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.00, Y:4.24, Z:2.65 [[ 9.96439553e-01 -7.56852731e-02 -3.71477794e-02 1.13998173e+02] [ 7.57065832e-02 9.97129789e-01 -8.34679250e-04 4.24034430e+00] [ 3.71043304e-02 -1.98062404e-03 9.99309434e-01 2.64519734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.03, Y:4.24, Z:2.65 [[ 9.96427816e-01 -7.61283367e-02 -3.65524874e-02 1.14030612e+02] [ 7.61493412e-02 9.97096087e-01 -8.19229581e-04 4.24061275e+00] [ 3.65087088e-02 -1.96714470e-03 9.99331399e-01 2.64621441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.13509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.06, Y:4.24, Z:2.65 [[ 9.96473674e-01 -7.58355297e-02 -3.59052933e-02 1.14062122e+02] [ 7.58556943e-02 9.97118483e-01 -8.02276860e-04 4.24160044e+00] [ 3.58626727e-02 -1.92417318e-03 9.99354875e-01 2.64769819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.09, Y:4.24, Z:2.65 [[ 9.96613615e-01 -7.43338744e-02 -3.51536209e-02 1.14094734e+02] [ 7.43523411e-02 9.97231726e-01 -7.83486645e-04 4.24213091e+00] [ 3.51145456e-02 -1.83292056e-03 9.99381613e-01 2.64814639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.19509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.13, Y:4.24, Z:2.65 [[ 9.96784899e-01 -7.21978106e-02 -3.47468085e-02 1.14125552e+02] [ 7.22146414e-02 9.97388816e-01 -7.72007892e-04 4.24225061e+00] [ 3.47118154e-02 -1.73970250e-03 9.99395849e-01 2.64829456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.22509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.16, Y:4.24, Z:2.65 [[ 9.96829535e-01 -7.15011694e-02 -3.49064575e-02 1.14157820e+02] [ 7.15177999e-02 9.97439024e-01 -7.73534861e-04 4.24252234e+00] [ 3.48723716e-02 -1.72535065e-03 9.99390285e-01 2.64893779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.19, Y:4.24, Z:2.65 [[ 9.96888202e-01 -7.05558063e-02 -3.51538086e-02 1.14188844e+02] [ 7.05721744e-02 9.97506374e-01 -7.76542515e-04 4.24245394e+00] [ 3.51209377e-02 -1.70675464e-03 9.99381612e-01 2.64983528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.22, Y:4.24, Z:2.65 [[ 9.96992131e-01 -6.90184891e-02 -3.52581771e-02 1.14220460e+02] [ 6.90340633e-02 9.97614001e-01 -7.76930267e-04 4.24313005e+00] [ 3.52276737e-02 -1.65942187e-03 9.99377935e-01 2.65105698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.25, Y:4.24, Z:2.65 [[ 9.96998089e-01 -6.89323462e-02 -3.52582225e-02 1.14253141e+02] [ 6.89479395e-02 9.97619958e-01 -7.74865952e-04 4.24378754e+00] [ 3.52277198e-02 -1.65844192e-03 9.99377935e-01 2.65200270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.29, Y:4.25, Z:2.65 [[ 9.97107817e-01 -6.74630796e-02 -3.49961983e-02 1.14285405e+02] [ 6.74776412e-02 9.97720492e-01 -7.66184645e-04 4.24517353e+00] [ 3.49681133e-02 -1.59749221e-03 9.99387152e-01 2.65371806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.37509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.32, Y:4.25, Z:2.65 [[ 9.97178176e-01 -6.62994182e-02 -3.52146596e-02 1.14317692e+02] [ 6.63135291e-02 9.97798540e-01 -7.68390629e-04 4.24614963e+00] [ 3.51880798e-02 -1.56898599e-03 9.99379476e-01 2.65497491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.35, Y:4.25, Z:2.66 [[ 9.97184227e-01 -6.62083178e-02 -3.52147180e-02 1.14350374e+02] [ 6.62224667e-02 9.97804589e-01 -7.65705038e-04 4.24680530e+00] [ 3.51881033e-02 -1.56845651e-03 9.99379476e-01 2.65592048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.43509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.38, Y:4.25, Z:2.66 [[ 9.97253632e-01 -6.50720073e-02 -3.53670356e-02 1.14381734e+02] [ 6.50856723e-02 9.97879386e-01 -7.66011676e-04 4.24781290e+00] [ 3.53418817e-02 -1.53797936e-03 9.99374097e-01 2.65699720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.41, Y:4.25, Z:2.66 [[ 9.97514341e-01 -6.10157752e-02 -3.52450675e-02 1.14414284e+02] [ 6.10268900e-02 9.98135832e-01 -7.61341767e-04 4.24876000e+00] [ 3.52258186e-02 -1.39144753e-03 9.99378410e-01 2.65787538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.49509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.44, Y:4.25, Z:2.66 [[ 9.97683462e-01 -5.83730297e-02 -3.49327862e-02 1.14444385e+02] [ 5.83824069e-02 9.98294009e-01 -7.52416567e-04 4.24933815e+00] [ 3.49171121e-02 -1.28878657e-03 9.99389381e-01 2.65867136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.48, Y:4.25, Z:2.66 [[ 9.97837102e-01 -5.58251783e-02 -3.47083138e-02 1.14476101e+02] [ 5.58329209e-02 9.98439847e-01 -7.46866362e-04 4.25015641e+00] [ 3.46958575e-02 -1.19261557e-03 9.99397206e-01 2.65980102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.55509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.51, Y:4.25, Z:2.66 [[ 9.98148044e-01 -5.05106852e-02 -3.38991651e-02 1.14506915e+02] [ 5.05150422e-02 9.98723035e-01 -7.28461667e-04 4.25169126e+00] [ 3.38926721e-02 -9.85305164e-04 9.99424993e-01 2.66163077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.58509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.54, Y:4.25, Z:2.66 [[ 9.98261375e-01 -4.83252388e-02 -3.37475694e-02 1.14537263e+02] [ 4.83283092e-02 9.98831241e-01 -7.25204017e-04 4.25283693e+00] [ 3.37431723e-02 -9.07019811e-04 9.99430125e-01 2.66319767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.57, Y:4.25, Z:2.66 [[ 9.98368324e-01 -4.67429136e-02 -3.27992342e-02 1.14566715e+02] [ 4.67449557e-02 9.98906608e-01 -7.04962910e-04 4.25370077e+00] [ 3.27963238e-02 -8.29386111e-04 9.99461712e-01 2.66431376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.60, Y:4.25, Z:2.67 [[ 9.98493144e-01 -4.40945069e-02 -3.26667277e-02 1.14595956e+02] [ 4.40950782e-02 9.99027091e-01 -7.03275190e-04 4.25335089e+00] [ 3.26659565e-02 -7.38226457e-04 9.99466053e-01 2.66509013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.63, Y:4.25, Z:2.67 [[ 9.98581789e-01 -4.14013010e-02 -3.34715308e-02 1.14625072e+02] [ 4.14003452e-02 9.99142377e-01 -7.21914567e-04 4.25273047e+00] [ 3.34727131e-02 -6.64842191e-04 9.99439411e-01 2.66568561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.65, Y:4.25, Z:2.67 [[ 9.98594501e-01 -4.07367307e-02 -3.39048977e-02 1.14652962e+02] [ 4.07352649e-02 9.99169705e-01 -7.34279652e-04 4.25337266e+00] [ 3.39066588e-02 -6.47877367e-04 9.99424794e-01 2.66652483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.68, Y:4.25, Z:2.67 [[ 9.98630028e-01 -3.96500467e-02 -3.41458870e-02 1.14679463e+02] [ 3.96476005e-02 9.99213444e-01 -7.49001270e-04 4.25375423e+00] [ 3.41487273e-02 -6.05827327e-04 9.99416579e-01 2.66740484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.71, Y:4.25, Z:2.67 [[ 9.98688170e-01 -3.81154867e-02 -3.41928164e-02 1.14706991e+02] [ 3.81118859e-02 9.99273191e-01 -7.57306073e-04 4.25410850e+00] [ 3.41968299e-02 -5.46840103e-04 9.99414968e-01 2.66885013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.74, Y:4.25, Z:2.67 [[ 9.98687489e-01 -3.79152292e-02 -3.44345057e-02 1.14735258e+02] [ 3.79111192e-02 9.99280817e-01 -7.72503559e-04 4.25451961e+00] [ 3.44390306e-02 -5.33961012e-04 9.99406658e-01 2.67040054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.76, Y:4.25, Z:2.67 [[ 9.98720956e-01 -3.69397443e-02 -3.45240126e-02 1.14762605e+02] [ 3.69347191e-02 9.99317373e-01 -7.83519433e-04 4.25352135e+00] [ 3.45293886e-02 -4.92617431e-04 9.99403561e-01 2.67096278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.85509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.79, Y:4.25, Z:2.67 [[ 9.98729383e-01 -3.68573158e-02 -3.43679778e-02 1.14790038e+02] [ 3.68521115e-02 9.99320422e-01 -7.85083795e-04 4.25336259e+00] [ 3.43735582e-02 -4.82446298e-04 9.99408938e-01 2.67198911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.82, Y:4.25, Z:2.67 [[ 9.98726169e-01 -3.72070264e-02 -3.40833882e-02 1.14817601e+02] [ 3.72017866e-02 9.99307463e-01 -7.88107394e-04 4.25366589e+00] [ 3.40891073e-02 -4.80859457e-04 9.99418682e-01 2.67298347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.91509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.84, Y:4.25, Z:2.67 [[ 9.98694989e-01 -3.83791433e-02 -3.36951191e-02 1.14844840e+02] [ 3.83743991e-02 9.99263121e-01 -7.87723905e-04 4.25328893e+00] [ 3.37005221e-02 -5.06334031e-04 9.99431848e-01 2.67465058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.87, Y:4.25, Z:2.68 [[ 9.98664371e-01 -3.96160799e-02 -3.31668607e-02 1.14873010e+02] [ 3.96120113e-02 9.99214832e-01 -7.80002042e-04 4.25326141e+00] [ 3.31717198e-02 -5.34845815e-04 9.99449524e-01 2.67542013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.97509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.90, Y:4.25, Z:2.68 [[ 9.98585407e-01 -4.19537476e-02 -3.26660007e-02 1.14900401e+02] [ 4.19507795e-02 9.99119377e-01 -7.76525138e-04 4.25139330e+00] [ 3.26698124e-02 -5.94937518e-04 9.99466022e-01 2.67603590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.93, Y:4.25, Z:2.68 [[ 9.98441779e-01 -4.55525789e-02 -3.22331451e-02 1.14927943e+02] [ 4.55514216e-02 9.98961698e-01 -7.70610846e-04 4.24833699e+00] [ 3.22347807e-02 -6.98855517e-04 9.99480080e-01 2.67638732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.96, Y:4.25, Z:2.68 [[ 9.98348900e-01 -4.74322458e-02 -3.23983869e-02 1.14956604e+02] [ 4.74317842e-02 9.98874172e-01 -7.83239414e-04 4.24718958e+00] [ 3.23990627e-02 -7.54767091e-04 9.99474728e-01 2.67712422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.99, Y:4.24, Z:2.68 [[ 9.98118502e-01 -5.18869548e-02 -3.26680222e-02 1.14986226e+02] [ 5.18888127e-02 9.98652555e-01 -7.91475301e-04 4.24484883e+00] [ 3.26650711e-02 -9.05118745e-04 9.99465944e-01 2.67770970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.09509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.02, Y:4.24, Z:2.68 [[ 9.98007478e-01 -5.36778690e-02 -3.31626463e-02 1.15015352e+02] [ 5.36807332e-02 9.98557826e-01 -8.04610489e-04 4.24420447e+00] [ 3.31580098e-02 -9.77187882e-04 9.99449644e-01 2.67835711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.05, Y:4.24, Z:2.68 [[ 9.97883041e-01 -5.52120842e-02 -3.43665819e-02 1.15045928e+02] [ 5.52160509e-02 9.98474082e-01 -8.34365499e-04 4.24363704e+00] [ 3.43602084e-02 -1.06498775e-03 9.99408946e-01 2.67899761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.15509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.08, Y:4.24, Z:2.68 [[ 9.97707864e-01 -5.78058471e-02 -3.51781562e-02 1.15076078e+02] [ 5.78116138e-02 9.98327145e-01 -8.54069221e-04 4.24159744e+00] [ 3.51686784e-02 -1.18159440e-03 9.99380692e-01 2.67863714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.11, Y:4.24, Z:2.68 [[ 9.97643939e-01 -5.86454397e-02 -3.55989228e-02 1.15105228e+02] [ 5.86518802e-02 9.98278123e-01 -8.64258309e-04 4.24120807e+00] [ 3.55883106e-02 -1.22572169e-03 9.99365784e-01 2.67957299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.21509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.14, Y:4.24, Z:2.68 [[ 9.97593727e-01 -5.97383324e-02 -3.51864739e-02 1.15135866e+02] [ 5.97453068e-02 9.98213288e-01 -8.54131666e-04 4.24013490e+00] [ 3.51746302e-02 -1.25015029e-03 9.99380399e-01 2.68032248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.17, Y:4.24, Z:2.68 [[ 9.97581844e-01 -5.97646279e-02 -3.54775106e-02 1.15165894e+02] [ 5.97717351e-02 9.98211700e-01 -8.61196418e-04 4.23975037e+00] [ 3.54655353e-02 -1.26143846e-03 9.99370104e-01 2.68133477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.27509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.20, Y:4.24, Z:2.68 [[ 9.97589228e-01 -5.94480028e-02 -3.58003816e-02 1.15196322e+02] [ 5.94550367e-02 9.98230606e-01 -8.69033927e-04 4.24001749e+00] [ 3.57886990e-02 -1.26157412e-03 9.99358583e-01 2.68228895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.30509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.23, Y:4.24, Z:2.68 [[ 9.97627499e-01 -5.88278020e-02 -3.57583906e-02 1.15226052e+02] [ 5.88344171e-02 9.98267378e-01 -8.68137618e-04 4.24012374e+00] [ 3.57475055e-02 -1.23774611e-03 9.99360087e-01 2.68278883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.33509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.26, Y:4.24, Z:2.68 [[ 9.97656508e-01 -5.84991979e-02 -3.54871260e-02 1.15256029e+02] [ 5.85054827e-02 9.98286715e-01 -8.62185689e-04 4.24043643e+00] [ 3.54767636e-02 -1.21602627e-03 9.99369762e-01 2.68337207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.29, Y:4.24, Z:2.68 [[ 9.97655508e-01 -5.85162576e-02 -3.54871108e-02 1.15286167e+02] [ 5.85225309e-02 9.98285715e-01 -8.62813079e-04 4.24120151e+00] [ 3.54767644e-02 -1.21600532e-03 9.99369762e-01 2.68424496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.32, Y:4.24, Z:2.69 [[ 9.97678521e-01 -5.82390430e-02 -3.52956412e-02 1.15316203e+02] [ 5.82450581e-02 9.98301946e-01 -8.58649738e-04 4.24118483e+00] [ 3.52857143e-02 -1.19914027e-03 9.99376546e-01 2.68532688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.35, Y:4.24, Z:2.69 [[ 9.97681330e-01 -5.80254238e-02 -3.55670266e-02 1.15347150e+02] [ 5.80313964e-02 9.98314384e-01 -8.65251828e-04 4.24178585e+00] [ 3.55572809e-02 -1.20075863e-03 9.99366919e-01 2.68605689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.38, Y:4.24, Z:2.69 [[ 9.97651614e-01 -5.77680649e-02 -3.67982065e-02 1.15378141e+02] [ 5.77742845e-02 9.98329270e-01 -8.95203182e-04 4.24172468e+00] [ 3.67884408e-02 -1.23288915e-03 9.99322316e-01 2.68642975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.41, Y:4.24, Z:2.69 [[ 9.97623413e-01 -5.83505925e-02 -3.66433315e-02 1.15406589e+02] [ 5.83571371e-02 9.98295372e-01 -8.91845143e-04 4.24223483e+00] [ 3.66329079e-02 -1.24867432e-03 9.99328010e-01 2.68752422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.44, Y:4.24, Z:2.69 [[ 9.97576141e-01 -5.93335223e-02 -3.63507380e-02 1.15436414e+02] [ 5.93405491e-02 9.98237403e-01 -8.86508950e-04 4.24263819e+00] [ 3.63392660e-02 -1.27271258e-03 9.99338700e-01 2.68887947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.47, Y:4.25, Z:2.69 [[ 9.97853243e-01 -5.79484522e-02 -3.05103732e-02 1.15466594e+02] [ 5.72620833e-02 9.98096291e-01 -2.29095763e-02 4.25196873e+00] [ 3.17798648e-02 2.11133075e-02 9.99271869e-01 2.68725851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.57509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.50, Y:4.23, Z:2.68 [[ 9.97396699e-01 -6.14374700e-02 -3.77526522e-02 1.15495634e+02] [ 6.22830904e-02 9.97823773e-01 2.16456495e-02 4.23363388e+00] [ 3.63406399e-02 -2.39406512e-02 9.99052653e-01 2.68455145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.53, Y:4.25, Z:2.69 [[ 9.97298710e-01 -6.34280256e-02 -3.70427853e-02 1.15526087e+02] [ 6.34379230e-02 9.97985372e-01 -9.09297190e-04 4.24603889e+00] [ 3.70258328e-02 -1.44307644e-03 9.99313267e-01 2.69244137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.63509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.56, Y:4.25, Z:2.69 [[ 9.97209272e-01 -6.48939228e-02 -3.69113249e-02 1.15555991e+02] [ 6.49047470e-02 9.97891052e-01 -9.06209566e-04 4.24742498e+00] [ 3.68922883e-02 -1.49203962e-03 9.99318134e-01 2.69383093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.59, Y:4.25, Z:2.70 [[ 9.97116650e-01 -6.64362491e-02 -3.66689377e-02 1.15586736e+02] [ 6.64479530e-02 9.97789486e-01 -9.00778412e-04 4.24873282e+00] [ 3.66477248e-02 -1.53839469e-03 9.99327062e-01 2.69505918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.69509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.62, Y:4.25, Z:2.70 [[ 9.97043509e-01 -6.77757290e-02 -3.62034798e-02 1.15618015e+02] [ 6.77880273e-02 9.97699350e-01 -8.89091170e-04 4.24981188e+00] [ 3.61804471e-02 -1.56769990e-03 9.99344044e-01 2.69611631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.72509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.65, Y:4.25, Z:2.70 [[ 9.96950231e-01 -6.97721083e-02 -3.49583964e-02 1.15649612e+02] [ 6.97848408e-02 9.97561698e-01 -8.57295093e-04 4.25138559e+00] [ 3.49329726e-02 -1.58488559e-03 9.99388401e-01 2.69717090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.68, Y:4.25, Z:2.70 [[ 9.96835276e-01 -7.16833295e-02 -3.43646945e-02 1.15681961e+02] [ 7.16968139e-02 9.97426117e-01 -8.41318901e-04 4.25355494e+00] [ 3.43365524e-02 -1.62518275e-03 9.99409005e-01 2.69849899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.71, Y:4.26, Z:2.70 [[ 9.96792753e-01 -7.24537823e-02 -3.39802408e-02 1.15713375e+02] [ 7.24674940e-02 9.97370430e-01 -8.29515340e-04 4.25523648e+00] [ 3.39509889e-02 -1.63560802e-03 9.99422161e-01 2.69963803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.74, Y:4.26, Z:2.70 [[ 9.96665001e-01 -7.40438321e-02 -3.42984952e-02 1.15744187e+02] [ 7.40588062e-02 9.97253526e-01 -8.35387625e-04 4.25826483e+00] [ 3.42661506e-02 -1.70750400e-03 9.99411284e-01 2.70047625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.78, Y:4.26, Z:2.70 [[ 9.96587963e-01 -7.51443178e-02 -3.41432883e-02 1.15776218e+02] [ 7.51598664e-02 9.97171152e-01 -8.29674705e-04 4.25987572e+00] [ 3.41090474e-02 -1.73936116e-03 9.99416604e-01 2.70110254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.87509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.81, Y:4.26, Z:2.70 [[ 9.96510963e-01 -7.60211336e-02 -3.44483413e-02 1.15806926e+02] [ 7.60375658e-02 9.97104604e-01 -8.34712537e-04 4.26132117e+00] [ 3.44120555e-02 -1.78756782e-03 9.99406131e-01 2.70196568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.84, Y:4.26, Z:2.70 [[ 9.96298607e-01 -7.84090279e-02 -3.52294046e-02 1.15839085e+02] [ 7.84277735e-02 9.96919435e-01 -8.51626148e-04 4.26378062e+00] [ 3.51876533e-02 -1.91448982e-03 9.99378889e-01 2.70323601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.93509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.87, Y:4.27, Z:2.70 [[ 9.96196246e-01 -7.96473294e-02 -3.53460344e-02 1.15871333e+02] [ 7.96670648e-02 9.96821164e-01 -8.51940246e-04 4.26519025e+00] [ 3.53015299e-02 -1.96721514e-03 9.99374771e-01 2.70408985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.90, Y:4.27, Z:2.70 [[ 9.95983574e-01 -8.18944791e-02 -3.61941112e-02 1.15903436e+02] [ 8.19167473e-02 9.96638796e-01 -8.69760729e-04 4.26758370e+00] [ 3.61436840e-02 -2.09863646e-03 9.99344400e-01 2.70493569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.99509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.94, Y:4.27, Z:2.71 [[ 9.95922850e-01 -8.25985340e-02 -3.62651152e-02 1.15935983e+02] [ 8.26214506e-02 9.96580624e-01 -8.68825122e-04 4.26906624e+00] [ 3.62128749e-02 -2.13099363e-03 9.99341827e-01 2.70601113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.97, Y:4.27, Z:2.71 [[ 9.95833982e-01 -8.39031401e-02 -3.57063406e-02 1.15966634e+02] [ 8.39262770e-02 9.96471601e-01 -8.53005520e-04 4.27172225e+00] [ 3.56519242e-02 -2.14724835e-03 9.99361961e-01 2.70727374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.05509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.00, Y:4.27, Z:2.71 [[ 9.95779555e-01 -8.46095393e-02 -3.55570454e-02 1.15998532e+02] [ 8.46330032e-02 9.96411831e-01 -8.47415750e-04 4.27319309e+00] [ 3.55011601e-02 -2.16546026e-03 9.99367289e-01 2.70865164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.03, Y:4.27, Z:2.71 [[ 9.95769703e-01 -8.48364553e-02 -3.52912835e-02 1.16030702e+02] [ 8.48598038e-02 9.96392548e-01 -8.38456927e-04 4.27438146e+00] [ 3.52351036e-02 -2.15990139e-03 9.99376717e-01 2.70954293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.06, Y:4.28, Z:2.71 [[ 9.95838684e-01 -8.39356113e-02 -3.54983020e-02 1.16062875e+02] [ 8.39587956e-02 9.96468873e-01 -8.39687656e-04 4.27622793e+00] [ 3.54434327e-02 -2.14420123e-03 9.99369384e-01 2.71012351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.10, Y:4.28, Z:2.71 [[ 9.95869821e-01 -8.35989691e-02 -3.54190892e-02 1.16095138e+02] [ 8.36220265e-02 9.96497197e-01 -8.32483393e-04 4.27747686e+00] [ 3.53646179e-02 -2.13277093e-03 9.99372200e-01 2.71060643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.13, Y:4.28, Z:2.71 [[ 9.95915209e-01 -8.27920819e-02 -3.60328655e-02 1.16128346e+02] [ 8.28155218e-02 9.96564537e-01 -8.44093216e-04 4.28069903e+00] [ 3.59789601e-02 -2.14343528e-03 9.99350249e-01 2.71176162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.16, Y:4.28, Z:2.71 [[ 9.95948049e-01 -8.24010618e-02 -3.60214944e-02 1.16160016e+02] [ 8.24243629e-02 9.96596969e-01 -8.40192516e-04 4.28299503e+00] [ 3.59681448e-02 -2.13226062e-03 9.99350662e-01 2.71307275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.19, Y:4.28, Z:2.71 [[ 9.95955434e-01 -8.23117286e-02 -3.60215574e-02 1.16192696e+02] [ 8.23350692e-02 9.96604352e-01 -8.37481912e-04 4.28369778e+00] [ 3.59681755e-02 -2.13174276e-03 9.99350662e-01 2.71402551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.22, Y:4.29, Z:2.72 [[ 9.95960947e-01 -8.22029772e-02 -3.61173351e-02 1.16224844e+02] [ 8.22264836e-02 9.96613318e-01 -8.36589456e-04 4.28661371e+00] [ 3.60637873e-02 -2.13659103e-03 9.99347206e-01 2.71516242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.26, Y:4.29, Z:2.72 [[ 9.95931563e-01 -8.21847774e-02 -3.69592311e-02 1.16257435e+02] [ 8.22094809e-02 9.96614706e-01 -8.53402095e-04 4.28864345e+00] [ 3.69042499e-02 -2.18846912e-03 9.99316410e-01 2.71587898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.29, Y:4.29, Z:2.72 [[ 9.95891588e-01 -8.23419018e-02 -3.76796647e-02 1.16289052e+02] [ 8.23677883e-02 9.96601623e-01 -8.67458728e-04 4.29055026e+00] [ 3.76230432e-02 -2.23969579e-03 9.99289493e-01 2.71672538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.35509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.32, Y:4.29, Z:2.72 [[ 9.95838558e-01 -8.26133627e-02 -3.84785388e-02 1.16321004e+02] [ 8.26406494e-02 9.96579020e-01 -8.83580585e-04 4.29341996e+00] [ 3.84199000e-02 -2.29998781e-03 9.99259036e-01 2.71795121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.35, Y:4.30, Z:2.72 [[ 9.95811086e-01 -8.27527643e-02 -3.88877883e-02 1.16352333e+02] [ 8.27808459e-02 9.96567378e-01 -8.90286483e-04 4.29525414e+00] [ 3.88279749e-02 -2.33260686e-03 9.99243187e-01 2.71912380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.41509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.39, Y:4.30, Z:2.72 [[ 9.95818207e-01 -8.26670056e-02 -3.88878438e-02 1.16385013e+02] [ 8.26951165e-02 9.96574498e-01 -8.87858879e-04 4.29593865e+00] [ 3.88280300e-02 -2.33168873e-03 9.99243187e-01 2.72007670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.44509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.42, Y:4.30, Z:2.72 [[ 9.95845591e-01 -8.22047518e-02 -3.91655110e-02 1.16417086e+02] [ 8.22330376e-02 9.96612730e-01 -8.90940911e-04 4.29740766e+00] [ 3.91060864e-02 -2.33345936e-03 9.99232340e-01 2.72111913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.47509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.45, Y:4.30, Z:2.72 [[ 9.95902256e-01 -8.15027799e-02 -3.91917604e-02 1.16448100e+02] [ 8.15306666e-02 9.96670437e-01 -8.88871118e-04 4.29869481e+00] [ 3.91337144e-02 -2.31010160e-03 9.99231312e-01 2.72175866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.48, Y:4.30, Z:2.72 [[ 9.95970747e-01 -8.10088812e-02 -3.84685961e-02 1.16479952e+02] [ 8.10354648e-02 9.96710839e-01 -8.70256453e-04 4.30061317e+00] [ 3.84125652e-02 -2.25057060e-03 9.99259431e-01 2.72367498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.51, Y:4.30, Z:2.73 [[ 9.96039830e-01 -8.07148687e-02 -3.72795824e-02 1.16512229e+02] [ 8.07397238e-02 9.96734865e-01 -8.40755845e-04 4.30179923e+00] [ 3.72257210e-02 -2.17251687e-03 9.99304521e-01 2.72509087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.54, Y:4.30, Z:2.73 [[ 9.96089397e-01 -8.02451759e-02 -3.69678841e-02 1.16544430e+02] [ 8.02693976e-02 9.96772859e-01 -8.30923616e-04 4.30349150e+00] [ 3.69152611e-02 -2.13971558e-03 9.99316109e-01 2.72715725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.59509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.58, Y:4.30, Z:2.73 [[ 9.96091210e-01 -8.02787467e-02 -3.68459403e-02 1.16575335e+02] [ 8.03029432e-02 9.96770162e-01 -8.25151371e-04 4.30449051e+00] [ 3.67931760e-02 -2.13691142e-03 9.99320617e-01 2.72826615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.61, Y:4.30, Z:2.73 [[ 9.96095203e-01 -8.00544800e-02 -3.72240029e-02 1.16607617e+02] [ 8.00790995e-02 9.96788165e-01 -8.31488896e-04 4.30494984e+00] [ 3.71710099e-02 -2.15262253e-03 9.99306601e-01 2.72902697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.65509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.64, Y:4.31, Z:2.73 [[ 9.96024827e-01 -8.06382632e-02 -3.78419751e-02 1.16640036e+02] [ 8.06642314e-02 9.96740975e-01 -8.42557119e-04 4.30535665e+00] [ 3.77865895e-02 -2.21328603e-03 9.99283381e-01 2.72994362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.67, Y:4.31, Z:2.73 [[ 9.95876034e-01 -8.17044844e-02 -3.94373289e-02 1.16671761e+02] [ 8.17336613e-02 9.96653823e-01 -8.74609883e-04 4.30527374e+00] [ 3.93768242e-02 -2.35235426e-03 9.99221663e-01 2.73028616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.71509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.70, Y:4.31, Z:2.73 [[ 9.95773446e-01 -8.23373273e-02 -4.06916233e-02 1.16703152e+02] [ 8.23691182e-02 9.96601486e-01 -8.97531563e-04 4.30576700e+00] [ 4.06272326e-02 -2.45799503e-03 9.99171350e-01 2.73120546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.74, Y:4.31, Z:2.73 [[ 9.95576882e-01 -8.36695273e-02 -4.27326927e-02 1.16735635e+02] [ 8.37060038e-02 9.96490053e-01 -9.38143985e-04 4.30601165e+00] [ 4.26611972e-02 -2.64298847e-03 9.99086101e-01 2.73159226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.77509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.77, Y:4.31, Z:2.73 [[ 9.95641684e-01 -8.28265150e-02 -4.28649742e-02 1.16767284e+02] [ 8.28625614e-02 9.96560543e-01 -9.38216034e-04 4.30722785e+00] [ 4.27952511e-02 -2.61777456e-03 9.99080434e-01 2.73241729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.80509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.80, Y:4.31, Z:2.73 [[ 9.95784651e-01 -8.12593106e-02 -4.25423653e-02 1.16798031e+02] [ 8.12934868e-02 9.96689774e-01 -9.28899626e-04 4.30837902e+00] [ 4.24770222e-02 -2.53343322e-03 9.99094232e-01 2.73346835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.83509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.83, Y:4.31, Z:2.73 [[ 9.96093660e-01 -7.92440688e-02 -3.89589405e-02 1.16829934e+02] [ 7.88198963e-02 9.96812889e-01 -1.23080913e-02 4.31477034e+00] [ 3.98101173e-02 9.18927204e-03 9.99165007e-01 2.73390185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.86, Y:4.31, Z:2.73 [[ 9.96225615e-01 -7.62979578e-02 -4.13901633e-02 1.16860882e+02] [ 7.67989233e-02 9.96989729e-01 1.06492541e-02 4.30555984e+00] [ 4.04530514e-02 -1.37877797e-02 9.99086306e-01 2.73179483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.89, Y:4.31, Z:2.74 [[ 9.96708375e-01 -7.08291228e-02 -3.94417393e-02 1.16891245e+02] [ 7.08502214e-02 9.97486591e-01 -8.64344184e-04 4.31379087e+00] [ 3.94038268e-02 -1.93295688e-03 9.99221498e-01 2.73749095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.92, Y:4.32, Z:2.74 [[ 9.96908406e-01 -6.83173802e-02 -3.88119201e-02 1.16923572e+02] [ 6.83359981e-02 9.97662003e-01 -8.48282194e-04 4.31539303e+00] [ 3.87791304e-02 -1.80659165e-03 9.99246174e-01 2.73916227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.95, Y:4.32, Z:2.74 [[ 9.97221183e-01 -6.42318172e-02 -3.77383968e-02 1.16954906e+02] [ 6.42465950e-02 9.97933715e-01 -8.22253594e-04 4.31709628e+00] [ 3.77132333e-02 -1.60459479e-03 9.99287315e-01 2.74066871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.99, Y:4.32, Z:2.74 [[ 9.97315149e-01 -6.29208884e-02 -3.74627161e-02 1.16985785e+02] [ 6.29345983e-02 9.98017321e-01 -8.14362661e-04 4.31791238e+00] [ 3.74396800e-02 -1.54552477e-03 9.99297694e-01 2.74198691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.02, Y:4.32, Z:2.74 [[ 9.97392303e-01 -6.14956935e-02 -3.77739736e-02 1.17016968e+02] [ 6.15086638e-02 9.98106213e-01 -8.19768446e-04 4.31809174e+00] [ 3.77528500e-02 -1.50579590e-03 9.99285973e-01 2.74362446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.05, Y:4.32, Z:2.74 [[ 9.97404514e-01 -6.11124275e-02 -3.80723936e-02 1.17047679e+02] [ 6.11253848e-02 9.98129755e-01 -8.24680420e-04 4.31797913e+00] [ 3.80515871e-02 -1.50464973e-03 9.99274643e-01 2.74448143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.07509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.08, Y:4.32, Z:2.75 [[ 9.97395322e-01 -6.09453760e-02 -3.85776258e-02 1.17079420e+02] [ 6.09586308e-02 9.98139945e-01 -8.33670495e-04 4.31774114e+00] [ 3.85566777e-02 -1.52014020e-03 9.99255259e-01 2.74565916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.11, Y:4.31, Z:2.75 [[ 9.96982003e-01 -6.30577196e-02 -4.52836589e-02 1.17108843e+02] [ 6.42229274e-02 9.97628532e-01 2.47533567e-02 4.30688293e+00] [ 4.36153799e-02 -2.75869003e-02 9.98667443e-01 2.74562085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.13509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.14, Y:4.33, Z:2.76 [[ 9.97276524e-01 -6.25511642e-02 -3.90753974e-02 1.17139687e+02] [ 6.15224147e-02 9.97740489e-01 -2.69982994e-02 4.32890528e+00] [ 4.06758811e-02 2.45207574e-02 9.98871466e-01 2.75695022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.17, Y:4.31, Z:2.75 [[ 9.97201105e-01 -6.19849718e-02 -4.18069373e-02 1.17171223e+02] [ 6.20013548e-02 9.98075654e-01 -9.05873213e-04 4.31451154e+00] [ 4.17826368e-02 -1.68874898e-03 9.99125297e-01 2.74782458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.19509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.20, Y:4.31, Z:2.75 [[ 9.97155554e-01 -6.21315086e-02 -4.26670409e-02 1.17201032e+02] [ 6.21486876e-02 9.98066473e-01 -9.24990823e-04 4.31405667e+00] [ 4.26420141e-02 -1.72934086e-03 9.99088919e-01 2.74813421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.22509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.23, Y:4.31, Z:2.75 [[ 9.97098635e-01 -6.16672315e-02 -4.46258229e-02 1.17230884e+02] [ 6.16854918e-02 9.98095166e-01 -9.69078746e-04 4.31268759e+00] [ 4.46005785e-02 -1.78649874e-03 9.99003302e-01 2.74780004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.26, Y:4.31, Z:2.75 [[ 9.97094986e-01 -6.13909606e-02 -4.50859131e-02 1.17258648e+02] [ 6.14092084e-02 9.98112191e-01 -9.81513588e-04 4.31240575e+00] [ 4.50610556e-02 -1.79002796e-03 9.98982631e-01 2.74816129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.29, Y:4.31, Z:2.75 [[ 9.97175152e-01 -6.03907632e-02 -4.46617603e-02 1.17287259e+02] [ 6.04073841e-02 9.98173327e-01 -9.78614466e-04 4.31182619e+00] [ 4.46392771e-02 -1.72205008e-03 9.99001686e-01 2.74932177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.32, Y:4.31, Z:2.75 [[ 9.97253450e-01 -5.96771338e-02 -4.38656613e-02 1.17316165e+02] [ 5.96920067e-02 9.98216369e-01 -9.71879967e-04 4.31231619e+00] [ 4.38454201e-02 -1.64921870e-03 9.99036966e-01 2.75063010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.35, Y:4.31, Z:2.75 [[ 9.97309490e-01 -5.93480024e-02 -4.30301615e-02 1.17345160e+02] [ 5.93615397e-02 9.98236083e-01 -9.64220998e-04 4.31411561e+00] [ 4.30114845e-02 -1.59270989e-03 9.99073308e-01 2.75191909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.37509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.37, Y:4.31, Z:2.75 [[ 9.97617539e-01 -5.56482003e-02 -4.07740596e-02 1.17373881e+02] [ 5.56569463e-02 9.98449526e-01 -9.21502261e-04 4.31314972e+00] [ 4.07621204e-02 -1.35005283e-03 9.99167967e-01 2.75312209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.40, Y:4.32, Z:2.75 [[ 9.97871282e-01 -5.39979701e-02 -3.65666916e-02 1.17402811e+02] [ 5.37480577e-02 9.98524189e-01 -7.78402381e-03 4.31706105e+00] [ 3.69330476e-02 5.80206518e-03 9.99300899e-01 2.75426675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.43509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.43, Y:4.32, Z:2.75 [[ 9.97844880e-01 -5.45889837e-02 -3.64093157e-02 1.17431193e+02] [ 5.45064574e-02 9.98508109e-01 -3.25612910e-03 4.31666763e+00] [ 3.65327457e-02 1.26456894e-03 9.99331656e-01 2.75393121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46509989299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:117.46, Y:4.32, Z:2.75 [[ 9.97860131e-01 -5.48347372e-02 -3.56133482e-02 1.17459458e+02] [ 5.47724257e-02 9.98495149e-01 -2.72367534e-03 4.31694844e+00] [ 3.57091074e-02 7.67217566e-04 9.99361932e-01 2.75426876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.49509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.49, Y:4.31, Z:2.75 [[ 9.97777067e-01 -5.43037589e-02 -3.86267682e-02 1.17490388e+02] [ 5.47070582e-02 9.98457625e-01 9.46095131e-03 4.30874015e+00] [ 3.80534260e-02 -1.15530771e-02 9.99208919e-01 2.75460673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.52509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.52, Y:4.31, Z:2.76 [[ 9.97710131e-01 -5.53620492e-02 -3.88527819e-02 1.17519459e+02] [ 5.53682706e-02 9.98465580e-01 -9.16694934e-04 4.31358299e+00] [ 3.88439155e-02 -1.23661552e-03 9.99244525e-01 2.75893915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.55509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.55, Y:4.31, Z:2.76 [[ 9.97487103e-01 -5.82872494e-02 -4.02750132e-02 1.17549227e+02] [ 5.82962563e-02 9.98298873e-01 -9.51745050e-04 4.31093209e+00] [ 4.02619749e-02 -1.39852908e-03 9.99188179e-01 2.75842689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.58509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.58, Y:4.31, Z:2.76 [[ 9.97382901e-01 -5.96630867e-02 -4.08370529e-02 1.17577674e+02] [ 5.96734279e-02 9.98217485e-01 -9.66763544e-04 4.31108020e+00] [ 4.08219404e-02 -1.47265350e-03 9.99165352e-01 2.75905383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.61, Y:4.32, Z:2.76 [[ 9.97389281e-01 -6.23651520e-02 -3.64034352e-02 1.17606370e+02] [ 6.14083516e-02 9.97751899e-01 -2.68358529e-02 4.32331171e+00] [ 3.79952186e-02 2.45303171e-02 9.98976790e-01 2.75986864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.645099893 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:117.64, Y:4.31, Z:2.75 [[ 9.97199118e-01 -6.41442925e-02 -3.84633464e-02 1.17636131e+02] [ 6.41353829e-02 9.97940129e-01 -1.46675612e-03 4.31188503e+00] [ 3.84782009e-02 -1.00421354e-03 9.99258935e-01 2.75166196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.67, Y:4.31, Z:2.75 [[ 9.96908281e-01 -6.75272888e-02 -4.01739259e-02 1.17667330e+02] [ 6.76225406e-02 9.97710460e-01 1.01529634e-03 4.30888673e+00] [ 4.00133859e-02 -3.72882027e-03 9.99192186e-01 2.75203382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.70, Y:4.30, Z:2.75 [[ 9.96501826e-01 -6.98750278e-02 -4.58431174e-02 1.17697318e+02] [ 7.09375117e-02 9.97238733e-01 2.19722359e-02 4.29878833e+00] [ 4.41812217e-02 -2.51473698e-02 9.98706979e-01 2.75420779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.73, Y:4.31, Z:2.76 [[ 9.96364138e-01 -7.22873482e-02 -4.50892944e-02 1.17726491e+02] [ 7.23123611e-02 9.97381452e-01 -1.07823691e-03 4.31015643e+00] [ 4.50491688e-02 -2.18619675e-03 9.98982379e-01 2.76225284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.76, Y:4.31, Z:2.76 [[ 9.96261658e-01 -7.41063412e-02 -4.43954752e-02 1.17756386e+02] [ 7.41323425e-02 9.97247846e-01 -1.06269044e-03 4.31056210e+00] [ 4.43520441e-02 -2.23242283e-03 9.99013470e-01 2.76301092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.79, Y:4.31, Z:2.76 [[ 9.96173684e-01 -7.62266323e-02 -4.27491792e-02 1.17786445e+02] [ 7.62526391e-02 9.97088003e-01 -1.02430496e-03 4.31172147e+00] [ 4.27027730e-02 -2.23935208e-03 9.99085311e-01 2.76454888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.82, Y:4.31, Z:2.77 [[ 9.96196472e-01 -7.68764942e-02 -4.10194426e-02 1.17817510e+02] [ 7.69010008e-02 9.97038249e-01 -9.82451203e-04 4.31301076e+00] [ 4.09734806e-02 -2.17572176e-03 9.99157865e-01 2.76604207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.85509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.85, Y:4.33, Z:2.77 [[ 9.96443608e-01 -7.70683858e-02 -3.40675714e-02 1.17847479e+02] [ 7.62130126e-02 9.96759436e-01 -2.57333128e-02 4.32676280e+00] [ 3.59403981e-02 2.30454028e-02 9.99088183e-01 2.76869425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.88, Y:4.31, Z:2.76 [[ 9.96307297e-01 -7.56953608e-02 -4.05213744e-02 1.17878471e+02] [ 7.64373304e-02 9.96928027e-01 1.70834140e-02 4.30717083e+00] [ 3.91037586e-02 -2.01176758e-02 9.99032620e-01 2.76378962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.91509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.91, Y:4.31, Z:2.77 [[ 9.96296997e-01 -7.72076716e-02 -3.78321284e-02 1.17910290e+02] [ 7.74978883e-02 9.96972841e-01 6.26350234e-03 4.31354805e+00] [ 3.72340141e-02 -9.17221863e-03 9.99264479e-01 2.76859548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.94509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.94, Y:4.32, Z:2.77 [[ 9.96178078e-01 -7.88860555e-02 -3.74996991e-02 1.17941374e+02] [ 7.89079484e-02 9.96881502e-01 -8.98169745e-04 4.31802191e+00] [ 3.74536094e-02 -2.06428731e-03 9.99296235e-01 2.77275200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.97509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.97, Y:4.32, Z:2.77 [[ 9.96092754e-01 -7.96947834e-02 -3.80521555e-02 1.17972354e+02] [ 7.97179930e-02 9.96817042e-01 -9.09356077e-04 4.31853083e+00] [ 3.80035081e-02 -2.12763847e-03 9.99275341e-01 2.77376548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.00, Y:4.32, Z:2.77 [[ 9.95857601e-01 -8.21333386e-02 -3.90096558e-02 1.18004196e+02] [ 8.21596857e-02 9.96618744e-01 -9.29954353e-04 4.31844931e+00] [ 3.89541345e-02 -2.27891895e-03 9.99238401e-01 2.77436089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.04, Y:4.33, Z:2.77 [[ 9.96236145e-01 -8.05700160e-02 -3.19689817e-02 1.18038897e+02] [ 7.97146774e-02 9.96446939e-01 -2.71858179e-02 4.32859112e+00] [ 3.40457558e-02 2.45350974e-02 9.99119070e-01 2.77278521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.07, Y:4.31, Z:2.77 [[ 9.95663808e-01 -8.34978192e-02 -4.10084728e-02 1.18068222e+02] [ 8.46059753e-02 9.96073341e-01 2.60715819e-02 4.30605610e+00] [ 3.86705263e-02 -2.94280924e-02 9.98818591e-01 2.76737356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.09509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.10, Y:4.32, Z:2.78 [[ 9.95604042e-01 -8.42426085e-02 -4.09362139e-02 1.18100211e+02] [ 8.42737095e-02 9.96442173e-01 -9.68384118e-04 4.31984428e+00] [ 4.08721491e-02 -2.48571945e-03 9.99161293e-01 2.77697539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.13, Y:4.32, Z:2.78 [[ 9.95612053e-01 -8.41478529e-02 -4.09362888e-02 1.18132892e+02] [ 8.41790043e-02 9.96450181e-01 -9.65209082e-04 4.32055670e+00] [ 4.08721926e-02 -2.48500223e-03 9.99161293e-01 2.77795137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.15509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.17, Y:4.32, Z:2.78 [[ 9.95634340e-01 -8.38169837e-02 -4.10727931e-02 1.18165027e+02] [ 8.38482138e-02 9.96478071e-01 -9.64755694e-04 4.32149006e+00] [ 4.10090006e-02 -2.48333644e-03 9.99155691e-01 2.77879854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.20, Y:4.32, Z:2.78 [[ 9.95691501e-01 -8.29275114e-02 -4.14905060e-02 1.18196247e+02] [ 8.29587298e-02 9.96552510e-01 -9.71725354e-04 4.32315839e+00] [ 4.14280507e-02 -2.47446100e-03 9.99138426e-01 2.77935081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.21509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.23, Y:4.32, Z:2.78 [[ 9.95824635e-01 -8.15872349e-02 -4.09489741e-02 1.18227788e+02] [ 8.16166037e-02 9.96663341e-01 -9.56837566e-04 4.32423543e+00] [ 4.08904071e-02 -2.38927377e-03 9.99160781e-01 2.77937935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.26, Y:4.33, Z:2.78 [[ 9.95898163e-01 -8.08620466e-02 -4.05977539e-02 1.18260437e+02] [ 8.08904083e-02 9.96722552e-01 -9.46270201e-04 4.32538252e+00] [ 4.05412142e-02 -2.34158013e-03 9.99175123e-01 2.78001777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.27509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.29, Y:4.33, Z:2.78 [[ 9.95936587e-01 -8.04838580e-02 -4.04062370e-02 1.18292191e+02] [ 8.05117573e-02 9.96753217e-01 -9.38955154e-04 4.32647009e+00] [ 4.03506175e-02 -2.31803736e-03 9.99182893e-01 2.78092385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.30509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.32, Y:4.33, Z:2.78 [[ 9.95963886e-01 -8.04020746e-02 -3.98929104e-02 1.18323958e+02] [ 8.04293137e-02 9.96759886e-01 -9.24246893e-04 4.32774087e+00] [ 3.98379642e-02 -2.28804288e-03 9.99203534e-01 2.78199367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.33509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.36, Y:4.33, Z:2.78 [[ 9.96051920e-01 -7.95831910e-02 -3.93330446e-02 1.18356213e+02] [ 7.96091407e-02 9.96825742e-01 -9.08548695e-04 4.32973512e+00] [ 3.92804965e-02 -2.22630821e-03 9.99225743e-01 2.78292977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.39, Y:4.33, Z:2.78 [[ 9.96078712e-01 -7.94815224e-02 -3.88572658e-02 1.18387579e+02] [ 7.95068678e-02 9.96833916e-01 -8.95037628e-04 4.33166932e+00] [ 3.88053794e-02 -2.19789157e-03 9.99244370e-01 2.78367491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.42, Y:4.33, Z:2.78 [[ 9.96059249e-01 -7.98236609e-02 -3.86542980e-02 1.18419702e+02] [ 7.98490829e-02 9.96806569e-01 -8.88177928e-04 4.33270857e+00] [ 3.86017558e-02 -2.20183241e-03 9.99252249e-01 2.78471948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.45, Y:4.33, Z:2.79 [[ 9.95994704e-01 -8.06620156e-02 -3.85770597e-02 1.18450979e+02] [ 8.06880643e-02 9.96739011e-01 -8.83762964e-04 4.33404633e+00] [ 3.85225464e-02 -2.23248504e-03 9.99255237e-01 2.78553866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.48, Y:4.35, Z:2.79 [[ 9.96227522e-01 -8.03173382e-02 -3.28610677e-02 1.18483708e+02] [ 7.94296133e-02 9.96461510e-01 -2.74844764e-02 4.34671339e+00] [ 3.49522691e-02 2.47706499e-02 9.99081955e-01 2.78683217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.51, Y:4.32, Z:2.78 [[ 9.95897791e-01 -8.14772989e-02 -3.93578421e-02 1.18514612e+02] [ 8.25309211e-02 9.96251140e-01 2.59290160e-02 4.32396414e+00] [ 3.70976689e-02 -2.90708887e-02 9.98888706e-01 2.77902409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.55, Y:4.34, Z:2.79 [[ 9.95843434e-01 -8.22648802e-02 -3.90940476e-02 1.18546527e+02] [ 8.22931085e-02 9.96607773e-01 -8.89324253e-04 4.33874254e+00] [ 3.90345919e-02 -2.33154298e-03 9.99235140e-01 2.78901339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.58, Y:4.34, Z:2.79 [[ 9.95911805e-01 -8.16922634e-02 -3.85493297e-02 1.18577482e+02] [ 8.17193817e-02 9.96654995e-01 -8.74342870e-04 4.34126908e+00] [ 3.84918090e-02 -2.27945900e-03 9.99256316e-01 2.78998703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.57509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.61, Y:4.34, Z:2.79 [[ 9.96000273e-01 -8.08991465e-02 -3.79313133e-02 1.18608731e+02] [ 8.09249040e-02 9.96719832e-01 -8.58319320e-04 4.34286842e+00] [ 3.78763295e-02 -2.21470161e-03 9.99279980e-01 2.79111008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.64, Y:4.34, Z:2.79 [[ 9.96078470e-01 -8.02043392e-02 -3.73489826e-02 1.18640905e+02] [ 8.02289023e-02 9.96776110e-01 -8.43047253e-04 4.34447231e+00] [ 3.72961896e-02 -2.15672666e-03 9.99301928e-01 2.79245749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.63509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.67, Y:4.35, Z:2.79 [[ 9.96194936e-01 -7.90995493e-02 -3.65911184e-02 1.18672297e+02] [ 7.91224716e-02 9.96864563e-01 -8.23480146e-04 4.34688540e+00] [ 3.65415262e-02 -2.07483298e-03 9.99329982e-01 2.79329790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.66509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.70, Y:4.35, Z:2.79 [[ 9.96285735e-01 -7.80224444e-02 -3.64311982e-02 1.18704550e+02] [ 7.80445240e-02 9.96949539e-01 -8.17815168e-04 4.34870117e+00] [ 3.63838741e-02 -2.02847793e-03 9.99335829e-01 2.79351324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.69509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.74, Y:4.35, Z:2.79 [[ 9.96279905e-01 -7.83709972e-02 -3.58376490e-02 1.18736034e+02] [ 7.83926748e-02 9.96922236e-01 -8.02038942e-04 4.35004092e+00] [ 3.57902058e-02 -2.01035388e-03 9.99357303e-01 2.79440158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.72509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.77, Y:4.35, Z:2.80 [[ 9.96246247e-01 -7.90269389e-02 -3.53292846e-02 1.18768102e+02] [ 7.90484861e-02 9.96870460e-01 -7.88676208e-04 4.35123715e+00] [ 3.52810468e-02 -2.00701075e-03 9.99375415e-01 2.79534860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.80, Y:4.35, Z:2.80 [[ 9.96121774e-01 -8.07383396e-02 -3.49675910e-02 1.18799806e+02] [ 8.07606048e-02 9.96733224e-01 -7.77536532e-04 4.35225926e+00] [ 3.49161367e-02 -2.04948273e-03 9.99388144e-01 2.79638729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.83, Y:4.35, Z:2.80 [[ 9.96032077e-01 -8.16532476e-02 -3.53955917e-02 1.18833241e+02] [ 8.16768516e-02 9.96658558e-01 -7.80995156e-04 4.35288499e+00] [ 3.53410902e-02 -2.11310426e-03 9.99373075e-01 2.79737280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.87, Y:4.37, Z:2.80 [[ 9.96385018e-01 -8.01726296e-02 -2.80935088e-02 1.18868654e+02] [ 7.92414201e-02 9.96314815e-01 -3.28266169e-02 4.36528340e+00] [ 3.06217752e-02 3.04817797e-02 9.99066148e-01 2.79552907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84509989299998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:118.90, Y:4.35, Z:2.78 [[ 9.96266305e-01 -8.09649386e-02 -2.99687826e-02 1.18898787e+02] [ 8.09880655e-02 9.96714973e-01 -4.43319897e-04 4.35061175e+00] [ 2.99062277e-02 -1.98544905e-03 9.99550737e-01 2.78408247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.87509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.93, Y:4.34, Z:2.78 [[ 9.95991731e-01 -8.23063983e-02 -3.50161149e-02 1.18929034e+02] [ 8.33175083e-02 9.96116375e-01 2.84668411e-02 4.33919026e+00] [ 3.25371223e-02 -3.12701938e-02 9.98981236e-01 2.78405464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90509989299998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:118.96, Y:4.37, Z:2.80 [[ 9.96252270e-01 -8.13182990e-02 -2.94745433e-02 1.18961832e+02] [ 8.04112060e-02 9.96287149e-01 -3.07563667e-02 4.36807390e+00] [ 3.18661641e-02 2.82710166e-02 9.99092237e-01 2.79628578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.93509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.99, Y:4.34, Z:2.79 [[ 9.96090324e-01 -8.08885777e-02 -3.55120251e-02 1.18993313e+02] [ 8.19497808e-02 9.96199237e-01 2.95180084e-02 4.34131656e+00] [ 3.29893827e-02 -3.23128052e-02 9.98933223e-01 2.78550531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.02, Y:4.36, Z:2.80 [[ 9.96111631e-01 -8.09582620e-02 -3.47473587e-02 1.19024264e+02] [ 8.09821523e-02 9.96715290e-01 -7.21603885e-04 4.35731108e+00] [ 3.46916436e-02 -2.09511788e-03 9.99395868e-01 2.79717589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.99509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.06, Y:4.36, Z:2.80 [[ 9.96222557e-01 -7.99529789e-02 -3.38841765e-02 1.19057361e+02] [ 7.99752222e-02 9.96796606e-01 -7.00551973e-04 4.35847397e+00] [ 3.38316434e-02 -2.01198887e-03 9.99425521e-01 2.79809332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.09, Y:4.37, Z:2.80 [[ 9.96570765e-01 -7.82301494e-02 -2.69583782e-02 1.19090360e+02] [ 7.75207859e-02 9.96640472e-01 -2.64253321e-02 4.37092021e+00] [ 2.89350685e-02 2.42448788e-02 9.99287220e-01 2.79884360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.05509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.12, Y:4.35, Z:2.79 [[ 9.96525887e-01 -7.68248959e-02 -3.21573068e-02 1.19121337e+02] [ 7.76517563e-02 9.96659356e-01 2.53047920e-02 4.34784488e+00] [ 3.01058427e-02 -2.77139516e-02 9.99162437e-01 2.79068002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.08509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.15, Y:4.36, Z:2.80 [[ 9.96532801e-01 -7.73112696e-02 -3.07464603e-02 1.19153734e+02] [ 7.73286014e-02 9.97005464e-01 -6.26752610e-04 4.36064481e+00] [ 3.07028440e-02 -1.75300124e-03 9.99527019e-01 2.79964621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.19, Y:4.36, Z:2.80 [[ 9.96520554e-01 -7.73473168e-02 -3.10512128e-02 1.19185380e+02] [ 7.73651271e-02 9.97002628e-01 -6.29245699e-04 4.36111424e+00] [ 3.10068113e-02 -1.77522475e-03 9.99517597e-01 2.80012459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.22, Y:4.37, Z:2.80 [[ 9.96712108e-01 -7.70986611e-02 -2.49152502e-02 1.19218391e+02] [ 7.62960627e-02 9.96581107e-01 -3.17018482e-02 4.37433303e+00] [ 2.72742377e-02 2.96966804e-02 9.99186781e-01 2.80025748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.175099893 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:119.25, Y:4.36, Z:2.79 [[ 9.96621090e-01 -7.77984406e-02 -2.63401867e-02 1.19251866e+02] [ 7.77395472e-02 9.96968391e-01 -3.25411459e-03 4.36106544e+00] [ 2.65134986e-02 1.19544504e-03 9.99647741e-01 2.79111205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.28, Y:4.35, Z:2.79 [[ 9.96312326e-01 -7.97204374e-02 -3.17238349e-02 1.19282928e+02] [ 8.06974218e-02 9.96262398e-01 3.08084383e-02 4.34512188e+00] [ 2.91492016e-02 -3.32548585e-02 9.99021741e-01 2.78960035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.32, Y:4.36, Z:2.80 [[ 9.96243511e-01 -8.09057336e-02 -3.08727889e-02 1.19315751e+02] [ 8.09256231e-02 9.96719958e-01 -6.06766119e-04 4.36061892e+00] [ 3.08206157e-02 -1.89391287e-03 9.99523138e-01 2.80137856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.35, Y:4.36, Z:2.80 [[ 9.96270001e-01 -8.06793009e-02 -3.06094129e-02 1.19348640e+02] [ 8.06988451e-02 9.96738350e-01 -5.98338915e-04 4.36015948e+00] [ 3.05578493e-02 -1.87403716e-03 9.99531243e-01 2.80226763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.38, Y:4.36, Z:2.80 [[ 9.96356251e-01 -8.01602085e-02 -2.91300826e-02 1.19380176e+02] [ 8.01777743e-02 9.96780419e-01 -5.66409934e-04 4.35960844e+00] [ 2.90816995e-02 -1.77123911e-03 9.99575469e-01 2.80359138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.41, Y:4.36, Z:2.81 [[ 9.96415457e-01 -7.95488229e-02 -2.87788382e-02 1.19413300e+02] [ 7.95657882e-02 9.96829461e-01 -5.56976006e-04 4.36040201e+00] [ 2.87319006e-02 -1.73483144e-03 9.99585648e-01 2.80514660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.35509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.45, Y:4.36, Z:2.81 [[ 9.96564407e-01 -7.74924481e-02 -2.92284565e-02 1.19446194e+02] [ 7.75091588e-02 9.96991481e-01 -5.62527561e-04 4.36232182e+00] [ 2.91841138e-02 -1.70487813e-03 9.99572599e-01 2.80702846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.48, Y:4.36, Z:2.81 [[ 9.96718299e-01 -7.54843864e-02 -2.92359451e-02 1.19479618e+02] [ 7.55003361e-02 9.97145619e-01 -5.59541864e-04 4.36330108e+00] [ 2.91947313e-02 -1.64961807e-03 9.99572382e-01 2.80749785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.41509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.51, Y:4.36, Z:2.81 [[ 9.96786970e-01 -7.44650959e-02 -2.95073756e-02 1.19513087e+02] [ 7.44809941e-02 9.97222275e-01 -5.61482826e-04 4.36359759e+00] [ 2.94672231e-02 -1.63805990e-03 9.99564405e-01 2.80792717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.44509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.54, Y:4.36, Z:2.81 [[ 9.96877010e-01 -7.32203477e-02 -2.95805288e-02 1.19544878e+02] [ 7.32358732e-02 9.97314491e-01 -5.59675165e-04 4.36379244e+00] [ 2.95420696e-02 -1.60842855e-03 9.99562244e-01 2.80809053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.47509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.58, Y:4.36, Z:2.81 [[ 9.96951051e-01 -7.21619701e-02 -2.96858851e-02 1.19577982e+02] [ 7.21772200e-02 9.97391667e-01 -5.58930135e-04 4.36410537e+00] [ 2.96487879e-02 -1.58541867e-03 9.99559121e-01 2.80881702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.61, Y:4.36, Z:2.81 [[ 9.97110675e-01 -7.01080356e-02 -2.92431926e-02 1.19610392e+02] [ 7.01220429e-02 9.97538270e-01 -5.47509613e-04 4.36438798e+00] [ 2.92095885e-02 -1.50466472e-03 9.99572176e-01 2.80908378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.64, Y:4.36, Z:2.81 [[ 9.97240998e-01 -6.83068844e-02 -2.90613558e-02 1.19643710e+02] [ 6.83200313e-02 9.97663310e-01 -5.41484741e-04 4.36467394e+00] [ 2.90304356e-02 -1.44548195e-03 9.99577483e-01 2.80941016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.68, Y:4.38, Z:2.81 [[ 9.97494667e-01 -6.63832183e-02 -2.44470429e-02 1.19676183e+02] [ 6.58230492e-02 9.97565107e-01 -2.30474395e-02 4.37571908e+00] [ 2.59174802e-02 2.13805190e-02 9.99435419e-01 2.81060823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.59509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.71, Y:4.35, Z:2.80 [[ 9.97364567e-01 -6.63701024e-02 -2.93075241e-02 1.19707599e+02] [ 6.70280857e-02 9.97506983e-01 2.20693175e-02 4.35467913e+00] [ 2.77697171e-02 -2.39755825e-02 9.99326781e-01 2.80315234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.74, Y:4.37, Z:2.81 [[ 9.97351099e-01 -6.69602202e-02 -2.84097722e-02 1.19738890e+02] [ 6.69724245e-02 9.97754690e-01 -5.22801837e-04 4.36569273e+00] [ 2.83809904e-02 -1.38125434e-03 9.99596224e-01 2.81144250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.65509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.77, Y:4.37, Z:2.81 [[ 9.97345555e-01 -6.71874334e-02 -2.80658665e-02 1.19770793e+02] [ 6.71995021e-02 9.97739426e-01 -5.14024292e-04 4.36540983e+00] [ 2.80369575e-02 -1.37335241e-03 9.99605944e-01 2.81212390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.80, Y:4.36, Z:2.81 [[ 9.97292635e-01 -6.83827061e-02 -2.70408149e-02 1.19802920e+02] [ 6.83943970e-02 9.97658240e-01 -4.93396500e-04 4.36444238e+00] [ 2.70112316e-02 -1.35737953e-03 9.99634209e-01 2.81350252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.71509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.84, Y:4.36, Z:2.81 [[ 9.97219134e-01 -6.97607279e-02 -2.62190593e-02 1.19835074e+02] [ 6.97722378e-02 9.97562834e-01 -4.76707062e-04 4.36406636e+00] [ 2.61884146e-02 -1.35398104e-03 9.99656108e-01 2.81474278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.87, Y:4.36, Z:2.82 [[ 9.97176875e-01 -7.03139809e-02 -2.63481469e-02 1.19868073e+02] [ 7.03259220e-02 9.97523954e-01 -4.74310475e-04 4.36387681e+00] [ 2.63162584e-02 -1.37998629e-03 9.99652715e-01 2.81575538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.77509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.90, Y:4.36, Z:2.82 [[ 9.97155380e-01 -7.08031022e-02 -2.58470257e-02 1.19899734e+02] [ 7.08148267e-02 9.97489372e-01 -4.62586076e-04 4.36362041e+00] [ 2.58148860e-02 -1.36908245e-03 9.99665803e-01 2.81650911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.80509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.93, Y:4.36, Z:2.82 [[ 9.97094554e-01 -7.18464237e-02 -2.53089195e-02 1.19933100e+02] [ 7.18580535e-02 9.97414767e-01 -4.50836136e-04 4.36282660e+00] [ 2.52758810e-02 -1.36912343e-03 9.99679576e-01 2.81751381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.83509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.96, Y:4.36, Z:2.82 [[ 9.97080358e-01 -7.20184760e-02 -2.53791148e-02 1.19964919e+02] [ 7.20302936e-02 9.97402344e-01 -4.49419947e-04 4.36210829e+00] [ 2.53455551e-02 -1.37995729e-03 9.99677797e-01 2.81866115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.865099893 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:120.00, Y:4.36, Z:2.82 [[ 9.97051100e-01 -7.23070670e-02 -2.57058579e-02 1.19998219e+02] [ 7.23194113e-02 9.97381421e-01 -4.50350700e-04 4.36206582e+00] [ 2.56711086e-02 -1.41000985e-03 9.99669448e-01 2.81957784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.03, Y:4.36, Z:2.82 [[ 9.96988103e-01 -7.29595540e-02 -2.62987712e-02 1.20030670e+02] [ 7.29727767e-02 9.97333828e-01 -4.57858169e-04 4.36115119e+00] [ 2.62620593e-02 -1.46261521e-03 9.99654023e-01 2.82025958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.06, Y:4.36, Z:2.82 [[ 9.96952455e-01 -7.33056256e-02 -2.66849871e-02 1.20063175e+02] [ 7.33194268e-02 9.97308402e-01 -4.62196955e-04 4.36074109e+00] [ 2.66470435e-02 -1.49573957e-03 9.99643785e-01 2.82110874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.10, Y:4.36, Z:2.82 [[ 9.96922113e-01 -7.38343140e-02 -2.63589738e-02 1.20095843e+02] [ 7.38480229e-02 9.97269403e-01 -4.54313025e-04 4.35923419e+00] [ 2.63205419e-02 -1.49364340e-03 9.99652439e-01 2.82132000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.13, Y:4.36, Z:2.82 [[ 9.96897743e-01 -7.41366025e-02 -2.64320672e-02 1.20128397e+02] [ 7.41505696e-02 9.97246954e-01 -4.52691604e-04 4.35888404e+00] [ 2.63928596e-02 -1.50866560e-03 9.99650509e-01 2.82187351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.16, Y:4.36, Z:2.82 [[ 9.96759650e-01 -7.56517164e-02 -2.73316195e-02 1.20160846e+02] [ 7.56673020e-02 9.97133012e-01 -4.65042159e-04 4.35702241e+00] [ 2.72884413e-02 -1.60457464e-03 9.99626313e-01 2.82190089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.19, Y:4.36, Z:2.82 [[ 9.96769085e-01 -7.55272760e-02 -2.73317015e-02 1.20194379e+02] [ 7.55429480e-02 9.97142443e-01 -4.60173177e-04 4.35749754e+00] [ 2.72883552e-02 -1.60603090e-03 9.99626313e-01 2.82281503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.07509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.23, Y:4.36, Z:2.82 [[ 9.96762597e-01 -7.55225152e-02 -2.75803480e-02 1.20227736e+02] [ 7.55385676e-02 9.97142774e-01 -4.60890771e-04 4.35710272e+00] [ 2.75363523e-02 -1.62398130e-03 9.99619484e-01 2.82332177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.26, Y:4.36, Z:2.82 [[ 9.96663765e-01 -7.64544801e-02 -2.85666125e-02 1.20260041e+02] [ 7.64721761e-02 9.97071603e-01 -4.74123778e-04 4.35559249e+00] [ 2.85192070e-02 -1.71200903e-03 9.99591779e-01 2.82356591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.13509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.29, Y:4.35, Z:2.82 [[ 9.96622829e-01 -7.69628732e-02 -2.86295780e-02 1.20291613e+02] [ 7.69809315e-02 9.97032453e-01 -4.72536672e-04 4.35485371e+00] [ 2.85809862e-02 -1.73299075e-03 9.99589978e-01 2.82425354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.32, Y:4.35, Z:2.82 [[ 9.96572431e-01 -7.76486349e-02 -2.85320730e-02 1.20324587e+02] [ 7.76669235e-02 9.96979252e-01 -4.68359332e-04 4.35429001e+00] [ 2.84822522e-02 -1.74924433e-03 9.99592768e-01 2.82488901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.19509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.36, Y:4.35, Z:2.83 [[ 9.96519323e-01 -7.82672885e-02 -2.86961833e-02 1.20356596e+02] [ 7.82861326e-02 9.96930821e-01 -4.67950589e-04 4.35366845e+00] [ 2.86447348e-02 -1.78019141e-03 9.99588070e-01 2.82585079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.22509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.39, Y:4.35, Z:2.83 [[ 9.96477041e-01 -7.87058239e-02 -2.89637810e-02 1.20390114e+02] [ 7.87252826e-02 9.96896238e-01 -4.69657000e-04 4.35317394e+00] [ 2.89108491e-02 -1.81217943e-03 9.99580351e-01 2.82660151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.42, Y:4.35, Z:2.83 [[ 9.96406032e-01 -7.93250169e-02 -2.97079134e-02 1.20423419e+02] [ 7.93458594e-02 9.96847032e-01 -4.78481238e-04 4.35233763e+00] [ 2.96522008e-02 -1.88043833e-03 9.99558508e-01 2.82744778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.46, Y:4.35, Z:2.83 [[ 9.96475747e-01 -7.83750235e-02 -2.98904817e-02 1.20456074e+02] [ 7.83957939e-02 9.96922199e-01 -4.78193753e-04 4.35128735e+00] [ 2.98359632e-02 -1.86677957e-03 9.99553065e-01 2.82793989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.49, Y:4.35, Z:2.83 [[ 9.96650693e-01 -7.63733421e-02 -2.92319943e-02 1.20488900e+02] [ 7.63924388e-02 9.97077720e-01 -4.64585365e-04 4.34996910e+00] [ 2.91820521e-02 -1.77007401e-03 9.99572546e-01 2.82871384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.52, Y:4.35, Z:2.83 [[ 9.96866049e-01 -7.35251407e-02 -2.91913255e-02 1.20521993e+02] [ 7.35430583e-02 9.97291936e-01 -4.60818843e-04 4.35015328e+00] [ 2.91461553e-02 -1.68744469e-03 9.99573736e-01 2.83047941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.37509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.55, Y:4.35, Z:2.83 [[ 9.96989159e-01 -7.17769435e-02 -2.93374691e-02 1.20553408e+02] [ 7.17943771e-02 9.97419348e-01 -4.60046336e-04 4.35070163e+00] [ 2.92947800e-02 -1.64760411e-03 9.99569458e-01 2.83185744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.58, Y:4.35, Z:2.83 [[ 9.97143268e-01 -6.96032779e-02 -2.93374616e-02 1.20584411e+02] [ 6.96198236e-02 9.97573491e-01 -4.58341091e-04 4.35101341e+00] [ 2.92981760e-02 -1.58543717e-03 9.99569459e-01 2.83286806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.43509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.62, Y:4.35, Z:2.83 [[ 9.97257817e-01 -6.78830920e-02 -2.94742630e-02 1.20616650e+02] [ 6.78991438e-02 9.97692085e-01 -4.57066406e-04 4.35157955e+00] [ 2.94372660e-02 -1.54546417e-03 9.99565435e-01 2.83432009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.65, Y:4.35, Z:2.84 [[ 9.97571448e-01 -6.29608575e-02 -2.97848495e-02 1.20648723e+02] [ 6.29751262e-02 9.98014991e-01 -4.59692240e-04 4.35176279e+00] [ 2.97546690e-02 -1.41712880e-03 9.99556227e-01 2.83516522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.49509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.68, Y:4.35, Z:2.84 [[ 9.97736619e-01 -6.02314487e-02 -2.98966715e-02 1.20679848e+02] [ 6.02446718e-02 9.98183535e-01 -4.59088375e-04 4.35232570e+00] [ 2.98700168e-02 -1.34306588e-03 9.99552889e-01 2.83611965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.71, Y:4.35, Z:2.84 [[ 9.97897875e-01 -5.74935104e-02 -2.99053034e-02 1.20712331e+02] [ 5.75056139e-02 9.98345079e-01 -4.55878778e-04 4.35285654e+00] [ 2.98820225e-02 -1.26480237e-03 9.99552632e-01 2.83717486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.55509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.74, Y:4.35, Z:2.84 [[ 9.98034799e-01 -5.50289723e-02 -2.99725120e-02 1.20743860e+02] [ 5.50400809e-02 9.98484042e-01 -4.54905383e-04 4.35370836e+00] [ 2.99521079e-02 -1.19567808e-03 9.99550620e-01 2.83848309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.58509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.77, Y:4.35, Z:2.84 [[ 9.98176463e-01 -5.25009315e-02 -2.97892648e-02 1.20774718e+02] [ 5.25108111e-02 9.98620254e-01 -4.51095611e-04 4.35454505e+00] [ 2.97718461e-02 -1.11398543e-03 9.99556100e-01 2.83947608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.81, Y:4.36, Z:2.84 [[ 9.98488478e-01 -4.85281431e-02 -2.58026991e-02 1.20806852e+02] [ 4.81062702e-02 9.98702153e-01 -1.67271047e-02 4.36125104e+00] [ 2.65809465e-02 1.54605497e-02 9.99527101e-01 2.83944755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.84, Y:4.35, Z:2.84 [[ 9.98383408e-01 -4.69322970e-02 -3.20613465e-02 1.20835843e+02] [ 4.74631976e-02 9.98744784e-01 1.60031387e-02 4.34732781e+00] [ 3.12700385e-02 -1.74990021e-02 9.99357779e-01 2.83624177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.86, Y:4.36, Z:2.84 [[ 9.98451008e-01 -4.47448725e-02 -3.30678167e-02 1.20864130e+02] [ 4.47526354e-02 9.98997971e-01 -5.05717278e-04 4.35534607e+00] [ 3.30573100e-02 -9.74938015e-04 9.99452982e-01 2.84142319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.89, Y:4.36, Z:2.84 [[ 9.98473802e-01 -4.37393843e-02 -3.37184356e-02 1.20891533e+02] [ 4.37468151e-02 9.99042516e-01 -5.17692214e-04 4.35561649e+00] [ 3.37087942e-02 -9.58172052e-04 9.99431238e-01 2.84179560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.92, Y:4.36, Z:2.84 [[ 9.98526493e-01 -4.29741679e-02 -3.31370341e-02 1.20918984e+02] [ 4.29807923e-02 9.99075767e-01 -5.12716649e-04 4.35601178e+00] [ 3.31284413e-02 -9.12294823e-04 9.99450686e-01 2.84243435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.95, Y:4.36, Z:2.84 [[ 9.98547859e-01 -4.28816965e-02 -3.26087787e-02 1.20946624e+02] [ 4.28877714e-02 9.99079764e-01 -5.13449471e-04 4.35654539e+00] [ 3.26007886e-02 -8.85813977e-04 9.99468060e-01 2.84302102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.97, Y:4.36, Z:2.84 [[ 9.98530728e-01 -4.32414659e-02 -3.26582359e-02 1.20974357e+02] [ 4.32474528e-02 9.99064254e-01 -5.23370692e-04 4.35724603e+00] [ 3.26503074e-02 -8.89783798e-04 9.99466441e-01 2.84438719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.00, Y:4.36, Z:2.85 [[ 9.98514650e-01 -4.44969877e-02 -3.14406222e-02 1.21002431e+02] [ 4.45029055e-02 9.99009124e-01 -5.11872216e-04 4.35690230e+00] [ 3.14322453e-02 -8.88087133e-04 9.99505490e-01 2.84511344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.85509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.03, Y:4.36, Z:2.85 [[ 9.98306636e-01 -4.97919088e-02 -3.00770071e-02 1.21031466e+02] [ 4.97996320e-02 9.98759107e-01 -4.92709222e-04 4.35518790e+00] [ 3.00642177e-02 -1.00594900e-03 9.99547463e-01 2.84657027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.06, Y:4.35, Z:2.85 [[ 9.97910491e-01 -5.69919184e-02 -3.04396528e-02 1.21061905e+02] [ 5.70029633e-02 9.98373881e-01 -5.05513842e-04 4.35435895e+00] [ 3.04189645e-02 -1.23069284e-03 9.99536479e-01 2.84839381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.91509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.09, Y:4.35, Z:2.85 [[ 9.97746511e-01 -5.95686701e-02 -3.08783680e-02 1.21093185e+02] [ 5.95812713e-02 9.98223326e-01 -5.12671325e-04 4.35436519e+00] [ 3.08540464e-02 -1.32825640e-03 9.99523018e-01 2.84891030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.94509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.12, Y:4.35, Z:2.85 [[ 9.97588640e-01 -6.19776248e-02 -3.12358734e-02 1.21124182e+02] [ 6.19917353e-02 9.98076529e-01 -5.17408106e-04 4.35397990e+00] [ 3.12078598e-02 -1.42020555e-03 9.99511907e-01 2.84957955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.97509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.16, Y:4.35, Z:2.85 [[ 9.97289607e-01 -6.64962924e-02 -3.14909815e-02 1.21156876e+02] [ 6.65129367e-02 9.97785427e-01 -5.19860859e-04 4.35276827e+00] [ 3.14558112e-02 -1.57610583e-03 9.99503901e-01 2.85017029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.19, Y:4.35, Z:2.85 [[ 9.97153545e-01 -6.84717177e-02 -3.15662975e-02 1.21188171e+02] [ 6.84894972e-02 9.97651702e-01 -5.18933027e-04 4.35260853e+00] [ 3.15277027e-02 -1.64450394e-03 9.99501526e-01 2.85080560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.22, Y:4.35, Z:2.85 [[ 9.97159551e-01 -6.83841869e-02 -3.15663273e-02 1.21220854e+02] [ 6.84019802e-02 9.97657708e-01 -5.17112717e-04 4.35308493e+00] [ 3.15277521e-02 -1.64355541e-03 9.99501526e-01 2.85169767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.25, Y:4.35, Z:2.85 [[ 9.96934511e-01 -7.12757136e-02 -3.22699994e-02 1.21253547e+02] [ 7.12959101e-02 9.97455070e-01 -5.25830744e-04 4.35268692e+00] [ 3.22253534e-02 -1.77650016e-03 9.99479050e-01 2.85255736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.09509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.29, Y:4.35, Z:2.85 [[ 9.96785234e-01 -7.32038551e-02 -3.25636876e-02 1.21285737e+02] [ 7.32255238e-02 9.97315268e-01 -5.28245132e-04 4.35282910e+00] [ 3.25149324e-02 -1.85794613e-03 9.99469523e-01 2.85374863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.32, Y:4.35, Z:2.85 [[ 9.96771584e-01 -7.30913349e-02 -3.32274829e-02 1.21318150e+02] [ 7.31139152e-02 9.97323452e-01 -5.36582830e-04 4.35287163e+00] [ 3.31777674e-02 -1.89454085e-03 9.99447671e-01 2.85453283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.15509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.35, Y:4.35, Z:2.86 [[ 9.96784123e-01 -7.27760695e-02 -3.35418376e-02 1.21350672e+02] [ 7.27989835e-02 9.97346488e-01 -5.39216881e-04 4.35358361e+00] [ 3.34920760e-02 -1.90432886e-03 9.99437169e-01 2.85501683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.38, Y:4.35, Z:2.86 [[ 9.96817518e-01 -7.19112413e-02 -3.44036351e-02 1.21382559e+02] [ 7.19349230e-02 9.97409176e-01 -5.50537883e-04 4.35405940e+00] [ 3.43540912e-02 -1.92603704e-03 9.99407868e-01 2.85576350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.21509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.41, Y:4.35, Z:2.86 [[ 9.96866269e-01 -7.10792793e-02 -3.47185629e-02 1.21413749e+02] [ 7.11029766e-02 9.97468827e-01 -5.53201300e-04 4.35481146e+00] [ 3.46700053e-02 -1.91712545e-03 9.99396976e-01 2.85668154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.44, Y:4.36, Z:2.86 [[ 9.96953803e-01 -6.98724719e-02 -3.46547576e-02 1.21444426e+02] [ 6.98954192e-02 9.97554173e-01 -5.50339639e-04 4.35559067e+00] [ 3.46084517e-02 -1.87354562e-03 9.99399192e-01 2.85783124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.27509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.48, Y:4.36, Z:2.86 [[ 9.97080001e-01 -6.81657849e-02 -3.44223348e-02 1.21476063e+02] [ 6.81874687e-02 9.97672377e-01 -5.44974330e-04 4.35750504e+00] [ 3.43793612e-02 -1.80378887e-03 9.99407227e-01 2.85924758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.30509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.51, Y:4.36, Z:2.86 [[ 9.97153009e-01 -6.71697610e-02 -3.42651501e-02 1.21506885e+02] [ 6.71907056e-02 9.97740004e-01 -5.41174007e-04 4.35838752e+00] [ 3.42240615e-02 -1.76266632e-03 9.99412631e-01 2.86061929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.33509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.54, Y:4.36, Z:2.86 [[ 9.97209876e-01 -6.65857984e-02 -3.37460314e-02 1.21538379e+02] [ 6.66058341e-02 9.97779224e-01 -5.31344870e-04 4.35934079e+00] [ 3.37064691e-02 -1.71782022e-03 9.99430299e-01 2.86187476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.57, Y:4.36, Z:2.86 [[ 9.97274373e-01 -6.57705775e-02 -3.34373315e-02 1.21569670e+02] [ 6.57898338e-02 9.97833364e-01 -5.25202646e-04 4.36062276e+00] [ 3.33994278e-02 -1.67606534e-03 9.99440678e-01 2.86324756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.60, Y:4.36, Z:2.86 [[ 9.97283493e-01 -6.56825924e-02 -3.33381518e-02 1.21600809e+02] [ 6.57017404e-02 9.97839170e-01 -5.21993949e-04 4.36115467e+00] [ 3.33003996e-02 -1.66979865e-03 9.99443993e-01 2.86404297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.63, Y:4.36, Z:2.86 [[ 9.97264050e-01 -6.56134846e-02 -3.40482724e-02 1.21630798e+02] [ 6.56334641e-02 9.97843658e-01 -5.31753180e-04 4.36181990e+00] [ 3.40097428e-02 -1.70440773e-03 9.99420048e-01 2.86472202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.66, Y:4.36, Z:2.87 [[ 9.97243149e-01 -6.57270985e-02 -3.44390699e-02 1.21662050e+02] [ 6.57476709e-02 9.97836137e-01 -5.36009730e-04 4.36255369e+00] [ 3.43997789e-02 -1.72975660e-03 9.99406656e-01 2.86562716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.69, Y:4.36, Z:2.87 [[ 9.97181482e-01 -6.62729915e-02 -3.51707599e-02 1.21693218e+02] [ 6.62948318e-02 9.97799928e-01 -5.46121998e-04 4.36400411e+00] [ 3.51295748e-02 -1.78705687e-03 9.99381168e-01 2.86682357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.72, Y:4.37, Z:2.87 [[ 9.97145027e-01 -6.66697953e-02 -3.54532593e-02 1.21724772e+02] [ 6.66922834e-02 9.97773440e-01 -5.49235448e-04 4.36595070e+00] [ 3.54109379e-02 -1.81679142e-03 9.99371185e-01 2.86842795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.76, Y:4.37, Z:2.87 [[ 9.97123083e-01 -6.71977432e-02 -3.50716526e-02 1.21756131e+02] [ 6.72201189e-02 9.97738023e-01 -5.42069160e-04 4.36738909e+00] [ 3.50287472e-02 -1.81701099e-03 9.99384653e-01 2.86921058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.57509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.79, Y:4.37, Z:2.87 [[ 9.97103683e-01 -6.75225574e-02 -3.49992790e-02 1.21787538e+02] [ 6.75450898e-02 9.97716077e-01 -5.39533409e-04 4.36803656e+00] [ 3.49557740e-02 -1.82605869e-03 9.99387192e-01 2.87001840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.82, Y:4.37, Z:2.87 [[ 9.97070562e-01 -6.78778179e-02 -3.52547214e-02 1.21818686e+02] [ 6.79009700e-02 9.97691919e-01 -5.41548108e-04 4.36899973e+00] [ 3.52101097e-02 -1.85386810e-03 9.99378212e-01 2.87116216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.63509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.85, Y:4.37, Z:2.87 [[ 9.97064193e-01 -6.80320695e-02 -3.51373494e-02 1.21849703e+02] [ 6.80552234e-02 9.97681411e-01 -5.38023339e-04 4.36989442e+00] [ 3.50924832e-02 -1.85483636e-03 9.99382348e-01 2.87173386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.66509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.88, Y:4.37, Z:2.87 [[ 9.97008295e-01 -6.86008157e-02 -3.56144462e-02 1.21880573e+02] [ 6.86250169e-02 9.97642376e-01 -5.43872000e-04 4.37067536e+00] [ 3.55677908e-02 -1.90179708e-03 9.99365456e-01 2.87239301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.69509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.91, Y:4.37, Z:2.87 [[ 9.97001961e-01 -6.87342870e-02 -3.55343153e-02 1.21911991e+02] [ 6.87585269e-02 9.97633185e-01 -5.40873010e-04 4.37140985e+00] [ 3.54873887e-02 -1.90403572e-03 9.99368310e-01 2.87289233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.72509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.94, Y:4.37, Z:2.87 [[ 9.96961718e-01 -6.95084479e-02 -3.51554848e-02 1.21942999e+02] [ 6.95327019e-02 9.97579530e-01 -5.33707778e-04 4.37273828e+00] [ 3.51074892e-02 -1.91236962e-03 9.99381712e-01 2.87383098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.98, Y:4.37, Z:2.88 [[ 9.96979953e-01 -6.94208751e-02 -3.48097083e-02 1.21975354e+02] [ 6.94446702e-02 9.97585666e-01 -5.26459535e-04 4.37453545e+00] [ 3.47622133e-02 -1.89247911e-03 9.99393820e-01 2.87549749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.01, Y:4.38, Z:2.88 [[ 9.97013898e-01 -6.91510883e-02 -3.43716979e-02 1.22006772e+02] [ 6.91742072e-02 9.97604461e-01 -5.17525030e-04 4.37628541e+00] [ 3.43251466e-02 -1.86165531e-03 9.99408985e-01 2.87698681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.04, Y:4.38, Z:2.88 [[ 9.97038427e-01 -6.87679506e-02 -3.44288124e-02 1.22038526e+02] [ 6.87909864e-02 9.97630961e-01 -5.16418398e-04 4.37739508e+00] [ 3.43827622e-02 -1.85350298e-03 9.99407019e-01 2.87830192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.07, Y:4.38, Z:2.88 [[ 9.97022092e-01 -6.89833083e-02 -3.44710308e-02 1.22070429e+02] [ 6.90066132e-02 9.97616070e-01 -5.14607104e-04 4.37819706e+00] [ 3.44243536e-02 -1.86565444e-03 9.99405565e-01 2.87954011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.87509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.10, Y:4.38, Z:2.88 [[ 9.96945607e-01 -6.97530500e-02 -3.51278962e-02 1.22102808e+02] [ 6.97778182e-02 9.97562421e-01 -5.21870456e-04 4.37887930e+00] [ 3.50786713e-02 -1.93087150e-03 9.99382689e-01 2.88084032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.14, Y:4.38, Z:2.88 [[ 9.96942851e-01 -6.94146790e-02 -3.58685659e-02 1.22135404e+02] [ 6.94403796e-02 9.97585962e-01 -5.30251936e-04 4.37964443e+00] [ 3.58187851e-02 -1.96209596e-03 9.99356375e-01 2.88173715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.93509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.17, Y:4.38, Z:2.88 [[ 9.96946579e-01 -6.93610979e-02 -3.58686016e-02 1.22167243e+02] [ 6.93868508e-02 9.97589688e-01 -5.27829465e-04 4.38008524e+00] [ 3.58187579e-02 -1.96259153e-03 9.99356375e-01 2.88260597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.20, Y:4.38, Z:2.88 [[ 9.96955396e-01 -6.88507673e-02 -3.65993308e-02 1.22199529e+02] [ 6.88773183e-02 9.97624993e-01 -5.36406194e-04 4.38084459e+00] [ 3.65493392e-02 -1.98609071e-03 9.99329876e-01 2.88372222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.99509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.23, Y:4.38, Z:2.89 [[ 9.97013724e-01 -6.74372336e-02 -3.76278211e-02 1.22231099e+02] [ 6.74643947e-02 9.97721531e-01 -5.48864389e-04 4.38232649e+00] [ 3.75791012e-02 -1.99131285e-03 9.99291672e-01 2.88512542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.26, Y:4.38, Z:2.89 [[ 9.97110769e-01 -6.59728985e-02 -3.76522402e-02 1.22262907e+02] [ 6.59991240e-02 9.97819531e-01 -5.47360014e-04 4.38334548e+00] [ 3.76062515e-02 -1.93923630e-03 9.99290753e-01 2.88620981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.05509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.29, Y:4.38, Z:2.89 [[ 9.97191665e-01 -6.44319301e-02 -3.81747242e-02 1.22293169e+02] [ 6.44578089e-02 9.97920279e-01 -5.53767985e-04 4.38450776e+00] [ 3.81310118e-02 -1.90844626e-03 9.99270926e-01 2.88758204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.32, Y:4.38, Z:2.89 [[ 9.97285461e-01 -6.12384288e-02 -4.08847575e-02 1.22322476e+02] [ 6.17632319e-02 9.98022278e-01 1.16976839e-02 4.38247492e+00] [ 4.00875511e-02 -1.41911048e-02 9.99095391e-01 2.88837851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.35, Y:4.39, Z:2.89 [[ 9.97553017e-01 -5.87893498e-02 -3.78390025e-02 1.22351870e+02] [ 5.83322806e-02 9.98211622e-01 -1.30730089e-02 4.39320631e+00] [ 3.85398857e-02 1.08337842e-02 9.99198332e-01 2.89410588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.38, Y:4.39, Z:2.89 [[ 9.97669266e-01 -5.68602635e-02 -3.77219503e-02 1.22380445e+02] [ 5.68799156e-02 9.98380874e-01 -5.52884245e-04 4.38804201e+00] [ 3.76923109e-02 -1.59402573e-03 9.99288121e-01 2.89080712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.41, Y:4.39, Z:2.89 [[ 9.97789627e-01 -5.46633712e-02 -3.77859150e-02 1.22409706e+02] [ 5.46814336e-02 9.98503696e-01 -5.56052845e-04 4.38892251e+00] [ 3.77597715e-02 -1.51136424e-03 9.99285703e-01 2.89232874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.44, Y:4.39, Z:2.89 [[ 9.97841837e-01 -5.35898217e-02 -3.79446779e-02 1.22439519e+02] [ 5.36072109e-02 9.98561943e-01 -5.59726535e-04 4.38927450e+00] [ 3.79201069e-02 -1.47558980e-03 9.99279685e-01 2.89320241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.47, Y:4.39, Z:2.89 [[ 9.97859227e-01 -5.29735267e-02 -3.83506033e-02 1.22468256e+02] [ 5.29907747e-02 9.98594841e-01 -5.67318711e-04 4.38941831e+00] [ 3.83267675e-02 -1.46612397e-03 9.99264184e-01 2.89414766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.50, Y:4.39, Z:2.90 [[ 9.97878251e-01 -5.17672895e-02 -3.94860007e-02 1.22497026e+02] [ 5.17844508e-02 9.98658112e-01 -5.88725748e-04 4.38911536e+00] [ 3.94634916e-02 -1.45728424e-03 9.99219950e-01 2.89509084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.53, Y:4.39, Z:2.90 [[ 9.97904174e-01 -5.08057435e-02 -4.00753886e-02 1.22525133e+02] [ 5.08223205e-02 9.98707527e-01 -6.05676712e-04 4.38940749e+00] [ 4.00543641e-02 -1.43231692e-03 9.99196475e-01 2.89611159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.55, Y:4.39, Z:2.90 [[ 9.97986868e-01 -4.92810813e-02 -3.99197439e-02 1.22553189e+02] [ 4.92960717e-02 9.98784024e-01 -6.09333621e-04 4.39018564e+00] [ 3.99012310e-02 -1.35977961e-03 9.99202704e-01 2.89800337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.35509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.58, Y:4.39, Z:2.90 [[ 9.98023716e-01 -4.85237127e-02 -3.99263171e-02 1.22581107e+02] [ 4.85376516e-02 9.98821161e-01 -6.20734707e-04 4.39093789e+00] [ 3.99093707e-02 -1.31842171e-03 9.99202434e-01 2.89941969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.61, Y:4.39, Z:2.90 [[ 9.98071778e-01 -4.78019795e-02 -3.95941599e-02 1.22609171e+02] [ 4.78146767e-02 9.98856028e-01 -6.26758833e-04 4.39153152e+00] [ 3.95788256e-02 -1.26763165e-03 9.99215647e-01 2.90046825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.41509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.64, Y:4.39, Z:2.90 [[ 9.98081727e-01 -4.69687175e-02 -4.03336759e-02 1.22637294e+02] [ 4.69807398e-02 9.98895584e-01 -6.50239907e-04 4.39199641e+00] [ 4.03196717e-02 -1.24591336e-03 9.99186055e-01 2.90182140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.44509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.67, Y:4.39, Z:2.90 [[ 9.98062385e-01 -4.69641808e-02 -4.08147267e-02 1.22665629e+02] [ 4.69759999e-02 9.98895794e-01 -6.69958688e-04 4.39202667e+00] [ 4.08011229e-02 -1.24865203e-03 9.99166507e-01 2.90249713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.47509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.69, Y:4.39, Z:2.90 [[ 9.98015906e-01 -4.75113964e-02 -4.13148645e-02 1.22693012e+02] [ 4.75235708e-02 9.98869880e-01 -6.87965046e-04 4.39110816e+00] [ 4.13008599e-02 -1.27682983e-03 9.99145940e-01 2.90299236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.72, Y:4.39, Z:2.90 [[ 9.97969024e-01 -4.83051436e-02 -4.15263739e-02 1.22719853e+02] [ 4.83178659e-02 9.98831766e-01 -6.97832061e-04 4.39082361e+00] [ 4.15115702e-02 -1.31005098e-03 9.99137164e-01 2.90364378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.75, Y:4.39, Z:2.90 [[ 9.97942742e-01 -4.91819802e-02 -4.11268283e-02 1.22747392e+02] [ 4.91948157e-02 9.98788956e-01 -7.00501796e-04 4.39051924e+00] [ 4.11114740e-02 -1.32416606e-03 9.99153689e-01 2.90427058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.77, Y:4.39, Z:2.91 [[ 9.97875034e-01 -5.09086438e-02 -4.06660254e-02 1.22774610e+02] [ 5.09222491e-02 9.98702374e-01 -7.01873487e-04 4.38957317e+00] [ 4.06489876e-02 -1.37042344e-03 9.99172549e-01 2.90569154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.59509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.80, Y:4.39, Z:2.91 [[ 9.97770332e-01 -5.29846531e-02 -4.05831263e-02 1.22802760e+02] [ 5.29996320e-02 9.98594281e-01 -7.07465504e-04 4.38827557e+00] [ 4.05635627e-02 -1.44500267e-03 9.99175915e-01 2.90734832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.83, Y:4.39, Z:2.91 [[ 9.97667528e-01 -5.46731732e-02 -4.08698815e-02 1.22831023e+02] [ 5.46893087e-02 9.98503157e-01 -7.23972238e-04 4.38801995e+00] [ 4.08482876e-02 -1.51286197e-03 9.99164215e-01 2.90838334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.65509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.86, Y:4.39, Z:2.91 [[ 9.97458498e-01 -5.77771439e-02 -4.16934868e-02 1.22858500e+02] [ 5.77961445e-02 9.98328124e-01 -7.50530883e-04 4.38672346e+00] [ 4.16671440e-02 -1.66109938e-03 9.99130167e-01 2.90951528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.89, Y:4.39, Z:2.91 [[ 9.97121216e-01 -6.24168962e-02 -4.30512767e-02 1.22886439e+02] [ 6.24409265e-02 9.98048351e-01 -7.87613040e-04 4.38523177e+00] [ 4.30164161e-02 -1.90281593e-03 9.99072554e-01 2.91105254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.71509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.92, Y:4.39, Z:2.91 [[ 9.96981037e-01 -6.42005026e-02 -4.36704302e-02 1.22915305e+02] [ 6.42265440e-02 9.97935017e-01 -8.07943343e-04 4.38509113e+00] [ 4.36321218e-02 -1.99929661e-03 9.99045665e-01 2.91177789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.94, Y:4.38, Z:2.91 [[ 9.96790144e-01 -6.71953625e-02 -4.35223126e-02 1.22944248e+02] [ 6.72238312e-02 9.97737590e-01 -8.10772700e-04 4.38366642e+00] [ 4.34783274e-02 -2.11756636e-03 9.99052126e-01 2.91271888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.77509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.97, Y:4.38, Z:2.91 [[ 9.96824168e-01 -6.79967894e-02 -4.14489481e-02 1.22972638e+02] [ 6.80229932e-02 9.97683449e-01 -7.79460824e-04 4.38289434e+00] [ 4.14059303e-02 -2.04249612e-03 9.99140319e-01 2.91446086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.80509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.00, Y:4.38, Z:2.92 [[ 9.96874212e-01 -6.79814881e-02 -4.02532213e-02 1.23002518e+02] [ 6.80061109e-02 9.97684616e-01 -7.58860228e-04 4.38300537e+00] [ 4.02116081e-02 -1.98097684e-03 9.99189222e-01 2.91629953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.83509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.03, Y:4.38, Z:2.92 [[ 9.96864005e-01 -6.74383276e-02 -4.14032417e-02 1.23031991e+02] [ 6.74638609e-02 9.97721412e-01 -7.81797949e-04 4.38342264e+00] [ 4.13616239e-02 -2.01387630e-03 9.99142212e-01 2.91766700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.06, Y:4.38, Z:2.92 [[ 9.96854447e-01 -6.68849933e-02 -4.25159761e-02 1.23060481e+02] [ 6.69113524e-02 9.97758600e-01 -8.04357175e-04 4.38376473e+00] [ 4.24744802e-02 -2.04297443e-03 9.99095463e-01 2.91839880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.09, Y:4.38, Z:2.92 [[ 9.96860419e-01 -6.64996267e-02 -4.29779515e-02 1.23090543e+02] [ 6.65261002e-02 9.97784352e-01 -8.15553713e-04 4.38417150e+00] [ 4.29369615e-02 -2.04616229e-03 9.99075688e-01 2.91914935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.12, Y:4.38, Z:2.92 [[ 9.96880829e-01 -6.58788377e-02 -4.34579387e-02 1.23119019e+02] [ 6.59052395e-02 9.97825544e-01 -8.26484205e-04 4.38424866e+00] [ 4.34178892e-02 -2.04019960e-03 9.99054916e-01 2.92008586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.15, Y:4.38, Z:2.92 [[ 9.96922683e-01 -6.52627578e-02 -4.34273612e-02 1.23148501e+02] [ 6.52884518e-02 9.97866090e-01 -8.27918501e-04 4.38434872e+00] [ 4.33887234e-02 -2.00993445e-03 9.99056244e-01 2.92044683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.18, Y:4.38, Z:2.92 [[ 9.96907267e-01 -6.54978836e-02 -4.34272693e-02 1.23177729e+02] [ 6.55235918e-02 9.97850673e-01 -8.32709872e-04 4.38494278e+00] [ 4.33884707e-02 -2.01537615e-03 9.99056244e-01 2.92124572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.21, Y:4.38, Z:2.92 [[ 9.97025270e-01 -6.35847610e-02 -4.35613182e-02 1.23206392e+02] [ 6.36084873e-02 9.97974574e-01 -8.42615637e-04 4.38455551e+00] [ 4.35266654e-02 -1.93076047e-03 9.99050400e-01 2.92174740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.24, Y:4.39, Z:2.92 [[ 9.97123867e-01 -6.26289060e-02 -4.26803696e-02 1.23235321e+02] [ 6.26505786e-02 9.98035177e-01 -8.30922732e-04 4.38509669e+00] [ 4.26485500e-02 -1.84541696e-03 9.99088432e-01 2.92230476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.07509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.26, Y:4.39, Z:2.92 [[ 9.97326844e-01 -6.00667989e-02 -4.16070478e-02 1.23263674e+02] [ 6.00848547e-02 9.98192938e-01 -8.17552886e-04 4.38620753e+00] [ 4.15809691e-02 -1.68458598e-03 9.99133717e-01 2.92351641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.29, Y:4.39, Z:2.92 [[ 9.97578283e-01 -5.59940082e-02 -4.12582239e-02 1.23292038e+02] [ 5.60080814e-02 9.98429982e-01 -8.15616750e-04 4.38761533e+00] [ 4.12391174e-02 -1.49715241e-03 9.99148184e-01 2.92341267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.13509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.32, Y:4.39, Z:2.92 [[ 9.97655734e-01 -5.48786267e-02 -4.08824276e-02 1.23319404e+02] [ 5.48911668e-02 9.98492010e-01 -8.16560534e-04 4.38828192e+00] [ 4.08655890e-02 -1.42943785e-03 9.99163630e-01 2.92415321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.35, Y:4.39, Z:2.93 [[ 9.97692379e-01 -5.43039337e-02 -4.07553741e-02 1.23347085e+02] [ 5.43156225e-02 9.98523479e-01 -8.21244812e-04 4.38909982e+00] [ 4.07397948e-02 -1.39430383e-03 9.99168817e-01 2.92517582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.19509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.37, Y:4.39, Z:2.93 [[ 9.97747438e-01 -5.37250621e-02 -4.01704722e-02 1.23374068e+02] [ 5.37355352e-02 9.98554866e-01 -8.19747048e-04 4.38981281e+00] [ 4.01564615e-02 -1.34068131e-03 9.99192505e-01 2.92588789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.22509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.40, Y:4.39, Z:2.93 [[ 9.97791152e-01 -5.34325775e-02 -3.94686906e-02 1.23400987e+02] [ 5.34421917e-02 9.98570615e-01 -8.12180137e-04 4.39043043e+00] [ 3.94556715e-02 -1.29890718e-03 9.99220478e-01 2.92680510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.43, Y:4.39, Z:2.93 [[ 9.97792087e-01 -5.35312715e-02 -3.93109992e-02 1.23429276e+02] [ 5.35406240e-02 9.98565339e-01 -8.15582018e-04 4.39089887e+00] [ 3.92982604e-02 -1.29095414e-03 9.99226691e-01 2.92786536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.46, Y:4.39, Z:2.93 [[ 9.97872108e-01 -5.18460682e-02 -3.95378482e-02 1.23456160e+02] [ 5.18538480e-02 9.98654340e-01 -8.29393320e-04 4.39144979e+00] [ 3.95276445e-02 -1.22256111e-03 9.99217729e-01 2.92775688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.48, Y:4.39, Z:2.93 [[ 9.98021718e-01 -4.96872337e-02 -3.85204969e-02 1.23483679e+02] [ 4.96927635e-02 9.98764219e-01 -8.14476178e-04 4.39227096e+00] [ 3.85133631e-02 -1.10132503e-03 9.99257478e-01 2.92838651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.51, Y:4.39, Z:2.93 [[ 9.98106392e-01 -4.79829802e-02 -3.84871822e-02 1.23510344e+02] [ 4.79868491e-02 9.98847628e-01 -8.23783298e-04 4.39303139e+00] [ 3.84823582e-02 -1.02465523e-03 9.99258754e-01 2.92897357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.37509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.54, Y:4.39, Z:2.93 [[ 9.98228147e-01 -4.51490390e-02 -3.87573409e-02 1.23538488e+02] [ 4.51504915e-02 9.98979845e-01 -8.38253450e-04 4.39490722e+00] [ 3.87556488e-02 -9.13144807e-04 9.99248300e-01 2.92947488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.57, Y:4.40, Z:2.93 [[ 9.98455168e-01 -3.83660425e-02 -4.01911080e-02 1.23565195e+02] [ 3.83617179e-02 9.99263532e-01 -8.79090938e-04 4.39641607e+00] [ 4.01952358e-02 -6.64067057e-04 9.99191624e-01 2.92933320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.43509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.59, Y:4.40, Z:2.93 [[ 9.98845783e-01 -2.73495521e-02 -3.94854792e-02 1.23591845e+02] [ 2.73365785e-02 9.99625909e-01 -8.68538330e-04 4.39769375e+00] [ 3.94944621e-02 -2.11862054e-04 9.99219767e-01 2.92978804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.62, Y:4.40, Z:2.93 [[ 9.98998965e-01 -2.37585079e-02 -3.79025307e-02 1.23619798e+02] [ 2.37437332e-02 9.99717725e-01 -8.39958288e-04 4.39800604e+00] [ 3.79117879e-02 -6.08301181e-05 9.99281088e-01 2.93053893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.49509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.65, Y:4.40, Z:2.93 [[ 9.99059003e-01 -2.27077659e-02 -3.69522013e-02 1.23647344e+02] [ 2.26926267e-02 9.99742145e-01 -8.29114308e-04 4.39859146e+00] [ 3.69615004e-02 -1.02083950e-05 9.99316690e-01 2.93157134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.68, Y:4.40, Z:2.93 [[ 9.99052996e-01 -2.29709324e-02 -3.69519699e-02 1.23675726e+02] [ 2.29555957e-02 9.99736133e-01 -8.39318524e-04 4.39930656e+00] [ 3.69614995e-02 -9.73079658e-06 9.99316690e-01 2.93234928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.55509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.70, Y:4.40, Z:2.93 [[ 9.99083885e-01 -2.24638145e-02 -3.64248198e-02 1.23703531e+02] [ 2.24482236e-02 9.99747657e-01 -8.36994395e-04 4.39979943e+00] [ 3.64344303e-02 1.85551122e-05 9.99336046e-01 2.93328212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.58509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.73, Y:4.40, Z:2.93 [[ 9.99077934e-01 -2.27273353e-02 -3.64245860e-02 1.23731912e+02] [ 2.27115525e-02 9.99741701e-01 -8.47061132e-04 4.40053145e+00] [ 3.64344290e-02 1.90211868e-05 9.99336046e-01 2.93406006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.76, Y:4.40, Z:2.93 [[ 9.99118539e-01 -2.25019382e-02 -3.54373874e-02 1.23760122e+02] [ 2.24865282e-02 9.99746799e-01 -8.33398430e-04 4.40077707e+00] [ 3.54471677e-02 3.58000122e-05 9.99371551e-01 2.93487280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.79, Y:4.40, Z:2.94 [[ 9.99128280e-01 -2.26171755e-02 -3.50876576e-02 1.23787902e+02] [ 2.26017928e-02 9.99744198e-01 -8.35040430e-04 4.40118267e+00] [ 3.50975684e-02 4.12685413e-05 9.99383890e-01 2.93619935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.82, Y:4.40, Z:2.94 [[ 9.99122122e-01 -2.28879642e-02 -3.50874166e-02 1.23816281e+02] [ 2.28723965e-02 9.99738035e-01 -8.45062907e-04 4.40192527e+00] [ 3.50975667e-02 4.17877418e-05 9.99383890e-01 2.93697731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.84, Y:4.40, Z:2.94 [[ 9.99138200e-01 -2.31517401e-02 -3.44507461e-02 1.23843089e+02] [ 2.31366078e-02 9.99731962e-01 -8.37888191e-04 4.40226057e+00] [ 3.44609106e-02 4.00926973e-05 9.99406046e-01 2.93775974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.87, Y:4.40, Z:2.94 [[ 9.99122714e-01 -2.42976405e-02 -3.41090415e-02 1.23870900e+02] [ 2.42832914e-02 9.99704769e-01 -8.34942740e-04 4.40281927e+00] [ 3.41192586e-02 5.93046382e-06 9.99417769e-01 2.93879248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.90, Y:4.40, Z:2.94 [[ 9.99071190e-01 -2.71114955e-02 -3.34921405e-02 1.23897885e+02] [ 2.70989540e-02 9.99632413e-01 -8.28415894e-04 4.40212503e+00] [ 3.35022888e-02 -7.99555212e-05 9.99438638e-01 2.93979125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.93, Y:4.40, Z:2.94 [[ 9.98946246e-01 -3.23444638e-02 -3.25612231e-02 1.23926269e+02] [ 3.23352315e-02 9.99476751e-01 -8.10212541e-04 4.40031471e+00] [ 3.25703914e-02 -2.43515909e-04 9.99469414e-01 2.93991236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.95, Y:4.40, Z:2.94 [[ 9.98836280e-01 -3.57653348e-02 -3.23562533e-02 1.23953889e+02] [ 3.57577194e-02 9.99360157e-01 -8.14162309e-04 4.39958484e+00] [ 3.23646691e-02 -3.43770972e-04 9.99476068e-01 2.94073589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.85509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.98, Y:4.40, Z:2.94 [[ 9.98826786e-01 -3.60296934e-02 -3.23560237e-02 1.23982270e+02] [ 3.60219240e-02 9.99350661e-01 -8.23194226e-04 4.40037774e+00] [ 3.23646731e-02 -3.43297782e-04 9.99476068e-01 2.94151382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.01, Y:4.40, Z:2.94 [[ 9.98701652e-01 -3.96152957e-02 -3.20255804e-02 1.24009447e+02] [ 3.96092791e-02 9.99214906e-01 -8.22516799e-04 4.39940298e+00] [ 3.20330215e-02 -4.47061263e-04 9.99486711e-01 2.94201134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.91509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.04, Y:4.40, Z:2.94 [[ 9.98393167e-01 -4.69520710e-02 -3.17267529e-02 1.24037629e+02] [ 4.69497221e-02 9.98896918e-01 -8.19412554e-04 4.39678017e+00] [ 3.17302288e-02 -6.71466337e-04 9.99496244e-01 2.94196356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.07, Y:4.40, Z:2.94 [[ 9.98189986e-01 -5.08288751e-02 -3.21430739e-02 1.24066318e+02] [ 5.08281797e-02 9.98707060e-01 -8.39261976e-04 4.39618763e+00] [ 3.21441735e-02 -7.96031034e-04 9.99482926e-01 2.94273224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.97509989299999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:124.09, Y:4.41, Z:2.94 [[ 9.97734303e-01 -6.13687386e-02 -2.75706257e-02 1.24094675e+02] [ 6.06179729e-02 9.97787957e-01 -2.72883694e-02 4.40640277e+00] [ 2.91842910e-02 2.55552668e-02 9.99247319e-01 2.94181652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.13, Y:4.38, Z:2.94 [[ 9.97057318e-01 -6.95155376e-02 -3.23155334e-02 1.24126675e+02] [ 7.03449855e-02 9.97202348e-01 2.52796460e-02 4.37642547e+00] [ 3.04677976e-02 -2.74784918e-02 9.99157968e-01 2.93518796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.16, Y:4.39, Z:2.94 [[ 9.96264030e-01 -8.08036603e-02 -3.04754246e-02 1.24158167e+02] [ 8.08165941e-02 9.96728661e-01 -8.09124866e-04 4.38631223e+00] [ 3.04411094e-02 -1.65681802e-03 9.99535189e-01 2.94415553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.19, Y:4.39, Z:2.94 [[ 9.95871280e-01 -8.55913143e-02 -3.02410414e-02 1.24190715e+02] [ 8.56063141e-02 9.96328720e-01 -8.00731259e-04 4.38599583e+00] [ 3.01985537e-02 -1.79139882e-03 9.99542314e-01 2.94493536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.09509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.22, Y:4.39, Z:2.95 [[ 9.95678138e-01 -8.77938808e-02 -3.02866365e-02 1.24222446e+02] [ 8.78100078e-02 9.96136920e-01 -7.99723362e-04 4.38625127e+00] [ 3.02398476e-02 -1.86320272e-03 9.99540935e-01 2.94602650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.26, Y:4.39, Z:2.95 [[ 9.95686096e-01 -8.77035642e-02 -3.02866959e-02 1.24255122e+02] [ 8.77197179e-02 9.96144877e-01 -7.97467341e-04 4.38705547e+00] [ 3.02398777e-02 -1.86271328e-03 9.99540935e-01 2.94691882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.15509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.29, Y:4.39, Z:2.95 [[ 9.95494622e-01 -8.99848743e-02 -2.98861190e-02 1.24288504e+02] [ 9.00017081e-02 9.95941302e-01 -7.84192924e-04 4.38721270e+00] [ 2.98353858e-02 -1.90914192e-03 9.99553003e-01 2.94771598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.32, Y:4.39, Z:2.95 [[ 9.95506060e-01 -8.98582219e-02 -2.98862054e-02 1.24322026e+02] [ 8.98750978e-02 9.95952738e-01 -7.80884450e-04 4.38800276e+00] [ 2.98354170e-02 -1.90865044e-03 9.99553003e-01 2.94863113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.21509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.36, Y:4.39, Z:2.95 [[ 9.95296338e-01 -9.20404539e-02 -3.02283844e-02 1.24355478e+02] [ 9.20588363e-02 9.95753259e-01 -7.85992161e-04 4.38811448e+00] [ 3.01723554e-02 -2.00049477e-03 9.99542709e-01 2.94940052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.39, Y:4.39, Z:2.95 [[ 9.95310808e-01 -9.18838087e-02 -3.02284732e-02 1.24389011e+02] [ 9.19022230e-02 9.95767728e-01 -7.82561275e-04 4.38889939e+00] [ 3.01724428e-02 -1.99917219e-03 9.99542709e-01 2.95031594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.27509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.42, Y:4.39, Z:2.95 [[ 9.95116553e-01 -9.35875457e-02 -3.13754364e-02 1.24420805e+02] [ 9.36083901e-02 9.95608768e-01 -8.07084585e-04 4.38919031e+00] [ 3.13131926e-02 -2.13386086e-03 9.99507344e-01 2.95115249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.30509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.45, Y:4.39, Z:2.95 [[ 9.94965793e-01 -9.47453108e-02 -3.26557313e-02 1.24453528e+02] [ 9.47686930e-02 9.95498970e-01 -8.34509895e-04 4.38997541e+00] [ 3.25878128e-02 -2.26443217e-03 9.99466311e-01 2.95170600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.33509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.49, Y:4.39, Z:2.95 [[ 9.94893168e-01 -9.51301545e-02 -3.37318520e-02 1.24485127e+02] [ 9.51554457e-02 9.95462056e-01 -8.58424649e-04 4.39101724e+00] [ 3.36604408e-02 -2.35572859e-03 9.99430550e-01 2.95235864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.52, Y:4.39, Z:2.95 [[ 9.95111470e-01 -9.33570941e-02 -3.22120365e-02 1.24517632e+02] [ 9.33793163e-02 9.95630271e-01 -8.17093131e-04 4.39377772e+00] [ 3.21475601e-02 -2.19483920e-03 9.99480724e-01 2.95488442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.55, Y:4.40, Z:2.96 [[ 9.95317724e-01 -9.13188266e-02 -3.16780602e-02 1.24548752e+02] [ 9.13393566e-02 9.95819502e-01 -8.01431322e-04 4.39607256e+00] [ 3.16188158e-02 -2.09577483e-03 9.99497803e-01 2.95656435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.58, Y:4.40, Z:2.96 [[ 9.95546302e-01 -8.89536263e-02 -3.12220050e-02 1.24580662e+02] [ 8.89724629e-02 9.96033774e-01 -7.88217524e-04 4.39827216e+00] [ 3.11682863e-02 -1.99319164e-03 9.99512164e-01 2.95828524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.61, Y:4.40, Z:2.96 [[ 9.96061413e-01 -8.28607753e-02 -3.15555689e-02 1.24613385e+02] [ 8.28770444e-02 9.96559464e-01 -7.94275613e-04 4.40170056e+00] [ 3.15128151e-02 -1.82408500e-03 9.99501683e-01 2.95985254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.64, Y:4.40, Z:2.96 [[ 9.96334817e-01 -7.94285647e-02 -3.17495711e-02 1.24644898e+02] [ 7.94434118e-02 9.96839060e-01 -7.95555483e-04 4.40396841e+00] [ 3.17124024e-02 -1.72965462e-03 9.99495539e-01 2.96076165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.68, Y:4.41, Z:2.96 [[ 9.96864892e-01 -7.25534751e-02 -3.15655045e-02 1.24676017e+02] [ 7.25648249e-02 9.97363387e-01 -7.87358653e-04 4.40736572e+00] [ 3.15394041e-02 -1.50565511e-03 9.99501375e-01 2.96202662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.71, Y:4.41, Z:2.96 [[ 9.97341828e-01 -6.55776109e-02 -3.17624877e-02 1.24708548e+02] [ 6.55856293e-02 9.97846632e-01 -7.90453459e-04 4.41090950e+00] [ 3.17459274e-02 -1.29481044e-03 9.99495132e-01 2.96403837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.57509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.74, Y:4.41, Z:2.97 [[ 9.97561763e-01 -6.19371620e-02 -3.21608081e-02 1.24739672e+02] [ 6.19435784e-02 9.98079334e-01 -7.97745945e-04 4.41286324e+00] [ 3.21484481e-02 -1.19635469e-03 9.99482389e-01 2.96519002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.77, Y:4.41, Z:2.97 [[ 9.97746733e-01 -5.86910568e-02 -3.25087026e-02 1.24770477e+02] [ 5.86960082e-02 9.98275580e-01 -8.02811209e-04 4.41473396e+00] [ 3.24997618e-02 -1.10712881e-03 9.99471130e-01 2.96623314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.63509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.80, Y:4.42, Z:2.97 [[ 9.98095011e-01 -5.21054489e-02 -3.30359176e-02 1.24800734e+02] [ 5.21069955e-02 9.98641175e-01 -8.14702570e-04 4.41718205e+00] [ 3.30334780e-02 -9.08251840e-04 9.99453833e-01 2.96793985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.83, Y:4.42, Z:2.97 [[ 9.98237652e-01 -4.87119435e-02 -3.38930199e-02 1.24830811e+02] [ 4.87116348e-02 9.98812534e-01 -8.35327064e-04 4.41878754e+00] [ 3.38934635e-02 -8.17129483e-04 9.99425117e-01 2.96882504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.69509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.86, Y:4.42, Z:2.97 [[ 9.98372255e-01 -4.50850888e-02 -3.49310124e-02 1.24859910e+02] [ 4.50825284e-02 9.98982895e-01 -8.61324523e-04 4.42039476e+00] [ 3.49343168e-02 -7.14855854e-04 9.99389355e-01 2.96965211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.72509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.89, Y:4.42, Z:2.97 [[ 9.98627129e-01 -3.82745453e-02 -3.57619282e-02 1.24887377e+02] [ 3.82673550e-02 9.99267144e-01 -8.85765920e-04 4.42240026e+00] [ 3.57696222e-02 -4.83964525e-04 9.99359945e-01 2.97029012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.92, Y:4.42, Z:2.97 [[ 9.98751405e-01 -3.47504496e-02 -3.58892242e-02 1.24915538e+02] [ 3.47405621e-02 9.99395960e-01 -8.99260738e-04 4.42400095e+00] [ 3.58987954e-02 -3.48673895e-04 9.99355370e-01 2.97107097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.94, Y:4.43, Z:2.97 [[ 9.98948031e-01 -2.68014794e-02 -3.72090333e-02 1.24940762e+02] [ 2.65747852e-02 9.99625213e-01 -6.57381169e-03 4.42889513e+00] [ 3.73712757e-02 5.57807418e-03 9.99285881e-01 2.97342812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.97, Y:4.42, Z:2.97 [[ 9.99097778e-01 -2.28084996e-02 -3.58246135e-02 1.24971787e+02] [ 2.29764336e-02 9.99726833e-01 4.28294192e-03 4.42439851e+00] [ 3.57171399e-02 -5.10219961e-03 9.99348915e-01 2.97070104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.00, Y:4.43, Z:2.97 [[ 9.99114273e-01 -2.17633353e-02 -3.60142674e-02 1.24999111e+02] [ 2.17444776e-02 9.99763142e-01 -9.15265259e-04 4.42716240e+00] [ 3.60256564e-02 1.31343154e-04 9.99350857e-01 2.97306366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.87509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.03, Y:4.43, Z:2.97 [[ 9.99129301e-01 -2.08320831e-02 -3.61478110e-02 1.25026378e+02] [ 2.08123105e-02 9.99782974e-01 -9.23227850e-04 4.42717743e+00] [ 3.61591987e-02 1.70104529e-04 9.99346028e-01 2.97311338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.05, Y:4.43, Z:2.97 [[ 9.99137660e-01 -2.09099474e-02 -3.58707604e-02 1.25054175e+02] [ 2.08903196e-02 9.99781348e-01 -9.21930750e-04 4.42564775e+00] [ 3.58821947e-02 1.71784082e-04 9.99356012e-01 2.97345678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.93509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.08, Y:4.42, Z:2.97 [[ 9.99149874e-01 -2.23251736e-02 -3.46571095e-02 1.25082181e+02] [ 2.23073708e-02 9.99750754e-01 -9.00316566e-04 4.42415913e+00] [ 3.46685711e-02 1.26442190e-04 9.99398856e-01 2.97451572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.11, Y:4.42, Z:2.98 [[ 9.99115993e-01 -2.44444859e-02 -3.42008786e-02 1.25109345e+02] [ 2.44280924e-02 9.99701187e-01 -8.97163091e-04 4.42153164e+00] [ 3.42125896e-02 6.09077716e-05 9.99414576e-01 2.97537339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.99509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.14, Y:4.42, Z:2.98 [[ 9.98977628e-01 -3.05820009e-02 -3.32932312e-02 1.25137292e+02] [ 3.05697060e-02 9.99532251e-01 -8.78371067e-04 4.41528722e+00] [ 3.33045207e-02 -1.40291244e-04 9.99445241e-01 2.97559023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.16, Y:4.41, Z:2.98 [[ 9.98840326e-01 -3.60995492e-02 -3.18563136e-02 1.25164860e+02] [ 3.60908404e-02 9.99348153e-01 -8.48528614e-04 4.41050013e+00] [ 3.18661797e-02 -3.02176534e-04 9.99492099e-01 2.97636781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.05509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.19, Y:4.40, Z:2.98 [[ 9.98510578e-01 -4.44151108e-02 -3.16847638e-02 1.25193128e+02] [ 4.44105325e-02 9.99013005e-01 -8.48572390e-04 4.40377070e+00] [ 3.16911805e-02 -5.59828724e-04 9.99497552e-01 2.97740018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.08509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.22, Y:4.40, Z:2.98 [[ 9.98278838e-01 -4.87183723e-02 -3.26478309e-02 1.25220112e+02] [ 4.87155075e-02 9.98812304e-01 -8.83656950e-04 4.39962400e+00] [ 3.26521056e-02 -7.08319618e-04 9.99466527e-01 2.97772361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.25, Y:4.40, Z:2.98 [[ 9.98175392e-01 -5.03227502e-02 -3.33692511e-02 1.25248146e+02] [ 5.03204087e-02 9.98732711e-01 -9.10509529e-04 4.39789420e+00] [ 3.33727819e-02 -7.70306147e-04 9.99442677e-01 2.97820490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.28, Y:4.40, Z:2.98 [[ 9.98090580e-01 -5.18004423e-02 -3.36438374e-02 1.25275535e+02] [ 5.17986059e-02 9.98657121e-01 -9.26768003e-04 4.39638915e+00] [ 3.36466648e-02 -8.17705461e-04 9.99433456e-01 2.97880120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.30, Y:4.40, Z:2.98 [[ 9.98076670e-01 -5.20678635e-02 -3.36436966e-02 1.25303924e+02] [ 5.20660075e-02 9.98643211e-01 -9.31853638e-04 4.39724195e+00] [ 3.36465688e-02 -8.21631585e-04 9.99433456e-01 2.97958352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.33, Y:4.40, Z:2.98 [[ 9.97995262e-01 -5.33866521e-02 -3.39900478e-02 1.25331939e+02] [ 5.33852047e-02 9.98573541e-01 -9.50773141e-04 4.39573776e+00] [ 3.39923210e-02 -8.65698571e-04 9.99421719e-01 2.98018754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.36, Y:4.40, Z:2.98 [[ 9.97985624e-01 -5.35666729e-02 -3.39897905e-02 1.25360356e+02] [ 5.35650195e-02 9.98563902e-01 -9.59890937e-04 4.39661806e+00] [ 3.39923960e-02 -8.62706437e-04 9.99421719e-01 2.98097190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.39, Y:4.40, Z:2.98 [[ 9.97947427e-01 -5.41526057e-02 -3.41822709e-02 1.25388484e+02] [ 5.41510405e-02 9.98532283e-01 -9.72241131e-04 4.39540909e+00] [ 3.41847504e-02 -8.80760003e-04 9.99415143e-01 2.98192500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.42, Y:4.39, Z:2.98 [[ 9.97932593e-01 -5.44141299e-02 -3.42000425e-02 1.25416661e+02] [ 5.44124247e-02 9.98518065e-01 -9.81272046e-04 4.39478454e+00] [ 3.42027553e-02 -8.81663882e-04 9.99414526e-01 2.98275541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.44, Y:4.39, Z:2.98 [[ 9.97919763e-01 -5.45957460e-02 -3.42848592e-02 1.25444798e+02] [ 5.45939898e-02 9.98508147e-01 -9.88069541e-04 4.39429064e+00] [ 3.42876556e-02 -8.85733130e-04 9.99411613e-01 2.98367539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.35509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.47, Y:4.39, Z:2.98 [[ 9.97913347e-01 -5.45848822e-02 -3.44883095e-02 1.25472662e+02] [ 5.45827633e-02 9.98508745e-01 -1.00365354e-03 4.39377308e+00] [ 3.44916630e-02 -8.80907968e-04 9.99404597e-01 2.98452493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.50, Y:4.39, Z:2.98 [[ 9.97926474e-01 -5.37388123e-02 -3.54244577e-02 1.25500188e+02] [ 5.37357305e-02 9.98554651e-01 -1.03975771e-03 4.39178233e+00] [ 3.54291324e-02 -8.65957364e-04 9.99371816e-01 2.98463235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.41509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.53, Y:4.39, Z:2.99 [[ 9.97942424e-01 -5.32144335e-02 -3.57651138e-02 1.25527790e+02] [ 5.32107538e-02 9.98582747e-01 -1.05540201e-03 4.39123313e+00] [ 3.57705882e-02 -8.49858228e-04 9.99359666e-01 2.98522640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.56, Y:4.39, Z:2.99 [[ 9.97956035e-01 -5.27952728e-02 -3.60057197e-02 1.25555427e+02] [ 5.27909077e-02 9.98605012e-01 -1.07258382e-03 4.39106952e+00] [ 3.60121195e-02 -8.30383132e-04 9.99351008e-01 2.98581544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.47509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.58, Y:4.39, Z:2.99 [[ 9.98018528e-01 -5.21221299e-02 -3.52462821e-02 1.25582011e+02] [ 5.21172201e-02 9.98640413e-01 -1.05866521e-03 4.39091342e+00] [ 3.52535416e-02 -7.80370748e-04 9.99378096e-01 2.98681905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.61, Y:4.39, Z:2.99 [[ 9.98052215e-01 -5.19398985e-02 -3.45546482e-02 1.25609147e+02] [ 5.19349243e-02 9.98649927e-01 -1.04210760e-03 4.39150851e+00] [ 3.45621238e-02 -7.54515235e-04 9.99402267e-01 2.98800968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.64, Y:4.39, Z:2.99 [[ 9.98102702e-01 -5.15633000e-02 -3.36485194e-02 1.25637406e+02] [ 5.15582006e-02 9.98669471e-01 -1.01978229e-03 4.39124082e+00] [ 3.36563324e-02 -7.17009654e-04 9.99433208e-01 2.98842627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.67, Y:4.39, Z:2.99 [[ 9.98103845e-01 -5.14088606e-02 -3.38503173e-02 1.25665794e+02] [ 5.14032852e-02 9.98677440e-01 -1.03552112e-03 4.39029270e+00] [ 3.38587832e-02 -7.06459902e-04 9.99426377e-01 2.98817049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.59509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.69, Y:4.39, Z:2.99 [[ 9.98079366e-01 -5.18130491e-02 -3.39556560e-02 1.25693314e+02] [ 5.18073404e-02 9.98656548e-01 -1.04852058e-03 4.38998758e+00] [ 3.39643653e-02 -7.12645472e-04 9.99422790e-01 2.98896583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.72, Y:4.39, Z:2.99 [[ 9.98047325e-01 -5.25789736e-02 -3.37192633e-02 1.25720812e+02] [ 5.25734566e-02 9.98616507e-01 -1.05082941e-03 4.39062697e+00] [ 3.37278645e-02 -7.23960745e-04 9.99430792e-01 2.98995833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.65509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.75, Y:4.39, Z:2.99 [[ 9.98000389e-01 -5.35748838e-02 -3.35403467e-02 1.25748268e+02] [ 5.35696657e-02 9.98563557e-01 -1.05483027e-03 4.39126877e+00] [ 3.35486803e-02 -7.44024138e-04 9.99436808e-01 2.99109459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.78, Y:4.39, Z:2.99 [[ 9.97964123e-01 -5.43850000e-02 -3.33148642e-02 1.25775528e+02] [ 5.43800167e-02 9.98519753e-01 -1.05631744e-03 4.39176078e+00] [ 3.33229978e-02 -7.57495968e-04 9.99444348e-01 2.99235344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.71509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.80, Y:4.39, Z:2.99 [[ 9.97886234e-01 -5.57334235e-02 -3.34192933e-02 1.25803409e+02] [ 5.57289928e-02 9.98445364e-01 -1.06476287e-03 4.39144431e+00] [ 3.34266814e-02 -7.99911345e-04 9.99440852e-01 2.99317705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.83, Y:4.39, Z:2.99 [[ 9.97871231e-01 -5.60015769e-02 -3.34189892e-02 1.25831799e+02] [ 5.59969795e-02 9.98430360e-01 -1.07423240e-03 4.39242403e+00] [ 3.34266921e-02 -7.99416843e-04 9.99440852e-01 2.99396057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.77509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.86, Y:4.40, Z:3.00 [[ 9.97723610e-01 -5.73826635e-02 -3.54235622e-02 1.25860955e+02] [ 5.70459063e-02 9.98316906e-01 -1.04460310e-02 4.39711034e+00] [ 3.59633621e-02 8.40148254e-03 9.99317793e-01 2.99697190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.80509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.89, Y:4.39, Z:2.99 [[ 9.97824867e-01 -5.68014789e-02 -3.34533522e-02 1.25888608e+02] [ 5.71053443e-02 9.98334498e-01 8.19818049e-03 4.38867614e+00] [ 3.29319668e-02 -1.00907135e-02 9.99406656e-01 2.99384827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.83509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.92, Y:4.39, Z:3.00 [[ 9.97806879e-01 -5.74074991e-02 -3.29516503e-02 1.25916206e+02] [ 5.74030689e-02 9.98350499e-01 -1.08123120e-03 4.39376976e+00] [ 3.29593673e-02 -8.12665922e-04 9.99456362e-01 2.99732350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.94, Y:4.39, Z:3.00 [[ 9.97788599e-01 -5.76617639e-02 -3.30610469e-02 1.25943505e+02] [ 5.76571542e-02 9.98335844e-01 -1.09357117e-03 4.39439525e+00] [ 3.30690854e-02 -8.15053033e-04 9.99452736e-01 2.99805837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.97, Y:4.39, Z:3.00 [[ 9.97762024e-01 -5.80435127e-02 -3.31948030e-02 1.25972331e+02] [ 5.80389054e-02 9.98313712e-01 -1.10315293e-03 4.39490221e+00] [ 3.32028578e-02 -8.25905932e-04 9.99448292e-01 2.99878940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.00, Y:4.39, Z:3.00 [[ 9.97727774e-01 -5.84813248e-02 -3.34548101e-02 1.26000269e+02] [ 5.84766345e-02 9.98288150e-01 -1.11945675e-03 4.39443506e+00] [ 3.34630078e-02 -8.39411608e-04 9.99439604e-01 2.99947359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.03, Y:4.39, Z:3.00 [[ 9.97720578e-01 -5.88287418e-02 -3.30579325e-02 1.26028102e+02] [ 5.88242547e-02 9.98267738e-01 -1.10913221e-03 4.39451648e+00] [ 3.30659164e-02 -8.38004216e-04 9.99452822e-01 3.00029705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.06, Y:4.39, Z:3.00 [[ 9.97667612e-01 -6.00451830e-02 -3.24640005e-02 1.26056943e+02] [ 6.00413800e-02 9.98195291e-01 -1.09286115e-03 4.39419934e+00] [ 3.24710335e-02 -8.58871222e-04 9.99472308e-01 3.00131918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.09, Y:4.39, Z:3.00 [[ 9.97661848e-01 -6.02596973e-02 -3.22429160e-02 1.26085328e+02] [ 6.02558210e-02 9.98182369e-01 -1.09275704e-03 4.39449971e+00] [ 3.22501595e-02 -8.52621370e-04 9.99479465e-01 3.00203117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.11, Y:4.39, Z:3.00 [[ 9.97578910e-01 -6.13483771e-02 -3.27520293e-02 1.26114227e+02] [ 6.13448704e-02 9.98116010e-01 -1.11285962e-03 4.39491123e+00] [ 3.27585969e-02 -8.99003699e-04 9.99462889e-01 3.00315172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.07509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.14, Y:4.40, Z:3.00 [[ 9.97535861e-01 -6.16830566e-02 -3.34276412e-02 1.26143303e+02] [ 6.16793384e-02 9.98095362e-01 -1.14338850e-03 4.39564066e+00] [ 3.34345013e-02 -9.21223764e-04 9.99440486e-01 3.00384149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.17, Y:4.40, Z:3.00 [[ 9.97422694e-01 -6.31092719e-02 -3.41348738e-02 1.26171686e+02] [ 6.31061203e-02 9.98006136e-01 -1.17076950e-03 4.39562302e+00] [ 3.41406999e-02 -9.86367382e-04 9.99416550e-01 3.00419507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.13509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.20, Y:4.40, Z:3.01 [[ 9.97316205e-01 -6.40802321e-02 -3.54134400e-02 1.26200590e+02] [ 6.40771235e-02 9.97944199e-01 -1.22389116e-03 4.39611707e+00] [ 3.54190642e-02 -1.04858488e-03 9.99371998e-01 3.00507459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.23, Y:4.40, Z:3.01 [[ 9.97207525e-01 -6.56688039e-02 -3.55634724e-02 1.26228372e+02] [ 6.56664023e-02 9.97840866e-01 -1.23682285e-03 4.39630422e+00] [ 3.55679068e-02 -1.10195624e-03 9.99366654e-01 3.00520321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.19509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.26, Y:4.40, Z:3.01 [[ 9.97173075e-01 -6.65473754e-02 -3.48899054e-02 1.26257539e+02] [ 6.65454514e-02 9.97782652e-01 -1.21766558e-03 4.39725635e+00] [ 3.48935748e-02 -1.10754118e-03 9.99390420e-01 3.00596923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.22509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.29, Y:4.40, Z:3.01 [[ 9.97133080e-01 -6.72948571e-02 -3.45980077e-02 1.26285970e+02] [ 6.72931605e-02 9.97732507e-01 -1.21481108e-03 4.39830352e+00] [ 3.46013075e-02 -1.11688098e-03 9.99400571e-01 3.00714938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.31, Y:4.40, Z:3.01 [[ 9.97076215e-01 -6.86908901e-02 -3.34751240e-02 1.26314440e+02] [ 6.86900253e-02 9.97637356e-01 -1.17722010e-03 4.39955532e+00] [ 3.34768985e-02 -1.12562895e-03 9.99438858e-01 3.00859088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.34, Y:4.40, Z:3.01 [[ 9.97042250e-01 -6.94261144e-02 -3.29661347e-02 1.26344212e+02] [ 6.94256093e-02 9.97586455e-01 -1.16136088e-03 4.40066835e+00] [ 3.29671983e-02 -1.13076812e-03 9.99455795e-01 3.00927172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.37, Y:4.40, Z:3.01 [[ 9.96930732e-01 -7.04290518e-02 -3.41886475e-02 1.26372574e+02] [ 7.04290510e-02 9.97516062e-01 -1.20581159e-03 4.40159872e+00] [ 3.41886492e-02 -1.20576337e-03 9.99414670e-01 3.00953380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.40, Y:4.40, Z:3.01 [[ 9.96904356e-01 -7.09542885e-02 -3.38702380e-02 1.26401911e+02] [ 7.09545328e-02 9.97478833e-01 -1.19627117e-03 4.40300765e+00] [ 3.38697260e-02 -1.21067897e-03 9.99425523e-01 3.00991408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.37509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.43, Y:4.41, Z:3.01 [[ 9.96790625e-01 -7.25282027e-02 -3.38837726e-02 1.26431897e+02] [ 7.25293140e-02 9.97365562e-01 -1.19795804e-03 4.40572025e+00] [ 3.38813936e-02 -1.26345344e-03 9.99425062e-01 3.01080387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.46, Y:4.41, Z:3.01 [[ 9.96698761e-01 -7.38350579e-02 -3.37633478e-02 1.26461337e+02] [ 7.38368692e-02 9.97269617e-01 -1.19490153e-03 4.40732738e+00] [ 3.37593865e-02 -1.30202302e-03 9.99429141e-01 3.01136755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.43509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.49, Y:4.41, Z:3.01 [[ 9.96463106e-01 -7.72160063e-02 -3.31506594e-02 1.26490780e+02] [ 7.72195806e-02 9.97013419e-01 -1.17437609e-03 4.40868292e+00] [ 3.31423329e-02 -1.38965757e-03 9.99449676e-01 3.01162926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.52, Y:4.41, Z:3.01 [[ 9.96312353e-01 -7.90912982e-02 -3.32605216e-02 1.26521280e+02] [ 7.90959063e-02 9.96866313e-01 -1.17924854e-03 4.40997423e+00] [ 3.32495618e-02 -1.45587121e-03 9.99446020e-01 3.01229400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.49509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.55, Y:4.41, Z:3.01 [[ 9.96110491e-01 -8.06793165e-02 -3.54222895e-02 1.26551644e+02] [ 8.09204708e-02 9.96705794e-01 5.42561398e-03 4.40812075e+00] [ 3.48678663e-02 -8.27089934e-03 9.99357706e-01 3.01236874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.58, Y:4.42, Z:3.01 [[ 9.95742001e-01 -8.54421921e-02 -3.46048967e-02 1.26581012e+02] [ 8.52180365e-02 9.96330974e-01 -7.90420775e-03 4.41721572e+00] [ 3.51532833e-02 4.92159029e-03 9.99369814e-01 3.01464745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.55509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.61, Y:4.42, Z:3.01 [[ 9.95589373e-01 -8.72131305e-02 -3.45784655e-02 1.26612514e+02] [ 8.72229446e-02 9.96188060e-01 -1.22742625e-03 4.41641104e+00] [ 3.45537022e-02 -1.79402305e-03 9.99401232e-01 3.01388964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.64, Y:4.42, Z:3.02 [[ 9.95401259e-01 -8.94311404e-02 -3.43279016e-02 1.26642345e+02] [ 8.94421641e-02 9.95991274e-01 -1.21745777e-03 4.41971996e+00] [ 3.42991690e-02 -1.85850280e-03 9.99409882e-01 3.01513686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.67, Y:4.42, Z:3.02 [[ 9.95364212e-01 -8.99469052e-02 -3.40534819e-02 1.26674097e+02] [ 8.99580860e-02 9.95944821e-01 -1.20677890e-03 4.42176931e+00] [ 3.40239350e-02 -1.86220152e-03 9.99419283e-01 3.01609515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.71, Y:4.42, Z:3.02 [[ 9.95401540e-01 -8.97307682e-02 -3.35285405e-02 1.26705109e+02] [ 8.97415621e-02 9.95964380e-01 -1.18584821e-03 4.42393977e+00] [ 3.34996392e-02 -1.82850847e-03 9.99437057e-01 3.01692074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.74, Y:4.43, Z:3.02 [[ 9.95612700e-01 -8.76871871e-02 -3.26543947e-02 1.26736555e+02] [ 8.76963824e-02 9.96146583e-01 -1.15328277e-03 4.42800226e+00] [ 3.26296918e-02 -1.71544931e-03 9.99466038e-01 3.01866279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.77, Y:4.43, Z:3.02 [[ 9.95791719e-01 -8.58839431e-02 -3.19812609e-02 1.26769106e+02] [ 8.58918743e-02 9.96303826e-01 -1.12828265e-03 4.43113510e+00] [ 3.19599539e-02 -1.62339592e-03 9.99487832e-01 3.01998856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.80, Y:4.44, Z:3.02 [[ 9.96260840e-01 -8.07730269e-02 -3.06603533e-02 1.26800905e+02] [ 8.07779636e-02 9.96731536e-01 -1.07961447e-03 4.43712953e+00] [ 3.06473448e-02 -1.40110328e-03 9.99529278e-01 3.02117075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.83, Y:4.44, Z:3.02 [[ 9.96757297e-01 -7.43995450e-02 -3.06528656e-02 1.26833102e+02] [ 7.44015355e-02 9.97227783e-01 -1.07722131e-03 4.44295366e+00] [ 3.06480340e-02 -1.20689206e-03 9.99529510e-01 3.02230018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.87, Y:4.45, Z:3.02 [[ 9.96981105e-01 -7.14815902e-02 -3.03159816e-02 1.26865616e+02] [ 7.14822530e-02 9.97441305e-01 -1.06329974e-03 4.44613451e+00] [ 3.03144186e-02 -1.10696491e-03 9.99539799e-01 3.02314893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.90, Y:4.45, Z:3.02 [[ 9.97323453e-01 -6.66799654e-02 -2.99952145e-02 1.26897764e+02] [ 6.66785097e-02 9.97773959e-01 -1.04988612e-03 4.45080897e+00] [ 2.99984503e-02 -9.52960152e-04 9.99549491e-01 3.02386542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.85509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.93, Y:4.46, Z:3.02 [[ 9.97495865e-01 -6.42338640e-02 -2.95974642e-02 1.26927643e+02] [ 6.42314315e-02 9.97934494e-01 -1.03391546e-03 4.45506344e+00] [ 2.96027429e-02 -8.69761097e-04 9.99561364e-01 3.02470222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.96, Y:4.46, Z:3.03 [[ 9.97515779e-01 -6.35921068e-02 -3.03036951e-02 1.26957424e+02] [ 6.35892783e-02 9.97975593e-01 -1.05802320e-03 4.45768367e+00] [ 3.03096300e-02 -8.71595266e-04 9.99540178e-01 3.02549148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.91509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.99, Y:4.46, Z:3.03 [[ 9.97448166e-01 -6.37095939e-02 -3.22217892e-02 1.26988458e+02] [ 6.37064803e-02 9.97968046e-01 -1.12430094e-03 4.46167681e+00] [ 3.22279447e-02 -9.31304870e-04 9.99480111e-01 3.02529346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.02, Y:4.46, Z:3.03 [[ 9.97379317e-01 -6.40565286e-02 -3.36342057e-02 1.27018619e+02] [ 6.40533733e-02 9.97945786e-01 -1.17240913e-03 4.46365537e+00] [ 3.36402143e-02 -9.85047720e-04 9.99433522e-01 3.02552297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.97509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.05, Y:4.47, Z:3.03 [[ 9.97262724e-01 -6.51167505e-02 -3.50266668e-02 1.27047973e+02] [ 6.51139963e-02 9.97877085e-01 -1.22055315e-03 4.46626690e+00] [ 3.50317867e-02 -1.06351410e-03 9.99385633e-01 3.02540031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.08, Y:4.47, Z:3.03 [[ 9.97226203e-01 -6.58466684e-02 -3.47003761e-02 1.27078761e+02] [ 6.58443891e-02 9.97829170e-01 -1.20967949e-03 4.46897349e+00] [ 3.47047008e-02 -1.07850098e-03 9.99397029e-01 3.02619047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.11, Y:4.47, Z:3.03 [[ 9.97320301e-01 -6.53597699e-02 -3.28681983e-02 1.27108235e+02] [ 6.53574568e-02 9.97861258e-01 -1.14590153e-03 4.47194106e+00] [ 3.28727976e-02 -1.00535099e-03 9.99459038e-01 3.02771026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.14, Y:4.47, Z:3.03 [[ 9.97388595e-01 -6.49363207e-02 -3.16111646e-02 1.27139465e+02] [ 6.49339577e-02 9.97888955e-01 -1.10240813e-03 4.47423661e+00] [ 3.16160183e-02 -9.53108725e-04 9.99499634e-01 3.02888793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.09509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.17, Y:4.48, Z:3.03 [[ 9.97536798e-01 -6.31496218e-02 -3.05362430e-02 1.27171064e+02] [ 6.31466130e-02 9.98003694e-01 -1.06384174e-03 4.47732531e+00] [ 3.05424645e-02 -8.67039041e-04 9.99533094e-01 3.03049136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.20, Y:4.48, Z:3.03 [[ 9.97618328e-01 -6.21256550e-02 -2.99679058e-02 1.27202654e+02] [ 6.21223276e-02 9.98067998e-01 -1.04296884e-03 4.47924932e+00] [ 2.99748029e-02 -8.21191227e-04 9.99550317e-01 3.03155612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.15509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.23, Y:4.48, Z:3.03 [[ 9.97753036e-01 -6.02990818e-02 -2.92044586e-02 1.27233734e+02] [ 6.02951698e-02 9.98180075e-01 -1.01536738e-03 4.48206974e+00] [ 2.92125344e-02 -7.47801901e-04 9.99572943e-01 3.03273338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.26, Y:4.48, Z:3.03 [[ 9.97810772e-01 -5.93045889e-02 -2.92682191e-02 1.27264047e+02] [ 5.93002629e-02 9.98239673e-01 -1.01654046e-03 4.48393079e+00] [ 2.92769830e-02 -7.21298069e-04 9.99571077e-01 3.03367846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.21509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.29, Y:4.49, Z:3.03 [[ 9.97914996e-01 -5.73928135e-02 -2.95250115e-02 1.27294358e+02] [ 5.73875934e-02 9.98351448e-01 -1.02484138e-03 4.48623220e+00] [ 2.95351565e-02 -6.71664777e-04 9.99563516e-01 3.03384928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.33, Y:4.49, Z:3.03 [[ 9.97964764e-01 -5.64442609e-02 -2.96711040e-02 1.27326100e+02] [ 5.64386217e-02 9.98405541e-01 -1.02817370e-03 4.48771902e+00] [ 2.96818291e-02 -6.48515086e-04 9.99559187e-01 3.03485870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.27509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.36, Y:4.49, Z:3.04 [[ 9.98095248e-01 -5.46959796e-02 -2.85346365e-02 1.27356564e+02] [ 5.46900779e-02 9.98502889e-01 -9.87810271e-04 4.48886511e+00] [ 2.85459462e-02 -5.74632755e-04 9.99592316e-01 3.03552120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.30509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.39, Y:4.49, Z:3.04 [[ 9.98151039e-01 -5.35026218e-02 -2.88439256e-02 1.27387637e+02] [ 5.34961093e-02 9.98567559e-01 -9.97970226e-04 4.48980375e+00] [ 2.88560024e-02 -5.46912780e-04 9.99583429e-01 3.03643489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.33509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.42, Y:4.49, Z:3.04 [[ 9.98196502e-01 -5.21992190e-02 -2.96476683e-02 1.27418398e+02] [ 5.21917947e-02 9.98636554e-01 -1.02474643e-03 4.49071851e+00] [ 2.96607363e-02 -5.24466713e-04 9.99559886e-01 3.03742868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.45, Y:4.49, Z:3.04 [[ 9.98323342e-01 -4.86655118e-02 -3.13396458e-02 1.27448164e+02] [ 4.86554733e-02 9.98815034e-01 -1.08329415e-03 4.49183637e+00] [ 3.13552285e-02 -4.43367465e-04 9.99508206e-01 3.03749664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.48, Y:4.49, Z:3.04 [[ 9.98415856e-01 -4.65446363e-02 -3.16129044e-02 1.27478092e+02] [ 4.65333391e-02 9.98916139e-01 -1.09337876e-03 4.49321870e+00] [ 3.16295314e-02 -3.79407316e-04 9.99499589e-01 3.03808480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.51, Y:4.49, Z:3.04 [[ 9.98609338e-01 -4.20785018e-02 -3.17614582e-02 1.27507270e+02] [ 4.20647749e-02 9.99114280e-01 -1.10054810e-03 4.49428789e+00] [ 3.17796359e-02 -2.37020984e-04 9.99494872e-01 3.03827965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.53, Y:4.49, Z:3.04 [[ 9.98708099e-01 -3.99131143e-02 -3.14495871e-02 1.27533894e+02] [ 3.98983450e-02 9.99203142e-01 -1.09727612e-03 4.49481795e+00] [ 3.14683219e-02 -1.58927926e-04 9.99504737e-01 3.03852521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.56, Y:4.50, Z:3.04 [[ 9.98853076e-01 -3.65128877e-02 -3.09732508e-02 1.27560620e+02] [ 3.64967990e-02 9.99333181e-01 -1.08481577e-03 4.49502036e+00] [ 3.09922070e-02 -4.68529476e-05 9.99519625e-01 3.03892087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.59, Y:4.50, Z:3.04 [[ 9.98886424e-01 -3.55432527e-02 -3.10256132e-02 1.27588360e+02] [ 3.55264323e-02 9.99368139e-01 -1.09339924e-03 4.49558274e+00] [ 3.10448722e-02 -1.00476936e-05 9.99517992e-01 3.03952297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.62, Y:4.50, Z:3.04 [[ 9.98868287e-01 -3.55506761e-02 -3.15958109e-02 1.27615199e+02] [ 3.55329573e-02 9.99367875e-01 -1.12228592e-03 4.49659545e+00] [ 3.16157364e-02 -1.67678194e-06 9.99500098e-01 3.03989060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.57509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.64, Y:4.50, Z:3.04 [[ 9.98773561e-01 -3.79280198e-02 -3.18251318e-02 1.27642923e+02] [ 3.79110973e-02 9.99280471e-01 -1.13519773e-03 4.49681411e+00] [ 3.18452885e-02 -7.27201929e-05 9.99492808e-01 3.04033655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.67, Y:4.49, Z:3.04 [[ 9.98563548e-01 -4.34271028e-02 -3.13835541e-02 1.27669736e+02] [ 4.34130877e-02 9.99056571e-01 -1.12815205e-03 4.49454999e+00] [ 3.14029383e-02 -2.35925471e-04 9.99506778e-01 3.04014900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.63509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.70, Y:4.49, Z:3.04 [[ 9.98392328e-01 -4.71906933e-02 -3.13974329e-02 1.27697323e+02] [ 4.71783185e-02 9.98885838e-01 -1.13525436e-03 4.49358593e+00] [ 3.14160245e-02 -3.47848845e-04 9.99506334e-01 3.04027581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.73, Y:4.49, Z:3.04 [[ 9.98379804e-01 -4.74551159e-02 -3.13971128e-02 1.27725700e+02] [ 4.74425954e-02 9.98873311e-01 -1.14404164e-03 4.49469099e+00] [ 3.14160287e-02 -3.47372455e-04 9.99506334e-01 3.04106436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.69509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.75, Y:4.49, Z:3.04 [[ 9.97942463e-01 -5.57080576e-02 -3.17403894e-02 1.27753891e+02] [ 5.56991594e-02 9.98446917e-01 -1.16514027e-03 4.49209290e+00] [ 3.17560016e-02 -6.05170058e-04 9.99495468e-01 3.04155605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.72509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.78, Y:4.49, Z:3.04 [[ 9.97498473e-01 -6.34444585e-02 -3.11704566e-02 1.27783889e+02] [ 6.34394008e-02 9.97985027e-01 -1.15219041e-03 4.49159336e+00] [ 3.11807491e-02 -8.28126915e-04 9.99513419e-01 3.04271109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.81, Y:4.49, Z:3.04 [[ 9.97286911e-01 -6.68491137e-02 -3.08222838e-02 1.27814340e+02] [ 6.68457637e-02 9.97762669e-01 -1.14024352e-03 4.49211153e+00] [ 3.08295484e-02 -9.23189166e-04 9.99524230e-01 3.04382262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.85, Y:4.49, Z:3.04 [[ 9.97088532e-01 -7.00033836e-02 -3.02322031e-02 1.27846119e+02] [ 7.00016256e-02 9.97546251e-01 -1.11784038e-03 4.49240035e+00] [ 3.02362735e-02 -1.00171754e-03 9.99542277e-01 3.04483918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.88, Y:4.49, Z:3.05 [[ 9.96890566e-01 -7.29798125e-02 -2.97177922e-02 1.27877812e+02] [ 7.29794648e-02 9.97332839e-01 -1.09778489e-03 4.49246446e+00] [ 2.97186462e-02 -1.07441718e-03 9.99557726e-01 3.04609036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.91, Y:4.49, Z:3.05 [[ 9.96685619e-01 -7.58898745e-02 -2.93002200e-02 1.27909858e+02] [ 7.58908229e-02 9.97115547e-01 -1.08128348e-03 4.49249869e+00] [ 2.92977634e-02 -1.14591811e-03 9.99570072e-01 3.04717993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.87509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.94, Y:4.49, Z:3.05 [[ 9.96305539e-01 -8.08981571e-02 -2.88229371e-02 1.27941854e+02] [ 8.09012237e-02 9.96721558e-01 -1.06165263e-03 4.49158782e+00] [ 2.88143285e-02 -1.27408049e-03 9.99583969e-01 3.04776051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.97, Y:4.49, Z:3.05 [[ 9.96132012e-01 -8.29004660e-02 -2.91294876e-02 1.27974148e+02] [ 8.29045134e-02 9.96556920e-01 -1.07085077e-03 4.49186427e+00] [ 2.91179665e-02 -1.34825727e-03 9.99575073e-01 3.04833005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.93509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.01, Y:4.49, Z:3.05 [[ 9.95821073e-01 -8.65404717e-02 -2.91742546e-02 1.28005024e+02] [ 8.65461507e-02 9.96247268e-01 -1.07039012e-03 4.49275519e+00] [ 2.91574035e-02 -1.45900239e-03 9.99573768e-01 3.04957345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.04, Y:4.49, Z:3.05 [[ 9.95735653e-01 -8.76241161e-02 -2.88534990e-02 1.28036612e+02] [ 8.76301692e-02 9.96152516e-01 -1.05706793e-03 4.49403121e+00] [ 2.88351103e-02 -1.47587677e-03 9.99583092e-01 3.05039632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.99509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.07, Y:4.50, Z:3.05 [[ 9.95649664e-01 -8.88695350e-02 -2.79991550e-02 1.28069283e+02] [ 8.88757659e-02 9.96042192e-01 -1.02432054e-03 4.49525496e+00] [ 2.79793706e-02 -1.46858195e-03 9.99607422e-01 3.05069746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.10, Y:4.50, Z:3.05 [[ 9.95676743e-01 -8.81537976e-02 -2.92699668e-02 1.28100822e+02] [ 8.81603654e-02 9.96105721e-01 -1.06855995e-03 4.49720392e+00] [ 2.92501790e-02 -1.51651068e-03 9.99570972e-01 3.05159910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.05509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.13, Y:4.50, Z:3.05 [[ 9.95727844e-01 -8.71480561e-02 -3.05168465e-02 1.28133360e+02] [ 8.71548116e-02 9.96194160e-01 -1.11125406e-03 4.49916584e+00] [ 3.04975479e-02 -1.55318340e-03 9.99533635e-01 3.05195332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.08509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.17, Y:4.50, Z:3.05 [[ 9.95871840e-01 -8.46096227e-02 -3.28708105e-02 1.28165128e+02] [ 8.46161668e-02 9.96412905e-01 -1.19444266e-03 4.50260198e+00] [ 3.28539612e-02 -1.59189018e-03 9.99458895e-01 3.05209840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.20, Y:4.51, Z:3.05 [[ 9.95966415e-01 -8.34206324e-02 -3.30438697e-02 1.28197313e+02] [ 8.34266733e-02 9.96513198e-01 -1.19829907e-03 4.50513159e+00] [ 3.30286152e-02 -1.56327450e-03 9.99453184e-01 3.05331275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.23, Y:4.51, Z:3.05 [[ 9.96209534e-01 -8.08684536e-02 -3.20446102e-02 1.28229749e+02] [ 8.08728894e-02 9.96723748e-01 -1.15978299e-03 4.50831194e+00] [ 3.20334139e-02 -1.43615334e-03 9.99485767e-01 3.05441669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.26, Y:4.51, Z:3.06 [[ 9.96298932e-01 -7.96356422e-02 -3.23512447e-02 1.28260578e+02] [ 7.96395994e-02 9.96823038e-01 -1.16827087e-03 4.51050176e+00] [ 3.23415021e-02 -1.41249316e-03 9.99475879e-01 3.05570240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.29, Y:4.51, Z:3.06 [[ 9.96402875e-01 -7.82149849e-02 -3.26148400e-02 1.28292936e+02] [ 7.82183696e-02 9.96935559e-01 -1.17404470e-03 4.51288543e+00] [ 3.26067216e-02 -1.38125810e-03 9.99467305e-01 3.05697631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.33, Y:4.52, Z:3.06 [[ 9.96515888e-01 -7.65817646e-02 -3.30350973e-02 1.28325482e+02] [ 7.65844215e-02 9.97062394e-01 -1.18675852e-03 4.51548208e+00] [ 3.30289372e-02 -1.34735010e-03 9.99453488e-01 3.05820496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.36, Y:4.52, Z:3.06 [[ 9.96782196e-01 -7.28297251e-02 -3.34826003e-02 1.28356353e+02] [ 7.28304348e-02 9.97343616e-01 -1.20004449e-03 4.52029961e+00] [ 3.34810565e-02 -1.24236936e-03 9.99438580e-01 3.05962530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.39, Y:4.52, Z:3.06 [[ 9.96933820e-01 -7.05527934e-02 -3.38417101e-02 1.28387629e+02] [ 7.05523365e-02 9.97507346e-01 -1.20914025e-03 4.52340151e+00] [ 3.38426626e-02 -1.18217891e-03 9.99426474e-01 3.06112618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.42, Y:4.53, Z:3.06 [[ 9.97314417e-01 -6.53697451e-02 -3.30264992e-02 1.28418754e+02] [ 6.53665280e-02 9.97860626e-01 -1.17826605e-03 4.52788141e+00] [ 3.30328661e-02 -9.83725865e-04 9.99453782e-01 3.06255660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.35509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.45, Y:4.53, Z:3.06 [[ 9.97482083e-01 -6.30552009e-02 -3.24582201e-02 1.28449691e+02] [ 6.30509205e-02 9.98009641e-01 -1.15640874e-03 4.53049438e+00] [ 3.24665341e-02 -8.93023651e-04 9.99472424e-01 3.06388270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.48, Y:4.53, Z:3.06 [[ 9.97795111e-01 -5.77045739e-02 -3.27886993e-02 1.28480953e+02] [ 5.76973575e-02 9.98333438e-01 -1.16700045e-03 4.53394375e+00] [ 3.28013962e-02 -7.27393961e-04 9.99461625e-01 3.06391111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.41509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.51, Y:4.54, Z:3.06 [[ 9.98043631e-01 -5.33172429e-02 -3.26524341e-02 1.28511079e+02] [ 5.33077714e-02 9.98577455e-01 -1.16117060e-03 4.53774648e+00] [ 3.26678950e-02 -5.81729573e-04 9.99466093e-01 3.06446873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.54, Y:4.54, Z:3.07 [[ 9.98256254e-01 -4.98041562e-02 -3.16859196e-02 1.28539184e+02] [ 4.97934610e-02 9.98758900e-01 -1.12701122e-03 4.54139226e+00] [ 3.17027241e-02 -4.52705602e-04 9.99497240e-01 3.06566526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.47509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.57, Y:4.54, Z:3.07 [[ 9.98335533e-01 -4.82363072e-02 -3.16136536e-02 1.28568354e+02] [ 4.82248246e-02 9.98835872e-01 -1.12603211e-03 4.54300640e+00] [ 3.16311669e-02 -4.00405037e-04 9.99499529e-01 3.06680633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.60, Y:4.54, Z:3.07 [[ 9.98401471e-01 -4.69645262e-02 -3.14457565e-02 1.28596490e+02] [ 4.69524971e-02 9.98896494e-01 -1.12124444e-03 4.54428423e+00] [ 3.14637147e-02 -3.57004693e-04 9.99504831e-01 3.06728216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.63, Y:4.55, Z:3.07 [[ 9.98418786e-01 -4.62753999e-02 -3.19141694e-02 1.28626225e+02] [ 4.62626050e-02 9.98928662e-01 -1.13960108e-03 4.54568670e+00] [ 3.19327141e-02 -3.38633483e-04 9.99489963e-01 3.06817015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.65, Y:4.55, Z:3.07 [[ 9.98496968e-01 -4.45700956e-02 -3.18953125e-02 1.28654562e+02] [ 4.45564072e-02 9.99006220e-01 -1.14013964e-03 4.54786919e+00] [ 3.19144317e-02 -2.82714558e-04 9.99490565e-01 3.06891259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.59509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.68, Y:4.55, Z:3.07 [[ 9.98506052e-01 -4.38770538e-02 -3.25648210e-02 1.28683176e+02] [ 4.38623268e-02 9.99036904e-01 -1.16681747e-03 4.55101726e+00] [ 3.25846544e-02 -2.63294515e-04 9.99468944e-01 3.06957474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.71, Y:4.55, Z:3.07 [[ 9.98501977e-01 -4.38052425e-02 -3.27857008e-02 1.28710471e+02] [ 4.37900291e-02 9.99040057e-01 -1.18226198e-03 4.55256123e+00] [ 3.28060176e-02 -2.55195865e-04 9.99461705e-01 3.07040895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.65509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.74, Y:4.55, Z:3.07 [[ 9.98437338e-01 -4.56280226e-02 -3.22639865e-02 1.28738033e+02] [ 4.56141202e-02 9.98958452e-01 -1.16718697e-03 4.55342064e+00] [ 3.22836385e-02 -3.06330311e-04 9.99478701e-01 3.07110212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.77, Y:4.55, Z:3.07 [[ 9.98397670e-01 -4.71244576e-02 -3.13269478e-02 1.28766345e+02] [ 4.71118222e-02 9.98888969e-01 -1.14174513e-03 4.55396853e+00] [ 3.13459468e-02 -3.35953924e-04 9.99508539e-01 3.07197899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.71509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.80, Y:4.55, Z:3.07 [[ 9.98236402e-01 -5.08473924e-02 -3.06370410e-02 1.28795653e+02] [ 5.08368479e-02 9.98706340e-01 -1.12350854e-03 4.55421626e+00] [ 3.06545346e-02 -4.35963469e-04 9.99529944e-01 3.07351627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.83, Y:4.56, Z:3.08 [[ 9.98024269e-01 -5.50442271e-02 -3.02934310e-02 1.28826219e+02] [ 5.50358202e-02 9.98483762e-01 -1.11188338e-03 4.55546069e+00] [ 3.03087017e-02 -5.57537228e-04 9.99540430e-01 3.07508789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.77509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.86, Y:4.56, Z:3.08 [[ 9.97796799e-01 -5.89563047e-02 -3.04253396e-02 1.28857918e+02] [ 5.89496445e-02 9.98260333e-01 -1.11662593e-03 4.55588545e+00] [ 3.04382418e-02 -6.79397173e-04 9.99536418e-01 3.07597574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.80509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.89, Y:4.56, Z:3.08 [[ 9.97583711e-01 -6.24271176e-02 -3.04892551e-02 1.28889737e+02] [ 6.24220823e-02 9.98049214e-01 -1.11787678e-03 4.55532652e+00] [ 3.04995630e-02 -7.88027128e-04 9.99534469e-01 3.07615864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.83509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.92, Y:4.56, Z:3.08 [[ 9.97393680e-01 -6.50697496e-02 -3.11733037e-02 1.28920998e+02] [ 6.50658133e-02 9.97880322e-01 -1.14173735e-03 4.55524085e+00] [ 3.11815189e-02 -8.89554741e-04 9.99513342e-01 3.07622617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.95, Y:4.56, Z:3.08 [[ 9.97234327e-01 -6.70066780e-02 -3.21527901e-02 1.28953172e+02] [ 6.70035568e-02 9.97752044e-01 -1.17573300e-03 4.55772332e+00] [ 3.21592940e-02 -9.81869992e-04 9.99482274e-01 3.07711620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.99, Y:4.56, Z:3.08 [[ 9.97213285e-01 -6.75826006e-02 -3.15951896e-02 1.28985572e+02] [ 6.75799464e-02 9.97713196e-01 -1.15309091e-03 4.55927117e+00] [ 3.16008665e-02 -9.85323649e-04 9.99500082e-01 3.07796490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.02, Y:4.56, Z:3.08 [[ 9.97165271e-01 -6.82465523e-02 -3.16832793e-02 1.29016280e+02] [ 6.82442882e-02 9.97667973e-01 -1.15408844e-03 4.56069545e+00] [ 3.16881556e-02 -1.01138593e-03 9.99497293e-01 3.07910733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.05, Y:4.56, Z:3.08 [[ 9.97115699e-01 -6.88677775e-02 -3.18984745e-02 1.29047597e+02] [ 6.88658552e-02 9.97625254e-01 -1.16020408e-03 4.56223457e+00] [ 3.19026244e-02 -1.03985803e-03 9.99490441e-01 3.07984810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.08, Y:4.56, Z:3.08 [[ 9.97023877e-01 -6.95681206e-02 -3.32214659e-02 1.29079442e+02] [ 6.95664890e-02 9.97576588e-01 -1.20638424e-03 4.56369970e+00] [ 3.32248824e-02 -1.10830685e-03 9.99447287e-01 3.08048974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.11, Y:4.57, Z:3.08 [[ 9.96965661e-01 -7.01184011e-02 -3.38065141e-02 1.29111446e+02] [ 7.01171123e-02 9.97538014e-01 -1.22512937e-03 4.56524994e+00] [ 3.38091870e-02 -1.14900323e-03 9.99427646e-01 3.08086678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.14, Y:4.57, Z:3.08 [[ 9.96920915e-01 -7.00027116e-02 -3.53314223e-02 1.29142109e+02] [ 7.00013214e-02 9.97546080e-01 -1.27787593e-03 4.56714258e+00] [ 3.53341766e-02 -1.19930501e-03 9.99374833e-01 3.08127509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.17, Y:4.57, Z:3.08 [[ 9.96907021e-01 -6.98477129e-02 -3.60234413e-02 1.29173601e+02] [ 6.98462327e-02 9.97556921e-01 -1.30108739e-03 4.56941830e+00] [ 3.60263111e-02 -1.21903851e-03 9.99350098e-01 3.08209478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.21, Y:4.57, Z:3.08 [[ 9.96965059e-01 -6.94741837e-02 -3.51284741e-02 1.29205194e+02] [ 6.94725863e-02 9.97583056e-01 -1.26755877e-03 4.57292727e+00] [ 3.51316331e-02 -1.17675415e-03 9.99382001e-01 3.08389302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.24, Y:4.57, Z:3.09 [[ 9.97009237e-01 -6.92425844e-02 -3.43226658e-02 1.29236271e+02] [ 6.92409629e-02 9.97599197e-01 -1.23728753e-03 4.57494927e+00] [ 3.43259369e-02 -1.14294734e-03 9.99410038e-01 3.08522909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.27, Y:4.59, Z:3.08 [[ 9.97396088e-01 -6.69888703e-02 -2.67120721e-02 1.29268247e+02] [ 6.63283625e-02 9.97487327e-01 -2.48913615e-02 4.58694748e+00] [ 2.83123976e-02 2.30547785e-02 9.99333220e-01 3.08460168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.30, Y:4.57, Z:3.08 [[ 9.97052615e-01 -6.83691006e-02 -3.48101768e-02 1.29299057e+02] [ 6.91881042e-02 9.97340944e-01 2.28920663e-02 4.56774806e+00] [ 3.31525046e-02 -2.52330447e-02 9.99131725e-01 3.08044290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.33, Y:4.58, Z:3.09 [[ 9.96904529e-01 -7.05725002e-02 -3.46537471e-02 1.29329441e+02] [ 7.05717401e-02 9.97505928e-01 -1.24661662e-03 4.58271501e+00] [ 3.46552950e-02 -1.20281748e-03 9.99398601e-01 3.08918198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.36, Y:4.58, Z:3.09 [[ 9.96829144e-01 -7.15080260e-02 -3.49035766e-02 1.29360371e+02] [ 7.15078931e-02 9.97439246e-01 -1.25373181e-03 4.58481920e+00] [ 3.49038490e-02 -1.24612482e-03 9.99389898e-01 3.09025671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.39, Y:4.59, Z:3.09 [[ 9.96621218e-01 -7.42291730e-02 -3.51593274e-02 1.29392269e+02] [ 7.42307985e-02 9.97240291e-01 -1.26092600e-03 4.58683132e+00] [ 3.51558954e-02 -1.35323934e-03 9.99380924e-01 3.09150386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.42, Y:4.59, Z:3.09 [[ 9.96509462e-01 -7.57930963e-02 -3.49899814e-02 1.29423507e+02] [ 7.57957668e-02 9.97122577e-01 -1.25203547e-03 4.58780010e+00] [ 3.49841960e-02 -1.40442727e-03 9.99386879e-01 3.09272346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.46, Y:4.59, Z:3.09 [[ 9.96330406e-01 -7.88480980e-02 -3.32971305e-02 1.29455073e+02] [ 7.88523383e-02 9.96885599e-01 -1.18782368e-03 4.58854506e+00] [ 3.32870875e-02 -1.44209176e-03 9.99444791e-01 3.09415910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.49, Y:4.59, Z:3.10 [[ 9.96233797e-01 -8.02437317e-02 -3.28506611e-02 1.29487520e+02] [ 8.02487327e-02 9.96774185e-01 -1.16833470e-03 4.59000264e+00] [ 3.28384424e-02 -1.47228941e-03 9.99459589e-01 3.09567834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.52, Y:4.59, Z:3.10 [[ 9.96127527e-01 -8.16170518e-02 -3.26895634e-02 1.29519529e+02] [ 8.16228224e-02 9.96662615e-01 -1.16012914e-03 4.59169618e+00] [ 3.26751521e-02 -1.51257786e-03 9.99464880e-01 3.09713871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.435099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.55, Y:4.59, Z:3.10 [[ 9.96252588e-01 -8.08487948e-02 -3.07287031e-02 1.29552940e+02] [ 8.08536110e-02 9.96725394e-01 -1.08782925e-03 4.59348318e+00] [ 3.07160284e-02 -1.40077390e-03 9.99527170e-01 3.09880549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.59, Y:4.60, Z:3.10 [[ 9.96512032e-01 -7.80886489e-02 -2.94267280e-02 1.29585984e+02] [ 7.80919548e-02 9.96945619e-01 -1.03864075e-03 4.59500027e+00] [ 2.94179537e-02 -1.26297272e-03 9.99566400e-01 3.10027123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.495099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.62, Y:4.60, Z:3.10 [[ 9.96692864e-01 -7.58689309e-02 -2.91074046e-02 1.29617792e+02] [ 7.58713123e-02 9.97117092e-01 -1.02421574e-03 4.59628361e+00] [ 2.91011968e-02 -1.18758846e-03 9.99575765e-01 3.10096255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.65, Y:4.60, Z:3.10 [[ 9.97056874e-01 -7.09798273e-02 -2.89733212e-02 1.29650747e+02] [ 7.09802022e-02 9.97477206e-01 -1.01684129e-03 4.59859354e+00] [ 2.89724027e-02 -1.04268360e-03 9.99579668e-01 3.10210314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.68, Y:4.60, Z:3.10 [[ 9.97063194e-01 -7.08909510e-02 -2.89734295e-02 1.29683416e+02] [ 7.08913782e-02 9.97483526e-01 -1.01374648e-03 4.59967928e+00] [ 2.89723841e-02 -1.04319704e-03 9.99579668e-01 3.10300997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.72, Y:4.60, Z:3.10 [[ 9.97471244e-01 -6.48027434e-02 -2.91842745e-02 1.29715185e+02] [ 6.48006493e-02 9.97897709e-01 -1.01852898e-03 4.60299004e+00] [ 2.91889241e-02 -8.75206569e-04 9.99573529e-01 3.10403916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.75, Y:4.61, Z:3.10 [[ 9.97896650e-01 -5.80945021e-02 -2.87629119e-02 1.29747402e+02] [ 5.80897405e-02 9.98310863e-01 -1.00181308e-03 4.60547121e+00] [ 2.87725272e-02 -6.71124175e-04 9.99585760e-01 3.10477160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.78, Y:4.61, Z:3.10 [[ 9.98261728e-01 -5.09767723e-02 -2.95785646e-02 1.29779492e+02] [ 5.09686773e-02 9.98699723e-01 -1.02806127e-03 4.60677585e+00] [ 2.95925116e-02 -4.81306096e-04 9.99561930e-01 3.10498787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.81, Y:4.61, Z:3.10 [[ 9.98712805e-01 -3.94631239e-02 -3.18652770e-02 1.29810714e+02] [ 3.94479420e-02 9.99221016e-01 -1.10521391e-03 4.60830013e+00] [ 3.18840696e-02 -1.53228314e-04 9.99491562e-01 3.10400873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.84, Y:4.61, Z:3.10 [[ 9.98885537e-01 -3.49136006e-02 -3.17604303e-02 1.29838308e+02] [ 3.48962336e-02 9.99390334e-01 -1.10111851e-03 4.60682124e+00] [ 3.17795111e-02 -8.42803996e-06 9.99494904e-01 3.10481320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.87, Y:4.60, Z:3.11 [[ 9.98740918e-01 -3.93699463e-02 -3.10899637e-02 1.29866579e+02] [ 3.93553191e-02 9.99224693e-01 -1.08250332e-03 4.60303557e+00] [ 3.11084776e-02 -1.42415083e-04 9.99516004e-01 3.10503639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.89, Y:4.60, Z:3.11 [[ 9.98730313e-01 -3.96383114e-02 -3.10896538e-02 1.29894947e+02] [ 3.96235392e-02 9.99214083e-01 -1.09133713e-03 4.60409639e+00] [ 3.11084786e-02 -1.41930643e-04 9.99516004e-01 3.10582731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.92, Y:4.60, Z:3.11 [[ 9.98617452e-01 -4.23887732e-02 -3.10865984e-02 1.29923043e+02] [ 4.23750736e-02 9.99101168e-01 -1.09966532e-03 4.60369295e+00] [ 3.11052702e-02 -2.19151914e-04 9.99516090e-01 3.10640579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.95, Y:4.60, Z:3.11 [[ 9.98607405e-01 -4.26250394e-02 -3.10862818e-02 1.29952256e+02] [ 4.26111777e-02 9.99091116e-01 -1.10854544e-03 4.60476559e+00] [ 3.11052798e-02 -2.17621394e-04 9.99516090e-01 3.10722022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.98, Y:4.60, Z:3.11 [[ 9.98462363e-01 -4.56998652e-02 -3.13756537e-02 1.29981249e+02] [ 4.56870473e-02 9.98955167e-01 -1.12569023e-03 4.60403446e+00] [ 3.13943153e-02 -3.09501643e-04 9.99507029e-01 3.10804778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.01, Y:4.61, Z:3.11 [[ 9.98451813e-01 -4.59298455e-02 -3.13755697e-02 1.30010464e+02] [ 4.59170678e-02 9.98944618e-01 -1.12802665e-03 4.60512230e+00] [ 3.13942666e-02 -3.14393906e-04 9.99507029e-01 3.10886018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.04, Y:4.60, Z:3.11 [[ 9.98280959e-01 -4.96920644e-02 -3.10777323e-02 1.30040147e+02] [ 4.96811491e-02 9.98764497e-01 -1.12377967e-03 4.60404633e+00] [ 3.10951786e-02 -4.22129610e-04 9.99516339e-01 3.10915426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.07, Y:4.60, Z:3.11 [[ 9.98089615e-01 -5.33798372e-02 -3.11081037e-02 1.30069885e+02] [ 5.33706568e-02 9.98574136e-01 -1.12596001e-03 4.60269473e+00] [ 3.11238514e-02 -5.36450932e-04 9.99515392e-01 3.10967463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.10, Y:4.60, Z:3.11 [[ 9.98088534e-01 -5.34000494e-02 -3.11080830e-02 1.30100845e+02] [ 5.33908610e-02 9.98573055e-01 -1.12653331e-03 4.60381317e+00] [ 3.11238504e-02 -5.36507356e-04 9.99515392e-01 3.11053517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.13, Y:4.60, Z:3.11 [[ 9.98087453e-01 -5.34202632e-02 -3.11080601e-02 1.30131805e+02] [ 5.34110650e-02 9.98571974e-01 -1.12716302e-03 4.60493227e+00] [ 3.11238504e-02 -5.36507356e-04 9.99515392e-01 3.11139573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.16, Y:4.60, Z:3.11 [[ 9.97876122e-01 -5.72056603e-02 -3.11569781e-02 1.30162296e+02] [ 5.71982656e-02 9.98362200e-01 -1.12929559e-03 4.60366085e+00] [ 3.11705513e-02 -6.55228005e-04 9.99513866e-01 3.11206714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.19, Y:4.60, Z:3.11 [[ 9.97435189e-01 -6.51320698e-02 -2.96792555e-02 1.30193991e+02] [ 6.51289126e-02 9.97876280e-01 -1.07409569e-03 4.60029320e+00] [ 2.96861832e-02 -8.61636802e-04 9.99558897e-01 3.11284648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.23, Y:4.60, Z:3.11 [[ 9.96944104e-01 -7.21830921e-02 -2.98672807e-02 1.30226231e+02] [ 7.21830868e-02 9.97390814e-01 -1.07978400e-03 4.59722131e+00] [ 2.98672936e-02 -1.07942822e-03 9.99553290e-01 3.11298185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.26, Y:4.60, Z:3.11 [[ 9.96514515e-01 -7.66528599e-02 -3.29114154e-02 1.30258531e+02] [ 7.66553710e-02 9.97056941e-01 -1.18731654e-03 4.59500754e+00] [ 3.29055664e-02 -1.33965859e-03 9.99457567e-01 3.11205759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.29, Y:4.59, Z:3.11 [[ 9.96408519e-01 -7.74757185e-02 -3.41698234e-02 1.30290284e+02] [ 7.74789964e-02 9.96993226e-01 -1.23016472e-03 4.59497495e+00] [ 3.41623904e-02 -1.42169701e-03 9.99415284e-01 3.11162736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.185099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.32, Y:4.59, Z:3.11 [[ 9.96450847e-01 -7.73656207e-02 -3.31703103e-02 1.30321699e+02] [ 7.73687233e-02 9.97001836e-01 -1.19190497e-03 4.59464825e+00] [ 3.31630727e-02 -1.37866984e-03 9.99449003e-01 3.11197947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.35, Y:4.60, Z:3.12 [[ 9.96912845e-01 -7.30618438e-02 -2.87532018e-02 1.30353968e+02] [ 7.30624252e-02 9.97326836e-01 -1.03179422e-03 4.59565554e+00] [ 2.87517246e-02 -1.07216975e-03 9.99586009e-01 3.11504288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.38, Y:4.60, Z:3.12 [[ 9.97018948e-01 -7.16375506e-02 -2.86579638e-02 1.30384931e+02] [ 7.16375998e-02 9.97430199e-01 -1.02630777e-03 4.59658789e+00] [ 2.86578407e-02 -1.02973945e-03 9.99588749e-01 3.11544585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.42, Y:4.60, Z:3.12 [[ 9.97025322e-01 -7.15487659e-02 -2.86580206e-02 1.30417597e+02] [ 7.15488242e-02 9.97436572e-01 -1.02471943e-03 4.59769903e+00] [ 2.86578753e-02 -1.02877646e-03 9.99588749e-01 3.11635313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.45, Y:4.60, Z:3.12 [[ 9.97123702e-01 -7.05867875e-02 -2.76012543e-02 1.30449675e+02] [ 7.05865385e-02 9.97505174e-01 -9.84561061e-04 4.59893914e+00] [ 2.76018910e-02 -9.66547833e-04 9.99618528e-01 3.11709903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.48, Y:4.60, Z:3.12 [[ 9.97130149e-01 -7.04956275e-02 -2.76013262e-02 1.30482342e+02] [ 7.04953995e-02 9.97511621e-01 -9.82541657e-04 4.60004803e+00] [ 2.76019085e-02 -9.66044609e-04 9.99618528e-01 3.11800618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.51, Y:4.60, Z:3.12 [[ 9.97115883e-01 -7.11997005e-02 -2.62777322e-02 1.30513108e+02] [ 7.11997990e-02 9.97461637e-01 -9.33087649e-04 4.60091696e+00] [ 2.62774654e-02 -9.40572738e-04 9.99654245e-01 3.11976923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.55, Y:4.60, Z:3.12 [[ 9.96929624e-01 -7.30393487e-02 -2.82237290e-02 1.30545461e+02] [ 7.30402460e-02 9.97328492e-01 -1.00052493e-03 4.60097002e+00] [ 2.82214067e-02 -1.06401516e-03 9.99601130e-01 3.12064821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.58, Y:4.60, Z:3.12 [[ 9.96704693e-01 -7.47495725e-02 -3.15000875e-02 1.30576400e+02] [ 7.47516227e-02 9.97201561e-01 -1.11419467e-03 4.60100723e+00] [ 3.14952220e-02 -1.24415960e-03 9.99503128e-01 3.11967826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.61, Y:4.60, Z:3.12 [[ 9.96649550e-01 -7.51455154e-02 -3.22928246e-02 1.30608116e+02] [ 7.51479390e-02 9.97171744e-01 -1.14034708e-03 4.60199099e+00] [ 3.22871842e-02 -1.29021280e-03 9.99477800e-01 3.12086061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.64, Y:4.60, Z:3.12 [[ 9.96721145e-01 -7.43575818e-02 -3.19046961e-02 1.30639368e+02] [ 7.43596157e-02 9.97230858e-01 -1.12440405e-03 4.60403822e+00] [ 3.18999554e-02 -1.25170365e-03 9.99490283e-01 3.12170551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.67, Y:4.61, Z:3.12 [[ 9.96813440e-01 -7.34401716e-02 -3.11369156e-02 1.30671655e+02] [ 7.34417153e-02 9.97298909e-01 -1.09561688e-03 4.60587341e+00] [ 3.11332742e-02 -1.19462285e-03 9.99514528e-01 3.12308187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.70, Y:4.61, Z:3.12 [[ 9.97130511e-01 -6.94614276e-02 -3.00974041e-02 1.30703035e+02] [ 6.94611225e-02 9.97584099e-01 -1.05693982e-03 4.60853170e+00] [ 3.00981083e-02 -1.03669253e-03 9.99546412e-01 3.12494259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.73, Y:4.61, Z:3.13 [[ 9.97511480e-01 -6.40744851e-02 -2.94160998e-02 1.30734066e+02] [ 6.40718994e-02 9.97944752e-01 -1.03143917e-03 4.61147544e+00] [ 2.94217313e-02 -8.55872971e-04 9.99566721e-01 3.12590466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.77, Y:4.61, Z:3.13 [[ 9.97723792e-01 -6.08490173e-02 -2.90625663e-02 1.30766213e+02] [ 6.08451718e-02 9.98146698e-01 -1.01746805e-03 4.61356949e+00] [ 2.90706165e-02 -7.53164762e-04 9.99577077e-01 3.12615615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.80, Y:4.62, Z:3.13 [[ 9.98167532e-01 -5.41253626e-02 -2.70559453e-02 1.30796947e+02] [ 5.41196103e-02 9.98534012e-01 -9.45363642e-04 4.61687953e+00] [ 2.70674497e-02 -5.20625919e-04 9.99633474e-01 3.12729407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.83, Y:4.62, Z:3.13 [[ 9.98606268e-01 -4.67538382e-02 -2.44867349e-02 1.30827926e+02] [ 4.67469408e-02 9.98906399e-01 -8.54343151e-04 4.61923821e+00] [ 2.44999000e-02 -2.91527518e-04 9.99699790e-01 3.12819889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.86, Y:4.62, Z:3.13 [[ 9.98912458e-01 -4.00254294e-02 -2.39137383e-02 1.30857738e+02] [ 4.00169449e-02 9.99198654e-01 -8.33429407e-04 4.62152612e+00] [ 2.39279334e-02 -1.24431729e-04 9.99713678e-01 3.12925112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.89, Y:4.62, Z:3.13 [[ 9.99078979e-01 -3.52706501e-02 -2.44371793e-02 1.30888401e+02] [ 3.52603802e-02 9.99377797e-01 -8.51158125e-04 4.62339640e+00] [ 2.44519953e-02 -1.12900436e-05 9.99701005e-01 3.12995842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.92, Y:4.62, Z:3.13 [[ 9.99100646e-01 -3.22810861e-02 -2.74923876e-02 1.30916963e+02] [ 3.22669559e-02 9.99478828e-01 -9.57558961e-04 4.62164650e+00] [ 2.75089703e-02 6.96021193e-05 9.99621554e-01 3.12758420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.94, Y:4.62, Z:3.13 [[ 9.98765516e-01 -3.95893226e-02 -3.00021452e-02 1.30944834e+02] [ 3.95757221e-02 9.99216025e-01 -1.04722726e-03 4.61708338e+00] [ 3.00200833e-02 -1.41422091e-04 9.99549286e-01 3.12642530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.97, Y:4.62, Z:3.13 [[ 9.98755039e-01 -3.98529985e-02 -3.00018499e-02 1.30973209e+02] [ 3.98392647e-02 9.99205544e-01 -1.05562379e-03 4.61815220e+00] [ 3.00200845e-02 -1.40942063e-04 9.99549286e-01 3.12721621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.00, Y:4.62, Z:3.13 [[ 9.98706694e-01 -4.17150181e-02 -2.90653728e-02 1.31000882e+02] [ 4.17026990e-02 9.99129533e-01 -1.03015505e-03 4.61813450e+00] [ 2.90830453e-02 -1.83281751e-04 9.99576982e-01 3.12810976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.03, Y:4.62, Z:3.13 [[ 9.98635610e-01 -4.40419490e-02 -2.80575501e-02 1.31029417e+02] [ 4.40311689e-02 9.99029655e-01 -1.00222152e-03 4.61809667e+00] [ 2.80744644e-02 -2.34552628e-04 9.99605807e-01 3.12895676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.06, Y:4.62, Z:3.13 [[ 9.98625274e-01 -4.42758454e-02 -2.80572958e-02 1.31058637e+02] [ 4.42649590e-02 9.99019317e-01 -1.00929191e-03 4.61918234e+00] [ 2.80744677e-02 -2.34050635e-04 9.99605807e-01 3.12977085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.935099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.09, Y:4.62, Z:3.13 [[ 9.98525805e-01 -4.67040980e-02 -2.76576307e-02 1.31088005e+02] [ 4.66942733e-02 9.98908726e-01 -1.00132267e-03 4.61928179e+00] [ 2.76742145e-02 -2.91606442e-04 9.99616953e-01 3.13086707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.12, Y:4.62, Z:3.13 [[ 9.98524961e-01 -4.67221632e-02 -2.76575944e-02 1.31118133e+02] [ 4.67123177e-02 9.98907881e-01 -1.00232356e-03 4.62040468e+00] [ 2.76742198e-02 -2.91105249e-04 9.99616953e-01 3.13170465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.995099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.15, Y:4.62, Z:3.13 [[ 9.98524116e-01 -4.67402145e-02 -2.76575763e-02 1.31148261e+02] [ 4.67303620e-02 9.98907037e-01 -1.00282336e-03 4.62152788e+00] [ 2.76742198e-02 -2.91105249e-04 9.99616953e-01 3.13254209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.18, Y:4.62, Z:3.13 [[ 9.98404342e-01 -4.91925740e-02 -2.77283481e-02 1.31178019e+02] [ 4.91836025e-02 9.98789248e-01 -1.00589246e-03 4.62174962e+00] [ 2.77442584e-02 -3.59492649e-04 9.99614989e-01 3.13380555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.21, Y:4.62, Z:3.13 [[ 9.98403354e-01 -4.92126310e-02 -2.77283301e-02 1.31208980e+02] [ 4.92036534e-02 9.98788260e-01 -1.00638978e-03 4.62287065e+00] [ 2.77442576e-02 -3.59552207e-04 9.99614989e-01 3.13466608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.24, Y:4.62, Z:3.14 [[ 9.97934487e-01 -5.81972894e-02 -2.71998940e-02 1.31239845e+02] [ 5.81919698e-02 9.98304923e-01 -9.87757649e-04 4.62194438e+00] [ 2.72112729e-02 -5.97097987e-04 9.99629526e-01 3.13561961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.27, Y:4.62, Z:3.14 [[ 9.96298756e-01 -8.17871958e-02 -2.64507661e-02 1.31271180e+02] [ 8.17904449e-02 9.96649086e-01 -9.60856788e-04 4.61624735e+00] [ 2.64407177e-02 -1.20611951e-03 9.99649655e-01 3.13650579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.30, Y:4.62, Z:3.14 [[ 9.95600511e-01 -8.95548732e-02 -2.75598980e-02 1.31302861e+02] [ 8.95615540e-02 9.95980793e-01 -9.94369683e-04 4.61699562e+00] [ 2.75381797e-02 -1.47831233e-03 9.99619659e-01 3.13748927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.34, Y:4.62, Z:3.14 [[ 9.95260461e-01 -9.30549971e-02 -2.82379678e-02 1.31335946e+02] [ 9.30634730e-02 9.95659659e-01 -1.01677285e-03 4.61815411e+00] [ 2.82100212e-02 -1.61596954e-03 9.99600712e-01 3.13814174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.37, Y:4.62, Z:3.14 [[ 9.94954818e-01 -9.60992764e-02 -2.88069157e-02 1.31368492e+02] [ 9.61094596e-02 9.95370234e-01 -1.03410100e-03 4.61911319e+00] [ 2.87729228e-02 -1.73973333e-03 9.99584460e-01 3.13872075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.40, Y:4.62, Z:3.14 [[ 9.94754595e-01 -9.81242097e-02 -2.88952448e-02 1.31400222e+02] [ 9.81353955e-02 9.95172535e-01 -1.03417924e-03 4.62010294e+00] [ 2.88572321e-02 -1.80689173e-03 9.99581910e-01 3.13906069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.43, Y:4.62, Z:3.14 [[ 9.94769621e-01 -9.79717365e-02 -2.88953392e-02 1.31433743e+02] [ 9.79829348e-02 9.95187560e-01 -1.03153588e-03 4.62121120e+00] [ 2.88573435e-02 -1.80510958e-03 9.99581910e-01 3.13999143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.47, Y:4.62, Z:3.14 [[ 9.94633156e-01 -9.93252992e-02 -2.89718656e-02 1.31465560e+02] [ 9.93372584e-02 9.95053289e-01 -1.02978433e-03 4.62243700e+00] [ 2.89308338e-02 -1.85372806e-03 9.99579697e-01 3.14064954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.50, Y:4.62, Z:3.14 [[ 9.94584434e-01 -9.98542121e-02 -2.88260461e-02 1.31498638e+02] [ 9.98664146e-02 9.95000331e-01 -1.01965983e-03 4.62422052e+00] [ 2.87837428e-02 -1.86461607e-03 9.99583923e-01 3.14133321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.53, Y:4.63, Z:3.14 [[ 9.94593157e-01 -9.97672585e-02 -2.88261525e-02 1.31531303e+02] [ 9.97795117e-02 9.95009053e-01 -1.01664281e-03 4.62531116e+00] [ 2.87837104e-02 -1.86511344e-03 9.99583923e-01 3.14224006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.56, Y:4.63, Z:3.14 [[ 9.94614539e-01 -9.94796657e-02 -2.90811677e-02 1.31563888e+02] [ 9.94920899e-02 9.95037827e-01 -1.02304113e-03 4.62772274e+00] [ 2.90386337e-02 -1.87581457e-03 9.99576530e-01 3.14329068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.60, Y:4.63, Z:3.14 [[ 9.94703619e-01 -9.85832529e-02 -2.90869775e-02 1.31596806e+02] [ 9.85953933e-02 9.95127081e-01 -1.02004960e-03 4.63068859e+00] [ 2.90457988e-02 -1.85319496e-03 9.99576364e-01 3.14433543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.63, Y:4.64, Z:3.15 [[ 9.95042483e-01 -9.51891246e-02 -2.88008419e-02 1.31629052e+02] [ 9.51996996e-02 9.95457685e-01 -1.00692065e-03 4.63588565e+00] [ 2.87658673e-02 -1.73990267e-03 9.99584663e-01 3.14516711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.66, Y:4.64, Z:3.15 [[ 9.95050913e-01 -9.51009304e-02 -2.88009325e-02 1.31661718e+02] [ 9.51115435e-02 9.95466115e-01 -1.00432378e-03 4.63696545e+00] [ 2.87658645e-02 -1.73994785e-03 9.99584663e-01 3.14607409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.69, Y:4.64, Z:3.15 [[ 9.95251596e-01 -9.28698409e-02 -2.91453744e-02 1.31694218e+02] [ 9.28798335e-02 9.95676809e-01 -1.01368841e-03 4.64000099e+00] [ 2.91135145e-02 -1.69814251e-03 9.99574669e-01 3.14690663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.73, Y:4.65, Z:3.15 [[ 9.95955522e-01 -8.49080578e-02 -2.93805882e-02 1.31726467e+02] [ 8.49148527e-02 9.96387691e-01 -1.01860282e-03 4.64742992e+00] [ 2.93609440e-02 -1.48036521e-03 9.99567778e-01 3.14796568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.76, Y:4.66, Z:3.15 [[ 9.96722534e-01 -7.49171916e-02 -3.05222045e-02 1.31758094e+02] [ 7.49199357e-02 9.97188994e-01 -1.05532193e-03 4.65725229e+00] [ 3.05154682e-02 -1.23485845e-03 9.99533532e-01 3.14883956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.79, Y:4.67, Z:3.15 [[ 9.97524815e-01 -6.34778342e-02 -3.02457835e-02 1.31789989e+02] [ 6.34753392e-02 9.97982862e-01 -1.04360251e-03 4.66738626e+00] [ 3.02510192e-02 -8.78841973e-04 9.99541947e-01 3.14978488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.82, Y:4.67, Z:3.15 [[ 9.97937892e-01 -5.66184747e-02 -3.02376048e-02 1.31821252e+02] [ 5.66128987e-02 9.98395661e-01 -1.04117482e-03 4.67328652e+00] [ 3.02480432e-02 -6.72810655e-04 9.99542197e-01 3.15002405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.85, Y:4.68, Z:3.15 [[ 9.98115608e-01 -5.33579295e-02 -3.03012279e-02 1.31851607e+02] [ 5.33508752e-02 9.98575284e-01 -1.04182025e-03 4.67661983e+00] [ 3.03136466e-02 -5.76739975e-04 9.99540269e-01 3.15063446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.685099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.88, Y:4.68, Z:3.15 [[ 9.98260364e-01 -5.05833436e-02 -3.02914348e-02 1.31883140e+02] [ 5.05750346e-02 9.98719722e-01 -1.04090116e-03 4.68001575e+00] [ 3.03053056e-02 -4.92899996e-04 9.99540567e-01 3.15126627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.91, Y:4.68, Z:3.15 [[ 9.98386030e-01 -4.82516091e-02 -2.99519073e-02 1.31913859e+02] [ 4.82424660e-02 9.98835125e-01 -1.02824247e-03 4.68354457e+00] [ 2.99666314e-02 -4.18370954e-04 9.99550812e-01 3.15209170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.745099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.94, Y:4.69, Z:3.15 [[ 9.98585784e-01 -4.35443778e-02 -3.05011307e-02 1.31942827e+02] [ 4.35327012e-02 9.99051454e-01 -1.04708634e-03 4.68921460e+00] [ 3.05177936e-02 -2.82191071e-04 9.99534184e-01 3.15303102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.97, Y:4.69, Z:3.15 [[ 9.98662859e-01 -4.15492525e-02 -3.07596085e-02 1.31972166e+02] [ 4.15364311e-02 9.99136432e-01 -1.05595624e-03 4.69241974e+00] [ 3.07769197e-02 -2.23100080e-04 9.99526254e-01 3.15350200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.00, Y:4.70, Z:3.15 [[ 9.98732648e-01 -3.94503699e-02 -3.12532656e-02 1.32001468e+02] [ 3.94360711e-02 9.99221518e-01 -1.07402714e-03 4.69502861e+00] [ 3.12713063e-02 -1.59840036e-04 9.99510920e-01 3.15427966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.03, Y:4.70, Z:3.16 [[ 9.98721846e-01 -3.97229486e-02 -3.12531979e-02 1.32029831e+02] [ 3.97087216e-02 9.99210718e-01 -1.07599252e-03 4.69605976e+00] [ 3.12712719e-02 -1.66407294e-04 9.99510920e-01 3.15506821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.06, Y:4.70, Z:3.16 [[ 9.98776331e-01 -3.79081468e-02 -3.17618021e-02 1.32057210e+02] [ 3.78922790e-02 9.99281223e-01 -1.10157112e-03 4.69878104e+00] [ 3.17807310e-02 -1.03303910e-04 9.99494860e-01 3.15599924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.08, Y:4.70, Z:3.16 [[ 9.98818305e-01 -3.64088136e-02 -3.21930557e-02 1.32084699e+02] [ 3.63916107e-02 9.99336978e-01 -1.12033121e-03 4.70158958e+00] [ 3.22125009e-02 -5.25498303e-05 9.99481041e-01 3.15626982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.11, Y:4.70, Z:3.16 [[ 9.98853294e-01 -3.53161309e-02 -3.23244210e-02 1.32111825e+02] [ 3.52979293e-02 9.99376191e-01 -1.13373873e-03 4.70415457e+00] [ 3.23442960e-02 -8.54646506e-06 9.99476786e-01 3.15696259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.14, Y:4.71, Z:3.16 [[ 9.98878530e-01 -3.48487790e-02 -3.20506752e-02 1.32139195e+02] [ 3.48304314e-02 9.99392597e-01 -1.13076163e-03 4.70683256e+00] [ 3.20706132e-02 1.31546668e-05 9.99485605e-01 3.15747963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.17, Y:4.71, Z:3.16 [[ 9.98860236e-01 -3.65904073e-02 -3.06491663e-02 1.32166092e+02] [ 3.65358812e-02 9.99329608e-01 -2.33736977e-03 4.71334645e+00] [ 3.07141447e-02 1.21491142e-03 9.99527471e-01 3.15794918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.20, Y:4.71, Z:3.16 [[ 9.98816250e-01 -3.79750060e-02 -3.03973142e-02 1.32196427e+02] [ 3.79889233e-02 9.99278153e-01 -1.19746109e-04 4.71239967e+00] [ 3.03799193e-02 -1.03515688e-03 9.99537888e-01 3.15835360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.22, Y:4.71, Z:3.16 [[ 9.98726397e-01 -4.01887880e-02 -3.05032027e-02 1.32223712e+02] [ 4.01740342e-02 9.99192096e-01 -1.09663615e-03 4.71431206e+00] [ 3.05226315e-02 -1.30197232e-04 9.99534067e-01 3.15898889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.25, Y:4.72, Z:3.16 [[ 9.98456432e-01 -4.57638586e-02 -3.14709681e-02 1.32253125e+02] [ 4.57508364e-02 9.98952238e-01 -1.13412560e-03 4.71598975e+00] [ 3.14898960e-02 -3.07448111e-04 9.99504023e-01 3.15952995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.28, Y:4.72, Z:3.16 [[ 9.98455600e-01 -4.57820501e-02 -3.14709292e-02 1.32283251e+02] [ 4.57690030e-02 9.98951405e-01 -1.13520335e-03 4.71710727e+00] [ 3.14899009e-02 -3.06942914e-04 9.99504023e-01 3.16036754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.31, Y:4.72, Z:3.16 [[ 9.98188730e-01 -5.18602172e-02 -3.04922452e-02 1.32312268e+02] [ 5.18507865e-02 9.98654237e-01 -1.10044024e-03 4.71873853e+00] [ 3.05082789e-02 -4.82599853e-04 9.99534398e-01 3.16129058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.34, Y:4.72, Z:3.16 [[ 9.98056191e-01 -5.45013339e-02 -3.02232291e-02 1.32343222e+02] [ 5.44932729e-02 9.98513542e-01 -1.09093358e-03 4.71947858e+00] [ 3.02377608e-02 -5.58149659e-04 9.99542579e-01 3.16225203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.38, Y:4.72, Z:3.16 [[ 9.97757582e-01 -5.98695908e-02 -2.99238889e-02 1.32375550e+02] [ 5.98642031e-02 9.98205950e-01 -1.07670256e-03 4.71928853e+00] [ 2.99346657e-02 -7.17081618e-04 9.99551600e-01 3.16291618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.41, Y:4.72, Z:3.16 [[ 9.97644764e-01 -6.17486307e-02 -2.98668795e-02 1.32408121e+02] [ 6.17441687e-02 9.98091432e-01 -1.07251146e-03 4.71942200e+00] [ 2.98761027e-02 -7.74120203e-04 9.99553310e-01 3.16364218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.44, Y:4.72, Z:3.16 [[ 9.97541268e-01 -6.33388459e-02 -2.99934900e-02 1.32440741e+02] [ 6.33351293e-02 9.97991736e-01 -1.07488751e-03 4.72019075e+00] [ 3.00013373e-02 -8.27396915e-04 9.99549516e-01 3.16461339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.47, Y:4.72, Z:3.17 [[ 9.97472584e-01 -6.43563699e-02 -3.01114847e-02 1.32472359e+02] [ 6.43531522e-02 9.97926607e-01 -1.07695758e-03 4.72156305e+00] [ 3.01183608e-02 -8.63533293e-04 9.99545966e-01 3.16578117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.50, Y:4.72, Z:3.17 [[ 9.97501573e-01 -6.38129320e-02 -3.03071364e-02 1.32504594e+02] [ 6.38094734e-02 9.97961512e-01 -1.08225499e-03 4.72290786e+00] [ 3.03144176e-02 -8.54331364e-04 9.99540047e-01 3.16648886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.54, Y:4.72, Z:3.17 [[ 9.97557485e-01 -6.29219670e-02 -3.03296966e-02 1.32536402e+02] [ 6.29181576e-02 9.98018105e-01 -1.08089394e-03 4.72415973e+00] [ 3.03375983e-02 -8.30034788e-04 9.99539364e-01 3.16719691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.57, Y:4.73, Z:3.17 [[ 9.97754893e-01 -5.98049226e-02 -3.01420633e-02 1.32567859e+02] [ 5.97998068e-02 9.98209815e-01 -1.07195307e-03 4.72561564e+00] [ 3.01522115e-02 -7.32943142e-04 9.99545050e-01 3.16804883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.60, Y:4.73, Z:3.17 [[ 9.97853340e-01 -5.82309741e-02 -2.99643913e-02 1.32599869e+02] [ 5.82253127e-02 9.98302902e-01 -1.06218271e-03 4.72700486e+00] [ 2.99753907e-02 -6.84783483e-04 9.99550402e-01 3.16866735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.435099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.63, Y:4.73, Z:3.17 [[ 9.98083169e-01 -5.39166187e-02 -3.03806707e-02 1.32632262e+02] [ 5.39088672e-02 9.98545281e-01 -1.07476678e-03 4.73004239e+00] [ 3.03944231e-02 -5.65080905e-04 9.99537823e-01 3.16931530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.66, Y:4.73, Z:3.17 [[ 9.98201321e-01 -5.14928292e-02 -3.07019855e-02 1.32664098e+02] [ 5.14838354e-02 9.98673240e-01 -1.08390508e-03 4.73241682e+00] [ 3.07170647e-02 -4.98700482e-04 9.99527995e-01 3.17038792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.495099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.69, Y:4.74, Z:3.17 [[ 9.98369483e-01 -4.71963278e-02 -3.21073458e-02 1.32694543e+02] [ 4.71843408e-02 9.98885558e-01 -1.13134008e-03 4.73595774e+00] [ 3.21249591e-02 -3.85468537e-04 9.99483786e-01 3.17089112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.72, Y:4.74, Z:3.17 [[ 9.98476292e-01 -4.39213145e-02 -3.34067813e-02 1.32724934e+02] [ 4.39065223e-02 9.99034951e-01 -1.17661038e-03 4.73923849e+00] [ 3.34262204e-02 -2.91958013e-04 9.99441145e-01 3.17131791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.76, Y:4.74, Z:3.17 [[ 9.98475884e-01 -4.38968637e-02 -3.34510620e-02 1.32755027e+02] [ 4.38820117e-02 9.99036026e-01 -1.17837259e-03 4.74066332e+00] [ 3.34705429e-02 -2.91323282e-04 9.99439662e-01 3.17203018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.78, Y:4.74, Z:3.17 [[ 9.98394017e-01 -4.45123566e-02 -3.50433469e-02 1.32783509e+02] [ 4.44963861e-02 9.99008781e-01 -1.23588058e-03 4.74239405e+00] [ 3.50636233e-02 -3.25406518e-04 9.99385029e-01 3.17172136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.81, Y:4.74, Z:3.17 [[ 9.98281100e-01 -4.64473759e-02 -3.57419473e-02 1.32811709e+02] [ 4.64318776e-02 9.98920659e-01 -1.26399129e-03 4.74445893e+00] [ 3.57620787e-02 -3.97747104e-04 9.99360253e-01 3.17222930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.84, Y:4.75, Z:3.17 [[ 9.98222516e-01 -4.79367206e-02 -3.54101462e-02 1.32840103e+02] [ 4.79221370e-02 9.98850278e-01 -1.26095460e-03 4.74592028e+00] [ 3.54298804e-02 -4.38216603e-04 9.99372069e-01 3.17267820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.87, Y:4.75, Z:3.17 [[ 9.98173891e-01 -4.91455239e-02 -3.51226577e-02 1.32869558e+02] [ 4.91316754e-02 9.98791518e-01 -1.25778838e-03 4.74732252e+00] [ 3.51420273e-02 -4.70143501e-04 9.99382218e-01 3.17370932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.90, Y:4.75, Z:3.17 [[ 9.98113444e-01 -5.04231006e-02 -3.50294669e-02 1.32899030e+02] [ 5.04100727e-02 9.98727815e-01 -1.25556664e-03 4.74850235e+00] [ 3.50482125e-02 -5.12640029e-04 9.99385491e-01 3.17440016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.93, Y:4.75, Z:3.17 [[ 9.98032676e-01 -5.19239806e-02 -3.51379728e-02 1.32929723e+02] [ 5.19117842e-02 9.98650880e-01 -1.25994840e-03 4.74989965e+00] [ 3.51559890e-02 -5.66605193e-04 9.99381677e-01 3.17487806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.96, Y:4.75, Z:3.18 [[ 9.97856104e-01 -5.52243234e-02 -3.51207797e-02 1.32960625e+02] [ 5.52141908e-02 9.98473739e-01 -1.25906331e-03 4.75216792e+00] [ 3.51367072e-02 -6.82801420e-04 9.99382282e-01 3.17541360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.99, Y:4.76, Z:3.18 [[ 9.97691698e-01 -5.85783936e-02 -3.43488975e-02 1.32991012e+02] [ 5.85707349e-02 9.98282503e-01 -1.23000697e-03 4.75535660e+00] [ 3.43619552e-02 -7.84672422e-04 9.99409146e-01 3.17721945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.02, Y:4.76, Z:3.18 [[ 9.97594453e-01 -6.04085879e-02 -3.40016129e-02 1.33023103e+02] [ 6.04022165e-02 9.98173379e-01 -1.21547827e-03 4.75743945e+00] [ 3.40129302e-02 -8.41218399e-04 9.99421039e-01 3.17838476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.05, Y:4.76, Z:3.18 [[ 9.97510203e-01 -6.19274860e-02 -3.37399145e-02 1.33054782e+02] [ 6.19221604e-02 9.98080256e-01 -1.20374692e-03 4.75955253e+00] [ 3.37496875e-02 -8.88498555e-04 9.99429922e-01 3.17958280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.09, Y:4.76, Z:3.18 [[ 9.97283237e-01 -6.51309334e-02 -3.44108482e-02 1.33087023e+02] [ 6.51273854e-02 9.97876206e-01 -1.22516417e-03 4.76238274e+00] [ 3.44175628e-02 -1.01925289e-03 9.99407020e-01 3.17994784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.12, Y:4.77, Z:3.18 [[ 9.97088436e-01 -6.82470580e-02 -3.40145624e-02 1.33118827e+02] [ 6.82454839e-02 9.97667827e-01 -1.20863922e-03 4.76516162e+00] [ 3.40177207e-02 -1.11622008e-03 9.99420607e-01 3.18055168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.15, Y:4.77, Z:3.18 [[ 9.96990830e-01 -7.02968038e-02 -3.26748167e-02 1.33149923e+02] [ 7.02965209e-02 9.97525466e-01 -1.15885116e-03 4.76801168e+00] [ 3.26754253e-02 -1.14156196e-03 9.99465364e-01 3.18184257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.18, Y:4.77, Z:3.18 [[ 9.97033936e-01 -6.95361971e-02 -3.29855658e-02 1.33182864e+02] [ 6.95355615e-02 9.97578790e-01 -1.16780544e-03 4.76970911e+00] [ 3.29869056e-02 -1.12932819e-03 9.99455146e-01 3.18267770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.22, Y:4.77, Z:3.18 [[ 9.97094403e-01 -6.84539355e-02 -3.34186970e-02 1.33215124e+02] [ 6.84527911e-02 9.97653659e-01 -1.17971045e-03 4.77143403e+00] [ 3.34210412e-02 -1.11132040e-03 9.99440743e-01 3.18368297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.25, Y:4.77, Z:3.18 [[ 9.97180832e-01 -6.71700067e-02 -3.34451566e-02 1.33246867e+02] [ 6.71682196e-02 9.97740969e-01 -1.17824335e-03 4.77321297e+00] [ 3.34487456e-02 -1.07152994e-03 9.99439860e-01 3.18450610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.28, Y:4.77, Z:3.19 [[ 9.97260537e-01 -6.61893428e-02 -3.30210835e-02 1.33279010e+02] [ 6.61871415e-02 9.97806552e-01 -1.16094367e-03 4.77477100e+00] [ 3.30254956e-02 -1.02780782e-03 9.99453981e-01 3.18514311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.31, Y:4.78, Z:3.19 [[ 9.97342702e-01 -6.47478607e-02 -3.33953568e-02 1.33310498e+02] [ 6.47448801e-02 9.97901161e-01 -1.17177245e-03 4.77642466e+00] [ 3.34011351e-02 -9.93519667e-04 9.99441533e-01 3.18624517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.34, Y:4.78, Z:3.19 [[ 9.97336841e-01 -6.45943261e-02 -3.38644046e-02 1.33341900e+02] [ 6.45912353e-02 9.97911101e-01 -1.18639242e-03 4.77759588e+00] [ 3.38702995e-02 -1.00411086e-03 9.99425732e-01 3.18723332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.37, Y:4.78, Z:3.19 [[ 9.97293232e-01 -6.49120801e-02 -3.45345033e-02 1.33373811e+02] [ 6.49091250e-02 9.97890448e-01 -1.20788100e-03 4.77833509e+00] [ 3.45400570e-02 -1.03699284e-03 9.99402776e-01 3.18811720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.185099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.41, Y:4.78, Z:3.19 [[ 9.97208942e-01 -6.53011574e-02 -3.61950908e-02 1.33405971e+02] [ 6.52982651e-02 9.97864991e-01 -1.26329289e-03 4.77879512e+00] [ 3.62003085e-02 -1.10370967e-03 9.99343945e-01 3.18848274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.44, Y:4.78, Z:3.19 [[ 9.97098408e-01 -6.61477815e-02 -3.76727516e-02 1.33435165e+02] [ 6.62097179e-02 9.97805650e-01 3.97479747e-04 4.78091720e+00] [ 3.75637920e-02 -2.89062868e-03 9.99290051e-01 3.18891074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.47, Y:4.78, Z:3.19 [[ 9.97315526e-01 -6.34718565e-02 -3.65111582e-02 1.33468225e+02] [ 6.33914537e-02 9.97983094e-01 -3.35674680e-03 4.78241194e+00] [ 3.66505776e-02 1.03324030e-03 9.99327608e-01 3.19133949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.50, Y:4.78, Z:3.19 [[ 9.97439131e-01 -6.17128123e-02 -3.61484348e-02 1.33499597e+02] [ 6.17078632e-02 9.98093467e-01 -1.25364564e-03 4.78306228e+00] [ 3.61568826e-02 -9.80207450e-04 9.99345645e-01 3.19240993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.53, Y:4.79, Z:3.19 [[ 9.97791009e-01 -5.70008063e-02 -3.41175961e-02 1.33530788e+02] [ 5.69937021e-02 9.98373839e-01 -1.18150899e-03 4.78515801e+00] [ 3.41294624e-02 -7.65589058e-04 9.99417127e-01 3.19444467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.56, Y:4.79, Z:3.20 [[ 9.97977516e-01 -5.42086307e-02 -3.32009450e-02 1.33562781e+02] [ 5.42004175e-02 9.98529417e-01 -1.14799194e-03 4.78671104e+00] [ 3.32143514e-02 -6.53834936e-04 9.99448037e-01 3.19556359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.59, Y:4.79, Z:3.20 [[ 9.97979485e-01 -5.41723119e-02 -3.32010174e-02 1.33594599e+02] [ 5.41641483e-02 9.98531388e-01 -1.14589639e-03 4.78777794e+00] [ 3.32143338e-02 -6.54723734e-04 9.99448037e-01 3.19644691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.63, Y:4.79, Z:3.20 [[ 9.98131645e-01 -5.16955727e-02 -3.25697349e-02 1.33626062e+02] [ 5.16864361e-02 9.98662732e-01 -1.12295449e-03 4.78907591e+00] [ 3.25842322e-02 -5.62557106e-04 9.99468835e-01 3.19719025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.66, Y:4.79, Z:3.20 [[ 9.98419379e-01 -4.58507335e-02 -3.25031217e-02 1.33656905e+02] [ 4.58385736e-02 9.98948233e-01 -1.11955517e-03 4.79091826e+00] [ 3.25202684e-02 -3.72111158e-04 9.99471007e-01 3.19771413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.68, Y:4.79, Z:3.20 [[ 9.98450488e-01 -4.20955906e-02 -3.63948512e-02 1.33684222e+02] [ 4.26632669e-02 9.98977439e-01 1.49640501e-02 4.78870255e+00] [ 3.57277147e-02 -1.64935863e-02 9.99225446e-01 3.19716702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.72, Y:4.80, Z:3.21 [[ 9.98837798e-01 -3.73265018e-02 -3.04923741e-02 1.33716811e+02] [ 3.67965016e-02 9.99164922e-01 -1.77616434e-02 4.80201707e+00] [ 3.11298906e-02 1.66189881e-02 9.99377176e-01 3.20537216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.75, Y:4.79, Z:3.20 [[ 9.98996943e-01 -3.15092404e-02 -3.18162704e-02 1.33745737e+02] [ 3.14902901e-02 9.99503456e-01 -1.09664577e-03 4.79458531e+00] [ 3.18350267e-02 9.36421860e-05 9.99493133e-01 3.19968878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.77, Y:4.79, Z:3.20 [[ 9.99046457e-01 -2.97978803e-02 -3.19102202e-02 1.33773410e+02] [ 2.97776905e-02 9.99555932e-01 -1.10785238e-03 4.79496967e+00] [ 3.19290615e-02 1.56583337e-04 9.99490125e-01 3.20011731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.80, Y:4.79, Z:3.20 [[ 9.98869157e-01 -3.04309280e-02 -3.65289753e-02 1.33798942e+02] [ 3.09558579e-02 9.99424214e-01 1.38915863e-02 4.79194224e+00] [ 3.60852086e-02 -1.50066629e-02 9.99236037e-01 3.19991095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.83, Y:4.80, Z:3.21 [[ 9.99155039e-01 -2.69050064e-02 -3.10697386e-02 1.33831477e+02] [ 2.63950962e-02 9.99511968e-01 -1.67070132e-02 4.80218527e+00] [ 3.15040778e-02 1.58728077e-02 9.99377580e-01 3.20779629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.86, Y:4.79, Z:3.20 [[ 9.99135248e-01 -2.66585151e-02 -3.19073676e-02 1.33859643e+02] [ 2.66361214e-02 9.99644561e-01 -1.12675606e-03 4.79334607e+00] [ 3.19260641e-02 2.75893179e-04 9.99490195e-01 3.20261261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.88, Y:4.79, Z:3.20 [[ 9.98889372e-01 -2.93314826e-02 -3.68739177e-02 1.33884503e+02] [ 2.99110414e-02 9.99435995e-01 1.52650408e-02 4.78910711e+00] [ 3.64053744e-02 -1.63510243e-02 9.99203329e-01 3.20252670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.92, Y:4.80, Z:3.21 [[ 9.99062546e-01 -2.99255685e-02 -3.12808201e-02 1.33916648e+02] [ 2.93682025e-02 9.99404258e-01 -1.81283423e-02 4.79882218e+00] [ 3.18046858e-02 1.71926864e-02 9.99346223e-01 3.21012077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.95, Y:4.79, Z:3.20 [[ 9.98933689e-01 -3.35521547e-02 -3.17133609e-02 1.33945394e+02] [ 3.35328360e-02 9.99436965e-01 -1.14097287e-03 4.78768066e+00] [ 3.17337873e-02 7.63173084e-05 9.99496354e-01 3.20438515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.97, Y:4.78, Z:3.21 [[ 9.98609187e-01 -4.28539246e-02 -3.07120972e-02 1.33973917e+02] [ 4.28399482e-02 9.99081328e-01 -1.11324599e-03 4.78227008e+00] [ 3.07315899e-02 -2.04006982e-04 9.99527652e-01 3.20566494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.00, Y:4.78, Z:3.21 [[ 9.98441583e-01 -4.64687800e-02 -3.09040016e-02 1.34003969e+02] [ 4.64561132e-02 9.98919695e-01 -1.12815119e-03 4.78125705e+00] [ 3.09230396e-02 -3.09286739e-04 9.99521721e-01 3.20656196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.03, Y:4.78, Z:3.21 [[ 9.98442423e-01 -4.64507581e-02 -3.09039671e-02 1.34034943e+02] [ 4.64380534e-02 9.98920534e-01 -1.12909517e-03 4.78239208e+00] [ 3.09230546e-02 -3.07783557e-04 9.99521721e-01 3.20742239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.07, Y:4.78, Z:3.21 [[ 9.98256621e-01 -5.00256287e-02 -3.13233876e-02 1.34065366e+02] [ 5.00143536e-02 9.98747844e-01 -1.14384544e-03 4.78103451e+00] [ 3.13413874e-02 -4.24767695e-04 9.99508648e-01 3.20831195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.10, Y:4.78, Z:3.21 [[ 9.98059270e-01 -5.36547928e-02 -3.16046844e-02 1.34097130e+02] [ 5.36451530e-02 9.98559396e-01 -1.15347599e-03 4.77956318e+00] [ 3.16210440e-02 -5.44200721e-04 9.99499782e-01 3.20901900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.13, Y:4.78, Z:3.21 [[ 9.97861688e-01 -5.72509521e-02 -3.15338037e-02 1.34127922e+02] [ 5.72431873e-02 9.98359602e-01 -1.14969552e-03 4.77790289e+00] [ 3.15478969e-02 -6.57858319e-04 9.99502025e-01 3.20973978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.935099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.16, Y:4.77, Z:3.21 [[ 9.97445051e-01 -6.40216920e-02 -3.16953157e-02 1.34160685e+02] [ 6.40173181e-02 9.97948121e-01 -1.15380273e-03 4.77347830e+00] [ 3.17041492e-02 -8.78194286e-04 9.99496911e-01 3.21056763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.19, Y:4.77, Z:3.21 [[ 9.97261216e-01 -6.68320688e-02 -3.16787328e-02 1.34191551e+02] [ 6.68291865e-02 9.97763767e-01 -1.15096149e-03 4.77177335e+00] [ 3.16848130e-02 -9.69254693e-04 9.99497440e-01 3.21150975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.995099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.22, Y:4.77, Z:3.21 [[ 9.97104043e-01 -6.89655629e-02 -3.20511948e-02 1.34223526e+02] [ 6.89637721e-02 9.97618487e-01 -1.16265643e-03 4.77047360e+00] [ 3.20550477e-02 -1.05108187e-03 9.99485552e-01 3.21233672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.26, Y:4.77, Z:3.21 [[ 9.96897351e-01 -7.16644518e-02 -3.25557803e-02 1.34255179e+02] [ 7.16641155e-02 9.97428125e-01 -1.17868193e-03 4.76729340e+00] [ 3.25565206e-02 -1.15805631e-03 9.99469225e-01 3.21295254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.29, Y:4.77, Z:3.21 [[ 9.96842415e-01 -7.26670448e-02 -3.20109374e-02 1.34286268e+02] [ 7.26672894e-02 9.97355566e-01 -1.15727194e-03 4.76516302e+00] [ 3.20103822e-02 -1.17253030e-03 9.99486849e-01 3.21365146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.32, Y:4.76, Z:3.21 [[ 9.96873200e-01 -7.25199485e-02 -3.13796258e-02 1.34318013e+02] [ 7.25201635e-02 9.97366303e-01 -1.13275750e-03 4.76496263e+00] [ 3.13791289e-02 -1.14643999e-03 9.99506896e-01 3.21460177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.35, Y:4.76, Z:3.22 [[ 9.96969571e-01 -7.12433698e-02 -3.12419104e-02 1.34350744e+02] [ 7.12430274e-02 9.97458352e-01 -1.12553102e-03 4.76419472e+00] [ 3.12426911e-02 -1.10364811e-03 9.99511219e-01 3.21514860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.38, Y:4.76, Z:3.22 [[ 9.97056048e-01 -6.98053327e-02 -3.17246278e-02 1.34381569e+02] [ 6.98043326e-02 9.97560051e-01 -1.14041458e-03 4.76429100e+00] [ 3.17268283e-02 -1.07745921e-03 9.99495997e-01 3.21617234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.41, Y:4.76, Z:3.22 [[ 9.97064038e-01 -6.93326649e-02 -3.25005641e-02 1.34413452e+02] [ 6.93314810e-02 9.97592998e-01 -1.16473891e-03 4.76488985e+00] [ 3.25030896e-02 -1.09199296e-03 9.99471038e-01 3.21657069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.44, Y:4.77, Z:3.22 [[ 9.97084372e-01 -6.97941697e-02 -3.08468557e-02 1.34443199e+02] [ 6.95255165e-02 9.97533023e-01 -9.69898306e-03 4.77058064e+00] [ 3.14476897e-02 7.52606086e-03 9.99477064e-01 3.21748492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.48, Y:4.76, Z:3.22 [[ 9.96952135e-01 -7.04671177e-02 -3.34787252e-02 1.34475490e+02] [ 7.07469956e-02 9.97467954e-01 7.24868272e-03 4.76161636e+00] [ 3.28831618e-02 -9.59510894e-03 9.99413144e-01 3.21513409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.51, Y:4.77, Z:3.22 [[ 9.96754826e-01 -7.26543024e-02 -3.46579018e-02 1.34506724e+02] [ 7.26551883e-02 9.97356354e-01 -1.23552309e-03 4.76618484e+00] [ 3.46560447e-02 -1.28656278e-03 9.99398471e-01 3.21810899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.54, Y:4.77, Z:3.22 [[ 9.96660106e-01 -7.38056875e-02 -3.49478582e-02 1.34538815e+02] [ 7.38073653e-02 9.97271741e-01 -1.24385242e-03 4.76744799e+00] [ 3.49443147e-02 -1.33971125e-03 9.99388363e-01 3.21907786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.57, Y:4.77, Z:3.22 [[ 9.96576756e-01 -7.48648296e-02 -3.50717402e-02 1.34570272e+02] [ 7.48672599e-02 9.97192730e-01 -1.24581191e-03 4.76885774e+00] [ 3.50665518e-02 -1.38417789e-03 9.99384021e-01 3.22004486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.60, Y:4.77, Z:3.22 [[ 9.96495858e-01 -7.57817359e-02 -3.53996260e-02 1.34601920e+02] [ 7.57848639e-02 9.97123402e-01 -1.25536033e-03 4.77042499e+00] [ 3.53929289e-02 -1.43179447e-03 9.99372448e-01 3.22098888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.63, Y:4.77, Z:3.22 [[ 9.96380024e-01 -7.68458898e-02 -3.63532238e-02 1.34633302e+02] [ 7.68499896e-02 9.97041837e-01 -1.28661499e-03 4.77201243e+00] [ 3.63445561e-02 -1.51178739e-03 9.99338175e-01 3.22219542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.66, Y:4.77, Z:3.22 [[ 9.96371279e-01 -7.68331672e-02 -3.66188264e-02 1.34664964e+02] [ 7.68373979e-02 9.97042798e-01 -1.29385515e-03 4.77368485e+00] [ 3.66099481e-02 -1.52453523e-03 9.99328468e-01 3.22332455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.70, Y:4.78, Z:3.22 [[ 9.96422808e-01 -7.60758461e-02 -3.67974576e-02 1.34697007e+02] [ 7.60796996e-02 9.97100895e-01 -1.29754414e-03 4.77545487e+00] [ 3.67894897e-02 -1.50663695e-03 9.99321902e-01 3.22457783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.73, Y:4.78, Z:3.23 [[ 9.96679774e-01 -7.30305629e-02 -3.59995048e-02 1.34729108e+02] [ 7.30323573e-02 9.97328767e-01 -1.26690139e-03 4.77858867e+00] [ 3.59958642e-02 -1.36643370e-03 9.99351005e-01 3.22559097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.76, Y:4.78, Z:3.23 [[ 9.96881146e-01 -7.03834043e-02 -3.56953504e-02 1.34760906e+02] [ 7.03835646e-02 9.97519214e-01 -1.25365415e-03 4.78110110e+00] [ 3.56950343e-02 -1.26262182e-03 9.99361932e-01 3.22707026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.79, Y:4.78, Z:3.23 [[ 9.97125568e-01 -6.72682738e-02 -3.48651888e-02 1.34791810e+02] [ 6.72666226e-02 9.97734288e-01 -1.22167826e-03 4.78371770e+00] [ 3.48683745e-02 -1.12709686e-03 9.99391278e-01 3.22820731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.82, Y:4.79, Z:3.23 [[ 9.97727940e-01 -6.05025309e-02 -2.96378461e-02 1.34822734e+02] [ 6.02178361e-02 9.98131009e-01 -1.04067831e-02 4.79308178e+00] [ 3.02120899e-02 8.59841130e-03 9.99506527e-01 3.22981204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.85, Y:4.79, Z:3.23 [[ 9.97877642e-01 -5.64421909e-02 -3.24729303e-02 1.34854765e+02] [ 5.67354434e-02 9.98355732e-01 8.18052569e-03 4.78601930e+00] [ 3.19578093e-02 -1.00055298e-02 9.99439137e-01 3.22826185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.89, Y:4.79, Z:3.23 [[ 9.98245029e-01 -4.94848746e-02 -3.25285846e-02 1.34885997e+02] [ 4.94742584e-02 9.98774758e-01 -1.13165387e-03 4.79386417e+00] [ 3.25447290e-02 -4.79659748e-04 9.99470165e-01 3.23143529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.92, Y:4.80, Z:3.23 [[ 9.98526799e-01 -4.32594535e-02 -3.27544197e-02 1.34915400e+02] [ 4.32453701e-02 9.99063833e-01 -1.13860532e-03 4.79751726e+00] [ 3.27730115e-02 -2.79549081e-04 9.99462781e-01 3.23238683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.685099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.94, Y:4.80, Z:3.23 [[ 9.98602656e-01 -4.10781714e-02 -3.32463429e-02 1.34943785e+02] [ 4.10623907e-02 9.99155914e-01 -1.15758557e-03 4.79976123e+00] [ 3.32658316e-02 -2.09206299e-04 9.99446517e-01 3.23323953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.97, Y:4.80, Z:3.23 [[ 9.98690136e-01 -3.91413565e-02 -3.29540112e-02 1.34971118e+02] [ 3.91245209e-02 9.99233674e-01 -1.15580336e-03 4.80167213e+00] [ 3.29739974e-02 -1.35020486e-04 9.99456201e-01 3.23379728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.745099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.00, Y:4.80, Z:3.23 [[ 9.98747712e-01 -3.69191087e-02 -3.37636883e-02 1.34998019e+02] [ 3.68998665e-02 9.99318256e-01 -1.19305811e-03 4.80295768e+00] [ 3.37847167e-02 -5.43115299e-05 9.99429132e-01 3.23466623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.03, Y:4.80, Z:3.23 [[ 9.98827095e-01 -3.33974391e-02 -3.50577454e-02 1.35025987e+02] [ 3.33743270e-02 9.99442147e-01 -1.24440713e-03 4.80457697e+00] [ 3.50797484e-02 7.29188924e-05 9.99384514e-01 3.23453712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.05, Y:4.81, Z:3.24 [[ 9.98851392e-01 -3.22627305e-02 -3.54261619e-02 1.35054023e+02] [ 3.22380598e-02 9.99479415e-01 -1.26753982e-03 4.80600715e+00] [ 3.54486138e-02 1.24013190e-04 9.99371493e-01 3.23520954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.08, Y:4.81, Z:3.24 [[ 9.98912530e-01 -2.99539854e-02 -3.57283646e-02 1.35082168e+02] [ 2.99270518e-02 9.99551255e-01 -1.28851707e-03 4.80746252e+00] [ 3.57509279e-02 2.17871231e-04 9.99360707e-01 3.23557255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.11, Y:4.81, Z:3.24 [[ 9.98938893e-01 -2.93165479e-02 -3.55194043e-02 1.35109515e+02] [ 2.92892072e-02 9.99570147e-01 -1.28993894e-03 4.80880881e+00] [ 3.55419527e-02 2.48234979e-04 9.99368154e-01 3.23604412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.14, Y:4.81, Z:3.24 [[ 9.98969472e-01 -2.83844785e-02 -3.54163182e-02 1.35137674e+02] [ 2.83565106e-02 9.99597039e-01 -1.29183995e-03 4.81004074e+00] [ 3.54387150e-02 2.86225473e-04 9.99371810e-01 3.23663414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.16, Y:4.81, Z:3.24 [[ 9.98939087e-01 -2.93226870e-02 -3.55088716e-02 1.35164365e+02] [ 2.92948296e-02 9.99569963e-01 -1.30465641e-03 4.81020237e+00] [ 3.55318575e-02 2.63045938e-04 9.99368510e-01 3.23707311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.19, Y:4.81, Z:3.24 [[ 9.98864950e-01 -3.29398002e-02 -3.44061308e-02 1.35192299e+02] [ 3.29155442e-02 9.99457328e-01 -1.27132274e-03 4.81035302e+00] [ 3.44293367e-02 1.37383208e-04 9.99407125e-01 3.23817972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.22, Y:4.81, Z:3.24 [[ 9.98700644e-01 -3.83438623e-02 -3.35674261e-02 1.35219414e+02] [ 3.83235251e-02 9.99264603e-01 -1.24927990e-03 4.80953088e+00] [ 3.35906429e-02 -3.87654598e-05 9.99435674e-01 3.23931265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.25, Y:4.81, Z:3.24 [[ 9.98567582e-01 -4.15846547e-02 -3.36674884e-02 1.35247400e+02] [ 4.15657947e-02 9.99134974e-01 -1.26020004e-03 4.80941748e+00] [ 3.36907701e-02 -1.41020998e-04 9.99432295e-01 3.24004686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.28, Y:4.81, Z:3.24 [[ 9.98323297e-01 -4.75293807e-02 -3.30386518e-02 1.35275084e+02] [ 4.75141656e-02 9.98869787e-01 -1.24593218e-03 4.80769516e+00] [ 3.30605295e-02 -3.25960850e-04 9.99453298e-01 3.24082691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.31, Y:4.81, Z:3.24 [[ 9.98213883e-01 -4.98736615e-02 -3.28886156e-02 1.35305179e+02] [ 4.98595884e-02 9.98755457e-01 -1.24840181e-03 4.80723872e+00] [ 3.29099467e-02 -3.93640815e-04 9.99458243e-01 3.24156987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.33, Y:4.81, Z:3.24 [[ 9.98045584e-01 -5.32907543e-02 -3.26359963e-02 1.35334756e+02] [ 5.32786869e-02 9.98578912e-01 -1.23989710e-03 4.80544194e+00] [ 3.26556928e-02 -5.01329205e-04 9.99466535e-01 3.24172430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.37, Y:4.81, Z:3.24 [[ 9.98004675e-01 -5.39681936e-02 -3.27735076e-02 1.35365756e+02] [ 5.39563730e-02 9.98542517e-01 -1.24562146e-03 4.80532940e+00] [ 3.27929648e-02 -5.25203566e-04 9.99462028e-01 3.24249805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.40, Y:4.80, Z:3.24 [[ 9.98036324e-01 -5.37815091e-02 -3.21098912e-02 1.35396783e+02] [ 5.37700657e-02 9.98552598e-01 -1.22039941e-03 4.80416567e+00] [ 3.21290502e-02 -5.08548016e-04 9.99483599e-01 3.24320388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.43, Y:4.80, Z:3.24 [[ 9.98101248e-01 -5.32124173e-02 -3.10215555e-02 1.35426861e+02] [ 5.32014617e-02 9.98583103e-01 -1.17903508e-03 4.80433627e+00] [ 3.10403405e-02 -4.73595714e-04 9.99518020e-01 3.24413069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.46, Y:4.80, Z:3.24 [[ 9.98158342e-01 -5.21864535e-02 -3.09273081e-02 1.35457558e+02] [ 5.21750720e-02 9.98637262e-01 -1.17545302e-03 4.80499919e+00] [ 3.09465050e-02 -4.40346290e-04 9.99520945e-01 3.24482147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.49, Y:4.81, Z:3.25 [[ 9.98192581e-01 -5.11444558e-02 -3.15565570e-02 1.35486857e+02] [ 5.11320839e-02 9.98691179e-01 -1.19943733e-03 4.80517167e+00] [ 3.15765997e-02 -4.16283074e-04 9.99501248e-01 3.24519915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.52, Y:4.81, Z:3.25 [[ 9.98193488e-01 -5.11267663e-02 -3.15565407e-02 1.35517829e+02] [ 5.11143720e-02 9.98692085e-01 -1.19986615e-03 4.80635196e+00] [ 3.15766128e-02 -4.15294183e-04 9.99501248e-01 3.24605998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.55, Y:4.81, Z:3.25 [[ 9.98355830e-01 -4.75748656e-02 -3.19729344e-02 1.35548379e+02] [ 4.75603369e-02 9.98867628e-01 -1.21519930e-03 4.80618743e+00] [ 3.19945421e-02 -3.07442222e-04 9.99487996e-01 3.24615948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.58, Y:4.81, Z:3.25 [[ 9.98535179e-01 -4.54917147e-02 -2.92916520e-02 1.35576937e+02] [ 4.52015497e-02 9.98922773e-01 -1.04935109e-02 4.81176893e+00] [ 2.97374660e-02 9.15411169e-03 9.99515825e-01 3.24670623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.61, Y:4.80, Z:3.25 [[ 9.98706735e-01 -3.99938351e-02 -3.13903098e-02 1.35607005e+02] [ 4.02649850e-02 9.99156579e-01 8.05370447e-03 4.80253938e+00] [ 3.10417360e-02 -9.30721925e-03 9.99474755e-01 3.24508912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.63, Y:4.81, Z:3.25 [[ 9.98883619e-01 -3.51777477e-02 -3.15284400e-02 1.35634913e+02] [ 3.51571677e-02 9.99381067e-01 -1.20704161e-03 4.80612644e+00] [ 3.15513870e-02 9.72434384e-05 9.99502126e-01 3.24864079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.435099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.66, Y:4.81, Z:3.25 [[ 9.98931670e-01 -3.33645798e-02 -3.19737996e-02 1.35662552e+02] [ 3.33423673e-02 9.99443235e-01 -1.22778228e-03 4.80604304e+00] [ 3.19969621e-02 1.60388433e-04 9.99487953e-01 3.24884160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.69, Y:4.81, Z:3.25 [[ 9.98963436e-01 -3.08588016e-02 -3.34632471e-02 1.35690965e+02] [ 3.08327305e-02 9.99523719e-01 -1.29496404e-03 4.80502850e+00] [ 3.34872702e-02 2.61858448e-04 9.99439110e-01 3.24906079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.495099893 meters Centerline goodness : 0.996252 Centerline is valid? [True, True] Translation: X:135.72, Y:4.81, Z:3.25 [[ 9.99021601e-01 -3.10271638e-02 -3.15143770e-02 1.35716862e+02] [ 3.06117985e-02 9.99439116e-01 -1.35783480e-02 4.81241044e+00] [ 3.19179987e-02 1.26003512e-02 9.99411063e-01 3.24994615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.75, Y:4.80, Z:3.25 [[ 9.98921004e-01 -3.01064203e-02 -3.53614378e-02 1.35746616e+02] [ 3.05001418e-02 9.99478045e-01 1.06479302e-02 4.79823476e+00] [ 3.50224097e-02 -1.17149700e-02 9.99317862e-01 3.24562277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.77, Y:4.80, Z:3.25 [[ 9.98890212e-01 -3.15023013e-02 -3.50135575e-02 1.35774165e+02] [ 3.14731885e-02 9.99503640e-01 -1.38246090e-03 4.80371320e+00] [ 3.50397289e-02 2.78938364e-04 9.99385881e-01 3.24969645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.80, Y:4.80, Z:3.25 [[ 9.98844085e-01 -3.28099211e-02 -3.51283765e-02 1.35801236e+02] [ 3.27811099e-02 9.99461580e-01 -1.39596247e-03 4.80320761e+00] [ 3.51552641e-02 2.42801688e-04 9.99381833e-01 3.25064627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.83, Y:4.80, Z:3.25 [[ 9.98767194e-01 -3.63764838e-02 -3.37763847e-02 1.35828827e+02] [ 3.63517164e-02 9.99338150e-01 -1.34728259e-03 4.80066093e+00] [ 3.38030392e-02 1.17792095e-04 9.99428507e-01 3.25129171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.86, Y:4.80, Z:3.25 [[ 9.98709522e-01 -3.88512043e-02 -3.27089514e-02 1.35856451e+02] [ 3.88290109e-02 9.99245006e-01 -1.31367605e-03 4.80025910e+00] [ 3.27352942e-02 4.19245466e-05 9.99464056e-01 3.25197781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.88, Y:4.80, Z:3.25 [[ 9.98518195e-01 -4.42194676e-02 -3.17183468e-02 1.35884655e+02] [ 4.42010298e-02 9.99021834e-01 -1.28257299e-03 4.79827905e+00] [ 3.17440357e-02 -1.21311125e-04 9.99496024e-01 3.25320951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.91, Y:4.79, Z:3.25 [[ 9.98069968e-01 -5.36287546e-02 -3.13096688e-02 1.35912603e+02] [ 5.36151383e-02 9.98560860e-01 -1.27487444e-03 4.79364450e+00] [ 3.13329798e-02 -4.06258331e-04 9.99508919e-01 3.25448007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.94, Y:4.79, Z:3.26 [[ 9.97701404e-01 -6.04819495e-02 -3.05588462e-02 1.35942281e+02] [ 6.04719514e-02 9.98169112e-01 -1.25210962e-03 4.79052669e+00] [ 3.05786264e-02 -5.98721537e-04 9.99532185e-01 3.25511998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.97, Y:4.79, Z:3.26 [[ 9.97517140e-01 -6.34547063e-02 -3.05459723e-02 1.35973006e+02] [ 6.34460788e-02 9.97984482e-01 -1.25257754e-03 4.78985139e+00] [ 3.05638883e-02 -6.88554596e-04 9.99532578e-01 3.25597750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.00, Y:4.79, Z:3.26 [[ 9.97337181e-01 -6.60951105e-02 -3.08218029e-02 1.36003179e+02] [ 6.60875879e-02 9.97813025e-01 -1.26383290e-03 4.78945782e+00] [ 3.08379296e-02 -7.76471068e-04 9.99524096e-01 3.25683313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.03, Y:4.79, Z:3.26 [[ 9.97109457e-01 -6.93439694e-02 -3.10506814e-02 1.36034580e+02] [ 6.93379272e-02 9.97592418e-01 -1.27260115e-03 4.78861730e+00] [ 3.10641715e-02 -8.84067248e-04 9.99517001e-01 3.25804267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.07, Y:4.79, Z:3.26 [[ 9.97048845e-01 -7.04364900e-02 -3.05336227e-02 1.36065971e+02] [ 7.04311916e-02 9.97515856e-01 -1.25034146e-03 4.78918587e+00] [ 3.05458425e-02 -9.03867921e-04 9.99532958e-01 3.25912915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.10, Y:4.79, Z:3.26 [[ 9.96989956e-01 -7.13651614e-02 -3.02991887e-02 1.36097608e+02] [ 7.13604048e-02 9.97449826e-01 -1.23966979e-03 4.78992411e+00] [ 3.03103897e-02 -9.26224040e-04 9.99540105e-01 3.26053905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.13, Y:4.79, Z:3.26 [[ 9.96978952e-01 -7.16636023e-02 -2.99549201e-02 1.36129884e+02] [ 7.16591219e-02 9.97428429e-01 -1.22443898e-03 4.79061557e+00] [ 2.99656366e-02 -9.25803378e-04 9.99550501e-01 3.26167014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.16, Y:4.79, Z:3.26 [[ 9.96944059e-01 -7.18504558e-02 -3.06603152e-02 1.36161378e+02] [ 7.18459197e-02 9.97414958e-01 -1.25101829e-03 4.79157953e+00] [ 3.06709432e-02 -9.55623285e-04 9.99529079e-01 3.26301906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.19, Y:4.79, Z:3.26 [[ 9.96931932e-01 -7.19138532e-02 -3.09050124e-02 1.36193740e+02] [ 7.19093295e-02 9.97410378e-01 -1.25923451e-03 4.79252519e+00] [ 3.09155365e-02 -9.66987628e-04 9.99521533e-01 3.26383010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.23, Y:4.79, Z:3.26 [[ 9.96923576e-01 -7.17312989e-02 -3.15912131e-02 1.36225664e+02] [ 7.17265553e-02 9.97423506e-01 -1.28483816e-03 4.79364415e+00] [ 3.16019816e-02 -9.85043439e-04 9.99500047e-01 3.26407928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.26, Y:4.80, Z:3.26 [[ 9.96862914e-01 -7.20000244e-02 -3.28683300e-02 1.36256431e+02] [ 7.19951148e-02 9.97404092e-01 -1.33438831e-03 4.79502263e+00] [ 3.28790828e-02 -1.03615697e-03 9.99458800e-01 3.26425658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.29, Y:4.80, Z:3.26 [[ 9.96738743e-01 -7.32267880e-02 -3.39074693e-02 1.36287726e+02] [ 7.32223327e-02 9.97314695e-01 -1.37479739e-03 4.79664358e+00] [ 3.39170893e-02 -1.11247017e-03 9.99424031e-01 3.26445089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.32, Y:4.80, Z:3.26 [[ 9.96379544e-01 -7.68137346e-02 -3.64342449e-02 1.36319067e+02] [ 7.68110358e-02 9.97044576e-01 -1.47588142e-03 4.79880251e+00] [ 3.64399343e-02 -1.32801403e-03 9.99334963e-01 3.26462187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.35, Y:4.80, Z:3.27 [[ 9.96236351e-01 -7.85698266e-02 -3.66048598e-02 1.36350446e+02] [ 7.85683337e-02 9.96907630e-01 -1.48148461e-03 4.80035147e+00] [ 3.66080640e-02 -1.40007402e-03 9.99328719e-01 3.26537168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.38, Y:4.80, Z:3.27 [[ 9.96087671e-01 -8.02401844e-02 -3.70251964e-02 1.36381565e+02] [ 8.02398582e-02 9.96774460e-01 -1.49716767e-03 4.80240792e+00] [ 3.70259031e-02 -1.47958625e-03 9.99313211e-01 3.26643052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.185099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.41, Y:4.80, Z:3.27 [[ 9.95921104e-01 -8.20550070e-02 -3.75250760e-02 1.36412030e+02] [ 8.20560019e-02 9.96626567e-01 -1.51621165e-03 4.80458050e+00] [ 3.75229004e-02 -1.56913053e-03 9.99294536e-01 3.26747328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.44, Y:4.81, Z:3.27 [[ 9.95763631e-01 -8.40458828e-02 -3.72972080e-02 1.36443757e+02] [ 8.40482894e-02 9.96460544e-01 -1.50618242e-03 4.80706099e+00] [ 3.72917846e-02 -1.63496486e-03 9.99303082e-01 3.26866434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.48, Y:4.81, Z:3.27 [[ 9.95651854e-01 -8.55526376e-02 -3.68528378e-02 1.36475393e+02] [ 8.55560761e-02 9.96332248e-01 -1.48661252e-03 4.80929415e+00] [ 3.68448544e-02 -1.67283569e-03 9.99319598e-01 3.26971298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.51, Y:4.81, Z:3.27 [[ 9.95534038e-01 -8.71747854e-02 -3.62289473e-02 1.36506522e+02] [ 8.71792673e-02 9.96191571e-01 -1.45901095e-03 4.81174984e+00] [ 3.62181609e-02 -1.70591802e-03 9.99342451e-01 3.27109445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.54, Y:4.82, Z:3.27 [[ 9.95362411e-01 -8.94576543e-02 -3.53694635e-02 1.36538244e+02] [ 8.94634339e-02 9.95989092e-01 -1.42237249e-03 4.81569414e+00] [ 3.53548420e-02 -1.74849755e-03 9.99373293e-01 3.27275915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.57, Y:4.82, Z:3.27 [[ 9.95283294e-01 -9.04832610e-02 -3.49849238e-02 1.36569147e+02] [ 9.04896312e-02 9.95896407e-01 -1.40450012e-03 4.81826520e+00] [ 3.49684436e-02 -1.76789734e-03 9.99386853e-01 3.27408534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.60, Y:4.82, Z:3.28 [[ 9.95191411e-01 -9.20962649e-02 -3.33516502e-02 1.36600192e+02] [ 9.21030139e-02 9.95748586e-01 -1.33718113e-03 4.82263498e+00] [ 3.33330080e-02 -1.74103633e-03 9.99442784e-01 3.27538985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.63, Y:4.83, Z:3.28 [[ 9.95149104e-01 -9.27204465e-02 -3.28812915e-02 1.36633242e+02] [ 9.27274130e-02 9.95690662e-01 -1.31627453e-03 4.82575703e+00] [ 3.28616405e-02 -1.73910769e-03 9.99458397e-01 3.27655343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.67, Y:4.83, Z:3.28 [[ 9.95088288e-01 -9.34690179e-02 -3.26012495e-02 1.36665249e+02] [ 9.34763791e-02 9.95620647e-01 -1.30160683e-03 4.83055858e+00] [ 3.25801370e-02 -1.75223305e-03 9.99467590e-01 3.27794287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.70, Y:4.83, Z:3.28 [[ 9.95062135e-01 -9.37920321e-02 -3.24715748e-02 1.36697968e+02] [ 9.37996047e-02 9.95590258e-01 -1.29339503e-03 4.83347573e+00] [ 3.24496937e-02 -1.75881246e-03 9.99471822e-01 3.27877852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.73, Y:4.84, Z:3.28 [[ 9.94979810e-01 -9.42301162e-02 -3.37025715e-02 1.36729974e+02] [ 9.42386522e-02 9.95548735e-01 -1.33867336e-03 4.83784565e+00] [ 3.36786958e-02 -1.84413195e-03 9.99431010e-01 3.27909937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.76, Y:4.84, Z:3.28 [[ 9.94850646e-01 -9.53136954e-02 -3.44600046e-02 1.36762286e+02] [ 9.53233788e-02 9.95445422e-01 -1.36555066e-03 4.84197427e+00] [ 3.44332095e-02 -1.92632512e-03 9.99405145e-01 3.27949950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.79, Y:4.85, Z:3.28 [[ 9.94938155e-01 -9.59350221e-02 -2.99088637e-02 1.36794017e+02] [ 9.53383640e-02 9.95228048e-01 -2.07780813e-02 4.85403795e+00] [ 3.17594858e-02 1.78214438e-02 9.99336646e-01 3.28037877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.83, Y:4.84, Z:3.27 [[ 9.94686065e-01 -9.63431626e-02 -3.62991446e-02 1.36825775e+02] [ 9.70481932e-02 9.95113538e-01 1.81849997e-02 4.83858332e+00] [ 3.43697698e-02 -2.16111322e-02 9.99175499e-01 3.27400798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.86, Y:4.85, Z:3.28 [[ 9.94604873e-01 -9.72054110e-02 -3.62250612e-02 1.36858617e+02] [ 9.72176685e-02 9.95262120e-01 -1.42709562e-03 4.85135992e+00] [ 3.61921526e-02 -2.10231974e-03 9.99342638e-01 3.28101158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.89, Y:4.87, Z:3.28 [[ 9.94895331e-01 -9.58153407e-02 -3.16654536e-02 1.36890721e+02] [ 9.49406959e-02 9.95087343e-01 -2.80614250e-02 4.86908694e+00] [ 3.41986070e-02 2.49118406e-02 9.99104527e-01 3.28186043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.92, Y:4.85, Z:3.27 [[ 9.94757589e-01 -9.43875095e-02 -3.93489241e-02 1.36923120e+02] [ 9.54207780e-02 9.95116464e-01 2.52606240e-02 4.84628556e+00] [ 3.67724748e-02 -2.88829023e-02 9.98906183e-01 3.27364145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.95, Y:4.87, Z:3.28 [[ 9.95014277e-01 -9.24205032e-02 -3.74838539e-02 1.36954307e+02] [ 9.24305594e-02 9.95718050e-01 -1.46828476e-03 4.86587166e+00] [ 3.74590495e-02 -2.00368929e-03 9.99296155e-01 3.28290816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.99, Y:4.87, Z:3.28 [[ 9.95190817e-01 -9.09448195e-02 -3.63906267e-02 1.36986834e+02] [ 9.09534356e-02 9.95854131e-01 -1.42208000e-03 4.86937920e+00] [ 3.63690868e-02 -1.89461156e-03 9.99336630e-01 3.28428667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.02, Y:4.88, Z:3.29 [[ 9.95563786e-01 -8.70983265e-02 -3.55897394e-02 1.37018879e+02] [ 8.71042683e-02 9.96198235e-01 -1.38646759e-03 4.87526364e+00] [ 3.55751946e-02 -1.71970128e-03 9.99365523e-01 3.28571783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.05, Y:4.88, Z:3.29 [[ 9.95751947e-01 -8.49315970e-02 -3.55623947e-02 1.37052194e+02] [ 8.49363495e-02 9.96385424e-01 -1.37982479e-03 4.87909757e+00] [ 3.55510425e-02 -1.64657676e-03 9.99366505e-01 3.28644354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.09, Y:4.88, Z:3.29 [[ 9.95932735e-01 -8.29535191e-02 -3.51667586e-02 1.37085262e+02] [ 8.29570668e-02 9.96552193e-01 -1.36074323e-03 4.88301211e+00] [ 3.51583889e-02 -1.56212242e-03 9.99380532e-01 3.28742679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.12, Y:4.90, Z:3.29 [[ 9.96525533e-01 -7.87447005e-02 -2.71317794e-02 1.37116818e+02] [ 7.79853809e-02 9.96561417e-01 -2.79932638e-02 4.90282163e+00] [ 2.92428057e-02 2.57801200e-02 9.99239833e-01 3.28956229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.15, Y:4.89, Z:3.28 [[ 9.96673313e-01 -7.61132899e-02 -2.91388769e-02 1.37150159e+02] [ 7.61739781e-02 9.97094063e-01 9.76759793e-04 4.89249378e+00] [ 2.89798567e-02 -3.19313459e-03 9.99574896e-01 3.28147946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.18, Y:4.90, Z:3.28 [[ 9.96760064e-01 -7.48756589e-02 -2.93770279e-02 1.37181850e+02] [ 7.49249049e-02 9.97189012e-01 5.77617237e-04 4.89677657e+00] [ 2.92512000e-02 -2.77681682e-03 9.99568235e-01 3.28306465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.935099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.21, Y:4.89, Z:3.28 [[ 9.96706690e-01 -7.32817790e-02 -3.47211129e-02 1.37214281e+02] [ 7.40476242e-02 9.97027034e-01 2.13082926e-02 4.88949640e+00] [ 3.30563786e-02 -2.38091337e-02 9.99169856e-01 3.28325376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.24, Y:4.92, Z:3.29 [[ 9.96929324e-01 -7.21182243e-02 -3.05103946e-02 1.37244137e+02] [ 7.15028567e-02 9.97223446e-01 -2.08024045e-02 4.91537733e+00] [ 3.19259134e-02 1.85569467e-02 9.99317955e-01 3.29191733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.995099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.28, Y:4.90, Z:3.28 [[ 9.96806399e-01 -7.12717602e-02 -3.60186012e-02 1.37276847e+02] [ 7.19590910e-02 9.97242263e-01 1.81592549e-02 4.89894652e+00] [ 3.46250293e-02 -2.06931273e-02 9.99186120e-01 3.28462883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.31, Y:4.91, Z:3.29 [[ 9.96679552e-01 -7.26595110e-02 -3.67487019e-02 1.37307925e+02] [ 7.26572797e-02 9.97355987e-01 -1.39796468e-03 4.91383322e+00] [ 3.67531133e-02 -1.27673790e-03 9.99323561e-01 3.29230987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.34, Y:4.92, Z:3.29 [[ 9.96604503e-01 -7.41817056e-02 -3.57286766e-02 1.37339020e+02] [ 7.41806566e-02 9.97243897e-01 -1.35680019e-03 4.91925277e+00] [ 3.57308544e-02 -1.29818351e-03 9.99360606e-01 3.29292349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.37, Y:4.92, Z:3.29 [[ 9.96698957e-01 -7.28046800e-02 -3.59258759e-02 1.37371144e+02] [ 7.28028004e-02 9.97345425e-01 -1.36223182e-03 4.92095682e+00] [ 3.59296848e-02 -1.25776934e-03 9.99353529e-01 3.29328051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.40, Y:4.92, Z:3.29 [[ 9.96925186e-01 -6.96812421e-02 -3.58426794e-02 1.37402809e+02] [ 6.96774465e-02 9.97568651e-01 -1.35652052e-03 4.92292367e+00] [ 3.58500573e-02 -1.14507691e-03 9.99356524e-01 3.29362211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.43, Y:4.92, Z:3.29 [[ 9.97038875e-01 -6.81192863e-02 -3.56825637e-02 1.37434533e+02] [ 6.81146160e-02 9.97676592e-01 -1.34792209e-03 4.92464517e+00] [ 3.56914780e-02 -1.08657341e-03 9.99362266e-01 3.29438628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.47, Y:4.93, Z:3.30 [[ 9.97044963e-01 -6.80300548e-02 -3.56826650e-02 1.37467203e+02] [ 6.80254234e-02 9.97682681e-01 -1.34523642e-03 4.92582107e+00] [ 3.56914934e-02 -1.08606719e-03 9.99362266e-01 3.29531647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.50, Y:4.93, Z:3.30 [[ 9.97206775e-01 -6.58663144e-02 -3.52175739e-02 1.37497919e+02] [ 6.58605562e-02 9.97827957e-01 -1.32482555e-03 4.92759285e+00] [ 3.52283412e-02 -9.98323994e-04 9.99378791e-01 3.29594162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.53, Y:4.93, Z:3.30 [[ 9.97224316e-01 -6.57163762e-02 -3.50003030e-02 1.37530282e+02] [ 6.57106658e-02 9.97837853e-01 -1.31467113e-03 4.92924385e+00] [ 3.50110226e-02 -9.88871197e-04 9.99386437e-01 3.29768879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.56, Y:4.93, Z:3.30 [[ 9.97219233e-01 -6.60846453e-02 -3.44473687e-02 1.37562446e+02] [ 6.60794172e-02 9.97813531e-01 -1.29146175e-03 4.93086257e+00] [ 3.44573964e-02 -9.88391554e-04 9.99405679e-01 3.29880715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.59, Y:4.94, Z:3.30 [[ 9.97280582e-01 -6.64062749e-02 -3.19632189e-02 1.37593124e+02] [ 6.59756628e-02 9.97718120e-01 -1.43444992e-02 4.93845864e+00] [ 3.28428475e-02 1.21966960e-02 9.99386106e-01 3.30020340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.63, Y:4.93, Z:3.30 [[ 9.97083367e-01 -6.73759497e-02 -3.58502460e-02 1.37625288e+02] [ 6.78343656e-02 9.97627678e-01 1.17267119e-02 4.92613806e+00] [ 3.49750993e-02 -1.41243881e-02 9.99288369e-01 3.29542756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.66, Y:4.93, Z:3.30 [[ 9.96881492e-01 -7.07130727e-02 -3.50278892e-02 1.37656623e+02] [ 7.07107963e-02 9.97496005e-01 -1.30534358e-03 4.93277178e+00] [ 3.50324844e-02 -1.17557708e-03 9.99385483e-01 3.30078176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.69, Y:4.94, Z:3.30 [[ 9.96867781e-01 -7.18422997e-02 -3.30652572e-02 1.37687977e+02] [ 7.14724228e-02 9.97367509e-01 -1.22370140e-02 4.93899067e+00] [ 3.38573485e-02 9.83543092e-03 9.99378279e-01 3.30253299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.72, Y:4.93, Z:3.30 [[ 9.96747174e-01 -7.25090400e-02 -3.51782724e-02 1.37720443e+02] [ 7.28865244e-02 9.97294345e-01 9.56788558e-03 4.92807616e+00] [ 3.43893340e-02 -1.21007849e-02 9.99335251e-01 3.29801512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.75, Y:4.93, Z:3.30 [[ 9.96697929e-01 -7.30797622e-02 -3.53919036e-02 1.37752662e+02] [ 7.30790498e-02 9.97325284e-01 -1.31546875e-03 4.93344191e+00] [ 3.53933744e-02 -1.27528171e-03 9.99372645e-01 3.30229001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.78, Y:4.93, Z:3.30 [[ 9.96751264e-01 -7.24067093e-02 -3.52730269e-02 1.37784344e+02] [ 7.24056805e-02 9.97374406e-01 -1.30822554e-03 4.93398855e+00] [ 3.52751386e-02 -1.24999206e-03 9.99376857e-01 3.30328477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.82, Y:4.93, Z:3.30 [[ 9.96810570e-01 -7.18732777e-02 -3.46831422e-02 1.37815621e+02] [ 7.18720836e-02 9.97413033e-01 -1.28279245e-03 4.93411673e+00] [ 3.46856165e-02 -1.21404863e-03 9.99397536e-01 3.30455802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.85, Y:4.93, Z:3.31 [[ 9.96830048e-01 -7.19990191e-02 -3.38525652e-02 1.37847774e+02] [ 7.19980161e-02 9.97403992e-01 -1.25022218e-03 4.93479947e+00] [ 3.38546984e-02 -1.19105850e-03 9.99426056e-01 3.30555207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.88, Y:4.93, Z:3.31 [[ 9.96794685e-01 -7.31076776e-02 -3.24903558e-02 1.37879894e+02] [ 7.31074126e-02 9.97323354e-01 -1.19770532e-03 4.93472073e+00] [ 3.24909521e-02 -1.18141955e-03 9.99471331e-01 3.30630649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.91, Y:4.94, Z:3.31 [[ 9.96803587e-01 -7.39074552e-02 -3.03363975e-02 1.37913334e+02] [ 7.36395537e-02 9.97236211e-01 -9.85678414e-03 4.93777320e+00] [ 3.09810439e-02 7.59131902e-03 9.99491144e-01 3.30638874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.94, Y:4.93, Z:3.30 [[ 9.96512488e-01 -7.62512625e-02 -3.38910854e-02 1.37943517e+02] [ 7.65500643e-02 9.97036725e-01 7.60630578e-03 4.93111497e+00] [ 3.32106664e-02 -1.01741435e-02 9.99396587e-01 3.30497251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.98, Y:4.94, Z:3.31 [[ 9.96394204e-01 -7.75384944e-02 -3.44437582e-02 1.37976093e+02] [ 7.75411555e-02 9.96988355e-01 -1.26054830e-03 4.93581062e+00] [ 3.44377669e-02 -1.41480579e-03 9.99405843e-01 3.30870030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.685099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.01, Y:4.94, Z:3.31 [[ 9.96514094e-01 -7.67984519e-02 -3.25831048e-02 1.38010248e+02] [ 7.64922240e-02 9.97014416e-01 -1.05448647e-02 4.93910695e+00] [ 3.32956545e-02 8.01575212e-03 9.99413402e-01 3.30804947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.04, Y:4.93, Z:3.31 [[ 9.96086103e-01 -7.99263441e-02 -3.77392899e-02 1.38040435e+02] [ 8.02878569e-02 9.96738314e-01 8.16043671e-03 4.93032108e+00] [ 3.69639623e-02 -1.11585043e-02 9.99254299e-01 3.30630372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.745099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.07, Y:4.94, Z:3.31 [[ 9.95999267e-01 -8.08149163e-02 -3.81367106e-02 1.38071989e+02] [ 8.08209505e-02 9.96727672e-01 -1.38596084e-03 4.93514135e+00] [ 3.81239211e-02 -1.70182922e-03 9.99271570e-01 3.31059569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.10, Y:4.94, Z:3.31 [[ 9.95968135e-01 -8.10804102e-02 -3.83854316e-02 1.38102988e+02] [ 8.10868418e-02 9.96706068e-01 -1.39183955e-03 4.93556299e+00] [ 3.83718435e-02 -1.72632558e-03 9.99262038e-01 3.31106473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.14, Y:4.94, Z:3.31 [[ 9.95958695e-01 -8.12529587e-02 -3.82653229e-02 1.38135361e+02] [ 8.12596249e-02 9.96692008e-01 -1.38361651e-03 4.93591031e+00] [ 3.82511645e-02 -1.73140089e-03 9.99266656e-01 3.31237239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.17, Y:4.94, Z:3.31 [[ 9.95998336e-01 -8.08358704e-02 -3.81166190e-02 1.38167282e+02] [ 8.08422832e-02 9.96725957e-01 -1.37553462e-03 4.93704404e+00] [ 3.81030160e-02 -1.71140431e-03 9.99272351e-01 3.31388058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.20, Y:4.94, Z:3.31 [[ 9.96066499e-01 -8.03991690e-02 -3.72491986e-02 1.38197928e+02] [ 8.04050812e-02 9.96761367e-01 -1.34171639e-03 4.93869010e+00] [ 3.72364350e-02 -1.65858609e-03 9.99305107e-01 3.31488618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.23, Y:4.94, Z:3.32 [[ 9.96169806e-01 -7.93266237e-02 -3.67832183e-02 1.38230339e+02] [ 7.93317372e-02 9.96847393e-01 -1.32280009e-03 4.94012504e+00] [ 3.67721885e-02 -1.60034310e-03 9.99322393e-01 3.31621604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.26, Y:4.94, Z:3.32 [[ 9.96413635e-01 -7.66975136e-02 -3.57401596e-02 1.38262051e+02] [ 7.67007675e-02 9.97053333e-01 -1.28205800e-03 4.94234110e+00] [ 3.57331759e-02 -1.46383760e-03 9.99360294e-01 3.31783727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.29, Y:4.94, Z:3.32 [[ 9.96609481e-01 -7.39548045e-02 -3.60587045e-02 1.38294014e+02] [ 7.39565220e-02 9.97260635e-01 -1.28801879e-03 4.94393331e+00] [ 3.60551817e-02 -1.38312464e-03 9.99348843e-01 3.31816476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.33, Y:4.95, Z:3.32 [[ 9.96701570e-01 -7.26843569e-02 -3.60965972e-02 1.38325930e+02] [ 7.26853397e-02 9.97354092e-01 -1.28678717e-03 4.94510523e+00] [ 3.60946182e-02 -1.34115063e-03 9.99347477e-01 3.31891164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.36, Y:4.95, Z:3.32 [[ 9.96866348e-01 -7.05284821e-02 -3.58220278e-02 1.38357706e+02] [ 7.05281514e-02 9.97508975e-01 -1.27444454e-03 4.94645324e+00] [ 3.58226789e-02 -1.25601052e-03 9.99357373e-01 3.31978482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.39, Y:4.95, Z:3.32 [[ 9.96990875e-01 -6.88455837e-02 -3.56297760e-02 1.38388572e+02] [ 6.88442701e-02 9.97626616e-01 -1.26516894e-03 4.94775284e+00] [ 3.56323141e-02 -1.19154403e-03 9.99364257e-01 3.32082858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.42, Y:4.95, Z:3.32 [[ 9.97090598e-01 -6.75328578e-02 -3.53504120e-02 1.38420704e+02] [ 6.75308114e-02 9.97716402e-01 -1.25324633e-03 4.94873660e+00] [ 3.53543212e-02 -1.13764187e-03 9.99374193e-01 3.32185570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.45, Y:4.95, Z:3.32 [[ 9.97116371e-01 -6.72102459e-02 -3.52381306e-02 1.38453028e+02] [ 6.72080983e-02 9.97738201e-01 -1.24679461e-03 4.94968104e+00] [ 3.52422264e-02 -1.12508843e-03 9.99378166e-01 3.32271948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.49, Y:4.95, Z:3.32 [[ 9.97132328e-01 -6.66338965e-02 -3.58753989e-02 1.38485179e+02] [ 6.66313915e-02 9.97776855e-01 -1.26675120e-03 4.95022915e+00] [ 3.58800513e-02 -1.12730917e-03 9.99355468e-01 3.32324260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.52, Y:4.95, Z:3.32 [[ 9.97117846e-01 -6.61620256e-02 -3.71293338e-02 1.38516291e+02] [ 6.61591129e-02 9.97808228e-01 -1.30843608e-03 4.95121380e+00] [ 3.71345236e-02 -1.15177882e-03 9.99309612e-01 3.32425921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.55, Y:4.95, Z:3.33 [[ 9.97135649e-01 -6.58258251e-02 -3.72485953e-02 1.38548854e+02] [ 6.58227398e-02 9.97830471e-01 -1.31048299e-03 4.95210162e+00] [ 3.72540470e-02 -1.14507529e-03 9.99305171e-01 3.32519261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.58, Y:4.95, Z:3.33 [[ 9.97173244e-01 -6.54248892e-02 -3.69473298e-02 1.38580800e+02] [ 6.54216748e-02 9.97856864e-01 -1.29727921e-03 4.95280577e+00] [ 3.69530210e-02 -1.12354408e-03 9.99316372e-01 3.32602857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.61, Y:4.95, Z:3.33 [[ 9.97179319e-01 -6.51593882e-02 -3.72512966e-02 1.38612249e+02] [ 6.51560229e-02 9.97874235e-01 -1.30561924e-03 4.95295109e+00] [ 3.72571825e-02 -1.12520983e-03 9.99305077e-01 3.32696141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.64, Y:4.95, Z:3.33 [[ 9.97179715e-01 -6.51447503e-02 -3.72662976e-02 1.38643413e+02] [ 6.51414208e-02 9.97875189e-01 -1.30483990e-03 4.95385632e+00] [ 3.72721172e-02 -1.12641969e-03 9.99304518e-01 3.32791237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.68, Y:4.95, Z:3.33 [[ 9.97172084e-01 -6.50689571e-02 -3.76014119e-02 1.38675211e+02] [ 6.50655639e-02 9.97880124e-01 -1.31524455e-03 4.95485830e+00] [ 3.76072832e-02 -1.13503192e-03 9.99291951e-01 3.32875451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.71, Y:4.96, Z:3.33 [[ 9.97126908e-01 -6.55090920e-02 -3.80327364e-02 1.38706574e+02] [ 6.55059988e-02 9.97851291e-01 -1.32880238e-03 4.95595747e+00] [ 3.80380638e-02 -1.16638778e-03 9.99275610e-01 3.33002496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.74, Y:4.96, Z:3.33 [[ 9.97020439e-01 -6.72702140e-02 -3.77486648e-02 1.38737121e+02] [ 6.72685044e-02 9.97734040e-01 -1.31683182e-03 4.95688564e+00] [ 3.77517114e-02 -1.22638798e-03 9.99286398e-01 3.33081719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.77, Y:4.96, Z:3.33 [[ 9.96874335e-01 -6.94282557e-02 -3.76998277e-02 1.38769493e+02] [ 6.94281796e-02 9.97586089e-01 -1.31278262e-03 4.95844088e+00] [ 3.76999679e-02 -1.30875111e-03 9.99288246e-01 3.33224843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.435099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.80, Y:4.96, Z:3.33 [[ 9.96793216e-01 -7.07665392e-02 -3.73548155e-02 1.38800551e+02] [ 7.07674971e-02 9.97491993e-01 -1.29823274e-03 4.95947125e+00] [ 3.73530008e-02 -1.34943720e-03 9.99301222e-01 3.33324626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.83, Y:4.96, Z:3.33 [[ 9.96707712e-01 -7.19472240e-02 -3.73809242e-02 1.38832645e+02] [ 7.19490937e-02 9.97407462e-01 -1.29695861e-03 4.96027130e+00] [ 3.73773254e-02 -1.39683497e-03 9.99300247e-01 3.33427685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.495099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.86, Y:4.96, Z:3.34 [[ 9.96536868e-01 -7.48116838e-02 -3.62971561e-02 1.38864749e+02] [ 7.48154338e-02 9.97196606e-01 -1.25682404e-03 4.96046117e+00] [ 3.62894260e-02 -1.46311599e-03 9.99340251e-01 3.33509298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.90, Y:4.96, Z:3.34 [[ 9.96442771e-01 -7.64081446e-02 -3.55471400e-02 1.38896055e+02] [ 7.64128383e-02 9.97075508e-01 -1.22848666e-03 4.96115838e+00] [ 3.55370491e-02 -1.49214121e-03 9.99367246e-01 3.33636922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.93, Y:4.96, Z:3.34 [[ 9.96237121e-01 -7.95312490e-02 -3.44438493e-02 1.38928106e+02] [ 7.95375824e-02 9.96831160e-01 -1.18845875e-03 4.96203240e+00] [ 3.44292218e-02 -1.55559377e-03 9.99405928e-01 3.33831257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.96, Y:4.96, Z:3.34 [[ 9.96134051e-01 -8.09527358e-02 -3.41116721e-02 1.38960788e+02] [ 8.09598680e-02 9.96716670e-01 -1.17437625e-03 4.96288166e+00] [ 3.40947412e-02 -1.59184031e-03 9.99417338e-01 3.33953945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.99, Y:4.96, Z:3.34 [[ 9.95896809e-01 -8.31810270e-02 -3.56435533e-02 1.38992702e+02] [ 8.31903771e-02 9.96532922e-01 -1.22324531e-03 4.96406979e+00] [ 3.56217252e-02 -1.74697454e-03 9.99363818e-01 3.34041006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.03, Y:4.97, Z:3.34 [[ 9.95826994e-01 -8.36631006e-02 -3.64566121e-02 1.39025917e+02] [ 8.36733317e-02 9.96492457e-01 -1.24768632e-03 4.96526588e+00] [ 3.64331243e-02 -1.80796648e-03 9.99334458e-01 3.34122433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.06, Y:4.97, Z:3.34 [[ 9.95805588e-01 -8.35906498e-02 -3.71999124e-02 1.39058956e+02] [ 8.36014039e-02 9.96498467e-01 -1.26906923e-03 4.96648803e+00] [ 3.71757380e-02 -1.84621867e-03 9.99307038e-01 3.34217945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.09, Y:4.97, Z:3.34 [[ 9.95870352e-01 -8.26107204e-02 -3.76525078e-02 1.39091281e+02] [ 8.26211904e-02 9.96580202e-01 -1.28051111e-03 4.96772354e+00] [ 3.76295278e-02 -1.83567197e-03 9.99290072e-01 3.34264332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.12, Y:4.97, Z:3.34 [[ 9.95948277e-01 -8.16758217e-02 -3.76309618e-02 1.39123519e+02] [ 8.16857420e-02 9.96657318e-01 -1.27637814e-03 4.96936044e+00] [ 3.76094227e-02 -1.80270643e-03 9.99290889e-01 3.34436125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.15, Y:4.97, Z:3.35 [[ 9.95778303e-01 -8.19185066e-02 -4.14116963e-02 1.39154346e+02] [ 8.24983831e-02 9.96512923e-01 1.24904194e-02 4.96579164e+00] [ 4.02440940e-02 -1.58540866e-02 9.99064092e-01 3.34538620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.19, Y:4.97, Z:3.35 [[ 9.95868150e-01 -8.10811329e-02 -4.08959296e-02 1.39186197e+02] [ 8.12670381e-02 9.96688141e-01 2.90129628e-03 4.97359468e+00] [ 4.05252477e-02 -6.21279963e-03 9.99159199e-01 3.35188300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.22, Y:4.98, Z:3.36 [[ 9.96257494e-01 -7.89211991e-02 -3.52484017e-02 1.39219413e+02] [ 7.82530318e-02 9.96733864e-01 -1.99516103e-02 4.98403829e+00] [ 3.67078806e-02 1.71186469e-02 9.99179405e-01 3.35559035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.25, Y:4.97, Z:3.35 [[ 9.96198806e-01 -7.80327195e-02 -3.87147608e-02 1.39249691e+02] [ 7.85542883e-02 9.96835957e-01 1.21366516e-02 4.97332789e+00] [ 3.76452097e-02 -1.51317283e-02 9.99176595e-01 3.34943621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.28, Y:4.98, Z:3.36 [[ 9.96184292e-01 -7.80294281e-02 -3.90930335e-02 1.39281046e+02] [ 7.80865771e-02 9.96946579e-01 -6.52284047e-05 4.98128821e+00] [ 3.89787557e-02 -2.98766166e-03 9.99235573e-01 3.35590548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.32, Y:4.99, Z:3.36 [[ 9.96565483e-01 -7.51949525e-02 -3.46836806e-02 1.39315213e+02] [ 7.46264260e-02 9.97059627e-01 -1.74067758e-02 4.98788042e+00] [ 3.58905994e-02 1.47586728e-02 9.99246740e-01 3.35798947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.35, Y:4.98, Z:3.35 [[ 9.96630029e-01 -7.34945637e-02 -3.64298589e-02 1.39347980e+02] [ 7.34995492e-02 9.97294523e-01 -1.20417745e-03 4.98107682e+00] [ 3.64197993e-02 -1.47745880e-03 9.99335487e-01 3.35256017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.38, Y:4.98, Z:3.35 [[ 9.96661593e-01 -7.26067996e-02 -3.73352642e-02 1.39379430e+02] [ 7.26115108e-02 9.97359540e-01 -1.23154854e-03 4.98217408e+00] [ 3.73261007e-02 -1.48353281e-03 9.99302037e-01 3.35330278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.41, Y:4.98, Z:3.35 [[ 9.96627552e-01 -7.28149005e-02 -3.78353287e-02 1.39411957e+02] [ 7.28199729e-02 9.97344323e-01 -1.24582949e-03 4.98316780e+00] [ 3.78255653e-02 -1.51353962e-03 9.99283211e-01 3.35462471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.44, Y:4.98, Z:3.36 [[ 9.96605227e-01 -7.30736496e-02 -3.79244480e-02 1.39444630e+02] [ 7.30790362e-02 9.97325374e-01 -1.24604351e-03 4.98383602e+00] [ 3.79140672e-02 -1.52966863e-03 9.99279832e-01 3.35561450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.48, Y:4.98, Z:3.36 [[ 9.96558972e-01 -7.37566712e-02 -3.78175804e-02 1.39476699e+02] [ 7.37626208e-02 9.97275057e-01 -1.23981637e-03 4.98437270e+00] [ 3.78059744e-02 -1.55397372e-03 9.99283890e-01 3.35652100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.51, Y:4.99, Z:3.36 [[ 9.96565675e-01 -7.36659991e-02 -3.78176760e-02 1.39509374e+02] [ 7.36719943e-02 9.97281759e-01 -1.23689372e-03 4.98538647e+00] [ 3.78059955e-02 -1.55345778e-03 9.99283890e-01 3.35744414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.54, Y:4.99, Z:3.36 [[ 9.96329796e-01 -7.66870993e-02 -3.80266461e-02 1.39538053e+02] [ 7.65983098e-02 9.97054836e-01 -3.78852183e-03 4.98866102e+00] [ 3.82051822e-02 8.61840356e-04 9.99269544e-01 3.35896055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.57, Y:4.99, Z:3.36 [[ 9.96354520e-01 -7.63057241e-02 -3.81458703e-02 1.39570899e+02] [ 7.62989874e-02 9.97083644e-01 -1.63447712e-03 4.98843763e+00] [ 3.81593433e-02 -1.28197260e-03 9.99270845e-01 3.35914457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.185099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.61, Y:4.98, Z:3.36 [[ 9.96389757e-01 -7.56934561e-02 -3.84441583e-02 1.39605050e+02] [ 7.57849185e-02 9.97123759e-01 9.25318949e-04 4.98442057e+00] [ 3.82635430e-02 -3.83546573e-03 9.99260322e-01 3.36007650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.64, Y:4.99, Z:3.36 [[ 9.96404417e-01 -7.55108394e-02 -3.84233215e-02 1.39636464e+02] [ 7.55193548e-02 9.97143575e-01 -1.23179681e-03 4.98632511e+00] [ 3.84065821e-02 -1.67433667e-03 9.99260792e-01 3.36183792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.67, Y:4.99, Z:3.36 [[ 9.96461972e-01 -7.45714007e-02 -3.87639478e-02 1.39668230e+02] [ 7.45795149e-02 9.97214301e-01 -1.23869255e-03 4.98789984e+00] [ 3.87483342e-02 -1.65668641e-03 9.99247628e-01 3.36358834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.70, Y:4.99, Z:3.37 [[ 9.96510629e-01 -7.41857115e-02 -3.82497953e-02 1.39699814e+02] [ 7.41934256e-02 9.97243124e-01 -1.21970595e-03 4.98920769e+00] [ 3.82348301e-02 -1.62243340e-03 9.99267464e-01 3.36518326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.73, Y:4.99, Z:3.37 [[ 9.96502095e-01 -7.42063513e-02 -3.84316596e-02 1.39731588e+02] [ 7.42142414e-02 9.97241571e-01 -1.22324578e-03 4.99045870e+00] [ 3.84164212e-02 -1.63320948e-03 9.99260482e-01 3.36644665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.76, Y:4.99, Z:3.37 [[ 9.96480519e-01 -7.47105623e-02 -3.80119312e-02 1.39762929e+02] [ 7.47187426e-02 9.97203917e-01 -1.20735532e-03 4.99090293e+00] [ 3.79958489e-02 -1.63709765e-03 9.99276556e-01 3.36763255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.79, Y:4.99, Z:3.37 [[ 9.96434353e-01 -7.53145847e-02 -3.80301715e-02 1.39794866e+02] [ 7.53232956e-02 9.97158436e-01 -1.20573188e-03 4.99154306e+00] [ 3.80129155e-02 -1.66312519e-03 9.99275864e-01 3.36898351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.83, Y:4.99, Z:3.37 [[ 9.96383826e-01 -7.60524864e-02 -3.78852275e-02 1.39827502e+02] [ 7.60617640e-02 9.97102388e-01 -1.19847278e-03 4.99241737e+00] [ 3.78665976e-02 -1.68747834e-03 9.99281378e-01 3.37007852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.86, Y:4.99, Z:3.37 [[ 9.96332996e-01 -7.63641685e-02 -3.85885288e-02 1.39859246e+02] [ 7.63741339e-02 9.97078486e-01 -1.21797396e-03 4.99267829e+00] [ 3.85688014e-02 -1.73365781e-03 9.99254443e-01 3.37125913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.89, Y:4.99, Z:3.37 [[ 9.96342048e-01 -7.62761940e-02 -3.85287634e-02 1.39891672e+02] [ 7.62861676e-02 9.97085226e-01 -1.21337295e-03 4.99302360e+00] [ 3.85090122e-02 -1.73027721e-03 9.99256755e-01 3.37223875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.92, Y:5.00, Z:3.37 [[ 9.96333030e-01 -7.57902601e-02 -3.97030100e-02 1.39922442e+02] [ 7.56079486e-02 9.97119113e-01 -6.07561840e-03 4.99506407e+00] [ 4.00491028e-02 3.05147616e-03 9.99193053e-01 3.37474232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.95, Y:4.99, Z:3.37 [[ 9.96330105e-01 -7.60100089e-02 -3.93547990e-02 1.39953705e+02] [ 7.59663917e-02 9.97106977e-01 -2.60469266e-03 4.99375608e+00] [ 3.94389274e-02 -3.94508370e-04 9.99221905e-01 3.37408762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.99, Y:4.99, Z:3.37 [[ 9.96423773e-01 -7.60612851e-02 -3.68014466e-02 1.39986180e+02] [ 7.62805278e-02 9.97075838e-01 4.58845205e-03 4.99013767e+00] [ 3.63448297e-02 -7.37927647e-03 9.99312063e-01 3.37178809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.02, Y:4.99, Z:3.38 [[ 9.96444107e-01 -7.62729639e-02 -3.57991143e-02 1.40018594e+02] [ 7.62817346e-02 9.97085672e-01 -1.12277849e-03 4.99357457e+00] [ 3.57804215e-02 -1.61203252e-03 9.99358376e-01 3.37500041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.05, Y:4.99, Z:3.38 [[ 9.96490931e-01 -7.58990582e-02 -3.52867774e-02 1.40050015e+02] [ 7.59074441e-02 9.97114257e-01 -1.10390783e-03 4.99450486e+00] [ 3.52687344e-02 -1.57849494e-03 9.99376618e-01 3.37580723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.08, Y:5.00, Z:3.38 [[ 9.96557424e-01 -7.54063950e-02 -3.44554314e-02 1.40081773e+02] [ 7.54142229e-02 9.97151714e-01 -1.07420825e-03 4.99513029e+00] [ 3.44382946e-02 -1.52791938e-03 9.99405658e-01 3.37709616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.11, Y:5.00, Z:3.38 [[ 9.96517194e-01 -7.57893026e-02 -3.47773531e-02 1.40113652e+02] [ 7.57975963e-02 9.97122637e-01 -1.08177771e-03 4.99579878e+00] [ 3.47592732e-02 -1.55802969e-03 9.99394499e-01 3.37834532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.15, Y:5.00, Z:3.38 [[ 9.96456897e-01 -7.61295016e-02 -3.57484325e-02 1.40146281e+02] [ 7.61385773e-02 9.97096628e-01 -1.10938660e-03 4.99558449e+00] [ 3.57290986e-02 -1.61637887e-03 9.99360205e-01 3.37887198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.18, Y:5.00, Z:3.38 [[ 9.96426872e-01 -7.63702229e-02 -3.60704497e-02 1.40178717e+02] [ 7.63797137e-02 9.97078178e-01 -1.11679773e-03 4.99568711e+00] [ 3.60503484e-02 -1.64224336e-03 9.99348626e-01 3.37917546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.21, Y:5.00, Z:3.38 [[ 9.96372356e-01 -7.68617166e-02 -3.65295077e-02 1.40209724e+02] [ 7.68718913e-02 9.97040340e-01 -1.12798055e-03 4.99579217e+00] [ 3.65080914e-02 -1.68420371e-03 9.99331938e-01 3.37994602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.24, Y:5.00, Z:3.38 [[ 9.96394726e-01 -7.67972900e-02 -3.60517058e-02 1.40242145e+02] [ 7.68072934e-02 9.97045339e-01 -1.10946130e-03 4.99658787e+00] [ 3.60303888e-02 -1.66357256e-03 9.99349310e-01 3.38084859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.27, Y:5.00, Z:3.38 [[ 9.96425305e-01 -7.61543096e-02 -3.65668284e-02 1.40273041e+02] [ 7.61642591e-02 9.97094652e-01 -1.12286764e-03 4.99727234e+00] [ 3.65461002e-02 -1.66623166e-03 9.99330579e-01 3.38234926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.31, Y:5.00, Z:3.38 [[ 9.96592813e-01 -7.35755579e-02 -3.72746859e-02 1.40305374e+02] [ 7.35841778e-02 9.97288355e-01 -1.14244823e-03 4.99755389e+00] [ 3.72576664e-02 -1.60427141e-03 9.99304404e-01 3.38265651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.34, Y:5.00, Z:3.38 [[ 9.96732345e-01 -7.18499280e-02 -3.69082808e-02 1.40336843e+02] [ 7.18572885e-02 9.97414285e-01 -1.12876939e-03 4.99808829e+00] [ 3.68939485e-02 -1.52704802e-03 9.99318020e-01 3.38286813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.37, Y:5.00, Z:3.38 [[ 9.96866477e-01 -6.98835833e-02 -3.70609218e-02 1.40367969e+02] [ 6.98897434e-02 9.97554081e-01 -1.13088072e-03 4.99901640e+00] [ 3.70493038e-02 -1.46284124e-03 9.99312368e-01 3.38394441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.935099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.40, Y:5.00, Z:3.39 [[ 9.97124403e-01 -6.65727106e-02 -3.62077206e-02 1.40400046e+02] [ 6.65765477e-02 9.97780713e-01 -1.10104284e-03 5.00005356e+00] [ 3.62006647e-02 -1.31270835e-03 9.99343679e-01 3.38507254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.43, Y:5.00, Z:3.39 [[ 9.97271940e-01 -6.47762493e-02 -3.53937282e-02 1.40431226e+02] [ 6.47788695e-02 9.97899065e-01 -1.07391173e-03 5.00077980e+00] [ 3.53889323e-02 -1.22178367e-03 9.99372869e-01 3.38586134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.46, Y:5.00, Z:3.39 [[ 9.97529346e-01 -6.08345618e-02 -3.51334578e-02 1.40463165e+02] [ 6.08347725e-02 9.98147283e-01 -1.06399431e-03 5.00147989e+00] [ 3.51330931e-02 -1.07597036e-03 9.99382063e-01 3.38650591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.49, Y:5.00, Z:3.39 [[ 9.97674777e-01 -5.87513866e-02 -3.45443712e-02 1.40493019e+02] [ 5.87504162e-02 9.98272157e-01 -1.04401832e-03 5.00236221e+00] [ 3.45460214e-02 -9.87905444e-04 9.99402620e-01 3.38686770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.52, Y:5.00, Z:3.39 [[ 9.97925461e-01 -5.47838720e-02 -3.38156955e-02 1.40523237e+02] [ 5.47806941e-02 9.98497888e-01 -1.02115639e-03 5.00366089e+00] [ 3.38208434e-02 -8.33409304e-04 9.99427564e-01 3.38747275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.55, Y:5.00, Z:3.39 [[ 9.98096895e-01 -5.14518992e-02 -3.39895505e-02 1.40554587e+02] [ 5.14468215e-02 9.98675210e-01 -1.02453483e-03 5.00497487e+00] [ 3.39972357e-02 -7.26069306e-04 9.99421663e-01 3.38832749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.58, Y:5.01, Z:3.39 [[ 9.98144425e-01 -5.02286748e-02 -3.44207422e-02 1.40583701e+02] [ 5.02227717e-02 9.98737502e-01 -1.03663182e-03 5.00599833e+00] [ 3.44293548e-02 -6.93996811e-04 9.99406893e-01 3.38902444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.61, Y:5.01, Z:3.39 [[ 9.98192515e-01 -4.93403992e-02 -3.43107595e-02 1.40614196e+02] [ 4.93339923e-02 9.98781802e-01 -1.03381470e-03 5.00688733e+00] [ 3.43199710e-02 -6.60740654e-04 9.99410678e-01 3.38949169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.64, Y:5.01, Z:3.39 [[ 9.98261624e-01 -4.83724966e-02 -3.36724161e-02 1.40644051e+02] [ 4.83657720e-02 9.98829176e-01 -1.01468250e-03 5.00717370e+00] [ 3.36820744e-02 -6.15673799e-04 9.99432408e-01 3.38961928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.67, Y:5.01, Z:3.39 [[ 9.98276720e-01 -4.85259553e-02 -3.29973037e-02 1.40674050e+02] [ 4.85195592e-02 9.98821737e-01 -9.95005428e-04 5.00758780e+00] [ 3.30067078e-02 -6.07723876e-04 9.99454945e-01 3.39062689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.70, Y:5.01, Z:3.39 [[ 9.98275869e-01 -4.85434708e-02 -3.29972714e-02 1.40704183e+02] [ 4.85370489e-02 9.98820886e-01 -9.96076422e-04 5.00852924e+00] [ 3.30067168e-02 -6.07231119e-04 9.99454945e-01 3.39147173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.73, Y:5.01, Z:3.39 [[ 9.98259014e-01 -4.91520939e-02 -3.26038791e-02 1.40734816e+02] [ 4.91461327e-02 9.98791113e-01 -9.84686247e-04 5.00915724e+00] [ 3.26128641e-02 -6.19382649e-04 9.99467867e-01 3.39237250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.77, Y:5.01, Z:3.39 [[ 9.98214974e-01 -5.00138178e-02 -3.26417633e-02 1.40765658e+02] [ 5.00083031e-02 9.98748316e-01 -9.85830405e-04 5.00970636e+00] [ 3.26502112e-02 -6.48288521e-04 9.99466629e-01 3.39299868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.80, Y:5.01, Z:3.39 [[ 9.98097104e-01 -5.24837771e-02 -3.23670237e-02 1.40796028e+02] [ 5.24796551e-02 9.98621515e-01 -9.77455180e-04 5.00924550e+00] [ 3.23737068e-02 -7.23015055e-04 9.99475573e-01 3.39373178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.83, Y:5.01, Z:3.39 [[ 9.98019581e-01 -5.38658243e-02 -3.24867469e-02 1.40826660e+02] [ 5.38624275e-02 9.98547885e-01 -9.80325920e-04 5.00951296e+00] [ 3.24923784e-02 -7.71430585e-04 9.99471686e-01 3.39450587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.86, Y:5.01, Z:3.40 [[ 9.97964159e-01 -5.54433710e-02 -3.15209448e-02 1.40858327e+02] [ 5.54410099e-02 9.98461513e-01 -9.49568857e-04 5.00967033e+00] [ 3.15250975e-02 -7.99917326e-04 9.99502640e-01 3.39507025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.89, Y:5.01, Z:3.40 [[ 9.97863781e-01 -5.70877374e-02 -3.17626227e-02 1.40890011e+02] [ 5.70862103e-02 9.98368795e-01 -9.55652326e-04 5.00972953e+00] [ 3.17653674e-02 -8.59596913e-04 9.99494984e-01 3.39607570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.92, Y:5.01, Z:3.40 [[ 9.97766693e-01 -5.87561220e-02 -3.17701717e-02 1.40922509e+02] [ 5.87554944e-02 9.98271948e-01 -9.54133081e-04 5.00989905e+00] [ 3.17713324e-02 -9.14669937e-04 9.99494745e-01 3.39706970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.95, Y:5.02, Z:3.40 [[ 9.97649698e-01 -6.28096509e-02 -2.73866288e-02 1.40952640e+02] [ 6.22771306e-02 9.97860824e-01 -1.98830406e-02 5.01871678e+00] [ 2.85768908e-02 1.81307488e-02 9.99427155e-01 3.39829172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.98, Y:5.00, Z:3.39 [[ 9.97270031e-01 -6.70633178e-02 -3.09030296e-02 1.40984961e+02] [ 6.76399921e-02 9.97547260e-01 1.80082042e-02 4.99884262e+00] [ 2.96195425e-02 -2.00493230e-02 9.99360149e-01 3.39142220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.02, Y:5.01, Z:3.40 [[ 9.97080426e-01 -7.00911150e-02 -3.02961989e-02 1.41016983e+02] [ 7.00959222e-02 9.97539845e-01 -9.04669498e-04 5.00811041e+00] [ 3.02850749e-02 -1.22161176e-03 9.99540555e-01 3.39849207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.05, Y:5.01, Z:3.40 [[ 9.96886420e-01 -7.27743907e-02 -3.03537993e-02 1.41049596e+02] [ 7.27806073e-02 9.97347568e-01 -9.01452614e-04 5.00800738e+00] [ 3.03388906e-02 -1.31052208e-03 9.99538811e-01 3.39928480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.08, Y:5.01, Z:3.40 [[ 9.96700613e-01 -7.52286410e-02 -3.04719457e-02 1.41081276e+02] [ 7.52361152e-02 9.97165338e-01 -9.02835551e-04 5.00771504e+00] [ 3.04534872e-02 -1.39273407e-03 9.99535215e-01 3.40013263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.11, Y:5.01, Z:3.40 [[ 9.96299584e-01 -8.06571457e-02 -2.96911320e-02 1.41113515e+02] [ 8.06666909e-02 9.96740746e-01 -8.78139918e-04 5.00682773e+00] [ 2.96651893e-02 -1.52019493e-03 9.99558735e-01 3.40115126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.15, Y:5.01, Z:3.40 [[ 9.95963497e-01 -8.44224027e-02 -3.04888475e-02 1.41146580e+02] [ 8.44342977e-02 9.96428643e-01 -8.99404479e-04 5.00651005e+00] [ 3.04558909e-02 -1.67853040e-03 9.99534702e-01 3.40202729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.685099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.18, Y:5.01, Z:3.40 [[ 9.95781956e-01 -8.61012719e-02 -3.16996490e-02 1.41178680e+02] [ 8.61150919e-02 9.96284760e-01 -9.31566289e-04 5.00623542e+00] [ 3.16620862e-02 -1.80218128e-03 9.99497006e-01 3.40175843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.21, Y:5.01, Z:3.40 [[ 9.95762570e-01 -8.63378957e-02 -3.16649883e-02 1.41211720e+02] [ 8.63518983e-02 9.96264267e-01 -9.27593714e-04 5.00700074e+00] [ 3.16267829e-02 -1.81066875e-03 9.99498108e-01 3.40278771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.25, Y:5.01, Z:3.40 [[ 9.95803112e-01 -8.62957244e-02 -3.04829529e-02 1.41245101e+02] [ 8.63087763e-02 9.96268038e-01 -8.89807133e-04 5.00848169e+00] [ 3.04459783e-02 -1.74487365e-03 9.99534891e-01 3.40454769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.28, Y:5.01, Z:3.41 [[ 9.95979865e-01 -8.42502597e-02 -3.04302727e-02 1.41278521e+02] [ 8.42624151e-02 9.96443206e-01 -8.84974109e-04 5.01043759e+00] [ 3.03965978e-02 -1.68271188e-03 9.99536500e-01 3.40573581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.31, Y:5.01, Z:3.41 [[ 9.96089361e-01 -8.28766894e-02 -3.06176158e-02 1.41311922e+02] [ 8.28884511e-02 9.96558437e-01 -8.87059914e-04 5.01172470e+00] [ 3.05857599e-02 -1.65425580e-03 9.99530777e-01 3.40635397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.35, Y:5.01, Z:3.41 [[ 9.96174049e-01 -8.16185604e-02 -3.12357990e-02 1.41345185e+02] [ 8.16302934e-02 9.96662271e-01 -9.01527259e-04 5.01334530e+00] [ 3.12051238e-02 -1.65170938e-03 9.99511637e-01 3.40728790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.38, Y:5.01, Z:3.41 [[ 9.96302569e-01 -7.98943837e-02 -3.15923859e-02 1.41377278e+02] [ 7.99056288e-02 9.96802019e-01 -9.08438295e-04 5.01474345e+00] [ 3.15639332e-02 -1.61933006e-03 9.99500423e-01 3.40771751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.41, Y:5.02, Z:3.41 [[ 9.96482254e-01 -7.75230591e-02 -3.18322594e-02 1.41409738e+02] [ 7.75333702e-02 9.96989340e-01 -9.12156736e-04 5.01710896e+00] [ 3.18071365e-02 -1.55911435e-03 9.99492809e-01 3.40848915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.44, Y:5.02, Z:3.41 [[ 9.96577220e-01 -7.61755355e-02 -3.21112582e-02 1.41442361e+02] [ 7.61855006e-02 9.97093242e-01 -9.14856253e-04 5.01893319e+00] [ 3.20876082e-02 -1.53468738e-03 9.99483882e-01 3.40943122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.47, Y:5.02, Z:3.41 [[ 9.96769144e-01 -7.34427719e-02 -3.25181892e-02 1.41474779e+02] [ 7.34516543e-02 9.97298352e-01 -9.22953729e-04 5.02201397e+00] [ 3.24981207e-02 -1.46854299e-03 9.99470718e-01 3.41018560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.51, Y:5.02, Z:3.41 [[ 9.96775570e-01 -7.33554674e-02 -3.25182717e-02 1.41507456e+02] [ 7.33643984e-02 9.97304777e-01 -9.20036367e-04 5.02287867e+00] [ 3.24981174e-02 -1.46861367e-03 9.99470718e-01 3.41110105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.54, Y:5.02, Z:3.41 [[ 9.96859835e-01 -7.21840904e-02 -3.25565050e-02 1.41539954e+02] [ 7.21925095e-02 9.97390294e-01 -9.18342787e-04 5.02485940e+00] [ 3.25378318e-02 -1.43487676e-03 9.99469475e-01 3.41193598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.57, Y:5.03, Z:3.41 [[ 9.96936791e-01 -7.10154022e-02 -3.27696163e-02 1.41571872e+02] [ 7.10233777e-02 9.97474225e-01 -9.22044495e-04 5.02687534e+00] [ 3.27523270e-02 -1.40818876e-03 9.99462507e-01 3.41275055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.60, Y:5.03, Z:3.41 [[ 9.97015881e-01 -6.95849115e-02 -3.34256353e-02 1.41604046e+02] [ 6.95924878e-02 9.97575063e-01 -9.38110719e-04 5.03028563e+00] [ 3.34098586e-02 -1.39086183e-03 9.99440767e-01 3.41360862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.64, Y:5.03, Z:3.41 [[ 9.97032600e-01 -6.91475687e-02 -3.38320586e-02 1.41635531e+02] [ 6.91551692e-02 9.97605466e-01 -9.46863187e-04 5.03238924e+00] [ 3.38165199e-02 -1.39560828e-03 9.99427084e-01 3.41466808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.67, Y:5.04, Z:3.42 [[ 9.97041906e-01 -6.86866027e-02 -3.44904024e-02 1.41667916e+02] [ 6.86943513e-02 9.97637289e-01 -9.61694538e-04 5.03527601e+00] [ 3.44749671e-02 -1.41044606e-03 9.99404566e-01 3.41552698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.70, Y:5.04, Z:3.42 [[ 9.97230292e-01 -6.70248986e-02 -3.22398517e-02 1.41700936e+02] [ 6.67680552e-02 9.97728117e-01 -8.97952934e-03 5.03925108e+00] [ 3.27684586e-02 6.80206647e-03 9.99439823e-01 3.41549808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.73, Y:5.03, Z:3.41 [[ 9.97030454e-01 -6.86371094e-02 -3.49173526e-02 1.41731307e+02] [ 6.89334950e-02 9.97594145e-01 7.35494824e-03 5.03468048e+00] [ 3.43285241e-02 -9.74008253e-03 9.99363139e-01 3.41436652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.76, Y:5.04, Z:3.42 [[ 9.97049108e-01 -6.86092279e-02 -3.44361693e-02 1.41762538e+02] [ 6.86170928e-02 9.97642613e-01 -9.54757400e-04 5.04211503e+00] [ 3.44204950e-02 -1.41096981e-03 9.99406443e-01 3.41862676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.79, Y:5.04, Z:3.42 [[ 9.97069535e-01 -6.82353479e-02 -3.45872702e-02 1.41793189e+02] [ 6.82431228e-02 9.97668262e-01 -9.57061061e-04 5.04430214e+00] [ 3.45719271e-02 -1.40608690e-03 9.99401223e-01 3.41993339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.83, Y:5.05, Z:3.42 [[ 9.97155681e-01 -6.74486708e-02 -3.36336891e-02 1.41825202e+02] [ 6.74556371e-02 9.97721842e-01 -9.28841110e-04 5.04810634e+00] [ 3.36197153e-02 -1.34258273e-03 9.99433796e-01 3.42182095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.86, Y:5.05, Z:3.42 [[ 9.97174717e-01 -6.75365623e-02 -3.28845820e-02 1.41856613e+02] [ 6.75433517e-02 9.97715929e-01 -9.05633967e-04 5.05003899e+00] [ 3.28706347e-02 -1.31805959e-03 9.99458746e-01 3.42325490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.89, Y:5.05, Z:3.42 [[ 9.97215513e-01 -6.68509286e-02 -3.30480540e-02 1.41888818e+02] [ 6.68575279e-02 9.97762121e-01 -9.06564963e-04 5.05260217e+00] [ 3.30347012e-02 -1.30547055e-03 9.99453353e-01 3.42446752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.92, Y:5.06, Z:3.43 [[ 9.97262376e-01 -6.61801380e-02 -3.29839784e-02 1.41919750e+02] [ 6.61864207e-02 9.97806867e-01 -9.02526335e-04 5.05531994e+00] [ 3.29713694e-02 -1.28303591e-03 9.99455473e-01 3.42516639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.95, Y:5.06, Z:3.43 [[ 9.97296889e-01 -6.55049253e-02 -3.32869371e-02 1.41950662e+02] [ 6.55110085e-02 9.97851433e-01 -9.09024299e-04 5.05719300e+00] [ 3.32749634e-02 -1.27409371e-03 9.99445423e-01 3.42611045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.435099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.98, Y:5.07, Z:3.43 [[ 9.97460377e-01 -6.41390501e-02 -3.09673638e-02 1.41982343e+02] [ 6.36455290e-02 9.97833351e-01 -1.66688379e-02 5.06754999e+00] [ 3.19693918e-02 1.46555711e-02 9.99381395e-01 3.42762928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.01, Y:5.05, Z:3.42 [[ 9.97481010e-01 -6.16786032e-02 -3.50340541e-02 1.42014869e+02] [ 6.22268789e-02 9.97952585e-01 1.47801495e-02 5.05402924e+00] [ 3.40507058e-02 -1.69229783e-02 9.99276820e-01 3.42089829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.05, Y:5.07, Z:3.43 [[ 9.97741199e-01 -5.96693065e-02 -3.08556982e-02 1.42045434e+02] [ 5.91167645e-02 9.98079253e-01 -1.85205811e-02 5.07356282e+00] [ 3.19015425e-02 1.66546577e-02 9.99352247e-01 3.42918702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.08, Y:5.06, Z:3.42 [[ 9.97900180e-01 -5.51889529e-02 -3.39029467e-02 1.42078161e+02] [ 5.57770851e-02 9.98304357e-01 1.66531601e-02 5.05823149e+00] [ 3.29263889e-02 -1.85091990e-02 9.99286377e-01 3.42237046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.11, Y:5.08, Z:3.43 [[ 9.98270260e-01 -5.11023349e-02 -2.90695537e-02 1.42108564e+02] [ 5.05819051e-02 9.98551039e-01 -1.83655384e-02 5.07791705e+00] [ 2.99659549e-02 1.68633774e-02 9.99408659e-01 3.43077486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.14, Y:5.07, Z:3.43 [[ 9.98380967e-01 -4.86463681e-02 -2.94783942e-02 1.42140553e+02] [ 4.85924255e-02 9.98815451e-01 -2.54394365e-03 5.07186216e+00] [ 2.95672292e-02 1.10739824e-03 9.99562180e-01 3.42580536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.17, Y:5.06, Z:3.42 [[ 9.98351789e-01 -4.66619428e-02 -3.34120890e-02 1.42171674e+02] [ 4.72691810e-02 9.98726759e-01 1.76205845e-02 5.06339365e+00] [ 3.25473367e-02 -1.91709042e-02 9.99286319e-01 3.42499682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.20, Y:5.07, Z:3.43 [[ 9.98343429e-01 -4.71862493e-02 -3.29219696e-02 1.42202215e+02] [ 4.71828385e-02 9.98885881e-01 -8.80914180e-04 5.07335846e+00] [ 3.29268576e-02 -6.73897089e-04 9.99457537e-01 3.43272395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.23, Y:5.07, Z:3.43 [[ 9.98437407e-01 -4.53065456e-02 -3.27118025e-02 1.42232752e+02] [ 4.53021864e-02 9.98972946e-01 -8.74787682e-04 5.07479115e+00] [ 3.27178393e-02 -6.08495430e-04 9.99464443e-01 3.43339853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.26, Y:5.08, Z:3.43 [[ 9.98511730e-01 -4.34668113e-02 -3.29387500e-02 1.42263291e+02] [ 4.34613909e-02 9.99054719e-01 -8.80856770e-04 5.07610859e+00] [ 3.29459016e-02 -5.52018071e-04 9.99456984e-01 3.43409841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.29, Y:5.08, Z:3.44 [[ 9.98619328e-01 -4.02504685e-02 -3.37540687e-02 1.42292417e+02] [ 4.02429372e-02 9.99189517e-01 -9.02744107e-04 5.07805050e+00] [ 3.37630475e-02 -4.56865153e-04 9.99429761e-01 3.43504234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.32, Y:5.08, Z:3.44 [[ 9.98642169e-01 -3.93006527e-02 -3.41946948e-02 1.42321013e+02] [ 3.92923057e-02 9.99227339e-01 -9.16321388e-04 5.07943680e+00] [ 3.42042859e-02 -4.28511221e-04 9.99414770e-01 3.43607412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.35, Y:5.08, Z:3.44 [[ 9.98670904e-01 -3.83069804e-02 -3.44819016e-02 1.42348654e+02] [ 3.82975982e-02 9.99265943e-01 -9.32776668e-04 5.08009143e+00] [ 3.44923217e-02 -3.89037093e-04 9.99404887e-01 3.43644151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.38, Y:5.08, Z:3.44 [[ 9.98710814e-01 -3.62710684e-02 -3.55122338e-02 1.42375827e+02] [ 3.62594980e-02 9.99341937e-01 -9.70004919e-04 5.07967983e+00] [ 3.55240476e-02 -3.18901367e-04 9.99368771e-01 3.43648426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.40, Y:5.08, Z:3.44 [[ 9.98725067e-01 -3.55085215e-02 -3.58801535e-02 1.42402789e+02] [ 3.54960576e-02 9.99369331e-01 -9.84524907e-04 5.08000518e+00] [ 3.58924841e-02 -2.90334293e-04 9.99355615e-01 3.43725060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.43, Y:5.08, Z:3.44 [[ 9.98762654e-01 -3.48797255e-02 -3.54480603e-02 1.42430446e+02] [ 3.48669743e-02 9.99391484e-01 -9.78015877e-04 5.08000577e+00] [ 3.54606025e-02 -2.59160875e-04 9.99371041e-01 3.43813391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.46, Y:5.08, Z:3.44 [[ 9.98781902e-01 -3.46229764e-02 -3.51562564e-02 1.42457152e+02] [ 3.46099584e-02 9.99400416e-01 -9.78970948e-04 5.08047398e+00] [ 3.51690722e-02 -2.38978109e-04 9.99381348e-01 3.43945780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.48, Y:5.08, Z:3.44 [[ 9.98819584e-01 -3.48398674e-02 -3.38470325e-02 1.42484754e+02] [ 3.48277609e-02 9.99392880e-01 -9.47372768e-04 5.08057774e+00] [ 3.38594896e-02 -2.32561879e-04 9.99426576e-01 3.44138480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.51, Y:5.08, Z:3.44 [[ 9.98834600e-01 -3.50198381e-02 -3.32122476e-02 1.42511521e+02] [ 3.50079898e-02 9.99386592e-01 -9.38364302e-04 5.08045640e+00] [ 3.32247363e-02 -2.25423294e-04 9.99447881e-01 3.44231643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.54, Y:5.08, Z:3.44 [[ 9.98790178e-01 -3.58997629e-02 -3.36063641e-02 1.42539436e+02] [ 3.58879614e-02 9.99355364e-01 -9.54499633e-04 5.08002420e+00] [ 3.36189665e-02 -2.52719040e-04 9.99434691e-01 3.44297437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:5.08, Z:3.44 [[ 9.98732956e-01 -3.71435187e-02 -3.39535103e-02 1.42566014e+02] [ 3.71318812e-02 9.99309900e-01 -9.73463444e-04 5.07814783e+00] [ 3.39662369e-02 -2.88527688e-04 9.99422939e-01 3.44322002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.59, Y:5.08, Z:3.44 [[ 9.98710882e-01 -3.77220730e-02 -3.39649739e-02 1.42593426e+02] [ 3.77106054e-02 9.99288223e-01 -9.78399403e-04 5.07799382e+00] [ 3.39777056e-02 -3.03701597e-04 9.99422545e-01 3.44421998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.62, Y:5.08, Z:3.44 [[ 9.98682440e-01 -3.87140369e-02 -3.36839221e-02 1.42620814e+02] [ 3.87031123e-02 9.99250277e-01 -9.76534373e-04 5.07729138e+00] [ 3.36964741e-02 -3.28424889e-04 9.99432059e-01 3.44487981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.65, Y:5.08, Z:3.45 [[ 9.98597266e-01 -4.03948391e-02 -3.42309408e-02 1.42648629e+02] [ 4.03843697e-02 9.99183721e-01 -9.97471123e-04 5.07680167e+00] [ 3.42432915e-02 -3.86323035e-04 9.99413452e-01 3.44617379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.68, Y:5.07, Z:3.45 [[ 9.98489002e-01 -4.20750175e-02 -3.53469225e-02 1.42676495e+02] [ 4.20645429e-02 9.99114354e-01 -1.04027266e-03 5.07492348e+00] [ 3.53593872e-02 -4.48151331e-04 9.99374561e-01 3.44658840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.185099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.70, Y:5.07, Z:3.45 [[ 9.98380733e-01 -4.39355169e-02 -3.61328480e-02 1.42704730e+02] [ 4.39254079e-02 9.99034236e-01 -1.07394396e-03 5.07270078e+00] [ 3.61451365e-02 -5.14945131e-04 9.99346418e-01 3.44677704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.73, Y:5.07, Z:3.45 [[ 9.98325104e-01 -4.54826808e-02 -3.57534981e-02 1.42732385e+02] [ 4.54734584e-02 9.98964973e-01 -1.07150259e-03 5.07135941e+00] [ 3.57652271e-02 -5.56127273e-04 9.99360065e-01 3.44724942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.76, Y:5.07, Z:3.45 [[ 9.98273241e-01 -4.65561845e-02 -3.58198050e-02 1.42760943e+02] [ 4.65474659e-02 9.98915498e-01 -1.07774425e-03 5.07114567e+00] [ 3.58311341e-02 -5.91437904e-04 9.99357684e-01 3.44773736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.79, Y:5.07, Z:3.45 [[ 9.98230439e-01 -4.74632641e-02 -3.58221852e-02 1.42789421e+02] [ 4.74548119e-02 9.98872795e-01 -1.08663347e-03 5.07091880e+00] [ 3.58333814e-02 -6.15224455e-04 9.99357589e-01 3.44819587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.82, Y:5.07, Z:3.45 [[ 9.98219637e-01 -4.76901030e-02 -3.58219210e-02 1.42818633e+02] [ 4.76814865e-02 9.98861991e-01 -1.09528219e-03 5.07185598e+00] [ 3.58333894e-02 -6.14710252e-04 9.99357589e-01 3.44904734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.85, Y:5.07, Z:3.45 [[ 9.98137342e-01 -4.97415898e-02 -3.53216727e-02 1.42847815e+02] [ 4.97342108e-02 9.98761896e-01 -1.08804381e-03 5.07098671e+00] [ 3.53320618e-02 -6.70678361e-04 9.99375403e-01 3.44965387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.88, Y:5.07, Z:3.45 [[ 9.98071536e-01 -5.15707619e-02 -3.45494638e-02 1.42877718e+02] [ 5.15645481e-02 9.98669089e-01 -1.07145000e-03 5.07026207e+00] [ 3.45587370e-02 -7.12143741e-04 9.99402415e-01 3.45138433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.91, Y:5.07, Z:3.45 [[ 9.98013728e-01 -5.25012870e-02 -3.48168494e-02 1.42908600e+02] [ 5.24955062e-02 9.98620575e-01 -1.08078510e-03 5.07010682e+00] [ 3.48255648e-02 -7.49089762e-04 9.99393125e-01 3.45209199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.94, Y:5.07, Z:3.45 [[ 9.97936641e-01 -5.37458285e-02 -3.51261646e-02 1.42939447e+02] [ 5.37407150e-02 9.98554328e-01 -1.09038687e-03 5.07014539e+00] [ 3.51339875e-02 -7.99568189e-04 9.99382291e-01 3.45324061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.97, Y:5.07, Z:3.45 [[ 9.97850363e-01 -5.50636573e-02 -3.55337403e-02 1.42969758e+02] [ 5.50592594e-02 9.98482479e-01 -1.10303884e-03 5.07031397e+00] [ 3.55405545e-02 -8.55793715e-04 9.99367869e-01 3.45476653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.00, Y:5.07, Z:3.46 [[ 9.97642496e-01 -5.79407047e-02 -3.67739616e-02 1.43000347e+02] [ 5.79379474e-02 9.98319534e-01 -1.14153781e-03 5.07012952e+00] [ 3.67783057e-02 -9.91761222e-04 9.99322957e-01 3.45580472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.03, Y:5.07, Z:3.46 [[ 9.97537930e-01 -5.93982320e-02 -3.72817460e-02 1.43030640e+02] [ 5.93964150e-02 9.98233804e-01 -1.15730046e-03 5.07047039e+00] [ 3.72846407e-02 -1.05995095e-03 9.99304124e-01 3.45678023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.06, Y:5.07, Z:3.46 [[ 9.97443028e-01 -6.07733288e-02 -3.76032967e-02 1.43061515e+02] [ 6.07724565e-02 9.98150964e-01 -1.16728204e-03 5.07099927e+00] [ 3.76047065e-02 -1.12094738e-03 9.99292064e-01 3.45820586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.09, Y:5.07, Z:3.46 [[ 9.97259903e-01 -6.28522419e-02 -3.90164303e-02 1.43091839e+02] [ 6.28528998e-02 9.98022067e-01 -1.21096894e-03 5.07078323e+00] [ 3.90153705e-02 -1.24464501e-03 9.99237835e-01 3.45886894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.12, Y:5.07, Z:3.46 [[ 9.97165050e-01 -6.42887751e-02 -3.91000895e-02 1.43122093e+02] [ 6.42905590e-02 9.97930485e-01 -1.21304301e-03 5.07074994e+00] [ 3.90971563e-02 -1.30416252e-03 9.99234563e-01 3.46017577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.15, Y:5.07, Z:3.46 [[ 9.97158900e-01 -6.47936951e-02 -3.84175174e-02 1.43152480e+02] [ 6.47957970e-02 9.97897833e-01 -1.19170075e-03 5.07126706e+00] [ 3.84139721e-02 -1.30097866e-03 9.99261064e-01 3.46136922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.18, Y:5.07, Z:3.46 [[ 9.97124748e-01 -6.54467074e-02 -3.81963958e-02 1.43183502e+02] [ 6.54492952e-02 9.97855194e-01 -1.18400844e-03 5.07195394e+00] [ 3.81919614e-02 -1.31932306e-03 9.99269550e-01 3.46262704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.21, Y:5.07, Z:3.46 [[ 9.97018987e-01 -6.67334214e-02 -3.87271348e-02 1.43214944e+02] [ 6.67371046e-02 9.97769874e-01 -1.19908229e-03 5.07278836e+00] [ 3.87207872e-02 -1.38902903e-03 9.99249104e-01 3.46365158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.25, Y:5.07, Z:3.46 [[ 9.96977725e-01 -6.73406823e-02 -3.87382153e-02 1.43245814e+02] [ 6.73448785e-02 9.97729037e-01 -1.19805246e-03 5.07394809e+00] [ 3.87309200e-02 -1.41438879e-03 9.99248675e-01 3.46429431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.28, Y:5.08, Z:3.46 [[ 9.96860226e-01 -6.89923799e-02 -3.88553883e-02 1.43277557e+02] [ 6.89979226e-02 9.97616082e-01 -1.19991182e-03 5.07544521e+00] [ 3.88455450e-02 -1.48479671e-03 9.99244124e-01 3.46484248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.31, Y:5.08, Z:3.47 [[ 9.96762021e-01 -7.09029154e-02 -3.79242705e-02 1.43308067e+02] [ 7.09096585e-02 9.97482057e-01 -1.16894412e-03 5.07621541e+00] [ 3.79116609e-02 -1.52403798e-03 9.99279932e-01 3.46502031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.34, Y:5.08, Z:3.47 [[ 9.96611134e-01 -7.41792854e-02 -3.55482981e-02 1.43340164e+02] [ 7.41873209e-02 9.97243723e-01 -1.09475801e-03 5.07763360e+00] [ 3.55315255e-02 -1.54618498e-03 9.99367360e-01 3.46596848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.37, Y:5.08, Z:3.47 [[ 9.96511937e-01 -7.61533860e-02 -3.41265580e-02 1.43371787e+02] [ 7.61620214e-02 9.97094904e-01 -1.04873100e-03 5.07922079e+00] [ 3.41072814e-02 -1.55407468e-03 9.99416969e-01 3.46712268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.40, Y:5.08, Z:3.47 [[ 9.96480015e-01 -7.66396313e-02 -3.39697993e-02 1.43403029e+02] [ 7.66485393e-02 9.97057629e-01 -1.04185354e-03 5.08045924e+00] [ 3.39496949e-02 -1.56554927e-03 9.99422317e-01 3.46808718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.44, Y:5.08, Z:3.47 [[ 9.96486633e-01 -7.65534807e-02 -3.39699083e-02 1.43435703e+02] [ 7.65624600e-02 9.97064247e-01 -1.03828977e-03 5.08139667e+00] [ 3.39496657e-02 -1.56617787e-03 9.99422317e-01 3.46903558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.935099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.47, Y:5.08, Z:3.47 [[ 9.96439443e-01 -7.71271985e-02 -3.40562987e-02 1.43467386e+02] [ 7.71366557e-02 9.97019989e-01 -1.03805844e-03 5.08261654e+00] [ 3.40348731e-02 -1.59262662e-03 9.99419377e-01 3.47008227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.50, Y:5.08, Z:3.47 [[ 9.96446249e-01 -7.70391904e-02 -3.40563746e-02 1.43500061e+02] [ 7.70486813e-02 9.97026794e-01 -1.03556327e-03 5.08355160e+00] [ 3.40348969e-02 -1.59211561e-03 9.99419377e-01 3.47103106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.53, Y:5.09, Z:3.47 [[ 9.96378404e-01 -7.77187630e-02 -3.44945027e-02 1.43532013e+02] [ 7.77290095e-02 9.96973975e-01 -1.04589675e-03 5.08552599e+00] [ 3.44714073e-02 -1.63911460e-03 9.99404340e-01 3.47149842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.56, Y:5.09, Z:3.47 [[ 9.96330438e-01 -7.79219109e-02 -3.54095120e-02 1.43563983e+02] [ 7.79329289e-02 9.96958029e-01 -1.07105433e-03 5.08679891e+00] [ 3.53852559e-02 -1.69244294e-03 9.99372313e-01 3.47215589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.60, Y:5.09, Z:3.47 [[ 9.96276211e-01 -7.82060569e-02 -3.62977034e-02 1.43595292e+02] [ 7.82179307e-02 9.96935683e-01 -1.09497578e-03 5.08794004e+00] [ 3.62721095e-02 -1.74823293e-03 9.99340421e-01 3.47322320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.63, Y:5.09, Z:3.47 [[ 9.96238000e-01 -7.85229043e-02 -3.66606111e-02 1.43627028e+02] [ 7.85353721e-02 9.96910719e-01 -1.10208136e-03 5.08908289e+00] [ 3.66338948e-02 -1.78121940e-03 9.99327166e-01 3.47400900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.66, Y:5.09, Z:3.48 [[ 9.96185900e-01 -7.89920193e-02 -3.70663397e-02 1.43659661e+02] [ 7.90051867e-02 9.96873585e-01 -1.11164113e-03 5.09025049e+00] [ 3.70382657e-02 -1.82103187e-03 9.99312189e-01 3.47520738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.69, Y:5.09, Z:3.48 [[ 9.96085033e-01 -8.00229158e-02 -3.75624852e-02 1.43691324e+02] [ 8.00372706e-02 9.96791238e-01 -1.12383246e-03 5.09116752e+00] [ 3.75318885e-02 -1.88696610e-03 9.99293649e-01 3.47687600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.72, Y:5.09, Z:3.48 [[ 9.96039219e-01 -8.06565539e-02 -3.74218473e-02 1.43722931e+02] [ 8.06713614e-02 9.96740129e-01 -1.11656951e-03 5.09225418e+00] [ 3.73899156e-02 -1.90672434e-03 9.99298934e-01 3.47822639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.76, Y:5.09, Z:3.48 [[ 9.95977599e-01 -8.16641221e-02 -3.68726546e-02 1.43755211e+02] [ 8.16793268e-02 9.96658059e-01 -1.09635734e-03 5.09338001e+00] [ 3.68389614e-02 -1.91978625e-03 9.99319371e-01 3.47944597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.79, Y:5.09, Z:3.48 [[ 9.95948337e-01 -8.20412094e-02 -3.68259321e-02 1.43787711e+02] [ 8.20567261e-02 9.96627062e-01 -1.09242394e-03 5.09434190e+00] [ 3.67913443e-02 -1.93381762e-03 9.99321098e-01 3.48035227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.82, Y:5.10, Z:3.48 [[ 9.95935151e-01 -8.24540121e-02 -3.62561904e-02 1.43819886e+02] [ 8.24694146e-02 9.96593018e-01 -1.07302889e-03 5.09590872e+00] [ 3.62211418e-02 -1.92135961e-03 9.99341952e-01 3.48177973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.85, Y:5.10, Z:3.48 [[ 9.95903375e-01 -8.30937696e-02 -3.56636189e-02 1.43851865e+02] [ 8.31091745e-02 9.96539892e-01 -1.05286088e-03 5.09728474e+00] [ 3.56277051e-02 -1.91542622e-03 9.99363296e-01 3.48300611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.89, Y:5.10, Z:3.48 [[ 9.95913785e-01 -8.32579401e-02 -3.49835335e-02 1.43885123e+02] [ 8.32729738e-02 9.96526242e-01 -1.02961741e-03 5.09879858e+00] [ 3.49477330e-02 -1.88777270e-03 9.99387358e-01 3.48439971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.92, Y:5.10, Z:3.49 [[ 9.95923643e-01 -8.29676013e-02 -3.53903272e-02 1.43918567e+02] [ 8.29829383e-02 9.96550428e-01 -1.03780971e-03 5.09986263e+00] [ 3.53543503e-02 -1.90321411e-03 9.99373027e-01 3.48547308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.95, Y:5.10, Z:3.49 [[ 9.95953398e-01 -8.25598025e-02 -3.55064394e-02 1.43951337e+02] [ 8.25751157e-02 9.96584303e-01 -1.03744860e-03 5.10175350e+00] [ 3.54708117e-02 -1.89869788e-03 9.99368909e-01 3.48637955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.98, Y:5.10, Z:3.49 [[ 9.95935778e-01 -8.25501010e-02 -3.60195218e-02 1.43984045e+02] [ 8.25659946e-02 9.96585048e-01 -1.04854796e-03 5.10325597e+00] [ 3.59830745e-02 -1.92970121e-03 9.99350536e-01 3.48745289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.02, Y:5.10, Z:3.49 [[ 9.95913429e-01 -8.28312587e-02 -3.59920135e-02 1.44015759e+02] [ 8.28474451e-02 9.96561694e-01 -1.04402155e-03 5.10469101e+00] [ 3.59547395e-02 -1.94209128e-03 9.99351532e-01 3.48863296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.05, Y:5.11, Z:3.49 [[ 9.95914121e-01 -8.27515843e-02 -3.61557515e-02 1.44049063e+02] [ 8.27679869e-02 9.96568295e-01 -1.04543136e-03 5.10727879e+00] [ 3.61181867e-02 -1.95137891e-03 9.99345620e-01 3.49027964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.08, Y:5.11, Z:3.49 [[ 9.96079840e-01 -8.09778770e-02 -3.56024582e-02 1.44081746e+02] [ 8.09927836e-02 9.96714160e-01 -1.02570918e-03 5.10914343e+00] [ 3.55685340e-02 -1.86185396e-03 9.99365505e-01 3.49144318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.11, Y:5.11, Z:3.49 [[ 9.96160191e-01 -8.00669113e-02 -3.54141630e-02 1.44114915e+02] [ 8.00812188e-02 9.96787823e-01 -1.01654130e-03 5.11058279e+00] [ 3.53817978e-02 -1.82337136e-03 9.99372205e-01 3.49266751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.14, Y:5.12, Z:3.50 [[ 9.96281922e-01 -7.78441557e-02 -3.69136809e-02 1.44143788e+02] [ 7.74679511e-02 9.96928323e-01 -1.15167166e-02 5.11645039e+00] [ 3.76968031e-02 8.61426932e-03 9.99252093e-01 3.49764264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.18, Y:5.11, Z:3.49 [[ 9.96398141e-01 -7.75871449e-02 -3.42195913e-02 1.44177529e+02] [ 7.79330774e-02 9.96918938e-01 8.89196249e-03 5.10808316e+00] [ 3.34242566e-02 -1.15267729e-02 9.99374781e-01 3.49168495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.21, Y:5.11, Z:3.50 [[ 9.96626305e-01 -7.53307965e-02 -3.25772703e-02 1.44208852e+02] [ 7.53409061e-02 9.97157412e-01 -9.18834758e-04 5.11394600e+00] [ 3.25538831e-02 -1.53866618e-03 9.99468798e-01 3.49600895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.24, Y:5.12, Z:3.50 [[ 9.96699917e-01 -7.45088350e-02 -3.22134941e-02 1.44241695e+02] [ 7.45183856e-02 9.97219229e-01 -9.05653182e-04 5.11503665e+00] [ 3.21913949e-02 -1.49783312e-03 9.99480600e-01 3.49720855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.685099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.27, Y:5.12, Z:3.50 [[ 9.96802924e-01 -7.30940706e-02 -3.22674508e-02 1.44273756e+02] [ 7.31030254e-02 9.97323985e-01 -9.03707429e-04 5.11594606e+00] [ 3.22471583e-02 -1.45803007e-03 9.99478862e-01 3.49812481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.31, Y:5.12, Z:3.50 [[ 9.96797772e-01 -7.32029653e-02 -3.21796188e-02 1.44306459e+02] [ 7.32120225e-02 9.97315994e-01 -8.98307511e-04 5.11689045e+00] [ 3.21590073e-02 -1.46050405e-03 9.99481698e-01 3.49921510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.34, Y:5.12, Z:3.50 [[ 9.96774005e-01 -7.32279990e-02 -3.28518321e-02 1.44338880e+02] [ 7.32375789e-02 9.97314105e-01 -9.13233487e-04 5.11789500e+00] [ 3.28304698e-02 -1.49570125e-03 9.99459816e-01 3.50025679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.37, Y:5.12, Z:3.50 [[ 9.96766671e-01 -7.29993891e-02 -3.35751842e-02 1.44370786e+02] [ 7.30094558e-02 9.97330817e-01 -9.27715016e-04 5.11848123e+00] [ 3.35532885e-02 -1.52659052e-03 9.99435764e-01 3.50093367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.40, Y:5.12, Z:3.50 [[ 9.96686456e-01 -7.33235009e-02 -3.52104068e-02 1.44401801e+02] [ 7.33348647e-02 9.97306902e-01 -9.70368832e-04 5.11842833e+00] [ 3.51867326e-02 -1.61499695e-03 9.99379450e-01 3.50095523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.43, Y:5.12, Z:3.50 [[ 9.96682754e-01 -7.31883573e-02 -3.55942818e-02 1.44434488e+02] [ 7.31999573e-02 9.97316804e-01 -9.78910962e-04 5.11857408e+00] [ 3.55704203e-02 -1.62983624e-03 9.99365843e-01 3.50144651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.47, Y:5.12, Z:3.50 [[ 9.96692863e-01 -7.26168215e-02 -3.64709965e-02 1.44465959e+02] [ 7.26287296e-02 9.97358545e-01 -9.99997936e-04 5.11862385e+00] [ 3.64472767e-02 -1.65215134e-03 9.99334212e-01 3.50235953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.50, Y:5.12, Z:3.50 [[ 9.96730670e-01 -7.17991280e-02 -3.70520943e-02 1.44498300e+02] [ 7.18110102e-02 9.97417744e-01 -1.01176244e-03 5.11941520e+00] [ 3.70290600e-02 -1.65229367e-03 9.99312823e-01 3.50361336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.53, Y:5.13, Z:3.51 [[ 9.97012094e-01 -6.86890041e-02 -3.53370092e-02 1.44528973e+02] [ 6.80985544e-02 9.97522442e-01 -1.76512009e-02 5.12946419e+00] [ 3.64619031e-02 1.51920615e-02 9.99219561e-01 3.50567682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.56, Y:5.11, Z:3.50 [[ 9.97050361e-01 -6.60831409e-02 -3.90332768e-02 1.44562012e+02] [ 6.67275715e-02 9.97651715e-01 1.54429857e-02 5.11376035e+00] [ 3.79210946e-02 -1.80020302e-02 9.99118570e-01 3.49951862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.59, Y:5.12, Z:3.51 [[ 9.97186343e-01 -6.45154535e-02 -3.81726713e-02 1.44593294e+02] [ 6.45230284e-02 9.97915682e-01 -1.03477349e-03 5.12287063e+00] [ 3.81598662e-02 -1.43115435e-03 9.99270622e-01 3.50626161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.62, Y:5.12, Z:3.51 [[ 9.97555387e-01 -5.91442799e-02 -3.72183175e-02 1.44624166e+02] [ 5.91478329e-02 9.98248727e-01 -1.00656597e-03 5.12483572e+00] [ 3.72126707e-02 -1.19727752e-03 9.99306651e-01 3.50779617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.65, Y:5.13, Z:3.51 [[ 9.97982777e-01 -5.25686666e-02 -3.55937181e-02 1.44654456e+02] [ 5.25677846e-02 9.98616896e-01 -9.61266179e-04 5.12677152e+00] [ 3.55950208e-02 -9.11755816e-04 9.99365881e-01 3.50953522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.68, Y:5.13, Z:3.51 [[ 9.98170253e-01 -4.95916248e-02 -3.45950444e-02 1.44684655e+02] [ 4.95890626e-02 9.98769270e-01 -9.32611432e-04 5.12812605e+00] [ 3.45987170e-02 -7.84630833e-04 9.99400977e-01 3.51093758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.71, Y:5.13, Z:3.51 [[ 9.98416043e-01 -4.61661417e-02 -3.21572975e-02 1.44713285e+02] [ 4.59503702e-02 9.98916186e-01 -7.41727319e-03 5.13388131e+00] [ 3.24648719e-02 5.92788483e-03 9.99455298e-01 3.51268792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.74, Y:5.13, Z:3.51 [[ 9.98484816e-01 -4.38386552e-02 -3.32602621e-02 1.44743355e+02] [ 4.40396597e-02 9.99015540e-01 5.33470508e-03 5.12650971e+00] [ 3.29936524e-02 -6.79139264e-03 9.99432487e-01 3.51120360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.77, Y:5.13, Z:3.51 [[ 9.98521522e-01 -4.30095490e-02 -3.32407747e-02 1.44772702e+02] [ 4.30032324e-02 9.99074523e-01 -9.05261271e-04 5.12927095e+00] [ 3.32489460e-02 -5.25537898e-04 9.99446963e-01 3.51400228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.80, Y:5.13, Z:3.51 [[ 9.98493033e-01 -4.37113747e-02 -3.31810092e-02 1.44801316e+02] [ 4.37054030e-02 9.99044052e-01 -9.05592740e-04 5.12924056e+00] [ 3.31888745e-02 -5.45961338e-04 9.99448948e-01 3.51443650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.83, Y:5.13, Z:3.51 [[ 9.98340115e-01 -4.57780559e-02 -3.49483130e-02 1.44831428e+02] [ 4.57724213e-02 9.98951431e-01 -9.61707534e-04 5.12775328e+00] [ 3.49556924e-02 -6.39557697e-04 9.99388658e-01 3.51435157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.86, Y:5.13, Z:3.51 [[ 9.98236210e-01 -4.72645977e-02 -3.59238961e-02 1.44860524e+02] [ 4.72595085e-02 9.98882153e-01 -9.91277057e-04 5.12735268e+00] [ 3.59305910e-02 -7.08217022e-04 9.99354037e-01 3.51478903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.89, Y:5.13, Z:3.52 [[ 9.98120216e-01 -4.84945417e-02 -3.74741668e-02 1.44889140e+02] [ 4.84895638e-02 9.98823145e-01 -1.04223170e-03 5.12712418e+00] [ 3.74806077e-02 -7.76833469e-04 9.99297053e-01 3.51546655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.92, Y:5.13, Z:3.52 [[ 9.97901453e-01 -5.15226179e-02 -3.92187368e-02 1.44916535e+02] [ 5.15193873e-02 9.98671396e-01 -1.09369357e-03 5.12679244e+00] [ 3.92229805e-02 -9.29126882e-04 9.99230051e-01 3.51630446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.95, Y:5.13, Z:3.52 [[ 9.97731717e-01 -5.37306299e-02 -4.05517070e-02 1.44945490e+02] [ 5.37287260e-02 9.98554921e-01 -1.13758236e-03 5.12651544e+00] [ 4.05542296e-02 -1.04378956e-03 9.99176794e-01 3.51761409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.97, Y:5.13, Z:3.52 [[ 9.97706282e-01 -5.40978236e-02 -4.06890796e-02 1.44974091e+02] [ 5.40958086e-02 9.98535086e-01 -1.15133882e-03 5.12665486e+00] [ 4.06917585e-02 -1.05241069e-03 9.99171193e-01 3.51849579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.00, Y:5.13, Z:3.52 [[ 9.97733861e-01 -5.41952609e-02 -3.98750075e-02 1.45003058e+02] [ 5.41930176e-02 9.98529830e-01 -1.13795469e-03 5.12729847e+00] [ 3.98780563e-02 -1.02557106e-03 9.99204028e-01 3.51926969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.435099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.03, Y:5.13, Z:3.52 [[ 9.97798284e-01 -5.33472649e-02 -3.94037260e-02 1.45032231e+02] [ 5.33440263e-02 9.98575550e-01 -1.13432076e-03 5.12813569e+00] [ 3.94081102e-02 -9.70130091e-04 9.99222728e-01 3.52019026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.06, Y:5.13, Z:3.52 [[ 9.97888131e-01 -5.19872979e-02 -3.89435220e-02 1.45060879e+02] [ 5.19827221e-02 9.98647344e-01 -1.13075507e-03 5.12899433e+00] [ 3.89496297e-02 -8.96023216e-04 9.99240774e-01 3.52144486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.09, Y:5.13, Z:3.52 [[ 9.98182060e-01 -4.76969105e-02 -3.68453593e-02 1.45089265e+02] [ 4.76896181e-02 9.98861622e-01 -1.07726272e-03 5.13030987e+00] [ 3.68547974e-02 -6.81836796e-04 9.99320399e-01 3.52303578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.12, Y:5.13, Z:3.53 [[ 9.98451954e-01 -4.30675904e-02 -3.51977153e-02 1.45118415e+02] [ 4.30579561e-02 9.99072043e-01 -1.03203155e-03 5.13134147e+00] [ 3.52095004e-02 -4.85107763e-04 9.99379836e-01 3.52506125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.15, Y:5.13, Z:3.53 [[ 9.98568847e-01 -4.05305962e-02 -3.48931107e-02 1.45145735e+02] [ 4.05193088e-02 9.99178224e-01 -1.03085319e-03 5.13173109e+00] [ 3.49062175e-02 -3.84466851e-04 9.99390518e-01 3.52585494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.17, Y:5.13, Z:3.53 [[ 9.98652172e-01 -3.85319701e-02 -3.47725114e-02 1.45173181e+02] [ 3.85194057e-02 9.99257320e-01 -1.03142002e-03 5.13171326e+00] [ 3.47864292e-02 -3.09386634e-04 9.99394721e-01 3.52668063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.20, Y:5.13, Z:3.53 [[ 9.98776659e-01 -3.49534201e-02 -3.49777722e-02 1.45200678e+02] [ 3.49381566e-02 9.99388927e-01 -1.04768650e-03 5.13080861e+00] [ 3.49930184e-02 -1.75654062e-04 9.99387541e-01 3.52731518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.23, Y:5.13, Z:3.53 [[ 9.98817228e-01 -3.22834254e-02 -3.63583071e-02 1.45227705e+02] [ 3.22648098e-02 9.99478752e-01 -1.09878270e-03 5.12972649e+00] [ 3.63748279e-02 -7.56107787e-05 9.99338214e-01 3.52811079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.25, Y:5.13, Z:3.53 [[ 9.98862957e-01 -3.18063026e-02 -3.55126994e-02 1.45254130e+02] [ 3.15854479e-02 9.99478175e-01 -6.76297378e-03 5.13324941e+00] [ 3.57092732e-02 5.63359947e-03 9.99346342e-01 3.52851128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.28, Y:5.12, Z:3.53 [[ 9.98771222e-01 -3.06980468e-02 -3.89059987e-02 1.45283051e+02] [ 3.08870029e-02 9.99513784e-01 4.26486317e-03 5.12496702e+00] [ 3.87561590e-02 -5.46131229e-03 9.99233774e-01 3.52718068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.31, Y:5.13, Z:3.53 [[ 9.98732999e-01 -3.09929430e-02 -3.96463761e-02 1.45310474e+02] [ 3.09688796e-02 9.99519603e-01 -1.22109681e-03 5.12671067e+00] [ 3.96651755e-02 -8.25417123e-06 9.99213027e-01 3.52965459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.34, Y:5.12, Z:3.53 [[ 9.98628830e-01 -3.27883099e-02 -4.08091489e-02 1.45338338e+02] [ 3.27638287e-02 9.99462316e-01 -1.26874074e-03 5.12257852e+00] [ 4.08288064e-02 -7.00628825e-05 9.99166154e-01 3.53000402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.37, Y:5.12, Z:3.53 [[ 9.98623038e-01 -3.29646312e-02 -4.08088251e-02 1.45366741e+02] [ 3.29398745e-02 9.99456517e-01 -1.27908225e-03 5.12354825e+00] [ 4.08288107e-02 -6.69165719e-05 9.99166154e-01 3.53084398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.39, Y:5.12, Z:3.53 [[ 9.98602830e-01 -3.39872787e-02 -4.04629819e-02 1.45394541e+02] [ 3.39634422e-02 9.99422261e-01 -1.27655923e-03 5.12284271e+00] [ 4.04829917e-02 -9.94864860e-05 9.99180223e-01 3.53202470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.42, Y:5.12, Z:3.53 [[ 9.98612787e-01 -3.61368266e-02 -3.82966202e-02 1.45421511e+02] [ 3.61167061e-02 9.99346838e-01 -1.21730992e-03 5.12079619e+00] [ 3.83155960e-02 -1.67526524e-04 9.99265674e-01 3.53351433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.45, Y:5.12, Z:3.53 [[ 9.98599426e-01 -3.76030478e-02 -3.72182323e-02 1.45449126e+02] [ 3.75848465e-02 9.99292733e-01 -1.18883292e-03 5.12025038e+00] [ 3.72366128e-02 -2.11673676e-04 9.99306454e-01 3.53480225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.48, Y:5.12, Z:3.54 [[ 9.98585411e-01 -3.92121545e-02 -3.59107729e-02 1.45476416e+02] [ 3.91959267e-02 9.99230876e-01 -1.15605769e-03 5.11966654e+00] [ 3.59284846e-02 -2.53133677e-04 9.99354332e-01 3.53609840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.50, Y:5.12, Z:3.54 [[ 9.98477782e-01 -4.37472205e-02 -3.35901828e-02 1.45504243e+02] [ 4.37354319e-02 9.99042558e-01 -1.08597562e-03 5.11672495e+00] [ 3.36055306e-02 -3.84758622e-04 9.99435101e-01 3.53762662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.53, Y:5.12, Z:3.54 [[ 9.98365765e-01 -4.66000281e-02 -3.30792592e-02 1.45532031e+02] [ 4.65898511e-02 9.98913521e-01 -1.07879512e-03 5.11520152e+00] [ 3.30935911e-02 -4.64125648e-04 9.99452149e-01 3.53836554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.56, Y:5.11, Z:3.54 [[ 9.98174267e-01 -5.03344754e-02 -3.33852290e-02 1.45560830e+02] [ 5.03258755e-02 9.98732246e-01 -1.09838297e-03 5.11372966e+00] [ 3.33981913e-02 -5.83763261e-04 9.99441954e-01 3.53936526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.59, Y:5.11, Z:3.54 [[ 9.97759505e-01 -5.78851291e-02 -3.35452248e-02 1.45589777e+02] [ 5.78804502e-02 9.98322903e-01 -1.11135839e-03 5.10957735e+00] [ 3.35532973e-02 -8.32744320e-04 9.99436583e-01 3.53988229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.62, Y:5.11, Z:3.54 [[ 9.97483719e-01 -6.24714218e-02 -3.35194295e-02 1.45619964e+02] [ 6.24692910e-02 9.98046267e-01 -1.11185023e-03 5.10819386e+00] [ 3.35234004e-02 -9.84882501e-04 9.99437448e-01 3.54068243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.65, Y:5.11, Z:3.54 [[ 9.97180210e-01 -6.69172748e-02 -3.39662555e-02 1.45651253e+02] [ 6.69177259e-02 9.97757863e-01 -1.12479600e-03 5.10650743e+00] [ 3.39653668e-02 -1.15132026e-03 9.99422347e-01 3.54140013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.68, Y:5.10, Z:3.54 [[ 9.96836245e-01 -7.12449019e-02 -3.52372588e-02 1.45682201e+02] [ 7.12481334e-02 9.97457941e-01 -1.16556779e-03 5.10482210e+00] [ 3.52307244e-02 -1.34870870e-03 9.99378295e-01 3.54208000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.71, Y:5.10, Z:3.54 [[ 9.96156898e-01 -7.94244530e-02 -3.69214019e-02 1.45713659e+02] [ 7.94336620e-02 9.96839408e-01 -1.21973566e-03 5.10051160e+00] [ 3.69015853e-02 -1.71775407e-03 9.99317428e-01 3.54164385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.185099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.75, Y:5.10, Z:3.54 [[ 9.95857686e-01 -8.29052942e-02 -3.73387480e-02 1.45746132e+02] [ 8.29172349e-02 9.96555676e-01 -1.23131815e-03 5.09925381e+00] [ 3.73122241e-02 -1.86980810e-03 9.99301907e-01 3.54240706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.78, Y:5.10, Z:3.54 [[ 9.95341698e-01 -8.82315559e-02 -3.88599565e-02 1.45778300e+02] [ 8.82486496e-02 9.96097656e-01 -1.27857445e-03 5.09650285e+00] [ 3.88211222e-02 -2.15672022e-03 9.99243849e-01 3.54319548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.81, Y:5.10, Z:3.54 [[ 9.95167736e-01 -8.98439459e-02 -3.96136561e-02 1.45809458e+02] [ 8.98631188e-02 9.95953277e-01 -1.29995319e-03 5.09639159e+00] [ 3.95701435e-02 -2.26613520e-03 9.99214225e-01 3.54388055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.84, Y:5.10, Z:3.54 [[ 9.95064761e-01 -9.10011213e-02 -3.95590473e-02 1.45841936e+02] [ 9.10213221e-02 9.95848103e-01 -1.29386286e-03 5.09623882e+00] [ 3.95125452e-02 -2.31323945e-03 9.99216397e-01 3.54497300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.87, Y:5.10, Z:3.55 [[ 9.95080433e-01 -9.11064498e-02 -3.89171764e-02 1.45873700e+02] [ 9.11261883e-02 9.95838544e-01 -1.27006547e-03 5.09715274e+00] [ 3.88709354e-02 -2.28255665e-03 9.99241633e-01 3.54615618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.91, Y:5.10, Z:3.55 [[ 9.95174461e-01 -9.04802166e-02 -3.79621278e-02 1.45905721e+02] [ 9.04986465e-02 9.95895811e-01 -1.23615085e-03 5.09817230e+00] [ 3.79181712e-02 -2.20533542e-03 9.99278414e-01 3.54777236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.94, Y:5.10, Z:3.55 [[ 9.95253749e-01 -8.96084851e-02 -3.79512227e-02 1.45937152e+02] [ 8.96263726e-02 9.95974695e-01 -1.23317045e-03 5.09935770e+00] [ 3.79089600e-02 -2.17411292e-03 9.99278832e-01 3.54888851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.97, Y:5.10, Z:3.55 [[ 9.95403470e-01 -8.81585525e-02 -3.74165835e-02 1.45969521e+02] [ 8.81749987e-02 9.96104260e-01 -1.21363452e-03 5.10147746e+00] [ 3.73778105e-02 -2.09115118e-03 9.99299017e-01 3.54987191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.00, Y:5.10, Z:3.55 [[ 9.95466243e-01 -8.74658917e-02 -3.73721518e-02 1.46001392e+02] [ 8.74819138e-02 9.96165374e-01 -1.20947586e-03 5.10394745e+00] [ 3.73346315e-02 -2.06539497e-03 9.99300685e-01 3.55107368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.03, Y:5.11, Z:3.55 [[ 9.95696455e-01 -8.64055690e-02 -3.35059156e-02 1.46034873e+02] [ 8.58315829e-02 9.96143242e-01 -1.82093467e-02 5.11299579e+00] [ 3.49500804e-02 1.52551162e-02 9.99272622e-01 3.55095054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.07, Y:5.10, Z:3.55 [[ 9.95419489e-01 -8.72479683e-02 -3.90875136e-02 1.46065328e+02] [ 8.79264278e-02 9.95998705e-01 1.59850620e-02 5.09921449e+00] [ 3.75364487e-02 -1.93486677e-02 9.99107924e-01 3.54777871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.10, Y:5.11, Z:3.55 [[ 9.95340037e-01 -8.80891740e-02 -3.92238323e-02 1.46096907e+02] [ 8.81076239e-02 9.96110162e-01 -1.26137163e-03 5.10900487e+00] [ 3.91823711e-02 -2.20042498e-03 9.99229653e-01 3.55354947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.13, Y:5.11, Z:3.55 [[ 9.95289482e-01 -8.85656200e-02 -3.94331986e-02 1.46129291e+02] [ 8.85847523e-02 9.96067839e-01 -1.26526631e-03 5.11066182e+00] [ 3.93902000e-02 -2.23387388e-03 9.99221408e-01 3.55413568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.16, Y:5.11, Z:3.55 [[ 9.95288396e-01 -8.85115936e-02 -3.95816508e-02 1.46160470e+02] [ 8.85309340e-02 9.96072622e-01 -1.26734944e-03 5.11318156e+00] [ 3.95383738e-02 -2.24282232e-03 9.99215536e-01 3.55478639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.19, Y:5.12, Z:3.56 [[ 9.95321631e-01 -8.81615230e-02 -3.95271540e-02 1.46192765e+02] [ 8.81806265e-02 9.96103700e-01 -1.26328928e-03 5.11542696e+00] [ 3.94845178e-02 -2.22815006e-03 9.99217698e-01 3.55604620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.22, Y:5.12, Z:3.56 [[ 9.95476863e-01 -8.67281016e-02 -3.87821033e-02 1.46224670e+02] [ 8.67455139e-02 9.96229736e-01 -1.23669639e-03 5.11883787e+00] [ 3.87431409e-02 -2.13307084e-03 9.99246926e-01 3.55727510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.26, Y:5.12, Z:3.56 [[ 9.95593688e-01 -8.55960634e-02 -3.82951992e-02 1.46256502e+02] [ 8.56123113e-02 9.96327781e-01 -1.21840940e-03 5.12103257e+00] [ 3.82588619e-02 -2.06549980e-03 9.99265727e-01 3.55833701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.29, Y:5.12, Z:3.56 [[ 9.95872766e-01 -8.25509083e-02 -3.77197809e-02 1.46288560e+02] [ 8.25645942e-02 9.96584996e-01 -1.19740237e-03 5.12495828e+00] [ 3.76898143e-02 -1.92185800e-03 9.99287638e-01 3.55961740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.32, Y:5.13, Z:3.56 [[ 9.96069809e-01 -8.01718761e-02 -3.76484617e-02 1.46319446e+02] [ 8.01839126e-02 9.96779373e-01 -1.19255715e-03 5.12758816e+00] [ 3.76228196e-02 -1.83093079e-03 9.99290334e-01 3.56050095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.35, Y:5.13, Z:3.56 [[ 9.96553316e-01 -7.41437775e-02 -3.72046748e-02 1.46351922e+02] [ 7.41514180e-02 9.97246300e-01 -1.17636565e-03 5.13274226e+00] [ 3.71894444e-02 -1.58646830e-03 9.99306974e-01 3.56191375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.38, Y:5.14, Z:3.56 [[ 9.96830616e-01 -7.06282945e-02 -3.66110284e-02 1.46383746e+02] [ 7.06334212e-02 9.97501672e-01 -1.15498264e-03 5.13611415e+00] [ 3.66011365e-02 -1.43464013e-03 9.99328924e-01 3.56305804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.42, Y:5.14, Z:3.56 [[ 9.97089911e-01 -6.69637913e-02 -3.64357010e-02 1.46415228e+02] [ 6.69665176e-02 9.97754564e-01 -1.14693374e-03 5.13905758e+00] [ 3.64306900e-02 -1.29637595e-03 9.99335341e-01 3.56452609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.45, Y:5.14, Z:3.57 [[ 9.97578882e-01 -5.97138155e-02 -3.56459563e-02 1.46445913e+02] [ 5.97118597e-02 9.98215026e-01 -1.12039974e-03 5.14318059e+00] [ 3.56492326e-02 -1.01079922e-03 9.99363853e-01 3.56586317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.48, Y:5.15, Z:3.57 [[ 9.97764924e-01 -5.65473141e-02 -3.56027828e-02 1.46476471e+02] [ 5.65433673e-02 9.98399517e-01 -1.11852350e-03 5.14557606e+00] [ 3.56090507e-02 -8.97077713e-04 9.99365394e-01 3.56690016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.51, Y:5.15, Z:3.57 [[ 9.98059518e-01 -5.06271458e-02 -3.62504007e-02 1.46505861e+02] [ 5.06191427e-02 9.98717380e-01 -1.13911241e-03 5.14896707e+00] [ 3.62615753e-02 -6.98062227e-04 9.99342089e-01 3.56747955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.935099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.53, Y:5.15, Z:3.57 [[ 9.98185966e-01 -4.83215341e-02 -3.59138778e-02 1.46534413e+02] [ 4.83120918e-02 9.98831649e-01 -1.13119275e-03 5.15068344e+00] [ 3.59265787e-02 -6.05933835e-04 9.99354248e-01 3.56788974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.56, Y:5.15, Z:3.57 [[ 9.98261050e-01 -4.68530792e-02 -3.57724196e-02 1.46561880e+02] [ 4.68424424e-02 9.98901645e-01 -1.13585143e-03 5.15250856e+00] [ 3.57863469e-02 -5.41791261e-04 9.99359317e-01 3.56880616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.59, Y:5.15, Z:3.57 [[ 9.98424410e-01 -4.35748340e-02 -3.53543797e-02 1.46589178e+02] [ 4.35620787e-02 9.99050081e-01 -1.13136618e-03 5.15374476e+00] [ 3.53700950e-02 -4.10526659e-04 9.99374198e-01 3.56895048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.62, Y:5.15, Z:3.57 [[ 9.98532809e-01 -4.16089513e-02 -3.46543462e-02 1.46616800e+02] [ 4.15953730e-02 9.99133918e-01 -1.11298644e-03 5.15403741e+00] [ 3.46706429e-02 -3.30106976e-04 9.99398738e-01 3.56884111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.64, Y:5.15, Z:3.57 [[ 9.98547475e-01 -4.11296495e-02 -3.48036181e-02 1.46643426e+02] [ 4.11153463e-02 9.99153771e-01 -1.12686839e-03 5.15475023e+00] [ 3.48205140e-02 -3.05731224e-04 9.99393535e-01 3.56953915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.67, Y:5.16, Z:3.57 [[ 9.98503106e-01 -4.18895026e-02 -3.51684046e-02 1.46671316e+02] [ 4.18751822e-02 9.99122195e-01 -1.14398873e-03 5.15577399e+00] [ 3.51854548e-02 -3.30407053e-04 9.99380746e-01 3.56990197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.70, Y:5.16, Z:3.57 [[ 9.98394771e-01 -4.50770136e-02 -3.42920278e-02 1.46698434e+02] [ 4.50649751e-02 9.98983425e-01 -1.12428215e-03 5.15658323e+00] [ 3.43078467e-02 -4.22891964e-04 9.99411223e-01 3.57093725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.73, Y:5.16, Z:3.57 [[ 9.98257537e-01 -4.80895539e-02 -3.41948134e-02 1.46726449e+02] [ 4.80791795e-02 9.98842893e-01 -1.12607110e-03 5.15695982e+00] [ 3.42093986e-02 -5.19949611e-04 9.99414552e-01 3.57183447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.76, Y:5.16, Z:3.57 [[ 9.98104005e-01 -5.14371982e-02 -3.38025030e-02 1.46755658e+02] [ 5.14286632e-02 9.98676040e-01 -1.12248220e-03 5.15695400e+00] [ 3.38154872e-02 -6.18063558e-04 9.99427902e-01 3.57232316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.79, Y:5.16, Z:3.57 [[ 9.97904630e-01 -5.52214091e-02 -3.37186217e-02 1.46785198e+02] [ 5.52148227e-02 9.98473862e-01 -1.12716511e-03 5.15701404e+00] [ 3.37294061e-02 -7.36964437e-04 9.99430730e-01 3.57312322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.82, Y:5.16, Z:3.57 [[ 9.97420191e-01 -6.32268056e-02 -3.39902074e-02 1.46816178e+02] [ 6.32247364e-02 9.97998668e-01 -1.13677306e-03 5.15605394e+00] [ 3.39940562e-02 -1.01518150e-03 9.99421519e-01 3.57380056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.85, Y:5.16, Z:3.57 [[ 9.97150831e-01 -6.73728946e-02 -3.39280515e-02 1.46847622e+02] [ 6.73732345e-02 9.97727197e-01 -1.13453443e-03 5.15633133e+00] [ 3.39273766e-02 -1.15454062e-03 9.99423634e-01 3.57414620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.88, Y:5.16, Z:3.57 [[ 9.96871860e-01 -7.11657442e-02 -3.43792420e-02 1.46879039e+02] [ 7.11683904e-02 9.97463654e-01 -1.14829692e-03 5.15633090e+00] [ 3.43737638e-02 -1.30201043e-03 9.99408199e-01 3.57488641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.91, Y:5.16, Z:3.58 [[ 9.96314519e-01 -7.86892852e-02 -3.41376016e-02 1.46911193e+02] [ 7.86963637e-02 9.96897982e-01 -1.13833004e-03 5.15553236e+00] [ 3.41212805e-02 -1.55237037e-03 9.99416494e-01 3.57572216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.94, Y:5.16, Z:3.58 [[ 9.96098583e-01 -8.16169568e-02 -3.35601726e-02 1.46943737e+02] [ 8.16255343e-02 9.96662443e-01 -1.11669619e-03 5.15557205e+00] [ 3.35393050e-02 -1.62702753e-03 9.99436075e-01 3.57639843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.98, Y:5.16, Z:3.58 [[ 9.96106535e-01 -8.15198085e-02 -3.35602566e-02 1.46976409e+02] [ 8.15284160e-02 9.96670395e-01 -1.11416712e-03 5.15660147e+00] [ 3.35393409e-02 -1.62628541e-03 9.99436075e-01 3.57736093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.01, Y:5.16, Z:3.58 [[ 9.95730437e-01 -8.63006574e-02 -3.27580980e-02 1.47008918e+02] [ 8.63115360e-02 9.96267606e-01 -1.08449073e-03 5.15547453e+00] [ 3.27294242e-02 -1.74754133e-03 9.99462721e-01 3.57790602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.04, Y:5.16, Z:3.58 [[ 9.95619467e-01 -8.78769438e-02 -3.19299038e-02 1.47041695e+02] [ 8.78881617e-02 9.96129790e-01 -1.05471110e-03 5.15564103e+00] [ 3.18990132e-02 -1.75616964e-03 9.99489554e-01 3.57898166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.07, Y:5.16, Z:3.58 [[ 9.95548483e-01 -8.88168196e-02 -3.15403133e-02 1.47073842e+02] [ 8.88283435e-02 9.96046408e-01 -1.03840090e-03 5.15608014e+00] [ 3.15078432e-02 -1.76789534e-03 9.99501941e-01 3.58005363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.11, Y:5.16, Z:3.58 [[ 9.95531094e-01 -8.90669349e-02 -3.13834609e-02 1.47106176e+02] [ 8.90785587e-02 9.96024070e-01 -1.03035281e-03 5.15674090e+00] [ 3.13504529e-02 -1.76984521e-03 9.99506887e-01 3.58117225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.14, Y:5.16, Z:3.58 [[ 9.95543194e-01 -8.89792467e-02 -3.12480913e-02 1.47138964e+02] [ 8.89908148e-02 9.96031921e-01 -1.02310362e-03 5.15750572e+00] [ 3.12151314e-02 -1.76224926e-03 9.99511136e-01 3.58163723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.17, Y:5.16, Z:3.58 [[ 9.95571644e-01 -8.85099925e-02 -3.16714756e-02 1.47172109e+02] [ 8.85217468e-02 9.96073708e-01 -1.03359465e-03 5.15815127e+00] [ 3.16386076e-02 -1.77459682e-03 9.99497799e-01 3.58243170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.20, Y:5.16, Z:3.58 [[ 9.95678547e-01 -8.71483362e-02 -3.20842383e-02 1.47204485e+02] [ 8.71598070e-02 9.96193796e-01 -1.04356253e-03 5.15865273e+00] [ 3.20530639e-02 -1.75740319e-03 9.99484624e-01 3.58263889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.24, Y:5.16, Z:3.58 [[ 9.95731422e-01 -8.62453850e-02 -3.28735340e-02 1.47237654e+02] [ 8.62570392e-02 9.96272346e-01 -1.06613770e-03 5.15950409e+00] [ 3.28429423e-02 -1.77398690e-03 9.99458951e-01 3.58367497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.27, Y:5.16, Z:3.58 [[ 9.95756276e-01 -8.55739106e-02 -3.38606534e-02 1.47269983e+02] [ 8.55860092e-02 9.96330185e-01 -1.09461129e-03 5.16071139e+00] [ 3.38300612e-02 -1.80803213e-03 9.99425964e-01 3.58469277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.685099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.30, Y:5.16, Z:3.58 [[ 9.95923311e-01 -8.28231973e-02 -3.57362040e-02 1.47301953e+02] [ 8.28350059e-02 9.96562609e-01 -1.15256381e-03 5.16261148e+00] [ 3.57088237e-02 -1.81234351e-03 9.99360593e-01 3.58460969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.33, Y:5.16, Z:3.59 [[ 9.95930777e-01 -8.27333368e-02 -3.57362908e-02 1.47334623e+02] [ 8.27451841e-02 9.96570074e-01 -1.14986775e-03 5.16360661e+00] [ 3.57088503e-02 -1.81181728e-03 9.99360593e-01 3.58557212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.37, Y:5.17, Z:3.59 [[ 9.96049163e-01 -8.10228327e-02 -3.63505850e-02 1.47366091e+02] [ 8.10340675e-02 9.96710650e-01 -1.16655787e-03 5.16550562e+00] [ 3.63255330e-02 -1.78368676e-03 9.99338418e-01 3.58644664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.40, Y:5.17, Z:3.59 [[ 9.96215385e-01 -7.87697354e-02 -3.67455610e-02 1.47398093e+02] [ 7.87797655e-02 9.96891350e-01 -1.17710806e-03 5.16762221e+00] [ 3.67240524e-02 -1.72215352e-03 9.99323961e-01 3.58786124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.43, Y:5.17, Z:3.59 [[ 9.96405131e-01 -7.65072661e-02 -3.63792923e-02 1.47430599e+02] [ 7.65156863e-02 9.97067700e-01 -1.16278722e-03 5.17018052e+00] [ 3.63615789e-02 -1.62497936e-03 9.99337378e-01 3.58887496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.46, Y:5.17, Z:3.59 [[ 9.96630526e-01 -7.35000043e-02 -3.64052867e-02 1.47461737e+02] [ 7.35065261e-02 9.97294060e-01 -1.16109450e-03 5.17265141e+00] [ 3.63921167e-02 -1.51884394e-03 9.99336433e-01 3.58981752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.49, Y:5.18, Z:3.59 [[ 9.96850683e-01 -7.06722284e-02 -3.59743356e-02 1.47493436e+02] [ 7.06768316e-02 9.97498608e-01 -1.14530817e-03 5.17534609e+00] [ 3.59652912e-02 -1.40085083e-03 9.99352058e-01 3.59100716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.52, Y:5.18, Z:3.59 [[ 9.97316977e-01 -6.40849429e-02 -3.53831604e-02 1.47524965e+02] [ 6.40853424e-02 9.97943789e-01 -1.12400432e-03 5.17988726e+00] [ 3.53824369e-02 -1.14655337e-03 9.99373188e-01 3.59277858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.56, Y:5.18, Z:3.59 [[ 9.97525113e-01 -6.06902215e-02 -3.55013404e-02 1.47555052e+02] [ 6.06885557e-02 9.98156116e-01 -1.12551822e-03 5.18247875e+00] [ 3.55041880e-02 -1.03179238e-03 9.99368995e-01 3.59359404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.59, Y:5.19, Z:3.59 [[ 9.97862945e-01 -5.47088786e-02 -3.57278893e-02 1.47585120e+02] [ 5.47033923e-02 9.98502007e-01 -1.13180436e-03 5.18668623e+00] [ 3.57362889e-02 -8.25051108e-04 9.99360914e-01 3.59470896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.61, Y:5.19, Z:3.60 [[ 9.98007344e-01 -5.22685167e-02 -3.53460503e-02 1.47614726e+02] [ 5.22616704e-02 9.98632799e-01 -1.11820835e-03 5.18937925e+00] [ 3.53561722e-02 -7.31263488e-04 9.99374508e-01 3.59551595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.64, Y:5.19, Z:3.60 [[ 9.98131281e-01 -5.01576062e-02 -3.49021657e-02 1.47644614e+02] [ 5.01495986e-02 9.98741106e-01 -1.10537568e-03 5.19200096e+00] [ 3.49136705e-02 -6.47019554e-04 9.99390123e-01 3.59665804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.67, Y:5.20, Z:3.60 [[ 9.98332547e-01 -4.69097934e-02 -3.36392269e-02 1.47673799e+02] [ 4.69004722e-02 9.98898998e-01 -1.06654504e-03 5.19528188e+00] [ 3.36522215e-02 -5.12928998e-04 9.99433472e-01 3.59757974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.70, Y:5.20, Z:3.60 [[ 9.98359571e-01 -4.61037757e-02 -3.39500800e-02 1.47702848e+02] [ 4.60937708e-02 9.98936536e-01 -1.07772223e-03 5.19703007e+00] [ 3.39636623e-02 -4.88932904e-04 9.99422949e-01 3.59868036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.73, Y:5.21, Z:3.60 [[ 9.98449497e-01 -4.63863176e-02 -3.07719168e-02 1.47730325e+02] [ 4.59595253e-02 9.98839000e-01 -1.44351809e-02 5.20651217e+00] [ 3.14057855e-02 1.29985364e-02 9.99422190e-01 3.59910169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.76, Y:5.20, Z:3.60 [[ 9.98428693e-01 -4.40744448e-02 -3.46061974e-02 1.47759994e+02] [ 4.45174112e-02 9.98934899e-01 1.21353863e-02 5.19515531e+00] [ 3.40344779e-02 -1.36568962e-02 9.99327346e-01 3.59566992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.79, Y:5.20, Z:3.60 [[ 9.98439307e-01 -4.39905289e-02 -3.44061432e-02 1.47787236e+02] [ 4.39787606e-02 9.99031862e-01 -1.09912634e-03 5.20314059e+00] [ 3.44211845e-02 -4.15728590e-04 9.99407329e-01 3.60074019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.82, Y:5.20, Z:3.60 [[ 9.98431600e-01 -4.41651940e-02 -3.44060327e-02 1.47815639e+02] [ 4.41534105e-02 9.99024154e-01 -1.10257640e-03 5.20413108e+00] [ 3.44211532e-02 -4.18296570e-04 9.99407329e-01 3.60157818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.84, Y:5.21, Z:3.60 [[ 9.98452892e-01 -4.34746024e-02 -3.46667238e-02 1.47843622e+02] [ 4.34619920e-02 9.99054456e-01 -1.11760510e-03 5.20651933e+00] [ 3.46825323e-02 -3.90808829e-04 9.99398304e-01 3.60212406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.87, Y:5.21, Z:3.60 [[ 9.98441313e-01 -4.37399699e-02 -3.46664082e-02 1.47871987e+02] [ 4.37271822e-02 9.99042873e-01 -1.12731780e-03 5.20751267e+00] [ 3.46825369e-02 -3.90303681e-04 9.99398304e-01 3.60296291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.90, Y:5.21, Z:3.60 [[ 9.98509232e-01 -4.22078503e-02 -3.46094163e-02 1.47899474e+02] [ 4.21938981e-02 9.99108798e-01 -1.13373072e-03 5.20937936e+00] [ 3.46264246e-02 -3.28265598e-04 9.99400272e-01 3.60439150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.93, Y:5.21, Z:3.60 [[ 9.98553744e-01 -4.14652292e-02 -3.42206867e-02 1.47927697e+02] [ 4.14510194e-02 9.99139904e-01 -1.12488946e-03 5.21076817e+00] [ 3.42378974e-02 -2.95219760e-04 9.99413668e-01 3.60492945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.96, Y:5.21, Z:3.61 [[ 9.98570472e-01 -4.06462351e-02 -3.47116144e-02 1.47955646e+02] [ 4.06307784e-02 9.99173566e-01 -1.15085847e-03 5.21234618e+00] [ 3.47297056e-02 -2.61146626e-04 9.99396708e-01 3.60613115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.98, Y:5.21, Z:3.61 [[ 9.98609146e-01 -3.94241775e-02 -3.50072581e-02 1.47983964e+02] [ 3.94073578e-02 9.99222543e-01 -1.17058455e-03 5.21377218e+00] [ 3.50261908e-02 -2.10587107e-04 9.99386373e-01 3.60670457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.01, Y:5.22, Z:3.61 [[ 9.98663709e-01 -3.79530763e-02 -3.50764920e-02 1.48011517e+02] [ 3.79349367e-02 9.99279511e-01 -1.18275843e-03 5.21516060e+00] [ 3.50961091e-02 -1.49446587e-04 9.99383931e-01 3.60692706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.435099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.04, Y:5.22, Z:3.61 [[ 9.98721312e-01 -3.63844305e-02 -3.50986306e-02 1.48039723e+02] [ 3.63649475e-02 9.99337864e-01 -1.19352116e-03 5.21644999e+00] [ 3.51188161e-02 -8.43648465e-05 9.99383141e-01 3.60767123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.07, Y:5.23, Z:3.61 [[ 9.99026008e-01 -3.37355403e-02 -2.84420112e-02 1.48066262e+02] [ 3.29523487e-02 9.99076603e-01 -2.75696233e-02 5.23092784e+00] [ 2.93458241e-02 2.66055396e-02 9.99215176e-01 3.60881236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.10, Y:5.21, Z:3.60 [[ 9.98890580e-01 -3.14583455e-02 -3.50425796e-02 1.48096314e+02] [ 3.23460242e-02 9.99162535e-01 2.50591884e-02 5.20568290e+00] [ 3.42249121e-02 -2.61648754e-02 9.99071596e-01 3.60062146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.12, Y:5.22, Z:3.61 [[ 9.98915990e-01 -3.15464381e-02 -3.42296159e-02 1.48123431e+02] [ 3.15242193e-02 9.99502281e-01 -1.18874266e-03 5.21947968e+00] [ 3.42500798e-02 1.08392135e-04 9.99413288e-01 3.61031960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.15, Y:5.22, Z:3.61 [[ 9.98922259e-01 -3.15190221e-02 -3.40715542e-02 1.48151502e+02] [ 3.14966581e-02 9.99503145e-01 -1.19304419e-03 5.22014103e+00] [ 3.40922292e-02 1.18618301e-04 9.99418684e-01 3.61124582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.18, Y:5.22, Z:3.61 [[ 9.98913924e-01 -3.18466598e-02 -3.40112037e-02 1.48179479e+02] [ 3.18242297e-02 9.99492760e-01 -1.20077424e-03 5.22067874e+00] [ 3.40321925e-02 1.17089750e-04 9.99420730e-01 3.61214450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.21, Y:5.22, Z:3.61 [[ 9.98872102e-01 -3.36368588e-02 -3.35124749e-02 1.48206228e+02] [ 3.36157921e-02 9.99434119e-01 -1.19201860e-03 5.21973532e+00] [ 3.35336065e-02 6.41257338e-05 9.99437588e-01 3.61240160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.23, Y:5.22, Z:3.61 [[ 9.98814619e-01 -3.55874297e-02 -3.32098192e-02 1.48234599e+02] [ 3.55676633e-02 9.99366567e-01 -1.18595472e-03 5.21945154e+00] [ 3.32309881e-02 3.35324437e-06 9.99447698e-01 3.61310063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.26, Y:5.22, Z:3.61 [[ 9.98745954e-01 -3.78353589e-02 -3.27872815e-02 1.48262469e+02] [ 3.78170048e-02 9.99283985e-01 -1.17996042e-03 5.21906525e+00] [ 3.28084495e-02 -6.14360853e-05 9.99461656e-01 3.61412369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.29, Y:5.22, Z:3.61 [[ 9.98690629e-01 -4.00699885e-02 -3.18028933e-02 1.48289991e+02] [ 4.00535760e-02 9.99196868e-01 -1.15322853e-03 5.21848525e+00] [ 3.18235612e-02 -1.22101082e-04 9.99493495e-01 3.61474356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.32, Y:5.22, Z:3.62 [[ 9.98598926e-01 -4.25637684e-02 -3.14405758e-02 1.48318161e+02] [ 4.25486976e-02 9.99093734e-01 -1.14853343e-03 5.21811371e+00] [ 3.14609681e-02 -1.90831301e-04 9.99504963e-01 3.61586166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.35, Y:5.22, Z:3.62 [[ 9.98497163e-01 -4.51350041e-02 -3.10845056e-02 1.48346659e+02] [ 4.51214257e-02 9.98980861e-01 -1.13850052e-03 5.21772369e+00] [ 3.11042124e-02 -2.65787674e-04 9.99516112e-01 3.61687335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.38, Y:5.22, Z:3.62 [[ 9.98380817e-01 -4.78638354e-02 -3.07375568e-02 1.48375926e+02] [ 4.78516300e-02 9.98853812e-01 -1.13297728e-03 5.21742317e+00] [ 3.07565544e-02 -3.39699417e-04 9.99526848e-01 3.61789736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.41, Y:5.22, Z:3.62 [[ 9.98248396e-01 -5.09106112e-02 -3.01371861e-02 1.48406019e+02] [ 5.09002346e-02 9.98703124e-01 -1.11187858e-03 5.21704084e+00] [ 3.01547083e-02 -4.24058830e-04 9.99545153e-01 3.61863653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.44, Y:5.21, Z:3.62 [[ 9.97906431e-01 -5.73905022e-02 -2.98175484e-02 1.48436842e+02] [ 5.73832349e-02 9.98351619e-01 -1.10007848e-03 5.21456135e+00] [ 2.98315318e-02 -6.13251996e-04 9.99554753e-01 3.61989462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.47, Y:5.21, Z:3.62 [[ 9.97705536e-01 -6.05077258e-02 -3.03723477e-02 1.48468325e+02] [ 6.05016484e-02 9.98167469e-01 -1.11989906e-03 5.21380909e+00] [ 3.03844520e-02 -7.20247617e-04 9.99538026e-01 3.62042394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.50, Y:5.21, Z:3.62 [[ 9.97487298e-01 -6.38194666e-02 -3.07598193e-02 1.48500375e+02] [ 6.38149173e-02 9.97961111e-01 -1.13057581e-03 5.21290203e+00] [ 3.07692562e-02 -8.35200317e-04 9.99526165e-01 3.62052013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.53, Y:5.21, Z:3.62 [[ 9.97240414e-01 -6.72133901e-02 -3.15264589e-02 1.48531703e+02] [ 6.72103780e-02 9.97738156e-01 -1.15644662e-03 5.21211146e+00] [ 3.15328797e-02 -9.65649910e-04 9.99502249e-01 3.62108022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.56, Y:5.21, Z:3.62 [[ 9.97007701e-01 -7.05711614e-02 -3.15492580e-02 1.48564231e+02] [ 7.05698790e-02 9.97506169e-01 -1.15552671e-03 5.21159462e+00] [ 3.15521263e-02 -1.07435829e-03 9.99501530e-01 3.62158006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.59, Y:5.21, Z:3.62 [[ 9.96771052e-01 -7.37007474e-02 -3.18695596e-02 1.48594974e+02] [ 7.37011096e-02 9.97279695e-01 -1.16494632e-03 5.21114326e+00] [ 3.18687221e-02 -1.18763714e-03 9.99491358e-01 3.62206238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.63, Y:5.21, Z:3.62 [[ 9.96249686e-01 -8.03350757e-02 -3.21378068e-02 1.48626485e+02] [ 8.03389444e-02 9.96766913e-01 -1.17298554e-03 5.20928996e+00] [ 3.21281343e-02 -1.41333100e-03 9.99482759e-01 3.62257476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.66, Y:5.21, Z:3.62 [[ 9.96020873e-01 -8.32510150e-02 -3.18070703e-02 1.48658321e+02] [ 8.32563420e-02 9.96527490e-01 -1.15919445e-03 5.20893241e+00] [ 3.17931240e-02 -1.49355845e-03 9.99493355e-01 3.62297803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.69, Y:5.21, Z:3.62 [[ 9.95820442e-01 -8.56323387e-02 -3.17608102e-02 1.48690335e+02] [ 8.56389311e-02 9.96325569e-01 -1.15520486e-03 5.20882387e+00] [ 3.17430302e-02 -1.56958522e-03 9.99494831e-01 3.62349577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.72, Y:5.21, Z:3.62 [[ 9.95627438e-01 -8.76649422e-02 -3.22623949e-02 1.48722043e+02] [ 8.76728871e-02 9.96148630e-01 -1.17102708e-03 5.20890306e+00] [ 3.22407985e-02 -1.66263061e-03 9.99478747e-01 3.62400182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.75, Y:5.21, Z:3.62 [[ 9.95351920e-01 -9.08694449e-02 -3.18951390e-02 1.48754429e+02] [ 9.08789400e-02 9.95861278e-01 -1.15485061e-03 5.20853490e+00] [ 3.18680745e-02 -1.74911365e-03 9.99490553e-01 3.62449378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.185099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.79, Y:5.21, Z:3.63 [[ 9.95312616e-01 -9.14962411e-02 -3.13246454e-02 1.48787675e+02] [ 9.15057944e-02 9.95803901e-01 -1.13144589e-03 5.20913024e+00] [ 3.12967271e-02 -1.74024420e-03 9.99508622e-01 3.62537457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.82, Y:5.21, Z:3.63 [[ 9.95294318e-01 -9.18330166e-02 -3.09179048e-02 1.48820476e+02] [ 9.18425833e-02 9.95772916e-01 -1.11357341e-03 5.21005958e+00] [ 3.08894750e-02 -1.73124696e-03 9.99521307e-01 3.62648568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.85, Y:5.21, Z:3.63 [[ 9.95295755e-01 -9.20384447e-02 -3.02536852e-02 1.48853874e+02] [ 9.20477919e-02 9.95753997e-01 -1.08656844e-03 5.21099149e+00] [ 3.02252340e-02 -1.70332796e-03 9.99541662e-01 3.62754363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.89, Y:5.21, Z:3.63 [[ 9.95312078e-01 -9.19672856e-02 -2.99313629e-02 1.48887321e+02] [ 9.19764945e-02 9.95760601e-01 -1.07191377e-03 5.21212190e+00] [ 2.99030530e-02 -1.68609312e-03 9.99551382e-01 3.62887454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.92, Y:5.21, Z:3.63 [[ 9.95418208e-01 -9.08703331e-02 -2.97518660e-02 1.48919702e+02] [ 9.08790402e-02 9.95861372e-01 -1.06222691e-03 5.21306882e+00] [ 2.97252590e-02 -1.64646102e-03 9.99556751e-01 3.63026599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.95, Y:5.21, Z:3.63 [[ 9.95494402e-01 -9.00383890e-02 -2.97318777e-02 1.48951259e+02] [ 9.00467951e-02 9.95936973e-01 -1.05880071e-03 5.21436341e+00] [ 2.97064090e-02 -1.62323012e-03 9.99557349e-01 3.63093646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.98, Y:5.22, Z:3.63 [[ 9.95575960e-01 -8.91546127e-02 -2.96641673e-02 1.48984608e+02] [ 8.91626683e-02 9.96016520e-01 -1.05373128e-03 5.21572077e+00] [ 2.96399457e-02 -1.59586678e-03 9.99559366e-01 3.63197966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.02, Y:5.22, Z:3.63 [[ 9.95646698e-01 -8.83873440e-02 -2.95859730e-02 1.49017227e+02] [ 8.83951133e-02 9.96084939e-01 -1.04777557e-03 5.21736736e+00] [ 2.95627523e-02 -1.57204115e-03 9.99561690e-01 3.63303711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.05, Y:5.22, Z:3.63 [[ 9.95851931e-01 -8.57699567e-02 -3.03717993e-02 1.49049611e+02] [ 8.57770330e-02 9.96313781e-01 -1.07224538e-03 5.21988968e+00] [ 3.03518087e-02 -1.53740520e-03 9.99538095e-01 3.63342745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.08, Y:5.22, Z:3.63 [[ 9.96059625e-01 -8.27516909e-02 -3.18964168e-02 1.49081934e+02] [ 8.27580483e-02 9.96569036e-01 -1.12308155e-03 5.22326129e+00] [ 3.18799183e-02 -1.52102901e-03 9.99490549e-01 3.63438211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.11, Y:5.22, Z:3.64 [[ 9.96066862e-01 -8.26644928e-02 -3.18965157e-02 1.49114600e+02] [ 8.26708957e-02 9.96576273e-01 -1.12026513e-03 5.22434835e+00] [ 3.18799169e-02 -1.52105455e-03 9.99490549e-01 3.63534332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.15, Y:5.23, Z:3.64 [[ 9.96346421e-01 -7.94722375e-02 -3.12725427e-02 1.49145287e+02] [ 7.94769047e-02 9.96836105e-01 -1.09572684e-03 5.22819275e+00] [ 3.12606796e-02 -1.39372138e-03 9.99510294e-01 3.63583931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.18, Y:5.23, Z:3.64 [[ 9.96353205e-01 -7.93871285e-02 -3.12726020e-02 1.49177954e+02] [ 7.93918069e-02 9.96842888e-01 -1.09403161e-03 5.22927346e+00] [ 3.12607230e-02 -1.39274648e-03 9.99510294e-01 3.63680084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.21, Y:5.23, Z:3.64 [[ 9.96523981e-01 -7.72347678e-02 -3.12209275e-02 1.49209222e+02] [ 7.72384577e-02 9.97012053e-01 -1.08962090e-03 5.23191513e+00] [ 3.12117976e-02 -1.32562293e-03 9.99511914e-01 3.63798094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.24, Y:5.23, Z:3.64 [[ 9.96530510e-01 -7.71504566e-02 -3.12209851e-02 1.49241888e+02] [ 7.71541570e-02 9.97018582e-01 -1.08796805e-03 5.23299019e+00] [ 3.12118395e-02 -1.32463542e-03 9.99511914e-01 3.63894248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.27, Y:5.23, Z:3.64 [[ 9.96537033e-01 -7.70661158e-02 -3.12210769e-02 1.49274554e+02] [ 7.70698575e-02 9.97025105e-01 -1.08532698e-03 5.23406201e+00] [ 3.12118394e-02 -1.32463542e-03 9.99511914e-01 3.63990370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.31, Y:5.24, Z:3.64 [[ 9.96943028e-01 -7.20825478e-02 -3.01447285e-02 1.49306365e+02] [ 7.20838345e-02 9.97398029e-01 -1.04545202e-03 5.23797656e+00] [ 3.01416517e-02 -1.13069152e-03 9.99544998e-01 3.64069142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.34, Y:5.24, Z:3.64 [[ 9.97130025e-01 -6.95863002e-02 -2.98238017e-02 1.49337384e+02] [ 6.95865089e-02 9.97575387e-01 -1.03215943e-03 5.24033108e+00] [ 2.98233146e-02 -1.04613708e-03 9.99554639e-01 3.64197524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.37, Y:5.24, Z:3.64 [[ 9.97315824e-01 -6.71436136e-02 -2.92041512e-02 1.49368924e+02] [ 6.71428697e-02 9.97742863e-01 -1.00721452e-03 5.24288332e+00] [ 2.92058614e-02 -9.56339539e-04 9.99572960e-01 3.64274351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.40, Y:5.25, Z:3.64 [[ 9.97567850e-01 -6.33514025e-02 -2.90686095e-02 1.49400574e+02] [ 6.33491017e-02 9.97990926e-01 -1.00099930e-03 5.24641484e+00] [ 2.90736232e-02 -8.42905581e-04 9.99576917e-01 3.64344031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.43, Y:5.25, Z:3.64 [[ 9.97671232e-01 -6.16863606e-02 -2.91016297e-02 1.49433093e+02] [ 6.16834088e-02 9.98095265e-01 -1.00001089e-03 5.24802009e+00] [ 2.91078858e-02 -7.97405628e-04 9.99575958e-01 3.64439153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.46, Y:5.25, Z:3.64 [[ 9.97769023e-01 -6.01230875e-02 -2.90205386e-02 1.49464636e+02] [ 6.01195524e-02 9.98190688e-01 -9.95123820e-04 5.24968446e+00] [ 2.90278613e-02 -7.51798070e-04 9.99578320e-01 3.64455710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.50, Y:5.25, Z:3.64 [[ 9.97855778e-01 -5.85341517e-02 -2.92847867e-02 1.49496707e+02] [ 5.85299149e-02 9.98285152e-01 -1.00259383e-03 5.25094286e+00] [ 2.92932538e-02 -7.13592028e-04 9.99570606e-01 3.64496048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.53, Y:5.25, Z:3.65 [[ 9.97901174e-01 -5.72503669e-02 -3.02595973e-02 1.49528716e+02] [ 5.72453214e-02 9.98359607e-01 -1.03373581e-03 5.25224303e+00] [ 3.02691414e-02 -7.00654197e-04 9.99541539e-01 3.64580589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.56, Y:5.25, Z:3.65 [[ 9.97964370e-01 -5.58671826e-02 -3.07567047e-02 1.49559369e+02] [ 5.58613807e-02 9.98437983e-01 -1.04853602e-03 5.25381795e+00] [ 3.07672409e-02 -6.71710405e-04 9.99526351e-01 3.64670944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.935099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.59, Y:5.26, Z:3.65 [[ 9.98132396e-01 -5.20755248e-02 -3.19352526e-02 1.49590334e+02] [ 5.20673506e-02 9.98642983e-01 -1.08807810e-03 5.25621789e+00] [ 3.19485781e-02 -5.76737988e-04 9.99489347e-01 3.64802956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.62, Y:5.26, Z:3.65 [[ 9.98230012e-01 -5.00183712e-02 -3.21715043e-02 1.49620285e+02] [ 5.00090420e-02 9.98748165e-01 -1.09506265e-03 5.25764269e+00] [ 3.21860041e-02 -5.15741707e-04 9.99481763e-01 3.64951370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.65, Y:5.27, Z:3.65 [[ 9.98563609e-01 -4.63118237e-02 -2.69431707e-02 1.49651441e+02] [ 4.58499277e-02 9.98794760e-01 -1.75160393e-02 5.26553218e+00] [ 2.77218974e-02 1.62555370e-02 9.99483494e-01 3.64945453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.68, Y:5.25, Z:3.65 [[ 9.98443934e-01 -4.54621733e-02 -3.22939858e-02 1.49680716e+02] [ 4.59849880e-02 9.98819768e-01 1.56349542e-02 5.25212533e+00] [ 3.15450724e-02 -1.70956637e-02 9.99356116e-01 3.64642605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.71, Y:5.27, Z:3.65 [[ 9.98867224e-01 -3.95093782e-02 -2.65193908e-02 1.49709911e+02] [ 3.90245584e-02 9.99065924e-01 -1.85570331e-02 5.26818199e+00] [ 2.72277965e-02 1.75011046e-02 9.99476042e-01 3.65166648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.74, Y:5.25, Z:3.65 [[ 9.98726253e-01 -3.84620371e-02 -3.26579616e-02 1.49738243e+02] [ 3.90225041e-02 9.99098751e-01 1.67011662e-02 5.25365661e+00] [ 3.19861677e-02 -1.79542886e-02 9.99327038e-01 3.64837190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.77, Y:5.27, Z:3.65 [[ 9.99029169e-01 -3.50143157e-02 -2.67341769e-02 1.49767249e+02] [ 3.45324433e-02 9.99236412e-01 -1.82785138e-02 5.27031863e+00] [ 2.73537726e-02 1.73375721e-02 9.99475452e-01 3.65360462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.80, Y:5.26, Z:3.65 [[ 9.99016966e-01 -3.46877403e-02 -2.76018421e-02 1.49796094e+02] [ 3.46769831e-02 9.99398195e-01 -8.68441399e-04 5.26276880e+00] [ 2.76153555e-02 -8.95609223e-05 9.99618619e-01 3.64883353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.82, Y:5.26, Z:3.65 [[ 9.99044127e-01 -3.18069481e-02 -2.99858414e-02 1.49824255e+02] [ 3.19520716e-02 9.99479836e-01 4.37293769e-03 5.26176245e+00] [ 2.98311541e-02 -5.32686747e-03 9.99540758e-01 3.64917089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.85, Y:5.26, Z:3.65 [[ 9.98881902e-01 -3.26915744e-02 -3.41497830e-02 1.49850966e+02] [ 3.30600622e-02 9.99400478e-01 1.02818423e-02 5.26143849e+00] [ 3.37931799e-02 -1.13993402e-02 9.99363836e-01 3.65389632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.88, Y:5.27, Z:3.66 [[ 9.98877181e-01 -3.31255254e-02 -3.38685212e-02 1.49878493e+02] [ 3.31039186e-02 9.99451196e-01 -1.19866920e-03 5.26787608e+00] [ 3.38896406e-02 7.61425476e-05 9.99425578e-01 3.65843950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.91, Y:5.27, Z:3.66 [[ 9.98866384e-01 -3.37001319e-02 -3.36191537e-02 1.49905152e+02] [ 3.36788593e-02 9.99431987e-01 -1.19900119e-03 5.26846558e+00] [ 3.36404641e-02 6.53872386e-05 9.99433997e-01 3.65909898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.93, Y:5.27, Z:3.66 [[ 9.98836165e-01 -3.47864670e-02 -3.34098473e-02 1.49931661e+02] [ 3.47659264e-02 9.99394767e-01 -1.19570949e-03 5.26866290e+00] [ 3.34312211e-02 3.27935867e-05 9.99441020e-01 3.65958775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.96, Y:5.27, Z:3.66 [[ 9.98681084e-01 -3.91374053e-02 -3.32318403e-02 1.49959904e+02] [ 3.91193390e-02 9.99233832e-01 -1.19390217e-03 5.26722847e+00] [ 3.32531054e-02 -1.07680110e-04 9.99446957e-01 3.66009789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.99, Y:5.27, Z:3.66 [[ 9.98563888e-01 -4.22160490e-02 -3.29843440e-02 1.49987938e+02] [ 4.21996193e-02 9.99108485e-01 -1.19440851e-03 5.26681305e+00] [ 3.30053612e-02 -1.99233553e-04 9.99455155e-01 3.66065319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.02, Y:5.27, Z:3.66 [[ 9.98409414e-01 -4.60934719e-02 -3.24658873e-02 1.50016313e+02] [ 4.60793059e-02 9.98937082e-01 -1.18479741e-03 5.26651279e+00] [ 3.24859902e-02 -3.13092670e-04 9.99472142e-01 3.66141860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.04, Y:5.27, Z:3.66 [[ 9.98245820e-01 -5.00011466e-02 -3.17044021e-02 1.50043879e+02] [ 4.99893308e-02 9.98749072e-01 -1.16571178e-03 5.26586211e+00] [ 3.17230291e-02 -4.21214930e-04 9.99496609e-01 3.66208638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.07, Y:5.27, Z:3.66 [[ 9.98034080e-01 -5.44131411e-02 -3.10995925e-02 1.50072936e+02] [ 5.44038294e-02 9.98518357e-01 -1.14613895e-03 5.26500195e+00] [ 3.11158790e-02 -5.48051192e-04 9.99515634e-01 3.66313836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.10, Y:5.26, Z:3.66 [[ 9.97528515e-01 -6.30493875e-02 -3.10102680e-02 1.50104805e+02] [ 6.30443015e-02 9.98010075e-01 -1.14270172e-03 5.26158053e+00] [ 3.10206065e-02 -8.15143129e-04 9.99518413e-01 3.66347590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.14, Y:5.26, Z:3.66 [[ 9.97255273e-01 -6.70730062e-02 -3.13549297e-02 1.50136075e+02] [ 6.70698299e-02 9.97747616e-01 -1.15422147e-03 5.26038884e+00] [ 3.13617235e-02 -9.51916356e-04 9.99507647e-01 3.66335604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.17, Y:5.26, Z:3.66 [[ 9.96684260e-01 -7.49166622e-02 -3.17486996e-02 1.50167001e+02] [ 7.49174332e-02 9.97189058e-01 -1.16695453e-03 5.25782838e+00] [ 3.17468802e-02 -1.21544588e-03 9.99495202e-01 3.66375846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.20, Y:5.26, Z:3.66 [[ 9.96433785e-01 -7.82391953e-02 -3.15965346e-02 1.50199508e+02] [ 7.82416805e-02 9.96933746e-01 -1.15962977e-03 5.25777582e+00] [ 3.15903801e-02 -1.31667168e-03 9.99500032e-01 3.66481197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.23, Y:5.26, Z:3.67 [[ 9.96174151e-01 -8.14024384e-02 -3.17915713e-02 1.50231804e+02] [ 8.14066342e-02 9.96680292e-01 -1.16450228e-03 5.25804073e+00] [ 3.17808259e-02 -1.42799774e-03 9.99493842e-01 3.66611436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.26, Y:5.26, Z:3.67 [[ 9.95901199e-01 -8.44694082e-02 -3.23375944e-02 1.50264275e+02] [ 8.44754376e-02 9.96424861e-01 -1.18217294e-03 5.25837369e+00] [ 3.23218404e-02 -1.55440499e-03 9.99476304e-01 3.66773015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.30, Y:5.26, Z:3.67 [[ 9.95656099e-01 -8.72925130e-02 -3.23874883e-02 1.50296646e+02] [ 8.73001246e-02 9.96181355e-01 -1.18170172e-03 5.25850860e+00] [ 3.23669657e-02 -1.65086324e-03 9.99474689e-01 3.66858514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.685099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.33, Y:5.26, Z:3.67 [[ 9.95414981e-01 -8.97397846e-02 -3.31026789e-02 1.50328661e+02] [ 8.97491660e-02 9.95963671e-01 -1.20536945e-03 5.25877677e+00] [ 3.30772352e-02 -1.77109501e-03 9.99451229e-01 3.66949321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.36, Y:5.26, Z:3.67 [[ 9.95206522e-01 -9.18008947e-02 -3.37131285e-02 1.50361350e+02] [ 9.18118894e-02 9.95775615e-01 -1.22508306e-03 5.25897987e+00] [ 3.36831750e-02 -1.87605537e-03 9.99430800e-01 3.67028978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.39, Y:5.26, Z:3.67 [[ 9.95024450e-01 -9.36509773e-02 -3.39976233e-02 1.50393152e+02] [ 9.36633341e-02 9.95603164e-01 -1.23249428e-03 5.25920528e+00] [ 3.39635657e-02 -1.95796882e-03 9.99421154e-01 3.67073593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.43, Y:5.26, Z:3.67 [[ 9.94843441e-01 -9.54566439e-02 -3.42718201e-02 1.50426277e+02] [ 9.54704731e-02 9.95431494e-01 -1.23646149e-03 5.25968912e+00] [ 3.42332776e-02 -2.04186128e-03 9.99411784e-01 3.67163815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.46, Y:5.26, Z:3.67 [[ 9.94719920e-01 -9.66109493e-02 -3.46208794e-02 1.50458285e+02] [ 9.66258895e-02 9.95319992e-01 -1.24526675e-03 5.26017392e+00] [ 3.45791598e-02 -2.10658163e-03 9.99399742e-01 3.67262221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.49, Y:5.26, Z:3.67 [[ 9.94625627e-01 -9.76040906e-02 -3.45442261e-02 1.50490842e+02] [ 9.76196670e-02 9.95223022e-01 -1.23944115e-03 5.26094572e+00] [ 3.45001837e-02 -2.13941592e-03 9.99402402e-01 3.67394635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.52, Y:5.26, Z:3.68 [[ 9.94640783e-01 -9.74084381e-02 -3.46599144e-02 1.50524209e+02] [ 9.74240912e-02 9.95242185e-01 -1.24098474e-03 5.26228316e+00] [ 3.46158913e-02 -2.14237663e-03 9.99398394e-01 3.67527011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.56, Y:5.26, Z:3.68 [[ 9.94727409e-01 -9.64307094e-02 -3.49070329e-02 1.50557041e+02] [ 9.64461207e-02 9.95337427e-01 -1.24600894e-03 5.26371986e+00] [ 3.48644298e-02 -2.12720866e-03 9.99389787e-01 3.67635632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.59, Y:5.27, Z:3.68 [[ 9.95198301e-01 -9.32144605e-02 -2.98564262e-02 1.50590281e+02] [ 9.25606001e-02 9.95450910e-01 -2.25836649e-02 5.27403183e+00] [ 3.18257307e-02 1.97116962e-02 9.99299040e-01 3.67525976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.62, Y:5.26, Z:3.67 [[ 9.95028857e-01 -9.26251566e-02 -3.65807996e-02 1.50621104e+02] [ 9.34115009e-02 9.95418518e-01 2.04025830e-02 5.25622411e+00] [ 3.45234129e-02 -2.37182262e-02 9.99122405e-01 3.67186535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.65, Y:5.27, Z:3.68 [[ 9.95191054e-01 -9.13951902e-02 -3.52375607e-02 1.50652488e+02] [ 9.14080708e-02 9.95812736e-01 -1.24867151e-03 5.26846921e+00] [ 3.52041343e-02 -1.97833072e-03 9.99378184e-01 3.67913352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.68, Y:5.27, Z:3.68 [[ 9.95542214e-01 -8.78441540e-02 -3.43381046e-02 1.50683925e+02] [ 8.78543652e-02 9.96132590e-01 -1.21426000e-03 5.27126914e+00] [ 3.43119707e-02 -1.80790530e-03 9.99409536e-01 3.68060445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.72, Y:5.27, Z:3.68 [[ 9.95712713e-01 -8.59184050e-02 -3.42669105e-02 1.50716463e+02] [ 8.59275411e-02 9.96300656e-01 -1.20869486e-03 5.27325892e+00] [ 3.42439945e-02 -1.74095852e-03 9.99411986e-01 3.68201344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.75, Y:5.28, Z:3.68 [[ 9.95856171e-01 -8.40844448e-02 -3.46452559e-02 1.50748926e+02] [ 8.40927632e-02 9.96457184e-01 -1.21955960e-03 5.27558132e+00] [ 3.46250601e-02 -1.69890934e-03 9.99398929e-01 3.68330407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.78, Y:5.28, Z:3.68 [[ 9.96028860e-01 -8.18864361e-02 -3.49445439e-02 1.50779825e+02] [ 8.18936360e-02 9.96640319e-01 -1.22762681e-03 5.27791286e+00] [ 3.49276673e-02 -1.63898402e-03 9.99388499e-01 3.68443112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.81, Y:5.28, Z:3.69 [[ 9.96204120e-01 -7.95659193e-02 -3.53074388e-02 1.50812372e+02] [ 7.95718869e-02 9.96828361e-01 -1.23836289e-03 5.28049897e+00] [ 3.52939878e-02 -1.57581731e-03 9.99375731e-01 3.68544740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.84, Y:5.28, Z:3.69 [[ 9.96375466e-01 -7.73199786e-02 -3.54619621e-02 1.50843746e+02] [ 7.73246661e-02 9.97005193e-01 -1.24132992e-03 5.28297516e+00] [ 3.54517400e-02 -1.50525370e-03 9.99370256e-01 3.68627585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.88, Y:5.29, Z:3.69 [[ 9.96583844e-01 -7.47869604e-02 -3.50364333e-02 1.50876310e+02] [ 7.47900410e-02 9.97198551e-01 -1.22449815e-03 5.28561802e+00] [ 3.50298570e-02 -1.40006121e-03 9.99385286e-01 3.68720196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.91, Y:5.29, Z:3.69 [[ 9.96957168e-01 -6.96512543e-02 -3.50015497e-02 1.50908298e+02] [ 6.96512560e-02 9.97570655e-01 -1.22076021e-03 5.29035491e+00] [ 3.50015464e-02 -1.22085626e-03 9.99386512e-01 3.68864310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.94, Y:5.29, Z:3.69 [[ 9.97158015e-01 -6.67748768e-02 -3.48856418e-02 1.50939281e+02] [ 6.67732018e-02 9.97767440e-01 -1.21438269e-03 5.29315669e+00] [ 3.48888477e-02 -1.11849456e-03 9.99390573e-01 3.68969879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.97, Y:5.30, Z:3.69 [[ 9.97361840e-01 -6.36255515e-02 -3.49449368e-02 1.50970691e+02] [ 6.36219833e-02 9.97973330e-01 -1.21520121e-03 5.29598562e+00] [ 3.49514328e-02 -1.01127087e-03 9.99388500e-01 3.69039525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.00, Y:5.30, Z:3.69 [[ 9.97537270e-01 -6.06488952e-02 -3.52293450e-02 1.51001266e+02] [ 6.06434553e-02 9.98158742e-01 -1.22392474e-03 5.29898468e+00] [ 3.52387084e-02 -9.15518665e-04 9.99378504e-01 3.69136905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.03, Y:5.30, Z:3.69 [[ 9.97742072e-01 -5.74286020e-02 -3.48240328e-02 1.51031556e+02] [ 5.74213445e-02 9.98349301e-01 -1.20931850e-03 5.30191256e+00] [ 3.48359983e-02 -7.93054839e-04 9.99392728e-01 3.69215289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.06, Y:5.30, Z:3.69 [[ 9.97916248e-01 -5.44286565e-02 -3.46508854e-02 1.51060909e+02] [ 5.44196581e-02 9.98517427e-01 -1.20346165e-03 5.30463146e+00] [ 3.46650157e-02 -6.84735404e-04 9.99398753e-01 3.69332861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.09, Y:5.31, Z:3.69 [[ 9.98084491e-01 -5.15271673e-02 -3.42388549e-02 1.51091783e+02] [ 5.15166383e-02 9.98671427e-01 -1.19022365e-03 5.30718915e+00] [ 3.42546949e-02 -5.75926937e-04 9.99412970e-01 3.69428576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.435099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.12, Y:5.31, Z:3.70 [[ 9.98343604e-01 -4.60311044e-02 -3.45135545e-02 1.51120650e+02] [ 4.60171144e-02 9.98939931e-01 -1.20000310e-03 5.31058399e+00] [ 3.45322053e-02 -3.90198769e-04 9.99403509e-01 3.69540295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.15, Y:5.31, Z:3.70 [[ 9.98459929e-01 -4.35094671e-02 -3.44194181e-02 1.51148259e+02] [ 4.34939576e-02 9.99052970e-01 -1.19957183e-03 5.31263711e+00] [ 3.44390146e-02 -2.99312310e-04 9.99406756e-01 3.69615733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.18, Y:5.31, Z:3.70 [[ 9.98558387e-01 -4.11588967e-02 -3.44542224e-02 1.51176331e+02] [ 4.11416128e-02 9.99152592e-01 -1.21075857e-03 5.31469853e+00] [ 3.44748591e-02 -2.08489150e-04 9.99405544e-01 3.69747126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.20, Y:5.32, Z:3.70 [[ 9.98547196e-01 -4.14297934e-02 -3.44538721e-02 1.51204693e+02] [ 4.14123294e-02 9.99141396e-01 -1.22065180e-03 5.31576536e+00] [ 3.44748612e-02 -2.07936666e-04 9.99405544e-01 3.69833496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.23, Y:5.32, Z:3.70 [[ 9.98622798e-01 -3.95291374e-02 -3.44957150e-02 1.51231119e+02] [ 3.95101947e-02 9.99218409e-01 -1.23089481e-03 5.31753613e+00] [ 3.45174096e-02 -1.33732795e-04 9.99404088e-01 3.69916387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.26, Y:5.32, Z:3.70 [[ 9.98690084e-01 -3.66105241e-02 -3.57461232e-02 1.51257746e+02] [ 3.65881487e-02 9.99329610e-01 -1.28012480e-03 5.31991047e+00] [ 3.57690254e-02 -2.94365223e-05 9.99360083e-01 3.70045641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.29, Y:5.33, Z:3.70 [[ 9.98839928e-01 -3.43443800e-02 -3.37529617e-02 1.51285343e+02] [ 3.39707906e-02 9.99355733e-01 -1.15803464e-02 5.32608437e+00] [ 3.41289356e-02 1.04202976e-02 9.99363114e-01 3.69963607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.31, Y:5.32, Z:3.70 [[ 9.98921602e-01 -3.15476551e-02 -3.40643378e-02 1.51313111e+02] [ 3.14235550e-02 9.99497449e-01 -4.17248198e-03 5.32398194e+00] [ 3.41788507e-02 3.09755979e-03 9.99410932e-01 3.69706666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.34, Y:5.32, Z:3.70 [[ 9.98943241e-01 -3.05231176e-02 -3.43619194e-02 1.51342154e+02] [ 3.05833885e-02 9.99531462e-01 1.22964066e-03 5.32273198e+00] [ 3.43082871e-02 -2.27924515e-03 9.99408698e-01 3.69700929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.37, Y:5.32, Z:3.70 [[ 9.98823918e-01 -3.12868687e-02 -3.70393439e-02 1.51369516e+02] [ 3.16429767e-02 9.99458106e-01 9.06731621e-03 5.32036683e+00] [ 3.67355846e-02 -1.02286874e-02 9.99272671e-01 3.70070152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.40, Y:5.33, Z:3.71 [[ 9.98822129e-01 -3.17867307e-02 -3.66600443e-02 1.51397619e+02] [ 3.17588528e-02 9.99494659e-01 -1.34267706e-03 5.32660245e+00] [ 3.66841977e-02 1.76814614e-04 9.99326893e-01 3.70501536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.43, Y:5.33, Z:3.70 [[ 9.99025762e-01 -3.10634550e-02 -3.13462821e-02 1.51426658e+02] [ 3.04838334e-02 9.99358394e-01 -1.88025368e-02 5.33469296e+00] [ 3.19102419e-02 1.78286638e-02 9.99331714e-01 3.70458625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.79509989299999 meters Centerline goodness : 0.998700 Centerline is valid? [True, True] Translation: X:151.45, Y:5.33, Z:3.70 [[ 9.98934833e-01 -3.55586894e-02 -2.94071087e-02 1.51452919e+02] [ 3.51990592e-02 9.99300155e-01 -1.26580759e-02 5.33281854e+00] [ 2.98366329e-02 1.16094904e-02 9.99487366e-01 3.70063941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.48, Y:5.31, Z:3.70 [[ 9.98666409e-01 -3.79479741e-02 -3.50050683e-02 1.51482829e+02] [ 3.88397270e-02 9.98928736e-01 2.51566105e-02 5.31410096e+00] [ 3.40129262e-02 -2.64826492e-02 9.99070463e-01 3.69673943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.51, Y:5.33, Z:3.71 [[ 9.98534923e-01 -4.16813873e-02 -3.45060703e-02 1.51510174e+02] [ 4.16618949e-02 9.99130941e-01 -1.28402529e-03 5.32746642e+00] [ 3.45296024e-02 -1.55444174e-04 9.99403663e-01 3.70581910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.54, Y:5.33, Z:3.71 [[ 9.98211424e-01 -4.83714258e-02 -3.51305976e-02 1.51536919e+02] [ 4.83552221e-02 9.98829341e-01 -1.31123116e-03 5.32650952e+00] [ 3.51528977e-02 -3.89861922e-04 9.99381870e-01 3.70636787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.57, Y:5.33, Z:3.71 [[ 9.98044400e-01 -5.17589705e-02 -3.50483315e-02 1.51565230e+02] [ 5.17447834e-02 9.98659479e-01 -1.31233732e-03 5.32625498e+00] [ 3.50692737e-02 -5.03797406e-04 9.99384757e-01 3.70692236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.59, Y:5.33, Z:3.71 [[ 9.97883193e-01 -5.47914954e-02 -3.50289208e-02 1.51594681e+02] [ 5.47790928e-02 9.98497633e-01 -1.31441044e-03 5.32586387e+00] [ 3.50483131e-02 -6.07224423e-04 9.99385435e-01 3.70786752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.62, Y:5.33, Z:3.71 [[ 9.97750156e-01 -5.75671107e-02 -3.43606437e-02 1.51623702e+02] [ 5.75567825e-02 9.98341400e-01 -1.29046302e-03 5.32547489e+00] [ 3.43779414e-02 -6.90128419e-04 9.99408666e-01 3.70885469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.65, Y:5.32, Z:3.71 [[ 9.97519024e-01 -6.19233355e-02 -3.34857776e-02 1.51654075e+02] [ 6.19159612e-02 9.98080573e-01 -1.25811731e-03 5.32412309e+00] [ 3.34994109e-02 -8.18308152e-04 9.99438402e-01 3.71089634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.69, Y:5.32, Z:3.71 [[ 9.97428233e-01 -6.37058073e-02 -3.28403616e-02 1.51685055e+02] [ 6.36996837e-02 9.97968350e-01 -1.23373665e-03 5.32442992e+00] [ 3.28522377e-02 -8.61356883e-04 9.99459848e-01 3.71197057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.72, Y:5.33, Z:3.71 [[ 9.97533651e-01 -6.40070455e-02 -2.88047269e-02 1.51717017e+02] [ 6.35620145e-02 9.97847853e-01 -1.61100137e-02 5.33084775e+00] [ 2.97738893e-02 1.42393943e-02 9.99455229e-01 3.71177719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.75, Y:5.32, Z:3.71 [[ 9.97280777e-01 -6.58015913e-02 -3.31843656e-02 1.51747590e+02] [ 6.62900201e-02 9.97704429e-01 1.38385558e-02 5.31715036e+00] [ 3.21975895e-02 -1.60007179e-02 9.99353437e-01 3.70931020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.78, Y:5.32, Z:3.72 [[ 9.97162418e-01 -6.75599571e-02 -3.32079060e-02 1.51779435e+02] [ 6.75559411e-02 9.97714712e-01 -1.24421020e-03 5.32472499e+00] [ 3.32160751e-02 -1.00271169e-03 9.99447691e-01 3.71512977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.81, Y:5.33, Z:3.71 [[ 9.97333461e-01 -6.66088923e-02 -2.98198486e-02 1.51812541e+02] [ 6.62494893e-02 9.97719910e-01 -1.28835526e-02 5.32831419e+00] [ 3.06100158e-02 1.08736484e-02 9.99472256e-01 3.71378561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.185099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.84, Y:5.32, Z:3.71 [[ 9.97339857e-01 -6.62147540e-02 -3.04764759e-02 1.51844632e+02] [ 6.62180442e-02 9.97804769e-01 -9.02417077e-04 5.32358822e+00] [ 3.04693263e-02 -1.11807611e-03 9.99535077e-01 3.71104080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.87, Y:5.32, Z:3.71 [[ 9.96856911e-01 -7.10248603e-02 -3.50965650e-02 1.51874171e+02] [ 7.14355444e-02 9.97389021e-01 1.05879382e-02 5.31807608e+00] [ 3.42529218e-02 -1.30618016e-02 9.99327837e-01 3.71286503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.91, Y:5.32, Z:3.72 [[ 9.96700298e-01 -7.31481262e-02 -3.51833322e-02 1.51905716e+02] [ 7.31473386e-02 9.97320283e-01 -1.31129508e-03 5.32392610e+00] [ 3.51849696e-02 -1.26659892e-03 9.99380015e-01 3.71735624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.94, Y:5.32, Z:3.72 [[ 9.96549139e-01 -7.48126142e-02 -3.59567200e-02 1.51936590e+02] [ 7.48129642e-02 9.97196686e-01 -1.33760671e-03 5.32401047e+00] [ 3.59559919e-02 -1.35703799e-03 9.99352453e-01 3.71819793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.97, Y:5.32, Z:3.72 [[ 9.96207813e-01 -7.82853640e-02 -3.79656994e-02 1.51968905e+02] [ 7.82883590e-02 9.96929759e-01 -1.41006606e-03 5.32432892e+00] [ 3.79595231e-02 -1.56755348e-03 9.99278048e-01 3.71882829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.00, Y:5.33, Z:3.72 [[ 9.96047412e-01 -7.98803304e-02 -3.88417966e-02 1.52000753e+02] [ 7.98847862e-02 9.96803064e-01 -1.43977658e-03 5.32525382e+00] [ 3.88326317e-02 -1.66878288e-03 9.99244335e-01 3.71981187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.03, Y:5.33, Z:3.72 [[ 9.95907380e-01 -8.13041613e-02 -3.94730788e-02 1.52031890e+02] [ 8.13100123e-02 9.96687790e-01 -1.45982090e-03 5.32617870e+00] [ 3.94610252e-02 -1.75571012e-03 9.99219568e-01 3.72087563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.06, Y:5.33, Z:3.72 [[ 9.95796728e-01 -8.26391412e-02 -3.94923949e-02 1.52064028e+02] [ 8.26462131e-02 9.96577886e-01 -1.45628106e-03 5.32719835e+00] [ 3.94775933e-02 -1.81373697e-03 9.99218810e-01 3.72165129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.10, Y:5.33, Z:3.72 [[ 9.95664109e-01 -8.40021790e-02 -3.99576698e-02 1.52095976e+02] [ 8.40106308e-02 9.96463773e-01 -1.47051668e-03 5.32796582e+00] [ 3.99398970e-02 -1.89272836e-03 9.99200291e-01 3.72260978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.13, Y:5.33, Z:3.72 [[ 9.95540034e-01 -8.53529999e-02 -4.01858947e-02 1.52127050e+02] [ 8.53627568e-02 9.96348845e-01 -1.47616532e-03 5.32886619e+00] [ 4.01651649e-02 -1.96079708e-03 9.99191130e-01 3.72358711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.16, Y:5.33, Z:3.72 [[ 9.95425484e-01 -8.70107308e-02 -3.94618609e-02 1.52159603e+02] [ 8.70215276e-02 9.96205380e-01 -1.44727010e-03 5.32961668e+00] [ 3.94380461e-02 -1.99338187e-03 9.99220029e-01 3.72465737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.19, Y:5.33, Z:3.73 [[ 9.95433306e-01 -8.69211493e-02 -3.94619715e-02 1.52192268e+02] [ 8.69319953e-02 9.96213201e-01 -1.44424894e-03 5.33075586e+00] [ 3.94380727e-02 -1.99285442e-03 9.99220029e-01 3.72561931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.22, Y:5.33, Z:3.73 [[ 9.95344742e-01 -8.84084210e-02 -3.83770181e-02 1.52224020e+02] [ 8.84199029e-02 9.96082304e-01 -1.40131509e-03 5.33209603e+00] [ 3.83505567e-02 -1.99850061e-03 9.99262348e-01 3.72709198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.575099893 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:152.25, Y:5.34, Z:3.73 [[ 9.95361715e-01 -8.77746584e-02 -3.93784943e-02 1.52254016e+02] [ 8.76081080e-02 9.96137316e-01 -5.93867225e-03 5.33531448e+00] [ 3.97476526e-02 2.46125161e-03 9.99206719e-01 3.72947486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.29, Y:5.33, Z:3.73 [[ 9.95278007e-01 -8.93922591e-02 -3.78247625e-02 1.52285754e+02] [ 8.95689542e-02 9.95976107e-01 2.99951749e-03 5.33278374e+00] [ 3.74044261e-02 -6.37327821e-03 9.99279886e-01 3.72759502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.32, Y:5.34, Z:3.73 [[ 9.95280818e-01 -8.99525463e-02 -3.63955150e-02 1.52318214e+02] [ 8.99638029e-02 9.95944146e-01 -1.33160804e-03 5.33667522e+00] [ 3.63676817e-02 -1.94895501e-03 9.99336577e-01 3.73057756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.35, Y:5.34, Z:3.73 [[ 9.95270091e-01 -9.04999441e-02 -3.53158110e-02 1.52349066e+02] [ 9.05109691e-02 9.95894623e-01 -1.28971479e-03 5.33856568e+00] [ 3.52875455e-02 -1.91285373e-03 9.99375370e-01 3.73232471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.38, Y:5.34, Z:3.73 [[ 9.95247925e-01 -9.10009879e-02 -3.46466152e-02 1.52381601e+02] [ 9.10119679e-02 9.95848997e-01 -1.26333732e-03 5.34032332e+00] [ 3.46177620e-02 -1.89592279e-03 9.99398827e-01 3.73403403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.41, Y:5.34, Z:3.73 [[ 9.95256062e-01 -9.09119183e-02 -3.46467090e-02 1.52414266e+02] [ 9.09229339e-02 9.95857134e-01 -1.26076121e-03 5.34145437e+00] [ 3.46177905e-02 -1.89540019e-03 9.99398827e-01 3.73499530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.45, Y:5.34, Z:3.74 [[ 9.95277202e-01 -9.08811536e-02 -3.41160723e-02 1.52447745e+02] [ 9.08919215e-02 9.95859993e-01 -1.23834954e-03 5.34298556e+00] [ 3.40873741e-02 -1.86837429e-03 9.99417110e-01 3.73617813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.48, Y:5.34, Z:3.74 [[ 9.95259079e-01 -9.10560215e-02 -3.41784643e-02 1.52480787e+02] [ 9.10670579e-02 9.95843994e-01 -1.23692210e-03 5.34488645e+00] [ 3.41490476e-02 -1.88147424e-03 9.99414980e-01 3.73733031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.51, Y:5.35, Z:3.74 [[ 9.95231594e-01 -9.12160583e-02 -3.45500232e-02 1.52513775e+02] [ 9.12275616e-02 9.95829292e-01 -1.24663119e-03 5.34670857e+00] [ 3.45196379e-02 -1.91122763e-03 9.99402192e-01 3.73797192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.55, Y:5.35, Z:3.74 [[ 9.95245665e-01 -9.10623526e-02 -3.45501646e-02 1.52547299e+02] [ 9.10738996e-02 9.95843361e-01 -1.24270071e-03 5.34782882e+00] [ 3.45197153e-02 -1.90982573e-03 9.99402192e-01 3.73895809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.58, Y:5.36, Z:3.74 [[ 9.95408399e-01 -9.08023255e-02 -3.02829436e-02 1.52579212e+02] [ 9.01562139e-02 9.95683246e-01 -2.20619782e-02 5.35947369e+00] [ 3.21554985e-02 1.92304828e-02 9.99297860e-01 3.73964657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.61, Y:5.34, Z:3.73 [[ 9.95203292e-01 -9.06732892e-02 -3.67254867e-02 1.52610819e+02] [ 9.14364295e-02 9.95616848e-01 1.96588599e-02 5.34135639e+00] [ 3.47819798e-02 -2.29226095e-02 9.99132007e-01 3.73322161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.935099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.64, Y:5.35, Z:3.74 [[ 9.95174460e-01 -9.11892446e-02 -3.62258923e-02 1.52642357e+02] [ 9.12024105e-02 9.95831537e-01 -1.29233407e-03 5.35312413e+00] [ 3.61927329e-02 -2.01779083e-03 9.99342791e-01 3.74030435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.67, Y:5.37, Z:3.74 [[ 9.95345371e-01 -9.11279816e-02 -3.13573518e-02 1.52673177e+02] [ 9.03239953e-02 9.95568567e-01 -2.61687725e-02 5.36651997e+00] [ 3.36031012e-02 2.32146452e-02 9.99165608e-01 3.74082811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.71, Y:5.34, Z:3.73 [[ 9.95153509e-01 -9.03921995e-02 -3.87136124e-02 1.52705905e+02] [ 9.13477064e-02 9.95537840e-01 2.36644284e-02 5.34338158e+00] [ 3.64017864e-02 -2.70861386e-02 9.98970095e-01 3.73331707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.74, Y:5.36, Z:3.74 [[ 9.95088923e-01 -9.11813235e-02 -3.85227343e-02 1.52736811e+02] [ 9.11966052e-02 9.95831973e-01 -1.36401635e-03 5.35757204e+00] [ 3.84865433e-02 -2.15582503e-03 9.99256793e-01 3.74175432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.77, Y:5.36, Z:3.74 [[ 9.95095298e-01 -9.08839279e-02 -3.90571383e-02 1.52768769e+02] [ 9.08994987e-02 9.95859114e-01 -1.38064792e-03 5.35952716e+00] [ 3.90208858e-02 -2.17639804e-03 9.99236025e-01 3.74264760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.80, Y:5.37, Z:3.74 [[ 9.95240554e-01 -9.09712761e-02 -3.49351873e-02 1.52798756e+02] [ 9.02163778e-02 9.95665454e-01 -2.26121347e-02 5.37274976e+00] [ 3.68408139e-02 1.93527874e-02 9.99133737e-01 3.74384641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.83, Y:5.35, Z:3.74 [[ 9.95197251e-01 -8.94420330e-02 -3.97813399e-02 1.52831940e+02] [ 9.02814960e-02 9.95718892e-01 1.98277538e-02 5.35250173e+00] [ 3.78375971e-02 -2.33240450e-02 9.99011664e-01 3.73787027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.86, Y:5.36, Z:3.75 [[ 9.95177945e-01 -9.00374852e-02 -3.89115619e-02 1.52862297e+02] [ 9.00527180e-02 9.95936065e-01 -1.36463062e-03 5.36441790e+00] [ 3.88762957e-02 -2.14604162e-03 9.99241727e-01 3.74553086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.89, Y:5.37, Z:3.75 [[ 9.95195547e-01 -9.00822579e-02 -3.83537463e-02 1.52893994e+02] [ 9.00971720e-02 9.95932074e-01 -1.34290856e-03 5.36581247e+00] [ 3.83186983e-02 -2.11910745e-03 9.99263322e-01 3.74647641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.93, Y:5.38, Z:3.75 [[ 9.95448897e-01 -8.96924105e-02 -3.21988214e-02 1.52926516e+02] [ 8.88899214e-02 9.95713772e-01 -2.55473363e-02 5.37956487e+00] [ 3.43522121e-02 2.25689171e-02 9.99154928e-01 3.74726542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.23509989299998 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:152.96, Y:5.37, Z:3.74 [[ 9.95380445e-01 -8.98439212e-02 -3.38502598e-02 1.52957193e+02] [ 8.99379617e-02 9.95946569e-01 1.26271572e-03 5.36948974e+00] [ 3.35996027e-02 -4.30130591e-03 9.99426118e-01 3.74057304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.99, Y:5.37, Z:3.74 [[ 9.95443274e-01 -8.91725729e-02 -3.37778058e-02 1.52990332e+02] [ 8.91259680e-02 9.96016181e-01 -2.88592285e-03 5.37237869e+00] [ 3.39005863e-02 -1.37707149e-04 9.99425200e-01 3.74327195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.02, Y:5.36, Z:3.74 [[ 9.95297659e-01 -8.92481461e-02 -3.76475547e-02 1.53022313e+02] [ 9.00820711e-02 9.95711536e-01 2.10655317e-02 5.36225081e+00] [ 3.56060448e-02 -2.43578441e-02 9.99069019e-01 3.74365070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.05, Y:5.38, Z:3.75 [[ 9.95285235e-01 -8.99563873e-02 -3.62649942e-02 1.53053376e+02] [ 8.99702529e-02 9.95943665e-01 -1.25271969e-03 5.37535750e+00] [ 3.62305813e-02 -2.01595729e-03 9.99341424e-01 3.75209902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.09, Y:5.38, Z:3.75 [[ 9.95289708e-01 -9.00791669e-02 -3.58348974e-02 1.53086126e+02] [ 9.00929007e-02 9.95932601e-01 -1.23460816e-03 5.37816699e+00] [ 3.58003550e-02 -1.99967706e-03 9.99356961e-01 3.75371335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.12, Y:5.38, Z:3.75 [[ 9.95255305e-01 -9.04247894e-02 -3.59198396e-02 1.53119283e+02] [ 9.04389525e-02 9.95901237e-01 -1.23364702e-03 5.37982694e+00] [ 3.58841650e-02 -2.02075893e-03 9.99353913e-01 3.75452112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.15, Y:5.38, Z:3.76 [[ 9.95266847e-01 -9.02976074e-02 -3.59199782e-02 1.53152800e+02] [ 9.03118335e-02 9.95912778e-01 -1.22959845e-03 5.38088909e+00] [ 3.58841951e-02 -2.02022052e-03 9.99353913e-01 3.75550821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.18, Y:5.38, Z:3.76 [[ 9.95222732e-01 -9.07703511e-02 -3.59507484e-02 1.53184550e+02] [ 9.07850657e-02 9.95869755e-01 -1.22629249e-03 5.38226597e+00] [ 3.59135740e-02 -2.04335690e-03 9.99352811e-01 3.75623209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.22, Y:5.38, Z:3.76 [[ 9.95161082e-01 -9.12512896e-02 -3.64365532e-02 1.53217190e+02] [ 9.12668527e-02 9.95825700e-01 -1.23939949e-03 5.38382257e+00] [ 3.63975529e-02 -2.09204739e-03 9.99335200e-01 3.75706215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.25, Y:5.39, Z:3.76 [[ 9.95083053e-01 -9.18787500e-02 -3.69866689e-02 1.53250002e+02] [ 9.18953680e-02 9.95767879e-01 -1.25409088e-03 5.38529809e+00] [ 3.69453612e-02 -2.15097897e-03 9.99314972e-01 3.75773861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.28, Y:5.39, Z:3.76 [[ 9.95007098e-01 -9.28064337e-02 -3.67129554e-02 1.53283141e+02] [ 9.28235791e-02 9.95681798e-01 -1.24088969e-03 5.38671295e+00] [ 3.66695840e-02 -2.17313388e-03 9.99325082e-01 3.75833113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.31, Y:5.39, Z:3.76 [[ 9.94913764e-01 -9.37429961e-02 -3.68626152e-02 1.53314692e+02] [ 9.37610649e-02 9.95593953e-01 -1.24207283e-03 5.38769511e+00] [ 3.68166324e-02 -2.22052270e-03 9.99319571e-01 3.75918443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.35, Y:5.39, Z:3.76 [[ 9.94687020e-01 -9.61156691e-02 -3.68715392e-02 1.53347069e+02] [ 9.61355136e-02 9.95367485e-01 -1.23846777e-03 5.38924483e+00] [ 3.68197674e-02 -2.31277654e-03 9.99319246e-01 3.76046930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:5.39, Z:3.76 [[ 9.94603093e-01 -9.70241128e-02 -3.67560645e-02 1.53379312e+02] [ 9.70446523e-02 9.95279270e-01 -1.22909761e-03 5.39026723e+00] [ 3.67018011e-02 -2.34451521e-03 9.99323512e-01 3.76184335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.41, Y:5.39, Z:3.76 [[ 9.94526501e-01 -9.78488487e-02 -3.66420728e-02 1.53411882e+02] [ 9.78699206e-02 9.95198465e-01 -1.22248341e-03 5.39136161e+00] [ 3.65857532e-02 -2.37036461e-03 9.99327706e-01 3.76286497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.685099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.44, Y:5.39, Z:3.76 [[ 9.94521654e-01 -9.79740128e-02 -3.64386143e-02 1.53444833e+02] [ 9.79950762e-02 9.95186162e-01 -1.21180477e-03 5.39248105e+00] [ 3.63819301e-02 -2.36563870e-03 9.99335158e-01 3.76379646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.48, Y:5.39, Z:3.77 [[ 9.94583680e-01 -9.73205980e-02 -3.64966449e-02 1.53476453e+02] [ 9.73414328e-02 9.95250311e-01 -1.20983621e-03 5.39420331e+00] [ 3.64410392e-02 -2.34935235e-03 9.99333043e-01 3.76518484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.51, Y:5.40, Z:3.77 [[ 9.94774977e-01 -9.57693654e-02 -3.53691050e-02 1.53508694e+02] [ 9.56936415e-02 9.95403459e-01 -3.83152316e-03 5.39724383e+00] [ 3.55734720e-02 4.26904916e-04 9.99366973e-01 3.76531663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.54, Y:5.40, Z:3.77 [[ 9.94820627e-01 -9.52134832e-02 -3.55852930e-02 1.53540547e+02] [ 9.53240227e-02 9.95445286e-01 1.41887271e-03 5.39607661e+00] [ 3.52881164e-02 -4.80365712e-03 9.99365636e-01 3.76674607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.57, Y:5.40, Z:3.77 [[ 9.94956968e-01 -9.39854772e-02 -3.50337142e-02 1.53572378e+02] [ 9.40029664e-02 9.95571252e-01 -1.15125423e-03 5.39877440e+00] [ 3.49867599e-02 -2.14782464e-03 9.99385468e-01 3.76883954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.60, Y:5.40, Z:3.77 [[ 9.95111458e-01 -9.25316430e-02 -3.45120454e-02 1.53604930e+02] [ 9.25478510e-02 9.95707596e-01 -1.13099116e-03 5.40018158e+00] [ 3.44685582e-02 -2.06855337e-03 9.99403642e-01 3.77009844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.64, Y:5.40, Z:3.77 [[ 9.95215587e-01 -9.14809719e-02 -3.43098770e-02 1.53636470e+02] [ 9.14964924e-02 9.95804768e-01 -1.12074570e-03 5.40134655e+00] [ 3.42684660e-02 -2.02384981e-03 9.99410614e-01 3.77172959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.67, Y:5.40, Z:3.77 [[ 9.95464497e-01 -8.87336912e-02 -3.43040484e-02 1.53669434e+02] [ 8.87476896e-02 9.96053512e-01 -1.11737876e-03 5.40240659e+00] [ 3.42678171e-02 -1.93209416e-03 9.99410818e-01 3.77264429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.70, Y:5.40, Z:3.77 [[ 9.95533198e-01 -8.76125148e-02 -3.51809531e-02 1.53700087e+02] [ 8.76832118e-02 9.96148300e-01 4.68735745e-04 5.40344293e+00] [ 3.50043795e-02 -3.55142096e-03 9.99380849e-01 3.77228435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.73, Y:5.40, Z:3.77 [[ 9.95724932e-01 -8.49880700e-02 -3.61785650e-02 1.53733453e+02] [ 8.49366171e-02 9.96381961e-01 -2.95955775e-03 5.40480445e+00] [ 3.62991967e-02 -1.25979484e-04 9.99340959e-01 3.77382496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.77, Y:5.40, Z:3.77 [[ 9.95774796e-01 -8.42516893e-02 -3.65268059e-02 1.53765661e+02] [ 8.42650263e-02 9.96442683e-01 -1.17694170e-03 5.40497206e+00] [ 3.64960277e-02 -1.90596337e-03 9.99331981e-01 3.77395125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.80, Y:5.41, Z:3.77 [[ 9.95813262e-01 -8.35246007e-02 -3.71428197e-02 1.53797078e+02] [ 8.35379834e-02 9.96503878e-01 -1.19422349e-03 5.40604952e+00] [ 3.71127109e-02 -1.91361266e-03 9.99309254e-01 3.77499303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.83, Y:5.41, Z:3.78 [[ 9.95912527e-01 -8.21365264e-02 -3.75743282e-02 1.53828783e+02] [ 8.21493192e-02 9.96619303e-01 -1.20591941e-03 5.40688741e+00] [ 3.75463508e-02 -1.88571524e-03 9.99293108e-01 3.77565007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.86, Y:5.40, Z:3.78 [[ 9.95865781e-01 -8.12030907e-02 -4.07112356e-02 1.53859005e+02] [ 8.16857650e-02 9.96604563e-01 1.03334472e-02 5.40467062e+00] [ 3.97338953e-02 -1.36162548e-02 9.99117518e-01 3.77552477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.89, Y:5.42, Z:3.78 [[ 9.96218652e-01 -7.78036848e-02 -3.86650248e-02 1.53891566e+02] [ 7.73465009e-02 9.96917086e-01 -1.31849343e-02 5.41500916e+00] [ 3.95716603e-02 1.01444731e-02 9.99165238e-01 3.78171918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.92, Y:5.41, Z:3.78 [[ 9.96497737e-01 -7.40674172e-02 -3.88108043e-02 1.53923921e+02] [ 7.40752494e-02 9.97251886e-01 -1.23813963e-03 5.41073664e+00] [ 3.87958536e-02 -1.64111667e-03 9.99245810e-01 3.77885694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.95, Y:5.41, Z:3.78 [[ 9.97086415e-01 -6.69184314e-02 -3.66142805e-02 1.53954972e+02] [ 6.69206912e-02 9.97757618e-01 -1.16519020e-03 5.41273262e+00] [ 3.66101499e-02 -1.28845764e-03 9.99328793e-01 3.78099522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.99, Y:5.41, Z:3.78 [[ 9.97392084e-01 -6.27648145e-02 -3.56315725e-02 1.53986313e+02] [ 6.27644409e-02 9.98027729e-01 -1.13014065e-03 5.41407183e+00] [ 3.56322305e-02 -1.10920239e-03 9.99364355e-01 3.78229228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.225099893 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:154.02, Y:5.41, Z:3.78 [[ 9.97496934e-01 -6.01598721e-02 -3.71571976e-02 1.54015461e+02] [ 6.05902310e-02 9.98106803e-01 1.05657061e-02 5.41263259e+00] [ 3.64512202e-02 -1.27906226e-02 9.99253576e-01 3.78319163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.255099893 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:154.05, Y:5.42, Z:3.79 [[ 9.97509798e-01 -6.03146908e-02 -3.65559894e-02 1.54046107e+02] [ 6.03048329e-02 9.98179063e-01 -1.37323045e-03 5.41925265e+00] [ 3.65722492e-02 -8.34692001e-04 9.99330663e-01 3.78792100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.08, Y:5.42, Z:3.79 [[ 9.98119010e-01 -5.13160917e-02 -3.35425113e-02 1.54077293e+02] [ 5.08980730e-02 9.98616614e-01 -1.32001893e-02 5.42355970e+00] [ 3.41734911e-02 1.14681107e-02 9.99350116e-01 3.79042672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.11, Y:5.42, Z:3.79 [[ 9.98306692e-01 -4.72218987e-02 -3.39682232e-02 1.54107620e+02] [ 4.72128314e-02 9.98884280e-01 -1.06943227e-03 5.41837540e+00] [ 3.39808248e-02 -5.36114608e-04 9.99422341e-01 3.78730008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.14, Y:5.42, Z:3.79 [[ 9.98448404e-01 -4.40431971e-02 -3.40731657e-02 1.54136906e+02] [ 4.40321819e-02 9.99029536e-01 -1.07395204e-03 5.41885334e+00] [ 3.40873992e-02 -4.28030133e-04 9.99418764e-01 3.78796387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.17, Y:5.42, Z:3.79 [[ 9.98551613e-01 -4.14039180e-02 -3.43568386e-02 1.54165018e+02] [ 4.13911042e-02 9.99142433e-01 -1.08442570e-03 5.41933087e+00] [ 3.43722748e-02 -3.39212461e-04 9.99409041e-01 3.78907151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.19, Y:5.42, Z:3.79 [[ 9.98604835e-01 -3.98606114e-02 -3.46340289e-02 1.54192480e+02] [ 3.98465163e-02 9.99205210e-01 -1.09738203e-03 5.41958347e+00] [ 3.46502444e-02 -2.84194393e-04 9.99399460e-01 3.78981902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.435099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.22, Y:5.42, Z:3.79 [[ 9.98631759e-01 -3.88832792e-02 -3.49671421e-02 1.54219869e+02] [ 3.88679767e-02 9.99243730e-01 -1.11753609e-03 5.41973284e+00] [ 3.49841509e-02 -2.43095033e-04 9.99387838e-01 3.79042129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.25, Y:5.41, Z:3.79 [[ 9.98486921e-01 -3.92706606e-02 -3.84926443e-02 1.54246050e+02] [ 3.97469333e-02 9.99141434e-01 1.16866209e-02 5.41497462e+00] [ 3.80006544e-02 -1.31989026e-02 9.99190542e-01 3.79063611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.27, Y:5.42, Z:3.80 [[ 9.98524060e-01 -3.90524628e-02 -3.77439696e-02 1.54274286e+02] [ 3.88496530e-02 9.99226496e-01 -6.09216218e-03 5.42163964e+00] [ 3.79526884e-02 4.61683039e-03 9.99268872e-01 3.79527419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.30, Y:5.42, Z:3.80 [[ 9.98574086e-01 -3.89837707e-02 -3.64699962e-02 1.54303981e+02] [ 3.86603131e-02 9.99206937e-01 -9.53296637e-03 5.42166063e+00] [ 3.68127042e-02 8.10943171e-03 9.99289278e-01 3.79510970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.33, Y:5.42, Z:3.79 [[ 9.98646710e-01 -3.86206990e-02 -3.48308758e-02 1.54333276e+02] [ 3.84156041e-02 9.99240455e-01 -6.53868784e-03 5.41945861e+00] [ 3.50569489e-02 5.19178997e-03 9.99371831e-01 3.79203555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.36, Y:5.42, Z:3.79 [[ 9.98602892e-01 -3.94925790e-02 -3.51084194e-02 1.54361738e+02] [ 3.94690745e-02 9.99219863e-01 -1.36256369e-03 5.41629507e+00] [ 3.51348412e-02 -2.50367804e-05 9.99382581e-01 3.79137658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.39, Y:5.41, Z:3.79 [[ 9.98471767e-01 -4.16456203e-02 -3.63286723e-02 1.54389410e+02] [ 4.18304263e-02 9.99115292e-01 4.34157294e-03 5.41134063e+00] [ 3.61157245e-02 -5.85458185e-03 9.99330465e-01 3.79381182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.42, Y:5.42, Z:3.80 [[ 9.98543992e-01 -4.29960443e-02 -3.25766155e-02 1.54417232e+02] [ 4.27511863e-02 9.99052293e-01 -8.17630462e-03 5.41672045e+00] [ 3.28972912e-02 6.77171089e-03 9.99435797e-01 3.79533326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.45, Y:5.41, Z:3.79 [[ 9.98494017e-01 -4.44549808e-02 -3.21473605e-02 1.54445449e+02] [ 4.44365151e-02 9.99011379e-01 -1.28897620e-03 5.41267596e+00] [ 3.21728803e-02 -1.41481644e-04 9.99482309e-01 3.79410831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.47, Y:5.41, Z:3.80 [[ 9.98219924e-01 -4.88107200e-02 -3.42709411e-02 1.54473272e+02] [ 4.90560916e-02 9.98775806e-01 6.35529214e-03 5.40679192e+00] [ 3.39187805e-02 -8.02517766e-03 9.99392372e-01 3.79607680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.50, Y:5.41, Z:3.80 [[ 9.98116317e-01 -5.12946421e-02 -3.36552854e-02 1.54501482e+02] [ 5.13453197e-02 9.98680752e-01 6.42679572e-04 5.40914642e+00] [ 3.35779198e-02 -2.36951036e-03 9.99433294e-01 3.79755459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.53, Y:5.41, Z:3.80 [[ 9.97879592e-01 -5.61575465e-02 -3.29036505e-02 1.54530438e+02] [ 5.60890307e-02 9.98421257e-01 -3.00237272e-03 5.40755737e+00] [ 3.30203100e-02 1.15047260e-03 9.99454019e-01 3.80017280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.56, Y:5.41, Z:3.80 [[ 9.97881544e-01 -5.60852865e-02 -3.29676180e-02 1.54561461e+02] [ 5.60789223e-02 9.98425713e-01 -1.11838545e-03 5.40769851e+00] [ 3.29784425e-02 -7.32772290e-04 9.99455795e-01 3.80049244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.59, Y:5.41, Z:3.80 [[ 9.97521530e-01 -6.16419106e-02 -3.39274607e-02 1.54592403e+02] [ 6.16383986e-02 9.98097883e-01 -1.15041928e-03 5.40553487e+00] [ 3.39338407e-02 -9.43666344e-04 9.99423636e-01 3.80128739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.62, Y:5.41, Z:3.80 [[ 9.97522622e-01 -6.16242258e-02 -3.39274636e-02 1.54623378e+02] [ 6.16207066e-02 9.98098976e-01 -1.15033253e-03 5.40658735e+00] [ 3.39338550e-02 -9.43151562e-04 9.99423636e-01 3.80218820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.65, Y:5.41, Z:3.80 [[ 9.97344921e-01 -6.44032051e-02 -3.39902183e-02 1.54654338e+02] [ 6.44013021e-02 9.97923417e-01 -1.15194382e-03 5.40576007e+00] [ 3.39938237e-02 -1.04012900e-03 9.99421502e-01 3.80279228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.69, Y:5.41, Z:3.80 [[ 9.97111423e-01 -6.78221105e-02 -3.41902371e-02 1.54685168e+02] [ 6.78222026e-02 9.97696751e-01 -1.15841112e-03 5.40511105e+00] [ 3.41900544e-02 -1.16379223e-03 9.99414672e-01 3.80311064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.72, Y:5.40, Z:3.80 [[ 9.96807260e-01 -7.14978148e-02 -3.55436083e-02 1.54716275e+02] [ 7.15003208e-02 9.97439852e-01 -1.20221226e-03 5.40406968e+00] [ 3.55385670e-02 -1.34300549e-03 9.99367403e-01 3.80369669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.75, Y:5.40, Z:3.80 [[ 9.96498599e-01 -7.52965523e-02 -3.63451629e-02 1.54747360e+02] [ 7.53017420e-02 9.97160037e-01 -1.22801679e-03 5.40313987e+00] [ 3.63344095e-02 -1.51313707e-03 9.99338542e-01 3.80408967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.78, Y:5.40, Z:3.80 [[ 9.95940555e-01 -8.16166941e-02 -3.79621655e-02 1.54778487e+02] [ 8.16269951e-02 9.96662126e-01 -1.28109069e-03 5.40124516e+00] [ 3.79400110e-02 -1.82284733e-03 9.99278356e-01 3.80452742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.81, Y:5.40, Z:3.81 [[ 9.95728302e-01 -8.41072294e-02 -3.80935972e-02 1.54810062e+02] [ 8.41194911e-02 9.96454848e-01 -1.28363755e-03 5.40132747e+00] [ 3.80665128e-02 -1.92625977e-03 9.99273351e-01 3.80524263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.84, Y:5.40, Z:3.81 [[ 9.95526507e-01 -8.66991620e-02 -3.75530059e-02 1.54841366e+02] [ 8.67129938e-02 9.96232533e-01 -1.26333190e-03 5.40140409e+00] [ 3.75210560e-02 -1.99865318e-03 9.99293839e-01 3.80703919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.87, Y:5.40, Z:3.81 [[ 9.95481555e-01 -8.73407147e-02 -3.72568494e-02 1.54873346e+02] [ 8.73549304e-02 9.96176468e-01 -1.24924034e-03 5.40246219e+00] [ 3.72235062e-02 -2.01097377e-03 9.99304942e-01 3.80788259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.91, Y:5.40, Z:3.81 [[ 9.95598519e-01 -8.65051827e-02 -3.60616343e-02 1.54905898e+02] [ 8.65180438e-02 9.96249553e-01 -1.20663499e-03 5.40397706e+00] [ 3.60307672e-02 -1.91865805e-03 9.99348839e-01 3.80908527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.94, Y:5.41, Z:3.81 [[ 9.95789983e-01 -8.48947998e-02 -3.45714214e-02 1.54937105e+02] [ 8.49057315e-02 9.96388320e-01 -1.15442248e-03 5.40645473e+00] [ 3.45445650e-02 -1.78574949e-03 9.99401563e-01 3.81003291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.185099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.97, Y:5.41, Z:3.81 [[ 9.95885585e-01 -8.39557194e-02 -3.41077657e-02 1.54969264e+02] [ 8.39658760e-02 9.96467982e-01 -1.13700860e-03 5.40842213e+00] [ 3.40827548e-02 -1.73155795e-03 9.99417514e-01 3.81095671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.00, Y:5.41, Z:3.81 [[ 9.95985091e-01 -8.27405615e-02 -3.41716003e-02 1.55000801e+02] [ 8.27501234e-02 9.96569679e-01 -1.13678201e-03 5.41034607e+00] [ 3.41484387e-02 -1.69548621e-03 9.99415334e-01 3.81153881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.03, Y:5.41, Z:3.81 [[ 9.96061516e-01 -8.18566862e-02 -3.40725583e-02 1.55032620e+02] [ 8.18657418e-02 9.96642724e-01 -1.13157932e-03 5.41228638e+00] [ 3.40507946e-02 -1.66225265e-03 9.99418721e-01 3.81222226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.07, Y:5.41, Z:3.81 [[ 9.96069467e-01 -8.17598480e-02 -3.40726437e-02 1.55065291e+02] [ 8.17689351e-02 9.96650674e-01 -1.12900154e-03 5.41331334e+00] [ 3.40508303e-02 -1.66151983e-03 9.99418721e-01 3.81317167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.10, Y:5.42, Z:3.81 [[ 9.96115204e-01 -8.12146914e-02 -3.40393155e-02 1.55097479e+02] [ 8.12235517e-02 9.96695274e-01 -1.12470869e-03 5.41531613e+00] [ 3.40181677e-02 -1.64445467e-03 9.99419862e-01 3.81369597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.13, Y:5.42, Z:3.81 [[ 9.96122623e-01 -8.11236034e-02 -3.40394006e-02 1.55130148e+02] [ 8.11324988e-02 9.96702693e-01 -1.12212785e-03 5.41633859e+00] [ 3.40181933e-02 -1.64392469e-03 9.99419862e-01 3.81464531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.16, Y:5.42, Z:3.82 [[ 9.96176579e-01 -8.05760974e-02 -3.37596759e-02 1.55161651e+02] [ 8.05846309e-02 9.96747152e-01 -1.11001356e-03 5.41820110e+00] [ 3.37393014e-02 -1.61474151e-03 9.99429363e-01 3.81549345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.19, Y:5.42, Z:3.82 [[ 9.96225104e-01 -7.99672341e-02 -3.37755022e-02 1.55193167e+02] [ 7.99754886e-02 9.96796214e-01 -1.10869830e-03 5.42017974e+00] [ 3.37559522e-02 -1.59669921e-03 9.99428830e-01 3.81639925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.23, Y:5.42, Z:3.82 [[ 9.96293695e-01 -7.90416354e-02 -3.39307093e-02 1.55225043e+02] [ 7.90494942e-02 9.96870072e-01 -1.11191609e-03 5.42222343e+00] [ 3.39123963e-02 -1.57441041e-03 9.99423569e-01 3.81705289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.26, Y:5.42, Z:3.82 [[ 9.96356752e-01 -7.82181551e-02 -3.39873900e-02 1.55257605e+02] [ 7.82256437e-02 9.96935060e-01 -1.11137824e-03 5.42454897e+00] [ 3.39701507e-02 -1.55135625e-03 9.99421644e-01 3.81773405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.29, Y:5.43, Z:3.82 [[ 9.96440680e-01 -7.71078718e-02 -3.40638697e-02 1.55288603e+02] [ 7.71148293e-02 9.97021598e-01 -1.11146204e-03 5.42702540e+00] [ 3.40481162e-02 -1.51932350e-03 9.99419040e-01 3.81844998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.32, Y:5.43, Z:3.82 [[ 9.96565893e-01 -7.56764836e-02 -3.36078908e-02 1.55320361e+02] [ 7.56825070e-02 9.97131365e-01 -1.09468899e-03 5.42959422e+00] [ 3.35943242e-02 -1.45259972e-03 9.99434496e-01 3.81932734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.35, Y:5.43, Z:3.82 [[ 9.96696283e-01 -7.42990765e-02 -3.28049749e-02 1.55352809e+02] [ 7.43041453e-02 9.97235056e-01 -1.06624877e-03 5.43234379e+00] [ 3.27934923e-02 -1.37481944e-03 9.99461203e-01 3.82050148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.38, Y:5.44, Z:3.82 [[ 9.96830439e-01 -7.27041731e-02 -3.22982682e-02 1.55384403e+02] [ 7.27083313e-02 9.97352697e-01 -1.04727754e-03 5.43537454e+00] [ 3.22889063e-02 -1.30439505e-03 9.99477726e-01 3.82151872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.42, Y:5.45, Z:3.82 [[ 9.97197889e-01 -7.02179076e-02 -2.58034160e-02 1.55416836e+02] [ 6.95070183e-02 9.97202730e-01 -2.74861752e-02 5.45041367e+00] [ 2.76612586e-02 2.56156374e-02 9.99289094e-01 3.82228028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.45, Y:5.43, Z:3.82 [[ 9.97226524e-01 -6.65065356e-02 -3.34086921e-02 1.55448537e+02] [ 6.73768673e-02 9.97398163e-01 2.56371224e-02 5.43019939e+00] [ 3.16167320e-02 -2.78169915e-02 9.99112905e-01 3.81600787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.48, Y:5.45, Z:3.83 [[ 9.97327912e-01 -6.50601072e-02 -3.32297693e-02 1.55479896e+02] [ 6.50605252e-02 9.97880746e-01 -1.06984014e-03 5.44588162e+00] [ 3.32289509e-02 -1.09496481e-03 9.99447166e-01 3.82505553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.51, Y:5.45, Z:3.83 [[ 9.97466063e-01 -6.28924581e-02 -3.32564700e-02 1.55511375e+02] [ 6.28917464e-02 9.98019783e-01 -1.06850500e-03 5.44843763e+00] [ 3.32578159e-02 -1.02576000e-03 9.99446279e-01 3.82568256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.54, Y:5.45, Z:3.83 [[ 9.97607337e-01 -6.06569768e-02 -3.31712562e-02 1.55541729e+02] [ 6.06550713e-02 9.98158218e-01 -1.06464641e-03 5.45100288e+00] [ 3.31747402e-02 -9.49905844e-04 9.99449115e-01 3.82682817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.57, Y:5.46, Z:3.83 [[ 9.97909604e-01 -5.57553497e-02 -3.26766504e-02 1.55571987e+02] [ 5.57508981e-02 9.98444159e-01 -1.04804572e-03 5.45574226e+00] [ 3.26842449e-02 -7.75897713e-04 9.99465426e-01 3.82843504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.60, Y:5.46, Z:3.83 [[ 9.98059558e-01 -5.33469044e-02 -3.21127223e-02 1.55602207e+02] [ 5.33414131e-02 9.98575804e-01 -1.02827779e-03 5.45858995e+00] [ 3.21218429e-02 -6.86655509e-04 9.99483725e-01 3.82947464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.63, Y:5.46, Z:3.83 [[ 9.98199065e-01 -5.07916712e-02 -3.19191713e-02 1.55632436e+02] [ 5.07849402e-02 9.98709089e-01 -1.02208012e-03 5.46109064e+00] [ 3.19298796e-02 -6.00773788e-04 9.99489931e-01 3.83032170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.66, Y:5.46, Z:3.83 [[ 9.98415823e-01 -4.62038342e-02 -3.21099538e-02 1.55661783e+02] [ 4.61946488e-02 9.98931928e-01 -1.02824333e-03 5.46430412e+00] [ 3.21231669e-02 -4.56693626e-04 9.99483814e-01 3.83084639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.69, Y:5.47, Z:3.83 [[ 9.98508461e-01 -4.42033900e-02 -3.20454799e-02 1.55690129e+02] [ 4.41931901e-02 9.99022476e-01 -1.02685080e-03 5.46593614e+00] [ 3.20595450e-02 -3.90872768e-04 9.99485884e-01 3.83151894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.72, Y:5.47, Z:3.83 [[ 9.98593053e-01 -4.25084918e-02 -3.17008263e-02 1.55718727e+02] [ 4.24975877e-02 9.99096051e-01 -1.01796835e-03 5.46752743e+00] [ 3.17154427e-02 -3.30672528e-04 9.99496884e-01 3.83160163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.935099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.75, Y:5.47, Z:3.83 [[ 9.98667556e-01 -4.08178946e-02 -3.15755024e-02 1.55747888e+02] [ 4.08059893e-02 9.99166566e-01 -1.02161354e-03 5.46889292e+00] [ 3.15908864e-02 -2.68217320e-04 9.99500847e-01 3.83193569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.78, Y:5.47, Z:3.83 [[ 9.98710796e-01 -3.96742265e-02 -3.16654594e-02 1.55775649e+02] [ 3.96614309e-02 9.99212643e-01 -1.03234006e-03 5.47052207e+00] [ 3.16814847e-02 -2.24888271e-04 9.99497990e-01 3.83263007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.80, Y:5.47, Z:3.83 [[ 9.98771141e-01 -3.83199348e-02 -3.14291384e-02 1.55803377e+02] [ 3.83064021e-02 9.99265507e-01 -1.03280606e-03 5.47243663e+00] [ 3.14456310e-02 -1.72400324e-04 9.99505449e-01 3.83325360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.83, Y:5.47, Z:3.83 [[ 9.98882133e-01 -3.56970283e-02 -3.09872060e-02 1.55831278e+02] [ 3.56825187e-02 9.99362654e-01 -1.02128127e-03 5.47443233e+00] [ 3.10039131e-02 -8.55619444e-05 9.99519259e-01 3.83404066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.86, Y:5.47, Z:3.83 [[ 9.98767433e-01 -3.46754303e-02 -3.55138031e-02 1.55857623e+02] [ 3.53244976e-02 9.99217098e-01 1.78149036e-02 5.46731362e+00] [ 3.48682598e-02 -1.90474528e-02 9.99210388e-01 3.83336187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.89, Y:5.48, Z:3.84 [[ 9.98779240e-01 -3.52646915e-02 -3.45894709e-02 1.55886302e+02] [ 3.52470265e-02 9.99378002e-01 -1.12053031e-03 5.47753768e+00] [ 3.46074715e-02 -1.00013582e-04 9.99400977e-01 3.84031802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.91, Y:5.49, Z:3.84 [[ 9.98977481e-01 -3.40167565e-02 -2.97800668e-02 1.55914793e+02] [ 3.34277431e-02 9.99239838e-01 -2.00582356e-02 5.48555751e+00] [ 3.04397452e-02 1.90422452e-02 9.99355200e-01 3.84267085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.94, Y:5.48, Z:3.84 [[ 9.98966280e-01 -3.35423577e-02 -3.06803101e-02 1.55941958e+02] [ 3.35264795e-02 9.99437297e-01 -1.03195991e-03 5.47635409e+00] [ 3.06976605e-02 2.29036744e-06 9.99528716e-01 3.83694479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.97, Y:5.48, Z:3.84 [[ 9.98930565e-01 -3.42099930e-02 -3.11030995e-02 1.55969686e+02] [ 3.41938661e-02 9.99414667e-01 -1.05040256e-03 5.47641014e+00] [ 3.11208281e-02 -1.42559965e-05 9.99515630e-01 3.83757634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.00, Y:5.48, Z:3.84 [[ 9.98869415e-01 -3.52974574e-02 -3.18430723e-02 1.55997212e+02] [ 3.52808177e-02 9.99376850e-01 -1.08444178e-03 5.47626894e+00] [ 3.18615073e-02 -4.02339085e-05 9.99492292e-01 3.83857563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.02, Y:5.48, Z:3.84 [[ 9.98790938e-01 -3.69446607e-02 -3.24307654e-02 1.56024685e+02] [ 3.69279626e-02 9.99317309e-01 -1.11389594e-03 5.47646248e+00] [ 3.24497777e-02 -8.50529185e-05 9.99473364e-01 3.83945237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.05, Y:5.48, Z:3.84 [[ 9.98699756e-01 -3.89227960e-02 -3.29213226e-02 1.56051787e+02] [ 3.89063709e-02 9.99242211e-01 -1.13961331e-03 5.47650491e+00] [ 3.29407322e-02 -1.42717661e-04 9.99457297e-01 3.83996981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.08, Y:5.48, Z:3.84 [[ 9.98586914e-01 -4.13152196e-02 -3.34249648e-02 1.56079239e+02] [ 4.12994626e-02 9.99146138e-01 -1.16198202e-03 5.47632246e+00] [ 3.34444320e-02 -2.20093042e-04 9.99440554e-01 3.84106764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.11, Y:5.47, Z:3.84 [[ 9.98351097e-01 -4.66519795e-02 -3.34466822e-02 1.56106458e+02] [ 4.66388907e-02 9.98911128e-01 -1.17182944e-03 5.47405794e+00] [ 3.34649312e-02 -3.90018949e-04 9.99439816e-01 3.84223137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.13, Y:5.47, Z:3.84 [[ 9.98219105e-01 -4.96847366e-02 -3.30158386e-02 1.56134755e+02] [ 4.96734158e-02 9.98764836e-01 -1.16353862e-03 5.47294732e+00] [ 3.30328688e-02 -4.78543003e-04 9.99454151e-01 3.84279611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.16, Y:5.47, Z:3.84 [[ 9.98081034e-01 -5.27181115e-02 -3.24815277e-02 1.56164009e+02] [ 5.27085268e-02 9.98609275e-01 -1.15185857e-03 5.47211828e+00] [ 3.24970786e-02 -5.62405283e-04 9.99471672e-01 3.84379015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.19, Y:5.47, Z:3.85 [[ 9.97930469e-01 -5.57249061e-02 -3.20860381e-02 1.56193078e+02] [ 5.57170720e-02 9.98445948e-01 -1.13890583e-03 5.47140047e+00] [ 3.20996402e-02 -6.51191265e-04 9.99484462e-01 3.84502544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.22, Y:5.47, Z:3.85 [[ 9.97781715e-01 -5.85890604e-02 -3.16065211e-02 1.56224526e+02] [ 5.85828816e-02 9.98281917e-01 -1.12228595e-03 5.47112961e+00] [ 3.16179721e-02 -7.31804678e-04 9.99499759e-01 3.84610492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.26, Y:5.47, Z:3.85 [[ 9.97619427e-01 -6.11959204e-02 -3.17889565e-02 1.56256325e+02] [ 6.11910284e-02 9.98125436e-01 -1.12762434e-03 5.47088712e+00] [ 3.17983721e-02 -8.20258991e-04 9.99493967e-01 3.84746082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.29, Y:5.47, Z:3.85 [[ 9.97330828e-01 -6.59162733e-02 -3.14048368e-02 1.56288224e+02] [ 6.59138706e-02 9.97824696e-01 -1.11289114e-03 5.46946261e+00] [ 3.14098794e-02 -9.60093707e-04 9.99506127e-01 3.84854397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.32, Y:5.47, Z:3.85 [[ 9.97214876e-01 -6.76796388e-02 -3.13362084e-02 1.56319859e+02] [ 6.76781570e-02 9.97706589e-01 -1.10915139e-03 5.46883455e+00] [ 3.13394085e-02 -1.01471457e-03 9.99508285e-01 3.84903408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.35, Y:5.47, Z:3.85 [[ 9.97065317e-01 -6.95261862e-02 -3.20446907e-02 1.56351025e+02] [ 6.95257005e-02 9.97579520e-01 -1.13075751e-03 5.46811067e+00] [ 3.20457444e-02 -1.10049047e-03 9.99485797e-01 3.84943656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.38, Y:5.47, Z:3.85 [[ 9.96783837e-01 -7.31574635e-02 -3.27103501e-02 1.56383293e+02] [ 7.31589686e-02 9.97319626e-01 -1.15243887e-03 5.46635362e+00] [ 3.27069837e-02 -1.24432304e-03 9.99464209e-01 3.84973120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.42, Y:5.47, Z:3.85 [[ 9.96658503e-01 -7.48476023e-02 -3.27057432e-02 1.56415945e+02] [ 7.48500900e-02 9.97194134e-01 -1.14999354e-03 5.46617755e+00] [ 3.27000495e-02 -1.30187698e-03 9.99464362e-01 3.85025972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.45, Y:5.47, Z:3.85 [[ 9.96665148e-01 -7.47590279e-02 -3.27058273e-02 1.56448611e+02] [ 7.47615465e-02 9.97200779e-01 -1.14759718e-03 5.46726627e+00] [ 3.27000697e-02 -1.30136811e-03 9.99464362e-01 3.85120075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.685099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.48, Y:5.47, Z:3.85 [[ 9.96521407e-01 -7.66446633e-02 -3.27212638e-02 1.56480472e+02] [ 7.66482918e-02 9.97057535e-01 -1.14529223e-03 5.46771589e+00] [ 3.27127632e-02 -1.36672075e-03 9.99463860e-01 3.85229888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.51, Y:5.47, Z:3.85 [[ 9.96411838e-01 -7.79300739e-02 -3.30204782e-02 1.56512806e+02] [ 7.79345534e-02 9.96957810e-01 -1.15335178e-03 5.46807679e+00] [ 3.30099044e-02 -1.42422285e-03 9.99454010e-01 3.85319085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.54, Y:5.47, Z:3.85 [[ 9.96196167e-01 -8.03525961e-02 -3.37143471e-02 1.56544406e+02] [ 8.03587418e-02 9.96765315e-01 -1.17487684e-03 5.46797862e+00] [ 3.36996962e-02 -1.53883471e-03 9.99430819e-01 3.85364531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.58, Y:5.47, Z:3.85 [[ 9.96141628e-01 -8.09274360e-02 -3.39500821e-02 1.56575094e+02] [ 8.09341233e-02 9.96718755e-01 -1.17949427e-03 5.46861219e+00] [ 3.39341370e-02 -1.57277679e-03 9.99422834e-01 3.85442636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.61, Y:5.47, Z:3.86 [[ 9.96093244e-01 -8.13454659e-02 -3.43680742e-02 1.56607242e+02] [ 8.13526354e-02 9.96684668e-01 -1.19204097e-03 5.46967811e+00] [ 3.43510997e-02 -1.60854945e-03 9.99408532e-01 3.85569435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.64, Y:5.47, Z:3.86 [[ 9.96099348e-01 -8.12561930e-02 -3.44023132e-02 1.56638165e+02] [ 8.12634076e-02 9.96691949e-01 -1.19079312e-03 5.47073943e+00] [ 3.43852679e-02 -1.60950095e-03 9.99407356e-01 3.85636685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.67, Y:5.47, Z:3.86 [[ 9.96184290e-01 -8.01921975e-02 -3.44394050e-02 1.56669958e+02] [ 8.01988622e-02 9.96778173e-01 -1.19007687e-03 5.47239432e+00] [ 3.44238821e-02 -1.57646522e-03 9.99406079e-01 3.85783115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.70, Y:5.47, Z:3.86 [[ 9.96261307e-01 -7.93012162e-02 -3.42742696e-02 1.56701070e+02] [ 7.93073859e-02 9.96849508e-01 -1.18159923e-03 5.47391479e+00] [ 3.42599910e-02 -1.54102113e-03 9.99411766e-01 3.85923642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.73, Y:5.47, Z:3.86 [[ 9.96268366e-01 -7.92124266e-02 -3.42744071e-02 1.56733738e+02] [ 7.92186812e-02 9.96856566e-01 -1.17759824e-03 5.47497936e+00] [ 3.42599482e-02 -1.54196945e-03 9.99411766e-01 3.86017701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.76, Y:5.48, Z:3.86 [[ 9.96480971e-01 -7.68648865e-02 -3.34284780e-02 1.56764719e+02] [ 7.68696091e-02 9.97040496e-01 -1.14578418e-03 5.47746180e+00] [ 3.34176168e-02 -1.42788190e-03 9.99440455e-01 3.86159705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.80, Y:5.48, Z:3.86 [[ 9.96546526e-01 -7.58123831e-02 -3.38748317e-02 1.56796506e+02] [ 7.58166910e-02 9.97121099e-01 -1.15917102e-03 5.47930604e+00] [ 3.38651889e-02 -1.41310979e-03 9.99425411e-01 3.86289339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.01509989299998 meters Centerline goodness : 0.998333 Centerline is valid? [True, True] Translation: X:156.83, Y:5.48, Z:3.86 [[ 9.96591715e-01 -7.49026632e-02 -3.45621931e-02 1.56827943e+02] [ 7.49066868e-02 9.97189849e-01 -1.18024859e-03 5.48233278e+00] [ 3.45534719e-02 -1.41271341e-03 9.99401852e-01 3.86358181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.86, Y:5.48, Z:3.86 [[ 9.96677107e-01 -7.35048322e-02 -3.50967683e-02 1.56859627e+02] [ 7.35081913e-02 9.97293896e-01 -1.19637927e-03 5.48404403e+00] [ 3.50897324e-02 -1.38749613e-03 9.99383203e-01 3.86480939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.89, Y:5.49, Z:3.87 [[ 9.96737058e-01 -7.27645550e-02 -3.49364689e-02 1.56890627e+02] [ 7.27674854e-02 9.97348223e-01 -1.18931143e-03 5.48596965e+00] [ 3.49303649e-02 -1.35680821e-03 9.99388828e-01 3.86554947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.92, Y:5.49, Z:3.87 [[ 9.96793232e-01 -7.18531888e-02 -3.52189216e-02 1.56922640e+02] [ 7.18556712e-02 9.97414322e-01 -1.19687967e-03 5.48794892e+00] [ 3.52138564e-02 -1.33763770e-03 9.99378905e-01 3.86694626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.95, Y:5.49, Z:3.87 [[ 9.96849883e-01 -7.08187631e-02 -3.57073269e-02 1.56954341e+02] [ 7.08207443e-02 9.97488324e-01 -1.21091623e-03 5.49000337e+00] [ 3.57033973e-02 -1.32171777e-03 9.99361556e-01 3.86801187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.99, Y:5.49, Z:3.87 [[ 9.96908223e-01 -6.98212964e-02 -3.60413723e-02 1.56985580e+02] [ 6.98227491e-02 9.97558668e-01 -1.21989629e-03 5.49196435e+00] [ 3.60385580e-02 -1.30038305e-03 9.99349554e-01 3.86874557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.02, Y:5.49, Z:3.87 [[ 9.97030522e-01 -6.75900754e-02 -3.69014999e-02 1.57015855e+02] [ 6.75901171e-02 9.97712393e-01 -1.24781268e-03 5.49454195e+00] [ 3.69014235e-02 -1.25006937e-03 9.99318129e-01 3.86986634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.05, Y:5.50, Z:3.87 [[ 9.97031706e-01 -6.75725883e-02 -3.69015219e-02 1.57046831e+02] [ 6.75726422e-02 9.97713577e-01 -1.24716096e-03 5.49559049e+00] [ 3.69014234e-02 -1.25007432e-03 9.99318129e-01 3.87075911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.08, Y:5.50, Z:3.87 [[ 9.97107081e-01 -6.65328245e-02 -3.67539431e-02 1.57077735e+02] [ 6.65322015e-02 9.97783506e-01 -1.24138244e-03 5.49751464e+00] [ 3.67550709e-02 -1.20752953e-03 9.99323575e-01 3.87166331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.11, Y:5.50, Z:3.87 [[ 9.97214439e-01 -6.50900911e-02 -3.64231037e-02 1.57108242e+02] [ 6.50885604e-02 9.97878735e-01 -1.22904181e-03 5.49914603e+00] [ 3.64258390e-02 -1.14510915e-03 9.99335703e-01 3.87256861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.14, Y:5.50, Z:3.87 [[ 9.97295711e-01 -6.36950972e-02 -3.66633241e-02 1.57139137e+02] [ 6.36926342e-02 9.97968797e-01 -1.23634615e-03 5.50110921e+00] [ 3.66676027e-02 -1.10218098e-03 9.99326910e-01 3.87378043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.17, Y:5.50, Z:3.87 [[ 9.97394278e-01 -6.20626775e-02 -3.67814810e-02 1.57169500e+02] [ 6.20591281e-02 9.98071705e-01 -1.23929449e-03 5.50273592e+00] [ 3.67874694e-02 -1.04656140e-03 9.99322564e-01 3.87442113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.20, Y:5.50, Z:3.88 [[ 9.97477190e-01 -6.01588156e-02 -3.76851639e-02 1.57200395e+02] [ 6.01537329e-02 9.98188317e-01 -1.26974267e-03 5.50458577e+00] [ 3.76932766e-02 -1.00036393e-03 9.99288855e-01 3.87548232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.23, Y:5.51, Z:3.88 [[ 9.97727457e-01 -5.57674731e-02 -3.78141559e-02 1.57229351e+02] [ 5.57591798e-02 9.98443433e-01 -1.27472498e-03 5.50723397e+00] [ 3.78263839e-02 -8.36658212e-04 9.99283976e-01 3.87550066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.435099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.26, Y:5.51, Z:3.88 [[ 9.97714776e-01 -5.59939745e-02 -3.78140181e-02 1.57258567e+02] [ 5.59856893e-02 9.98430752e-01 -1.27879981e-03 5.50826520e+00] [ 3.78262836e-02 -8.41166403e-04 9.99283976e-01 3.87634357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.29, Y:5.51, Z:3.88 [[ 9.97844723e-01 -5.32005920e-02 -3.84136070e-02 1.57288486e+02] [ 5.31897049e-02 9.98583572e-01 -1.30606964e-03 5.51007600e+00] [ 3.84286806e-02 -7.39953725e-04 9.99261071e-01 3.87744825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.32, Y:5.51, Z:3.88 [[ 9.98163901e-01 -4.67364782e-02 -3.85295892e-02 1.57315922e+02] [ 4.67206369e-02 9.98907133e-01 -1.31193375e-03 5.51266151e+00] [ 3.85487966e-02 -4.90602036e-04 9.99256598e-01 3.87834639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.34, Y:5.51, Z:3.88 [[ 9.98338504e-01 -4.29504782e-02 -3.84120683e-02 1.57343289e+02] [ 4.29317868e-02 9.99077145e-01 -1.31170628e-03 5.51445304e+00] [ 3.84329579e-02 -3.39571844e-04 9.99261123e-01 3.87925537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.37, Y:5.52, Z:3.88 [[ 9.98474465e-01 -3.95409046e-02 -3.85390622e-02 1.57371559e+02] [ 3.95193053e-02 9.99217932e-01 -1.32239130e-03 5.51627560e+00] [ 3.85612106e-02 -2.02663020e-04 9.99256219e-01 3.88014190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.40, Y:5.51, Z:3.88 [[ 9.98036145e-01 -3.92711255e-02 -4.88019605e-02 1.57396044e+02] [ 4.08105836e-02 9.98687151e-01 3.09591897e-02 5.50723254e+00] [ 4.75220886e-02 -3.28900268e-02 9.98328552e-01 3.88357417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.43, Y:5.54, Z:3.89 [[ 9.98737313e-01 -3.38589465e-02 -3.71126955e-02 1.57428123e+02] [ 3.25771432e-02 9.98869619e-01 -3.46152300e-02 5.53540422e+00] [ 3.82427793e-02 3.33624962e-02 9.98711387e-01 3.89268305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.46, Y:5.52, Z:3.88 [[ 9.98815458e-01 -3.02308323e-02 -3.81284439e-02 1.57456110e+02] [ 3.02022538e-02 9.99542929e-01 -1.32543482e-03 5.52109112e+00] [ 3.81510855e-02 1.72299845e-04 9.99271967e-01 3.88250776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.48, Y:5.51, Z:3.89 [[ 9.98463188e-01 -2.94640484e-02 -4.69375309e-02 1.57479076e+02] [ 3.07427213e-02 9.99169129e-01 2.67570095e-02 5.51313669e+00] [ 4.61101620e-02 -2.81588765e-02 9.98539399e-01 3.88512102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.51, Y:5.54, Z:3.89 [[ 9.98990783e-01 -2.59297258e-02 -3.66751284e-02 1.57511911e+02] [ 2.48232042e-02 9.99232226e-01 -3.03111554e-02 5.53636842e+00] [ 3.74329301e-02 2.93701707e-02 9.98867443e-01 3.89358744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.54, Y:5.52, Z:3.89 [[ 9.98599657e-01 -2.77950388e-02 -4.50129013e-02 1.57536502e+02] [ 2.86599755e-02 9.99414563e-01 1.86851999e-02 5.51719714e+00] [ 4.44671932e-02 -1.99491028e-02 9.98811645e-01 3.88638028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.57, Y:5.53, Z:3.89 [[ 9.98982162e-01 -2.57875143e-02 -3.70087126e-02 1.57567723e+02] [ 2.49802427e-02 9.99443365e-01 -2.21121770e-02 5.53268549e+00] [ 3.75583303e-02 2.11651838e-02 9.99070271e-01 3.89203312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.59, Y:5.52, Z:3.89 [[ 9.98562187e-01 -2.91566058e-02 -4.49827939e-02 1.57591339e+02] [ 3.01579989e-02 9.99308566e-01 2.17459014e-02 5.51607187e+00] [ 4.43176547e-02 -2.30712259e-02 9.98751052e-01 3.88797425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.62, Y:5.53, Z:3.90 [[ 9.98722747e-01 -3.05635381e-02 -4.02336392e-02 1.57619804e+02] [ 3.00478918e-02 9.99459180e-01 -1.33593589e-02 5.53119668e+00] [ 4.06201893e-02 1.21333595e-02 9.99100987e-01 3.89618719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.65, Y:5.52, Z:3.89 [[ 9.98621711e-01 -3.20035963e-02 -4.15986463e-02 1.57647464e+02] [ 3.21016845e-02 9.99483176e-01 1.69195584e-03 5.52351422e+00] [ 4.15229984e-02 -3.02501046e-03 9.99132969e-01 3.89286990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.68, Y:5.53, Z:3.89 [[ 9.98845074e-01 -3.20473987e-02 -3.57977953e-02 1.57679077e+02] [ 3.14406764e-02 9.99354414e-01 -1.73849995e-02 5.52795029e+00] [ 3.63318288e-02 1.62394142e-02 9.99207826e-01 3.89289928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.71, Y:5.52, Z:3.89 [[ 9.98674943e-01 -3.73925852e-02 -3.53574993e-02 1.57707425e+02] [ 3.73712023e-02 9.99300651e-01 -1.26568326e-03 5.51737751e+00] [ 3.53800992e-02 -5.73461052e-05 9.99373927e-01 3.88922816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.73, Y:5.51, Z:3.89 [[ 9.98139307e-01 -4.37918673e-02 -4.24287161e-02 1.57731428e+02] [ 4.47495562e-02 9.98758365e-01 2.18907681e-02 5.51013723e+00] [ 4.14173975e-02 -2.37487023e-02 9.98859649e-01 3.89182117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.76, Y:5.53, Z:3.90 [[ 9.98455418e-01 -4.41715222e-02 -3.36994716e-02 1.57764850e+02] [ 4.33313537e-02 9.98741187e-01 -2.52672698e-02 5.52662663e+00] [ 3.47731440e-02 2.37679987e-02 9.99112562e-01 3.89863242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.79, Y:5.51, Z:3.89 [[ 9.98008239e-01 -4.87133154e-02 -4.00820210e-02 1.57792039e+02] [ 4.92593562e-02 9.98704643e-01 1.27495830e-02 5.51119979e+00] [ 3.94090260e-02 -1.46986034e-02 9.99115048e-01 3.89366801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.82, Y:5.52, Z:3.90 [[ 9.98004218e-01 -5.26044805e-02 -3.49335114e-02 1.57823857e+02] [ 5.20741705e-02 9.98516295e-01 -1.59213634e-02 5.51743921e+00] [ 3.57192154e-02 1.40704542e-02 9.99262808e-01 3.89653891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.85, Y:5.51, Z:3.89 [[ 9.97831544e-01 -5.51883262e-02 -3.58672476e-02 1.57852656e+02] [ 5.51770071e-02 9.98475734e-01 -1.30610210e-03 5.50914163e+00] [ 3.58846580e-02 -6.75777504e-04 9.99355710e-01 3.89280227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.88, Y:5.51, Z:3.90 [[ 9.97431960e-01 -5.94243638e-02 -3.99778600e-02 1.57880597e+02] [ 5.98126724e-02 9.98172683e-01 8.58711448e-03 5.50662376e+00] [ 3.93945240e-02 -1.09562451e-02 9.99163666e-01 3.89503581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.91, Y:5.51, Z:3.90 [[ 9.97576425e-01 -5.98596743e-02 -3.54696390e-02 1.57912416e+02] [ 5.94761248e-02 9.98160306e-01 -1.17726275e-02 5.51241819e+00] [ 3.61090914e-02 9.63449896e-03 9.99301411e-01 3.89779606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.94, Y:5.51, Z:3.90 [[ 9.97490107e-01 -6.11533862e-02 -3.56896286e-02 1.57942270e+02] [ 6.11457202e-02 9.98127994e-01 -1.30725985e-03 5.50666511e+00] [ 3.57027608e-02 -8.78289277e-04 9.99362067e-01 3.89585936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.185099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.97, Y:5.51, Z:3.90 [[ 9.97344628e-01 -6.33187427e-02 -3.59781834e-02 1.57971443e+02] [ 6.33123193e-02 9.97992891e-01 -1.31895394e-03 5.50508778e+00] [ 3.59894858e-02 -9.62410609e-04 9.99351705e-01 3.89708545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.00, Y:5.50, Z:3.90 [[ 9.97326879e-01 -6.36272033e-02 -3.59259596e-02 1.58002217e+02] [ 6.36209812e-02 9.97973264e-01 -1.31751978e-03 5.50486774e+00] [ 3.59369772e-02 -9.71646911e-04 9.99353586e-01 3.89769596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.03, Y:5.50, Z:3.90 [[ 9.97305163e-01 -6.39808896e-02 -3.59006504e-02 1.58031805e+02] [ 6.39748997e-02 9.97950639e-01 -1.31674168e-03 5.50473764e+00] [ 3.59113233e-02 -9.83547234e-04 9.99354496e-01 3.89863213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.06, Y:5.50, Z:3.90 [[ 9.97322844e-01 -6.39006223e-02 -3.55507378e-02 1.58062151e+02] [ 6.38946801e-02 9.97955795e-01 -1.30439390e-03 5.50468837e+00] [ 3.55614164e-02 -9.70601191e-04 9.99367021e-01 3.89928497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.09, Y:5.50, Z:3.90 [[ 9.97343234e-01 -6.35240042e-02 -3.56535233e-02 1.58092862e+02] [ 6.35177873e-02 9.97979849e-01 -1.30816520e-03 5.50460605e+00] [ 3.56645977e-02 -9.59943193e-04 9.99363355e-01 3.90042862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.12, Y:5.51, Z:3.90 [[ 9.97350551e-01 -6.33342492e-02 -3.57861834e-02 1.58123583e+02] [ 6.33278640e-02 9.97991913e-01 -1.31303264e-03 5.50531390e+00] [ 3.57974816e-02 -9.56708725e-04 9.99358607e-01 3.90101361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.15, Y:5.51, Z:3.90 [[ 9.97336546e-01 -6.31281659e-02 -3.65328446e-02 1.58153535e+02] [ 6.31213678e-02 9.98004958e-01 -1.34059096e-03 5.50612230e+00] [ 3.65445891e-02 -9.68982762e-04 9.99331554e-01 3.90169935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.18, Y:5.51, Z:3.90 [[ 9.97350590e-01 -6.27928675e-02 -3.67267841e-02 1.58182676e+02] [ 6.27857395e-02 9.98026118e-01 -1.34853754e-03 5.50706150e+00] [ 3.67389683e-02 -9.60953594e-04 9.99324434e-01 3.90241080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.21, Y:5.51, Z:3.90 [[ 9.97352802e-01 -6.25898699e-02 -3.70121200e-02 1.58211614e+02] [ 6.25824353e-02 9.98038871e-01 -1.36052401e-03 5.50807459e+00] [ 3.70246895e-02 -9.59386171e-04 9.99313891e-01 3.90297745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.24, Y:5.51, Z:3.90 [[ 9.97361805e-01 -6.24713185e-02 -3.69697706e-02 1.58240305e+02] [ 6.24637465e-02 9.98046306e-01 -1.36093907e-03 5.50936829e+00] [ 3.69825626e-02 -9.51921732e-04 9.99315458e-01 3.90350692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.27, Y:5.51, Z:3.90 [[ 9.97347196e-01 -6.24502750e-02 -3.73969763e-02 1.58268694e+02] [ 6.24423673e-02 9.98047617e-01 -1.38054659e-03 5.51102647e+00] [ 3.74101786e-02 -9.58271460e-04 9.99299535e-01 3.90446388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.30, Y:5.51, Z:3.91 [[ 9.97344358e-01 -6.23964619e-02 -3.75621284e-02 1.58297625e+02] [ 6.23880976e-02 9.98050989e-01 -1.39591047e-03 5.51286555e+00] [ 3.75760193e-02 -9.51226302e-04 9.99293319e-01 3.90506787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.33, Y:5.52, Z:3.91 [[ 9.97392335e-01 -6.12671445e-02 -3.81427113e-02 1.58326621e+02] [ 6.12574063e-02 9.98120984e-01 -1.42504546e-03 5.51598175e+00] [ 3.81583490e-02 -9.15194139e-04 9.99271286e-01 3.90597515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.36, Y:5.52, Z:3.91 [[ 9.97419571e-01 -6.07408337e-02 -3.82720669e-02 1.58355082e+02] [ 6.07304843e-02 9.98153171e-01 -1.43400151e-03 5.51807553e+00] [ 3.82884873e-02 -8.93979981e-04 9.99266327e-01 3.90713786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.38, Y:5.52, Z:3.91 [[ 9.97472483e-01 -6.00145867e-02 -3.80380723e-02 1.58384200e+02] [ 6.00034785e-02 9.98197137e-01 -1.43461460e-03 5.52044531e+00] [ 3.80555927e-02 -8.51428073e-04 9.99275261e-01 3.90812244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.41, Y:5.52, Z:3.91 [[ 9.97549543e-01 -5.89324534e-02 -3.77077627e-02 1.58412018e+02] [ 5.89204725e-02 9.98261656e-01 -1.42989396e-03 5.52271701e+00] [ 3.77264807e-02 -7.95369126e-04 9.99287786e-01 3.90908395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.44, Y:5.53, Z:3.91 [[ 9.97644759e-01 -5.77704117e-02 -3.69799190e-02 1.58441142e+02] [ 5.77579137e-02 9.98329627e-01 -1.40708025e-03 5.52514877e+00] [ 3.69994364e-02 -7.32116731e-04 9.99315018e-01 3.91025615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.47, Y:5.52, Z:3.91 [[ 9.97356184e-01 -5.82878014e-02 -4.33955578e-02 1.58467927e+02] [ 5.91099692e-02 9.98090816e-01 1.79090706e-02 5.52324550e+00] [ 4.22688273e-02 -2.04268324e-02 9.98897438e-01 3.91315432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.50, Y:5.54, Z:3.92 [[ 9.97986102e-01 -5.31209456e-02 -3.46685116e-02 1.58500746e+02] [ 5.23920154e-02 9.98392825e-01 -2.16065724e-02 5.54162569e+00] [ 3.57605548e-02 1.97467058e-02 9.99165277e-01 3.91865600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.53, Y:5.53, Z:3.91 [[ 9.98070939e-01 -5.10675806e-02 -3.53058569e-02 1.58530263e+02] [ 5.10518331e-02 9.98695095e-01 -1.34797255e-03 5.53447507e+00] [ 3.53286238e-02 -4.57056486e-04 9.99375645e-01 3.91379613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.56, Y:5.54, Z:3.91 [[ 9.98162197e-01 -4.96928266e-02 -3.46821382e-02 1.58558423e+02] [ 4.96765005e-02 9.98764471e-01 -1.33281247e-03 5.53668754e+00] [ 3.47055186e-02 -3.92524226e-04 9.99397505e-01 3.91462248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.59, Y:5.54, Z:3.92 [[ 9.98231429e-01 -4.84986926e-02 -3.43786324e-02 1.58586669e+02] [ 4.84816112e-02 9.98823189e-01 -1.33079195e-03 5.53840538e+00] [ 3.44027169e-02 -3.38293142e-04 9.99407994e-01 3.91552698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.61, Y:5.54, Z:3.92 [[ 9.98375759e-01 -4.61295272e-02 -3.34351570e-02 1.58613978e+02] [ 4.61117643e-02 9.98935438e-01 -1.30257341e-03 5.54014163e+00] [ 3.34596503e-02 -2.41296362e-04 9.99440040e-01 3.91653218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.64, Y:5.54, Z:3.92 [[ 9.98393481e-01 -4.57581560e-02 -3.34162802e-02 1.58641650e+02] [ 4.57400641e-02 9.98952522e-01 -1.30605410e-03 5.54178761e+00] [ 3.34410400e-02 -2.24506904e-04 9.99440667e-01 3.91743572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.67, Y:5.54, Z:3.92 [[ 9.98397502e-01 -4.54539274e-02 -3.37100743e-02 1.58668469e+02] [ 4.54350307e-02 9.98966415e-01 -1.32677721e-03 5.54379265e+00] [ 3.37355393e-02 -2.06967206e-04 9.99430773e-01 3.91883798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.935099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.70, Y:5.54, Z:3.92 [[ 9.98382045e-01 -4.60580540e-02 -3.33458928e-02 1.58695768e+02] [ 4.60396962e-02 9.98938741e-01 -1.31855693e-03 5.54475538e+00] [ 3.33712344e-02 -2.18811214e-04 9.99443001e-01 3.91932848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.72, Y:5.55, Z:3.92 [[ 9.98319855e-01 -4.72054964e-02 -3.36022142e-02 1.58723279e+02] [ 4.71873296e-02 9.98885167e-01 -1.33390201e-03 5.54521659e+00] [ 3.36277208e-02 -2.53937897e-04 9.99434396e-01 3.91992860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.75, Y:5.55, Z:3.92 [[ 9.98261224e-01 -4.82906820e-02 -3.38014649e-02 1.58750822e+02] [ 4.82726194e-02 9.98833284e-01 -1.35072336e-03 5.54527496e+00] [ 3.38272556e-02 -2.83310493e-04 9.99427654e-01 3.92008990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.78, Y:5.55, Z:3.92 [[ 9.98184496e-01 -4.99461581e-02 -3.36614508e-02 1.58778738e+02] [ 4.99290322e-02 9.98751856e-01 -1.34968289e-03 5.54529662e+00] [ 3.36868480e-02 -3.33451125e-04 9.99432381e-01 3.92022789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.81, Y:5.55, Z:3.92 [[ 9.98083978e-01 -5.17129361e-02 -3.39727216e-02 1.58807035e+02] [ 5.16963319e-02 9.98661914e-01 -1.36754147e-03 5.54561847e+00] [ 3.39979828e-02 -3.91343868e-04 9.99421825e-01 3.92098331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.83, Y:5.54, Z:3.92 [[ 9.97611010e-01 -5.51847692e-02 -4.15561517e-02 1.58833845e+02] [ 5.61827179e-02 9.98149959e-01 2.32413932e-02 5.53759751e+00] [ 4.01967002e-02 -2.55206073e-02 9.98865819e-01 3.92298337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.86, Y:5.55, Z:3.93 [[ 9.97497141e-01 -5.80657945e-02 -4.03462193e-02 1.58861281e+02] [ 5.80947912e-02 9.98310968e-01 -4.54351374e-04 5.54946339e+00] [ 4.03044556e-02 -1.89069099e-03 9.99185656e-01 3.93090017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.89, Y:5.55, Z:3.93 [[ 9.97506736e-01 -5.82053007e-02 -3.99055811e-02 1.58889491e+02] [ 5.81782504e-02 9.98304516e-01 -1.83979012e-03 5.55125460e+00] [ 3.99450073e-02 -4.86433848e-04 9.99201761e-01 3.93186972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.92, Y:5.56, Z:3.93 [[ 9.97803722e-01 -5.82823849e-02 -3.14784927e-02 1.58922819e+02] [ 5.74116257e-02 9.97960884e-01 -2.78922702e-02 5.56036262e+00] [ 3.30399324e-02 2.60237796e-02 9.99115171e-01 3.93108643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.95, Y:5.55, Z:3.92 [[ 9.97569396e-01 -6.20080209e-02 -3.17853051e-02 1.58953150e+02] [ 6.19981748e-02 9.98075421e-01 -1.29618722e-03 5.54621920e+00] [ 3.18045058e-02 -6.77594196e-04 9.99493879e-01 3.92366740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.98, Y:5.55, Z:3.92 [[ 9.97411492e-01 -6.46546217e-02 -3.14657884e-02 1.58983647e+02] [ 6.46462589e-02 9.97907417e-01 -1.28409088e-03 5.54616675e+00] [ 3.14829661e-02 -7.53378503e-04 9.99504005e-01 3.92425543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.01, Y:5.55, Z:3.92 [[ 9.97260019e-01 -6.73448137e-02 -3.06125828e-02 1.59014675e+02] [ 6.73381715e-02 9.97729428e-01 -1.24903691e-03 5.54590320e+00] [ 3.06271908e-02 -8.15780775e-04 9.99530545e-01 3.92464252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.05, Y:5.55, Z:3.93 [[ 9.97095772e-01 -6.97217295e-02 -3.06415041e-02 1.59046639e+02] [ 6.97162492e-02 9.97566081e-01 -1.24847651e-03 5.54589729e+00] [ 3.06539711e-02 -8.91360087e-04 9.99529659e-01 3.92536827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.08, Y:5.55, Z:3.93 [[ 9.96923279e-01 -7.23137473e-02 -3.02439780e-02 1.59077605e+02] [ 7.23096624e-02 9.97381471e-01 -1.23019223e-03 5.54592631e+00] [ 3.02537431e-02 -9.60524565e-04 9.99541789e-01 3.92625292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.11, Y:5.55, Z:3.93 [[ 9.96765785e-01 -7.48069862e-02 -2.93578760e-02 1.59109888e+02] [ 7.48042637e-02 9.97197523e-01 -1.19255111e-03 5.54635300e+00] [ 2.93648123e-02 -1.00740015e-03 9.99568253e-01 3.92718794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.14, Y:5.55, Z:3.93 [[ 9.96607570e-01 -7.71653207e-02 -2.86158003e-02 1.59141640e+02] [ 7.71637622e-02 9.97017757e-01 -1.16038645e-03 5.54691798e+00] [ 2.86200026e-02 -1.05165289e-03 9.99589811e-01 3.92803142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.17, Y:5.55, Z:3.93 [[ 9.96460532e-01 -7.91977829e-02 -2.81801400e-02 1.59174081e+02] [ 7.91971397e-02 9.96858321e-01 -1.14069358e-03 5.54703888e+00] [ 2.81819474e-02 -1.09513035e-03 9.99602210e-01 3.92883613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.21, Y:5.55, Z:3.93 [[ 9.96161366e-01 -8.29826809e-02 -2.78640944e-02 1.59206334e+02] [ 8.29835856e-02 9.96550278e-01 -1.12588692e-03 5.54582331e+00] [ 2.78614002e-02 -1.19069742e-03 9.99611087e-01 3.92934955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.24, Y:5.55, Z:3.93 [[ 9.96039284e-01 -8.43813949e-02 -2.80272203e-02 1.59238615e+02] [ 8.43829201e-02 9.96432760e-01 -1.13043261e-03 5.54602219e+00] [ 2.80226280e-02 -1.23906340e-03 9.99606521e-01 3.92996415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.27, Y:5.55, Z:3.93 [[ 9.95959541e-01 -8.53670884e-02 -2.78756798e-02 1.59271001e+02] [ 8.53690398e-02 9.96348768e-01 -1.12225711e-03 5.54622378e+00] [ 2.78697030e-02 -1.26199734e-03 9.99610768e-01 3.93053561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.30, Y:5.55, Z:3.93 [[ 9.95855944e-01 -8.65108564e-02 -2.80501446e-02 1.59303212e+02] [ 8.65133565e-02 9.96250054e-01 -1.12673268e-03 5.54677022e+00] [ 2.80424327e-02 -1.30464873e-03 9.99605882e-01 3.93158822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.34, Y:5.55, Z:3.93 [[ 9.95773599e-01 -8.74808032e-02 -2.79651382e-02 1.59336467e+02] [ 8.74837286e-02 9.96165318e-01 -1.12121154e-03 5.54750518e+00] [ 2.79559852e-02 -1.33002171e-03 9.99608270e-01 3.93200050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.37, Y:5.55, Z:3.93 [[ 9.95694157e-01 -8.83536933e-02 -2.80494351e-02 1.59368057e+02] [ 8.83570678e-02 9.96088234e-01 -1.12152989e-03 5.54812651e+00] [ 2.80388036e-02 -1.36166508e-03 9.99605908e-01 3.93255829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.40, Y:5.55, Z:3.93 [[ 9.95529465e-01 -9.00723729e-02 -2.84262610e-02 1.59400634e+02] [ 9.00766109e-02 9.95934194e-01 -1.13401873e-03 5.54819038e+00] [ 2.84128291e-02 -1.43159219e-03 9.99595249e-01 3.93243882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.43, Y:5.55, Z:3.93 [[ 9.95471058e-01 -9.05524033e-02 -2.89419385e-02 1.59434006e+02] [ 9.05570614e-02 9.95890602e-01 -1.15243494e-03 5.54887784e+00] [ 2.89273603e-02 -1.47368127e-03 9.99580430e-01 3.93304919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.685099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.47, Y:5.55, Z:3.93 [[ 9.95398068e-01 -9.11465407e-02 -2.95802992e-02 1.59465725e+02] [ 9.11517612e-02 9.95836320e-01 -1.17472516e-03 5.54966660e+00] [ 2.95642085e-02 -1.52697722e-03 9.99561717e-01 3.93359530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.50, Y:5.55, Z:3.93 [[ 9.95319331e-01 -9.19289375e-02 -2.98077130e-02 1.59497648e+02] [ 9.19346650e-02 9.95764341e-01 -1.18119013e-03 5.55054848e+00] [ 2.97900433e-02 -1.56470074e-03 9.99554953e-01 3.93406230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.53, Y:5.55, Z:3.93 [[ 9.95163572e-01 -9.33662845e-02 -3.05319818e-02 1.59530314e+02] [ 9.33730411e-02 9.95630462e-01 -1.20751468e-03 5.55140805e+00] [ 3.05113123e-02 -1.64918937e-03 9.99533061e-01 3.93449790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.56, Y:5.55, Z:3.94 [[ 9.95113767e-01 -9.38584543e-02 -3.06460522e-02 1.59562368e+02] [ 9.38655952e-02 9.95584145e-01 -1.20873060e-03 5.55292498e+00] [ 3.06241733e-02 -1.67378547e-03 9.99529569e-01 3.93534031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.59, Y:5.55, Z:3.94 [[ 9.95060565e-01 -9.42951316e-02 -3.10306442e-02 1.59593878e+02] [ 9.43027477e-02 9.95542817e-01 -1.22122877e-03 5.55458770e+00] [ 3.10074909e-02 -1.71107843e-03 9.99517688e-01 3.93628980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.63, Y:5.56, Z:3.94 [[ 9.95013171e-01 -9.46830678e-02 -3.13672783e-02 1.59626512e+02] [ 9.46910975e-02 9.95505940e-01 -1.23272174e-03 5.55620421e+00] [ 3.13430298e-02 -1.74362765e-03 9.99507166e-01 3.93697021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.66, Y:5.56, Z:3.94 [[ 9.94976633e-01 -9.51089094e-02 -3.12377308e-02 1.59658317e+02] [ 9.51171544e-02 9.95465331e-01 -1.22531192e-03 5.55763829e+00] [ 3.12126161e-02 -1.75208734e-03 9.99511232e-01 3.93767989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.69, Y:5.56, Z:3.94 [[ 9.94978463e-01 -9.52418409e-02 -3.07709242e-02 1.59690927e+02] [ 9.52499906e-02 9.95452655e-01 -1.20419605e-03 5.55909619e+00] [ 3.07456881e-02 -1.73278110e-03 9.99525738e-01 3.93836257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.72, Y:5.56, Z:3.94 [[ 9.95002288e-01 -9.51037389e-02 -3.04257351e-02 1.59722723e+02] [ 9.51117403e-02 9.95465894e-01 -1.18745663e-03 5.56197166e+00] [ 3.04007132e-02 -1.71232256e-03 9.99536325e-01 3.93989995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.76, Y:5.56, Z:3.94 [[ 9.95030104e-01 -9.49239781e-02 -3.00754293e-02 1.59755184e+02] [ 9.49317975e-02 9.95483090e-01 -1.17101233e-03 5.56418433e+00] [ 3.00507384e-02 -1.68992204e-03 9.99546946e-01 3.94094522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.79, Y:5.57, Z:3.94 [[ 9.95097333e-01 -9.44071535e-02 -2.94718193e-02 1.59788226e+02] [ 9.44145277e-02 9.95532314e-01 -1.14439110e-03 5.56624674e+00] [ 2.94481872e-02 -1.64378737e-03 9.99564956e-01 3.94201762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.82, Y:5.57, Z:3.94 [[ 9.95143284e-01 -9.40207662e-02 -2.91537137e-02 1.59820630e+02] [ 9.40279061e-02 9.95568922e-01 -1.12896686e-03 5.56849150e+00] [ 2.91306776e-02 -1.61777887e-03 9.99574303e-01 3.94326542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.85, Y:5.57, Z:3.94 [[ 9.95183153e-01 -9.35957394e-02 -2.91604225e-02 1.59853037e+02] [ 9.36027769e-02 9.95608985e-01 -1.12661191e-03 5.57060462e+00] [ 2.91378248e-02 -1.60831133e-03 9.99574110e-01 3.94440408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.89, Y:5.57, Z:3.95 [[ 9.95132601e-01 -9.43134753e-02 -2.85670280e-02 1.59886219e+02] [ 9.43205957e-02 9.95541266e-01 -1.10116172e-03 5.57392005e+00] [ 2.85435096e-02 -1.59865717e-03 9.99591273e-01 3.94551815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.92, Y:5.58, Z:3.95 [[ 9.95141003e-01 -9.42247394e-02 -2.85671443e-02 1.59918882e+02] [ 9.42319100e-02 9.95549668e-01 -1.09813547e-03 5.57511734e+00] [ 2.85434826e-02 -1.59913694e-03 9.99591273e-01 3.94637693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.95, Y:5.58, Z:3.95 [[ 9.94930728e-01 -9.58716378e-02 -3.03558198e-02 1.59952158e+02] [ 9.58805890e-02 9.95392163e-01 -1.16395230e-03 5.57762117e+00] [ 3.03275351e-02 -1.75248197e-03 9.99538478e-01 3.94687680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.98, Y:5.58, Z:3.95 [[ 9.94809229e-01 -9.67771925e-02 -3.14447693e-02 1.59983864e+02] [ 9.67873581e-02 9.95304356e-01 -1.20224197e-03 5.57903985e+00] [ 3.14134655e-02 -1.84745474e-03 9.99504768e-01 3.94681041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.02, Y:5.58, Z:3.95 [[ 9.94675862e-01 -9.79156907e-02 -3.21317015e-02 1.60015516e+02] [ 9.79269929e-02 9.95192847e-01 -1.22554311e-03 5.58070802e+00] [ 3.20972394e-02 -1.92754275e-03 9.99482892e-01 3.94733760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.05, Y:5.58, Z:3.95 [[ 9.94570138e-01 -9.89825201e-02 -3.21356844e-02 1.60048389e+02] [ 9.89944747e-02 9.95087232e-01 -1.22273926e-03 5.58249375e+00] [ 3.20988391e-02 -1.96515524e-03 9.99482768e-01 3.94793920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.08, Y:5.58, Z:3.95 [[ 9.94491538e-01 -9.97895970e-02 -3.20720514e-02 1.60080583e+02] [ 9.98020331e-02 9.95006570e-01 -1.21685959e-03 5.58448628e+00] [ 3.20333318e-02 -1.99069937e-03 9.99484819e-01 3.94882377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.11, Y:5.59, Z:3.95 [[ 9.94384506e-01 -1.00875278e-01 -3.19942588e-02 1.60113561e+02] [ 1.00888312e-01 9.94897021e-01 -1.21085051e-03 5.58748623e+00] [ 3.19531377e-02 -2.02379577e-03 9.99487319e-01 3.94926281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.15, Y:5.59, Z:3.95 [[ 9.94416678e-01 -1.00704281e-01 -3.15296385e-02 1.60146873e+02] [ 1.00716961e-01 9.94914407e-01 -1.18979704e-03 5.58988342e+00] [ 3.14891093e-02 -1.99241535e-03 9.99502109e-01 3.95010311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.18, Y:5.59, Z:3.95 [[ 9.94471528e-01 -1.00207610e-01 -3.13817479e-02 1.60179669e+02] [ 1.00220035e-01 9.94964598e-01 -1.18073255e-03 5.59234291e+00] [ 3.13420465e-02 -1.97087495e-03 9.99506774e-01 3.95095293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.21, Y:5.59, Z:3.95 [[ 9.94577299e-01 -9.92284736e-02 -3.11400941e-02 1.60212090e+02] [ 9.92403330e-02 9.95062808e-01 -1.16830468e-03 5.59499911e+00] [ 3.11022786e-02 -1.92838400e-03 9.99514347e-01 3.95177908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.24, Y:5.60, Z:3.95 [[ 9.94673871e-01 -9.83184772e-02 -3.09413666e-02 1.60244836e+02] [ 9.83298369e-02 9.95153205e-01 -1.15794114e-03 5.59774175e+00] [ 3.09052472e-02 -1.89068574e-03 9.99520531e-01 3.95284073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.435099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.28, Y:5.60, Z:3.95 [[ 9.94904420e-01 -9.63452227e-02 -2.97118204e-02 1.60276932e+02] [ 9.63549113e-02 9.95346423e-01 -1.10883714e-03 5.60164142e+00] [ 2.96803853e-02 -1.75969285e-03 9.99557891e-01 3.95355740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.31, Y:5.60, Z:3.95 [[ 9.94969359e-01 -9.56224105e-02 -2.98718667e-02 1.60309863e+02] [ 9.56319629e-02 9.95416140e-01 -1.11201387e-03 5.60405246e+00] [ 2.98412716e-02 -1.75028552e-03 9.99553118e-01 3.95466136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.34, Y:5.61, Z:3.96 [[ 9.95028878e-01 -9.50570591e-02 -2.96932106e-02 1.60343300e+02] [ 9.50663421e-02 9.95470329e-01 -1.10214161e-03 5.60626490e+00] [ 2.96634765e-02 -1.72616219e-03 9.99558452e-01 3.95533129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.38, Y:5.61, Z:3.96 [[ 9.95074070e-01 -9.44204666e-02 -3.02054864e-02 1.60375496e+02] [ 9.44298806e-02 9.95530888e-01 -1.11785469e-03 5.60975873e+00] [ 3.01760430e-02 -1.73995226e-03 9.99543085e-01 3.95550928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.41, Y:5.61, Z:3.96 [[ 9.95066188e-01 -9.44147595e-02 -3.04816954e-02 1.60408610e+02] [ 9.44244316e-02 9.95531396e-01 -1.12520248e-03 5.61247597e+00] [ 3.04517205e-02 -1.75856582e-03 9.99534692e-01 3.95581997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.44, Y:5.62, Z:3.96 [[ 9.95051659e-01 -9.44665943e-02 -3.07938210e-02 1.60441307e+02] [ 9.44765940e-02 9.95526438e-01 -1.13336429e-03 5.61507474e+00] [ 3.07631280e-02 -1.78153931e-03 9.99525115e-01 3.95693532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.47, Y:5.62, Z:3.96 [[ 9.95038500e-01 -9.46038681e-02 -3.07976022e-02 1.60473097e+02] [ 9.46140367e-02 9.95513388e-01 -1.13022483e-03 5.61756740e+00] [ 3.07663490e-02 -1.78926824e-03 9.99525002e-01 3.95803261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.51, Y:5.62, Z:3.96 [[ 9.94941849e-01 -9.55617624e-02 -3.09623423e-02 1.60505339e+02] [ 9.55725891e-02 9.95421818e-01 -1.13346376e-03 5.62143469e+00] [ 3.09289068e-02 -1.83142069e-03 9.99519909e-01 3.95886369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.54, Y:5.62, Z:3.96 [[ 9.94883765e-01 -9.61169652e-02 -3.11098577e-02 1.60538508e+02] [ 9.61282553e-02 9.95368308e-01 -1.13599001e-03 5.62363552e+00] [ 3.10749543e-02 -1.86035832e-03 9.99515326e-01 3.95909875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.57, Y:5.63, Z:3.96 [[ 9.94817584e-01 -9.66735073e-02 -3.14993408e-02 1.60570870e+02] [ 9.66854671e-02 9.95314325e-01 -1.14681602e-03 5.62583087e+00] [ 3.14626118e-02 -1.90465573e-03 9.99503115e-01 3.95979550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.60, Y:5.63, Z:3.96 [[ 9.94652274e-01 -9.83274858e-02 -3.15999849e-02 1.60603022e+02] [ 9.83404443e-02 9.95152169e-01 -1.14760211e-03 5.62952129e+00] [ 3.15596344e-02 -1.96609151e-03 9.99499937e-01 3.96067153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.64, Y:5.63, Z:3.96 [[ 9.94624295e-01 -9.88084404e-02 -3.09742330e-02 1.60636457e+02] [ 9.88212102e-02 9.95104572e-01 -1.12203798e-03 5.63217636e+00] [ 3.09334677e-02 -1.94490495e-03 9.99519554e-01 3.96152485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.67, Y:5.63, Z:3.96 [[ 9.94646121e-01 -9.88340964e-02 -3.01813806e-02 1.60668488e+02] [ 9.88463281e-02 9.95102113e-01 -1.09012115e-03 5.63464963e+00] [ 3.01412968e-02 -1.89903388e-03 9.99543844e-01 3.96257842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.70, Y:5.64, Z:3.96 [[ 9.94765778e-01 -9.78820141e-02 -2.93284543e-02 1.60700013e+02] [ 9.78932278e-02 9.95196362e-01 -1.05670122e-03 5.63876824e+00] [ 2.92910030e-02 -1.81988684e-03 9.99569270e-01 3.96359682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.73, Y:5.64, Z:3.96 [[ 9.94878412e-01 -9.67712745e-02 -2.91935752e-02 1.60733146e+02] [ 9.67819855e-02 9.95305052e-01 -1.04921322e-03 5.64110351e+00] [ 2.91580466e-02 -1.78157259e-03 9.99573226e-01 3.96412641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.76, Y:5.65, Z:3.96 [[ 9.95013779e-01 -9.57507472e-02 -2.79172621e-02 1.60763845e+02] [ 9.57036776e-02 9.95405286e-01 -3.02042299e-03 5.64689178e+00] [ 2.80781980e-02 3.33577847e-04 9.99605674e-01 3.96420623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.80, Y:5.65, Z:3.96 [[ 9.95192021e-01 -9.36845581e-02 -2.85664908e-02 1.60797316e+02] [ 9.37484705e-02 9.95595504e-01 9.03327186e-04 5.64600608e+00] [ 2.83560420e-02 -3.57704883e-03 9.99591486e-01 3.96448845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.83, Y:5.65, Z:3.97 [[ 9.95213959e-01 -9.32310377e-02 -2.92771184e-02 1.60830062e+02] [ 9.32405520e-02 9.95643064e-01 -1.04303894e-03 5.64947196e+00] [ 2.92468035e-02 -1.69176776e-03 9.99570789e-01 3.96608138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.86, Y:5.65, Z:3.97 [[ 9.95254786e-01 -9.27092264e-02 -2.95450721e-02 1.60861843e+02] [ 9.27187803e-02 9.95691783e-01 -1.04941703e-03 5.65169215e+00] [ 2.95150761e-02 -1.69494573e-03 9.99562898e-01 3.96629635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.89, Y:5.65, Z:3.97 [[ 9.95329205e-01 -9.12925068e-02 -3.13919210e-02 1.60894424e+02] [ 9.13026881e-02 9.95822566e-01 -1.11195539e-03 5.65422974e+00] [ 3.13622966e-02 -1.75940510e-03 9.99506534e-01 3.96647394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.93, Y:5.66, Z:3.97 [[ 9.95340711e-01 -9.11669317e-02 -3.13920445e-02 1.60927943e+02] [ 9.11771606e-02 9.95834071e-01 -1.10846109e-03 5.65532701e+00] [ 3.13623224e-02 -1.75894103e-03 9.99506534e-01 3.96735510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.96, Y:5.66, Z:3.97 [[ 9.95356030e-01 -9.08170989e-02 -3.19159613e-02 1.60959839e+02] [ 9.08276172e-02 9.95865996e-01 -1.12308127e-03 5.65703051e+00] [ 3.18860156e-02 -1.78098501e-03 9.99489925e-01 3.96782992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.99, Y:5.66, Z:3.97 [[ 9.95435133e-01 -8.98570045e-02 -3.21654158e-02 1.60992360e+02] [ 8.98672856e-02 9.95953110e-01 -1.12883795e-03 5.65844344e+00] [ 3.21366799e-02 -1.76693365e-03 9.99481922e-01 3.96841950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.02, Y:5.66, Z:3.97 [[ 9.95612135e-01 -8.80495770e-02 -3.16819767e-02 1.61024008e+02] [ 8.80587438e-02 9.96114666e-01 -1.10855024e-03 5.66036301e+00] [ 3.16564890e-02 -1.68618900e-03 9.99497385e-01 3.96916025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.06, Y:5.66, Z:3.97 [[ 9.95764264e-01 -8.63989565e-02 -3.14444087e-02 1.61056509e+02] [ 8.64072571e-02 9.96259294e-01 -1.09732504e-03 5.66218004e+00] [ 3.14215921e-02 -1.62434804e-03 9.99504900e-01 3.97032677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.185099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.09, Y:5.67, Z:3.97 [[ 9.96121510e-01 -8.23370427e-02 -3.10249701e-02 1.61088499e+02] [ 8.23432687e-02 9.96603443e-01 -1.07910168e-03 5.66541336e+00] [ 3.10084421e-02 -1.47978105e-03 9.99518027e-01 3.97177656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.12, Y:5.67, Z:3.97 [[ 9.96539106e-01 -7.71617634e-02 -3.09172015e-02 1.61121019e+02] [ 7.71656142e-02 9.97017714e-01 -1.07036775e-03 5.66818358e+00] [ 3.09075891e-02 -1.31908152e-03 9.99521376e-01 3.97235399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.15, Y:5.67, Z:3.97 [[ 9.96548737e-01 -7.70372230e-02 -3.09173189e-02 1.61154539e+02] [ 7.70411194e-02 9.97027345e-01 -1.06696729e-03 5.66925398e+00] [ 3.09076086e-02 -1.31861995e-03 9.99521376e-01 3.97323515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.19, Y:5.67, Z:3.97 [[ 9.96736640e-01 -7.44552846e-02 -3.11846433e-02 1.61187831e+02] [ 7.44581072e-02 9.97223566e-01 -1.07235035e-03 5.67109629e+00] [ 3.11779033e-02 -1.25309863e-03 9.99513065e-01 3.97385035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.22, Y:5.67, Z:3.97 [[ 9.96948037e-01 -7.14862156e-02 -3.13740856e-02 1.61219546e+02] [ 7.14877053e-02 9.97440901e-01 -1.07565963e-03 5.67260286e+00] [ 3.13706910e-02 -1.17048463e-03 9.99507133e-01 3.97425792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.25, Y:5.67, Z:3.97 [[ 9.96919473e-01 -6.97987150e-02 -3.57729453e-02 1.61249201e+02] [ 7.03685162e-02 9.97409429e-01 1.49232209e-02 5.66884271e+00] [ 3.46386513e-02 -1.73945386e-02 9.99248515e-01 3.97476761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.28, Y:5.69, Z:3.98 [[ 9.97561513e-01 -6.24987463e-02 -3.10634066e-02 1.61281960e+02] [ 6.19772849e-02 9.97924541e-01 -1.74764660e-02 5.68542910e+00] [ 3.20911930e-02 1.55086243e-02 9.99364617e-01 3.98047366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.31, Y:5.68, Z:3.98 [[ 9.97762438e-01 -5.87312174e-02 -3.19493542e-02 1.61314550e+02] [ 5.87264431e-02 9.98273520e-01 -1.08859891e-03 5.67960445e+00] [ 3.19581290e-02 -7.90108828e-04 9.99488896e-01 3.97571944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.35, Y:5.68, Z:3.98 [[ 9.98093237e-01 -5.29794799e-02 -3.16711909e-02 1.61346157e+02] [ 5.29719581e-02 9.98595419e-01 -1.07709279e-03 5.68234341e+00] [ 3.16837700e-02 -6.02645974e-04 9.99497762e-01 3.97623747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.38, Y:5.68, Z:3.98 [[ 9.98224325e-01 -5.04515961e-02 -3.16675600e-02 1.61377915e+02] [ 5.04428396e-02 9.98726370e-01 -1.07586438e-03 5.68412099e+00] [ 3.16815063e-02 -5.23447658e-04 9.99497878e-01 3.97706689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.41, Y:5.69, Z:3.98 [[ 9.98338774e-01 -4.81120709e-02 -3.17004893e-02 1.61407941e+02] [ 4.81021462e-02 9.98841842e-01 -1.07606769e-03 5.68556397e+00] [ 3.17155470e-02 -4.50581476e-04 9.99496834e-01 3.97778943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.44, Y:5.69, Z:3.98 [[ 9.98518337e-01 -4.40924845e-02 -3.18901895e-02 1.61438787e+02] [ 4.40803911e-02 9.99027401e-01 -1.08250703e-03 5.68703000e+00] [ 3.19069036e-02 -3.24828910e-04 9.99490792e-01 3.97829887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.47, Y:5.69, Z:3.98 [[ 9.98596308e-01 -4.22312676e-02 -3.19676989e-02 1.61467460e+02] [ 4.22181499e-02 9.99107827e-01 -1.08551529e-03 5.68834434e+00] [ 3.19850208e-02 -2.65625538e-04 9.99488313e-01 3.97857055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.50, Y:5.69, Z:3.98 [[ 9.98722546e-01 -3.88962823e-02 -3.22545489e-02 1.61496017e+02] [ 3.88810854e-02 9.99243241e-01 -1.09846725e-03 5.69009479e+00] [ 3.22728663e-02 -1.57027866e-04 9.99479083e-01 3.97970260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.52, Y:5.69, Z:3.98 [[ 9.98788900e-01 -3.74270769e-02 -3.19366030e-02 1.61524287e+02] [ 3.74111737e-02 9.99299356e-01 -1.09557120e-03 5.69136082e+00] [ 3.19552308e-02 -1.00541443e-04 9.99489296e-01 3.98039415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.55, Y:5.69, Z:3.98 [[ 9.98845432e-01 -3.61398038e-02 -3.16499304e-02 1.61551228e+02] [ 3.61232863e-02 9.99346743e-01 -1.09370448e-03 5.69247062e+00] [ 3.16687811e-02 -5.08577771e-05 9.99498417e-01 3.98118248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.58, Y:5.69, Z:3.98 [[ 9.98877709e-01 -3.52787602e-02 -3.16027176e-02 1.61578604e+02] [ 3.52617111e-02 9.99377511e-01 -1.09681565e-03 5.69351137e+00] [ 3.16217396e-02 -1.87811925e-05 9.99499908e-01 3.98202774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.61, Y:5.69, Z:3.98 [[ 9.98906547e-01 -3.45599434e-02 -3.14852388e-02 1.61605723e+02] [ 3.45423918e-02 9.99402627e-01 -1.10137151e-03 5.69446739e+00] [ 3.15044937e-02 1.25917580e-05 9.99503610e-01 3.98260063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.63, Y:5.69, Z:3.98 [[ 9.98900553e-01 -3.43845192e-02 -3.18651746e-02 1.61633168e+02] [ 3.43662314e-02 9.99408677e-01 -1.12157800e-03 5.69442019e+00] [ 3.18848969e-02 2.52589261e-05 9.99491547e-01 3.98345323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.66, Y:5.69, Z:3.98 [[ 9.98862385e-01 -3.53904126e-02 -3.19601928e-02 1.61660955e+02] [ 3.53722341e-02 9.99373563e-01 -1.13417939e-03 5.69492257e+00] [ 3.19803109e-02 2.38571057e-06 9.99488499e-01 3.98430620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.69, Y:5.70, Z:3.98 [[ 9.98814834e-01 -3.67019782e-02 -3.19670456e-02 1.61688784e+02] [ 3.66841694e-02 9.99326255e-01 -1.14361197e-03 5.69541612e+00] [ 3.19874808e-02 -3.04279113e-05 9.99488269e-01 3.98485176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.72, Y:5.69, Z:3.99 [[ 9.98468225e-01 -4.21134285e-02 -3.58840052e-02 1.61715854e+02] [ 4.25036576e-02 9.99044428e-01 1.01818467e-02 5.69225125e+00] [ 3.54209229e-02 -1.16914519e-02 9.99304092e-01 3.98593164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.75, Y:5.70, Z:3.99 [[ 9.98417624e-01 -4.57704281e-02 -3.26697939e-02 1.61745937e+02] [ 4.53714748e-02 9.98887526e-01 -1.28506973e-02 5.70008749e+00] [ 3.32216315e-02 1.13480859e-02 9.99383582e-01 3.99029200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.77, Y:5.69, Z:3.99 [[ 9.98288925e-01 -4.83192119e-02 -3.29313956e-02 1.61774915e+02] [ 4.83059348e-02 9.98831867e-01 -1.19912919e-03 5.69406484e+00] [ 3.29508683e-02 -3.93704456e-04 9.99456895e-01 3.98657146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.80, Y:5.69, Z:3.99 [[ 9.98128802e-01 -5.14292955e-02 -3.30744904e-02 1.61804137e+02] [ 5.14175540e-02 9.98676515e-01 -1.20600568e-03 5.69353460e+00] [ 3.30927408e-02 -4.96860393e-04 9.99452162e-01 3.98744658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.935099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.83, Y:5.69, Z:3.99 [[ 9.97816656e-01 -5.74782768e-02 -3.25294955e-02 1.61833384e+02] [ 5.74701012e-02 9.98346522e-01 -1.18703030e-03 5.69160176e+00] [ 3.25439372e-02 -6.85034796e-04 9.99470071e-01 3.98748873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.86, Y:5.69, Z:3.99 [[ 9.97464812e-01 -6.34358729e-02 -3.22465180e-02 1.61864426e+02] [ 6.34309586e-02 9.97985536e-01 -1.17638725e-03 5.69055732e+00] [ 3.22561837e-02 -8.72022659e-04 9.99479254e-01 3.98837966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.90, Y:5.69, Z:3.99 [[ 9.97270676e-01 -6.63269415e-02 -3.24335719e-02 1.61897034e+02] [ 6.63235425e-02 9.97797470e-01 -1.18181253e-03 5.69069925e+00] [ 3.24405220e-02 -9.72522402e-04 9.99473195e-01 3.98936875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.93, Y:5.69, Z:3.99 [[ 9.97083593e-01 -6.89372457e-02 -3.27408809e-02 1.61928323e+02] [ 6.89352621e-02 9.97620425e-01 -1.19073014e-03 5.69076599e+00] [ 3.27450572e-02 -1.06974372e-03 9.99463164e-01 3.99001605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.96, Y:5.69, Z:3.99 [[ 9.96898892e-01 -7.14788634e-02 -3.29145994e-02 1.61959743e+02] [ 7.14783006e-02 9.97441439e-01 -1.19526339e-03 5.69063794e+00] [ 3.29158215e-02 -1.16112288e-03 9.99457453e-01 3.99072884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.99, Y:5.69, Z:3.99 [[ 9.96700613e-01 -7.40233345e-02 -3.32931400e-02 1.61992426e+02] [ 7.40242401e-02 9.97255712e-01 -1.20708466e-03 5.69072172e+00] [ 3.32911265e-02 -1.26139737e-03 9.99444901e-01 3.99152092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.02, Y:5.69, Z:3.99 [[ 9.96532108e-01 -7.62044556e-02 -3.34161307e-02 1.62023384e+02] [ 7.62066678e-02 9.97091310e-01 -1.20927206e-03 5.69070236e+00] [ 3.34110854e-02 -1.34145353e-03 9.99440794e-01 3.99220548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.06, Y:5.69, Z:3.99 [[ 9.96381494e-01 -7.81091236e-02 -3.35094494e-02 1.62055180e+02] [ 7.81124876e-02 9.96943817e-01 -1.21072247e-03 5.69080746e+00] [ 3.35016069e-02 -1.41116499e-03 9.99437667e-01 3.99308560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.09, Y:5.69, Z:3.99 [[ 9.96118450e-01 -8.12381033e-02 -3.38881056e-02 1.62086596e+02] [ 8.12434287e-02 9.96693540e-01 -1.22209135e-03 5.69053846e+00] [ 3.38753363e-02 -1.53583815e-03 9.99424886e-01 3.99407861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.12, Y:5.69, Z:3.99 [[ 9.95929548e-01 -8.27580245e-02 -3.57133726e-02 1.62118417e+02] [ 8.27649931e-02 9.96568263e-01 -1.28575313e-03 5.69099185e+00] [ 3.56972201e-02 -1.67529751e-03 9.99361247e-01 3.99454718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.15, Y:5.69, Z:4.00 [[ 9.95897449e-01 -8.26143134e-02 -3.69208045e-02 1.62149839e+02] [ 8.26217809e-02 9.96580094e-01 -1.32606224e-03 5.69182166e+00] [ 3.69040905e-02 -1.72984062e-03 9.99317315e-01 3.99518790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.18, Y:5.69, Z:4.00 [[ 9.95907781e-01 -8.22592005e-02 -3.74314790e-02 1.62181910e+02] [ 8.22667694e-02 9.96609443e-01 -1.34058855e-03 5.69300279e+00] [ 3.74148411e-02 -1.74426428e-03 9.99298297e-01 3.99542815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.21, Y:5.70, Z:4.00 [[ 9.95987337e-01 -8.09774382e-02 -3.81035187e-02 1.62214134e+02] [ 8.09844541e-02 9.96714434e-01 -1.36183612e-03 5.69531582e+00] [ 3.80886051e-02 -1.72942114e-03 9.99272869e-01 3.99671309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.24, Y:5.70, Z:4.00 [[ 9.96054296e-01 -8.00020146e-02 -3.84124703e-02 1.62244809e+02] [ 8.00085519e-02 9.96793236e-01 -1.36948194e-03 5.69684691e+00] [ 3.83988519e-02 -1.70924776e-03 9.99261030e-01 3.99798832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.28, Y:5.70, Z:4.00 [[ 9.96136696e-01 -7.90285802e-02 -3.82905586e-02 1.62277330e+02] [ 7.90345122e-02 9.96870951e-01 -1.36112031e-03 5.69839642e+00] [ 3.82783129e-02 -1.67041373e-03 9.99265721e-01 3.99861265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.31, Y:5.70, Z:4.00 [[ 9.96176837e-01 -7.81958477e-02 -3.89501981e-02 1.62309018e+02] [ 7.82014595e-02 9.96936619e-01 -1.38180049e-03 5.70009743e+00] [ 3.89389298e-02 -1.66944470e-03 9.99240198e-01 3.99988706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.34, Y:5.70, Z:4.00 [[ 9.96346606e-01 -7.59930395e-02 -3.89679157e-02 1.62341475e+02] [ 7.59970823e-02 9.97107086e-01 -1.37967632e-03 5.70216490e+00] [ 3.89600306e-02 -1.58681208e-03 9.99239510e-01 4.00034775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.37, Y:5.70, Z:4.00 [[ 9.96431806e-01 -7.47691871e-02 -3.91564175e-02 1.62373567e+02] [ 7.47724364e-02 9.97199663e-01 -1.38353830e-03 5.70371205e+00] [ 3.91502124e-02 -1.54921917e-03 9.99232136e-01 4.00116650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.41, Y:5.71, Z:4.00 [[ 9.96528687e-01 -7.34512657e-02 -3.91852871e-02 1.62405490e+02] [ 7.34536134e-02 9.97297677e-01 -1.38173616e-03 5.70559258e+00] [ 3.91808861e-02 -1.50136120e-03 9.99231006e-01 4.00191351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.44, Y:5.71, Z:4.00 [[ 9.96654762e-01 -7.17375689e-02 -3.91536287e-02 1.62437087e+02] [ 7.17386849e-02 9.97422509e-01 -1.37826542e-03 5.70729307e+00] [ 3.91515840e-02 -1.43517504e-03 9.99232252e-01 4.00289188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.47, Y:5.71, Z:4.00 [[ 9.96949172e-01 -6.76100426e-02 -3.90029549e-02 1.62468111e+02] [ 6.76080597e-02 9.97711015e-01 -1.37130894e-03 5.71071094e+00] [ 3.90063920e-02 -1.26978879e-03 9.99238154e-01 4.00393211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.50, Y:5.71, Z:4.00 [[ 9.97101903e-01 -6.54143116e-02 -3.88427891e-02 1.62499503e+02] [ 6.54107538e-02 9.97857492e-01 -1.36379985e-03 5.71323859e+00] [ 3.88487801e-02 -1.18088869e-03 9.99244403e-01 4.00484220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.53, Y:5.72, Z:4.01 [[ 9.97288013e-01 -6.26072567e-02 -3.86904395e-02 1.62529591e+02] [ 6.26016811e-02 9.98037669e-01 -1.35677922e-03 5.71536367e+00] [ 3.86994602e-02 -1.06898690e-03 9.99250324e-01 4.00602654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.56, Y:5.72, Z:4.01 [[ 9.97625730e-01 -5.68710612e-02 -3.88405070e-02 1.62560232e+02] [ 5.68611585e-02 9.98381169e-01 -1.36048135e-03 5.71890411e+00] [ 3.88550028e-02 -8.51265019e-04 9.99244497e-01 4.00722383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.59, Y:5.72, Z:4.01 [[ 9.97782327e-01 -5.38656437e-02 -3.91014093e-02 1.62590077e+02] [ 5.38532835e-02 9.98547919e-01 -1.37007506e-03 5.72152278e+00] [ 3.91184309e-02 -7.38702600e-04 9.99234308e-01 4.00843558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.685099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.62, Y:5.72, Z:4.01 [[ 9.97934506e-01 -5.11292527e-02 -3.88911408e-02 1.62618479e+02] [ 5.11147892e-02 9.98691849e-01 -1.36678837e-03 5.72396402e+00] [ 3.89101482e-02 -6.23947186e-04 9.99242519e-01 4.00913560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.65, Y:5.73, Z:4.01 [[ 9.98070997e-01 -4.85797662e-02 -3.86560525e-02 1.62645927e+02] [ 4.85631760e-02 9.98819175e-01 -1.36859580e-03 5.72626376e+00] [ 3.86768925e-02 -5.11304909e-04 9.99251638e-01 4.00996231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.67, Y:5.73, Z:4.01 [[ 9.98208139e-01 -4.59475730e-02 -3.83318622e-02 1.62673094e+02] [ 4.59289764e-02 9.98943774e-01 -1.36606678e-03 5.72848739e+00] [ 3.83541426e-02 -3.96924218e-04 9.99264130e-01 4.01066752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.70, Y:5.73, Z:4.01 [[ 9.98470243e-01 -4.03076711e-02 -3.78479382e-02 1.62701374e+02] [ 4.02852447e-02 9.99187301e-01 -1.35529502e-03 5.73162385e+00] [ 3.78718080e-02 -1.71491707e-04 9.99282591e-01 4.01080073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.73, Y:5.73, Z:4.01 [[ 9.98564297e-01 -3.74872967e-02 -3.82628661e-02 1.62728711e+02] [ 3.74618861e-02 9.99297103e-01 -1.38110321e-03 5.73372576e+00] [ 3.82877450e-02 -5.42787763e-05 9.99266754e-01 4.01135788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.76, Y:5.74, Z:4.01 [[ 9.98675232e-01 -3.46418865e-02 -3.80489220e-02 1.62756356e+02] [ 3.46142757e-02 9.99399788e-01 -1.38438178e-03 5.73594211e+00] [ 3.80740421e-02 6.55119185e-05 9.99274919e-01 4.01190286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.78, Y:5.74, Z:4.01 [[ 9.98919236e-01 -2.89445686e-02 -3.63671785e-02 1.62783011e+02] [ 2.89152574e-02 9.99580979e-01 -1.33178899e-03 5.73919905e+00] [ 3.63904880e-02 2.78783312e-04 9.99337608e-01 4.01237242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.81, Y:5.74, Z:4.01 [[ 9.98996719e-01 -2.66785139e-02 -3.59696164e-02 1.62810699e+02] [ 2.66481525e-02 9.99643999e-01 -1.32332247e-03 5.74076978e+00] [ 3.59921154e-02 3.63470979e-04 9.99352008e-01 4.01306873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.84, Y:5.74, Z:4.01 [[ 9.99080821e-01 -2.38112337e-02 -3.56446161e-02 1.62837480e+02] [ 2.37792834e-02 9.99716361e-01 -1.32008734e-03 5.74197104e+00] [ 3.56659388e-02 4.71270516e-04 9.99363657e-01 4.01300897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.87, Y:5.74, Z:4.01 [[ 9.99074404e-01 -2.40793061e-02 -3.56444001e-02 1.62865838e+02] [ 2.40473190e-02 9.99709942e-01 -1.32589694e-03 5.74308389e+00] [ 3.56659878e-02 4.67517435e-04 9.99363657e-01 4.01375629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.89, Y:5.74, Z:4.01 [[ 9.99095598e-01 -2.36890896e-02 -3.53102516e-02 1.62892943e+02] [ 2.36571693e-02 9.99719256e-01 -1.32157913e-03 5.74385693e+00] [ 3.53316455e-02 4.85043291e-04 9.99375525e-01 4.01399827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.92, Y:5.74, Z:4.01 [[ 9.99081471e-01 -2.55667081e-02 -3.43883491e-02 1.62920560e+02] [ 2.55373562e-02 9.99673033e-01 -1.29256737e-03 5.74350647e+00] [ 3.44101520e-02 4.13192590e-04 9.99407710e-01 4.01349449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.95, Y:5.74, Z:4.01 [[ 9.99050002e-01 -2.75754381e-02 -3.37444682e-02 1.62948284e+02] [ 2.75480008e-02 9.99619665e-01 -1.27783851e-03 5.74349749e+00] [ 3.37668710e-02 3.47031933e-04 9.99429676e-01 4.01358616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.98, Y:5.74, Z:4.01 [[ 9.98999128e-01 -2.97256462e-02 -3.34234549e-02 1.62975441e+02] [ 2.96996552e-02 9.99558056e-01 -1.27394080e-03 5.74324356e+00] [ 3.34465523e-02 2.80000667e-04 9.99440468e-01 4.01395580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.00, Y:5.74, Z:4.01 [[ 9.98782090e-01 -3.63897106e-02 -3.33185474e-02 1.63003263e+02] [ 3.63674141e-02 9.99337673e-01 -1.27517160e-03 5.74215890e+00] [ 3.33428828e-02 6.19091485e-05 9.99443970e-01 4.01412948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.03, Y:5.74, Z:4.01 [[ 9.98643627e-01 -4.03181091e-02 -3.29447503e-02 1.63030825e+02] [ 4.02981397e-02 9.99186893e-01 -1.27017968e-03 5.74182286e+00] [ 3.29691740e-02 -5.91553142e-05 9.99456367e-01 4.01450550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.06, Y:5.74, Z:4.01 [[ 9.98474331e-01 -4.44146883e-02 -3.28077152e-02 1.63058797e+02] [ 4.43967856e-02 9.99013164e-01 -1.27431815e-03 5.74105316e+00] [ 3.28319378e-02 -1.84183139e-04 9.99460870e-01 4.01492913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.09, Y:5.74, Z:4.02 [[ 9.98306245e-01 -4.85767683e-02 -3.20146602e-02 1.63087480e+02] [ 4.85615752e-02 9.98819406e-01 -1.25239559e-03 5.74057397e+00] [ 3.20377012e-02 -3.04407990e-04 9.99486615e-01 4.01546868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.12, Y:5.74, Z:4.02 [[ 9.97965188e-01 -5.59505701e-02 -3.05780572e-02 1.63116850e+02] [ 5.59399717e-02 9.98433410e-01 -1.20262983e-03 5.73893913e+00] [ 3.05974418e-02 -5.10352957e-04 9.99531658e-01 4.01685472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.15, Y:5.74, Z:4.02 [[ 9.97819618e-01 -5.88543223e-02 -2.98693665e-02 1.63148031e+02] [ 5.88454996e-02 9.98266411e-01 -1.17508827e-03 5.73889049e+00] [ 2.98867443e-02 -5.85151669e-04 9.99553120e-01 4.01775859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.18, Y:5.74, Z:4.02 [[ 9.97671219e-01 -6.16050944e-02 -2.92737188e-02 1.63180484e+02] [ 6.15978366e-02 9.98100387e-01 -1.15051562e-03 5.73897510e+00] [ 2.92889877e-02 -6.55361431e-04 9.99570771e-01 4.01924759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.21, Y:5.74, Z:4.02 [[ 9.97549505e-01 -6.37906054e-02 -2.87357711e-02 1.63213142e+02] [ 6.37845767e-02 9.97963054e-01 -1.12732046e-03 5.73908957e+00] [ 2.87491503e-02 -7.08341035e-04 9.99586407e-01 4.02029495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.24, Y:5.74, Z:4.02 [[ 9.97063663e-01 -6.82754652e-02 -3.46772671e-02 1.63238610e+02] [ 6.88050269e-02 9.97527444e-01 1.43131781e-02 5.73673512e+00] [ 3.36142867e-02 -1.66571201e-02 9.99296062e-01 4.02167422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.27, Y:5.74, Z:4.03 [[ 9.97011381e-01 -6.94399652e-02 -3.38584845e-02 1.63269476e+02] [ 6.95495478e-02 9.97576355e-01 2.06811809e-03 5.74261594e+00] [ 3.36328135e-02 -4.41677956e-03 9.99424497e-01 4.02698585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.31, Y:5.75, Z:4.03 [[ 9.97357632e-01 -6.76539713e-02 -2.64706266e-02 1.63305266e+02] [ 6.71113437e-02 9.97527030e-01 -2.08780208e-02 5.74810351e+00] [ 2.78176466e-02 1.90463741e-02 9.99431546e-01 4.02853227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.435099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.33, Y:5.74, Z:4.02 [[ 9.97037305e-01 -7.02399337e-02 -3.13522485e-02 1.63332208e+02] [ 7.06059611e-02 9.97446648e-01 1.07230217e-02 5.73658322e+00] [ 3.05190109e-02 -1.29049083e-02 9.99450876e-01 4.02336554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.37, Y:5.74, Z:4.03 [[ 9.97345936e-01 -6.80761134e-02 -2.58210647e-02 1.63367444e+02] [ 6.77461490e-02 9.97611976e-01 -1.34463700e-02 5.74408076e+00] [ 2.66747799e-02 1.16614047e-02 9.99576144e-01 4.02794267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.39, Y:5.74, Z:4.03 [[ 9.97269621e-01 -6.75084105e-02 -2.99318722e-02 1.63394532e+02] [ 6.77437295e-02 9.97678773e-01 6.91755183e-03 5.73834478e+00] [ 2.93954006e-02 -8.92636095e-03 9.99528004e-01 4.02568790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.43, Y:5.75, Z:4.03 [[ 9.97496897e-01 -6.53378233e-02 -2.70353461e-02 1.63427603e+02] [ 6.51383960e-02 9.97842600e-01 -8.19355594e-03 5.74536738e+00] [ 2.75123692e-02 6.41200754e-03 9.99600898e-01 4.02857513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.46, Y:5.74, Z:4.03 [[ 9.97725870e-01 -6.17328454e-02 -2.70581517e-02 1.63460948e+02] [ 6.17118090e-02 9.98092707e-01 -1.61261954e-03 5.74187940e+00] [ 2.71060955e-02 -6.08552566e-05 9.99632560e-01 4.02697975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.49, Y:5.74, Z:4.03 [[ 9.97719315e-01 -6.06895716e-02 -2.95456339e-02 1.63493226e+02] [ 6.09585769e-02 9.98105870e-01 8.28995357e-03 5.73842487e+00] [ 2.89865569e-02 -1.00721066e-02 9.99529055e-01 4.02693195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.53, Y:5.74, Z:4.03 [[ 9.97847846e-01 -5.83695300e-02 -2.98776415e-02 1.63525273e+02] [ 5.83699845e-02 9.98294651e-01 -8.57706597e-04 5.74281068e+00] [ 2.98767536e-02 -8.88096793e-04 9.99553196e-01 4.03008130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.56, Y:5.75, Z:4.03 [[ 9.98051758e-01 -5.65593677e-02 -2.63386750e-02 1.63558306e+02] [ 5.62521262e-02 9.98341271e-01 -1.22640037e-02 5.74569603e+00] [ 2.69886306e-02 1.07585039e-02 9.99577845e-01 4.03051493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.59, Y:5.74, Z:4.03 [[ 9.97817762e-01 -5.70405928e-02 -3.32578360e-02 1.63586710e+02] [ 5.75506875e-02 9.98236017e-01 1.45867583e-02 5.73621395e+00] [ 3.23671324e-02 -1.64689379e-02 9.99340354e-01 4.02692882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.62, Y:5.75, Z:4.03 [[ 9.97938942e-01 -5.50990155e-02 -3.28932588e-02 1.63616841e+02] [ 5.48517071e-02 9.98459390e-01 -8.37481118e-03 5.74703972e+00] [ 3.33040269e-02 6.55329881e-03 9.99423782e-01 4.03242215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.65, Y:5.75, Z:4.03 [[ 9.98140596e-01 -5.34608825e-02 -2.92794192e-02 1.63648402e+02] [ 5.31642545e-02 9.98527182e-01 -1.08179645e-02 5.74609250e+00] [ 2.98146339e-02 9.24123101e-03 9.99512725e-01 4.03025567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.68, Y:5.74, Z:4.03 [[ 9.97858846e-01 -5.45316516e-02 -3.61112434e-02 1.63677604e+02] [ 5.52382604e-02 9.98294929e-01 1.88671286e-02 5.73544941e+00] [ 3.50208155e-02 -2.08214535e-02 9.99169660e-01 4.02778346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.71, Y:5.75, Z:4.04 [[ 9.98239997e-01 -5.20192165e-02 -2.84764600e-02 1.63709321e+02] [ 5.14118659e-02 9.98442604e-01 -2.16607352e-02 5.75336084e+00] [ 2.95588853e-02 2.01585844e-02 9.99359747e-01 4.03580408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.74, Y:5.74, Z:4.03 [[ 9.98264072e-01 -5.10366407e-02 -2.93956600e-02 1.63739914e+02] [ 5.10277043e-02 9.98696681e-01 -1.05457467e-03 5.74388599e+00] [ 2.94111701e-02 -4.47249045e-04 9.99567298e-01 4.03002907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.77, Y:5.74, Z:4.03 [[ 9.98291127e-01 -5.05026779e-02 -2.93990712e-02 1.63770524e+02] [ 5.04935206e-02 9.98723832e-01 -1.05426678e-03 5.74487076e+00] [ 2.94147964e-02 -4.31997435e-04 9.99567198e-01 4.03090516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.80, Y:5.74, Z:4.03 [[ 9.98174011e-01 -5.09383298e-02 -3.24643027e-02 1.63800315e+02] [ 5.13248139e-02 9.98619384e-01 1.11843426e-02 5.74149977e+00] [ 3.18497702e-02 -1.28301444e-02 9.99410316e-01 4.03171991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.83, Y:5.75, Z:4.04 [[ 9.98290652e-01 -4.95579041e-02 -3.09804516e-02 1.63829539e+02] [ 4.95737250e-02 9.98770434e-01 -2.57683654e-04 5.74806263e+00] [ 3.09551293e-02 -1.27857320e-03 9.99519957e-01 4.03749778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.86, Y:5.75, Z:4.04 [[ 9.98494517e-01 -4.82957673e-02 -2.60042127e-02 1.63860182e+02] [ 4.79244062e-02 9.98742498e-01 -1.47198633e-02 5.75435343e+00] [ 2.66824195e-02 1.34514664e-02 9.99553454e-01 4.03897148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.89, Y:5.75, Z:4.04 [[ 9.98555652e-01 -4.70472202e-02 -2.59454829e-02 1.63891272e+02] [ 4.70389645e-02 9.98892623e-01 -9.28770580e-04 5.74864625e+00] [ 2.59604476e-02 -2.93019536e-04 9.99662928e-01 4.03548809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.92, Y:5.75, Z:4.04 [[ 9.98636998e-01 -4.53446949e-02 -2.58457841e-02 1.63921405e+02] [ 4.53359324e-02 9.98971370e-01 -9.25201662e-04 5.74947339e+00] [ 2.58611513e-02 -2.47802111e-04 9.99665514e-01 4.03695560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.95, Y:5.74, Z:4.04 [[ 9.98453198e-01 -4.55983040e-02 -3.18120441e-02 1.63950437e+02] [ 4.62043473e-02 9.98759150e-01 1.85827422e-02 5.74302676e+00] [ 3.09252286e-02 -2.00238531e-02 9.99321107e-01 4.03853437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.98, Y:5.76, Z:4.04 [[ 9.98672177e-01 -4.50689378e-02 -2.49534297e-02 1.63980754e+02] [ 4.45511987e-02 9.98787837e-01 -2.09295600e-02 5.76109728e+00] [ 2.58664551e-02 1.97900640e-02 9.99469499e-01 4.04497170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.01, Y:5.75, Z:4.04 [[ 9.98641605e-01 -4.50754367e-02 -2.61371496e-02 1.64010692e+02] [ 4.50663821e-02 9.98983556e-01 -9.35673859e-04 5.75202702e+00] [ 2.61527586e-02 -2.43503928e-04 9.99657928e-01 4.03929443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.04, Y:5.75, Z:4.04 [[ 9.98518808e-01 -4.70563074e-02 -2.73110542e-02 1.64041966e+02] [ 4.70471529e-02 9.98892191e-01 -9.78025193e-04 5.75180230e+00] [ 2.73268210e-02 -3.08330793e-04 9.99626505e-01 4.04004730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.07, Y:5.75, Z:4.04 [[ 9.98406671e-01 -4.87657143e-02 -2.83905818e-02 1.64072263e+02] [ 4.87565404e-02 9.98810176e-01 -1.01570943e-03 5.75199953e+00] [ 2.84063339e-02 -3.70135484e-04 9.99596390e-01 4.04058463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.185099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.10, Y:5.75, Z:4.04 [[ 9.98295232e-01 -5.04230431e-02 -2.93963553e-02 1.64103088e+02] [ 5.04139480e-02 9.98727856e-01 -1.05093861e-03 5.75203222e+00] [ 2.94119504e-02 -4.32839327e-04 9.99567281e-01 4.04100245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.13, Y:5.75, Z:4.04 [[ 9.98162336e-01 -5.25867533e-02 -3.01095251e-02 1.64133122e+02] [ 5.25782379e-02 9.98616229e-01 -1.07502501e-03 5.75225723e+00] [ 3.01243924e-02 -5.10056298e-04 9.99546027e-01 4.04151402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.16, Y:5.74, Z:4.04 [[ 9.97611409e-01 -5.72035793e-02 -3.87198660e-02 1.64163114e+02] [ 5.81591817e-02 9.98018316e-01 2.40197966e-02 5.74160129e+00] [ 3.72691172e-02 -2.62143388e-02 9.98961371e-01 4.04283223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.19, Y:5.77, Z:4.05 [[ 9.97779375e-01 -5.89515481e-02 -3.10005431e-02 1.64192045e+02] [ 5.81271017e-02 9.97947893e-01 -2.68559782e-02 5.76530107e+00] [ 3.25201281e-02 2.49943695e-02 9.99158507e-01 4.05033972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.22, Y:5.75, Z:4.04 [[ 9.97667424e-01 -6.01753735e-02 -3.22278754e-02 1.64223334e+02] [ 6.01695616e-02 9.98187507e-01 -1.15100735e-03 5.75310884e+00] [ 3.22387249e-02 -7.90814596e-04 9.99479884e-01 4.04272347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.25, Y:5.75, Z:4.04 [[ 9.97462170e-01 -6.38361523e-02 -3.15303931e-02 1.64253319e+02] [ 6.38324203e-02 9.97959996e-01 -1.12595867e-03 5.75332221e+00] [ 3.15379478e-02 -8.89560126e-04 9.99502159e-01 4.04398319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.29, Y:5.75, Z:4.05 [[ 9.97347059e-01 -6.56922019e-02 -3.13588510e-02 1.64285098e+02] [ 6.56894567e-02 9.97839488e-01 -1.11887314e-03 5.75408929e+00] [ 3.13646010e-02 -9.44041047e-04 9.99507564e-01 4.04506587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.32, Y:5.75, Z:4.05 [[ 9.97233044e-01 -6.76228720e-02 -3.08772135e-02 1.64315992e+02] [ 6.76211936e-02 9.97710461e-01 -1.09977841e-03 5.75478683e+00] [ 3.08808891e-02 -9.91218661e-04 9.99522580e-01 4.04630039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.35, Y:5.76, Z:4.05 [[ 9.96993190e-01 -7.08707020e-02 -3.13356313e-02 1.64346984e+02] [ 7.08706143e-02 9.97484894e-01 -1.11485922e-03 5.75544258e+00] [ 3.13358297e-02 -1.10926839e-03 9.99508297e-01 4.04722786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.38, Y:5.76, Z:4.05 [[ 9.97005063e-01 -7.00378297e-02 -3.27964316e-02 1.64375816e+02] [ 6.97792403e-02 9.97522170e-01 -8.96536482e-03 5.76049408e+00] [ 3.33430823e-02 6.65000404e-03 9.99421841e-01 4.05052201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.41, Y:5.75, Z:4.05 [[ 9.96843666e-01 -7.33498038e-02 -3.03728937e-02 1.64408229e+02] [ 7.35768194e-02 9.97268863e-01 6.42384909e-03 5.75395238e+00] [ 2.98187531e-02 -8.63831418e-03 9.99517995e-01 4.04718317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.44, Y:5.76, Z:4.05 [[ 9.96715707e-01 -7.51268911e-02 -3.02282821e-02 1.64440597e+02] [ 7.51289430e-02 9.97173254e-01 -1.06948851e-03 5.75941835e+00] [ 3.02231818e-02 -1.20504288e-03 9.99542449e-01 4.05119437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.47, Y:5.76, Z:4.05 [[ 9.96512823e-01 -7.72971168e-02 -3.14221071e-02 1.64473197e+02] [ 7.73004822e-02 9.97007224e-01 -1.10947434e-03 5.76137637e+00] [ 3.14138270e-02 -1.32333863e-03 9.99505588e-01 4.05212885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.50, Y:5.76, Z:4.05 [[ 9.96434614e-01 -7.80122278e-02 -3.21271166e-02 1.64504838e+02] [ 7.80162036e-02 9.96951449e-01 -1.13168479e-03 5.76270801e+00] [ 3.21174607e-02 -1.37878577e-03 9.99483150e-01 4.05268231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.54, Y:5.76, Z:4.05 [[ 9.96344550e-01 -7.88858217e-02 -3.27805409e-02 1.64536539e+02] [ 7.88905478e-02 9.96882619e-01 -1.15120847e-03 5.76431157e+00] [ 3.27691654e-02 -1.43907454e-03 9.99461911e-01 4.05370822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.57, Y:5.77, Z:4.05 [[ 9.96222561e-01 -8.01001487e-02 -3.35346960e-02 1.64568171e+02] [ 8.01058635e-02 9.96785669e-01 -1.17525502e-03 5.76653931e+00] [ 3.35210425e-02 -1.51551022e-03 9.99436863e-01 4.05480366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.60, Y:5.77, Z:4.06 [[ 9.96165690e-01 -8.07228456e-02 -3.37304077e-02 1.64600517e+02] [ 8.07290658e-02 9.96735384e-01 -1.17967790e-03 5.76809107e+00] [ 3.37155179e-02 -1.54786966e-03 9.99430272e-01 4.05583649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.63, Y:5.77, Z:4.06 [[ 9.96211466e-01 -7.97532263e-02 -3.46718641e-02 1.64630583e+02] [ 7.97277235e-02 9.96814425e-01 -2.11970434e-03 5.77126141e+00] [ 3.47304675e-02 -6.52635030e-04 9.99396502e-01 4.05707203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.66, Y:5.77, Z:4.06 [[ 9.96180244e-01 -8.01104506e-02 -3.47453323e-02 1.64664535e+02] [ 8.01424086e-02 9.96783311e-01 -4.74195680e-04 5.77244389e+00] [ 3.46715554e-02 -2.31219025e-03 9.99396086e-01 4.05750724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.70, Y:5.78, Z:4.06 [[ 9.96294081e-01 -7.88357706e-02 -3.43951326e-02 1.64695494e+02] [ 7.88414293e-02 9.96886455e-01 -1.19384591e-03 5.77501785e+00] [ 3.43821596e-02 -1.52233980e-03 9.99407599e-01 4.05822165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.73, Y:5.78, Z:4.06 [[ 9.96555319e-01 -7.53194372e-02 -3.47055937e-02 1.64727369e+02] [ 7.53231425e-02 9.97158452e-01 -1.20254555e-03 5.77855447e+00] [ 3.46975512e-02 -1.41573122e-03 9.99396856e-01 4.05897162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.76, Y:5.78, Z:4.06 [[ 9.96715357e-01 -7.29410463e-02 -3.51866454e-02 1.64758011e+02] [ 7.29434578e-02 9.97335335e-01 -1.21689123e-03 5.78117129e+00] [ 3.51816461e-02 -1.35374140e-03 9.99380017e-01 4.05962366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.79, Y:5.78, Z:4.06 [[ 9.96721542e-01 -7.28564486e-02 -3.51867223e-02 1.64790684e+02] [ 7.28588859e-02 9.97341520e-01 -1.21466491e-03 5.78223767e+00] [ 3.51816752e-02 -1.35298270e-03 9.99380017e-01 4.06040243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.82, Y:5.79, Z:4.06 [[ 9.97105762e-01 -6.68727502e-02 -3.61681357e-02 1.64822876e+02] [ 6.68715016e-02 9.97760818e-01 -1.24558242e-03 5.78665770e+00] [ 3.61704442e-02 -1.17664014e-03 9.99344943e-01 4.06090074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.85, Y:5.79, Z:4.06 [[ 9.97316165e-01 -6.37265419e-02 -3.60471248e-02 1.64853763e+02] [ 6.37233254e-02 9.97966834e-01 -1.23928682e-03 5.78926423e+00] [ 3.60528105e-02 -1.06108189e-03 9.99349323e-01 4.06108532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.935099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.89, Y:5.79, Z:4.06 [[ 9.97496024e-01 -6.07908519e-02 -3.61407670e-02 1.64885413e+02] [ 6.07857401e-02 9.98150065e-01 -1.24122406e-03 5.79178759e+00] [ 3.61493640e-02 -9.58727204e-04 9.99345938e-01 4.06185281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.91, Y:5.80, Z:4.06 [[ 9.97659039e-01 -5.75017554e-02 -3.70133865e-02 1.64914385e+02] [ 5.72649047e-02 9.98331381e-01 -7.42858690e-03 5.79730543e+00] [ 3.73787821e-02 5.29162881e-03 9.99287159e-01 4.06453107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.94, Y:5.79, Z:4.06 [[ 9.97811885e-01 -5.58596192e-02 -3.53715207e-02 1.64943882e+02] [ 5.60618612e-02 9.98415993e-01 4.75111926e-03 5.79367196e+00] [ 3.50500962e-02 -6.72371655e-03 9.99362938e-01 4.06128910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.97, Y:5.80, Z:4.06 [[ 9.98027648e-01 -5.21892716e-02 -3.48868699e-02 1.64973415e+02] [ 5.21789911e-02 9.98637021e-01 -1.20569558e-03 5.80044020e+00] [ 3.49022442e-02 -6.17044143e-04 9.99390541e-01 4.06417590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.00, Y:5.80, Z:4.06 [[ 9.98097689e-01 -5.07110663e-02 -3.50626688e-02 1.65002393e+02] [ 5.06997340e-02 9.98713205e-01 -1.21280634e-03 5.80308057e+00] [ 3.50790531e-02 -5.67168782e-04 9.99384380e-01 4.06480519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.03, Y:5.81, Z:4.07 [[ 9.98188817e-01 -4.83648373e-02 -3.57760871e-02 1.65032010e+02] [ 4.83515029e-02 9.98829614e-01 -1.23832266e-03 5.80709313e+00] [ 3.57941065e-02 -4.93747747e-04 9.99359064e-01 4.06558317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.06, Y:5.81, Z:4.07 [[ 9.98220698e-01 -4.73470127e-02 -3.62449923e-02 1.65061061e+02] [ 4.73325125e-02 9.98878396e-01 -1.25850593e-03 5.80955456e+00] [ 3.62639263e-02 -4.59299883e-04 9.99342142e-01 4.06632773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.09, Y:5.81, Z:4.07 [[ 9.98331795e-01 -4.49494342e-02 -3.62377525e-02 1.65088676e+02] [ 4.49331043e-02 9.98989197e-01 -1.26532384e-03 5.81295208e+00] [ 3.62579988e-02 -3.65061695e-04 9.99342396e-01 4.06739494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.17509989299998 meters Centerline goodness : 0.998510 Centerline is valid? [True, True] Translation: X:165.12, Y:5.82, Z:4.07 [[ 9.98274717e-01 -4.53759102e-02 -3.72641274e-02 1.65116269e+02] [ 4.53586916e-02 9.98969909e-01 -1.30779462e-03 5.81649008e+00] [ 3.72850843e-02 -3.84713757e-04 9.99304595e-01 4.07003256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.14, Y:5.82, Z:4.07 [[ 9.98426962e-01 -4.35123896e-02 -3.53591992e-02 1.65143496e+02] [ 4.34953893e-02 9.99052845e-01 -1.25023243e-03 5.81721071e+00] [ 3.53801092e-02 -2.89696369e-04 9.99373886e-01 4.06954975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.17, Y:5.82, Z:4.07 [[ 9.98559153e-01 -4.19115060e-02 -3.35118302e-02 1.65170605e+02] [ 4.18951780e-02 9.99121303e-01 -1.18958012e-03 5.82041518e+00] [ 3.35322406e-02 -2.16117978e-04 9.99437613e-01 4.07135012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.20, Y:5.82, Z:4.07 [[ 9.98644698e-01 -4.06358276e-02 -3.25191644e-02 1.65198267e+02] [ 4.06196060e-02 9.99174010e-01 -1.15958198e-03 5.82297134e+00] [ 3.25394245e-02 -1.62905247e-04 9.99470439e-01 4.07276062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.23, Y:5.82, Z:4.07 [[ 9.98667664e-01 -4.04734281e-02 -3.20124756e-02 1.65226087e+02] [ 4.04573912e-02 9.99180604e-01 -1.14879884e-03 5.82433064e+00] [ 3.20327405e-02 -1.47872993e-04 9.99486809e-01 4.07326597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.25, Y:5.83, Z:4.07 [[ 9.98669031e-01 -4.06182414e-02 -3.17856183e-02 1.65254720e+02] [ 4.06023775e-02 9.99174728e-01 -1.14464785e-03 5.82541707e+00] [ 3.18058801e-02 -1.47447317e-04 9.99494054e-01 4.07349451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.28, Y:5.83, Z:4.07 [[ 9.98660655e-01 -4.10248352e-02 -3.15255369e-02 1.65282499e+02] [ 4.10092298e-02 9.99158115e-01 -1.14170128e-03 5.82608204e+00] [ 3.15458341e-02 -1.52665836e-04 9.99502295e-01 4.07355960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.31, Y:5.83, Z:4.07 [[ 9.98599800e-01 -4.24752782e-02 -3.15323605e-02 1.65311172e+02] [ 4.24602625e-02 9.99097499e-01 -1.14595339e-03 5.82687917e+00] [ 3.15525772e-02 -1.94523475e-04 9.99502075e-01 4.07400041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.34, Y:5.83, Z:4.07 [[ 9.98445223e-01 -4.58591411e-02 -3.16871591e-02 1.65339425e+02] [ 4.58454751e-02 9.98947872e-01 -1.15806696e-03 5.82661713e+00] [ 3.17069281e-02 -2.96446445e-04 9.99497165e-01 4.07449157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.37, Y:5.83, Z:4.07 [[ 9.98248592e-01 -4.98965869e-02 -3.17817532e-02 1.65369501e+02] [ 4.98848344e-02 9.98754299e-01 -1.16309005e-03 5.82611839e+00] [ 3.18001969e-02 -4.24374492e-04 9.99494156e-01 4.07490161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.40, Y:5.83, Z:4.08 [[ 9.98134084e-01 -5.18440630e-02 -3.22574589e-02 1.65401148e+02] [ 5.18329544e-02 9.98655071e-01 -1.18105768e-03 5.82647758e+00] [ 3.22753057e-02 -4.93145474e-04 9.99478895e-01 4.07581727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.43, Y:5.83, Z:4.08 [[ 9.98026570e-01 -5.36997436e-02 -3.25469364e-02 1.65432038e+02] [ 5.36894585e-02 9.98556971e-01 -1.19050254e-03 5.82673669e+00] [ 3.25638999e-02 -5.59274223e-04 9.99469499e-01 4.07649777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.46, Y:5.83, Z:4.08 [[ 9.97920714e-01 -5.54145371e-02 -3.29162081e-02 1.65462406e+02] [ 5.54049827e-02 9.98463240e-01 -1.20300211e-03 5.82699394e+00] [ 3.29322875e-02 -6.23221209e-04 9.99457391e-01 4.07687504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.49, Y:5.83, Z:4.08 [[ 9.97685446e-01 -5.88354768e-02 -3.40901359e-02 1.65493840e+02] [ 5.88272517e-02 9.98267401e-01 -1.24510104e-03 5.82672615e+00] [ 3.41043274e-02 -7.63209814e-04 9.99417987e-01 4.07688637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.53, Y:5.83, Z:4.08 [[ 9.97583672e-01 -6.05239022e-02 -3.41126861e-02 1.65525150e+02] [ 6.05167011e-02 9.98166409e-01 -1.24449846e-03 5.82699538e+00] [ 3.41254592e-02 -8.22895883e-04 9.99417218e-01 4.07726540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.56, Y:5.83, Z:4.08 [[ 9.97480418e-01 -6.21288106e-02 -3.42465455e-02 1.65556381e+02] [ 6.21225551e-02 9.98067749e-01 -1.24771423e-03 5.82722252e+00] [ 3.42578915e-02 -8.82912394e-04 9.99412636e-01 4.07754966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.59, Y:5.83, Z:4.08 [[ 9.97377593e-01 -6.35714355e-02 -3.45920541e-02 1.65586292e+02] [ 6.35659559e-02 9.97976845e-01 -1.25926405e-03 5.82730773e+00] [ 3.46021222e-02 -9.42915245e-04 9.99400722e-01 4.07829167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.685099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.62, Y:5.83, Z:4.08 [[ 9.97245633e-01 -6.58636222e-02 -3.41047098e-02 1.65618590e+02] [ 6.58596736e-02 9.97828124e-01 -1.24037581e-03 5.82723254e+00] [ 3.41123342e-02 -1.00916569e-03 9.99417495e-01 4.07939833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.65, Y:5.83, Z:4.08 [[ 9.97187648e-01 -6.68517874e-02 -3.38767219e-02 1.65649325e+02] [ 6.68485365e-02 9.97762377e-01 -1.22985185e-03 5.82802314e+00] [ 3.38831363e-02 -1.03821621e-03 9.99425262e-01 4.08034675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.68, Y:5.83, Z:4.08 [[ 9.97119685e-01 -6.80095585e-02 -3.35713117e-02 1.65681028e+02] [ 6.80070867e-02 9.97684096e-01 -1.21681502e-03 5.82871522e+00] [ 3.35763188e-02 -1.06977689e-03 9.99435584e-01 4.08132665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.71, Y:5.83, Z:4.08 [[ 9.96911101e-01 -7.13577237e-02 -3.28074931e-02 1.65712970e+02] [ 7.13572475e-02 9.97450116e-01 -1.18685036e-03 5.82904730e+00] [ 3.28085288e-02 -1.15786810e-03 9.99460985e-01 4.08239947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.75, Y:5.83, Z:4.08 [[ 9.96783168e-01 -7.32288736e-02 -3.25706566e-02 1.65745188e+02] [ 7.32294765e-02 9.97314424e-01 -1.17597773e-03 5.82970152e+00] [ 3.25693012e-02 -1.21293732e-03 9.99468744e-01 4.08334562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.78, Y:5.83, Z:4.08 [[ 9.96621704e-01 -7.53144761e-02 -3.27552920e-02 1.65776151e+02] [ 7.53162833e-02 9.97158996e-01 -1.18041234e-03 5.83038492e+00] [ 3.27511362e-02 -1.29058229e-03 9.99462704e-01 4.08436154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.81, Y:5.83, Z:4.09 [[ 9.96453938e-01 -7.74912896e-02 -3.27818594e-02 1.65808194e+02] [ 7.74943388e-02 9.96992094e-01 -1.17943477e-03 5.83105722e+00] [ 3.27746506e-02 -1.36515610e-03 9.99461835e-01 4.08543534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.84, Y:5.83, Z:4.09 [[ 9.96084857e-01 -8.18148221e-02 -3.34857185e-02 1.65840827e+02] [ 8.18205228e-02 9.96646355e-01 -1.20232101e-03 5.83102283e+00] [ 3.34717870e-02 -1.54220524e-03 9.99438473e-01 4.08631435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.87, Y:5.83, Z:4.09 [[ 9.95891725e-01 -8.39155926e-02 -3.40271363e-02 1.65873054e+02] [ 8.39227931e-02 9.96471514e-01 -1.21909833e-03 5.83140814e+00] [ 3.40093734e-02 -1.64156238e-03 9.99420166e-01 4.08694715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.91, Y:5.83, Z:4.09 [[ 9.95671828e-01 -8.60825345e-02 -3.50343820e-02 1.65905627e+02] [ 8.60916253e-02 9.96286437e-01 -1.25178947e-03 5.83184458e+00] [ 3.50120368e-02 -1.76979537e-03 9.99385324e-01 4.08798428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.94, Y:5.83, Z:4.09 [[ 9.95441915e-01 -8.84788621e-02 -3.55933320e-02 1.65939095e+02] [ 8.84899097e-02 9.96076266e-01 -1.26791746e-03 5.83263504e+00] [ 3.55658572e-02 -1.88751256e-03 9.99365552e-01 4.08883648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.97, Y:5.83, Z:4.09 [[ 9.95043568e-01 -9.23162531e-02 -3.69595308e-02 1.65972428e+02] [ 9.23309561e-02 9.95727509e-01 -1.31248206e-03 5.83247620e+00] [ 3.69227849e-02 -2.10653198e-03 9.99315901e-01 4.08922601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.01, Y:5.83, Z:4.09 [[ 9.94881909e-01 -9.37616927e-02 -3.76660715e-02 1.66005414e+02] [ 9.37781513e-02 9.95592226e-01 -1.33345995e-03 5.83319382e+00] [ 3.76250755e-02 -2.20561937e-03 9.99289492e-01 4.08986957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.04, Y:5.83, Z:4.09 [[ 9.94786048e-01 -9.45875277e-02 -3.81302837e-02 1.66037515e+02] [ 9.46051470e-02 9.95513965e-01 -1.34603046e-03 5.83417081e+00] [ 3.80865476e-02 -2.26830876e-03 9.99271870e-01 4.09057016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.07, Y:5.84, Z:4.09 [[ 9.94728200e-01 -9.50604237e-02 -3.84619822e-02 1.66070302e+02] [ 9.50788454e-02 9.95468824e-01 -1.35404894e-03 5.83660045e+00] [ 3.84164206e-02 -2.31001019e-03 9.99259147e-01 4.09219103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.10, Y:5.84, Z:4.09 [[ 9.94797225e-01 -9.45318439e-02 -3.79764727e-02 1.66103327e+02] [ 9.45495704e-02 9.95519262e-01 -1.33296302e-03 5.83915302e+00] [ 3.79323175e-02 -2.26463127e-03 9.99277745e-01 4.09353287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.14, Y:5.84, Z:4.10 [[ 9.94892277e-01 -9.35581178e-02 -3.78976984e-02 1.66135315e+02] [ 9.35751996e-02 9.95611331e-01 -1.32669674e-03 5.84171807e+00] [ 3.78555012e-02 -2.22636435e-03 9.99280743e-01 4.09512024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.17, Y:5.85, Z:4.10 [[ 9.95240828e-01 -9.02361724e-02 -3.67848797e-02 1.66167771e+02] [ 9.02500949e-02 9.95918304e-01 -1.28521765e-03 5.84534686e+00] [ 3.67507081e-02 -2.04073781e-03 9.99322381e-01 4.09601406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.20, Y:5.85, Z:4.10 [[ 9.95461826e-01 -8.81821788e-02 -3.57722726e-02 1.66200333e+02] [ 8.81941092e-02 9.96102526e-01 -1.24739006e-03 5.84782702e+00] [ 3.57428487e-02 -1.91317454e-03 9.99359189e-01 4.09665446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.23, Y:5.85, Z:4.10 [[ 9.95672059e-01 -8.60206401e-02 -3.51795516e-02 1.66232514e+02] [ 8.60309246e-02 9.96291715e-01 -1.22409637e-03 5.85007964e+00] [ 3.51543934e-02 -1.80773081e-03 9.99380258e-01 4.09768449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.27, Y:5.85, Z:4.10 [[ 9.96081008e-01 -8.16607779e-02 -3.39726905e-02 1.66265794e+02] [ 8.16679432e-02 9.96658897e-01 -1.17899489e-03 5.85356878e+00] [ 3.39554619e-02 -1.60010534e-03 9.99422066e-01 4.09837154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.30, Y:5.86, Z:4.10 [[ 9.96263723e-01 -7.95052577e-02 -3.37269797e-02 1.66297897e+02] [ 7.95112042e-02 9.96833289e-01 -1.16699650e-03 5.85567002e+00] [ 3.37129585e-02 -1.51903649e-03 9.99430402e-01 4.09892448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.33, Y:5.86, Z:4.10 [[ 9.96498310e-01 -7.64896650e-02 -3.37705444e-02 1.66330390e+02] [ 7.64940065e-02 9.97069360e-01 -1.16530898e-03 5.85906848e+00] [ 3.37607092e-02 -1.42201581e-03 9.99428933e-01 4.09980033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.36, Y:5.86, Z:4.10 [[ 9.96557168e-01 -7.54597684e-02 -3.43458180e-02 1.66362425e+02] [ 7.54637628e-02 9.97147844e-01 -1.18185073e-03 5.86136438e+00] [ 3.43370405e-02 -1.41408285e-03 9.99409310e-01 4.10054988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.39, Y:5.86, Z:4.10 [[ 9.96615457e-01 -7.45832664e-02 -3.45682985e-02 1.66394706e+02] [ 7.45868740e-02 9.97213813e-01 -1.18698295e-03 5.86342861e+00] [ 3.45605138e-02 -1.39537577e-03 9.99401633e-01 4.10113246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.435099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.43, Y:5.87, Z:4.10 [[ 9.96671831e-01 -7.34809253e-02 -3.52961131e-02 1.66427120e+02] [ 7.34840890e-02 9.97295656e-01 -1.20936889e-03 5.86551050e+00] [ 3.52895258e-02 -1.38835881e-03 9.99376166e-01 4.10167505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.46, Y:5.87, Z:4.10 [[ 9.96676647e-01 -7.32191155e-02 -3.57018623e-02 1.66458553e+02] [ 7.32222712e-02 9.97314899e-01 -1.22086336e-03 5.86705926e+00] [ 3.56953897e-02 -1.39736544e-03 9.99361740e-01 4.10258008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.49, Y:5.87, Z:4.10 [[ 9.96684284e-01 -7.30890087e-02 -3.57552204e-02 1.66489368e+02] [ 7.30921596e-02 9.97324444e-01 -1.22074947e-03 5.86873125e+00] [ 3.57487787e-02 -1.39672447e-03 9.99359832e-01 4.10330355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.52, Y:5.87, Z:4.10 [[ 9.96755481e-01 -7.23398968e-02 -3.52909370e-02 1.66521379e+02] [ 7.23425705e-02 9.97379118e-01 -1.20282332e-03 5.87037013e+00] [ 3.52854557e-02 -1.35411636e-03 9.99376357e-01 4.10393555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.55, Y:5.87, Z:4.11 [[ 9.96811504e-01 -7.19349677e-02 -3.45280460e-02 1.66553909e+02] [ 7.19373672e-02 9.97408460e-01 -1.17441187e-03 5.87182861e+00] [ 3.45230464e-02 -1.31318946e-03 9.99403039e-01 4.10507724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.59, Y:5.87, Z:4.11 [[ 9.96866136e-01 -7.15186943e-02 -3.38080240e-02 1.66586218e+02] [ 7.15208356e-02 9.97438446e-01 -1.14754309e-03 5.87345722e+00] [ 3.38034937e-02 -1.27403128e-03 9.99427687e-01 4.10625990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.62, Y:5.88, Z:4.11 [[ 9.96914049e-01 -7.11395719e-02 -3.31894596e-02 1.66617318e+02] [ 7.11414987e-02 9.97465600e-01 -1.12433866e-03 5.87502765e+00] [ 3.31853292e-02 -1.24027890e-03 9.99448446e-01 4.10751986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.65, Y:5.88, Z:4.11 [[ 9.96976153e-01 -7.08397748e-02 -3.19417805e-02 1.66649604e+02] [ 7.08414633e-02 9.97487002e-01 -1.08024742e-03 5.87700575e+00] [ 3.19380354e-02 -1.18582156e-03 9.99489147e-01 4.10840371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.68, Y:5.88, Z:4.11 [[ 9.96975745e-01 -7.09593592e-02 -3.16880629e-02 1.66680464e+02] [ 7.09611642e-02 9.97478506e-01 -1.06905027e-03 5.87849944e+00] [ 3.16840207e-02 -1.18280464e-03 9.99497236e-01 4.10942085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.71, Y:5.88, Z:4.11 [[ 9.96968986e-01 -7.11294937e-02 -3.15188111e-02 1.66713093e+02] [ 7.11314688e-02 9.97466386e-01 -1.06002241e-03 5.87996757e+00] [ 3.15143535e-02 -1.18516986e-03 9.99502597e-01 4.10994251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.75, Y:5.88, Z:4.11 [[ 9.96839144e-01 -7.27276086e-02 -3.19752381e-02 1.66745420e+02] [ 7.27305622e-02 9.97351049e-01 -1.07224734e-03 5.88147215e+00] [ 3.19685193e-02 -1.25671893e-03 9.99488086e-01 4.11002501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.78, Y:5.88, Z:4.11 [[ 9.96845449e-01 -7.26410705e-02 -3.19754005e-02 1.66778097e+02] [ 7.26441355e-02 9.97357353e-01 -1.06738441e-03 5.88250244e+00] [ 3.19684368e-02 -1.25880804e-03 9.99488086e-01 4.11080345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.81, Y:5.88, Z:4.11 [[ 9.96757808e-01 -7.37582504e-02 -3.21495247e-02 1.66809838e+02] [ 7.37620147e-02 9.97275298e-01 -1.07052861e-03 5.88331739e+00] [ 3.21408871e-02 -1.30435597e-03 9.99482497e-01 4.11094683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.84, Y:5.88, Z:4.11 [[ 9.96500017e-01 -7.71409384e-02 -3.22023619e-02 1.66842346e+02] [ 7.71465555e-02 9.97019190e-01 -1.06986042e-03 5.88411693e+00] [ 3.21889028e-02 -1.41818537e-03 9.99480797e-01 4.11102427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.88, Y:5.88, Z:4.11 [[ 9.96362675e-01 -7.89177756e-02 -3.21466186e-02 1.66875718e+02] [ 7.89243927e-02 9.96880036e-01 -1.06499531e-03 5.88477037e+00] [ 3.21303694e-02 -1.47603077e-03 9.99482596e-01 4.11157947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.91, Y:5.89, Z:4.11 [[ 9.96273980e-01 -8.02265462e-02 -3.16521275e-02 1.66907949e+02] [ 8.02337234e-02 9.96775530e-01 -1.04533634e-03 5.88530130e+00] [ 3.16339299e-02 -1.49812665e-03 9.99498399e-01 4.11185177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.94, Y:5.89, Z:4.11 [[ 9.96226019e-01 -8.09065328e-02 -3.14300981e-02 1.66940007e+02] [ 8.09140358e-02 9.96720546e-01 -1.03517709e-03 5.88577044e+00] [ 3.14107772e-02 -1.51186573e-03 9.99505416e-01 4.11204831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.97, Y:5.89, Z:4.11 [[ 9.96241984e-01 -8.09719711e-02 -3.07481514e-02 1.66972711e+02] [ 8.09792704e-02 9.96715274e-01 -1.00986235e-03 5.88626043e+00] [ 3.07289227e-02 -1.48389559e-03 9.99526654e-01 4.11287386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.00, Y:5.89, Z:4.11 [[ 9.96271157e-01 -8.08598158e-02 -3.00910505e-02 1.67004794e+02] [ 8.08668491e-02 9.96724426e-01 -9.85148815e-04 5.88714387e+00] [ 3.00721440e-02 -1.45189309e-03 9.99546676e-01 4.11355888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.04, Y:5.89, Z:4.11 [[ 9.96292081e-01 -8.09414694e-02 -2.91645117e-02 1.67037998e+02] [ 8.09481884e-02 9.96717856e-01 -9.52141434e-04 5.88763621e+00] [ 2.91458573e-02 -1.41220342e-03 9.99574172e-01 4.11406163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.07, Y:5.89, Z:4.11 [[ 9.96295771e-01 -8.11141640e-02 -2.85522219e-02 1.67070901e+02] [ 8.11207606e-02 9.96703847e-01 -9.29127547e-04 5.88728094e+00] [ 2.85334748e-02 -1.39049211e-03 9.99591870e-01 4.11469469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.10, Y:5.89, Z:4.12 [[ 9.96252857e-01 -8.18063235e-02 -2.80708042e-02 1.67102969e+02] [ 8.18130547e-02 9.96647277e-01 -9.10554831e-04 5.88744381e+00] [ 2.80511798e-02 -1.38941539e-03 9.99605523e-01 4.11528891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.14, Y:5.89, Z:4.12 [[ 9.96235650e-01 -8.22439628e-02 -2.73945389e-02 1.67136156e+02] [ 8.22506058e-02 9.96611285e-01 -8.86151066e-04 5.88722053e+00] [ 2.73745872e-02 -1.37040214e-03 9.99624306e-01 4.11572713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.17, Y:5.89, Z:4.12 [[ 9.96115574e-01 -8.35967727e-02 -2.76648336e-02 1.67167791e+02] [ 8.36041503e-02 9.96498646e-01 -8.91913168e-04 5.88627873e+00] [ 2.76425302e-02 -1.42444631e-03 9.99616857e-01 4.11658984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.20, Y:5.89, Z:4.12 [[ 9.96041096e-01 -8.44079116e-02 -2.78825946e-02 1.67199675e+02] [ 8.44157936e-02 9.96430213e-01 -8.96394266e-04 5.88648255e+00] [ 2.78587225e-02 -1.46088583e-03 9.99610803e-01 4.11705504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.185099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.23, Y:5.89, Z:4.12 [[ 9.95987726e-01 -8.48985426e-02 -2.82964230e-02 1.67232944e+02] [ 8.49069318e-02 9.96388474e-01 -9.07088662e-04 5.88661724e+00] [ 2.82712403e-02 -1.49911329e-03 9.99599164e-01 4.11747274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.26, Y:5.89, Z:4.12 [[ 9.95858547e-01 -8.58966558e-02 -2.97912719e-02 1.67264716e+02] [ 8.59065107e-02 9.96302748e-01 -9.51329834e-04 5.88550371e+00] [ 2.97628422e-02 -1.61187428e-03 9.99555689e-01 4.11737228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.30, Y:5.89, Z:4.12 [[ 9.95821373e-01 -8.61411427e-02 -3.03231874e-02 1.67297323e+02] [ 8.61516146e-02 9.96281572e-01 -9.63417064e-04 5.88538501e+00] [ 3.02934227e-02 -1.65300025e-03 9.99539682e-01 4.11764159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.33, Y:5.89, Z:4.12 [[ 9.95822309e-01 -8.59565838e-02 -3.08122587e-02 1.67329179e+02] [ 8.59674069e-02 9.96297472e-01 -9.75763607e-04 5.88579063e+00] [ 3.07820487e-02 -1.67716281e-03 9.99524713e-01 4.11849847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.36, Y:5.89, Z:4.12 [[ 9.95858985e-01 -8.54522107e-02 -3.10290488e-02 1.67362243e+02] [ 8.54630322e-02 9.96340860e-01 -9.79748409e-04 5.88667220e+00] [ 3.09992309e-02 -1.67614534e-03 9.99518003e-01 4.11974941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.40, Y:5.89, Z:4.12 [[ 9.95909847e-01 -8.48774350e-02 -3.09741484e-02 1.67395084e+02] [ 8.48880440e-02 9.96390019e-01 -9.74690216e-04 5.88762603e+00] [ 3.09450615e-02 -1.65863128e-03 9.99519711e-01 4.12077434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.43, Y:5.89, Z:4.12 [[ 9.95971522e-01 -8.40700755e-02 -3.11921415e-02 1.67427201e+02] [ 8.40805412e-02 9.96458482e-01 -9.78296976e-04 5.88861025e+00] [ 3.11639194e-02 -1.64829621e-03 9.99512928e-01 4.12195095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.46, Y:5.89, Z:4.12 [[ 9.96087179e-01 -8.29009603e-02 -3.06228940e-02 1.67459935e+02] [ 8.29105824e-02 9.96556530e-01 -9.57622879e-04 5.88921459e+00] [ 3.05968329e-02 -1.58508610e-03 9.99530550e-01 4.12240442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.49, Y:5.89, Z:4.12 [[ 9.96292719e-01 -8.03389762e-02 -3.07647127e-02 1.67492076e+02] [ 8.03475672e-02 9.96766447e-01 -9.58877237e-04 5.88960904e+00] [ 3.07422685e-02 -1.51654741e-03 9.99526194e-01 4.12337097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.52, Y:5.89, Z:4.12 [[ 9.96532053e-01 -7.75721174e-02 -3.01070337e-02 1.67524952e+02] [ 7.75791675e-02 9.96985756e-01 -9.35631737e-04 5.89045902e+00] [ 3.00888627e-02 -1.40329159e-03 9.99546243e-01 4.12428345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.56, Y:5.89, Z:4.13 [[ 9.96650627e-01 -7.59376236e-02 -3.03480730e-02 1.67558442e+02] [ 7.59441298e-02 9.97111632e-01 -9.39866681e-04 5.89165787e+00] [ 3.03317878e-02 -1.36803928e-03 9.99538949e-01 4.12522552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.59, Y:5.89, Z:4.13 [[ 9.96798225e-01 -7.41158146e-02 -3.00024190e-02 1.67590059e+02] [ 7.41214421e-02 9.97248793e-01 -9.26082201e-04 5.89250483e+00] [ 2.99885135e-02 -1.30070547e-03 9.99549397e-01 4.12583790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.62, Y:5.89, Z:4.13 [[ 9.97027704e-01 -7.07878006e-02 -3.04112622e-02 1.67623505e+02] [ 7.07921237e-02 9.97490651e-01 -9.35864190e-04 5.89338959e+00] [ 3.04011976e-02 -1.21979531e-03 9.99537032e-01 4.12659628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.66, Y:5.89, Z:4.13 [[ 9.97132332e-01 -6.90356431e-02 -3.10031036e-02 1.67655876e+02] [ 6.90393859e-02 9.97613482e-01 -9.51015095e-04 5.89411388e+00] [ 3.09947680e-02 -1.19214733e-03 9.99518836e-01 4.12762711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.69, Y:5.89, Z:4.13 [[ 9.97236469e-01 -6.74148198e-02 -3.12196583e-02 1.67686753e+02] [ 6.74178869e-02 9.97724368e-01 -9.55585787e-04 5.89457332e+00] [ 3.12130345e-02 -1.15181840e-03 9.99512091e-01 4.12804591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.72, Y:5.90, Z:4.13 [[ 9.97318891e-01 -6.59175951e-02 -3.17789162e-02 1.67719304e+02] [ 6.59200729e-02 9.97824434e-01 -9.70864036e-04 5.89528792e+00] [ 3.17737761e-02 -1.12660742e-03 9.99494451e-01 4.12883144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.75, Y:5.90, Z:4.13 [[ 9.97473700e-01 -6.30540801e-02 -3.27169776e-02 1.67751957e+02] [ 6.30552474e-02 9.98009540e-01 -9.97113433e-04 5.89534546e+00] [ 3.27147278e-02 -1.06838269e-03 9.99464159e-01 4.12968793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.78, Y:5.90, Z:4.13 [[ 9.97555509e-01 -6.14906827e-02 -3.31949086e-02 1.67782801e+02] [ 6.14910952e-02 9.98107122e-01 -1.00941910e-03 5.89580769e+00] [ 3.31941446e-02 -1.03423970e-03 9.99448387e-01 4.13095306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.81, Y:5.90, Z:4.13 [[ 9.97631398e-01 -5.98842795e-02 -3.38447443e-02 1.67814608e+02] [ 5.98838418e-02 9.98204824e-01 -1.02750952e-03 5.89632115e+00] [ 3.38455186e-02 -1.00167756e-03 9.99426574e-01 4.13205336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.84, Y:5.90, Z:4.13 [[ 9.97799315e-01 -5.67404932e-02 -3.43080625e-02 1.67844997e+02] [ 5.67382230e-02 9.98388547e-01 -1.04052843e-03 5.89624502e+00] [ 3.43118167e-02 -9.08339941e-04 9.99410763e-01 4.13321932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.88, Y:5.90, Z:4.13 [[ 9.97897365e-01 -5.48725893e-02 -3.44941860e-02 1.67875878e+02] [ 5.48691941e-02 9.98493003e-01 -1.04574943e-03 5.89666594e+00] [ 3.44995864e-02 -8.49117589e-04 9.99404351e-01 4.13407609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.91, Y:5.90, Z:4.14 [[ 9.97994511e-01 -5.29924543e-02 -3.46230435e-02 1.67905168e+02] [ 5.29878967e-02 9.98594603e-01 -1.04984584e-03 5.89708301e+00] [ 3.46300182e-02 -7.86861862e-04 9.99399891e-01 4.13517151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.93, Y:5.89, Z:4.14 [[ 9.97908768e-01 -5.06123280e-02 -4.02055202e-02 1.67934201e+02] [ 5.15149650e-02 9.98435556e-01 2.17404822e-02 5.88772222e+00] [ 3.90422845e-02 -2.37662038e-02 9.98954888e-01 4.13733370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.96, Y:5.91, Z:4.15 [[ 9.98280174e-01 -4.85455911e-02 -3.28636406e-02 1.67964035e+02] [ 4.77606474e-02 9.98564079e-01 -2.42631667e-02 5.90935598e+00] [ 3.39943208e-02 2.26518496e-02 9.99165292e-01 4.14556648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.99, Y:5.90, Z:4.14 [[ 9.98374234e-01 -4.63213681e-02 -3.32147587e-02 1.67994501e+02] [ 4.63132973e-02 9.98926450e-01 -1.01271528e-03 5.89875805e+00] [ 3.32260113e-02 -5.27216154e-04 9.99447725e-01 4.13863865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.935099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.02, Y:5.90, Z:4.14 [[ 9.98547102e-01 -4.33630218e-02 -3.19895827e-02 1.68024053e+02] [ 4.33539812e-02 9.99059297e-01 -9.76498074e-04 5.89834394e+00] [ 3.20018339e-02 -4.11796443e-04 9.99487725e-01 4.13977541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.05, Y:5.90, Z:4.14 [[ 9.98546405e-01 -4.30313300e-02 -3.24558491e-02 1.68053172e+02] [ 4.30218028e-02 9.99073641e-01 -9.92148079e-04 5.89883928e+00] [ 3.24684768e-02 -4.05603241e-04 9.99472678e-01 4.14096276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.08, Y:5.90, Z:4.14 [[ 9.98568753e-01 -4.26484461e-02 -3.22731438e-02 1.68080859e+02] [ 4.26387578e-02 9.99090065e-01 -9.88671386e-04 5.89878936e+00] [ 3.22859427e-02 -3.88830411e-04 9.99478597e-01 4.14187564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.11, Y:5.90, Z:4.14 [[ 9.98582615e-01 -4.25127682e-02 -3.20222822e-02 1.68109411e+02] [ 4.25030256e-02 9.99095852e-01 -9.85188393e-04 5.89739656e+00] [ 3.20352124e-02 -3.77251876e-04 9.99486670e-01 4.14259921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.14, Y:5.90, Z:4.14 [[ 9.98555528e-01 -4.32936613e-02 -3.18200658e-02 1.68138254e+02] [ 4.32841831e-02 9.99062313e-01 -9.86959638e-04 5.89734808e+00] [ 3.18329577e-02 -3.91771554e-04 9.99493126e-01 4.14366339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.17, Y:5.90, Z:4.14 [[ 9.98533110e-01 -4.40182765e-02 -3.15280678e-02 1.68166321e+02] [ 4.40091209e-02 9.99030644e-01 -9.84606938e-04 5.89695406e+00] [ 3.15408466e-02 -4.04359919e-04 9.99502382e-01 4.14444036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.19, Y:5.90, Z:4.15 [[ 9.98488876e-01 -4.52860125e-02 -3.11310375e-02 1.68194909e+02] [ 4.52776213e-02 9.98973967e-01 -9.74793180e-04 5.89654261e+00] [ 3.11432405e-02 -4.36219181e-04 9.99514836e-01 4.14526294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.22, Y:5.89, Z:4.15 [[ 9.98364528e-01 -4.81559518e-02 -3.08102883e-02 1.68224332e+02] [ 4.81490450e-02 9.98839695e-01 -9.66483025e-04 5.89418032e+00] [ 3.08210809e-02 -5.18583590e-04 9.99524783e-01 4.14579333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.25, Y:5.89, Z:4.15 [[ 9.98293015e-01 -4.97419193e-02 -3.06071401e-02 1.68253662e+02] [ 4.97358189e-02 9.98761946e-01 -9.61065424e-04 5.89309155e+00] [ 3.06170521e-02 -5.62846277e-04 9.99531030e-01 4.14653318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.28, Y:5.89, Z:4.15 [[ 9.98205253e-01 -5.16290663e-02 -3.03432294e-02 1.68284232e+02] [ 5.16239294e-02 9.98666141e-01 -9.53191534e-04 5.89245431e+00] [ 3.03519682e-02 -6.14955935e-04 9.99539084e-01 4.14690821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.32, Y:5.89, Z:4.15 [[ 9.98102714e-01 -5.35130679e-02 -3.04519820e-02 1.68316014e+02] [ 5.35087776e-02 9.98566921e-01 -9.56367634e-04 5.89146903e+00] [ 3.04595200e-02 -6.74895200e-04 9.99535773e-01 4.14761299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.35, Y:5.89, Z:4.15 [[ 9.97871862e-01 -5.77898821e-02 -3.02006131e-02 1.68347423e+02] [ 5.77876511e-02 9.98328448e-01 -9.47408418e-04 5.88853157e+00] [ 3.02048818e-02 -7.99830289e-04 9.99543408e-01 4.14814612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.38, Y:5.89, Z:4.15 [[ 9.97738503e-01 -5.99285521e-02 -3.04376257e-02 1.68378971e+02] [ 5.99273175e-02 9.98202288e-01 -9.53615104e-04 5.88753786e+00] [ 3.04400564e-02 -8.72586754e-04 9.99536213e-01 4.14853099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.41, Y:5.88, Z:4.15 [[ 9.97424663e-01 -6.44960330e-02 -3.13736227e-02 1.68410080e+02] [ 6.44970279e-02 9.97917417e-01 -9.81347348e-04 5.88475671e+00] [ 3.13715775e-02 -1.04468537e-03 9.99507245e-01 4.14907300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.44, Y:5.88, Z:4.15 [[ 9.97267204e-01 -6.67998341e-02 -3.15579734e-02 1.68441165e+02] [ 6.68020323e-02 9.97765762e-01 -9.85849298e-04 5.88384279e+00] [ 3.15533200e-02 -1.12498159e-03 9.99501437e-01 4.14953605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.47, Y:5.88, Z:4.15 [[ 9.97131694e-01 -6.87825726e-02 -3.15807348e-02 1.68473077e+02] [ 6.87858246e-02 9.97630964e-01 -9.84729310e-04 5.88292143e+00] [ 3.15736511e-02 -1.19040208e-03 9.99500719e-01 4.15037144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.50, Y:5.88, Z:4.15 [[ 9.96988449e-01 -7.07027489e-02 -3.18614891e-02 1.68504100e+02] [ 7.07071226e-02 9.97496627e-01 -9.90825066e-04 5.88214153e+00] [ 3.18517820e-02 -1.26499307e-03 9.99491803e-01 4.15079617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.54, Y:5.88, Z:4.15 [[ 9.96722666e-01 -7.43946364e-02 -3.17704957e-02 1.68535834e+02] [ 7.44009553e-02 9.97227922e-01 -9.84881333e-04 5.87997874e+00] [ 3.17556952e-02 -1.38210168e-03 9.99494705e-01 4.15116046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.57, Y:5.88, Z:4.15 [[ 9.96556544e-01 -7.67091794e-02 -3.14762809e-02 1.68567652e+02] [ 7.67165899e-02 9.97052464e-01 -9.73960422e-04 5.87868666e+00] [ 3.14582151e-02 -1.44414630e-03 9.99504025e-01 4.15207472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.60, Y:5.88, Z:4.15 [[ 9.96509405e-01 -7.74116940e-02 -3.12479660e-02 1.68599386e+02] [ 7.74194101e-02 9.96998147e-01 -9.64707308e-04 5.87843016e+00] [ 3.12288438e-02 -1.45785919e-03 9.99511198e-01 4.15285562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.63, Y:5.88, Z:4.15 [[ 9.96470102e-01 -7.80143124e-02 -3.10016435e-02 1.68631862e+02] [ 7.80222650e-02 9.96951159e-01 -9.54942873e-04 5.87850107e+00] [ 3.09816236e-02 -1.46724642e-03 9.99518877e-01 4.15378224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.66, Y:5.88, Z:4.16 [[ 9.96511842e-01 -7.77775623e-02 -3.02456665e-02 1.68663632e+02] [ 7.77850855e-02 9.96969717e-01 -9.29571223e-04 5.87813924e+00] [ 3.02263133e-02 -1.42633302e-03 9.99542063e-01 4.15517543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.70, Y:5.88, Z:4.16 [[ 9.96561019e-01 -7.73111551e-02 -2.98181318e-02 1.68695689e+02] [ 7.73183219e-02 9.97006039e-01 -9.14302442e-04 5.87860592e+00] [ 2.97995432e-02 -1.39432974e-03 9.99554922e-01 4.15606346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.73, Y:5.88, Z:4.16 [[ 9.96640560e-01 -7.63645954e-02 -2.95980277e-02 1.68726450e+02] [ 7.63713124e-02 9.97079036e-01 -9.05114569e-04 5.87886851e+00] [ 2.95806916e-02 -1.35836632e-03 9.99561473e-01 4.15674604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.76, Y:5.88, Z:4.16 [[ 9.96647703e-01 -7.62712702e-02 -2.95981329e-02 1.68759127e+02] [ 7.62780485e-02 9.97086178e-01 -9.01659588e-04 5.87980334e+00] [ 2.95806600e-02 -1.35905086e-03 9.99561473e-01 4.15751886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.685099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.79, Y:5.88, Z:4.16 [[ 9.96717857e-01 -7.55585736e-02 -2.90588280e-02 1.68791051e+02] [ 7.55648791e-02 9.97140497e-01 -8.82666517e-04 5.88028560e+00] [ 2.90424272e-02 -1.31605735e-03 9.99577313e-01 4.15822263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.82, Y:5.88, Z:4.16 [[ 9.96888108e-01 -7.38951873e-02 -2.74518191e-02 1.68822581e+02] [ 7.39002365e-02 9.97265292e-01 -8.31957101e-04 5.88081829e+00] [ 2.74382241e-02 -1.19932779e-03 9.99622782e-01 4.15893084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.85, Y:5.88, Z:4.16 [[ 9.96885450e-01 -7.36716773e-02 -2.81404249e-02 1.68854310e+02] [ 7.36769556e-02 9.97281797e-01 -8.50650441e-04 5.88154902e+00] [ 2.81266024e-02 -1.22529979e-03 9.99603618e-01 4.16060556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.89, Y:5.88, Z:4.16 [[ 9.96887522e-01 -7.34829220e-02 -2.85574715e-02 1.68886329e+02] [ 7.34883420e-02 9.97295704e-01 -8.61118717e-04 5.88217557e+00] [ 2.85435212e-02 -1.24020273e-03 9.99591781e-01 4.16107769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.92, Y:5.88, Z:4.16 [[ 9.96884285e-01 -7.34809278e-02 -2.86753622e-02 1.68917489e+02] [ 7.34864586e-02 9.97295842e-01 -8.62344991e-04 5.88253613e+00] [ 2.86611854e-02 -1.24759265e-03 9.99588405e-01 4.16124110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.95, Y:5.88, Z:4.16 [[ 9.96798524e-01 -7.45676102e-02 -2.88508899e-02 1.68948904e+02] [ 7.45737549e-02 9.97215126e-01 -8.64443760e-04 5.88242965e+00] [ 2.88350033e-02 -1.28984293e-03 9.99583353e-01 4.16180495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.98, Y:5.88, Z:4.16 [[ 9.96710465e-01 -7.55599834e-02 -2.93076516e-02 1.68981492e+02] [ 7.55668022e-02 9.97140356e-01 -8.76431921e-04 5.88293127e+00] [ 2.92900653e-02 -1.34113664e-03 9.99570054e-01 4.16284222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.01, Y:5.88, Z:4.16 [[ 9.96620874e-01 -7.63863689e-02 -3.01986058e-02 1.69012772e+02] [ 7.63940525e-02 9.97077297e-01 -9.00929077e-04 5.88353152e+00] [ 3.01791629e-02 -1.40910915e-03 9.99543512e-01 4.16365233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.04, Y:5.88, Z:4.16 [[ 9.96428508e-01 -7.83522862e-02 -3.14824917e-02 1.69043749e+02] [ 7.83616724e-02 9.96924556e-01 -9.37465347e-04 5.88442862e+00] [ 3.14591216e-02 -1.53290351e-03 9.99503864e-01 4.16479274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.08, Y:5.89, Z:4.17 [[ 9.96329508e-01 -7.93790965e-02 -3.20385635e-02 1.69076231e+02] [ 7.93894080e-02 9.96843225e-01 -9.52124556e-04 5.88564770e+00] [ 3.20130037e-02 -1.59489280e-03 9.99486180e-01 4.16625363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.11, Y:5.89, Z:4.17 [[ 9.96275666e-01 -8.02421189e-02 -3.15594492e-02 1.69107166e+02] [ 8.02526231e-02 9.96774117e-01 -9.35750267e-04 5.88681881e+00] [ 3.15327287e-02 -1.60046336e-03 9.99501438e-01 4.16732941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.14, Y:5.89, Z:4.17 [[ 9.96253902e-01 -8.07233292e-02 -3.10146128e-02 1.69139107e+02] [ 8.07337618e-02 9.96735279e-01 -9.17788868e-04 5.88802643e+00] [ 3.09874457e-02 -1.58957562e-03 9.99518510e-01 4.16852478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.17, Y:5.89, Z:4.17 [[ 9.96517773e-01 -7.87644009e-02 -2.73586740e-02 1.69173335e+02] [ 7.84792121e-02 9.96851165e-01 -1.13475960e-02 5.89231369e+00] [ 2.81663127e-02 9.16099394e-03 9.99561271e-01 4.16773524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.20, Y:5.89, Z:4.17 [[ 9.96307211e-01 -7.99375618e-02 -3.13357357e-02 1.69203801e+02] [ 8.02826788e-02 9.96722846e-01 9.91256845e-03 5.88615445e+00] [ 3.04406571e-02 -1.23916802e-02 9.99459760e-01 4.16854197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.24, Y:5.89, Z:4.17 [[ 9.96489670e-01 -7.81389326e-02 -3.00440638e-02 1.69235476e+02] [ 7.81476624e-02 9.96941402e-01 -8.85324340e-04 5.89408074e+00] [ 3.00213494e-02 -1.46565679e-03 9.99548183e-01 4.17286829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.27, Y:5.90, Z:4.17 [[ 9.96599905e-01 -7.68007928e-02 -2.98373642e-02 1.69266572e+02] [ 7.68088649e-02 9.97045450e-01 -8.77209732e-04 5.89556766e+00] [ 2.98165786e-02 -1.41754694e-03 9.99554382e-01 4.17350851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.30, Y:5.90, Z:4.17 [[ 9.96697715e-01 -7.54829846e-02 -2.99330016e-02 1.69299009e+02] [ 7.54905674e-02 9.97146129e-01 -8.78292955e-04 5.89723037e+00] [ 2.99138728e-02 -1.38426669e-03 9.99551521e-01 4.17429613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.33, Y:5.90, Z:4.18 [[ 9.96791744e-01 -7.42429703e-02 -2.99032011e-02 1.69331116e+02] [ 7.42500465e-02 9.97239271e-01 -8.75233386e-04 5.89864620e+00] [ 2.98856264e-02 -1.34788866e-03 9.99552416e-01 4.17525307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.36, Y:5.90, Z:4.18 [[ 9.96888128e-01 -7.26104427e-02 -3.06884880e-02 1.69361859e+02] [ 7.26171904e-02 9.97359484e-01 -8.96057055e-04 5.90093556e+00] [ 3.06725176e-02 -1.33524313e-03 9.99528596e-01 4.17607592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.39, Y:5.90, Z:4.18 [[ 9.96926478e-01 -7.20428996e-02 -3.07801608e-02 1.69394448e+02] [ 7.20494734e-02 9.97400656e-01 -8.96929718e-04 5.90240077e+00] [ 3.07647700e-02 -1.32352139e-03 9.99525776e-01 4.17650336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.43, Y:5.90, Z:4.18 [[ 9.96914351e-01 -7.19357305e-02 -3.14169788e-02 1.69426731e+02] [ 7.19425989e-02 9.97408356e-01 -9.13178980e-04 5.90396108e+00] [ 3.14012473e-02 -1.34985787e-03 9.99505948e-01 4.17717682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.46, Y:5.91, Z:4.18 [[ 9.96902315e-01 -7.19650230e-02 -3.17302665e-02 1.69458228e+02] [ 7.19721139e-02 9.97406220e-01 -9.20089631e-04 5.90520944e+00] [ 3.17141795e-02 -1.36645487e-03 9.99496045e-01 4.17753326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.49, Y:5.91, Z:4.18 [[ 9.96853535e-01 -7.24157257e-02 -3.22333960e-02 1.69489696e+02] [ 7.24233529e-02 9.97373545e-01 -9.32377628e-04 5.90687584e+00] [ 3.22162552e-02 -1.40500668e-03 9.99479934e-01 4.17776723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.52, Y:5.91, Z:4.18 [[ 9.96841037e-01 -7.24630588e-02 -3.25123510e-02 1.69521525e+02] [ 7.24709542e-02 9.97370083e-01 -9.37054054e-04 5.90815673e+00] [ 3.24947480e-02 -1.42210716e-03 9.99470895e-01 4.17822246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.55, Y:5.91, Z:4.18 [[ 9.96789033e-01 -7.28057738e-02 -3.33308173e-02 1.69553907e+02] [ 7.28143426e-02 9.97345052e-01 -9.58276806e-04 5.90965658e+00] [ 3.33120938e-02 -1.47176174e-03 9.99443915e-01 4.17904711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.435099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.58, Y:5.91, Z:4.18 [[ 9.96788891e-01 -7.28987280e-02 -3.31312837e-02 1.69584881e+02] [ 7.29073196e-02 9.97338267e-01 -9.50305664e-04 5.91121876e+00] [ 3.31123732e-02 -1.46825896e-03 9.99450557e-01 4.17924423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.62, Y:5.91, Z:4.18 [[ 9.96782037e-01 -7.32020140e-02 -3.26655119e-02 1.69617297e+02] [ 7.32105907e-02 9.97316066e-01 -9.35018958e-04 5.91437504e+00] [ 3.26462851e-02 -1.45945132e-03 9.99465902e-01 4.18056305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.65, Y:5.92, Z:4.18 [[ 9.96808225e-01 -7.29381773e-02 -3.24558951e-02 1.69649255e+02] [ 7.29465813e-02 9.97335419e-01 -9.26652613e-04 5.91622499e+00] [ 3.24370021e-02 -1.44385165e-03 9.99472739e-01 4.18149217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.68, Y:5.92, Z:4.18 [[ 9.96826073e-01 -7.29133319e-02 -3.19597474e-02 1.69680581e+02] [ 7.29215518e-02 9.97337265e-01 -9.09857863e-04 5.91818284e+00] [ 3.19409878e-02 -1.42358434e-03 9.99488743e-01 4.18226794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.71, Y:5.92, Z:4.18 [[ 9.96859246e-01 -7.30473601e-02 -3.05896682e-02 1.69712628e+02] [ 7.30550460e-02 9.97327533e-01 -8.67788225e-04 5.92129051e+00] [ 3.05713079e-02 -1.36966690e-03 9.99531650e-01 4.18357822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.74, Y:5.92, Z:4.18 [[ 9.96868599e-01 -7.33526926e-02 -2.95360518e-02 1.69744269e+02] [ 7.33600527e-02 9.97305171e-01 -8.35813799e-04 5.92334108e+00] [ 2.95177663e-02 -1.33356978e-03 9.99563366e-01 4.18466307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.78, Y:5.93, Z:4.19 [[ 9.96833431e-01 -7.39490299e-02 -2.92344439e-02 1.69776427e+02] [ 7.39565579e-02 9.97261123e-01 -8.25166427e-04 5.92556896e+00] [ 2.92153946e-02 -1.33952536e-03 9.99572242e-01 4.18592240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64509989299998 meters Centerline goodness : 0.998599 Centerline is valid? [True, True] Translation: X:169.81, Y:5.93, Z:4.19 [[ 9.96648616e-01 -7.58527439e-02 -3.06251272e-02 1.69807309e+02] [ 7.58619770e-02 9.97117956e-01 -8.61989980e-04 5.92843030e+00] [ 3.06022485e-02 -1.46418158e-03 9.99530569e-01 4.18627325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.84, Y:5.93, Z:4.19 [[ 9.96607784e-01 -7.65645342e-02 -3.01794125e-02 1.69839542e+02] [ 7.65739038e-02 9.97063549e-01 -8.46854104e-04 5.92989794e+00] [ 3.01556311e-02 -1.46697404e-03 9.99544139e-01 4.18704552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.87, Y:5.93, Z:4.19 [[ 9.96357554e-01 -7.95991945e-02 -3.05874753e-02 1.69871306e+02] [ 7.96103235e-02 9.96825694e-01 -8.55748972e-04 5.93218972e+00] [ 3.05584982e-02 -1.58244685e-03 9.99531727e-01 4.18756482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.90, Y:5.93, Z:4.19 [[ 9.96252290e-01 -8.06415495e-02 -3.12780277e-02 1.69903006e+02] [ 8.06537755e-02 9.96741796e-01 -8.72637192e-04 5.93383121e+00] [ 3.12464883e-02 -1.65332422e-03 9.99510342e-01 4.18786836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.94, Y:5.94, Z:4.19 [[ 9.96037465e-01 -8.27785432e-02 -3.25127848e-02 1.69935631e+02] [ 8.27929823e-02 9.96566357e-01 -9.04231710e-04 5.93637383e+00] [ 3.24759985e-02 -1.79118176e-03 9.99470911e-01 4.18841449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.97, Y:5.94, Z:4.19 [[ 9.95987923e-01 -8.34191150e-02 -3.23930359e-02 1.69968722e+02] [ 8.34338704e-02 9.96512911e-01 -8.98275354e-04 5.93857476e+00] [ 3.23550118e-02 -1.80800496e-03 9.99474804e-01 4.18937441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.00, Y:5.94, Z:4.19 [[ 9.95958780e-01 -8.38404330e-02 -3.22007663e-02 1.70001389e+02] [ 8.38553442e-02 9.96477541e-01 -8.89488380e-04 5.94056322e+00] [ 3.21619155e-02 -1.81431258e-03 9.99481025e-01 4.19034122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.03, Y:5.94, Z:4.19 [[ 9.95949309e-01 -8.39957391e-02 -3.20887643e-02 1.70034635e+02] [ 8.40107380e-02 9.96464458e-01 -8.82930015e-04 5.94252006e+00] [ 3.20494754e-02 -1.81644723e-03 9.99484633e-01 4.19094083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.07, Y:5.94, Z:4.19 [[ 9.95944952e-01 -8.40450553e-02 -3.20948726e-02 1.70067896e+02] [ 8.40601966e-02 9.96460290e-01 -8.79633118e-04 5.94456712e+00] [ 3.20551949e-02 -1.82183514e-03 9.99484440e-01 4.19181673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.10, Y:5.95, Z:4.19 [[ 9.95989457e-01 -8.35935519e-02 -3.18923002e-02 1.70099672e+02] [ 8.36083968e-02 9.96498308e-01 -8.70157082e-04 5.94634114e+00] [ 3.18533627e-02 -1.79979681e-03 9.99490932e-01 4.19253187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.13, Y:5.95, Z:4.19 [[ 9.96059591e-01 -8.29398939e-02 -3.14048725e-02 1.70131641e+02] [ 8.29541105e-02 9.96553004e-01 -8.52196042e-04 5.94928907e+00] [ 3.13673010e-02 -1.75632522e-03 9.99506382e-01 4.19329376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.17, Y:5.95, Z:4.19 [[ 9.96106599e-01 -8.24694318e-02 -3.11518125e-02 1.70165118e+02] [ 8.24832807e-02 9.96592092e-01 -8.42434552e-04 5.95130268e+00] [ 3.11151251e-02 -1.73034908e-03 9.99514309e-01 4.19424449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.19, Y:5.95, Z:4.19 [[ 9.95895688e-01 -8.37125631e-02 -3.44091016e-02 1.70193681e+02] [ 8.42634986e-02 9.96332350e-01 1.48832780e-02 5.94835724e+00] [ 3.30369837e-02 -1.77216236e-02 9.99297004e-01 4.19380460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.23, Y:5.96, Z:4.20 [[ 9.96133527e-01 -8.25321257e-02 -3.01072104e-02 1.70227557e+02] [ 8.20468773e-02 9.96483238e-01 -1.70136847e-02 5.96337631e+00] [ 3.14055061e-02 1.44776991e-02 9.99401866e-01 4.20095494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.26, Y:5.96, Z:4.20 [[ 9.96145671e-01 -8.21923956e-02 -3.06302547e-02 1.70260240e+02] [ 8.22060975e-02 9.96615019e-01 -8.13829499e-04 5.95695451e+00] [ 3.05934624e-02 -1.70730097e-03 9.99530452e-01 4.19643159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.29, Y:5.96, Z:4.20 [[ 9.96141471e-01 -8.23106700e-02 -3.04487022e-02 1.70292770e+02] [ 8.23243509e-02 9.96605264e-01 -8.06174363e-04 5.95815302e+00] [ 3.04116936e-02 -1.70360593e-03 9.99536006e-01 4.19677934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.33, Y:5.96, Z:4.20 [[ 9.96068992e-01 -8.28755087e-02 -3.12763879e-02 1.70325458e+02] [ 8.28903268e-02 9.96558334e-01 -8.24732805e-04 5.95939330e+00] [ 3.12370951e-02 -1.77101924e-03 9.99510434e-01 4.19775608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.36, Y:5.96, Z:4.20 [[ 9.95942057e-01 -8.41148682e-02 -3.20016735e-02 1.70357928e+02] [ 8.41311258e-02 9.96454338e-01 -8.40541109e-04 5.96081568e+00] [ 3.19589084e-02 -1.85520658e-03 9.99487462e-01 4.19787190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.185099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.39, Y:5.96, Z:4.20 [[ 9.95874342e-01 -8.46649469e-02 -3.26518310e-02 1.70391076e+02] [ 8.46822680e-02 9.96407639e-01 -8.54527244e-04 5.96189912e+00] [ 3.26068824e-02 -1.91402935e-03 9.99466422e-01 4.19858950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.42, Y:5.96, Z:4.20 [[ 9.95816511e-01 -8.50972352e-02 -3.32856963e-02 1.70423338e+02] [ 8.51155911e-02 9.96370706e-01 -8.67678925e-04 5.96270129e+00] [ 3.32387298e-02 -1.96908272e-03 9.99445501e-01 4.19927155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.46, Y:5.96, Z:4.20 [[ 9.95770114e-01 -8.55296853e-02 -3.35641647e-02 1.70455904e+02] [ 8.55487007e-02 9.96333609e-01 -8.71780427e-04 5.96351241e+00] [ 3.35156684e-02 -2.00327778e-03 9.99436184e-01 4.19998877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.49, Y:5.96, Z:4.20 [[ 9.95780359e-01 -8.49951791e-02 -3.46019819e-02 1.70489372e+02] [ 8.50151982e-02 9.96379253e-01 -8.94990658e-04 5.96476398e+00] [ 3.45527668e-02 -2.05048023e-03 9.99400771e-01 4.20095143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.52, Y:5.97, Z:4.20 [[ 9.95830360e-01 -8.44019184e-02 -3.46151674e-02 1.70522663e+02] [ 8.44217248e-02 9.96429715e-01 -8.91601568e-04 5.96615973e+00] [ 3.45668343e-02 -2.03438822e-03 9.99400318e-01 4.20166734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.55, Y:5.97, Z:4.20 [[ 9.95907685e-01 -8.35669575e-02 -3.44157825e-02 1.70554310e+02] [ 8.35861608e-02 9.96500163e-01 -8.82931656e-04 5.96759407e+00] [ 3.43691168e-02 -1.99736471e-03 9.99407211e-01 4.20272492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.59, Y:5.97, Z:4.20 [[ 9.96132868e-01 -8.13559397e-02 -3.31741068e-02 1.70587193e+02] [ 8.13726605e-02 9.96683386e-01 -8.48002919e-04 5.96969957e+00] [ 3.31330712e-02 -1.85474175e-03 9.99449228e-01 4.20361949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.62, Y:5.97, Z:4.21 [[ 9.96277062e-01 -7.94035221e-02 -3.35722693e-02 1.70616983e+02] [ 7.93136330e-02 9.96841675e-01 -4.00290860e-03 5.97237379e+00] [ 3.37840822e-02 1.32526737e-03 9.99428276e-01 4.20567438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.65, Y:5.97, Z:4.20 [[ 9.96409787e-01 -7.83598744e-02 -3.20509932e-02 1.70650039e+02] [ 7.84703598e-02 9.96914015e-01 2.20203794e-03 5.97090525e+00] [ 3.17795329e-02 -4.70918512e-03 9.99483809e-01 4.20416693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.68, Y:5.97, Z:4.21 [[ 9.96579179e-01 -7.63180602e-02 -3.17095286e-02 1.70681601e+02] [ 7.63309203e-02 9.97082213e-01 -8.06524638e-04 5.97355767e+00] [ 3.16785594e-02 -1.61665184e-03 9.99496801e-01 4.20589832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.71, Y:5.97, Z:4.21 [[ 9.96815106e-01 -7.32515901e-02 -3.15253781e-02 1.70714659e+02] [ 7.32629230e-02 9.97312343e-01 -7.97029934e-04 5.97449369e+00] [ 3.14990324e-02 -1.51514987e-03 9.99502634e-01 4.20599982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.75, Y:5.98, Z:4.21 [[ 9.96874647e-01 -7.22997412e-02 -3.18384269e-02 1.70745896e+02] [ 7.23109119e-02 9.97381817e-01 -8.01938211e-04 5.97534754e+00] [ 3.18130480e-02 -1.50283381e-03 9.99492707e-01 4.20662726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.78, Y:5.98, Z:4.21 [[ 9.96906152e-01 -7.17031432e-02 -3.21991132e-02 1.70778393e+02] [ 7.17143180e-02 9.97424885e-01 -8.09170674e-04 5.97606370e+00] [ 3.21742169e-02 -1.50247022e-03 9.99481147e-01 4.20710953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.81, Y:5.98, Z:4.21 [[ 9.96912288e-01 -7.16177548e-02 -3.21991721e-02 1.70811075e+02] [ 7.16289609e-02 9.97431021e-01 -8.06820937e-04 5.97682134e+00] [ 3.21742358e-02 -1.50206353e-03 9.99481147e-01 4.20788833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.84, Y:5.98, Z:4.21 [[ 9.96902283e-01 -7.15761699e-02 -3.25989159e-02 1.70843635e+02] [ 7.15877211e-02 9.97433975e-01 -8.14169026e-04 5.97755540e+00] [ 3.25735414e-02 -1.52203514e-03 9.99468182e-01 4.20811494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.88, Y:5.98, Z:4.21 [[ 9.96761768e-01 -7.32273424e-02 -3.32224819e-02 1.70876273e+02] [ 7.32403325e-02 9.97313977e-01 -8.27415371e-04 5.97768072e+00] [ 3.31938350e-02 -1.60848961e-03 9.99447638e-01 4.20818375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.91, Y:5.98, Z:4.21 [[ 9.96651617e-01 -7.46526711e-02 -3.33546642e-02 1.70907587e+02] [ 7.46666337e-02 9.97208207e-01 -8.28522710e-04 5.97802287e+00] [ 3.33233963e-02 -1.66473199e-03 9.99443235e-01 4.20901902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.94, Y:5.98, Z:4.21 [[ 9.96497605e-01 -7.65469616e-02 -3.36613283e-02 1.70940009e+02] [ 7.65623264e-02 9.97064448e-01 -8.34163364e-04 5.97789979e+00] [ 3.36263664e-02 -1.74594781e-03 9.99432949e-01 4.20972222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.97, Y:5.98, Z:4.21 [[ 9.96402882e-01 -7.77349920e-02 -3.37426633e-02 1.70970799e+02] [ 7.77511870e-02 9.96972446e-01 -8.33909275e-04 5.97832405e+00] [ 3.37053295e-02 -1.79262252e-03 9.99430206e-01 4.21046472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.00, Y:5.98, Z:4.21 [[ 9.96302670e-01 -7.92711782e-02 -3.31220617e-02 1.71002409e+02] [ 7.92876854e-02 9.96851441e-01 -8.16843151e-04 5.97851447e+00] [ 3.30825271e-02 -1.81234860e-03 9.99450980e-01 4.21179547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.03, Y:5.98, Z:4.21 [[ 9.96250856e-01 -8.01646662e-02 -3.25247191e-02 1.71034127e+02] [ 8.01811148e-02 9.96779990e-01 -8.00340468e-04 5.97904798e+00] [ 3.24841482e-02 -1.81052836e-03 9.99470611e-01 4.21310176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.07, Y:5.98, Z:4.21 [[ 9.96248481e-01 -8.05775033e-02 -3.15631029e-02 1.71065657e+02] [ 8.05932699e-02 9.96746771e-01 -7.74428999e-04 5.97932829e+00] [ 3.15228225e-02 -1.77224996e-03 9.99501461e-01 4.21391590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.10, Y:5.98, Z:4.21 [[ 9.96115501e-01 -8.25523126e-02 -3.06435199e-02 1.71098369e+02] [ 8.25681864e-02 9.96585136e-01 -7.49174650e-04 5.97845440e+00] [ 3.06007226e-02 -1.78391539e-03 9.99530096e-01 4.21499843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.13, Y:5.98, Z:4.22 [[ 9.96122670e-01 -8.24657308e-02 -3.06435951e-02 1.71131052e+02] [ 8.24816584e-02 9.96592303e-01 -7.46088345e-04 5.97918943e+00] [ 3.06006978e-02 -1.78433903e-03 9.99530096e-01 4.21577694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.16, Y:5.98, Z:4.22 [[ 9.96083818e-01 -8.30206422e-02 -3.04072448e-02 1.71164000e+02] [ 8.30366664e-02 9.96546220e-01 -7.37568821e-04 5.97892587e+00] [ 3.03634583e-02 -1.79023587e-03 9.99537321e-01 4.21645955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.935099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.20, Y:5.98, Z:4.22 [[ 9.96070108e-01 -8.33604110e-02 -2.99229291e-02 1.71197118e+02] [ 8.33761763e-02 9.96517883e-01 -7.22632371e-04 5.97718703e+00] [ 2.98789729e-02 -1.77506691e-03 9.99551948e-01 4.21636641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.23, Y:5.98, Z:4.22 [[ 9.95997752e-01 -8.41238809e-02 -3.01935632e-02 1.71230339e+02] [ 8.41403819e-02 9.96453646e-01 -7.25872383e-04 5.97684671e+00] [ 3.01475494e-02 -1.81753068e-03 9.99543807e-01 4.21727493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.26, Y:5.98, Z:4.22 [[ 9.95971641e-01 -8.46246232e-02 -2.96506861e-02 1.71262220e+02] [ 8.46408480e-02 9.96411272e-01 -7.09735342e-04 5.97663741e+00] [ 2.96043390e-02 -1.80278294e-03 9.99560070e-01 4.21770880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.29, Y:5.98, Z:4.22 [[ 9.95885076e-01 -8.53081570e-02 -3.05848462e-02 1.71294987e+02] [ 8.53258321e-02 9.96352834e-01 -7.29157426e-04 5.97535047e+00] [ 3.05355012e-02 -1.88352045e-03 9.99531908e-01 4.21754321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.33, Y:5.97, Z:4.22 [[ 9.95842090e-01 -8.57493478e-02 -3.07503087e-02 1.71327354e+02] [ 8.57675391e-02 9.96314909e-01 -7.29367088e-04 5.97468907e+00] [ 3.06995338e-02 -1.91104386e-03 9.99526831e-01 4.21737109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.36, Y:5.98, Z:4.22 [[ 9.95762809e-01 -8.59619050e-02 -3.26646464e-02 1.71359350e+02] [ 8.58407821e-02 9.96295840e-01 -5.09510887e-03 5.97596746e+00] [ 3.29816366e-02 2.26956113e-03 9.99453381e-01 4.21931328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.39, Y:5.97, Z:4.22 [[ 9.95709179e-01 -8.69979304e-02 -3.15371363e-02 1.71391482e+02] [ 8.71527128e-02 9.96188586e-01 3.56439486e-03 5.97086602e+00] [ 3.11068402e-02 -6.29764766e-03 9.99496225e-01 4.21667273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.42, Y:5.97, Z:4.22 [[ 9.95535865e-01 -8.88543317e-02 -3.18315642e-02 1.71424796e+02] [ 8.88757034e-02 9.96042446e-01 -7.45661117e-04 5.97109390e+00] [ 3.17718443e-02 -2.08672027e-03 9.99492969e-01 4.21866235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.46, Y:5.97, Z:4.22 [[ 9.95506575e-01 -8.92517324e-02 -3.16352146e-02 1.71457954e+02] [ 8.92731453e-02 9.96006908e-01 -7.37751413e-04 5.97052493e+00] [ 3.15747379e-02 -2.08973873e-03 9.99499209e-01 4.21942339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.49, Y:5.97, Z:4.22 [[ 9.95452182e-01 -8.98175312e-02 -3.17452963e-02 1.71490701e+02] [ 8.98394875e-02 9.95955985e-01 -7.36924480e-04 5.97038435e+00] [ 3.16831065e-02 -2.11840807e-03 9.99495719e-01 4.22041021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.52, Y:5.97, Z:4.22 [[ 9.95526454e-01 -8.89659551e-02 -3.18141070e-02 1.71523970e+02] [ 8.89876825e-02 9.96032455e-01 -7.35102505e-04 5.96943015e+00] [ 3.17532822e-02 -2.09924966e-03 9.99493533e-01 4.22163085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:5.98, Z:4.22 [[ 9.95758441e-01 -8.71348180e-02 -2.95406615e-02 1.71554848e+02] [ 8.68245148e-02 9.96155716e-01 -1.16315420e-02 5.97528788e+00] [ 3.04406112e-02 9.01735253e-03 9.99495901e-01 4.22095827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.59, Y:5.96, Z:4.22 [[ 9.95820368e-01 -8.57453607e-02 -3.14567564e-02 1.71588062e+02] [ 8.61036408e-02 9.96233816e-01 1.02150195e-02 5.96392293e+00] [ 3.04623940e-02 -1.28808657e-02 9.99452913e-01 4.21931800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.62, Y:5.97, Z:4.22 [[ 9.95939146e-01 -8.46640425e-02 -3.06140034e-02 1.71620689e+02] [ 8.46824062e-02 9.96407749e-01 -6.98528614e-04 5.96901777e+00] [ 3.05631705e-02 -1.89677548e-03 9.99531037e-01 4.22366662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.65, Y:5.97, Z:4.22 [[ 9.96232689e-01 -8.18115566e-02 -2.87628091e-02 1.71652864e+02] [ 8.18266572e-02 9.96646362e-01 -6.53605735e-04 5.96805195e+00] [ 2.87198216e-02 -1.70242113e-03 9.99586051e-01 4.22468939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:5.97, Z:4.23 [[ 9.96414631e-01 -7.99059072e-02 -2.78016157e-02 1.71686357e+02] [ 7.99193318e-02 9.96801136e-01 -6.29731676e-04 5.96801361e+00] [ 2.77630014e-02 -1.59441270e-03 9.99613262e-01 4.22546118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.72, Y:5.97, Z:4.23 [[ 9.96733700e-01 -7.61739423e-02 -2.68227758e-02 1.71718008e+02] [ 7.61851655e-02 9.97093504e-01 -6.04748861e-04 5.96695900e+00] [ 2.67908816e-02 -1.44072404e-03 9.99640022e-01 4.22589415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.75, Y:5.97, Z:4.23 [[ 9.96838389e-01 -7.49167550e-02 -2.64708627e-02 1.71749795e+02] [ 7.49273124e-02 9.97188821e-01 -5.94206336e-04 5.96677250e+00] [ 2.64409644e-02 -1.39106291e-03 9.99649409e-01 4.22633817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.78, Y:5.98, Z:4.23 [[ 9.97199063e-01 -7.18594248e-02 -2.07425309e-02 1.71783959e+02] [ 7.13931114e-02 9.97196497e-01 -2.24091669e-02 5.97536403e+00] [ 2.22946890e-02 2.08655265e-02 9.99533680e-01 4.22535456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.81, Y:5.95, Z:4.22 [[ 9.97014880e-01 -7.20458690e-02 -2.77618641e-02 1.71813669e+02] [ 7.26580983e-02 9.97120530e-01 2.17128830e-02 5.95422381e+00] [ 2.61176011e-02 -2.36651917e-02 9.99378722e-01 4.22033276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.84, Y:5.96, Z:4.23 [[ 9.97032412e-01 -7.16701243e-02 -2.81027058e-02 1.71844895e+02] [ 7.16810618e-02 9.97427412e-01 -6.19323040e-04 5.96493693e+00] [ 2.80747961e-02 -1.39694665e-03 9.99604849e-01 4.22728903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.88, Y:5.96, Z:4.23 [[ 9.97140507e-01 -6.99489660e-02 -2.85998393e-02 1.71876217e+02] [ 6.99596328e-02 9.97549625e-01 -6.28714119e-04 5.96396248e+00] [ 2.85737368e-02 -1.37391794e-03 9.99590743e-01 4.22748712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.91, Y:5.96, Z:4.23 [[ 9.97242836e-01 -6.82525935e-02 -2.91257665e-02 1.71907348e+02] [ 6.82629805e-02 9.97667158e-01 -6.38703617e-04 5.96402444e+00] [ 2.91014138e-02 -1.35126902e-03 9.99575551e-01 4.22858021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.94, Y:5.96, Z:4.23 [[ 9.97374871e-01 -6.63952742e-02 -2.88969741e-02 1.71939129e+02] [ 6.64047659e-02 9.97792567e-01 -6.32116339e-04 5.96431618e+00] [ 2.88751555e-02 -1.28843985e-03 9.99582195e-01 4.22919070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.97, Y:5.96, Z:4.23 [[ 9.97793984e-01 -5.98999971e-02 -2.86209013e-02 1.71970782e+02] [ 5.99067019e-02 9.98203786e-01 -6.23919255e-04 5.96413468e+00] [ 2.86068648e-02 -1.09204092e-03 9.99590143e-01 4.22976261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.685099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.00, Y:5.96, Z:4.23 [[ 9.98014358e-01 -5.61408311e-02 -2.85578091e-02 1.72002363e+02] [ 5.61460526e-02 9.98422374e-01 -6.19628975e-04 5.96463454e+00] [ 2.85475420e-02 -9.85009636e-04 9.99591951e-01 4.23071612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.71509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.03, Y:5.97, Z:4.23 [[ 9.98539421e-01 -4.64488626e-02 -2.75957927e-02 1.72032998e+02] [ 4.64500683e-02 9.98920434e-01 -5.97690909e-04 5.96548951e+00] [ 2.75937633e-02 -6.85008520e-04 9.99618985e-01 4.23212885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.06, Y:5.97, Z:4.23 [[ 9.98787659e-01 -4.09925854e-02 -2.72547237e-02 1.72063382e+02] [ 4.09917700e-02 9.99159311e-01 -5.88865522e-04 5.96651782e+00] [ 2.72559501e-02 -5.29067751e-04 9.99628348e-01 4.23330460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.09, Y:5.97, Z:4.23 [[ 9.98778010e-01 -4.12270348e-02 -2.72547077e-02 1.72092615e+02] [ 4.12262866e-02 9.99149661e-01 -5.89603068e-04 5.96718176e+00] [ 2.72558396e-02 -5.34727812e-04 9.99628348e-01 4.23401005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.12, Y:5.97, Z:4.24 [[ 9.98987788e-01 -3.60972498e-02 -2.68400417e-02 1.72121057e+02] [ 3.60945048e-02 9.99348209e-01 -5.86899730e-04 5.96809549e+00] [ 2.68437331e-02 -3.82472352e-04 9.99639569e-01 4.23508538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.15, Y:5.97, Z:4.24 [[ 9.99317337e-01 -2.59033764e-02 -2.63414949e-02 1.72149282e+02] [ 2.58970163e-02 9.99664446e-01 -5.82618386e-04 5.96817139e+00] [ 2.63477477e-02 -9.99454676e-05 9.99652833e-01 4.23572310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.18, Y:5.97, Z:4.24 [[ 9.99422762e-01 -2.12182015e-02 -2.65316920e-02 1.72176889e+02] [ 2.12098952e-02 9.99774868e-01 -5.94477745e-04 5.96813229e+00] [ 2.65383327e-02 3.14001811e-05 9.99647796e-01 4.23643305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.20, Y:5.97, Z:4.24 [[ 9.99586171e-01 -1.23480452e-02 -2.59809864e-02 1.72204901e+02] [ 1.23368941e-02 9.99923724e-01 -5.89453088e-04 5.96685592e+00] [ 2.59862833e-02 2.68684476e-04 9.99662263e-01 4.23667006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.23, Y:5.97, Z:4.24 [[ 9.99633969e-01 -8.63350032e-03 -2.56396273e-02 1.72231524e+02] [ 8.62123682e-03 9.99962663e-01 -5.88806915e-04 5.96637317e+00] [ 2.56437534e-02 3.67546095e-04 9.99671077e-01 4.23717676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.26, Y:5.97, Z:4.24 [[ 9.99670603e-01 -5.80737880e-03 -2.49992134e-02 1.72259222e+02] [ 5.79475688e-03 9.99983044e-01 -5.77307091e-04 5.96579421e+00] [ 2.50021421e-02 4.32252563e-04 9.99687304e-01 4.23797285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.29, Y:5.96, Z:4.24 [[ 9.99670562e-01 -2.21389637e-03 -2.55707965e-02 1.72286561e+02] [ 2.19933010e-03 9.99997403e-01 -5.97754669e-04 5.96348104e+00] [ 2.55720535e-02 5.41319123e-04 9.99672835e-01 4.23846397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.31, Y:5.96, Z:4.24 [[ 9.99662777e-01 -1.92159502e-03 -2.58967265e-02 1.72314903e+02] [ 1.90646525e-03 9.99997997e-01 -6.08911947e-04 5.96214476e+00] [ 2.58978448e-02 5.59335398e-04 9.99664438e-01 4.23841986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.34, Y:5.96, Z:4.24 [[ 9.99633455e-01 -2.38408240e-03 -2.69679726e-02 1.72341507e+02] [ 2.36763981e-03 9.99996991e-01 -6.41622860e-04 5.96030646e+00] [ 2.69694212e-02 5.77537230e-04 9.99636092e-01 4.23888559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.37, Y:5.96, Z:4.24 [[ 9.99614605e-01 -6.12219531e-03 -2.70769271e-02 1.72369116e+02] [ 6.10690029e-03 9.99981143e-01 -6.47530772e-04 5.95523465e+00] [ 2.70803808e-02 4.81925123e-04 9.99633143e-01 4.23870513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.40, Y:5.95, Z:4.24 [[ 9.99585828e-01 -9.33586034e-03 -2.72215891e-02 1.72397233e+02] [ 9.32151207e-03 9.99956340e-01 -6.53943680e-04 5.95316787e+00] [ 2.72265057e-02 3.99926464e-04 9.99629210e-01 4.23984859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.43, Y:5.95, Z:4.24 [[ 9.99554520e-01 -1.31965914e-02 -2.67696025e-02 1.72425377e+02] [ 1.31840229e-02 9.99912878e-01 -6.45958323e-04 5.95106900e+00] [ 2.67757947e-02 2.92739511e-04 9.99641421e-01 4.24057740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.45, Y:5.95, Z:4.24 [[ 9.99491294e-01 -1.75223983e-02 -2.66480511e-02 1.72452846e+02] [ 1.75114022e-02 9.99846455e-01 -6.45967467e-04 5.94911224e+00] [ 2.66552783e-02 1.78994120e-04 9.99644669e-01 4.24159875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.48, Y:5.94, Z:4.24 [[ 9.99311917e-01 -2.69563000e-02 -2.54764503e-02 1.72479978e+02] [ 2.69492357e-02 9.99636611e-01 -6.20651062e-04 5.94390671e+00] [ 2.54839229e-02 -6.63468616e-05 9.99675230e-01 4.24248464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.51, Y:5.94, Z:4.24 [[ 9.99167534e-01 -3.18904743e-02 -2.54408520e-02 1.72507976e+02] [ 3.18849436e-02 9.99491352e-01 -6.23124962e-04 5.94160744e+00] [ 2.54477833e-02 -1.88573899e-04 9.99676135e-01 4.24388719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.54, Y:5.94, Z:4.24 [[ 9.99006822e-01 -3.70236237e-02 -2.47915595e-02 1.72535852e+02] [ 3.70197825e-02 9.99314344e-01 -6.14042375e-04 5.93899920e+00] [ 2.47972951e-02 -3.04345618e-04 9.99692453e-01 4.24462589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.56, Y:5.93, Z:4.25 [[ 9.98635514e-01 -4.61793370e-02 -2.43839766e-02 1.72562949e+02] [ 4.61781802e-02 9.98933032e-01 -6.10825695e-04 5.93260216e+00] [ 2.43861672e-02 -5.16015432e-04 9.99702480e-01 4.24554602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.59, Y:5.93, Z:4.25 [[ 9.98423534e-01 -5.07505939e-02 -2.39754916e-02 1.72592595e+02] [ 5.07507213e-02 9.98711169e-01 -6.03552925e-04 5.93013988e+00] [ 2.39752219e-02 -6.14172049e-04 9.99712364e-01 4.24604405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.62, Y:5.93, Z:4.25 [[ 9.98210217e-01 -5.47977816e-02 -2.39492345e-02 1.72622782e+02] [ 5.47990518e-02 9.98497221e-01 -6.03742707e-04 5.92781611e+00] [ 2.39463278e-02 -7.09733203e-04 9.99712994e-01 4.24692023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.65, Y:5.93, Z:4.25 [[ 9.97990919e-01 -5.85796560e-02 -2.41360704e-02 1.72654321e+02] [ 5.85820507e-02 9.98282412e-01 -6.08451803e-04 5.92579493e+00] [ 2.41302574e-02 -8.06711124e-04 9.99708497e-01 4.24764038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.68, Y:5.92, Z:4.25 [[ 9.97769239e-01 -6.21714729e-02 -2.43157282e-02 1.72684999e+02] [ 6.21749900e-02 9.98065076e-01 -6.12090250e-04 5.92391984e+00] [ 2.43067337e-02 -9.01105335e-04 9.99704142e-01 4.24846497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.435099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.71, Y:5.92, Z:4.25 [[ 9.97380065e-01 -6.78619130e-02 -2.50552714e-02 1.72714962e+02] [ 6.78674510e-02 9.97694147e-01 -6.30238930e-04 5.91936031e+00] [ 2.50402668e-02 -1.07184966e-03 9.99685869e-01 4.24928333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.75, Y:5.92, Z:4.25 [[ 9.97383679e-01 -6.78087781e-02 -2.50552835e-02 1.72746793e+02] [ 6.78143114e-02 9.97697761e-01 -6.29758054e-04 5.92013275e+00] [ 2.50403033e-02 -1.07099639e-03 9.99685869e-01 4.25005139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.78, Y:5.92, Z:4.25 [[ 9.97202125e-01 -7.04472102e-02 -2.50022541e-02 1.72778258e+02] [ 7.04535803e-02 9.97514862e-01 -6.27110871e-04 5.91839016e+00] [ 2.49842982e-02 -1.13614202e-03 9.99687198e-01 4.25093920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.81, Y:5.92, Z:4.25 [[ 9.97071942e-01 -7.22518001e-02 -2.50443530e-02 1.72809912e+02] [ 7.22587819e-02 9.97385720e-01 -6.27276085e-04 5.91659118e+00] [ 2.50242019e-02 -1.18423506e-03 9.99686144e-01 4.25131718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.84, Y:5.91, Z:4.25 [[ 9.96911363e-01 -7.34835306e-02 -2.77110846e-02 1.72841189e+02] [ 7.34925851e-02 9.97295523e-01 -6.92966622e-04 5.91377835e+00] [ 2.76870622e-02 -1.34573294e-03 9.99615734e-01 4.25072643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.87, Y:5.91, Z:4.25 [[ 9.96935992e-01 -7.27764199e-02 -2.86743819e-02 1.72872393e+02] [ 7.27858544e-02 9.97347335e-01 -7.15986842e-04 5.91376224e+00] [ 2.86504253e-02 -1.37329633e-03 9.99588549e-01 4.25145870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.90, Y:5.91, Z:4.25 [[ 9.97146925e-01 -6.96405346e-02 -2.91239833e-02 1.72902933e+02] [ 6.96489588e-02 9.97571298e-01 -7.26322795e-04 5.91427048e+00] [ 2.91038313e-02 -1.30420457e-03 9.99575543e-01 4.25218123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.93, Y:5.91, Z:4.25 [[ 9.97298695e-01 -6.73206089e-02 -2.93810928e-02 1.72932073e+02] [ 6.73281785e-02 9.97730615e-01 -7.32713296e-04 5.91498395e+00] [ 2.93637425e-02 -1.24744145e-03 9.99568014e-01 4.25302128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.96, Y:5.92, Z:4.25 [[ 9.97597034e-01 -6.25041386e-02 -2.98896367e-02 1.72960828e+02] [ 6.25098083e-02 9.98044071e-01 -7.45596496e-04 5.91585321e+00] [ 2.98777776e-02 -1.12459061e-03 9.99552927e-01 4.25360081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.99, Y:5.92, Z:4.25 [[ 9.97726517e-01 -6.03258188e-02 -3.00431913e-02 1.72989694e+02] [ 6.03304778e-02 9.98178174e-01 -7.52190289e-04 5.91692070e+00] [ 3.00338344e-02 -1.06203989e-03 9.99548318e-01 4.25447614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.02, Y:5.92, Z:4.26 [[ 9.97838267e-01 -5.84547628e-02 -3.00305437e-02 1.73018308e+02] [ 5.84583440e-02 9.98289560e-01 -7.59453932e-04 5.91840947e+00] [ 3.00235719e-02 -9.97723657e-04 9.99548693e-01 4.25549894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.05, Y:5.92, Z:4.26 [[ 9.98024672e-01 -5.53929736e-02 -2.96373611e-02 1.73046567e+02] [ 5.53948941e-02 9.98464237e-01 -7.56888488e-04 5.92064849e+00] [ 2.96337715e-02 -8.86365096e-04 9.99560430e-01 4.25696496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.07, Y:5.92, Z:4.26 [[ 9.98014673e-01 -5.55729189e-02 -2.96371785e-02 1.73074995e+02] [ 5.55747082e-02 9.98454239e-01 -7.63979801e-04 5.92145888e+00] [ 2.96338231e-02 -8.84614495e-04 9.99560430e-01 4.25765253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.10, Y:5.92, Z:4.26 [[ 9.98067900e-01 -5.46379249e-02 -2.95831796e-02 1.73103061e+02] [ 5.46391469e-02 9.98505871e-01 -7.67672445e-04 5.92300146e+00] [ 2.95809226e-02 -8.50210472e-04 9.99562027e-01 4.25902996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.13, Y:5.92, Z:4.26 [[ 9.98117648e-01 -5.34836268e-02 -3.00110232e-02 1.73130442e+02] [ 5.34842123e-02 9.98568388e-01 -7.83804052e-04 5.92457419e+00] [ 3.00099797e-02 -8.22787278e-04 9.99549260e-01 4.25971046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.16, Y:5.93, Z:4.26 [[ 9.98104439e-01 -5.34279785e-02 -3.05447366e-02 1.73157847e+02] [ 5.34283189e-02 9.98571362e-01 -8.05606727e-04 5.92571878e+00] [ 3.05441412e-02 -8.27874275e-04 9.99533076e-01 4.26022130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.19, Y:5.93, Z:4.26 [[ 9.98075298e-01 -5.35804390e-02 -3.12223514e-02 1.73185519e+02] [ 5.35807104e-02 9.98563178e-01 -8.28572024e-04 5.92679115e+00] [ 3.12218857e-02 -8.45938501e-04 9.99512120e-01 4.26084724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.21, Y:5.93, Z:4.26 [[ 9.98065797e-01 -5.37572599e-02 -3.12221345e-02 1.73213947e+02] [ 5.37573643e-02 9.98553677e-01 -8.36676978e-04 5.92763474e+00] [ 3.12219546e-02 -8.43360982e-04 9.99512120e-01 4.26153501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.24, Y:5.93, Z:4.26 [[ 9.98041277e-01 -5.41223181e-02 -3.13749096e-02 1.73242114e+02] [ 5.41224039e-02 9.98533949e-01 -8.47140241e-04 5.92906506e+00] [ 3.13747616e-02 -8.52604601e-04 9.99507327e-01 4.26252136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.27, Y:5.93, Z:4.26 [[ 9.97985529e-01 -5.49369000e-02 -3.17304409e-02 1.73269035e+02] [ 5.49371479e-02 9.98489440e-01 -8.64656680e-04 5.93184748e+00] [ 3.17300117e-02 -8.80265069e-04 9.99496089e-01 4.26402935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.30, Y:5.93, Z:4.26 [[ 9.97923240e-01 -5.58348322e-02 -3.21197392e-02 1.73297074e+02] [ 5.58353796e-02 9.98439600e-01 -8.80599929e-04 5.93342384e+00] [ 3.21187877e-02 -9.14646696e-04 9.99483640e-01 4.26490177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.32, Y:5.94, Z:4.27 [[ 9.97799039e-01 -5.77767346e-02 -3.25411579e-02 1.73324684e+02] [ 5.77780199e-02 9.98329048e-01 -9.01616873e-04 5.93531457e+00] [ 3.25388756e-02 -9.80531219e-04 9.99469990e-01 4.26562490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.35, Y:5.94, Z:4.27 [[ 9.97734164e-01 -5.91009644e-02 -3.21498583e-02 1.73352528e+02] [ 5.91026108e-02 9.98251507e-01 -8.99932289e-04 5.93695541e+00] [ 3.21468314e-02 -1.00224738e-03 9.99482655e-01 4.26644407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.38, Y:5.94, Z:4.27 [[ 9.97669395e-01 -6.02683668e-02 -3.19922356e-02 1.73380011e+02] [ 6.02703022e-02 9.98181683e-01 -9.04717238e-04 5.93855830e+00] [ 3.19885894e-02 -1.02557301e-03 9.99487708e-01 4.26733224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.41, Y:5.94, Z:4.27 [[ 9.97616298e-01 -6.14407936e-02 -3.14125998e-02 1.73408923e+02] [ 6.14429684e-02 9.98110193e-01 -8.96952937e-04 5.94108999e+00] [ 3.14083455e-02 -1.03526851e-03 9.99506100e-01 4.26853232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.185099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.44, Y:5.94, Z:4.27 [[ 9.97629100e-01 -6.13635104e-02 -3.11560312e-02 1.73437282e+02] [ 6.13654108e-02 9.98114965e-01 -8.96085101e-04 5.94308495e+00] [ 3.11522880e-02 -1.01794208e-03 9.99514131e-01 4.26979010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.21509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.47, Y:5.95, Z:4.27 [[ 9.97684375e-01 -6.08355785e-02 -3.04125065e-02 1.73466248e+02] [ 6.08370476e-02 9.98147325e-01 -8.77868038e-04 5.94526482e+00] [ 3.04095676e-02 -9.74371882e-04 9.99537047e-01 4.27108206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.50, Y:5.95, Z:4.27 [[ 9.97785981e-01 -5.94881363e-02 -2.97371365e-02 1.73495250e+02] [ 5.94887571e-02 9.98228601e-01 -8.64616897e-04 5.94753419e+00] [ 2.97358946e-02 -9.06322671e-04 9.99557380e-01 4.27246832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.52, Y:5.95, Z:4.27 [[ 9.98003860e-01 -5.58255135e-02 -2.95263834e-02 1.73523775e+02] [ 5.58244777e-02 9.98440228e-01 -8.60047927e-04 5.95091233e+00] [ 2.95283416e-02 -7.89963781e-04 9.99563631e-01 4.27429518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.55, Y:5.95, Z:4.28 [[ 9.98112076e-01 -5.37275744e-02 -2.97595681e-02 1.73553744e+02] [ 5.37255471e-02 9.98555362e-01 -8.68296609e-04 5.95295813e+00] [ 2.97632278e-02 -7.32191748e-04 9.99556709e-01 4.27518566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.58, Y:5.96, Z:4.27 [[ 9.98356478e-01 -5.09951312e-02 -2.61503287e-02 1.73582498e+02] [ 5.06885757e-02 9.98639315e-01 -1.22551029e-02 5.95961622e+00] [ 2.67396969e-02 1.09094385e-02 9.99582899e-01 4.27376030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.61, Y:5.95, Z:4.27 [[ 9.98247350e-01 -5.03674807e-02 -3.10700093e-02 1.73611308e+02] [ 5.07187883e-02 9.98656466e-01 1.06239337e-02 5.95135485e+00] [ 3.04931649e-02 -1.21811468e-02 9.99460748e-01 4.27446355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.64, Y:5.96, Z:4.28 [[ 9.98305221e-01 -4.88583721e-02 -3.16155768e-02 1.73638227e+02] [ 4.88532946e-02 9.98805529e-01 -9.33497220e-04 5.95916351e+00] [ 3.16234220e-02 -6.12609940e-04 9.99499667e-01 4.27850682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.67, Y:5.96, Z:4.28 [[ 9.98299795e-01 -4.87914470e-02 -3.18890968e-02 1.73665804e+02] [ 4.87860779e-02 9.98808802e-01 -9.46879628e-04 5.96040172e+00] [ 3.18973102e-02 -6.10474221e-04 9.99490965e-01 4.27972787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.69, Y:5.96, Z:4.28 [[ 9.98273752e-01 -4.89714839e-02 -3.24239007e-02 1.73692261e+02] [ 4.89657637e-02 9.98799986e-01 -9.70910275e-04 5.96155580e+00] [ 3.24325385e-02 -6.18426820e-04 9.99473736e-01 4.28074352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.72, Y:5.96, Z:4.28 [[ 9.98218668e-01 -4.98790271e-02 -3.27348909e-02 1.73718818e+02] [ 4.98735268e-02 9.98755056e-01 -9.85033005e-04 5.96201716e+00] [ 3.27432702e-02 -6.49326123e-04 9.99463584e-01 4.28133251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.75, Y:5.96, Z:4.28 [[ 9.98171863e-01 -5.07022629e-02 -3.28969868e-02 1.73747157e+02] [ 5.06969100e-02 9.98713587e-01 -9.97346292e-04 5.96269163e+00] [ 3.29052354e-02 -6.72252576e-04 9.99458250e-01 4.28216954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.77, Y:5.96, Z:4.28 [[ 9.98057325e-01 -5.25600723e-02 -3.34516678e-02 1.73774761e+02] [ 5.25552556e-02 9.98617493e-01 -1.02385863e-03 5.96455072e+00] [ 3.34592347e-02 -7.36191347e-04 9.99439812e-01 4.28378524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.80, Y:5.97, Z:4.28 [[ 9.97991035e-01 -5.36031568e-02 -3.37727009e-02 1.73802376e+02] [ 5.35985154e-02 9.98562021e-01 -1.04340882e-03 5.96591521e+00] [ 3.37800664e-02 -7.68853978e-04 9.99428995e-01 4.28494021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.83, Y:5.97, Z:4.29 [[ 9.97976697e-01 -5.38696206e-02 -3.37724071e-02 1.73830769e+02] [ 5.38648125e-02 9.98547682e-01 -1.05284471e-03 5.96686916e+00] [ 3.37800751e-02 -7.68429887e-04 9.99428995e-01 4.28562709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.86, Y:5.97, Z:4.29 [[ 9.97905622e-01 -5.52175621e-02 -3.36955552e-02 1.73858303e+02] [ 5.52132332e-02 9.98474024e-01 -1.05965541e-03 5.96826629e+00] [ 3.37026482e-02 -8.03004459e-04 9.99431582e-01 4.28639924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.88, Y:5.97, Z:4.29 [[ 9.97827122e-01 -5.67600546e-02 -3.34564014e-02 1.73884848e+02] [ 5.67563558e-02 9.98387495e-01 -1.06100924e-03 5.96952132e+00] [ 3.34626758e-02 -8.40159629e-04 9.99439615e-01 4.28741752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.91, Y:5.97, Z:4.29 [[ 9.97627870e-01 -6.07154604e-02 -3.24386524e-02 1.73912351e+02] [ 6.07138391e-02 9.98154676e-01 -1.03588692e-03 5.97038928e+00] [ 3.24416869e-02 -9.36045463e-04 9.99473192e-01 4.28844254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.94, Y:5.97, Z:4.29 [[ 9.97491311e-01 -6.32297931e-02 -3.18288755e-02 1.73941051e+02] [ 6.32292396e-02 9.97998503e-01 -1.02491089e-03 5.97113346e+00] [ 3.18299750e-02 -9.90175887e-04 9.99492807e-01 4.28934648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.97, Y:5.97, Z:4.29 [[ 9.97361072e-01 -6.54441787e-02 -3.14316983e-02 1.73970319e+02] [ 6.54445451e-02 9.97855688e-01 -1.01821971e-03 5.97174873e+00] [ 3.14309355e-02 -1.04150050e-03 9.99505383e-01 4.29010283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.00, Y:5.97, Z:4.29 [[ 9.97226758e-01 -6.76287526e-02 -3.10667762e-02 1.74000878e+02] [ 6.76301425e-02 9.97709952e-01 -1.00724175e-03 5.97277226e+00] [ 3.10637503e-02 -1.09660208e-03 9.99516804e-01 4.29078648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.03, Y:5.97, Z:4.29 [[ 9.96880123e-01 -7.23397746e-02 -3.15749544e-02 1.74030299e+02] [ 7.23435648e-02 9.97379246e-01 -1.02385387e-03 5.97474909e+00] [ 3.15662695e-02 -1.26358518e-03 9.99500862e-01 4.29173886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.06, Y:5.98, Z:4.29 [[ 9.96722206e-01 -7.44066230e-02 -3.17568812e-02 1.74061835e+02] [ 7.44114989e-02 9.97227090e-01 -1.02991331e-03 5.97608837e+00] [ 3.17454546e-02 -1.33653967e-03 9.99495092e-01 4.29261544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.09, Y:5.98, Z:4.29 [[ 9.96558158e-01 -7.64469170e-02 -3.20578745e-02 1.74092252e+02] [ 7.64529725e-02 9.97072647e-01 -1.03863885e-03 5.97769212e+00] [ 3.20434306e-02 -1.41585578e-03 9.99485475e-01 4.29364130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.12, Y:5.98, Z:4.29 [[ 9.96250562e-01 -7.98811356e-02 -3.32238172e-02 1.74123439e+02] [ 7.98895712e-02 9.96803140e-01 -1.07562987e-03 5.97978251e+00] [ 3.32035279e-02 -1.58263965e-03 9.99447358e-01 4.29439298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.935099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.15, Y:5.98, Z:4.29 [[ 9.96139119e-01 -8.10580389e-02 -3.37112759e-02 1.74154430e+02] [ 8.10674382e-02 9.96708022e-01 -1.09017739e-03 5.98120616e+00] [ 3.36886667e-02 -1.64691842e-03 9.99431019e-01 4.29480792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.18, Y:5.98, Z:4.30 [[ 9.95983900e-01 -8.26246365e-02 -3.44853761e-02 1.74184813e+02] [ 8.26354469e-02 9.96579220e-01 -1.11412638e-03 5.98273829e+00] [ 3.44594635e-02 -1.74006253e-03 9.99404582e-01 4.29524752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.22, Y:5.98, Z:4.30 [[ 9.95859044e-01 -8.39791624e-02 -3.48176073e-02 1.74215778e+02] [ 8.39910365e-02 9.96465876e-01 -1.12403933e-03 5.98407193e+00] [ 3.47889534e-02 -1.80498219e-03 9.99393051e-01 4.29579672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.25, Y:5.99, Z:4.30 [[ 9.95753316e-01 -8.53435000e-02 -3.45227615e-02 1.74246824e+02] [ 8.53560331e-02 9.96349892e-01 -1.11329614e-03 5.98549747e+00] [ 3.44917623e-02 -1.83815766e-03 9.99403292e-01 4.29618138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.28, Y:5.99, Z:4.30 [[ 9.95621190e-01 -8.68367567e-02 -3.46095896e-02 1.74277910e+02] [ 8.68503020e-02 9.96220750e-01 -1.11465882e-03 5.98726778e+00] [ 3.45755846e-02 -1.89607536e-03 9.99400287e-01 4.29704744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.31, Y:5.99, Z:4.30 [[ 9.95397904e-01 -8.92101267e-02 -3.49937915e-02 1.74309025e+02] [ 8.92255024e-02 9.96010815e-01 -1.12513913e-03 5.98962958e+00] [ 3.49545686e-02 -2.00237749e-03 9.99386896e-01 4.29757255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.34, Y:5.99, Z:4.30 [[ 9.95297579e-01 -9.02980537e-02 -3.50569591e-02 1.74340295e+02] [ 9.03142226e-02 9.95912684e-01 -1.12530974e-03 5.99126028e+00] [ 3.50152835e-02 -2.04612394e-03 9.99384682e-01 4.29800391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.37, Y:5.99, Z:4.30 [[ 9.95199180e-01 -9.12735756e-02 -3.53231855e-02 1.74372750e+02] [ 9.12906760e-02 9.95823645e-01 -1.13180274e-03 5.99326822e+00] [ 3.52789670e-02 -2.09830833e-03 9.99375301e-01 4.29838650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.40, Y:6.00, Z:4.30 [[ 9.95016310e-01 -9.28197217e-02 -3.64286016e-02 1.74404977e+02] [ 9.28390379e-02 9.95680449e-01 -1.16461751e-03 5.99705999e+00] [ 3.63793459e-02 -2.22318291e-03 9.99335580e-01 4.29929207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.44, Y:6.00, Z:4.30 [[ 9.94964590e-01 -9.34200672e-02 -3.63064111e-02 1.74437547e+02] [ 9.34397455e-02 9.95624263e-01 -1.15812747e-03 5.99946285e+00] [ 3.62557361e-02 -2.24016599e-03 9.99340034e-01 4.30041580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.47, Y:6.00, Z:4.30 [[ 9.94907920e-01 -9.40902410e-02 -3.61283578e-02 1.74469519e+02] [ 9.41102610e-02 9.95561116e-01 -1.14982796e-03 6.00208536e+00] [ 3.60761758e-02 -2.25607624e-03 9.99346496e-01 4.30173056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:6.00, Z:4.30 [[ 9.94919557e-01 -9.41185804e-02 -3.57318826e-02 1.74500291e+02] [ 9.41382660e-02 9.95558486e-01 -1.13482778e-03 6.00466279e+00] [ 3.56799873e-02 -2.23467512e-03 9.99360768e-01 4.30260806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.53, Y:6.01, Z:4.30 [[ 9.94895565e-01 -9.42689188e-02 -3.60025793e-02 1.74531478e+02] [ 9.42890729e-02 9.95544207e-01 -1.14146049e-03 6.00960897e+00] [ 3.59497635e-02 -2.25901584e-03 9.99351045e-01 4.30346068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.56, Y:6.01, Z:4.30 [[ 9.94955953e-01 -9.38781241e-02 -3.53489560e-02 1.74563839e+02] [ 9.38973795e-02 9.95581253e-01 -1.11866599e-03 6.01245657e+00] [ 3.52977762e-02 -2.20615095e-03 9.99374404e-01 4.30441937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.60, Y:6.02, Z:4.31 [[ 9.95013923e-01 -9.33589072e-02 -3.50914081e-02 1.74595452e+02] [ 9.33776480e-02 9.95630146e-01 -1.10803479e-03 6.01554118e+00] [ 3.50415087e-02 -2.17424311e-03 9.99383493e-01 4.30542634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.63, Y:6.02, Z:4.31 [[ 9.95022147e-01 -9.32711832e-02 -3.50914922e-02 1.74628124e+02] [ 9.32899634e-02 9.95638369e-01 -1.10536509e-03 6.01651152e+00] [ 3.50415348e-02 -2.17382128e-03 9.99383493e-01 4.30621416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.66, Y:6.02, Z:4.31 [[ 9.95125043e-01 -9.23657740e-02 -3.45646079e-02 1.74660602e+02] [ 9.23835474e-02 9.95722904e-01 -1.08593930e-03 6.01944067e+00] [ 3.45170753e-02 -2.11255569e-03 9.99401875e-01 4.30714404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.69, Y:6.02, Z:4.31 [[ 9.95364418e-01 -9.01226523e-02 -3.35795076e-02 1.74693132e+02] [ 9.01382315e-02 9.95928708e-01 -1.05267672e-03 6.02442709e+00] [ 3.35376656e-02 -1.97900048e-03 9.99435495e-01 4.30800492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.73, Y:6.03, Z:4.31 [[ 9.95466275e-01 -8.91424208e-02 -3.31741463e-02 1.74725360e+02] [ 8.91571601e-02 9.96017030e-01 -1.03764870e-03 6.02730501e+00] [ 3.31345132e-02 -1.92476839e-03 9.99449048e-01 4.30897506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.76, Y:6.03, Z:4.31 [[ 9.95668580e-01 -8.66942093e-02 -3.35885726e-02 1.74757562e+02] [ 8.67080129e-02 9.96233217e-01 -1.04818078e-03 6.03228217e+00] [ 3.35529229e-02 -1.86875771e-03 9.99435195e-01 4.30985608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.79, Y:6.03, Z:4.31 [[ 9.95735959e-01 -8.58970713e-02 -3.36391595e-02 1.74789052e+02] [ 8.59105407e-02 9.96302304e-01 -1.04745373e-03 6.03496534e+00] [ 3.36047454e-02 -1.84697103e-03 9.99433494e-01 4.31045537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.82, Y:6.04, Z:4.31 [[ 9.95814048e-01 -8.50160318e-02 -3.35657135e-02 1.74821094e+02] [ 8.50290101e-02 9.96377930e-01 -1.04317986e-03 6.03762283e+00] [ 3.35328231e-02 -1.81524623e-03 9.99435968e-01 4.31136254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.85, Y:6.04, Z:4.31 [[ 9.95890658e-01 -8.41986054e-02 -3.33525304e-02 1.74853568e+02] [ 8.42110400e-02 9.96447405e-01 -1.03421894e-03 6.04019549e+00] [ 3.33211222e-02 -1.77868229e-03 9.99443114e-01 4.31187064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.89, Y:6.04, Z:4.31 [[ 9.95924990e-01 -8.37545531e-02 -3.34453118e-02 1.74886113e+02] [ 8.37668871e-02 9.96484841e-01 -1.03471318e-03 6.04269848e+00] [ 3.34144081e-02 -1.77111294e-03 9.99440013e-01 4.31268448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.92, Y:6.05, Z:4.31 [[ 9.95967410e-01 -8.30362690e-02 -3.39690434e-02 1.74918303e+02] [ 8.30486612e-02 9.96544942e-01 -1.04841823e-03 6.04593383e+00] [ 3.39387351e-02 -1.77689319e-03 9.99422336e-01 4.31325160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.685099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.95, Y:6.05, Z:4.31 [[ 9.95973037e-01 -8.28447150e-02 -3.42704312e-02 1.74949410e+02] [ 8.28572946e-02 9.96560864e-01 -1.05540852e-03 6.04792007e+00] [ 3.42400055e-02 -1.78839679e-03 9.99412039e-01 4.31397568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.71509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.98, Y:6.05, Z:4.31 [[ 9.95986274e-01 -8.28212257e-02 -3.39409165e-02 1.74981146e+02] [ 8.28336182e-02 9.96562845e-01 -1.04326946e-03 6.04987635e+00] [ 3.39106611e-02 -1.77236685e-03 9.99423297e-01 4.31469942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.01, Y:6.05, Z:4.32 [[ 9.95980880e-01 -8.29072053e-02 -3.38892473e-02 1.75013524e+02] [ 8.29196920e-02 9.96555691e-01 -1.03924831e-03 6.05182107e+00] [ 3.38586834e-02 -1.77501451e-03 9.99425054e-01 4.31550888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.04, Y:6.05, Z:4.32 [[ 9.95930147e-01 -8.35332377e-02 -3.38428916e-02 1.75044736e+02] [ 8.35461278e-02 9.96503373e-01 -1.03554593e-03 6.05444086e+00] [ 3.38110581e-02 -1.79611113e-03 9.99426629e-01 4.31628420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.08, Y:6.06, Z:4.32 [[ 9.95884763e-01 -8.40639735e-02 -3.38642450e-02 1.75077003e+02] [ 8.40772536e-02 9.96458703e-01 -1.03419157e-03 6.05652013e+00] [ 3.38312598e-02 -1.81727708e-03 9.99425907e-01 4.31703484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.11, Y:6.06, Z:4.32 [[ 9.95852616e-01 -8.43641461e-02 -3.40625729e-02 1.75108739e+02] [ 8.43778408e-02 9.96433291e-01 -1.03780391e-03 6.05862940e+00] [ 3.40286350e-02 -1.84062661e-03 9.99419163e-01 4.31812675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.14, Y:6.06, Z:4.32 [[ 9.95791021e-01 -8.48618413e-02 -3.46223957e-02 1.75140800e+02] [ 8.48763771e-02 9.96390934e-01 -1.05235410e-03 6.06155447e+00] [ 3.45867459e-02 -1.89069875e-03 9.99399911e-01 4.31878313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.17, Y:6.06, Z:4.32 [[ 9.95775108e-01 -8.49823722e-02 -3.47840464e-02 1.75173288e+02] [ 8.49972053e-02 9.96380631e-01 -1.05474715e-03 6.06364615e+00] [ 3.47477850e-02 -1.90625577e-03 9.99394295e-01 4.31956958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.20, Y:6.07, Z:4.32 [[ 9.95746249e-01 -8.52879950e-02 -3.48621010e-02 1.75204269e+02] [ 8.53031633e-02 9.96354484e-01 -1.05476824e-03 6.06566667e+00] [ 3.48249697e-02 -1.92356597e-03 9.99391576e-01 4.32063147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.24, Y:6.07, Z:4.32 [[ 9.95727949e-01 -8.59969145e-02 -3.36211674e-02 1.75235808e+02] [ 8.60114829e-02 9.96293628e-01 -1.01544850e-03 6.06886197e+00] [ 3.35838803e-02 -1.88069601e-03 9.99434133e-01 4.32187249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.27, Y:6.07, Z:4.32 [[ 9.95723360e-01 -8.63699364e-02 -3.27906261e-02 1.75268686e+02] [ 8.63840667e-02 9.96261420e-01 -9.88161361e-04 6.07087263e+00] [ 3.27533831e-02 -1.84865228e-03 9.99461754e-01 4.32281700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.30, Y:6.07, Z:4.32 [[ 9.95716389e-01 -8.66950700e-02 -3.21377913e-02 1.75301846e+02] [ 8.67089208e-02 9.96233222e-01 -9.65076504e-04 6.07264138e+00] [ 3.21004027e-02 -1.82569070e-03 9.99482982e-01 4.32375591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.33, Y:6.07, Z:4.32 [[ 9.95678973e-01 -8.72369338e-02 -3.18292432e-02 1.75334920e+02] [ 8.72509035e-02 9.96185913e-01 -9.52411465e-04 6.07428078e+00] [ 3.17909292e-02 -1.82883416e-03 9.99492868e-01 4.32455370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.37, Y:6.08, Z:4.32 [[ 9.95535690e-01 -8.90429667e-02 -3.13055884e-02 1.75367759e+02] [ 8.90574747e-02 9.96026051e-01 -9.33376753e-04 6.07618083e+00] [ 3.12642922e-02 -1.85878677e-03 9.99509424e-01 4.32499850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.40, Y:6.08, Z:4.33 [[ 9.95434829e-01 -8.99613760e-02 -3.18818330e-02 1.75399901e+02] [ 8.99770027e-02 9.95943393e-01 -9.47111664e-04 6.07762124e+00] [ 3.18377044e-02 -1.92584384e-03 9.99491196e-01 4.32559775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.43, Y:6.08, Z:4.33 [[ 9.95375759e-01 -9.05281792e-02 -3.21208324e-02 1.75433273e+02] [ 9.05444343e-02 9.95891962e-01 -9.51127976e-04 6.07890159e+00] [ 3.20749827e-02 -1.96163287e-03 9.99483540e-01 4.32634672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.47, Y:6.08, Z:4.33 [[ 9.95221808e-01 -9.21589305e-02 -3.22534446e-02 1.75465858e+02] [ 9.21762842e-02 9.95742249e-01 -9.51605651e-04 6.08097442e+00] [ 3.22038165e-02 -2.02594398e-03 9.99479269e-01 4.32706393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.50, Y:6.08, Z:4.33 [[ 9.95191740e-01 -9.24904285e-02 -3.22322977e-02 1.75497471e+02] [ 9.25080414e-02 9.95711486e-01 -9.47601449e-04 6.08222587e+00] [ 3.21817132e-02 -2.03870160e-03 9.99479955e-01 4.32817193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.53, Y:6.08, Z:4.33 [[ 9.95180662e-01 -9.25547591e-02 -3.23892947e-02 1.75529359e+02] [ 9.25726967e-02 9.95705477e-01 -9.48550629e-04 6.08419789e+00] [ 3.23379910e-02 -2.05438511e-03 9.99474879e-01 4.32886412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.56, Y:6.09, Z:4.33 [[ 9.95216751e-01 -9.20624586e-02 -3.26821356e-02 1.75561907e+02] [ 9.20806294e-02 9.95751099e-01 -9.51880549e-04 6.08545204e+00] [ 3.26309049e-02 -2.06206415e-03 9.99465343e-01 4.32956447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.59, Y:6.09, Z:4.33 [[ 9.95256759e-01 -9.16613536e-02 -3.25911023e-02 1.75594218e+02] [ 9.16793203e-02 9.95788134e-01 -9.45811742e-04 6.08699539e+00] [ 3.25405273e-02 -2.04660458e-03 9.99468321e-01 4.33024352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.63, Y:6.09, Z:4.33 [[ 9.95438912e-01 -9.01093616e-02 -3.13317113e-02 1.75626653e+02] [ 8.99125143e-02 9.95920373e-01 -7.63870188e-03 6.09297973e+00] [ 3.18922081e-02 4.78674815e-03 9.99479852e-01 4.33054377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.66, Y:6.09, Z:4.33 [[ 9.95409420e-01 -8.94722847e-02 -3.39822984e-02 1.75659084e+02] [ 8.97198640e-02 9.95949984e-01 5.82883619e-03 6.08836531e+00] [ 3.33231502e-02 -8.85096563e-03 9.99405437e-01 4.33004094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.69, Y:6.09, Z:4.33 [[ 9.95509625e-01 -8.82465874e-02 -3.42509256e-02 1.75691341e+02] [ 8.82647452e-02 9.96096564e-01 -9.84474026e-04 6.09333056e+00] [ 3.42041058e-02 -2.04309585e-03 9.99412780e-01 4.33273168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.72, Y:6.10, Z:4.33 [[ 9.95796452e-01 -8.46690053e-02 -3.49368795e-02 1.75724594e+02] [ 8.46858221e-02 9.96407201e-01 -1.00081545e-03 6.09602670e+00] [ 3.48960963e-02 -1.96204989e-03 9.99389020e-01 4.33345363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.435099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.76, Y:6.10, Z:4.33 [[ 9.95991008e-01 -8.26636632e-02 -3.41852366e-02 1.75756794e+02] [ 8.26787022e-02 9.96575777e-01 -9.75871741e-04 6.09811948e+00] [ 3.41488478e-02 -1.85443152e-03 9.99415038e-01 4.33401552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.79, Y:6.10, Z:4.34 [[ 9.96165462e-01 -8.04594664e-02 -3.43605506e-02 1.75789524e+02] [ 8.04734635e-02 9.96756272e-01 -9.77657572e-04 6.10048058e+00] [ 3.43277561e-02 -1.79120380e-03 9.99409024e-01 4.33538816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.82, Y:6.10, Z:4.34 [[ 9.96521227e-01 -7.62161343e-02 -3.37126768e-02 1.75821349e+02] [ 7.62272926e-02 9.97090009e-01 -9.56046055e-04 6.10420583e+00] [ 3.36874393e-02 -1.61710589e-03 9.99431109e-01 4.33674297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.85, Y:6.11, Z:4.34 [[ 9.96640748e-01 -7.45944252e-02 -3.38066854e-02 1.75853878e+02] [ 7.46047968e-02 9.97212720e-01 -9.56295171e-04 6.10657255e+00] [ 3.37837910e-02 -1.56905816e-03 9.99427933e-01 4.33789676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.89, Y:6.11, Z:4.34 [[ 9.96848002e-01 -7.17652446e-02 -3.38202712e-02 1.75886017e+02] [ 7.17740824e-02 9.97420458e-01 -9.54237276e-04 6.10977647e+00] [ 3.38015115e-02 -1.47618941e-03 9.99427475e-01 4.33887125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.92, Y:6.11, Z:4.34 [[ 9.96854473e-01 -7.16752666e-02 -3.38203450e-02 1.75918698e+02] [ 7.16841414e-02 9.97426929e-01 -9.51615622e-04 6.11064113e+00] [ 3.38015302e-02 -1.47576011e-03 9.99427475e-01 4.33966118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.95, Y:6.11, Z:4.34 [[ 9.96945417e-01 -7.02274683e-02 -3.41751245e-02 1.75949493e+02] [ 7.02357756e-02 9.97529958e-01 -9.58854093e-04 6.11226637e+00] [ 3.41580484e-02 -1.44439118e-03 9.99415400e-01 4.34056848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.98, Y:6.11, Z:4.34 [[ 9.97074445e-01 -6.82529409e-02 -3.44105785e-02 1.75981205e+02] [ 6.82602598e-02 9.97667083e-01 -9.63420788e-04 6.11477243e+00] [ 3.43960578e-02 -1.38827278e-03 9.99407316e-01 4.34133767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.01, Y:6.12, Z:4.34 [[ 9.97144370e-01 -6.73541715e-02 -3.41543747e-02 1.76013154e+02] [ 6.73609384e-02 9.97728217e-01 -9.53816283e-04 6.11658984e+00] [ 3.41410268e-02 -1.34957819e-03 9.99416114e-01 4.34207786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.05, Y:6.12, Z:4.34 [[ 9.97194235e-01 -6.66275433e-02 -3.41237188e-02 1.76045200e+02] [ 6.66339578e-02 9.97777035e-01 -9.50484173e-04 6.11826721e+00] [ 3.41111914e-02 -1.32598110e-03 9.99417164e-01 4.34307488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.08, Y:6.12, Z:4.34 [[ 9.97198071e-01 -6.65461620e-02 -3.41703858e-02 1.76076927e+02] [ 6.65526311e-02 9.97782464e-01 -9.49304819e-04 6.12020709e+00] [ 3.41577843e-02 -1.32748415e-03 9.99415571e-01 4.34380668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.11, Y:6.12, Z:4.34 [[ 9.97183397e-01 -6.68083075e-02 -3.40870019e-02 1.76108846e+02] [ 6.68149823e-02 9.97764935e-01 -9.44512623e-04 6.12169349e+00] [ 3.40739166e-02 -1.33567013e-03 9.99418423e-01 4.34447725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.14, Y:6.12, Z:4.35 [[ 9.97143979e-01 -6.72687347e-02 -3.43336968e-02 1.76139613e+02] [ 6.72758588e-02 9.97733962e-01 -9.49027234e-04 6.12315898e+00] [ 3.43197352e-02 -1.36351215e-03 9.99409974e-01 4.34535251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.17, Y:6.12, Z:4.35 [[ 9.97070014e-01 -6.82535621e-02 -3.45375055e-02 1.76171627e+02] [ 6.82614321e-02 9.97667013e-01 -9.52601387e-04 6.12461502e+00] [ 3.45219484e-02 -1.40776931e-03 9.99402948e-01 4.34631790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.20, Y:6.13, Z:4.35 [[ 9.96876560e-01 -7.08908444e-02 -3.48082122e-02 1.76204106e+02] [ 7.09005300e-02 9.97482931e-01 -9.57555593e-04 6.12619330e+00] [ 3.47884794e-02 -1.51335597e-03 9.99393552e-01 4.34654828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.24, Y:6.13, Z:4.35 [[ 9.96767319e-01 -7.23118985e-02 -3.50128634e-02 1.76235585e+02] [ 7.23226554e-02 9.97380825e-01 -9.60837417e-04 6.12700354e+00] [ 3.49906386e-02 -1.57449192e-03 9.99386400e-01 4.34735043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.27, Y:6.13, Z:4.35 [[ 9.96508383e-01 -7.59839997e-02 -3.46045527e-02 1.76267992e+02] [ 7.59967843e-02 9.97107612e-01 -9.47618047e-04 6.12751707e+00] [ 3.45764668e-02 -1.68552540e-03 9.99400634e-01 4.34760698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.945099893 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:176.30, Y:6.13, Z:4.35 [[ 9.96307955e-01 -7.87325345e-02 -3.42293259e-02 1.76297830e+02] [ 7.85423129e-02 9.96887117e-01 -6.86891000e-03 6.13235426e+00] [ 3.46635807e-02 4.15509925e-03 9.99390400e-01 4.34893060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.33, Y:6.13, Z:4.35 [[ 9.96243829e-01 -7.94336828e-02 -3.44749643e-02 1.76330993e+02] [ 7.96438959e-02 9.96811988e-01 4.76556157e-03 6.12570409e+00] [ 3.39865116e-02 -7.49338177e-03 9.99394200e-01 4.34707673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.36, Y:6.13, Z:4.35 [[ 9.96015614e-01 -8.24807188e-02 -3.39091083e-02 1.76364263e+02] [ 8.24970397e-02 9.96590885e-01 -9.19897289e-04 6.12913444e+00] [ 3.38693821e-02 -1.88116899e-03 9.99424497e-01 4.35022763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.40, Y:6.13, Z:4.35 [[ 9.95940902e-01 -8.34825580e-02 -3.36508771e-02 1.76397101e+02] [ 8.34993238e-02 9.96507419e-01 -9.09232416e-04 6.12973019e+00] [ 3.36092537e-02 -1.90428373e-03 9.99433235e-01 4.35071716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.43, Y:6.13, Z:4.35 [[ 9.95910082e-01 -8.38653962e-02 -3.36110809e-02 1.76429403e+02] [ 8.38824827e-02 9.96475244e-01 -9.03897326e-04 6.13030548e+00] [ 3.35684157e-02 -1.91918045e-03 9.99434579e-01 4.35149918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.46, Y:6.13, Z:4.35 [[ 9.95880820e-01 -8.42303723e-02 -3.35654187e-02 1.76462698e+02] [ 8.42477926e-02 9.96444431e-01 -8.97491014e-04 6.13098074e+00] [ 3.35216706e-02 -1.93401835e-03 9.99436120e-01 4.35221541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.50, Y:6.13, Z:4.35 [[ 9.95968784e-01 -8.33946657e-02 -3.30380112e-02 1.76495751e+02] [ 8.34112000e-02 9.96514826e-01 -8.79872368e-04 6.13159622e+00] [ 3.29962446e-02 -1.87941475e-03 9.99453709e-01 4.35245859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.53, Y:6.13, Z:4.35 [[ 9.96054303e-01 -8.26063602e-02 -3.24347811e-02 1.76528208e+02] [ 8.26219883e-02 9.96580587e-01 -8.60434306e-04 6.13236305e+00] [ 3.23949505e-02 -1.82278681e-03 9.99473484e-01 4.35342978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.185099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.56, Y:6.13, Z:4.35 [[ 9.96156751e-01 -8.15716771e-02 -3.19028142e-02 1.76560825e+02] [ 8.15863629e-02 9.96665919e-01 -8.43322327e-04 6.13328405e+00] [ 3.18652388e-02 -1.76275335e-03 9.99490620e-01 4.35442499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.21509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.59, Y:6.15, Z:4.36 [[ 9.96508336e-01 -7.91012907e-02 -2.67230808e-02 1.76592312e+02] [ 7.84195392e-02 9.96590041e-01 -2.56644857e-02 6.14744877e+00] [ 2.86620501e-02 2.34792623e-02 9.99313370e-01 4.35671414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24509989299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:176.62, Y:6.14, Z:4.35 [[ 9.96610560e-01 -7.74279405e-02 -2.77903899e-02 1.76624645e+02] [ 7.74570563e-02 9.96995689e-01 -2.88817352e-05 6.13643671e+00] [ 2.77091352e-02 -2.12377795e-03 9.99613772e-01 4.34899046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.27509989299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:176.66, Y:6.14, Z:4.35 [[ 9.96613893e-01 -7.72233557e-02 -2.82365226e-02 1.76657417e+02] [ 7.72326139e-02 9.97012808e-01 -7.64209692e-04 6.13745534e+00] [ 2.82111895e-02 -1.41915845e-03 9.99600978e-01 4.35039053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30509989299998 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:176.69, Y:6.14, Z:4.35 [[ 9.96723029e-01 -7.58960976e-02 -2.79818982e-02 1.76690141e+02] [ 7.58547634e-02 9.97115649e-01 -2.53725114e-03 6.13962695e+00] [ 2.80937561e-02 4.06376366e-04 9.99605210e-01 4.35129116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.72, Y:6.13, Z:4.35 [[ 9.96747980e-01 -7.36973838e-02 -3.25907919e-02 1.76722978e+02] [ 7.44898651e-02 9.96937520e-01 2.38084293e-02 6.12737037e+00] [ 3.07363643e-02 -2.61586875e-02 9.99185168e-01 4.34946970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.75, Y:6.14, Z:4.36 [[ 9.96784813e-01 -7.32627338e-02 -3.24439270e-02 1.76754447e+02] [ 7.32742347e-02 9.97311480e-01 -8.35940431e-04 6.14027791e+00] [ 3.24179442e-02 -1.54405120e-03 9.99473208e-01 4.35811796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.79, Y:6.14, Z:4.36 [[ 9.96868983e-01 -7.18983453e-02 -3.29068030e-02 1.76787088e+02] [ 7.19095128e-02 9.97410802e-01 -8.45519922e-04 6.14134999e+00] [ 3.28823922e-02 -1.52343959e-03 9.99458067e-01 4.35862417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.82, Y:6.14, Z:4.36 [[ 9.96964903e-01 -7.04657387e-02 -3.30992870e-02 1.76817980e+02] [ 7.04763221e-02 9.97513092e-01 -8.48274151e-04 6.14234017e+00] [ 3.30767464e-02 -1.48701646e-03 9.99451709e-01 4.35899680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.85, Y:6.14, Z:4.36 [[ 9.97043890e-01 -6.91356352e-02 -3.35223060e-02 1.76850403e+02] [ 6.91458062e-02 9.97606196e-01 -8.57174962e-04 6.14358511e+00] [ 3.35013215e-02 -1.46328581e-03 9.99437602e-01 4.35971568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.88, Y:6.14, Z:4.36 [[ 9.97276182e-01 -6.57998443e-02 -3.33256190e-02 1.76882366e+02] [ 6.58081171e-02 9.97831935e-01 -8.49742407e-04 6.14473125e+00] [ 3.33092797e-02 -1.34566837e-03 9.99444186e-01 4.36021243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.91, Y:6.15, Z:4.36 [[ 9.97386348e-01 -6.41306961e-02 -3.32825315e-02 1.76913670e+02] [ 6.41381108e-02 9.97940673e-01 -8.45908186e-04 6.14567216e+00] [ 3.32682406e-02 -1.29098142e-03 9.99445625e-01 4.36121937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.94, Y:6.15, Z:4.36 [[ 9.97628357e-01 -6.12319994e-02 -3.14372944e-02 1.76944948e+02] [ 6.12372833e-02 9.98122919e-01 -7.95606483e-04 6.14616784e+00] [ 3.14270006e-02 -1.13141491e-03 9.99505409e-01 4.36204744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.98, Y:6.15, Z:4.36 [[ 9.97744261e-01 -5.96533493e-02 -3.07874420e-02 1.76977215e+02] [ 5.96577667e-02 9.98218588e-01 -7.75890184e-04 6.14691811e+00] [ 3.07788813e-02 -1.06257005e-03 9.99525653e-01 4.36297749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.01, Y:6.16, Z:4.36 [[ 9.97950283e-01 -5.78531776e-02 -2.73540300e-02 1.77007894e+02] [ 5.73330688e-02 9.98165992e-01 -1.94312199e-02 6.15753194e+00] [ 2.84280203e-02 1.78231009e-02 9.99436934e-01 4.36469977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.04, Y:6.14, Z:4.36 [[ 9.97959549e-01 -5.61676659e-02 -3.03633427e-02 1.77040348e+02] [ 5.67231634e-02 9.98232085e-01 1.77535227e-02 6.13914405e+00] [ 2.93124889e-02 -1.94396023e-02 9.99381249e-01 4.35856867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.07, Y:6.15, Z:4.37 [[ 9.98071159e-01 -5.47807599e-02 -2.92066899e-02 1.77072400e+02] [ 5.47827783e-02 9.98498028e-01 -7.31669639e-04 6.14833478e+00] [ 2.92029037e-02 -8.69765256e-04 9.99573126e-01 4.36554908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.10, Y:6.15, Z:4.37 [[ 9.98122221e-01 -5.41559280e-02 -2.86210849e-02 1.77103620e+02] [ 5.41576658e-02 9.98532141e-01 -7.15033183e-04 6.14856712e+00] [ 2.86177964e-02 -8.36360640e-04 9.99590077e-01 4.36634603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.14, Y:6.15, Z:4.37 [[ 9.98153150e-01 -5.36915870e-02 -2.84165739e-02 1.77136096e+02] [ 5.36931569e-02 9.98557231e-01 -7.08343506e-04 6.14840641e+00] [ 2.84136074e-02 -8.18740259e-04 9.99595917e-01 4.36721866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.17, Y:6.15, Z:4.37 [[ 9.98133261e-01 -5.43445411e-02 -2.78686782e-02 1.77168173e+02] [ 5.43463597e-02 9.98521904e-01 -6.92729237e-04 6.14717349e+00] [ 2.78651317e-02 -8.23125115e-04 9.99611353e-01 4.36794007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.20, Y:6.15, Z:4.37 [[ 9.98111639e-01 -5.49561649e-02 -2.74404132e-02 1.77199259e+02] [ 5.49582147e-02 9.98488424e-01 -6.80044849e-04 6.14696215e+00] [ 2.74363076e-02 -8.29315441e-04 9.99623210e-01 4.36843821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.23, Y:6.15, Z:4.37 [[ 9.97980230e-01 -5.72547122e-02 -2.75201382e-02 1.77231049e+02] [ 5.72577325e-02 9.98359199e-01 -6.78905478e-04 6.14614024e+00] [ 2.75138537e-02 -8.98206466e-04 9.99621019e-01 4.36890838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.26, Y:6.15, Z:4.37 [[ 9.97895390e-01 -5.85139862e-02 -2.79446440e-02 1.77263563e+02] [ 5.85176498e-02 9.98286137e-01 -6.87367204e-04 6.14617867e+00] [ 2.79369713e-02 -9.49334324e-04 9.99609236e-01 4.36947295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.30, Y:6.15, Z:4.37 [[ 9.97787146e-01 -5.99560412e-02 -2.87416849e-02 1.77295153e+02] [ 5.99605740e-02 9.98200497e-01 -7.04904018e-04 6.14613406e+00] [ 2.87322275e-02 -1.02002376e-03 9.99586624e-01 4.37012319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.33, Y:6.15, Z:4.37 [[ 9.97692398e-01 -6.13008535e-02 -2.91904867e-02 1.77327691e+02] [ 6.13061526e-02 9.98118753e-01 -7.14241015e-04 6.14628860e+00] [ 2.91793558e-02 -1.07696360e-03 9.99573612e-01 4.37054424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.935099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.36, Y:6.15, Z:4.37 [[ 9.97543279e-01 -6.37681206e-02 -2.90005837e-02 1.77359346e+02] [ 6.37744489e-02 9.97964087e-01 -7.07618767e-04 6.14548121e+00] [ 2.89866645e-02 -1.14361590e-03 9.99579144e-01 4.37046529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.39, Y:6.15, Z:4.37 [[ 9.97499536e-01 -6.46607493e-02 -2.85247742e-02 1.77391377e+02] [ 6.46672800e-02 9.97906639e-01 -6.94456097e-04 6.14558671e+00] [ 2.85099656e-02 -1.15189993e-03 9.99592845e-01 4.37117186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.42, Y:6.15, Z:4.37 [[ 9.97463078e-01 -6.54657039e-02 -2.79579825e-02 1.77424045e+02] [ 6.54723481e-02 9.97854153e-01 -6.78682790e-04 6.14597713e+00] [ 2.79424194e-02 -1.15351374e-03 9.99608869e-01 4.37199712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.46, Y:6.15, Z:4.37 [[ 9.97393529e-01 -6.68152558e-02 -2.72372735e-02 1.77455479e+02] [ 6.68221156e-02 9.97764687e-01 -6.59284763e-04 6.14681637e+00] [ 2.72204399e-02 -1.16248588e-03 9.99628779e-01 4.37361645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.49, Y:6.15, Z:4.37 [[ 9.97384941e-01 -6.70907577e-02 -2.68720890e-02 1.77487992e+02] [ 6.70975739e-02 9.97746207e-01 -6.48971819e-04 6.14787367e+00] [ 2.68550649e-02 -1.15577726e-03 9.99638670e-01 4.37474955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.52, Y:6.15, Z:4.38 [[ 9.97369095e-01 -6.75901469e-02 -2.62003927e-02 1.77520651e+02] [ 6.75968460e-02 9.97712518e-01 -6.30925878e-04 6.14889976e+00] [ 2.61831042e-02 -1.14179794e-03 9.99656512e-01 4.37536221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.55, Y:6.15, Z:4.38 [[ 9.97310071e-01 -6.85082671e-02 -2.60622137e-02 1.77552430e+02] [ 6.85152576e-02 9.97649872e-01 -6.25714079e-04 6.14971548e+00] [ 2.60438308e-02 -1.16162833e-03 9.99660127e-01 4.37654097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.58, Y:6.16, Z:4.38 [[ 9.97288940e-01 -6.95008067e-02 -2.41745280e-02 1.77582223e+02] [ 6.92141738e-02 9.97523519e-01 -1.24990726e-02 6.15689900e+00] [ 2.49833559e-02 1.07919668e-02 9.99629614e-01 4.37793011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.62, Y:6.14, Z:4.37 [[ 9.97198632e-01 -6.97290488e-02 -2.70693289e-02 1.77615564e+02] [ 7.00518578e-02 9.97480869e-01 1.11648352e-02 6.14460998e+00] [ 2.62226243e-02 -1.30298151e-02 9.99571207e-01 4.37405340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.65, Y:6.15, Z:4.38 [[ 9.97097096e-01 -7.12008944e-02 -2.69780178e-02 1.77647071e+02] [ 7.12097027e-02 9.97461164e-01 -6.35303057e-04 6.15061127e+00] [ 2.69547592e-02 -1.28763780e-03 9.99635825e-01 4.37849359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.68, Y:6.15, Z:4.38 [[ 9.96972223e-01 -7.27116138e-02 -2.75573528e-02 1.77680097e+02] [ 7.27214502e-02 9.97352081e-01 -6.46411931e-04 6.15089783e+00] [ 2.75313849e-02 -1.35955592e-03 9.99620015e-01 4.37954233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.71, Y:6.16, Z:4.38 [[ 9.96803140e-01 -7.58056285e-02 -2.52390105e-02 1.77711377e+02] [ 7.54209515e-02 9.97025632e-01 -1.58609032e-02 6.15750155e+00] [ 2.63662861e-02 1.39066479e-02 9.99555613e-01 4.38002172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.74, Y:6.15, Z:4.38 [[ 9.96579267e-01 -7.78615650e-02 -2.77009238e-02 1.77744086e+02] [ 7.79380352e-02 9.96956773e-01 1.69002991e-03 6.14957129e+00] [ 2.74850353e-02 -3.84320435e-03 9.99614827e-01 4.37660190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.78, Y:6.14, Z:4.38 [[ 9.96357144e-01 -7.98362103e-02 -2.99770135e-02 1.77777284e+02] [ 8.01937872e-02 9.96719475e-01 1.09199409e-02 6.14478402e+00] [ 2.90068665e-02 -1.32841314e-02 9.99490937e-01 4.37744384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.81, Y:6.15, Z:4.38 [[ 9.96227847e-01 -8.14468240e-02 -2.99414655e-02 1.77809984e+02] [ 8.14628224e-02 9.96676144e-01 -6.87152624e-04 6.15031220e+00] [ 2.98979108e-02 -1.75455571e-03 9.99551418e-01 4.38173606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.84, Y:6.15, Z:4.38 [[ 9.96095996e-01 -8.26348292e-02 -3.10524166e-02 1.77841955e+02] [ 8.26527189e-02 9.96578158e-01 -7.09237832e-04 6.15030109e+00] [ 3.10047679e-02 -1.86009770e-03 9.99517506e-01 4.38258445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.87, Y:6.15, Z:4.38 [[ 9.95934470e-01 -8.40023252e-02 -3.25290790e-02 1.77874629e+02] [ 8.40227889e-02 9.96463559e-01 -7.39775594e-04 6.15066427e+00] [ 3.24761847e-02 -1.99641592e-03 9.99470516e-01 4.38316442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.91, Y:6.15, Z:4.38 [[ 9.95922427e-01 -8.39213622e-02 -3.31017361e-02 1.77907843e+02] [ 8.39426306e-02 9.96470307e-01 -7.49120735e-04 6.15145826e+00] [ 3.30477643e-02 -2.03258066e-03 9.99451707e-01 4.38384843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.94, Y:6.15, Z:4.38 [[ 9.95909120e-01 -8.37878119e-02 -3.38323489e-02 1.77939787e+02] [ 8.38100760e-02 9.96481455e-01 -7.62044375e-04 6.15260280e+00] [ 3.37771583e-02 -2.07656479e-03 9.99427232e-01 4.38483797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.97, Y:6.15, Z:4.39 [[ 9.95935379e-01 -8.34309647e-02 -3.39410607e-02 1.77972788e+02] [ 8.34532749e-02 9.96511401e-01 -7.61274230e-04 6.15361504e+00] [ 3.38861678e-02 -2.07431274e-03 9.99423546e-01 4.38550291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.01, Y:6.16, Z:4.39 [[ 9.96074923e-01 -8.16495648e-02 -3.41774126e-02 1.78005324e+02] [ 8.16712690e-02 9.96659030e-01 -7.62874187e-04 6.15504261e+00] [ 3.41255152e-02 -2.03143281e-03 9.99415490e-01 4.38643103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.04, Y:6.16, Z:4.39 [[ 9.96202011e-01 -8.02388696e-02 -3.38123674e-02 1.78037448e+02] [ 8.02594412e-02 9.96773725e-01 -7.50619425e-04 6.15632493e+00] [ 3.37635083e-02 -1.96599313e-03 9.99427917e-01 4.38743761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.07, Y:6.16, Z:4.39 [[ 9.96328081e-01 -7.90073766e-02 -3.29877087e-02 1.78070638e+02] [ 7.90264503e-02 9.96872254e-01 -7.27241086e-04 6.15781878e+00] [ 3.29419890e-02 -1.88233081e-03 9.99455493e-01 4.38844349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.10, Y:6.16, Z:4.39 [[ 9.96508922e-01 -7.71433847e-02 -3.19196771e-02 1.78102884e+02] [ 7.71603933e-02 9.97018447e-01 -7.00422396e-04 6.15982844e+00] [ 3.18785398e-02 -1.76495767e-03 9.99490192e-01 4.39005262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.14, Y:6.16, Z:4.39 [[ 9.96583088e-01 -7.62765849e-02 -3.16864429e-02 1.78136285e+02] [ 7.62930023e-02 9.97085201e-01 -6.92350616e-04 6.16105449e+00] [ 3.16468935e-02 -1.72746895e-03 9.99497619e-01 4.39115831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.685099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.17, Y:6.16, Z:4.39 [[ 9.96649747e-01 -7.53852967e-02 -3.17228434e-02 1.78168669e+02] [ 7.54014250e-02 9.97153022e-01 -6.89258383e-04 6.16248818e+00] [ 3.16844891e-02 -1.70499841e-03 9.99496466e-01 4.39223239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.71509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.20, Y:6.16, Z:4.39 [[ 9.96678073e-01 -7.47285685e-02 -3.23799430e-02 1.78200547e+02] [ 7.47451993e-02 9.97202421e-01 -6.98216981e-04 6.16434678e+00] [ 3.23415343e-02 -1.72434774e-03 9.99475388e-01 4.39383150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.23, Y:6.17, Z:4.39 [[ 9.96705338e-01 -7.44736308e-02 -3.21270487e-02 1.78232578e+02] [ 7.44899572e-02 9.97221525e-01 -6.90061736e-04 6.16520399e+00] [ 3.20891759e-02 -1.70535427e-03 9.99483555e-01 4.39468920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.26, Y:6.17, Z:4.40 [[ 9.96722929e-01 -7.41855030e-02 -3.22476983e-02 1.78264543e+02] [ 7.42018773e-02 9.97243002e-01 -6.90322233e-04 6.16584479e+00] [ 3.22100034e-02 -1.70477975e-03 9.99479669e-01 4.39579930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.30, Y:6.17, Z:4.40 [[ 9.96752313e-01 -7.37232527e-02 -3.23992119e-02 1.78295280e+02] [ 7.37396233e-02 9.97277289e-01 -6.90926387e-04 6.16658399e+00] [ 3.23619356e-02 -1.70042321e-03 9.99474769e-01 4.39671637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.33, Y:6.17, Z:4.40 [[ 9.96798690e-01 -7.31853972e-02 -3.21911336e-02 1.78327274e+02] [ 7.32013885e-02 9.97316946e-01 -6.83062946e-04 6.16757350e+00] [ 3.21547533e-02 -1.67555943e-03 9.99481498e-01 4.39770705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.36, Y:6.17, Z:4.40 [[ 9.96899167e-01 -7.19053764e-02 -3.19635312e-02 1.78358822e+02] [ 7.19205555e-02 9.97410135e-01 -6.76059440e-04 6.16945214e+00] [ 3.19293623e-02 -1.62487183e-03 9.99488807e-01 4.39896096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.39, Y:6.17, Z:4.40 [[ 9.96914695e-01 -7.16677087e-02 -3.20129862e-02 1.78389619e+02] [ 7.16828674e-02 9.97427246e-01 -6.75394441e-04 6.17074878e+00] [ 3.19790286e-02 -1.62147200e-03 9.99487225e-01 4.40019714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.42, Y:6.17, Z:4.40 [[ 9.96922108e-01 -7.11130887e-02 -3.30036238e-02 1.78421968e+02] [ 7.11289610e-02 9.97466886e-01 -6.94389176e-04 6.17249048e+00] [ 3.29694021e-02 -1.65526155e-03 9.99454991e-01 4.40148259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.45, Y:6.17, Z:4.40 [[ 9.97009255e-01 -6.96067766e-02 -3.35773910e-02 1.78453808e+02] [ 6.96224352e-02 9.97573166e-01 -7.04052760e-04 6.17316663e+00] [ 3.35449111e-02 -1.63579261e-03 9.99435872e-01 4.40178034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.48, Y:6.17, Z:4.40 [[ 9.97120781e-01 -6.76134265e-02 -3.43303362e-02 1.78484723e+02] [ 6.76286966e-02 9.97710301e-01 -7.17536919e-04 6.17388193e+00] [ 3.43002452e-02 -1.60624492e-03 9.99410283e-01 4.40213829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.52, Y:6.17, Z:4.40 [[ 9.97291861e-01 -6.49567814e-02 -3.44899921e-02 1.78517362e+02] [ 6.49706772e-02 9.97886915e-01 -7.18891378e-04 6.17481665e+00] [ 3.44638087e-02 -1.52389363e-03 9.99404785e-01 4.40281015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.55, Y:6.18, Z:4.40 [[ 9.97672493e-01 -5.91296045e-02 -3.39600683e-02 1.78548070e+02] [ 5.91397825e-02 9.98249462e-01 -7.05582102e-04 6.17693546e+00] [ 3.39423407e-02 -1.30445120e-03 9.99422941e-01 4.40400661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.58, Y:6.18, Z:4.41 [[ 9.97849307e-01 -5.61380404e-02 -3.38420016e-02 1.78578301e+02] [ 5.61464812e-02 9.98422296e-01 -7.01609108e-04 6.17843377e+00] [ 3.38279959e-02 -1.20000914e-03 9.99426949e-01 4.40519350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.61, Y:6.18, Z:4.41 [[ 9.98023400e-01 -5.32168379e-02 -3.34254493e-02 1.78609780e+02] [ 5.32234591e-02 9.98582387e-01 -6.92268022e-04 6.17971668e+00] [ 3.34149053e-02 -1.08811835e-03 9.99440974e-01 4.40637026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.64, Y:6.18, Z:4.41 [[ 9.98034638e-01 -5.20720387e-02 -3.48620775e-02 1.78639183e+02] [ 5.23012611e-02 9.98615113e-01 5.69516641e-03 6.18100537e+00] [ 3.45172385e-02 -7.50730396e-03 9.99375906e-01 4.40713363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.67, Y:6.18, Z:4.41 [[ 9.98473749e-01 -4.44677061e-02 -3.27535654e-02 1.78670137e+02] [ 4.42480247e-02 9.98993154e-01 -7.40202942e-03 6.18473272e+00] [ 3.30497389e-02 5.94145149e-03 9.99436048e-01 4.41103028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.70, Y:6.18, Z:4.41 [[ 9.98467045e-01 -4.45149935e-02 -3.28933829e-02 1.78699491e+02] [ 4.45166223e-02 9.99008410e-01 -6.83193246e-04 6.18215079e+00] [ 3.28911785e-02 -7.82156363e-04 9.99458633e-01 4.40944548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.73, Y:6.18, Z:4.41 [[ 9.98589539e-01 -4.21142195e-02 -3.23314971e-02 1.78728872e+02] [ 4.21143463e-02 9.99112568e-01 -6.77368644e-04 6.18255912e+00] [ 3.23313319e-02 -6.85206625e-04 9.99476971e-01 4.41039350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.76, Y:6.18, Z:4.41 [[ 9.98804048e-01 -3.77205205e-02 -3.11068594e-02 1.78757777e+02] [ 3.77184730e-02 9.99288192e-01 -6.52820149e-04 6.18295126e+00] [ 3.11093420e-02 -5.21263829e-04 9.99515851e-01 4.41183166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.79, Y:6.18, Z:4.41 [[ 9.98888907e-01 -3.57849161e-02 -3.06658123e-02 1.78786732e+02] [ 3.57819382e-02 9.99359413e-01 -6.46049269e-04 6.18353956e+00] [ 3.06692870e-02 -4.51950753e-04 9.99529485e-01 4.41276797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.81, Y:6.18, Z:4.41 [[ 9.98967912e-01 -3.38841349e-02 -3.02485668e-02 1.78814435e+02] [ 3.38801348e-02 9.99425695e-01 -6.44910105e-04 6.18411425e+00] [ 3.02530471e-02 -3.80581017e-04 9.99542199e-01 4.41335729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.84, Y:6.18, Z:4.41 [[ 9.99123387e-01 -2.99549675e-02 -2.92430731e-02 1.78842101e+02] [ 2.99493064e-02 9.99551219e-01 -6.31665928e-04 6.18332290e+00] [ 2.92488709e-02 -2.44697553e-04 9.99572130e-01 4.41383962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.87, Y:6.18, Z:4.41 [[ 9.99115277e-01 -3.02244466e-02 -2.92428904e-02 1.78870475e+02] [ 3.02186565e-02 9.99543107e-01 -6.40016784e-04 6.18400730e+00] [ 2.92488737e-02 -2.44230314e-04 9.99572130e-01 4.41457707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.90, Y:6.18, Z:4.42 [[ 9.99165779e-01 -2.87961420e-02 -2.89573665e-02 1.78898752e+02] [ 2.87896386e-02 9.99585287e-01 -6.41568754e-04 6.18242943e+00] [ 2.89638322e-02 -1.92638575e-04 9.99580442e-01 4.41516805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.435099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.93, Y:6.18, Z:4.42 [[ 9.99142981e-01 -2.95451315e-02 -2.89894420e-02 1.78927144e+02] [ 2.95386858e-02 9.99563426e-01 -6.50662162e-04 6.18199390e+00] [ 2.89960099e-02 -2.06205486e-04 9.99579506e-01 4.41589600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.95, Y:6.18, Z:4.42 [[ 9.99099158e-01 -3.04626276e-02 -2.95449108e-02 1.78954418e+02] [ 3.04560941e-02 9.99535880e-01 -6.71225457e-04 6.18161260e+00] [ 2.95516457e-02 -2.29201795e-04 9.99563228e-01 4.41640304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.98, Y:6.18, Z:4.42 [[ 9.99029227e-01 -3.19711137e-02 -3.03059529e-02 1.78982392e+02] [ 3.19647937e-02 9.99488755e-01 -6.93113665e-04 6.18096091e+00] [ 3.03126187e-02 -2.76282724e-04 9.99540429e-01 4.41697750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.01, Y:6.18, Z:4.42 [[ 9.98871761e-01 -3.55159200e-02 -3.15249915e-02 1.79010299e+02] [ 3.55105518e-02 9.99369035e-01 -7.30318659e-04 6.17830613e+00] [ 3.15310383e-02 -3.89975159e-04 9.99502697e-01 4.41646592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.04, Y:6.18, Z:4.42 [[ 9.98722288e-01 -3.83019942e-02 -3.29658645e-02 1.79038088e+02] [ 3.83678053e-02 9.99262751e-01 1.36584288e-03 6.17747706e+00] [ 3.28892459e-02 -2.62892560e-03 9.99455545e-01 4.41721464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.07, Y:6.17, Z:4.42 [[ 9.98522735e-01 -4.27784753e-02 -3.35014830e-02 1.79065188e+02] [ 4.29130057e-02 9.99073341e-01 3.30664721e-03 6.17436256e+00] [ 3.33289852e-02 -4.73941175e-03 9.99433198e-01 4.41821449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.10, Y:6.18, Z:4.42 [[ 9.98556979e-01 -4.36355544e-02 -3.13033397e-02 1.79095732e+02] [ 4.34265910e-02 9.99029768e-01 -7.32485358e-03 6.17571955e+00] [ 3.15925922e-02 5.95488633e-03 9.99483090e-01 4.41987646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.12, Y:6.17, Z:4.42 [[ 9.98478829e-01 -4.53891059e-02 -3.13026757e-02 1.79124914e+02] [ 4.53879399e-02 9.98969156e-01 -7.48170917e-04 6.17135403e+00] [ 3.13043664e-02 -6.73731144e-04 9.99509671e-01 4.41823945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.15, Y:6.17, Z:4.42 [[ 9.98380923e-01 -4.80758648e-02 -3.04013907e-02 1.79154928e+02] [ 4.80758193e-02 9.98843420e-01 -7.32873592e-04 6.16846614e+00] [ 3.04014626e-02 -7.29884754e-04 9.99537502e-01 4.41892889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.19, Y:6.17, Z:4.42 [[ 9.98359482e-01 -4.90222825e-02 -2.95831061e-02 1.79185189e+02] [ 4.90226276e-02 9.98797413e-01 -7.14051661e-04 6.16745988e+00] [ 2.95825343e-02 -7.37361348e-04 9.99562069e-01 4.41984051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.22, Y:6.17, Z:4.42 [[ 9.98315316e-01 -5.03911152e-02 -2.87622152e-02 1.79215574e+02] [ 5.03920102e-02 9.98729274e-01 -6.94185183e-04 6.16511033e+00] [ 2.87606470e-02 -7.56370141e-04 9.99586041e-01 4.42103195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.25, Y:6.16, Z:4.42 [[ 9.98270907e-01 -5.09582083e-02 -2.92994381e-02 1.79245832e+02] [ 5.09593950e-02 9.98700476e-01 -7.06681652e-04 6.16430106e+00] [ 2.92973740e-02 -7.87621904e-04 9.99570429e-01 4.42224540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.28, Y:6.16, Z:4.42 [[ 9.98251584e-01 -5.11583222e-02 -2.96074637e-02 1.79276794e+02] [ 5.11596221e-02 9.98690234e-01 -7.14111011e-04 6.16334522e+00] [ 2.96052175e-02 -8.01844204e-04 9.99561348e-01 4.42321822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.31, Y:6.16, Z:4.42 [[ 9.98242896e-01 -5.12063932e-02 -2.98165384e-02 1.79306991e+02] [ 5.12077330e-02 9.98687764e-01 -7.19153746e-04 6.16238993e+00] [ 2.98142374e-02 -8.08947221e-04 9.99555129e-01 4.42351089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.34, Y:6.16, Z:4.42 [[ 9.98184980e-01 -5.16554984e-02 -3.09589282e-02 1.79336134e+02] [ 5.16571562e-02 9.98664599e-01 -7.46799633e-04 6.15972127e+00] [ 3.09561619e-02 -8.53806013e-04 9.99520379e-01 4.42396715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.37, Y:6.16, Z:4.42 [[ 9.98168142e-01 -5.13953122e-02 -3.19199251e-02 1.79366518e+02] [ 5.13969268e-02 9.98678007e-01 -7.70459020e-04 6.15688476e+00] [ 3.19173251e-02 -8.71538405e-04 9.99490132e-01 4.42465689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.40, Y:6.16, Z:4.43 [[ 9.98137639e-01 -5.10706939e-02 -3.33622087e-02 1.79396655e+02] [ 5.10722684e-02 9.98694635e-01 -8.05539022e-04 6.15518851e+00] [ 3.33597983e-02 -8.99844861e-04 9.99443002e-01 4.42537189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.43, Y:6.15, Z:4.43 [[ 9.98114931e-01 -5.07647671e-02 -3.44894692e-02 1.79425588e+02] [ 5.07661601e-02 9.98710217e-01 -8.35884514e-04 6.15499837e+00] [ 3.44874187e-02 -9.16589099e-04 9.99404712e-01 4.42607653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.45, Y:6.15, Z:4.43 [[ 9.98113468e-01 -5.02594615e-02 -3.52631716e-02 1.79454648e+02] [ 5.02602843e-02 9.98735780e-01 -8.63671426e-04 6.15464443e+00] [ 3.52619989e-02 -9.10294949e-04 9.99377688e-01 4.42664150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.48, Y:6.15, Z:4.43 [[ 9.98126939e-01 -4.96003542e-02 -3.58108624e-02 1.79482519e+02] [ 4.96004928e-02 9.98768746e-01 -8.85077782e-04 6.15459659e+00] [ 3.58106703e-02 -8.92816448e-04 9.99358193e-01 4.42720572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.51, Y:6.16, Z:4.43 [[ 9.98113651e-01 -4.98671489e-02 -3.58107093e-02 1.79510904e+02] [ 4.98672384e-02 9.98755458e-01 -8.91233686e-04 6.15536874e+00] [ 3.58105847e-02 -8.96228672e-04 9.99358193e-01 4.42794040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.54, Y:6.16, Z:4.43 [[ 9.98145537e-01 -4.90079647e-02 -3.61068783e-02 1.79539260e+02] [ 4.90071362e-02 9.98798015e-01 -9.08512388e-04 6.15538736e+00] [ 3.61080027e-02 -8.62667119e-04 9.99347521e-01 4.42887234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.095099893 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:179.57, Y:6.15, Z:4.43 [[ 9.97880909e-01 -5.04643482e-02 -4.10735937e-02 1.79565924e+02] [ 5.13350023e-02 9.98472591e-01 2.04255377e-02 6.14867601e+00] [ 3.99800961e-02 -2.24907672e-02 9.98947325e-01 4.42931942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.60, Y:6.17, Z:4.44 [[ 9.98199588e-01 -4.81802099e-02 -3.57246434e-02 1.79597464e+02] [ 4.73860163e-02 9.98617444e-01 -2.27544917e-02 6.16604377e+00] [ 3.67715682e-02 2.10206757e-02 9.99102589e-01 4.43659311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.63, Y:6.16, Z:4.43 [[ 9.98226204e-01 -4.72601934e-02 -3.62066170e-02 1.79626007e+02] [ 4.72574017e-02 9.98882309e-01 -9.33374081e-04 6.15550222e+00] [ 3.62102606e-02 -7.79312178e-04 9.99343890e-01 4.43110488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.185099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.65, Y:6.15, Z:4.43 [[ 9.98312219e-01 -4.69480745e-02 -3.41846662e-02 1.79653744e+02] [ 4.69450755e-02 9.98897075e-01 -8.90803810e-04 6.15475767e+00] [ 3.41887846e-02 -7.15501408e-04 9.99415136e-01 4.43282415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.21509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.68, Y:6.15, Z:4.43 [[ 9.98339322e-01 -4.68253152e-02 -3.35557469e-02 1.79681179e+02] [ 4.68220720e-02 9.98902855e-01 -8.82872556e-04 6.15475639e+00] [ 3.35602722e-02 -6.89743210e-04 9.99436457e-01 4.43359763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.71, Y:6.15, Z:4.44 [[ 9.98352797e-01 -4.73442188e-02 -3.24070731e-02 1.79708205e+02] [ 4.73413366e-02 9.98878403e-01 -8.56662343e-04 6.15377769e+00] [ 3.24112834e-02 -6.78942909e-04 9.99474386e-01 4.43515480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.74, Y:6.15, Z:4.44 [[ 9.98360509e-01 -4.80889875e-02 -3.10442278e-02 1.79735850e+02] [ 4.80865579e-02 9.98842831e-01 -8.25275953e-04 6.15362257e+00] [ 3.10479911e-02 -6.68887137e-04 9.99517671e-01 4.43599552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.76, Y:6.15, Z:4.44 [[ 9.98350766e-01 -4.90248195e-02 -2.98716534e-02 1.79764486e+02] [ 4.90227643e-02 9.98797340e-01 -8.01597760e-04 6.15330858e+00] [ 2.98750262e-02 -6.64115286e-04 9.99553421e-01 4.43720585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.79, Y:6.15, Z:4.44 [[ 9.98314430e-01 -5.01891779e-02 -2.91435213e-02 1.79793192e+02] [ 5.01876722e-02 9.98739497e-01 -7.83604382e-04 6.15285300e+00] [ 2.91461143e-02 -6.80361930e-04 9.99574930e-01 4.43791333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.82, Y:6.15, Z:4.44 [[ 9.98243865e-01 -5.17119892e-02 -2.88973321e-02 1.79823039e+02] [ 5.17111050e-02 9.98661782e-01 -7.78412136e-04 6.15229697e+00] [ 2.88989144e-02 -7.17267833e-04 9.99582082e-01 4.43856065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.85, Y:6.15, Z:4.44 [[ 9.98151773e-01 -5.32404018e-02 -2.93001272e-02 1.79853934e+02] [ 5.32401372e-02 9.98581426e-01 -7.89725418e-04 6.15164211e+00] [ 2.93006081e-02 -7.71676967e-04 9.99570347e-01 4.43939308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.88, Y:6.15, Z:4.44 [[ 9.97879744e-01 -5.75321804e-02 -3.04313085e-02 1.79883762e+02] [ 5.75338859e-02 9.98343217e-01 -8.20295525e-04 6.14989572e+00] [ 3.04280839e-02 -9.32275146e-04 9.99536524e-01 4.43992382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.91, Y:6.15, Z:4.44 [[ 9.97714001e-01 -5.99073158e-02 -3.12711758e-02 1.79914524e+02] [ 5.99102676e-02 9.98203410e-01 -8.43403174e-04 6.14955052e+00] [ 3.12655203e-02 -1.03198935e-03 9.99510581e-01 4.44075254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.94, Y:6.15, Z:4.44 [[ 9.97558732e-01 -6.25491529e-02 -3.10512367e-02 1.79944809e+02] [ 6.25533410e-02 9.98041271e-01 -8.37471279e-04 6.14900088e+00] [ 3.10427989e-02 -1.10693181e-03 9.99517443e-01 4.44130521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.97, Y:6.15, Z:4.44 [[ 9.97216138e-01 -6.74471921e-02 -3.17938588e-02 1.79974451e+02] [ 6.74540680e-02 9.97722012e-01 -8.57493010e-04 6.14724025e+00] [ 3.17792682e-02 -1.28951925e-03 9.99494080e-01 4.44223283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.01, Y:6.15, Z:4.44 [[ 9.97069394e-01 -6.94466748e-02 -3.20902167e-02 1.80005493e+02] [ 6.94547211e-02 9.97584730e-01 -8.65235579e-04 6.14674769e+00] [ 3.20727979e-02 -1.36611714e-03 9.99484602e-01 4.44262999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.04, Y:6.15, Z:4.44 [[ 9.96906230e-01 -7.11860561e-02 -3.33243861e-02 1.80037344e+02] [ 7.11957438e-02 9.97461960e-01 -8.97315847e-04 6.14666890e+00] [ 3.33036838e-02 -1.47801470e-03 9.99444186e-01 4.44312677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.07, Y:6.15, Z:4.44 [[ 9.96778877e-01 -7.24925351e-02 -3.43031063e-02 1.80067361e+02] [ 7.25036214e-02 9.97367723e-01 -9.22258244e-04 6.14637059e+00] [ 3.42796678e-02 -1.56781189e-03 9.99411050e-01 4.44333796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.10, Y:6.15, Z:4.44 [[ 9.96550588e-01 -7.49016160e-02 -3.57305790e-02 1.80099247e+02] [ 7.49152584e-02 9.97189443e-01 -9.58728342e-04 6.14525302e+00] [ 3.57019664e-02 -1.72134426e-03 9.99360999e-01 4.44322754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.13, Y:6.15, Z:4.44 [[ 9.96451871e-01 -7.61540329e-02 -3.58361793e-02 1.80129609e+02] [ 7.61686045e-02 9.97094490e-01 -9.60428187e-04 6.14512616e+00] [ 3.58051974e-02 -1.77257131e-03 9.99357216e-01 4.44395676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.16, Y:6.15, Z:4.44 [[ 9.96453916e-01 -7.64971158e-02 -3.50397664e-02 1.80161174e+02] [ 7.65112852e-02 9.97068274e-01 -9.38290380e-04 6.14554277e+00] [ 3.50088159e-02 -1.74597444e-03 9.99385478e-01 4.44489896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.19, Y:6.15, Z:4.45 [[ 9.96453349e-01 -7.68369692e-02 -3.43045789e-02 1.80192089e+02] [ 7.68507919e-02 9.97042183e-01 -9.17386194e-04 6.14616535e+00] [ 3.42736014e-02 -1.72220151e-03 9.99411004e-01 4.44585881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.22, Y:6.15, Z:4.45 [[ 9.96452287e-01 -7.70006779e-02 -3.39666912e-02 1.80223711e+02] [ 7.70143651e-02 9.97029571e-01 -9.07141484e-04 6.14690640e+00] [ 3.39356461e-02 -1.71199996e-03 9.99422554e-01 4.44698795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.26, Y:6.15, Z:4.45 [[ 9.96460432e-01 -7.72306815e-02 -3.31968301e-02 1.80255467e+02] [ 7.72439204e-02 9.97011832e-01 -8.85414379e-04 6.14801171e+00] [ 3.31660136e-02 -1.68197291e-03 9.99448441e-01 4.44770390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.29, Y:6.15, Z:4.45 [[ 9.96490860e-01 -7.71458245e-02 -3.24728694e-02 1.80286321e+02] [ 7.71584876e-02 9.97018465e-01 -8.64840768e-04 6.14889833e+00] [ 3.24427692e-02 -1.64375157e-03 9.99472243e-01 4.44843096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.32, Y:6.15, Z:4.45 [[ 9.96493064e-01 -7.77044931e-02 -3.10416627e-02 1.80317159e+02] [ 7.77163831e-02 9.96975167e-01 -8.25122757e-04 6.15034106e+00] [ 3.10118826e-02 -1.59021664e-03 9.99517751e-01 4.44964591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.35, Y:6.15, Z:4.45 [[ 9.96495146e-01 -7.78853238e-02 -3.05172241e-02 1.80349506e+02] [ 7.78969507e-02 9.96961087e-01 -8.09507237e-04 6.15138784e+00] [ 3.04875337e-02 -1.57052867e-03 9.99533913e-01 4.45063018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.38, Y:6.15, Z:4.45 [[ 9.96469905e-01 -7.84507174e-02 -2.98866832e-02 1.80381257e+02] [ 7.84621847e-02 9.96916777e-01 -7.90674137e-04 6.15258457e+00] [ 2.98565648e-02 -1.55709147e-03 9.99552981e-01 4.45148855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.935099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.41, Y:6.15, Z:4.45 [[ 9.96446091e-01 -7.88571956e-02 -2.96096276e-02 1.80413002e+02] [ 7.88686941e-02 9.96884707e-01 -7.81179946e-04 6.15346563e+00] [ 2.95789866e-02 -1.55686895e-03 9.99561234e-01 4.45254118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.44, Y:6.15, Z:4.45 [[ 9.96402609e-01 -7.95936400e-02 -2.90979783e-02 1.80444147e+02] [ 7.96051236e-02 9.96826183e-01 -7.65394180e-04 6.15464660e+00] [ 2.90665472e-02 -1.55370740e-03 9.99576271e-01 4.45312641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.48, Y:6.16, Z:4.45 [[ 9.96376584e-01 -7.99071438e-02 -2.91299061e-02 1.80476153e+02] [ 7.99188816e-02 9.96801079e-01 -7.62954808e-04 6.15604734e+00] [ 2.90976873e-02 -1.56783921e-03 9.99575343e-01 4.45420986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.51, Y:6.16, Z:4.45 [[ 9.96383677e-01 -7.98568020e-02 -2.90251433e-02 1.80508673e+02] [ 7.98684955e-02 9.96805121e-01 -7.58099473e-04 6.15766744e+00] [ 2.89929509e-02 -1.56283659e-03 9.99578394e-01 4.45490129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.54, Y:6.16, Z:4.46 [[ 9.96413802e-01 -7.92922623e-02 -2.95342728e-02 1.80539612e+02] [ 7.93041926e-02 9.96850166e-01 -7.69032147e-04 6.15920528e+00] [ 2.95022230e-02 -1.57591741e-03 9.99563472e-01 4.45562676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.57, Y:6.16, Z:4.46 [[ 9.96420918e-01 -7.92027555e-02 -2.95343631e-02 1.80572287e+02] [ 7.92147496e-02 9.96857280e-01 -7.65549736e-04 6.15999456e+00] [ 2.95021785e-02 -1.57674740e-03 9.99563472e-01 4.45647044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.60, Y:6.16, Z:4.46 [[ 9.96477117e-01 -7.78670421e-02 -3.11461041e-02 1.80603180e+02] [ 7.78798170e-02 9.96962430e-01 -8.04595595e-04 6.16250099e+00] [ 3.11141471e-02 -1.62389178e-03 9.99514519e-01 4.45647126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.64, Y:6.16, Z:4.46 [[ 9.96552164e-01 -7.66675722e-02 -3.17154037e-02 1.80635784e+02] [ 7.66802712e-02 9.97055399e-01 -8.17476038e-04 6.16434414e+00] [ 3.16846883e-02 -1.61728824e-03 9.99496606e-01 4.45745080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.67, Y:6.17, Z:4.46 [[ 9.96643767e-01 -7.54044735e-02 -3.18648195e-02 1.80667907e+02] [ 7.54167207e-02 9.97151767e-01 -8.19064458e-04 6.16621976e+00] [ 3.18358222e-02 -1.58682471e-03 9.99491852e-01 4.45831593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.70, Y:6.17, Z:4.46 [[ 9.96891166e-01 -7.19032464e-02 -3.22168741e-02 1.80699859e+02] [ 7.19140166e-02 9.97410493e-01 -8.25796696e-04 6.16905783e+00] [ 3.21928258e-02 -1.49361539e-03 9.99480561e-01 4.45922666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.73, Y:6.17, Z:4.46 [[ 9.97048637e-01 -6.98361179e-02 -3.18893641e-02 1.80731053e+02] [ 6.98456814e-02 9.97557475e-01 -8.15320185e-04 6.17082182e+00] [ 3.18684123e-02 -1.41442048e-03 9.99491072e-01 4.46010240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.76, Y:6.17, Z:4.46 [[ 9.97331176e-01 -6.60872641e-02 -3.10322353e-02 1.80761708e+02] [ 6.60945564e-02 9.97813050e-01 -7.91852692e-04 6.17423902e+00] [ 3.10167007e-02 -1.26132245e-03 9.99518071e-01 4.46144928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.79, Y:6.18, Z:4.46 [[ 9.97452522e-01 -6.42886303e-02 -3.09101636e-02 1.80792727e+02] [ 6.42951057e-02 9.97930620e-01 -7.85417466e-04 6.17628257e+00] [ 3.08966921e-02 -1.20395560e-03 9.99521858e-01 4.46210450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.82, Y:6.18, Z:4.46 [[ 9.97608112e-01 -6.15286482e-02 -3.15004764e-02 1.80822551e+02] [ 6.15340334e-02 9.98104666e-01 -7.99348690e-04 6.17885286e+00] [ 3.14899553e-02 -1.14091463e-03 9.99503417e-01 4.46288250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.85, Y:6.18, Z:4.46 [[ 9.97609200e-01 -6.15110065e-02 -3.15004909e-02 1.80853536e+02] [ 6.15164010e-02 9.98105753e-01 -7.98779092e-04 6.17964043e+00] [ 3.14899549e-02 -1.14092746e-03 9.99503417e-01 4.46368325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.88, Y:6.18, Z:4.46 [[ 9.97667100e-01 -6.06548551e-02 -3.13264578e-02 1.80884321e+02] [ 6.06597858e-02 9.98158184e-01 -7.93815208e-04 6.18120481e+00] [ 3.13169090e-02 -1.10829291e-03 9.99508891e-01 4.46438304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.91, Y:6.18, Z:4.46 [[ 9.97747518e-01 -5.92238361e-02 -3.15028090e-02 1.80914688e+02] [ 5.92281247e-02 9.98244155e-01 -7.97828050e-04 6.18283629e+00] [ 3.14947453e-02 -1.06982134e-03 9.99503345e-01 4.46488223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.94, Y:6.18, Z:4.47 [[ 9.97759333e-01 -5.88816080e-02 -3.17690010e-02 1.80944382e+02] [ 5.88857970e-02 9.98264402e-01 -8.04544773e-04 6.18431583e+00] [ 3.17612357e-02 -1.06800089e-03 9.99494914e-01 4.46561672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.97, Y:6.19, Z:4.47 [[ 9.97782081e-01 -5.84635943e-02 -3.18265011e-02 1.80974855e+02] [ 5.84675897e-02 9.98288982e-01 -8.05893280e-04 6.18596546e+00] [ 3.18191608e-02 -1.05671293e-03 9.99493084e-01 4.46673178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.00, Y:6.19, Z:4.47 [[ 9.97818366e-01 -5.79564567e-02 -3.16157891e-02 1.81003806e+02] [ 5.79601457e-02 9.98318577e-01 -8.00534046e-04 6.18845289e+00] [ 3.16090257e-02 -1.03366817e-03 9.99499775e-01 4.46782585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.03, Y:6.19, Z:4.47 [[ 9.97825352e-01 -5.77752869e-02 -3.17267091e-02 1.81033544e+02] [ 5.77789105e-02 9.98329080e-01 -8.03340806e-04 6.18983333e+00] [ 3.17201095e-02 -1.03154086e-03 9.99496258e-01 4.46862294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.06, Y:6.19, Z:4.47 [[ 9.97830676e-01 -5.76551434e-02 -3.17777788e-02 1.81064176e+02] [ 5.76587033e-02 9.98336028e-01 -8.05090161e-04 6.19127032e+00] [ 3.17713191e-02 -1.02892186e-03 9.99494635e-01 4.46988712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.09, Y:6.19, Z:4.47 [[ 9.97851526e-01 -5.73573925e-02 -3.16616862e-02 1.81094716e+02] [ 5.73607767e-02 9.98353193e-01 -8.02148954e-04 6.19287648e+00] [ 3.16555547e-02 -1.01571335e-03 9.99498321e-01 4.47111467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.13, Y:6.20, Z:4.47 [[ 9.97918990e-01 -5.59119585e-02 -3.21176323e-02 1.81125454e+02] [ 5.59146934e-02 9.98435218e-01 -8.13700350e-04 6.19539465e+00] [ 3.21128708e-02 -9.83840530e-04 9.99483765e-01 4.47318535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.15, Y:6.20, Z:4.47 [[ 9.97968395e-01 -5.48251430e-02 -3.24543753e-02 1.81154736e+02] [ 5.48273625e-02 9.98495510e-01 -8.22206248e-04 6.19729856e+00] [ 3.24506256e-02 -9.58851951e-04 9.99472880e-01 4.47464914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.685099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.19, Y:6.20, Z:4.48 [[ 9.98031444e-01 -5.36314358e-02 -3.25100896e-02 1.81185222e+02] [ 5.36330335e-02 9.98560374e-01 -8.23518338e-04 6.19942274e+00] [ 3.25074536e-02 -9.21717526e-04 9.99471068e-01 4.47612899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.71509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.22, Y:6.20, Z:4.48 [[ 9.98094342e-01 -5.22344094e-02 -3.28519487e-02 1.81215722e+02] [ 5.22352851e-02 9.98634459e-01 -8.32178027e-04 6.20149250e+00] [ 3.28505563e-02 -8.85438725e-04 9.99459883e-01 4.47753353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.25, Y:6.20, Z:4.48 [[ 9.98205595e-01 -4.96544695e-02 -3.34667605e-02 1.81245443e+02] [ 4.96539307e-02 9.98766123e-01 -8.47721375e-04 6.20465530e+00] [ 3.34675598e-02 -8.15555988e-04 9.99439472e-01 4.47921813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.27, Y:6.21, Z:4.48 [[ 9.98228107e-01 -4.87547976e-02 -3.41118201e-02 1.81274296e+02] [ 4.87536467e-02 9.98810458e-01 -8.66013504e-04 6.20634534e+00] [ 3.41134650e-02 -7.98596603e-04 9.99417647e-01 4.48034389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.30, Y:6.21, Z:4.48 [[ 9.98253016e-01 -4.79714245e-02 -3.44914251e-02 1.81301891e+02] [ 4.79695308e-02 9.98848409e-01 -8.82892458e-04 6.20767270e+00] [ 3.44940587e-02 -7.73187421e-04 9.99404604e-01 4.48163874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.33, Y:6.21, Z:4.48 [[ 9.98255070e-01 -4.73565803e-02 -3.52727818e-02 1.81329495e+02] [ 4.73540383e-02 9.98877756e-01 -9.07948041e-04 6.20962308e+00] [ 3.52761945e-02 -7.63944924e-04 9.99377309e-01 4.48300014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.36, Y:6.21, Z:4.48 [[ 9.98213343e-01 -4.76582627e-02 -3.60390360e-02 1.81356884e+02] [ 4.76554843e-02 9.98863393e-01 -9.36586540e-04 6.21112773e+00] [ 3.60427099e-02 -7.82544536e-04 9.99349944e-01 4.48424192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.38, Y:6.21, Z:4.49 [[ 9.98163569e-01 -4.82256698e-02 -3.66575254e-02 1.81384908e+02] [ 4.82229420e-02 9.98836137e-01 -9.59088083e-04 6.21233837e+00] [ 3.66611137e-02 -8.10406937e-04 9.99327427e-01 4.48506399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.41, Y:6.21, Z:4.49 [[ 9.98110401e-01 -4.88230819e-02 -3.73086254e-02 1.81413187e+02] [ 4.88202665e-02 9.98807092e-01 -9.87028834e-04 6.21315982e+00] [ 3.73123095e-02 -8.36253290e-04 9.99303303e-01 4.48560720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.44, Y:6.21, Z:4.49 [[ 9.98047628e-01 -4.98108124e-02 -3.76804295e-02 1.81440601e+02] [ 4.98082331e-02 9.98758291e-01 -1.00776413e-03 6.21427409e+00] [ 3.76838389e-02 -8.70999012e-04 9.99289332e-01 4.48659475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.47, Y:6.22, Z:4.49 [[ 9.98033375e-01 -5.04149910e-02 -3.72520017e-02 1.81467540e+02] [ 5.04125640e-02 9.98727973e-01 -1.00505606e-03 6.21528007e+00] [ 3.72552860e-02 -8.74889430e-04 9.99305398e-01 4.48728626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.49, Y:6.22, Z:4.49 [[ 9.97975071e-01 -5.14738663e-02 -3.73657465e-02 1.81494983e+02] [ 5.14719244e-02 9.98673927e-01 -1.01458707e-03 6.21607588e+00] [ 3.73684215e-02 -9.10754273e-04 9.99301142e-01 4.48801115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.52, Y:6.22, Z:4.49 [[ 9.97946089e-01 -5.19433231e-02 -3.74899202e-02 1.81523213e+02] [ 5.19413038e-02 9.98649610e-01 -1.02849840e-03 6.21674044e+00] [ 3.74927178e-02 -9.20889383e-04 9.99296477e-01 4.48870118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.55, Y:6.22, Z:4.49 [[ 9.97940995e-01 -5.22035782e-02 -3.72633561e-02 1.81551462e+02] [ 5.22013722e-02 9.98636045e-01 -1.03279914e-03 6.21741116e+00] [ 3.72664464e-02 -9.14525717e-04 9.99304946e-01 4.48938991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.58, Y:6.22, Z:4.49 [[ 9.97920454e-01 -5.24973229e-02 -3.74005252e-02 1.81579291e+02] [ 5.24948988e-02 9.98620643e-01 -1.04750046e-03 6.21808542e+00] [ 3.74039275e-02 -9.18014647e-04 9.99299807e-01 4.49038637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.61, Y:6.22, Z:4.49 [[ 9.97914780e-01 -5.26445538e-02 -3.73449218e-02 1.81607438e+02] [ 5.26419198e-02 9.98612896e-01 -1.05450658e-03 6.21875531e+00] [ 3.73486345e-02 -9.13600674e-04 9.99301879e-01 4.49073299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.63, Y:6.22, Z:4.49 [[ 9.97881882e-01 -5.31786129e-02 -3.74671280e-02 1.81634953e+02] [ 5.31761238e-02 9.98584583e-01 -1.06366715e-03 6.21925312e+00] [ 3.74706607e-02 -9.30942465e-04 9.99297295e-01 4.49122324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.66, Y:6.22, Z:4.49 [[ 9.97842595e-01 -5.41372521e-02 -3.71391176e-02 1.81662984e+02] [ 5.41351564e-02 9.98533052e-01 -1.06277513e-03 6.21967757e+00] [ 3.71421722e-02 -9.50049645e-04 9.99309540e-01 4.49129593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.69, Y:6.22, Z:4.49 [[ 9.97807336e-01 -5.49467972e-02 -3.68967309e-02 1.81690595e+02] [ 5.49451606e-02 9.98488812e-01 -1.05911666e-03 6.22030416e+00] [ 3.68991680e-02 -9.70502432e-04 9.99318523e-01 4.49156570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.72, Y:6.22, Z:4.49 [[ 9.97768747e-01 -5.58623590e-02 -3.65639764e-02 1.81719209e+02] [ 5.58611847e-02 9.98437988e-01 -1.05451042e-03 6.22073347e+00] [ 3.65657704e-02 -9.90349494e-04 9.99330758e-01 4.49199219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.75, Y:6.22, Z:4.49 [[ 9.97724250e-01 -5.66480551e-02 -3.65693705e-02 1.81747658e+02] [ 5.66470734e-02 9.98393699e-01 -1.06379560e-03 6.22125611e+00] [ 3.65708910e-02 -1.01017315e-03 9.99330551e-01 4.49277832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.78, Y:6.22, Z:4.49 [[ 9.97708837e-01 -5.72660044e-02 -3.60233378e-02 1.81776865e+02] [ 5.72652114e-02 9.98358444e-01 -1.05463778e-03 6.22179850e+00] [ 3.60245984e-02 -1.01066262e-03 9.99350392e-01 4.49325022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.81, Y:6.22, Z:4.49 [[ 9.97636396e-01 -5.89288445e-02 -3.53413608e-02 1.81806161e+02] [ 5.89290786e-02 9.98261634e-01 -1.03592467e-03 6.22233719e+00] [ 3.53409704e-02 -1.04915767e-03 9.99374762e-01 4.49442288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.84, Y:6.22, Z:4.50 [[ 9.97589711e-01 -5.99910979e-02 -3.48688550e-02 1.81836522e+02] [ 5.99919412e-02 9.98198337e-01 -1.02300005e-03 6.22296317e+00] [ 3.48674039e-02 -1.07131597e-03 9.99391373e-01 4.49543280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.87, Y:6.22, Z:4.50 [[ 9.97541398e-01 -6.10329748e-02 -3.44403011e-02 1.81866581e+02] [ 6.10344174e-02 9.98135151e-01 -1.01042693e-03 6.22314692e+00] [ 3.44377445e-02 -1.09410103e-03 9.99406246e-01 4.49618559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.435099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.90, Y:6.22, Z:4.50 [[ 9.97434228e-01 -6.29726123e-02 -3.40501251e-02 1.81897523e+02] [ 6.29751507e-02 9.98014595e-01 -9.98979744e-04 6.22302246e+00] [ 3.40454302e-02 -1.14789517e-03 9.99419627e-01 4.49771101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.93, Y:6.22, Z:4.50 [[ 9.97365958e-01 -6.38885812e-02 -3.43423127e-02 1.81927750e+02] [ 6.38917240e-02 9.97956328e-01 -1.00702049e-03 6.22372451e+00] [ 3.43364654e-02 -1.18982161e-03 9.99409621e-01 4.49870031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.96, Y:6.22, Z:4.50 [[ 9.97304905e-01 -6.47018802e-02 -3.45918196e-02 1.81957859e+02] [ 6.47056188e-02 9.97903882e-01 -1.01256193e-03 6.22450686e+00] [ 3.45848258e-02 -1.22845212e-03 9.99401011e-01 4.49919618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.99, Y:6.22, Z:4.50 [[ 9.97177060e-01 -6.58809505e-02 -3.60223734e-02 1.81988740e+02] [ 6.58858041e-02 9.97826614e-01 -1.05360397e-03 6.22490335e+00] [ 3.60134953e-02 -1.32273332e-03 9.99350428e-01 4.50003301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.02, Y:6.23, Z:4.50 [[ 9.97121663e-01 -6.63654574e-02 -3.66608172e-02 1.82019013e+02] [ 6.63708535e-02 9.97794449e-01 -1.07114933e-03 6.22559544e+00] [ 3.66510472e-02 -1.36514352e-03 9.99327192e-01 4.50105261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.05, Y:6.23, Z:4.50 [[ 9.97095836e-01 -6.65526937e-02 -3.70220628e-02 1.82049022e+02] [ 6.65583429e-02 9.97781949e-01 -1.08124316e-03 6.22633519e+00] [ 3.70119056e-02 -1.38602410e-03 9.99313863e-01 4.50176006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.08, Y:6.23, Z:4.50 [[ 9.97078882e-01 -6.66214903e-02 -3.73534370e-02 1.82079861e+02] [ 6.66272897e-02 9.97777337e-01 -1.09092106e-03 6.22719531e+00] [ 3.73430917e-02 -1.40102392e-03 9.99301521e-01 4.50270248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.11, Y:6.23, Z:4.50 [[ 9.97054909e-01 -6.64560760e-02 -3.82766089e-02 1.82109177e+02] [ 6.64620365e-02 9.97788328e-01 -1.11810376e-03 6.22851336e+00] [ 3.82662584e-02 -1.42913053e-03 9.99266557e-01 4.50404390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.14, Y:6.23, Z:4.51 [[ 9.97025717e-01 -6.64486944e-02 -3.90421654e-02 1.82138549e+02] [ 6.64548543e-02 9.97788780e-01 -1.14140539e-03 6.22997447e+00] [ 3.90316795e-02 -1.45653088e-03 9.99236912e-01 4.50545934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.17, Y:6.23, Z:4.51 [[ 9.97012426e-01 -6.64301611e-02 -3.94113708e-02 1.82168479e+02] [ 6.64363685e-02 9.97789997e-01 -1.15360948e-03 6.23158345e+00] [ 3.94009061e-02 -1.46818537e-03 9.99222404e-01 4.50681292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.20, Y:6.23, Z:4.51 [[ 9.97020285e-01 -6.62190790e-02 -3.95674775e-02 1.82197173e+02] [ 6.62251049e-02 9.97804034e-01 -1.15982086e-03 6.23291273e+00] [ 3.95573909e-02 -1.46399542e-03 9.99216228e-01 4.50793311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.23, Y:6.24, Z:4.51 [[ 9.97016689e-01 -6.62953338e-02 -3.95303856e-02 1.82226487e+02] [ 6.63013354e-02 9.97798971e-01 -1.16057374e-03 6.23504694e+00] [ 3.95203187e-02 -1.46380597e-03 9.99217695e-01 4.50950433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.26, Y:6.24, Z:4.51 [[ 9.97024148e-01 -6.63634045e-02 -3.92268515e-02 1.82256195e+02] [ 6.63693126e-02 9.97794460e-01 -1.15303733e-03 6.23662109e+00] [ 3.92168546e-02 -1.45385311e-03 9.99229666e-01 4.51026962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.29, Y:6.24, Z:4.51 [[ 9.97037489e-01 -6.63767649e-02 -3.88634984e-02 1.82285601e+02] [ 6.63825404e-02 9.97793592e-01 -1.14321429e-03 6.23794691e+00] [ 3.88536325e-02 -1.44003025e-03 9.99243875e-01 4.51124898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.32, Y:6.24, Z:4.51 [[ 9.97024782e-01 -6.66624636e-02 -3.87001409e-02 1.82315901e+02] [ 6.66684092e-02 9.97774537e-01 -1.13830797e-03 6.23962256e+00] [ 3.86898976e-02 -1.44515558e-03 9.99250221e-01 4.51215036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.35, Y:6.24, Z:4.51 [[ 9.96979649e-01 -6.75485872e-02 -3.83245190e-02 1.82345825e+02] [ 6.75550709e-02 9.97714910e-01 -1.12725960e-03 6.24188368e+00] [ 3.83130888e-02 -1.46516072e-03 9.99264710e-01 4.51367749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.38, Y:6.24, Z:4.51 [[ 9.96962467e-01 -6.80118942e-02 -3.79502455e-02 1.82375897e+02] [ 6.80185948e-02 9.97683429e-01 -1.11603285e-03 6.24340550e+00] [ 3.79382345e-02 -1.46867951e-03 9.99279007e-01 4.51472960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.41, Y:6.25, Z:4.52 [[ 9.96902782e-01 -6.87663610e-02 -3.81579814e-02 1.82407584e+02] [ 6.87737216e-02 9.97631654e-01 -1.12123734e-03 6.24504466e+00] [ 3.81447136e-02 -1.50650177e-03 9.99271090e-01 4.51609385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.44, Y:6.25, Z:4.52 [[ 9.96755317e-01 -7.05574534e-02 -3.87360876e-02 1.82437906e+02] [ 7.05664548e-02 9.97506433e-01 -1.13652808e-03 6.24703963e+00] [ 3.87196871e-02 -1.60062797e-03 9.99248830e-01 4.51739670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.47, Y:6.25, Z:4.52 [[ 9.96756550e-01 -7.05400064e-02 -3.87361391e-02 1.82468889e+02] [ 7.05490628e-02 9.97507665e-01 -1.13477297e-03 6.24794836e+00] [ 3.87196425e-02 -1.60170592e-03 9.99248830e-01 4.51819712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.50, Y:6.25, Z:4.52 [[ 9.96658084e-01 -7.15735594e-02 -3.93686327e-02 1.82498706e+02] [ 7.15837467e-02 9.97433927e-01 -1.15260809e-03 6.24892816e+00] [ 3.93501062e-02 -1.66939806e-03 9.99224090e-01 4.51902894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.53, Y:6.25, Z:4.52 [[ 9.96547434e-01 -7.27025920e-02 -4.00942006e-02 1.82530095e+02] [ 7.27141097e-02 9.97352136e-01 -1.17288842e-03 6.25015510e+00] [ 4.00733087e-02 -1.74657516e-03 9.99195216e-01 4.51982599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.56, Y:6.25, Z:4.52 [[ 9.96449382e-01 -7.36154511e-02 -4.08582339e-02 1.82559960e+02] [ 7.36282277e-02 9.97285044e-01 -1.19404096e-03 6.25141291e+00] [ 4.08352054e-02 -1.81851797e-03 9.99164240e-01 4.52069924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.59, Y:6.25, Z:4.52 [[ 9.96267111e-01 -7.53250893e-02 -4.21660365e-02 1.82591522e+02] [ 7.53402713e-02 9.97157123e-01 -1.23120157e-03 6.25358114e+00] [ 4.21389040e-02 -1.95019500e-03 9.99109859e-01 4.52207513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.62, Y:6.26, Z:4.52 [[ 9.96214021e-01 -7.58628848e-02 -4.24552303e-02 1.82622034e+02] [ 7.58788158e-02 9.97116278e-01 -1.23841296e-03 6.25516018e+00] [ 4.24267508e-02 -1.98772825e-03 9.99097603e-01 4.52339947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.185099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.65, Y:6.26, Z:4.52 [[ 9.96237462e-01 -7.56372883e-02 -4.23074435e-02 1.82652880e+02] [ 7.56529499e-02 9.97133447e-01 -1.23304939e-03 6.25680475e+00] [ 4.22794315e-02 -1.97227290e-03 9.99103878e-01 4.52452218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.21509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.68, Y:6.26, Z:4.53 [[ 9.96272910e-01 -7.49696383e-02 -4.26596081e-02 1.82683180e+02] [ 7.49850048e-02 9.97183888e-01 -1.24207520e-03 6.25869396e+00] [ 4.26325918e-02 -1.96138504e-03 9.99088892e-01 4.52617100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.71, Y:6.26, Z:4.53 [[ 9.96207385e-01 -7.55457355e-02 -4.31704404e-02 1.82711066e+02] [ 7.55472518e-02 9.97140941e-01 -1.59867757e-03 6.26438379e+00] [ 4.31677869e-02 -1.66879373e-03 9.99066443e-01 4.52725140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.74, Y:6.27, Z:4.53 [[ 9.96511496e-01 -7.15930396e-02 -4.28867808e-02 1.82741344e+02] [ 7.17889970e-02 9.97415194e-01 3.04465128e-03 6.26608467e+00] [ 4.25579510e-02 -6.11282898e-03 9.99075300e-01 4.52857320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.77, Y:6.27, Z:4.53 [[ 9.96909297e-01 -6.69993961e-02 -4.10235833e-02 1.82773135e+02] [ 6.68064299e-02 9.97747562e-01 -6.05829604e-03 6.26907337e+00] [ 4.13370824e-02 3.29893250e-03 9.99139811e-01 4.53245608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.80, Y:6.27, Z:4.53 [[ 9.97102226e-01 -6.43041584e-02 -4.06463561e-02 1.82803194e+02] [ 6.43103717e-02 9.97929276e-01 -1.15600839e-03 6.26935431e+00] [ 4.06365248e-02 -1.46132373e-03 9.99172927e-01 4.53230385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.83, Y:6.28, Z:4.53 [[ 9.97181941e-01 -6.33970633e-02 -4.01121968e-02 1.82831379e+02] [ 6.32575517e-02 9.97985984e-01 -4.73901712e-03 6.27636459e+00] [ 4.03318499e-02 2.18826293e-03 9.99183944e-01 4.53311114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.86, Y:6.27, Z:4.53 [[ 9.97574274e-01 -5.68256016e-02 -4.02047219e-02 1.82862688e+02] [ 5.69509689e-02 9.98375015e-01 1.97888610e-03 6.27358671e+00] [ 4.00269384e-02 -4.26378373e-03 9.99189504e-01 4.53363600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.89, Y:6.28, Z:4.54 [[ 9.97604471e-01 -5.65989799e-02 -3.97727995e-02 1.82890268e+02] [ 5.65167517e-02 9.98396556e-01 -3.18967793e-03 6.28172697e+00] [ 3.98895586e-02 9.34207526e-04 9.99203658e-01 4.53554220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.92, Y:6.28, Z:4.54 [[ 9.97993226e-01 -4.97124845e-02 -3.92197496e-02 1.82922194e+02] [ 4.97685351e-02 9.98760676e-01 4.53503372e-04 6.27991989e+00] [ 3.91485988e-02 -2.40450277e-03 9.99230507e-01 4.53615481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.95, Y:6.28, Z:4.54 [[ 9.98088922e-01 -4.74508723e-02 -3.95843122e-02 1.82950210e+02] [ 4.74432593e-02 9.98873293e-01 -1.13220323e-03 6.28242891e+00] [ 3.95934363e-02 -7.47969285e-04 9.99215593e-01 4.53739692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.98, Y:6.28, Z:4.54 [[ 9.98196000e-01 -4.50655065e-02 -3.96717206e-02 1.82976734e+02] [ 4.50556116e-02 9.98983825e-01 -1.14390832e-03 6.28425319e+00] [ 3.96829580e-02 -6.45588926e-04 9.99212113e-01 4.53798245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.00, Y:6.29, Z:4.54 [[ 9.98300861e-01 -4.24256181e-02 -3.99431950e-02 1.83003397e+02] [ 4.24132761e-02 9.99099483e-01 -1.15671821e-03 6.28608551e+00] [ 3.99563000e-02 -5.39368979e-04 9.99201283e-01 4.53828288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.03, Y:6.29, Z:4.54 [[ 9.98494552e-01 -3.70069843e-02 -4.04859557e-02 1.83030901e+02] [ 3.69895542e-02 9.99314956e-01 -1.17978058e-03 6.28870832e+00] [ 4.05018812e-02 -3.19552969e-04 9.99179411e-01 4.53896724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.06, Y:6.29, Z:4.54 [[ 9.98559855e-01 -3.47386405e-02 -4.08832768e-02 1.83058873e+02] [ 3.47184920e-02 9.99396407e-01 -1.20294261e-03 6.29020513e+00] [ 4.09003885e-02 -2.18195521e-04 9.99163205e-01 4.53992706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.09, Y:6.29, Z:4.54 [[ 9.98635636e-01 -3.27920712e-02 -4.06392185e-02 1.83086649e+02] [ 3.27700867e-02 9.99462187e-01 -1.20717922e-03 6.29149596e+00] [ 4.06569481e-02 -1.26218522e-04 9.99173156e-01 4.54075833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.11, Y:6.29, Z:4.54 [[ 9.98686823e-01 -3.11199292e-02 -4.06961935e-02 1.83114715e+02] [ 3.10960262e-02 9.99515657e-01 -1.22037906e-03 6.29249490e+00] [ 4.07144607e-02 -4.67134197e-05 9.99170821e-01 4.54165057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.14, Y:6.29, Z:4.54 [[ 9.98771838e-01 -2.89833350e-02 -4.01843415e-02 1.83142070e+02] [ 2.89579418e-02 9.99579894e-01 -1.21395937e-03 6.29331481e+00] [ 4.02026444e-02 4.88126076e-05 9.99191546e-01 4.54248081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.17, Y:6.30, Z:4.54 [[ 9.98659702e-01 -3.15187671e-02 -4.10532195e-02 1.83165931e+02] [ 3.16401141e-02 9.99496658e-01 2.30930833e-03 6.29623573e+00] [ 4.09597692e-02 -3.60514172e-03 9.99154293e-01 4.54263642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.20, Y:6.30, Z:4.55 [[ 9.98813865e-01 -2.91815764e-02 -3.89781862e-02 1.83198803e+02] [ 2.89974389e-02 9.99565534e-01 -5.28126026e-03 6.29573216e+00] [ 3.91153670e-02 4.14472840e-03 9.99226105e-01 4.54507070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.23, Y:6.29, Z:4.54 [[ 9.98784776e-01 -3.20305302e-02 -3.74568656e-02 1.83225421e+02] [ 3.20099581e-02 9.99486890e-01 -1.14895276e-03 6.29220576e+00] [ 3.74744477e-02 -5.14361791e-05 9.99297585e-01 4.54395899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.25, Y:6.29, Z:4.54 [[ 9.98734736e-01 -3.46037820e-02 -3.64897985e-02 1.83252972e+02] [ 3.45857511e-02 9.99401100e-01 -1.12543288e-03 6.29157917e+00] [ 3.65068890e-02 -1.38018185e-04 9.99333392e-01 4.54467995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.28, Y:6.29, Z:4.55 [[ 9.98635668e-01 -3.81460603e-02 -3.56606331e-02 1.83281293e+02] [ 3.81307409e-02 9.99272143e-01 -1.10983705e-03 6.29095744e+00] [ 3.56770132e-02 -2.51443498e-04 9.99363341e-01 4.54559980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.31, Y:6.29, Z:4.55 [[ 9.98505965e-01 -4.19118320e-02 -3.50604770e-02 1.83309066e+02] [ 4.18989944e-02 9.99121245e-01 -1.10112488e-03 6.29010215e+00] [ 3.50758176e-02 -3.69518968e-04 9.99384586e-01 4.54629131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.34, Y:6.29, Z:4.55 [[ 9.98317391e-01 -4.63786039e-02 -3.48053434e-02 1.83337375e+02] [ 4.63683169e-02 9.98923802e-01 -1.10311385e-03 6.28902220e+00] [ 3.48190469e-02 -5.12607457e-04 9.99393502e-01 4.54658550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.935099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.37, Y:6.29, Z:4.55 [[ 9.98071377e-01 -5.13338171e-02 -3.49050837e-02 1.83366154e+02] [ 5.13261578e-02 9.98681321e-01 -1.11603091e-03 6.28788424e+00] [ 3.49163452e-02 -6.77665322e-04 9.99390009e-01 4.54694138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.40, Y:6.28, Z:4.55 [[ 9.97539916e-01 -6.07905789e-02 -3.49087459e-02 1.83395979e+02] [ 6.07884622e-02 9.98150040e-01 -1.12296258e-03 6.28461298e+00] [ 3.49124316e-02 -1.00184899e-03 9.99389873e-01 4.54755874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.43, Y:6.28, Z:4.55 [[ 9.97255907e-01 -6.55964097e-02 -3.43186180e-02 1.83426610e+02] [ 6.55971786e-02 9.97845574e-01 -1.10474291e-03 6.28351116e+00] [ 3.43171482e-02 -1.14949312e-03 9.99410332e-01 4.54818919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.46, Y:6.28, Z:4.55 [[ 9.96971563e-01 -6.99213445e-02 -3.40398089e-02 1.83458487e+02] [ 6.99246527e-02 9.97551675e-01 -1.09472067e-03 6.28237301e+00] [ 3.40330127e-02 -1.28881644e-03 9.99419878e-01 4.54913285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.49, Y:6.28, Z:4.55 [[ 9.96677394e-01 -7.40723200e-02 -3.38742364e-02 1.83490959e+02] [ 7.40780695e-02 9.97251853e-01 -1.08699386e-03 6.28128760e+00] [ 3.38616612e-02 -1.42595584e-03 9.99425512e-01 4.54990042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.52, Y:6.28, Z:4.55 [[ 9.96139812e-01 -8.13087652e-02 -3.30810981e-02 1.83522000e+02] [ 8.13182997e-02 9.96687620e-01 -1.05933058e-03 6.27839887e+00] [ 3.30576538e-02 -1.63485729e-03 9.99452109e-01 4.55009481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.55, Y:6.28, Z:4.55 [[ 9.95916330e-01 -8.39936536e-02 -3.31018214e-02 1.83552912e+02] [ 8.40047373e-02 9.96464793e-01 -1.05821976e-03 6.27780684e+00] [ 3.30736834e-02 -1.72681147e-03 9.99451424e-01 4.55072886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.59, Y:6.28, Z:4.55 [[ 9.95736455e-01 -8.62997846e-02 -3.25769871e-02 1.83585535e+02] [ 8.63118078e-02 9.96267630e-01 -1.03964181e-03 6.27761535e+00] [ 3.25451186e-02 -1.77656940e-03 9.99468688e-01 4.55149016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.62, Y:6.28, Z:4.55 [[ 9.95599560e-01 -8.81456783e-02 -3.18096867e-02 1.83618538e+02] [ 8.81581547e-02 9.96105975e-01 -1.01279696e-03 6.27739390e+00] [ 3.17750927e-02 -1.79594308e-03 9.99493431e-01 4.55180052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.65, Y:6.28, Z:4.55 [[ 9.95414972e-01 -9.06796479e-02 -3.04341019e-02 1.83651732e+02] [ 9.06923393e-02 9.95878490e-01 -9.65969294e-04 6.27613735e+00] [ 3.03962612e-02 -1.79859960e-03 9.99536309e-01 4.55228518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.69, Y:6.28, Z:4.55 [[ 9.95392339e-01 -9.11154645e-02 -2.98674206e-02 1.83685249e+02] [ 9.11279745e-02 9.95838742e-01 -9.44899791e-04 6.27624323e+00] [ 2.98292295e-02 -1.78121153e-03 9.99553422e-01 4.55309054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.72, Y:6.28, Z:4.55 [[ 9.95386837e-01 -9.13401639e-02 -2.93601631e-02 1.83717071e+02] [ 9.13524417e-02 9.95818193e-01 -9.25709268e-04 6.27632405e+00] [ 2.93219390e-02 -1.76068377e-03 9.99568469e-01 4.55336094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.75, Y:6.28, Z:4.55 [[ 9.95432807e-01 -9.10298047e-02 -2.87593798e-02 1.83750474e+02] [ 9.10415315e-02 9.95846686e-01 -9.04125523e-04 6.27589920e+00] [ 2.87222354e-02 -1.71830177e-03 9.99585955e-01 4.55300097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.78, Y:6.28, Z:4.55 [[ 9.95463478e-01 -9.05309905e-02 -2.92678054e-02 1.83783587e+02] [ 9.05430148e-02 9.95892124e-01 -9.16910356e-04 6.27646212e+00] [ 2.92305856e-02 -1.73724456e-03 9.99571185e-01 4.55323810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.82, Y:6.28, Z:4.55 [[ 9.95521848e-01 -8.99693969e-02 -2.90130565e-02 1.83817047e+02] [ 8.99810649e-02 9.95943064e-01 -9.05826491e-04 6.27699175e+00] [ 2.89768491e-02 -1.70885566e-03 9.99578622e-01 4.55336290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.85, Y:6.28, Z:4.55 [[ 9.95532418e-01 -8.97392433e-02 -2.93610819e-02 1.83848813e+02] [ 8.97511882e-02 9.95963799e-01 -9.13464391e-04 6.27775872e+00] [ 2.93245483e-02 -1.72580858e-03 9.99568453e-01 4.55373587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.88, Y:6.28, Z:4.55 [[ 9.95519648e-01 -8.98117985e-02 -2.95714590e-02 1.83880950e+02] [ 8.98240280e-02 9.95957229e-01 -9.17276516e-04 6.27860735e+00] [ 2.95342906e-02 -1.74306077e-03 9.99562248e-01 4.55406384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.91, Y:6.28, Z:4.55 [[ 9.95524904e-01 -8.92134365e-02 -3.11629172e-02 1.83913740e+02] [ 8.92268221e-02 9.96010866e-01 -9.63599670e-04 6.27942237e+00] [ 3.11245702e-02 -1.82128060e-03 9.99513854e-01 4.55311329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.95, Y:6.28, Z:4.55 [[ 9.95513508e-01 -8.91751826e-02 -3.16329215e-02 1.83945714e+02] [ 8.91890639e-02 9.96014237e-01 -9.74731480e-04 6.28077145e+00] [ 3.15937621e-02 -1.85095231e-03 9.99499079e-01 4.55356150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.98, Y:6.28, Z:4.55 [[ 9.95557995e-01 -8.86742843e-02 -3.16409397e-02 1.83978789e+02] [ 8.86880146e-02 9.96058980e-01 -9.72005765e-04 6.28237315e+00] [ 3.16024340e-02 -1.83848401e-03 9.99498827e-01 4.55421605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.01, Y:6.29, Z:4.55 [[ 9.95646663e-01 -8.80383848e-02 -3.06098808e-02 1.84011143e+02] [ 8.80510297e-02 9.96115524e-01 -9.37212929e-04 6.28560097e+00] [ 3.05734882e-02 -1.76209860e-03 9.99530968e-01 4.55493717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.04, Y:6.29, Z:4.56 [[ 9.95747422e-01 -8.73339622e-02 -2.93231947e-02 1.84043559e+02] [ 8.73453427e-02 9.96177690e-01 -8.95019887e-04 6.28775898e+00] [ 2.92892780e-02 -1.67003074e-03 9.99569582e-01 4.55579704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.08, Y:6.29, Z:4.56 [[ 9.95814080e-01 -8.68203303e-02 -2.85752981e-02 1.84076929e+02] [ 8.68310547e-02 9.96222673e-01 -8.67694723e-04 6.29011335e+00] [ 2.85426934e-02 -1.61716065e-03 9.99591266e-01 4.55686512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.11, Y:6.29, Z:4.56 [[ 9.96048763e-01 -8.47503959e-02 -2.65373699e-02 1.84108589e+02] [ 8.47589849e-02 9.96401159e-01 -8.03042505e-04 6.29366606e+00] [ 2.65099243e-02 -1.44941104e-03 9.99647499e-01 4.55786674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.14, Y:6.30, Z:4.56 [[ 9.96198145e-01 -8.34762275e-02 -2.49193959e-02 1.84141578e+02] [ 8.34835095e-02 9.96508877e-01 -7.49792842e-04 6.29586186e+00] [ 2.48949891e-02 -1.33341639e-03 9.99689182e-01 4.55844929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.685099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.17, Y:6.30, Z:4.56 [[ 9.96328403e-01 -8.23459062e-02 -2.34278624e-02 1.84174851e+02] [ 8.23520861e-02 9.96603051e-01 -7.02530740e-04 6.29813395e+00] [ 2.34061297e-02 -1.22938201e-03 9.99725283e-01 4.55909079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.71509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.21, Y:6.30, Z:4.56 [[ 9.96529909e-01 -8.04854107e-02 -2.12188361e-02 1.84206360e+02] [ 8.04901044e-02 9.96755206e-01 -6.34141557e-04 6.30155862e+00] [ 2.12010245e-02 -1.07596530e-03 9.99774654e-01 4.55961217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.24, Y:6.30, Z:4.56 [[ 9.96613631e-01 -7.96155201e-02 -2.05582055e-02 1.84239659e+02] [ 7.96197760e-02 9.96825118e-01 -6.12710988e-04 6.30336796e+00] [ 2.05417169e-02 -1.02620359e-03 9.99788470e-01 4.56012198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.27, Y:6.30, Z:4.56 [[ 9.96664863e-01 -7.90450182e-02 -2.02740348e-02 1.84271274e+02] [ 7.90490863e-02 9.96870543e-01 -6.01926627e-04 6.30494697e+00] [ 2.02581673e-02 -1.00272480e-03 9.99794279e-01 4.56003240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.30, Y:6.31, Z:4.56 [[ 9.96710802e-01 -7.80526427e-02 -2.18028173e-02 1.84304131e+02] [ 7.80571572e-02 9.96948677e-01 -6.45198906e-04 6.30686704e+00] [ 2.17866494e-02 -1.05878922e-03 9.99762082e-01 4.55957658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.34, Y:6.31, Z:4.56 [[ 9.96756139e-01 -7.74655587e-02 -2.18240124e-02 1.84337505e+02] [ 7.74699933e-02 9.96994476e-01 -6.43453230e-04 6.30869620e+00] [ 2.18082653e-02 -1.04934014e-03 9.99761621e-01 4.55958650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.37, Y:6.31, Z:4.56 [[ 9.96796261e-01 -7.67360444e-02 -2.25564544e-02 1.84370564e+02] [ 7.67406537e-02 9.97050868e-01 -6.62471802e-04 6.31073189e+00] [ 2.25407679e-02 -1.07064764e-03 9.99745351e-01 4.56013659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.40, Y:6.31, Z:4.56 [[ 9.96806098e-01 -7.66081355e-02 -2.25565254e-02 1.84404089e+02] [ 7.66127670e-02 9.97060704e-01 -6.60044998e-04 6.31162934e+00] [ 2.25407900e-02 -1.07018095e-03 9.99745351e-01 4.56100010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.44, Y:6.31, Z:4.56 [[ 9.96878422e-01 -7.55086560e-02 -2.30619790e-02 1.84436563e+02] [ 7.55132761e-02 9.97144570e-01 -6.71700010e-04 6.31361351e+00] [ 2.30468463e-02 -1.07188234e-03 9.99733812e-01 4.56148969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.47, Y:6.32, Z:4.56 [[ 9.97010157e-01 -7.38328044e-02 -2.27917283e-02 1.84469395e+02] [ 7.38369253e-02 9.97270109e-01 -6.61834160e-04 6.31564837e+00] [ 2.27783745e-02 -1.02301576e-03 9.99740016e-01 4.56178370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.50, Y:6.32, Z:4.56 [[ 9.97362130e-01 -6.87723164e-02 -2.32196202e-02 1.84501861e+02] [ 6.87752865e-02 9.97631951e-01 -6.71584386e-04 6.31856544e+00] [ 2.32108214e-02 -9.27123201e-04 9.99730163e-01 4.56127901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.54, Y:6.32, Z:4.56 [[ 9.97587232e-01 -6.55198399e-02 -2.29535216e-02 1.84535295e+02] [ 6.55219292e-02 9.97850910e-01 -6.61854594e-04 6.32035959e+00] [ 2.29475570e-02 -8.43701323e-04 9.99736314e-01 4.56120845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.57, Y:6.32, Z:4.56 [[ 9.97821473e-01 -6.19971022e-02 -2.25536760e-02 1.84567342e+02] [ 6.19982760e-02 9.98076046e-01 -6.47857230e-04 6.32208284e+00] [ 2.25504491e-02 -7.51843177e-04 9.99745424e-01 4.56128193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.60, Y:6.32, Z:4.56 [[ 9.98034536e-01 -5.85850555e-02 -2.22453544e-02 1.84599588e+02] [ 5.85853947e-02 9.98282197e-01 -6.37021127e-04 6.32427467e+00] [ 2.22444612e-02 -6.67483783e-04 9.99752339e-01 4.56147678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.63, Y:6.33, Z:4.56 [[ 9.98235519e-01 -5.52116094e-02 -2.18524075e-02 1.84631688e+02] [ 5.52111721e-02 9.98474505e-01 -6.23793308e-04 6.32653860e+00] [ 2.18535124e-02 -5.83804395e-04 9.99761013e-01 4.56227726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.66, Y:6.33, Z:4.56 [[ 9.98426581e-01 -5.20184641e-02 -2.09389985e-02 1.84663795e+02] [ 5.20173896e-02 9.98646001e-01 -5.96337174e-04 6.32927602e+00] [ 2.09416677e-02 -4.93793160e-04 9.99780577e-01 4.56269467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.69, Y:6.33, Z:4.56 [[ 9.98749451e-01 -4.57733061e-02 -2.01081473e-02 1.84694979e+02] [ 4.57710798e-02 9.98951792e-01 -5.71178330e-04 6.33320915e+00] [ 2.01132145e-02 -3.49907569e-04 9.99797648e-01 4.56349353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.73, Y:6.34, Z:4.56 [[ 9.98872130e-01 -4.33933350e-02 -1.92739697e-02 1.84727333e+02] [ 4.33908634e-02 9.99058023e-01 -5.46611969e-04 6.33555111e+00] [ 1.92795334e-02 -2.90318722e-04 9.99814090e-01 4.56405416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.76, Y:6.34, Z:4.56 [[ 9.99027656e-01 -4.01228697e-02 -1.82728732e-02 1.84758257e+02] [ 4.01201262e-02 9.99194730e-01 -5.16852510e-04 6.33814559e+00] [ 1.82788962e-02 -2.16760026e-04 9.99832904e-01 4.56471794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.79, Y:6.34, Z:4.57 [[ 9.99055204e-01 -3.95073237e-02 -1.81072195e-02 1.84790369e+02] [ 3.95045437e-02 9.99219260e-01 -5.11333804e-04 6.33954138e+00] [ 1.81132839e-02 -2.04466745e-04 9.99835920e-01 4.56519274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.82, Y:6.34, Z:4.57 [[ 9.99057996e-01 -3.95731977e-02 -1.78068017e-02 1.84821137e+02] [ 3.95705443e-02 9.99216653e-01 -5.01461719e-04 6.34035477e+00] [ 1.78126972e-02 -2.03635495e-04 9.99841321e-01 4.56549470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.85, Y:6.34, Z:4.57 [[ 9.99033910e-01 -4.04697678e-02 -1.71302506e-02 1.84853106e+02] [ 4.04674558e-02 9.99180741e-01 -4.81719990e-04 6.34118307e+00] [ 1.71357116e-02 -2.11963053e-04 9.99853150e-01 4.56567543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.89, Y:6.34, Z:4.57 [[ 9.98974498e-01 -4.18013339e-02 -1.73954317e-02 1.84885780e+02] [ 4.17991743e-02 9.99125913e-01 -4.87871929e-04 6.34184699e+00] [ 1.74006203e-02 -2.39743068e-04 9.99848569e-01 4.56603508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.92, Y:6.34, Z:4.57 [[ 9.98796538e-01 -4.57248163e-02 -1.77402598e-02 1.84917352e+02] [ 4.57232151e-02 9.98954024e-01 -4.96062400e-04 6.34201237e+00] [ 1.77443863e-02 -3.15676307e-04 9.99842506e-01 4.56550392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.95, Y:6.34, Z:4.57 [[ 9.98694333e-01 -4.79241874e-02 -1.76890163e-02 1.84949661e+02] [ 4.79229545e-02 9.98850913e-01 -4.93823486e-04 6.34239072e+00] [ 1.76923562e-02 -3.54531207e-04 9.99843415e-01 4.56579238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.435099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.98, Y:6.34, Z:4.57 [[ 9.98574112e-01 -5.02507984e-02 -1.80166651e-02 1.84982872e+02] [ 5.02499170e-02 9.98736549e-01 -5.01909958e-04 6.34247829e+00] [ 1.80191233e-02 -4.04141637e-04 9.99837561e-01 4.56632612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.02, Y:6.34, Z:4.57 [[ 9.98303323e-01 -5.55043878e-02 -1.75993609e-02 1.85016385e+02] [ 5.55043950e-02 9.98458323e-01 -4.88425638e-04 6.34163363e+00] [ 1.75993381e-02 -4.89244941e-04 9.99845000e-01 4.56588472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.05, Y:6.34, Z:4.57 [[ 9.98150297e-01 -5.81043523e-02 -1.78849057e-02 1.85049196e+02] [ 5.81048121e-02 9.98310366e-01 -4.94369396e-04 6.34169714e+00] [ 1.78834117e-02 -5.45744124e-04 9.99839930e-01 4.56666583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.08, Y:6.34, Z:4.57 [[ 9.98000858e-01 -6.07865718e-02 -1.72997074e-02 1.85081713e+02] [ 6.07874250e-02 9.98150621e-01 -4.77007497e-04 6.34161429e+00] [ 1.72967094e-02 -5.75550776e-04 9.99850235e-01 4.56734630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.11, Y:6.34, Z:4.57 [[ 9.97687137e-01 -6.58618969e-02 -1.68103363e-02 1.85114131e+02] [ 6.58634834e-02 9.97828537e-01 -4.59840291e-04 6.34046871e+00] [ 1.68041192e-02 -6.48410562e-04 9.99858591e-01 4.56801185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.15, Y:6.34, Z:4.57 [[ 9.97697293e-01 -6.57078709e-02 -1.68103611e-02 1.85147670e+02] [ 6.57094509e-02 9.97838693e-01 -4.58931546e-04 6.34129133e+00] [ 1.68041842e-02 -6.46724839e-04 9.99858591e-01 4.56887582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.18, Y:6.34, Z:4.57 [[ 9.97406300e-01 -6.97638464e-02 -1.77109900e-02 1.85180340e+02] [ 6.97662978e-02 9.97563248e-01 -4.80164225e-04 6.34064581e+00] [ 1.77013308e-02 -7.56711381e-04 9.99843033e-01 4.56904388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.21, Y:6.34, Z:4.57 [[ 9.97308468e-01 -7.11453820e-02 -1.77243769e-02 1.85212653e+02] [ 7.11480902e-02 9.97465649e-01 -4.78536551e-04 6.34091146e+00] [ 1.77135028e-02 -7.83807013e-04 9.99842796e-01 4.56949771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.25, Y:6.34, Z:4.57 [[ 9.97246220e-01 -7.18531118e-02 -1.83604547e-02 1.85245425e+02] [ 7.18561654e-02 9.97414882e-01 -4.94196400e-04 6.34097643e+00] [ 1.83485003e-02 -8.26476378e-04 9.99831311e-01 4.56966299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.28, Y:6.34, Z:4.57 [[ 9.97277631e-01 -7.13830619e-02 -1.84874565e-02 1.85277518e+02] [ 7.13861168e-02 9.97448634e-01 -4.95480307e-04 6.34135466e+00] [ 1.84756572e-02 -8.25616305e-04 9.99828970e-01 4.56966585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.31, Y:6.34, Z:4.57 [[ 9.97332733e-01 -7.05301876e-02 -1.87859648e-02 1.85310930e+02] [ 7.05332203e-02 9.97509305e-01 -5.01921152e-04 6.34211690e+00] [ 1.87745753e-02 -8.24452202e-04 9.99823402e-01 4.57057538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.34, Y:6.34, Z:4.57 [[ 9.97432280e-01 -6.90881479e-02 -1.88593560e-02 1.85343803e+02] [ 6.90909861e-02 9.97610236e-01 -5.01808540e-04 6.34317640e+00] [ 1.88489556e-02 -8.02491468e-04 9.99822021e-01 4.57115315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.38, Y:6.34, Z:4.57 [[ 9.97535427e-01 -6.74111127e-02 -1.94631207e-02 1.85376082e+02] [ 6.74138629e-02 9.97724965e-01 -5.15515964e-04 6.34459325e+00] [ 1.94535929e-02 -7.97838714e-04 9.99810443e-01 4.57224269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.41, Y:6.35, Z:4.57 [[ 9.97691737e-01 -6.49810121e-02 -1.97145942e-02 1.85409015e+02] [ 6.49833943e-02 9.97886210e-01 -5.20443339e-04 6.34593910e+00] [ 1.97067406e-02 -7.61879230e-04 9.99805513e-01 4.57313689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.44, Y:6.35, Z:4.57 [[ 9.98033087e-01 -5.94216691e-02 -1.99755498e-02 1.85441297e+02] [ 5.94230485e-02 9.98232751e-01 -5.25028945e-04 6.34868742e+00] [ 1.99714462e-02 -6.63011809e-04 9.99800331e-01 4.57431491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.48, Y:6.35, Z:4.57 [[ 9.98337269e-01 -5.42170950e-02 -1.95755946e-02 1.85475613e+02] [ 5.42455669e-02 9.98527196e-01 9.26016217e-04 6.34787557e+00] [ 1.94965576e-02 -1.98636573e-03 9.99807951e-01 4.57367888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.51, Y:6.35, Z:4.58 [[ 9.98403748e-01 -5.28225648e-02 -1.99933009e-02 1.85505166e+02] [ 5.27953253e-02 9.98603569e-01 -1.88818376e-03 6.35248399e+00] [ 2.00651203e-02 8.29616914e-04 9.99798331e-01 4.57637321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.54, Y:6.35, Z:4.58 [[ 9.98579992e-01 -4.93342604e-02 -2.01030142e-02 1.85536855e+02] [ 4.93336979e-02 9.98782214e-01 -5.24211355e-04 6.35336667e+00] [ 2.01043947e-02 -4.68289060e-04 9.99797777e-01 4.57665355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.57, Y:6.36, Z:4.58 [[ 9.98884388e-01 -4.27773084e-02 -2.00020101e-02 1.85568976e+02] [ 4.27754659e-02 9.99084575e-01 -5.20145925e-04 6.35529074e+00] [ 2.00059502e-02 -3.36029658e-04 9.99799804e-01 4.57704431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.60, Y:6.36, Z:4.58 [[ 9.99010494e-01 -3.97617900e-02 -1.99256643e-02 1.85600972e+02] [ 3.97593900e-02 9.99209149e-01 -5.16743070e-04 6.35622036e+00] [ 1.99304527e-02 -2.76000507e-04 9.99801331e-01 4.57785762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.63, Y:6.36, Z:4.58 [[ 9.99151549e-01 -3.55501081e-02 -2.07935770e-02 1.85632665e+02] [ 3.55466155e-02 9.99367875e-01 -5.37665687e-04 6.35708129e+00] [ 2.07995469e-02 -2.01931782e-04 9.99783646e-01 4.57868734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.66, Y:6.36, Z:4.58 [[ 9.99194309e-01 -3.42364479e-02 -2.09427447e-02 1.85663792e+02] [ 3.42326524e-02 9.99413745e-01 -5.39813662e-04 6.35783236e+00] [ 2.09489482e-02 -1.77546961e-04 9.99780531e-01 4.57895286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.69, Y:6.36, Z:4.58 [[ 9.99194760e-01 -3.35343831e-02 -2.20290053e-02 1.85694077e+02] [ 3.35300298e-02 9.99437550e-01 -5.67055074e-04 6.35833904e+00] [ 2.20356309e-02 -1.72034745e-04 9.99757171e-01 4.57990856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.72, Y:6.36, Z:4.58 [[ 9.99145610e-01 -3.38429355e-02 -2.37214125e-02 1.85724975e+02] [ 3.38380139e-02 9.99427145e-01 -6.08956252e-04 6.35738875e+00] [ 2.37284324e-02 -1.94249521e-04 9.99718422e-01 4.58011119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.75, Y:6.36, Z:4.58 [[ 9.99078064e-01 -3.49375729e-02 -2.49476957e-02 1.85753988e+02] [ 3.48713457e-02 9.99387048e-01 -3.08490615e-03 6.35848701e+00] [ 2.50401831e-02 2.21210235e-03 9.99683998e-01 4.58135542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.185099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.78, Y:6.35, Z:4.58 [[ 9.98922877e-01 -3.88205265e-02 -2.54175526e-02 1.85783283e+02] [ 3.88768088e-02 9.99242524e-01 1.72372354e-03 6.35485875e+00] [ 2.53313836e-02 -2.71002021e-03 9.99675436e-01 4.58105155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.21509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.81, Y:6.36, Z:4.58 [[ 9.98835592e-01 -4.10660524e-02 -2.53187772e-02 1.85812867e+02] [ 4.10625947e-02 9.99156360e-01 -6.56684048e-04 6.35573064e+00] [ 2.53243847e-02 -3.83735287e-04 9.99679213e-01 4.58266577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.84, Y:6.36, Z:4.58 [[ 9.98731961e-01 -4.33186257e-02 -2.56508717e-02 1.85843691e+02] [ 4.33158220e-02 9.99061208e-01 -6.65190414e-04 6.35507667e+00] [ 2.56556060e-02 -4.46741666e-04 9.99670741e-01 4.58376577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.87, Y:6.35, Z:4.58 [[ 9.98636270e-01 -4.56947917e-02 -2.52504746e-02 1.85874663e+02] [ 4.56928335e-02 9.98955322e-01 -6.54824152e-04 6.35448219e+00] [ 2.52540181e-02 -4.99834585e-04 9.99680941e-01 4.58447645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.91, Y:6.35, Z:4.59 [[ 9.98380848e-01 -5.09074498e-02 -2.53793993e-02 1.85905572e+02] [ 5.09071769e-02 9.98703173e-01 -6.57271948e-04 6.35266064e+00] [ 2.53799466e-02 -6.35785844e-04 9.99677675e-01 4.58606643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.94, Y:6.35, Z:4.59 [[ 9.98255044e-01 -5.33550146e-02 -2.53003802e-02 1.85937429e+02] [ 5.33555507e-02 9.98575364e-01 -6.54357851e-04 6.35204882e+00] [ 2.52992496e-02 -6.96699693e-04 9.99679680e-01 4.58712718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.97, Y:6.35, Z:4.59 [[ 9.98120448e-01 -5.58014571e-02 -2.53331672e-02 1.85968910e+02] [ 5.58028277e-02 9.98441594e-01 -6.53387992e-04 6.35148848e+00] [ 2.53301478e-02 -7.61502447e-04 9.99678850e-01 4.58774879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.00, Y:6.35, Z:4.59 [[ 9.97975304e-01 -5.77450022e-02 -2.66609604e-02 1.85999662e+02] [ 5.76394582e-02 9.98326349e-01 -4.71105963e-03 6.35300688e+00] [ 2.68883794e-02 3.16479786e-03 9.99633432e-01 4.58973076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.03, Y:6.35, Z:4.59 [[ 9.97606853e-01 -6.36595408e-02 -2.69820342e-02 1.86032312e+02] [ 6.37628125e-02 9.97960621e-01 2.98360815e-03 6.34754032e+00] [ 2.67370725e-02 -4.69691832e-03 9.99631466e-01 4.58840288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.06, Y:6.35, Z:4.59 [[ 9.97403738e-01 -6.65150610e-02 -2.75958415e-02 1.86063958e+02] [ 6.65209843e-02 9.97784778e-01 -7.04343485e-04 6.34898407e+00] [ 2.75815601e-02 -1.13318772e-03 9.99618914e-01 4.59056210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.09, Y:6.35, Z:4.59 [[ 9.97218350e-01 -6.91338467e-02 -2.78580895e-02 1.86094727e+02] [ 6.91409593e-02 9.97606648e-01 -7.09012810e-04 6.34848644e+00] [ 2.78404321e-02 -1.21909445e-03 9.99611637e-01 4.59120275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.13, Y:6.35, Z:4.59 [[ 9.97033073e-01 -7.17468782e-02 -2.78825644e-02 1.86126867e+02] [ 7.17550661e-02 9.97422032e-01 -7.08074147e-04 6.34807618e+00] [ 2.78614861e-02 -1.29474191e-03 9.99610955e-01 4.59243596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.16, Y:6.35, Z:4.59 [[ 9.96719971e-01 -7.60535859e-02 -2.76613772e-02 1.86158456e+02] [ 7.60633555e-02 9.97102741e-01 -7.00380295e-04 6.34631550e+00] [ 2.76345015e-02 -1.40593414e-03 9.99617106e-01 4.59387573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.19, Y:6.35, Z:4.59 [[ 9.96591449e-01 -7.76210933e-02 -2.79365189e-02 1.86190461e+02] [ 7.76317648e-02 9.96981852e-01 -7.04036687e-04 6.34617253e+00] [ 2.79068504e-02 -1.46712432e-03 9.99609451e-01 4.59470360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.22, Y:6.35, Z:4.60 [[ 9.96507499e-01 -7.84462906e-02 -2.86179005e-02 1.86222381e+02] [ 7.84578979e-02 9.96917169e-01 -7.18793530e-04 6.34612117e+00] [ 2.85860630e-02 -1.52901717e-03 9.99590166e-01 4.59523953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.25, Y:6.35, Z:4.60 [[ 9.96413636e-01 -7.91835557e-02 -2.98300153e-02 1.86254837e+02] [ 7.91966519e-02 9.96858735e-01 -7.44058013e-04 6.34636411e+00] [ 2.97952285e-02 -1.62104779e-03 9.99554709e-01 4.59652307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.29, Y:6.35, Z:4.60 [[ 9.96428301e-01 -7.88767229e-02 -3.01513379e-02 1.86287243e+02] [ 7.88900299e-02 9.96883043e-01 -7.49852751e-04 6.34728615e+00] [ 3.01165034e-02 -1.63146544e-03 9.99545064e-01 4.59753008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.32, Y:6.35, Z:4.60 [[ 9.96478108e-01 -7.81297944e-02 -3.04485809e-02 1.86319160e+02] [ 7.81430858e-02 9.96941868e-01 -7.55009553e-04 6.34810880e+00] [ 3.04144538e-02 -1.62699558e-03 9.99536049e-01 4.59827560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.35, Y:6.35, Z:4.60 [[ 9.96540778e-01 -7.70850169e-02 -3.10544412e-02 1.86351267e+02] [ 7.70984095e-02 9.97023192e-01 -7.67707233e-04 6.34889443e+00] [ 3.10211768e-02 -1.62919646e-03 9.99517400e-01 4.59916804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.38, Y:6.35, Z:4.60 [[ 9.96637697e-01 -7.56896308e-02 -3.13748557e-02 1.86382288e+02] [ 7.57026817e-02 9.97130135e-01 -7.73403494e-04 6.34962723e+00] [ 3.13433528e-02 -1.60435764e-03 9.99507389e-01 4.60022359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.41, Y:6.35, Z:4.60 [[ 9.96891376e-01 -7.18773990e-02 -3.22680127e-02 1.86413897e+02] [ 7.18892705e-02 9.97412303e-01 -7.93615398e-04 6.35079435e+00] [ 3.22415558e-02 -1.52857554e-03 9.99478937e-01 4.60136969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.45, Y:6.35, Z:4.60 [[ 9.96897819e-01 -7.17879623e-02 -3.22680609e-02 1.86446576e+02] [ 7.17998506e-02 9.97418746e-01 -7.91649125e-04 6.35153993e+00] [ 3.22415997e-02 -1.52764866e-03 9.99478937e-01 4.60221997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.48, Y:6.35, Z:4.60 [[ 9.97039459e-01 -6.94664097e-02 -3.29656766e-02 1.86478919e+02] [ 6.94776473e-02 9.97583183e-01 -8.05877402e-04 6.35294121e+00] [ 3.29419860e-02 -1.48688608e-03 9.99456159e-01 4.60357467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.51, Y:6.36, Z:4.61 [[ 9.97222294e-01 -6.63780517e-02 -3.37883209e-02 1.86508910e+02] [ 6.62914837e-02 9.97793525e-01 -3.67715014e-03 6.35573306e+00] [ 3.39578498e-02 1.42705817e-03 9.99422247e-01 4.60532830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.54, Y:6.35, Z:4.60 [[ 9.97406011e-01 -6.36686656e-02 -3.35790166e-02 1.86539549e+02] [ 6.37709592e-02 9.97962590e-01 1.98313034e-03 6.35498944e+00] [ 3.33843391e-02 -4.11935221e-03 9.99434098e-01 4.60445610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.935099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.57, Y:6.36, Z:4.61 [[ 9.97869244e-01 -5.67311203e-02 -3.22265583e-02 1.86571294e+02] [ 5.65648433e-02 9.98380604e-01 -6.04882319e-03 6.36239244e+00] [ 3.25175273e-02 4.21304441e-03 9.99462286e-01 4.60698540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.60, Y:6.36, Z:4.61 [[ 9.98037696e-01 -5.23471543e-02 -3.43588731e-02 1.86601200e+02] [ 5.25312147e-02 9.98609253e-01 4.47569596e-03 6.35890237e+00] [ 3.40767986e-02 -6.27182662e-03 9.99399538e-01 4.60592669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.63, Y:6.37, Z:4.61 [[ 9.98201843e-01 -4.93597539e-02 -3.40102191e-02 1.86630329e+02] [ 4.93494101e-02 9.98780920e-01 -1.14401758e-03 6.36501194e+00] [ 3.40252264e-02 -5.36423789e-04 9.99420830e-01 4.60879122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.66, Y:6.37, Z:4.61 [[ 9.98395877e-01 -4.53131633e-02 -3.39468611e-02 1.86658452e+02] [ 4.53207231e-02 9.98972338e-01 -5.47135576e-04 6.36687943e+00] [ 3.39367676e-02 -9.92238388e-04 9.99423489e-01 4.60965300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.69, Y:6.37, Z:4.61 [[ 9.98577900e-01 -4.12682743e-02 -3.37506766e-02 1.86686570e+02] [ 4.12529227e-02 9.99148072e-01 -1.15137842e-03 6.36907236e+00] [ 3.37694388e-02 -2.42573006e-04 9.99429620e-01 4.61044804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.72, Y:6.37, Z:4.61 [[ 9.98897481e-01 -3.25176955e-02 -3.38588618e-02 1.86716226e+02] [ 3.25097170e-02 9.99471110e-01 -7.86288007e-04 6.37104975e+00] [ 3.38665225e-02 -3.15320904e-04 9.99426315e-01 4.61108222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.74, Y:6.37, Z:4.61 [[ 9.99000598e-01 -2.92321156e-02 -3.38125384e-02 1.86743947e+02] [ 2.92203043e-02 9.99572640e-01 -8.43519334e-04 6.37310847e+00] [ 3.38227461e-02 -1.45336340e-04 9.99427837e-01 4.61172885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.77, Y:6.38, Z:4.61 [[ 9.99072028e-01 -2.68327730e-02 -3.36910391e-02 1.86771127e+02] [ 2.68258607e-02 9.99639906e-01 -6.57255044e-04 6.37615716e+00] [ 3.36965432e-02 -2.47145993e-04 9.99432080e-01 4.61279019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.80, Y:6.38, Z:4.61 [[ 9.99154408e-01 -2.28933344e-02 -3.41520675e-02 1.86800217e+02] [ 2.28645429e-02 9.99737811e-01 -1.23340365e-03 6.37611739e+00] [ 3.41713500e-02 4.51489280e-04 9.99415887e-01 4.61310897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.83, Y:6.38, Z:4.61 [[ 9.99197337e-01 -2.03542032e-02 -3.45019939e-02 1.86828132e+02] [ 2.03358290e-02 9.99792815e-01 -8.83425445e-04 6.37702356e+00] [ 3.45128271e-02 1.81089703e-04 9.99404239e-01 4.61333129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.86, Y:6.38, Z:4.61 [[ 9.99245141e-01 -1.60911032e-02 -3.53585220e-02 1.86855182e+02] [ 1.60688384e-02 9.99870470e-01 -9.13789600e-04 6.37840595e+00] [ 3.53686459e-02 3.44929442e-04 9.99374274e-01 4.61406832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.88, Y:6.38, Z:4.62 [[ 9.99280349e-01 -1.45477842e-02 -3.50306350e-02 1.86882675e+02] [ 1.45247908e-02 9.99894095e-01 -9.10790043e-04 6.37914387e+00] [ 3.50401751e-02 4.01321948e-04 9.99385824e-01 4.61504302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.91, Y:6.38, Z:4.62 [[ 9.99176085e-01 -1.46938311e-02 -3.78317611e-02 1.86908188e+02] [ 1.50101296e-02 9.99854611e-01 8.09023392e-03 6.37788062e+00] [ 3.77073843e-02 -8.65142789e-03 9.99251373e-01 4.61717636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.94, Y:6.38, Z:4.62 [[ 9.99384743e-01 -1.12402692e-02 -3.32233526e-02 1.86938417e+02] [ 1.09053311e-02 9.99888046e-01 -1.02454835e-02 6.38365948e+00] [ 3.33347951e-02 9.87686827e-03 9.99395437e-01 4.62079741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.97, Y:6.38, Z:4.62 [[ 9.99387044e-01 -1.07829624e-02 -3.33056111e-02 1.86966999e+02] [ 1.07593955e-02 9.99941723e-01 -8.86743548e-04 6.37876217e+00] [ 3.33132318e-02 5.27851770e-04 9.99444821e-01 4.61865820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.99, Y:6.38, Z:4.62 [[ 9.99399374e-01 -1.07686325e-02 -3.29382290e-02 1.86994110e+02] [ 1.07453174e-02 9.99941876e-01 -8.84779701e-04 6.37812560e+00] [ 3.29458424e-02 5.30316555e-04 9.99456998e-01 4.61925316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.02, Y:6.38, Z:4.62 [[ 9.99341079e-01 -1.21895136e-02 -3.41880760e-02 1.87019805e+02] [ 1.22489818e-02 9.99923807e-01 1.53052937e-03 6.37839298e+00] [ 3.41668147e-02 -1.94828999e-03 9.99414245e-01 4.62113884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.05, Y:6.38, Z:4.62 [[ 9.99294327e-01 -1.43146287e-02 -3.47266445e-02 1.87047666e+02] [ 1.43153658e-02 9.99897504e-01 -2.27423981e-04 6.37637396e+00] [ 3.47263406e-02 -2.69861124e-04 9.99396822e-01 4.62193190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.08, Y:6.37, Z:4.62 [[ 9.99317518e-01 -1.46154132e-02 -3.39247521e-02 1.87078100e+02] [ 1.44678376e-02 9.99884793e-01 -4.59150976e-03 6.37487452e+00] [ 3.39879505e-02 4.09755833e-03 9.99413843e-01 4.62148592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.11, Y:6.37, Z:4.62 [[ 9.99258370e-01 -1.61979298e-02 -3.49333308e-02 1.87106246e+02] [ 1.61743760e-02 9.99868728e-01 -9.56762986e-04 6.37127117e+00] [ 3.49442426e-02 3.91028595e-04 9.99389187e-01 4.62072448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.13, Y:6.37, Z:4.62 [[ 9.99188543e-01 -1.82295751e-02 -3.59157030e-02 1.87133369e+02] [ 1.82056441e-02 9.99833770e-01 -9.93264629e-04 6.36986240e+00] [ 3.59278395e-02 3.38590131e-04 9.99354329e-01 4.62155013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.16, Y:6.36, Z:4.62 [[ 9.98811100e-01 -2.44759848e-02 -4.21581853e-02 1.87157018e+02] [ 2.51886739e-02 9.99547236e-01 1.64576368e-02 6.36140704e+00] [ 4.17362807e-02 -1.74999791e-02 9.98975392e-01 4.62380983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.19, Y:6.37, Z:4.63 [[ 9.99076223e-01 -2.44027512e-02 -3.53723925e-02 1.87189272e+02] [ 2.37403198e-02 9.99537059e-01 -1.90279780e-02 6.37300621e+00] [ 3.58203522e-02 1.81706485e-02 9.99193039e-01 4.62834191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.22, Y:6.36, Z:4.62 [[ 9.99028390e-01 -2.61740423e-02 -3.54569483e-02 1.87216848e+02] [ 2.61549639e-02 9.99657398e-01 -1.00187923e-03 6.36299162e+00] [ 3.54710239e-02 7.35305963e-05 9.99370703e-01 4.62376628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.25, Y:6.36, Z:4.62 [[ 9.98936603e-01 -3.02665041e-02 -3.47793450e-02 1.87245332e+02] [ 3.02504262e-02 9.99541862e-01 -9.88515775e-04 6.35864099e+00] [ 3.47933302e-02 -6.46254194e-05 9.99394527e-01 4.62457496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.685099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.27, Y:6.36, Z:4.62 [[ 9.98859845e-01 -3.25558421e-02 -3.49160118e-02 1.87272561e+02] [ 3.25407063e-02 9.99469909e-01 -1.00182415e-03 6.35685647e+00] [ 3.49301184e-02 -1.35509773e-04 9.99389748e-01 4.62487334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.71509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.30, Y:6.36, Z:4.63 [[ 9.98765343e-01 -3.50082328e-02 -3.52450384e-02 1.87300593e+02] [ 3.49940559e-02 9.99387001e-01 -1.01922076e-03 6.35502219e+00] [ 3.52591144e-02 -2.15404469e-04 9.99378181e-01 4.62515540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.33, Y:6.35, Z:4.63 [[ 9.98672897e-01 -3.74246925e-02 -3.53813190e-02 1.87327411e+02] [ 3.74116155e-02 9.99299408e-01 -1.03180643e-03 6.35327176e+00] [ 3.53951462e-02 -2.93235187e-04 9.99373352e-01 4.62531624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.36, Y:6.35, Z:4.63 [[ 9.98572792e-01 -4.00227933e-02 -3.53631817e-02 1.87355188e+02] [ 4.00111481e-02 9.99198695e-01 -1.03720652e-03 6.35146005e+00] [ 3.53763569e-02 -3.79195286e-04 9.99373989e-01 4.62560952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.38, Y:6.35, Z:4.63 [[ 9.98444037e-01 -4.27355935e-02 -3.58214260e-02 1.87382571e+02] [ 4.27250776e-02 9.99086305e-01 -1.05934501e-03 6.34986059e+00] [ 3.58339679e-02 -4.72776493e-04 9.99357645e-01 4.62611433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.41, Y:6.35, Z:4.63 [[ 9.98211790e-01 -4.83244203e-02 -3.51848407e-02 1.87410635e+02] [ 4.83175373e-02 9.98831478e-01 -1.04638092e-03 6.34648063e+00] [ 3.51942922e-02 -6.55535084e-04 9.99380274e-01 4.62633995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.44, Y:6.35, Z:4.63 [[ 9.98095590e-01 -5.08558472e-02 -3.49124131e-02 1.87437405e+02] [ 5.08503160e-02 9.98705737e-01 -1.04691275e-03 6.34538801e+00] [ 3.49204689e-02 -7.30388236e-04 9.99389828e-01 4.62713173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.46, Y:6.34, Z:4.63 [[ 9.97923193e-01 -5.41181938e-02 -3.49359825e-02 1.87464932e+02] [ 5.41144479e-02 9.98534184e-01 -1.05346574e-03 6.34468653e+00] [ 3.49417844e-02 -8.39263508e-04 9.99388997e-01 4.62791021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.49, Y:6.34, Z:4.63 [[ 9.97609803e-01 -5.96415249e-02 -3.48936883e-02 1.87492667e+02] [ 5.96408180e-02 9.98219337e-01 -1.06204942e-03 6.34209080e+00] [ 3.48948967e-02 -1.02157720e-03 9.99390466e-01 4.62859635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.52, Y:6.34, Z:4.63 [[ 9.97436722e-01 -6.25082634e-02 -3.48238818e-02 1.87521781e+02] [ 6.25089718e-02 9.98043829e-01 -1.06945590e-03 6.34167061e+00] [ 3.48226101e-02 -1.11009046e-03 9.99392892e-01 4.62929962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.55, Y:6.34, Z:4.63 [[ 9.97263346e-01 -6.50816633e-02 -3.50741481e-02 1.87550348e+02] [ 6.50836587e-02 9.97879220e-01 -1.08604647e-03 6.34143975e+00] [ 3.50704453e-02 -1.19967955e-03 9.99384123e-01 4.63019894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.58, Y:6.34, Z:4.63 [[ 9.97133119e-01 -6.69987978e-02 -3.51668165e-02 1.87580040e+02] [ 6.70017512e-02 9.97752256e-01 -1.09582163e-03 6.34128419e+00] [ 3.51611892e-02 -1.26355825e-03 9.99380855e-01 4.63064743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.61, Y:6.34, Z:4.63 [[ 9.96935412e-01 -6.96271062e-02 -3.56630029e-02 1.87609660e+02] [ 6.96317761e-02 9.97572142e-01 -1.11258190e-03 6.34057291e+00] [ 3.56538840e-02 -1.37410594e-03 9.99363253e-01 4.63111502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.64, Y:6.34, Z:4.63 [[ 9.96867033e-01 -7.04646786e-02 -3.59283671e-02 1.87637969e+02] [ 7.04699029e-02 9.97513275e-01 -1.12249108e-03 6.34104510e+00] [ 3.59181191e-02 -1.41289420e-03 9.99353737e-01 4.63162356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.67, Y:6.34, Z:4.63 [[ 9.96840661e-01 -7.07155426e-02 -3.61664128e-02 1.87667901e+02] [ 7.07209238e-02 9.97495498e-01 -1.13207390e-03 6.34168282e+00] [ 3.61558892e-02 -1.42922483e-03 9.99345140e-01 4.63241440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.70, Y:6.34, Z:4.63 [[ 9.96837693e-01 -7.07640722e-02 -3.61532890e-02 1.87697628e+02] [ 7.07694343e-02 9.97492057e-01 -1.13296259e-03 6.34257505e+00] [ 3.61427917e-02 -1.42916800e-03 9.99345614e-01 4.63298071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.73, Y:6.34, Z:4.63 [[ 9.96876574e-01 -6.99572641e-02 -3.66480122e-02 1.87727468e+02] [ 6.99621813e-02 9.97548982e-01 -1.14980146e-03 6.34480248e+00] [ 3.66386242e-02 -1.41776474e-03 9.99327575e-01 4.63355189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.76, Y:6.35, Z:4.63 [[ 9.96910801e-01 -6.92958648e-02 -3.69721195e-02 1.87755789e+02] [ 6.93003579e-02 9.97595164e-01 -1.16153084e-03 6.34658257e+00] [ 3.69636969e-02 -1.40423847e-03 9.99315622e-01 4.63410245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.79, Y:6.35, Z:4.63 [[ 9.96978360e-01 -6.78758357e-02 -3.77759327e-02 1.87785214e+02] [ 6.78794389e-02 9.97692823e-01 -1.18865332e-03 6.34968978e+00] [ 3.77694578e-02 -1.37914748e-03 9.99285528e-01 4.63490776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.81, Y:6.35, Z:4.64 [[ 9.96991944e-01 -6.76777142e-02 -3.77728712e-02 1.87813601e+02] [ 6.76810226e-02 9.97706298e-01 -1.19258488e-03 6.35146353e+00] [ 3.77669430e-02 -1.36750903e-03 9.99285639e-01 4.63533744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.84, Y:6.35, Z:4.64 [[ 9.97010922e-01 -6.73603215e-02 -3.78392579e-02 1.87842446e+02] [ 6.73631276e-02 9.97727800e-01 -1.20222955e-03 6.35300634e+00] [ 3.78342622e-02 -1.35033476e-03 9.99283116e-01 4.63593677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.87, Y:6.35, Z:4.64 [[ 9.97033612e-01 -6.70480415e-02 -3.77959880e-02 1.87871392e+02] [ 6.70505248e-02 9.97748856e-01 -1.20329754e-03 6.35454023e+00] [ 3.77915825e-02 -1.33451273e-03 9.99284752e-01 4.63661438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.90, Y:6.36, Z:4.64 [[ 9.97073228e-01 -6.66291043e-02 -3.74905477e-02 1.87899524e+02] [ 6.66311767e-02 9.97776957e-01 -1.19557146e-03 6.35748694e+00] [ 3.74868644e-02 -1.30596701e-03 9.99296267e-01 4.63766080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.93, Y:6.36, Z:4.64 [[ 9.97073909e-01 -6.66792845e-02 -3.73830463e-02 1.87928147e+02] [ 6.66812195e-02 9.97773613e-01 -1.19643556e-03 6.35975883e+00] [ 3.73795946e-02 -1.29981244e-03 9.99300293e-01 4.63887631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.96, Y:6.36, Z:4.64 [[ 9.97125997e-01 -6.60489615e-02 -3.71117236e-02 1.87956737e+02] [ 6.60501667e-02 9.97815588e-01 -1.19490677e-03 6.36180441e+00] [ 3.71095786e-02 -1.25976293e-03 9.99310408e-01 4.63957228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.435099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.99, Y:6.36, Z:4.64 [[ 9.97143956e-01 -6.56566477e-02 -3.73247375e-02 1.87986558e+02] [ 6.56575246e-02 9.97841491e-01 -1.20358232e-03 6.36424676e+00] [ 3.73231949e-02 -1.25050503e-03 9.99302464e-01 4.64071101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.02, Y:6.37, Z:4.64 [[ 9.97233442e-01 -6.43473638e-02 -3.72139577e-02 1.88015579e+02] [ 6.43472756e-02 9.97926843e-01 -1.20133667e-03 6.36829888e+00] [ 3.72141102e-02 -1.19660369e-03 9.99306599e-01 4.64206712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.04, Y:6.37, Z:4.64 [[ 9.97280846e-01 -6.38238521e-02 -3.68433067e-02 1.88044232e+02] [ 6.38233531e-02 9.97960501e-01 -1.19087561e-03 6.37094033e+00] [ 3.68441711e-02 -1.16382594e-03 9.99320345e-01 4.64299278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.07, Y:6.37, Z:4.64 [[ 9.97335172e-01 -6.32236604e-02 -3.64049910e-02 1.88074140e+02] [ 6.32227103e-02 9.97998748e-01 -1.17844355e-03 6.37348540e+00] [ 3.64066409e-02 -1.12631899e-03 9.99336424e-01 4.64400955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.10, Y:6.38, Z:4.65 [[ 9.97444717e-01 -6.18507522e-02 -3.57564191e-02 1.88103636e+02] [ 6.18489089e-02 9.98084851e-01 -1.15871144e-03 6.37794980e+00] [ 3.57596074e-02 -1.05574490e-03 9.99359863e-01 4.64590201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.13, Y:6.38, Z:4.65 [[ 9.97533489e-01 -6.06570195e-02 -3.53222848e-02 1.88133000e+02] [ 6.06544409e-02 9.98158167e-01 -1.14554691e-03 6.38083265e+00] [ 3.53267125e-02 -9.99732025e-04 9.99375317e-01 4.64699517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.16, Y:6.38, Z:4.65 [[ 9.97638205e-01 -5.93183054e-02 -3.46316369e-02 1.88162360e+02] [ 5.93150131e-02 9.98238683e-01 -1.12336251e-03 6.38378502e+00] [ 3.46372756e-02 -9.33466642e-04 9.99399514e-01 4.64799835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.19, Y:6.39, Z:4.65 [[ 9.97729281e-01 -5.78275509e-02 -3.45290528e-02 1.88192262e+02] [ 5.78233432e-02 9.98326201e-01 -1.12127397e-03 6.38699766e+00] [ 3.45360986e-02 -8.77857396e-04 9.99403065e-01 4.64931061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.22, Y:6.39, Z:4.65 [[ 9.97837942e-01 -5.63026095e-02 -3.39036676e-02 1.88220746e+02] [ 5.62976237e-02 9.98413423e-01 -1.10242051e-03 6.38984341e+00] [ 3.39119460e-02 -8.08658912e-04 9.99424497e-01 4.64999439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.25, Y:6.39, Z:4.65 [[ 9.97825308e-01 -5.65261292e-02 -3.39035519e-02 1.88249973e+02] [ 5.65211518e-02 9.98400789e-01 -1.10596886e-03 6.39084336e+00] [ 3.39118491e-02 -8.12704081e-04 9.99424497e-01 4.65075141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.28, Y:6.39, Z:4.65 [[ 9.97923807e-01 -5.50675973e-02 -3.34011124e-02 1.88279804e+02] [ 5.50617501e-02 9.98482350e-01 -1.09555202e-03 6.39360240e+00] [ 3.34107506e-02 -7.45846259e-04 9.99441427e-01 4.65140251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.31, Y:6.40, Z:4.65 [[ 9.98089021e-01 -5.25612734e-02 -3.24902997e-02 1.88309349e+02] [ 5.25543770e-02 9.98617494e-01 -1.06679389e-03 6.39761823e+00] [ 3.25014537e-02 -6.42752189e-04 9.99471482e-01 4.65171016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.34, Y:6.40, Z:4.65 [[ 9.98161109e-01 -5.14165463e-02 -3.21051169e-02 1.88338640e+02] [ 5.14091840e-02 9.98677116e-01 -1.05528408e-03 6.40012666e+00] [ 3.21169046e-02 -5.97154332e-04 9.99483941e-01 4.65207906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.37, Y:6.40, Z:4.65 [[ 9.98196569e-01 -5.05788083e-02 -3.23325401e-02 1.88366815e+02] [ 5.05708610e-02 9.98719909e-01 -1.06403204e-03 6.40255610e+00] [ 3.23449690e-02 -5.72971263e-04 9.99476600e-01 4.65249685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.40, Y:6.40, Z:4.65 [[ 9.98250771e-01 -4.94279717e-02 -3.24387631e-02 1.88396125e+02] [ 4.94193123e-02 9.98777547e-01 -1.06914469e-03 6.40463471e+00] [ 3.24519539e-02 -5.35826854e-04 9.99473153e-01 4.65273992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.42, Y:6.41, Z:4.65 [[ 9.98303593e-01 -4.84940277e-02 -3.22221251e-02 1.88424349e+02] [ 4.84849149e-02 9.98823348e-01 -1.06456038e-03 6.40789714e+00] [ 3.22358357e-02 -4.99532542e-04 9.99480166e-01 4.65290756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.45, Y:6.41, Z:4.65 [[ 9.98339265e-01 -4.84186203e-02 -3.12145578e-02 1.88453085e+02] [ 4.84097900e-02 9.98827018e-01 -1.03900383e-03 6.40995783e+00] [ 3.12282509e-02 -4.73811873e-04 9.99512167e-01 4.65347662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.48, Y:6.41, Z:4.65 [[ 9.98367171e-01 -4.83156469e-02 -3.04727679e-02 1.88481353e+02] [ 4.83069790e-02 9.98832015e-01 -1.02100810e-03 6.41175708e+00] [ 3.04865068e-02 -4.52706388e-04 9.99535076e-01 4.65407982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.51, Y:6.41, Z:4.65 [[ 9.98406395e-01 -4.76256955e-02 -3.02731328e-02 1.88511365e+02] [ 4.76167768e-02 9.98865161e-01 -1.01587086e-03 6.41329148e+00] [ 3.02871592e-02 -4.27257045e-04 9.99541147e-01 4.65452317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.54, Y:6.42, Z:4.65 [[ 9.98457244e-01 -4.70130192e-02 -2.95450125e-02 1.88541106e+02] [ 4.70042259e-02 9.98894197e-01 -9.92460127e-04 6.41591239e+00] [ 2.95590001e-02 -3.97811439e-04 9.99562958e-01 4.65468657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.57, Y:6.42, Z:4.66 [[ 9.98495102e-01 -4.66333543e-02 -2.88593348e-02 1.88570918e+02] [ 4.66247785e-02 9.98912002e-01 -9.70375596e-04 6.41779655e+00] [ 2.88731878e-02 -3.76644815e-04 9.99583012e-01 4.65580548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.60, Y:6.42, Z:4.66 [[ 9.98506503e-01 -4.69617458e-02 -2.79169967e-02 1.88601554e+02] [ 4.69538368e-02 9.98896619e-01 -9.39129593e-04 6.41956473e+00] [ 2.79302968e-02 -3.73083102e-04 9.99609804e-01 4.65681751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.63, Y:6.42, Z:4.66 [[ 9.98414794e-01 -4.89408581e-02 -2.77973238e-02 1.88631838e+02] [ 4.89337845e-02 9.98801587e-01 -9.35068862e-04 6.42085780e+00] [ 2.78097742e-02 -4.26641669e-04 9.99613142e-01 4.65724670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.66, Y:6.42, Z:4.66 [[ 9.98347527e-01 -5.04785180e-02 -2.74615014e-02 1.88662841e+02] [ 5.04722098e-02 9.98725039e-01 -9.23257524e-04 6.42148562e+00] [ 2.74730937e-02 -4.64310795e-04 9.99622435e-01 4.65783996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.69, Y:6.42, Z:4.66 [[ 9.98268707e-01 -5.21951282e-02 -2.71156428e-02 1.88693007e+02] [ 5.21896361e-02 9.98636777e-01 -9.10694868e-04 6.42190242e+00] [ 2.71262119e-02 -5.06037341e-04 9.99631889e-01 4.65853065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.185099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.72, Y:6.42, Z:4.66 [[ 9.98195009e-01 -5.38854238e-02 -2.65157420e-02 1.88723049e+02] [ 5.38807801e-02 9.98546979e-01 -8.90086498e-04 6.42199407e+00] [ 2.65251768e-02 -5.40208967e-04 9.99648000e-01 4.65900763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.21509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.76, Y:6.42, Z:4.66 [[ 9.98080872e-01 -5.62104914e-02 -2.59798759e-02 1.88755426e+02] [ 5.62068322e-02 9.98418766e-01 -8.71651323e-04 6.42186235e+00] [ 2.59877916e-02 -5.90268013e-04 9.99662086e-01 4.66015706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.79, Y:6.42, Z:4.66 [[ 9.98046601e-01 -5.69229483e-02 -2.57441276e-02 1.88787917e+02] [ 5.69196385e-02 9.98378391e-01 -8.61939827e-04 6.42225964e+00] [ 2.57514449e-02 -6.05090322e-04 9.99668193e-01 4.66083292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.82, Y:6.42, Z:4.66 [[ 9.98035982e-01 -5.71578448e-02 -2.56351330e-02 1.88819344e+02] [ 5.71546881e-02 9.98364967e-01 -8.56427741e-04 6.42245958e+00] [ 2.56421703e-02 -6.10422331e-04 9.99670999e-01 4.66163663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.85, Y:6.42, Z:4.66 [[ 9.98039323e-01 -5.70243981e-02 -2.58017053e-02 1.88851541e+02] [ 5.70211920e-02 9.98372597e-01 -8.60584546e-04 6.42270897e+00] [ 2.58087898e-02 -6.12346774e-04 9.99666710e-01 4.66249552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.88, Y:6.42, Z:4.66 [[ 9.98110916e-01 -5.58267956e-02 -2.56508971e-02 1.88882561e+02] [ 5.58232793e-02 9.98440300e-01 -8.53699031e-04 6.42183127e+00] [ 2.56585486e-02 -5.79830869e-04 9.99670597e-01 4.66269671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.91, Y:6.42, Z:4.66 [[ 9.98179778e-01 -5.48263972e-02 -2.51236516e-02 1.88914744e+02] [ 5.48227403e-02 9.98495754e-01 -8.34834707e-04 6.42165749e+00] [ 2.51316304e-02 -5.44032304e-04 9.99684003e-01 4.66312835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.95, Y:6.42, Z:4.66 [[ 9.98254899e-01 -5.35530134e-02 -2.48843611e-02 1.88946690e+02] [ 5.35490750e-02 9.98564878e-01 -8.25089141e-04 6.42159753e+00] [ 2.48928350e-02 -5.08885241e-04 9.99689996e-01 4.66401264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.98, Y:6.42, Z:4.66 [[ 9.98313568e-01 -5.24149992e-02 -2.49537055e-02 1.88978876e+02] [ 5.24107292e-02 9.98625272e-01 -8.25558291e-04 6.42173522e+00] [ 2.49626726e-02 -4.83675857e-04 9.99688267e-01 4.66479562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.01, Y:6.42, Z:4.66 [[ 9.98372192e-01 -5.13752353e-02 -2.47699862e-02 1.89010062e+02] [ 5.13707531e-02 9.98679316e-01 -8.17662655e-04 6.42178114e+00] [ 2.47792805e-02 -4.56121190e-04 9.99692842e-01 4.66485226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.04, Y:6.42, Z:4.66 [[ 9.98440656e-01 -4.98450956e-02 -2.51340954e-02 1.89041123e+02] [ 4.98400314e-02 9.98756870e-01 -8.28279500e-04 6.42087606e+00] [ 2.51441362e-02 -4.25696178e-04 9.99683746e-01 4.66475511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.07, Y:6.42, Z:4.67 [[ 9.98467484e-01 -4.93305879e-02 -2.50833935e-02 1.89070976e+02] [ 4.93254052e-02 9.98782420e-01 -8.25672915e-04 6.42088801e+00] [ 2.50935834e-02 -4.12840992e-04 9.99685021e-01 4.66526384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.10, Y:6.42, Z:4.67 [[ 9.98459794e-01 -4.91563858e-02 -2.57233303e-02 1.89101340e+02] [ 4.91508899e-02 9.98791006e-01 -8.46260906e-04 6.42104101e+00] [ 2.57338300e-02 -4.19367084e-04 9.99668742e-01 4.66604357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.13, Y:6.42, Z:4.67 [[ 9.98383859e-01 -5.04167057e-02 -2.62264416e-02 1.89132473e+02] [ 5.04114677e-02 9.98728162e-01 -8.61274576e-04 6.42019139e+00] [ 2.62365085e-02 -4.62230781e-04 9.99655657e-01 4.66636745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.16, Y:6.42, Z:4.67 [[ 9.98333082e-01 -5.16460307e-02 -2.57632615e-02 1.89163377e+02] [ 5.16414086e-02 9.98665335e-01 -8.45154596e-04 6.42010562e+00] [ 2.57725251e-02 -4.86705323e-04 9.99667715e-01 4.66675732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.19, Y:6.42, Z:4.67 [[ 9.98245727e-01 -5.31203587e-02 -2.61475880e-02 1.89193513e+02] [ 5.31161284e-02 9.98587974e-01 -8.56800468e-04 6.41996283e+00] [ 2.61561805e-02 -5.33561237e-04 9.99657726e-01 4.66735726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.22, Y:6.42, Z:4.67 [[ 9.98154343e-01 -5.50330441e-02 -2.56762691e-02 1.89224750e+02] [ 5.50296088e-02 9.98484369e-01 -8.40903133e-04 6.41966058e+00] [ 2.56836308e-02 -5.73603928e-04 9.99669957e-01 4.66758437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.26, Y:6.42, Z:4.67 [[ 9.97886852e-01 -5.96316121e-02 -2.58050704e-02 1.89256375e+02] [ 5.96297025e-02 9.98220209e-01 -8.44182807e-04 6.41828325e+00] [ 2.58094827e-02 -6.96349745e-04 9.99666637e-01 4.66784197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.29, Y:6.42, Z:4.67 [[ 9.97739075e-01 -6.20838679e-02 -2.57358011e-02 1.89288129e+02] [ 6.20828638e-02 9.98070646e-01 -8.38793272e-04 6.41807190e+00] [ 2.57382231e-02 -7.60855410e-04 9.99668428e-01 4.66842673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.32, Y:6.42, Z:4.67 [[ 9.97610145e-01 -6.47041247e-02 -2.42358168e-02 1.89319307e+02] [ 6.45654382e-02 9.97892548e-01 -6.46265498e-03 6.42112577e+00] [ 2.46029014e-02 4.88241404e-03 9.99685380e-01 4.66833462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.35, Y:6.42, Z:4.67 [[ 9.97428017e-01 -6.69526493e-02 -2.55869709e-02 1.89351932e+02] [ 6.70967570e-02 9.97734857e-01 4.81468914e-03 6.41502210e+00] [ 2.52066566e-02 -6.51910862e-03 9.99661005e-01 4.66839436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.38, Y:6.42, Z:4.67 [[ 9.97155070e-01 -7.14778285e-02 -2.39308527e-02 1.89384277e+02] [ 7.14797895e-02 9.97441748e-01 -7.74553507e-04 6.41643774e+00] [ 2.39249949e-02 -9.38222354e-04 9.99713316e-01 4.67048328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.42, Y:6.42, Z:4.67 [[ 9.97026024e-01 -7.32962436e-02 -2.38068982e-02 1.89416247e+02] [ 7.32987423e-02 9.97309733e-01 -7.68831722e-04 6.41624502e+00] [ 2.37992038e-02 -9.78470464e-04 9.99716280e-01 4.67143560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.45, Y:6.42, Z:4.67 [[ 9.96897334e-01 -7.51372472e-02 -2.34542036e-02 1.89447981e+02] [ 7.51402196e-02 9.97172691e-01 -7.55787960e-04 6.41606908e+00] [ 2.34446792e-02 -1.00891101e-03 9.99724627e-01 4.67248138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.48, Y:6.41, Z:4.67 [[ 9.96681851e-01 -7.80249522e-02 -2.31817714e-02 1.89479704e+02] [ 7.80286751e-02 9.96950837e-01 -7.45281856e-04 6.41499027e+00] [ 2.31692369e-02 -1.06603401e-03 9.99730989e-01 4.67334234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.935099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.51, Y:6.41, Z:4.67 [[ 9.96499001e-01 -8.03558127e-02 -2.30799511e-02 1.89512378e+02] [ 8.03601544e-02 9.96765618e-01 -7.40803960e-04 6.41384617e+00] [ 2.30648296e-02 -1.11649803e-03 9.99733348e-01 4.67380900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.54, Y:6.41, Z:4.67 [[ 9.96423460e-01 -8.13088092e-02 -2.30036099e-02 1.89544957e+02] [ 8.13134112e-02 9.96688310e-01 -7.36798323e-04 6.41354399e+00] [ 2.29873373e-02 -1.13633886e-03 9.99735110e-01 4.67463793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.58, Y:6.41, Z:4.68 [[ 9.96333504e-01 -8.22666548e-02 -2.34892734e-02 1.89577610e+02] [ 8.22717818e-02 9.96609649e-01 -7.49672911e-04 6.41341614e+00] [ 2.34713096e-02 -1.18558014e-03 9.99723808e-01 4.67544065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.61, Y:6.41, Z:4.68 [[ 9.96211319e-01 -8.35482580e-02 -2.41391225e-02 1.89610647e+02] [ 8.35541145e-02 9.96502946e-01 -7.67659456e-04 6.41211057e+00] [ 2.41188433e-02 -1.25217197e-03 9.99708314e-01 4.67592948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.64, Y:6.41, Z:4.68 [[ 9.96152039e-01 -8.40958210e-02 -2.46780765e-02 1.89642428e+02] [ 8.41021787e-02 9.96456829e-01 -7.82001158e-04 6.41218864e+00] [ 2.46564009e-02 -1.29648795e-03 9.99695144e-01 4.67652114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.68, Y:6.41, Z:4.68 [[ 9.96140132e-01 -8.40404803e-02 -2.53384217e-02 1.89675201e+02] [ 8.40472251e-02 9.96461451e-01 -8.00567221e-04 6.41255619e+00] [ 2.53160405e-02 -1.33214690e-03 9.99678610e-01 4.67734626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.71, Y:6.41, Z:4.68 [[ 9.96145041e-01 -8.37620806e-02 -2.60570778e-02 1.89706847e+02] [ 8.37691963e-02 9.96484846e-01 -8.20297788e-04 6.41298222e+00] [ 2.60341931e-02 -1.36564490e-03 9.99660120e-01 4.67776265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.74, Y:6.41, Z:4.68 [[ 9.96227163e-01 -8.23157957e-02 -2.74872615e-02 1.89737672e+02] [ 8.23232374e-02 9.96605308e-01 -8.62718074e-04 6.41368553e+00] [ 2.74649660e-02 -1.40337717e-03 9.99621782e-01 4.67886163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.77, Y:6.41, Z:4.68 [[ 9.96234602e-01 -8.22257005e-02 -2.74873102e-02 1.89770343e+02] [ 8.22331507e-02 9.96612747e-01 -8.61161702e-04 6.41465322e+00] [ 2.74650134e-02 -1.40244904e-03 9.99621782e-01 4.67970699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.80, Y:6.42, Z:4.68 [[ 9.96335662e-01 -8.10809381e-02 -2.72236931e-02 1.89802532e+02] [ 8.10878855e-02 9.96706592e-01 -8.50485180e-04 6.41557792e+00] [ 2.72029926e-02 -1.36014300e-03 9.99629005e-01 4.68048289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.83, Y:6.42, Z:4.68 [[ 9.96602515e-01 -7.80623250e-02 -2.62621523e-02 1.89834976e+02] [ 7.80677927e-02 9.96947717e-01 -8.18598131e-04 6.41690960e+00] [ 2.62458945e-02 -1.23441131e-03 9.99654755e-01 4.68216106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.87, Y:6.42, Z:4.68 [[ 9.96765326e-01 -7.60741627e-02 -2.59153828e-02 1.89865802e+02] [ 7.60788651e-02 9.97101478e-01 -8.05904434e-04 6.41820498e+00] [ 2.59015750e-02 -1.16831531e-03 9.99663815e-01 4.68353844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.90, Y:6.42, Z:4.68 [[ 9.96971200e-01 -7.35443004e-02 -2.52915391e-02 1.89897485e+02] [ 7.35480003e-02 9.97291369e-01 -7.85160234e-04 6.41967927e+00] [ 2.52807777e-02 -1.07735998e-03 9.99679810e-01 4.68496924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.93, Y:6.42, Z:4.69 [[ 9.97275210e-01 -6.99833931e-02 -2.33340928e-02 1.89930514e+02] [ 6.98818975e-02 9.97542039e-01 -5.13808810e-03 6.42230265e+00] [ 2.36363193e-02 3.49345721e-03 9.99714519e-01 4.68514228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.96, Y:6.42, Z:4.69 [[ 9.97387071e-01 -6.79649578e-02 -2.44906971e-02 1.89961397e+02] [ 6.80733642e-02 9.97673753e-01 3.61928651e-03 6.42038131e+00] [ 2.41877410e-02 -5.27699371e-03 9.99693506e-01 4.68605149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.99, Y:6.42, Z:4.69 [[ 9.97852146e-01 -6.08513845e-02 -2.42528963e-02 1.89992062e+02] [ 6.08510280e-02 9.98146575e-01 -7.53400243e-04 6.42445087e+00] [ 2.42537909e-02 -7.24031626e-04 9.99705571e-01 4.68831997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.02, Y:6.43, Z:4.69 [[ 9.98090799e-01 -5.69243093e-02 -2.39662117e-02 1.90024329e+02] [ 5.69228601e-02 9.98378303e-01 -7.43229065e-04 6.42617214e+00] [ 2.39696536e-02 -6.22415224e-04 9.99712493e-01 4.68933150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.06, Y:6.43, Z:4.69 [[ 9.98310894e-01 -5.29372657e-02 -2.39375179e-02 1.90055063e+02] [ 5.29347188e-02 9.98597700e-01 -7.40483198e-04 6.42787083e+00] [ 2.39431495e-02 -5.27893336e-04 9.99713182e-01 4.69049437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.09, Y:6.43, Z:4.69 [[ 9.98500992e-01 -4.90436735e-02 -2.42999258e-02 1.90086078e+02] [ 4.90399065e-02 9.98796537e-01 -7.51278182e-04 6.42948599e+00] [ 2.43075272e-02 -4.41514080e-04 9.99704431e-01 4.69138374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.12, Y:6.43, Z:4.69 [[ 9.98783522e-01 -4.21565990e-02 -2.55792476e-02 1.90115898e+02] [ 4.21501920e-02 9.99110974e-01 -7.89838412e-04 6.43078736e+00] [ 2.55898039e-02 -2.89292607e-04 9.99672485e-01 4.69206823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.14, Y:6.43, Z:4.69 [[ 9.98854952e-01 -4.01104951e-02 -2.60755352e-02 1.90144353e+02] [ 4.01031269e-02 9.99195221e-01 -8.05666151e-04 6.43171177e+00] [ 2.60868658e-02 -2.40966872e-04 9.99659651e-01 4.69258104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.17, Y:6.43, Z:4.69 [[ 9.98891825e-01 -3.85482488e-02 -2.70028456e-02 1.90173125e+02] [ 3.85395881e-02 9.99256720e-01 -8.41286501e-04 6.43230466e+00] [ 2.70152051e-02 -2.00324341e-04 9.99635003e-01 4.69311326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.20, Y:6.43, Z:4.69 [[ 9.98899889e-01 -3.80053451e-02 -2.74700826e-02 1.90201144e+02] [ 3.79959820e-02 9.99277519e-01 -8.62929507e-04 6.43264561e+00] [ 2.74830320e-02 -1.81772578e-04 9.99622254e-01 4.69367222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.23, Y:6.43, Z:4.69 [[ 9.98889633e-01 -3.82741423e-02 -2.74698333e-02 1.90229528e+02] [ 3.82646645e-02 9.99267260e-01 -8.70798281e-04 6.43360926e+00] [ 2.74830341e-02 -1.81292578e-04 9.99622254e-01 4.69441211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.26, Y:6.43, Z:4.69 [[ 9.98863331e-01 -3.85048651e-02 -2.80966502e-02 1.90256285e+02] [ 3.84948325e-02 9.99258396e-01 -8.98083243e-04 6.43280476e+00] [ 2.81103942e-02 -1.84513423e-04 9.99604808e-01 4.69429290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.685099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.28, Y:6.43, Z:4.69 [[ 9.98791061e-01 -3.96097929e-02 -2.91115287e-02 1.90284401e+02] [ 3.95993681e-02 9.99215200e-01 -9.34756066e-04 6.43257559e+00] [ 2.91257074e-02 -2.19172138e-04 9.99575733e-01 4.69469292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.71509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.31, Y:6.43, Z:4.69 [[ 9.98706086e-01 -4.13113925e-02 -2.96567510e-02 1.90312102e+02] [ 4.13010712e-02 9.99146285e-01 -9.60764150e-04 6.43245734e+00] [ 2.96711231e-02 -2.65334583e-04 9.99559680e-01 4.69474820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.34, Y:6.43, Z:4.70 [[ 9.98616062e-01 -4.32364081e-02 -2.99428543e-02 1.90339459e+02] [ 4.32265099e-02 9.99064819e-01 -9.78102730e-04 6.43233950e+00] [ 2.99571419e-02 -3.17575990e-04 9.99551134e-01 4.69533079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.37, Y:6.43, Z:4.70 [[ 9.98381386e-01 -4.81934380e-02 -3.01993542e-02 1.90367442e+02] [ 4.81855000e-02 9.98837913e-01 -9.90972639e-04 6.43174277e+00] [ 3.02120183e-02 -4.65802348e-04 9.99543404e-01 4.69544200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.39, Y:6.43, Z:4.70 [[ 9.98214506e-01 -5.08939749e-02 -3.12666506e-02 1.90394326e+02] [ 5.08069240e-02 9.98702103e-01 -3.57285733e-03 6.43334327e+00] [ 3.14079066e-02 1.97791568e-03 9.99504693e-01 4.69663689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.42, Y:6.43, Z:4.70 [[ 9.98066305e-01 -5.42167564e-02 -3.04005703e-02 1.90422163e+02] [ 5.42863592e-02 9.98524329e-01 1.46825044e-03 6.43119876e+00] [ 3.02761053e-02 -3.11574757e-03 9.99536717e-01 4.69580110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.45, Y:6.43, Z:4.70 [[ 9.97836865e-01 -5.75725223e-02 -3.17331970e-02 1.90450828e+02] [ 5.74462895e-02 9.98336690e-01 -4.87615336e-03 6.43462700e+00] [ 3.19611473e-02 3.04265116e-03 9.99484481e-01 4.69826549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.48, Y:6.43, Z:4.70 [[ 9.97663747e-01 -6.08412137e-02 -3.10708160e-02 1.90480105e+02] [ 6.09542270e-02 9.98136904e-01 2.70227227e-03 6.43100422e+00] [ 3.08485186e-02 -4.58985665e-03 9.99513533e-01 4.69681778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.51, Y:6.43, Z:4.70 [[ 9.97221639e-01 -6.77326485e-02 -3.10046905e-02 1.90509930e+02] [ 6.77327747e-02 9.97702949e-01 -1.04741009e-03 6.43275994e+00] [ 3.10044150e-02 -1.05553370e-03 9.99518690e-01 4.69852715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.54, Y:6.43, Z:4.70 [[ 9.96997762e-01 -7.09841175e-02 -3.09308659e-02 1.90539262e+02] [ 7.09857769e-02 9.97476780e-01 -1.04582255e-03 6.43318200e+00] [ 3.09270573e-02 -1.15296881e-03 9.99520979e-01 4.69912867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.57, Y:6.43, Z:4.70 [[ 9.96759823e-01 -7.42358743e-02 -3.09659429e-02 1.90571053e+02] [ 7.42391124e-02 9.97239920e-01 -1.04672376e-03 6.43349226e+00] [ 3.09581788e-02 -1.25555192e-03 9.99519892e-01 4.70005077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.60, Y:6.43, Z:4.70 [[ 9.96336793e-01 -7.99414726e-02 -3.03703257e-02 1.90602705e+02] [ 7.99472631e-02 9.96798567e-01 -1.02552846e-03 6.43356442e+00] [ 3.03550794e-02 -1.40625268e-03 9.99538189e-01 4.70122392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.64, Y:6.43, Z:4.70 [[ 9.96146864e-01 -8.23780426e-02 -3.00879450e-02 1.90635069e+02] [ 8.23848706e-02 9.96600072e-01 -1.01478388e-03 6.43453330e+00] [ 3.00692440e-02 -1.46791768e-03 9.99546740e-01 4.70232388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.67, Y:6.44, Z:4.70 [[ 9.96007997e-01 -8.43062080e-02 -2.93348380e-02 1.90666113e+02] [ 8.43135962e-02 9.96438780e-01 -9.87188249e-04 6.43559280e+00] [ 2.93135962e-02 -1.49007829e-03 9.99569154e-01 4.70375525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.70, Y:6.44, Z:4.70 [[ 9.95883176e-01 -8.58272935e-02 -2.91612127e-02 1.90698751e+02] [ 8.58353400e-02 9.96308857e-01 -9.78070684e-04 6.43681410e+00] [ 2.91375196e-02 -1.52901847e-03 9.99574243e-01 4.70459303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.73, Y:6.44, Z:4.70 [[ 9.95825748e-01 -8.61153386e-02 -3.02527451e-02 1.90731139e+02] [ 8.61241988e-02 9.96283894e-01 -1.01247727e-03 6.43866356e+00] [ 3.02275125e-02 -1.59724249e-03 9.99541768e-01 4.70445542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.76, Y:6.44, Z:4.71 [[ 9.95841006e-01 -8.53999785e-02 -3.17416796e-02 1.90761479e+02] [ 8.52591141e-02 9.96342119e-01 -5.76760822e-03 6.44304620e+00] [ 3.21181259e-02 3.03735330e-03 9.99479465e-01 4.70622100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.79, Y:6.44, Z:4.70 [[ 9.95941279e-01 -8.47406619e-02 -3.03313192e-02 1.90794181e+02] [ 8.48885032e-02 9.96383888e-01 3.61785238e-03 6.44046118e+00] [ 2.99150586e-02 -6.17794882e-03 9.99533352e-01 4.70486125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.83, Y:6.44, Z:4.71 [[ 9.96001597e-01 -8.40709699e-02 -3.02140666e-02 1.90826671e+02] [ 8.40790451e-02 9.96458581e-01 -1.00536240e-03 6.44494539e+00] [ 3.01915877e-02 -1.53902732e-03 9.99542945e-01 4.70721971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.86, Y:6.45, Z:4.71 [[ 9.96056536e-01 -8.33777212e-02 -3.03238085e-02 1.90858507e+02] [ 8.33856004e-02 9.96516848e-01 -1.00685323e-03 6.44706635e+00] [ 3.03021352e-02 -1.52568624e-03 9.99539620e-01 4.70825044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.89, Y:6.45, Z:4.71 [[ 9.96087922e-01 -8.29013768e-02 -3.05975998e-02 1.90890023e+02] [ 8.29092399e-02 9.96556587e-01 -1.01382192e-03 6.44910698e+00] [ 3.05762869e-02 -1.52696798e-03 9.99531270e-01 4.70918088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.92, Y:6.45, Z:4.71 [[ 9.96089128e-01 -8.22166666e-02 -3.23553471e-02 1.90921569e+02] [ 8.22251587e-02 9.96613204e-01 -1.07026691e-03 6.45171701e+00] [ 3.23337599e-02 -1.59434232e-03 9.99475856e-01 4.70989353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.95, Y:6.45, Z:4.71 [[ 9.96074445e-01 -8.21821900e-02 -3.28905434e-02 1.90953292e+02] [ 8.21910085e-02 9.96616004e-01 -1.08610686e-03 6.45386318e+00] [ 3.28685005e-02 -1.62146364e-03 9.99458370e-01 4.71043859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.99, Y:6.46, Z:4.71 [[ 9.96077355e-01 -8.13652817e-02 -3.47792057e-02 1.90985338e+02] [ 8.13747377e-02 9.96682918e-01 -1.14588295e-03 6.45746230e+00] [ 3.47570753e-02 -1.68876069e-03 9.99394364e-01 4.71135683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.02, Y:6.46, Z:4.71 [[ 9.96141321e-01 -8.03209908e-02 -3.53695691e-02 1.91016814e+02] [ 8.03301956e-02 9.96767629e-01 -1.16304627e-03 6.46006601e+00] [ 3.53486585e-02 -1.68268595e-03 9.99373624e-01 4.71185727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.435099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.05, Y:6.46, Z:4.71 [[ 9.96226277e-01 -7.88082321e-02 -3.63657543e-02 1.91046563e+02] [ 7.88170010e-02 9.96888386e-01 -1.19463756e-03 6.46302243e+00] [ 3.63467454e-02 -1.67611037e-03 9.99337833e-01 4.71269097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.08, Y:6.47, Z:4.71 [[ 9.96568908e-01 -7.39152335e-02 -3.72417646e-02 1.91077023e+02] [ 7.39210463e-02 9.97263347e-01 -1.22273105e-03 6.46811346e+00] [ 3.72302252e-02 -1.53441446e-03 9.99305537e-01 4.71374238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.11, Y:6.47, Z:4.71 [[ 9.96775636e-01 -7.11939720e-02 -3.70101236e-02 1.91106932e+02] [ 7.11978571e-02 9.97461473e-01 -1.21466322e-03 6.47145947e+00] [ 3.70026491e-02 -1.42429478e-03 9.99314152e-01 4.71485963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.14, Y:6.47, Z:4.72 [[ 9.97040776e-01 -6.78985292e-02 -3.60483064e-02 1.91136001e+02] [ 6.79000501e-02 9.97691427e-01 -1.18346219e-03 6.47462017e+00] [ 3.60454416e-02 -1.26772175e-03 9.99349348e-01 4.71635253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.16, Y:6.48, Z:4.72 [[ 9.97563467e-01 -6.13579129e-02 -3.32014452e-02 1.91164813e+02] [ 6.13555484e-02 9.98115377e-01 -1.09100201e-03 6.48009550e+00] [ 3.32058146e-02 -9.48749125e-04 9.99448085e-01 4.71869815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.19, Y:6.48, Z:4.72 [[ 9.97800997e-01 -5.80947168e-02 -3.19088284e-02 1.91194245e+02] [ 5.80908439e-02 9.98310750e-01 -1.04918438e-03 6.48302883e+00] [ 3.19158785e-02 -8.06733549e-04 9.99490233e-01 4.72006143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.22, Y:6.49, Z:4.72 [[ 9.98000360e-01 -5.49804746e-02 -3.11837796e-02 1.91223383e+02] [ 5.49752224e-02 9.98487191e-01 -1.02642841e-03 6.48602756e+00] [ 3.11930380e-02 -6.89959288e-04 9.99513141e-01 4.72157838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.25, Y:6.49, Z:4.72 [[ 9.98177264e-01 -5.19729994e-02 -3.06750099e-02 1.91252319e+02] [ 5.19664664e-02 9.98648319e-01 -1.01069894e-03 6.48893156e+00] [ 3.06860761e-02 -5.85215166e-04 9.99528900e-01 4.72236748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.28, Y:6.49, Z:4.72 [[ 9.98413490e-01 -4.69299009e-02 -3.11141148e-02 1.91281430e+02] [ 4.69207108e-02 9.98898090e-01 -1.02583011e-03 6.49369499e+00] [ 3.11279720e-02 -4.35693766e-04 9.99515312e-01 4.72279035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.31, Y:6.50, Z:4.72 [[ 9.98475610e-01 -4.49417036e-02 -3.20421438e-02 1.91310427e+02] [ 4.49308529e-02 9.98989538e-01 -1.05894642e-03 6.49627502e+00] [ 3.20573573e-02 -3.82348681e-04 9.99485958e-01 4.72327229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.34, Y:6.50, Z:4.72 [[ 9.98519294e-01 -4.32115443e-02 -3.30451542e-02 1.91338095e+02] [ 4.31988093e-02 9.99065891e-01 -1.09956951e-03 6.49859698e+00] [ 3.30618005e-02 -3.29569945e-04 9.99453255e-01 4.72363515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.37, Y:6.50, Z:4.72 [[ 9.98574270e-01 -4.16967703e-02 -3.33287527e-02 1.91365350e+02] [ 4.16828628e-02 9.99130273e-01 -1.11228923e-03 6.50045052e+00] [ 3.33461446e-02 -2.78534423e-04 9.99443824e-01 4.72368406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.39, Y:6.50, Z:4.72 [[ 9.98616392e-01 -4.01819832e-02 -3.39221268e-02 1.91392997e+02] [ 4.01665117e-02 9.99192352e-01 -1.13770488e-03 6.50275973e+00] [ 3.39404449e-02 -2.26402759e-04 9.99423831e-01 4.72442391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.42, Y:6.50, Z:4.73 [[ 9.98646168e-01 -3.94479916e-02 -3.39070504e-02 1.91420080e+02] [ 3.94318201e-02 9.99221606e-01 -1.14576568e-03 6.50465053e+00] [ 3.39258555e-02 -1.92802209e-04 9.99424334e-01 4.72509153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.45, Y:6.51, Z:4.73 [[ 9.98691621e-01 -3.84516885e-02 -3.37122060e-02 1.91448267e+02] [ 3.84349496e-02 9.99260449e-01 -1.14467066e-03 6.50747807e+00] [ 3.37312886e-02 -1.52553946e-04 9.99430927e-01 4.72598680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.48, Y:6.51, Z:4.73 [[ 9.98704187e-01 -3.83097971e-02 -3.35008327e-02 1.91475606e+02] [ 3.82928642e-02 9.99265901e-01 -1.14713930e-03 6.50932802e+00] [ 3.35201864e-02 -1.37190019e-04 9.99438031e-01 4.72684909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.50, Y:6.51, Z:4.73 [[ 9.98729174e-01 -3.81992665e-02 -3.28763201e-02 1.91503682e+02] [ 3.81825899e-02 9.99270134e-01 -1.13515404e-03 6.51102460e+00] [ 3.28956869e-02 -1.21591593e-04 9.99458783e-01 4.72755570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.53, Y:6.51, Z:4.73 [[ 9.98753376e-01 -3.79572715e-02 -3.24182096e-02 1.91530231e+02] [ 3.79406459e-02 9.99279358e-01 -1.12806232e-03 6.51254191e+00] [ 3.24376658e-02 -1.03311760e-04 9.99473755e-01 4.72817085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.56, Y:6.51, Z:4.73 [[ 9.98746336e-01 -3.81071425e-02 -3.24592500e-02 1.91558158e+02] [ 3.80903245e-02 9.99273654e-01 -1.13654902e-03 6.51395534e+00] [ 3.24789840e-02 -1.01259195e-04 9.99472413e-01 4.72882297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.59, Y:6.52, Z:4.73 [[ 9.98742477e-01 -3.82742765e-02 -3.23812440e-02 1.91586473e+02] [ 3.82573238e-02 9.99267267e-01 -1.14317065e-03 6.51528080e+00] [ 3.24012712e-02 -9.70866548e-05 9.99474936e-01 4.72858403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.61, Y:6.52, Z:4.73 [[ 9.98735610e-01 -3.84729252e-02 -3.23576164e-02 1.91613820e+02] [ 3.84558306e-02 9.99259638e-01 -1.15069804e-03 6.51647283e+00] [ 3.23779308e-02 -9.50959053e-05 9.99475693e-01 4.72929822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.64, Y:6.52, Z:4.73 [[ 9.98665533e-01 -4.00024753e-02 -3.26642838e-02 1.91641960e+02] [ 3.99857032e-02 9.99199571e-01 -1.16679317e-03 6.51784716e+00] [ 3.26848130e-02 -1.40868236e-04 9.99465699e-01 4.73023434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.67, Y:6.52, Z:4.73 [[ 9.98596976e-01 -4.14875317e-02 -3.29069066e-02 1.91669621e+02] [ 4.14710053e-02 9.99139005e-01 -1.18487845e-03 6.51892765e+00] [ 3.29277316e-02 -1.81466464e-04 9.99457719e-01 4.73081600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.70, Y:6.52, Z:4.73 [[ 9.98362116e-01 -4.57145183e-02 -3.43986584e-02 1.91696489e+02] [ 4.56986344e-02 9.98954492e-01 -1.24824686e-03 6.51939695e+00] [ 3.44197573e-02 -3.25769339e-04 9.99407412e-01 4.73145793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.72, Y:6.52, Z:4.73 [[ 9.98210739e-01 -4.85969596e-02 -3.48375663e-02 1.91724699e+02] [ 4.85821436e-02 9.98818380e-01 -1.27216183e-03 6.51935893e+00] [ 3.48582248e-02 -4.22598053e-04 9.99392178e-01 4.73173699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.185099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.75, Y:6.52, Z:4.73 [[ 9.98007479e-01 -5.21077452e-02 -3.55788602e-02 1.91752793e+02] [ 5.20941559e-02 9.98641319e-01 -1.30949290e-03 6.51945263e+00] [ 3.55987547e-02 -5.46566987e-04 9.99366014e-01 4.73211054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.21509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.78, Y:6.52, Z:4.73 [[ 9.97813134e-01 -5.56325161e-02 -3.56927485e-02 1.91780445e+02] [ 5.56207259e-02 9.98451091e-01 -1.32395438e-03 6.51953094e+00] [ 3.57111186e-02 -6.64197515e-04 9.99361934e-01 4.73261892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.81, Y:6.52, Z:4.73 [[ 9.97635036e-01 -5.89772622e-02 -3.52989872e-02 1.91808858e+02] [ 5.89675423e-02 9.98259031e-01 -1.31727573e-03 6.51997676e+00] [ 3.53152221e-02 -7.67334102e-04 9.99375928e-01 4.73328890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.84, Y:6.52, Z:4.73 [[ 9.97513120e-01 -6.12008724e-02 -3.49575178e-02 1.91839101e+02] [ 6.11735176e-02 9.98125427e-01 -1.85254794e-03 6.51956961e+00] [ 3.50053649e-02 -2.90533452e-04 9.99387082e-01 4.73356353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.87, Y:6.52, Z:4.73 [[ 9.97285523e-01 -6.47686918e-02 -3.50228807e-02 1.91868461e+02] [ 6.47850993e-02 9.97899016e-01 -6.67340614e-04 6.51978816e+00] [ 3.49925210e-02 -1.60343167e-03 9.99386288e-01 4.73432362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.90, Y:6.52, Z:4.74 [[ 9.97104184e-01 -6.79305935e-02 -3.41859731e-02 1.91897751e+02] [ 6.79263777e-02 9.97689507e-01 -1.28605446e-03 6.51964714e+00] [ 3.41943491e-02 -1.03979903e-03 9.99414661e-01 4.73539847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.93, Y:6.52, Z:4.74 [[ 9.97085272e-01 -6.84898427e-02 -3.36169848e-02 1.91929489e+02] [ 6.84860768e-02 9.97651270e-01 -1.26483879e-03 6.52057017e+00] [ 3.36246562e-02 -1.04114328e-03 9.99433989e-01 4.73627896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.96, Y:6.52, Z:4.74 [[ 9.97082074e-01 -6.85743863e-02 -3.35393983e-02 1.91960951e+02] [ 6.85707255e-02 9.97645461e-01 -1.26072609e-03 6.52165970e+00] [ 3.35468820e-02 -1.04277349e-03 9.99436601e-01 4.73753026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.99, Y:6.52, Z:4.74 [[ 9.97118563e-01 -6.82019396e-02 -3.32124562e-02 1.91991349e+02] [ 6.81981786e-02 9.97671014e-01 -1.24737750e-03 6.52285403e+00] [ 3.32201784e-02 -1.02124576e-03 9.99447536e-01 4.73820556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.02, Y:6.53, Z:4.74 [[ 9.97238976e-01 -6.68818266e-02 -3.22683337e-02 1.92022670e+02] [ 6.67914315e-02 9.97759445e-01 -3.87238311e-03 6.52509317e+00] [ 3.24550268e-02 1.70644317e-03 9.99471740e-01 4.73862346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.05, Y:6.52, Z:4.74 [[ 9.97303424e-01 -6.57232044e-02 -3.26548684e-02 1.92053923e+02] [ 6.58051728e-02 9.97831451e-01 1.44063615e-03 6.52389864e+00] [ 3.24893715e-02 -3.58561062e-03 9.99465649e-01 4.73958059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.09, Y:6.53, Z:4.74 [[ 9.97305688e-01 -6.57385699e-02 -3.25546518e-02 1.92085672e+02] [ 6.57335759e-02 9.97836458e-01 -1.22479083e-03 6.52639856e+00] [ 3.25647344e-02 -9.18442816e-04 9.99469206e-01 4.74121627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.12, Y:6.53, Z:4.74 [[ 9.97342966e-01 -6.51870411e-02 -3.25216509e-02 1.92116328e+02] [ 6.51818141e-02 9.97872656e-01 -1.22201653e-03 6.52741519e+00] [ 3.25321258e-02 -9.01050616e-04 9.99470284e-01 4.74226766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.15, Y:6.53, Z:4.74 [[ 9.97351182e-01 -6.49390937e-02 -3.27648169e-02 1.92147083e+02] [ 6.48952247e-02 9.97889193e-01 -2.40168510e-03 6.52947349e+00] [ 3.28516200e-02 2.69043319e-04 9.99460204e-01 4.74303140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.18, Y:6.53, Z:4.74 [[ 9.97319854e-01 -6.49380350e-02 -3.37069701e-02 1.92178754e+02] [ 6.49692556e-02 9.97887252e-01 -1.69364598e-04 6.52811638e+00] [ 3.36467539e-02 -2.02100608e-03 9.99431744e-01 4.74355142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.21, Y:6.53, Z:4.74 [[ 9.97303231e-01 -6.49005400e-02 -3.42663872e-02 1.92209080e+02] [ 6.48945065e-02 9.97891297e-01 -1.28939592e-03 6.52916778e+00] [ 3.42778120e-02 -9.37781567e-04 9.99411903e-01 4.74453257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.24, Y:6.53, Z:4.75 [[ 9.97269393e-01 -6.50266345e-02 -3.50042175e-02 1.92239953e+02] [ 6.50204327e-02 9.97883064e-01 -1.31669509e-03 6.53009800e+00] [ 3.50157361e-02 -9.62889661e-04 9.99386297e-01 4.74525232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.27, Y:6.53, Z:4.75 [[ 9.97240366e-01 -6.51424139e-02 -3.56106504e-02 1.92269309e+02] [ 6.51360632e-02 9.97875493e-01 -1.33967834e-03 6.53095018e+00] [ 3.56222652e-02 -9.83556259e-04 9.99364842e-01 4.74598390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.30, Y:6.53, Z:4.75 [[ 9.97230164e-01 -6.44502386e-02 -3.71236663e-02 1.92298988e+02] [ 6.44428331e-02 9.97920422e-01 -1.39728341e-03 6.53220404e+00] [ 3.71365200e-02 -9.98941063e-04 9.99309702e-01 4.74723647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.33, Y:6.53, Z:4.75 [[ 9.97244640e-01 -6.37574600e-02 -3.79224774e-02 1.92328704e+02] [ 6.37491982e-02 9.97964929e-01 -1.42825146e-03 6.53372553e+00] [ 3.79363641e-02 -9.93211417e-04 9.99279663e-01 4.74834316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.36, Y:6.54, Z:4.75 [[ 9.97283725e-01 -6.27798602e-02 -3.85209079e-02 1.92358121e+02] [ 6.27705533e-02 9.98026928e-01 -1.45219403e-03 6.53524197e+00] [ 3.85360719e-02 -9.69729232e-04 9.99256739e-01 4.74955053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.39, Y:6.54, Z:4.75 [[ 9.97373096e-01 -6.09957355e-02 -3.90695159e-02 1.92386427e+02] [ 6.09847216e-02 9.98137610e-01 -1.47473026e-03 6.53681439e+00] [ 3.90867055e-02 -9.11787268e-04 9.99235407e-01 4.75117426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.42, Y:6.54, Z:4.75 [[ 9.97423354e-01 -6.05721622e-02 -3.84404351e-02 1.92415434e+02] [ 6.05609969e-02 9.98163437e-01 -1.45588775e-03 6.53801901e+00] [ 3.84580231e-02 -8.75854634e-04 9.99259833e-01 4.75210622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.44, Y:6.54, Z:4.75 [[ 9.97457258e-01 -6.04325580e-02 -3.77746527e-02 1.92443684e+02] [ 6.04213195e-02 9.98171924e-01 -1.44009411e-03 6.53928884e+00] [ 3.77926263e-02 -8.45962032e-04 9.99285245e-01 4.75338823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.47, Y:6.54, Z:4.75 [[ 9.97494058e-01 -6.02363963e-02 -3.71103826e-02 1.92472466e+02] [ 6.02251444e-02 9.98183806e-01 -1.42201634e-03 6.54030640e+00] [ 3.71286401e-02 -8.16525298e-04 9.99310161e-01 4.75451717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.935099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.50, Y:6.54, Z:4.76 [[ 9.97545130e-01 -6.03141995e-02 -3.55796466e-02 1.92501952e+02] [ 6.03038330e-02 9.98179134e-01 -1.36540213e-03 6.54099229e+00] [ 3.55972139e-02 -7.83538824e-04 9.99365911e-01 4.75563313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.53, Y:6.54, Z:4.76 [[ 9.97569343e-01 -6.04254013e-02 -3.47012387e-02 1.92531916e+02] [ 6.04155651e-02 9.98172421e-01 -1.33290875e-03 6.54171378e+00] [ 3.47183611e-02 -7.66826039e-04 9.99396842e-01 4.75664184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.56, Y:6.54, Z:4.76 [[ 9.97566860e-01 -6.06624050e-02 -3.43574136e-02 1.92561559e+02] [ 6.06528654e-02 9.98158046e-01 -1.32079589e-03 6.54268946e+00] [ 3.43742514e-02 -7.66293371e-04 9.99408737e-01 4.75783925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.59, Y:6.54, Z:4.76 [[ 9.97563354e-01 -6.08790603e-02 -3.40748368e-02 1.92591950e+02] [ 6.08697872e-02 9.98144855e-01 -1.31040127e-03 6.54375613e+00] [ 3.40913991e-02 -7.66919778e-04 9.99418425e-01 4.75861562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.62, Y:6.54, Z:4.76 [[ 9.97490817e-01 -6.20556337e-02 -3.40759212e-02 1.92621423e+02] [ 6.20470412e-02 9.98072366e-01 -1.31058348e-03 6.54457725e+00] [ 3.40915644e-02 -8.07015100e-04 9.99418388e-01 4.76000070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.65, Y:6.55, Z:4.76 [[ 9.97438872e-01 -6.29074028e-02 -3.40346313e-02 1.92651797e+02] [ 6.28993110e-02 9.98019019e-01 -1.30945039e-03 6.54543981e+00] [ 3.40495835e-02 -8.34658138e-04 9.99419796e-01 4.76074187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.68, Y:6.55, Z:4.76 [[ 9.97368747e-01 -6.39930626e-02 -3.40656728e-02 1.92681620e+02] [ 6.39855838e-02 9.97949962e-01 -1.31078658e-03 6.54595984e+00] [ 3.40797181e-02 -8.72374389e-04 9.99418737e-01 4.76131535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.71, Y:6.55, Z:4.76 [[ 9.97267064e-01 -6.54629054e-02 -3.42492384e-02 1.92712559e+02] [ 6.54561958e-02 9.97854573e-01 -1.31831295e-03 6.54630917e+00] [ 3.42620597e-02 -9.27114772e-04 9.99412453e-01 4.76210237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.74, Y:6.55, Z:4.76 [[ 9.97046680e-01 -6.84571397e-02 -3.48071561e-02 1.92742341e+02] [ 6.84520269e-02 9.97653509e-01 -1.33994121e-03 6.54516504e+00] [ 3.48172100e-02 -1.04663645e-03 9.99393149e-01 4.76311051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.77, Y:6.55, Z:4.76 [[ 9.96932778e-01 -7.03029465e-02 -3.43879476e-02 1.92774061e+02] [ 7.02990476e-02 9.97525083e-01 -1.32394398e-03 6.54532092e+00] [ 3.43959174e-02 -1.09755681e-03 9.99407683e-01 4.76397531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.81, Y:6.55, Z:4.76 [[ 9.96853766e-01 -7.16052638e-02 -3.39890552e-02 1.92805270e+02] [ 7.16022578e-02 9.97432408e-01 -1.30719572e-03 6.54560383e+00] [ 3.39953873e-02 -1.13061012e-03 9.99421350e-01 4.76469691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.84, Y:6.54, Z:4.77 [[ 9.96719672e-01 -7.35970948e-02 -3.36654643e-02 1.92837797e+02] [ 7.35953469e-02 9.97287348e-01 -1.29276216e-03 6.54466220e+00] [ 3.36692851e-02 -1.18910005e-03 9.99432322e-01 4.76552869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.87, Y:6.54, Z:4.77 [[ 9.96700540e-01 -7.40226525e-02 -3.32968415e-02 1.92869010e+02] [ 7.40212708e-02 9.97255847e-01 -1.27586666e-03 6.54488409e+00] [ 3.32999129e-02 -1.19301754e-03 9.99444692e-01 4.76612493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.90, Y:6.55, Z:4.77 [[ 9.96723497e-01 -7.38111622e-02 -3.30784276e-02 1.92900506e+02] [ 7.38097895e-02 9.97271536e-01 -1.26425584e-03 6.54531419e+00] [ 3.30814905e-02 -1.18139828e-03 9.99451959e-01 4.76681912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.93, Y:6.55, Z:4.77 [[ 9.96768374e-01 -7.32210056e-02 -3.30377637e-02 1.92932628e+02] [ 7.32193603e-02 9.97315063e-01 -1.26125623e-03 6.54605992e+00] [ 3.30414098e-02 -1.16182360e-03 9.99453308e-01 4.76784120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.96, Y:6.55, Z:4.77 [[ 9.96936198e-01 -7.08298641e-02 -3.31865647e-02 1.92963683e+02] [ 7.08269529e-02 9.97487816e-01 -1.26476796e-03 6.54662179e+00] [ 3.31927773e-02 -1.08961030e-03 9.99448374e-01 4.76839197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.99, Y:6.55, Z:4.77 [[ 9.97034013e-01 -6.92884815e-02 -3.35004936e-02 1.92994080e+02] [ 6.92846931e-02 9.97596113e-01 -1.27532909e-03 6.54746990e+00] [ 3.35083278e-02 -1.04952493e-03 9.99437887e-01 4.76936285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.03, Y:6.55, Z:4.77 [[ 9.97203474e-01 -6.71052680e-02 -3.28955188e-02 1.93025426e+02] [ 6.71004870e-02 9.97745439e-01 -1.25051633e-03 6.54812097e+00] [ 3.29052701e-02 -9.60286105e-04 9.99458014e-01 4.77056072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.06, Y:6.55, Z:4.77 [[ 9.97264887e-01 -6.65174726e-02 -3.22206697e-02 1.93055293e+02] [ 6.65126203e-02 9.97784834e-01 -1.22358297e-03 6.54863229e+00] [ 3.22306852e-02 -9.22844833e-04 9.99480030e-01 4.77116208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.09, Y:6.55, Z:4.77 [[ 9.97309927e-01 -6.61707212e-02 -3.15332441e-02 1.93086651e+02] [ 6.61659540e-02 9.97807916e-01 -1.19577547e-03 6.54904232e+00] [ 3.15432459e-02 -8.93868429e-04 9.99501988e-01 4.77200547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.12, Y:6.55, Z:4.77 [[ 9.97351047e-01 -6.57419485e-02 -3.11269334e-02 1.93117779e+02] [ 6.57371285e-02 9.97836279e-01 -1.17927853e-03 6.54918490e+00] [ 3.11371115e-02 -8.70040540e-04 9.99514744e-01 4.77317229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.15, Y:6.56, Z:4.77 [[ 9.97396256e-01 -6.59563995e-02 -2.91626746e-02 1.93147427e+02] [ 6.56800611e-02 9.97787207e-01 -1.03352871e-02 6.55558395e+00] [ 2.97798219e-02 8.39297040e-03 9.99521246e-01 4.77335868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.18, Y:6.55, Z:4.77 [[ 9.97424583e-01 -6.44322668e-02 -3.15068993e-02 1.93179399e+02] [ 6.47059398e-02 9.97874326e-01 7.74402340e-03 6.54547883e+00] [ 3.09409609e-02 -9.76276284e-03 9.99473534e-01 4.77222519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.21, Y:6.55, Z:4.78 [[ 9.97477598e-01 -6.34854639e-02 -3.17496052e-02 1.93209793e+02] [ 6.34791671e-02 9.97982434e-01 -1.20728105e-03 6.55068353e+00] [ 3.17621930e-02 -8.11202689e-04 9.99495125e-01 4.77558611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.24, Y:6.55, Z:4.78 [[ 9.97560408e-01 -6.20061862e-02 -3.20696982e-02 1.93240152e+02] [ 6.19990132e-02 9.98075466e-01 -1.21897887e-03 6.55147077e+00] [ 3.20835633e-02 -7.72284589e-04 9.99484892e-01 4.77663570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.685099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.27, Y:6.55, Z:4.78 [[ 9.97817459e-01 -5.77543472e-02 -3.20117823e-02 1.93269785e+02] [ 5.77450139e-02 9.98330623e-01 -1.21675389e-03 6.55154204e+00] [ 3.20286153e-02 -6.34422538e-04 9.99486751e-01 4.77798887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.71509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.30, Y:6.55, Z:4.78 [[ 9.97971296e-01 -5.49520663e-02 -3.21490833e-02 1.93298582e+02] [ 5.49411922e-02 9.98488844e-01 -1.22219302e-03 6.55172656e+00] [ 3.21676630e-02 -5.46595411e-04 9.99482337e-01 4.77904734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.33, Y:6.55, Z:4.78 [[ 9.98114812e-01 -5.24823605e-02 -3.18186114e-02 1.93327895e+02] [ 5.24704043e-02 9.98621745e-01 -1.21120071e-03 6.55219054e+00] [ 3.18383239e-02 -4.60618036e-04 9.99492926e-01 4.77958312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.36, Y:6.55, Z:4.78 [[ 9.98342605e-01 -4.82124864e-02 -3.14260872e-02 1.93356231e+02] [ 4.81986371e-02 9.98837051e-01 -1.19851914e-03 6.55196905e+00] [ 3.14473239e-02 -3.18161852e-04 9.99505360e-01 4.78072658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.38, Y:6.55, Z:4.78 [[ 9.98433261e-01 -4.66057112e-02 -3.09666254e-02 1.93384449e+02] [ 4.65912475e-02 9.98913331e-01 -1.18886110e-03 6.55210543e+00] [ 3.09883827e-02 -2.55775249e-04 9.99519712e-01 4.78122413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.41, Y:6.55, Z:4.78 [[ 9.98476942e-01 -4.56220386e-02 -3.10229756e-02 1.93412855e+02] [ 4.56067692e-02 9.98958749e-01 -1.19998650e-03 6.55216041e+00] [ 3.10454188e-02 -2.16698835e-04 9.99517951e-01 4.78180591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.44, Y:6.55, Z:4.78 [[ 9.98507405e-01 -4.48107732e-02 -3.12242924e-02 1.93439925e+02] [ 4.47946384e-02 9.98995476e-01 -1.21640976e-03 6.55173658e+00] [ 3.12474351e-02 -1.84086730e-04 9.99511663e-01 4.78214015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.47, Y:6.55, Z:4.78 [[ 9.98477769e-01 -4.48187947e-02 -3.21468474e-02 1.93467826e+02] [ 4.48014660e-02 9.98995116e-01 -1.25950680e-03 6.54945048e+00] [ 3.21709931e-02 -1.82636353e-04 9.99482363e-01 4.78193608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.50, Y:6.55, Z:4.78 [[ 9.98416479e-01 -4.60220795e-02 -3.23496871e-02 1.93495541e+02] [ 4.60048610e-02 9.98940400e-01 -1.27676889e-03 6.54891491e+00] [ 3.23741689e-02 -2.13495762e-04 9.99475796e-01 4.78222670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.52, Y:6.55, Z:4.78 [[ 9.98338223e-01 -4.72395269e-02 -3.30033154e-02 1.93522571e+02] [ 4.72219905e-02 9.98883559e-01 -1.31103888e-03 6.54812159e+00] [ 3.30284020e-02 -2.49622024e-04 9.99454382e-01 4.78259526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.55, Y:6.55, Z:4.78 [[ 9.98252699e-01 -4.89218262e-02 -3.31391543e-02 1.93549277e+02] [ 4.89049350e-02 9.98802565e-01 -1.32055524e-03 6.54734543e+00] [ 3.31640763e-02 -3.02420354e-04 9.99449875e-01 4.78284011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.58, Y:6.55, Z:4.78 [[ 9.97974133e-01 -5.43204999e-02 -3.31196842e-02 1.93577613e+02] [ 5.43064261e-02 9.98523438e-01 -1.32500985e-03 6.54511543e+00] [ 3.31427562e-02 -4.76286131e-04 9.99450514e-01 4.78358021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.61, Y:6.54, Z:4.78 [[ 9.97796815e-01 -5.78619676e-02 -3.24577984e-02 1.93605852e+02] [ 5.78500250e-02 9.98324428e-01 -1.30770022e-03 6.54444242e+00] [ 3.24790792e-02 -5.72865333e-04 9.99472251e-01 4.78420347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.63, Y:6.54, Z:4.79 [[ 9.97574175e-01 -6.15133913e-02 -3.25863131e-02 1.93634438e+02] [ 6.15030007e-02 9.98106023e-01 -1.32206311e-03 6.54347670e+00] [ 3.26059199e-02 -6.85300023e-04 9.99468051e-01 4.78522129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.66, Y:6.54, Z:4.79 [[ 9.97063063e-01 -6.91249569e-02 -3.29695075e-02 1.93662726e+02] [ 6.91182403e-02 9.97607568e-01 -1.34474846e-03 6.54049510e+00] [ 3.29835859e-02 -9.37995325e-04 9.99455453e-01 4.78604213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.69, Y:6.54, Z:4.79 [[ 9.96783429e-01 -7.29361272e-02 -3.32132119e-02 1.93692616e+02] [ 7.29313679e-02 9.97336040e-01 -1.35636644e-03 6.53974471e+00] [ 3.32236613e-02 -1.07028138e-03 9.99447369e-01 4.78663803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.72, Y:6.54, Z:4.79 [[ 9.96480870e-01 -7.67092520e-02 -3.37870719e-02 1.93722734e+02] [ 7.67064612e-02 9.97052763e-01 -1.38071886e-03 6.53903260e+00] [ 3.37934073e-02 -1.21582679e-03 9.99428100e-01 4.78740340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.75, Y:6.54, Z:4.79 [[ 9.95881641e-01 -8.39394919e-02 -3.42624946e-02 1.93752150e+02] [ 8.39408857e-02 9.96469752e-01 -1.40029729e-03 6.53724950e+00] [ 3.42590798e-02 -1.48149378e-03 9.99411887e-01 4.78843549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.78, Y:6.54, Z:4.79 [[ 9.95626198e-01 -8.70076445e-02 -3.40315222e-02 1.93782381e+02] [ 8.70107960e-02 9.96206397e-01 -1.39118578e-03 6.53719581e+00] [ 3.40234639e-02 -1.57600883e-03 9.99419792e-01 4.78925315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.81, Y:6.54, Z:4.79 [[ 9.95326873e-01 -9.03556509e-02 -3.40627665e-02 1.93814148e+02] [ 9.03607889e-02 9.95908124e-01 -1.39170421e-03 6.53718318e+00] [ 3.40491342e-02 -1.69273785e-03 9.99418727e-01 4.79032378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.84, Y:6.54, Z:4.79 [[ 9.95060539e-01 -9.32849188e-02 -3.39477198e-02 1.93844886e+02] [ 9.32917690e-02 9.95637849e-01 -1.38559983e-03 6.53685409e+00] [ 3.39288903e-02 -1.78828712e-03 9.99422650e-01 4.79108945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.88, Y:6.54, Z:4.79 [[ 9.94455859e-01 -9.95664948e-02 -3.38239215e-02 1.93876264e+02] [ 9.95769756e-02 9.95028907e-01 -1.37871780e-03 6.53580431e+00] [ 3.37930537e-02 -1.99700982e-03 9.99426856e-01 4.79251460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.91, Y:6.54, Z:4.79 [[ 9.94263319e-01 -1.01100301e-01 -3.49167683e-02 1.93906086e+02] [ 1.00924060e-01 9.94871042e-01 -6.77814721e-03 6.53890879e+00] [ 3.54229544e-02 3.21532114e-03 9.99367238e-01 4.79452348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.94, Y:6.53, Z:4.79 [[ 9.93947032e-01 -1.04332073e-01 -3.44109800e-02 1.93938399e+02] [ 1.04521159e-01 9.94515639e-01 3.73770374e-03 6.53438432e+00] [ 3.38322954e-02 -7.31175506e-03 9.99400777e-01 4.79309608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.97, Y:6.54, Z:4.80 [[ 9.93732017e-01 -1.06499223e-01 -3.39793243e-02 1.93970533e+02] [ 1.06513869e-01 9.94310253e-01 -1.38399742e-03 6.53764979e+00] [ 3.39333852e-02 -2.24394676e-03 9.99421578e-01 4.79526246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.435099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.00, Y:6.54, Z:4.80 [[ 9.93741811e-01 -1.06407758e-01 -3.39794319e-02 1.94003191e+02] [ 1.06422441e-01 9.94320047e-01 -1.38134959e-03 6.53892288e+00] [ 3.39334167e-02 -2.24346926e-03 9.99421578e-01 4.79611598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.03, Y:6.54, Z:4.80 [[ 9.93378219e-01 -1.09637650e-01 -3.43409439e-02 1.94034287e+02] [ 1.09654666e-01 9.93968769e-01 -1.39316212e-03 6.53933072e+00] [ 3.42865688e-02 -2.38170785e-03 9.99409205e-01 4.79678696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.07, Y:6.54, Z:4.80 [[ 9.93276816e-01 -1.10470906e-01 -3.46026800e-02 1.94066576e+02] [ 1.10488758e-01 9.93876385e-01 -1.40170861e-03 6.54004128e+00] [ 3.45456346e-02 -2.43092248e-03 9.99400165e-01 4.79692334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.10, Y:6.54, Z:4.80 [[ 9.93178435e-01 -1.11213704e-01 -3.50443692e-02 1.94099262e+02] [ 1.11232567e-01 9.93793393e-01 -1.41699744e-03 6.54082942e+00] [ 3.49844521e-02 -2.49074384e-03 9.99384753e-01 4.79721357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.13, Y:6.54, Z:4.80 [[ 9.93076269e-01 -1.11766481e-01 -3.61632122e-02 1.94130806e+02] [ 1.11787026e-01 9.93731116e-01 -1.45970158e-03 6.54182621e+00] [ 3.60996549e-02 -2.59298294e-03 9.99344831e-01 4.79790358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.16, Y:6.54, Z:4.80 [[ 9.93002252e-01 -1.12102509e-01 -3.71423729e-02 1.94162302e+02] [ 1.12124494e-01 9.93693039e-01 -1.49715272e-03 6.54368559e+00] [ 3.70759520e-02 -2.67789376e-03 9.99308862e-01 4.79764615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.19, Y:6.55, Z:4.80 [[ 9.92987471e-01 -1.11918157e-01 -3.80815987e-02 1.94194431e+02] [ 1.11941224e-01 9.93713647e-01 -1.53267845e-03 6.54580587e+00] [ 3.80137389e-02 -2.74097029e-03 9.99273457e-01 4.79827703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.23, Y:6.55, Z:4.80 [[ 9.93067416e-01 -1.11108882e-01 -3.83656660e-02 1.94225177e+02] [ 1.11131825e-01 9.93804480e-01 -1.54070612e-03 6.54787400e+00] [ 3.82991568e-02 -2.73362143e-03 9.99262579e-01 4.79892702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.26, Y:6.55, Z:4.80 [[ 9.93178935e-01 -1.09996772e-01 -3.86822128e-02 1.94256631e+02] [ 1.10019397e-01 9.93928232e-01 -1.54980450e-03 6.55043174e+00] [ 3.86178168e-02 -2.71656052e-03 9.99250361e-01 4.79978251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.29, Y:6.55, Z:4.80 [[ 9.93521934e-01 -1.06902292e-01 -3.85495306e-02 1.94288658e+02] [ 1.06922514e-01 9.94266160e-01 -1.54264044e-03 6.55467963e+00] [ 3.84934056e-02 -2.58916563e-03 9.99255500e-01 4.80098724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.32, Y:6.56, Z:4.80 [[ 9.93773930e-01 -1.04727372e-01 -3.80204413e-02 1.94319446e+02] [ 1.04745583e-01 9.94497892e-01 -1.51816523e-03 6.55730917e+00] [ 3.79702422e-02 -2.47376025e-03 9.99275808e-01 4.80167672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.35, Y:6.56, Z:4.80 [[ 9.94027499e-01 -1.02486039e-01 -3.74959052e-02 1.94350642e+02] [ 1.02502291e-01 9.94731647e-01 -1.49375778e-03 6.55991256e+00] [ 3.74514529e-02 -2.35857989e-03 9.99295665e-01 4.80283194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.38, Y:6.57, Z:4.81 [[ 9.94217792e-01 -1.00423487e-01 -3.80276856e-02 1.94381988e+02] [ 1.00255214e-01 9.94941737e-01 -6.31121643e-03 6.56574051e+00] [ 3.84691259e-02 2.46224989e-03 9.99256756e-01 4.80515286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.41, Y:6.57, Z:4.80 [[ 9.94801043e-01 -9.53360389e-02 -3.58039747e-02 1.94413185e+02] [ 9.55082046e-02 9.95423736e-01 3.12550624e-03 6.56638637e+00] [ 3.53421528e-02 -6.52883021e-03 9.99353945e-01 4.80436761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.45, Y:6.57, Z:4.81 [[ 9.95053431e-01 -9.30188232e-02 -3.48735960e-02 1.94445469e+02] [ 9.30270611e-02 9.95662611e-01 -1.38981955e-03 6.57180607e+00] [ 3.48516150e-02 -1.86124343e-03 9.99390765e-01 4.80679561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.48, Y:6.58, Z:4.81 [[ 9.95544387e-01 -8.81097642e-02 -3.35863515e-02 1.94476345e+02] [ 8.81147090e-02 9.96109439e-01 -1.33577572e-03 6.57709349e+00] [ 3.35733766e-02 -1.62962757e-03 9.99434927e-01 4.80813244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.51, Y:6.58, Z:4.81 [[ 9.95725275e-01 -8.60091257e-02 -3.36690733e-02 1.94507776e+02] [ 8.60130348e-02 9.96293117e-01 -1.33497023e-03 6.58038189e+00] [ 3.36590856e-02 -1.56671557e-03 9.99432144e-01 4.80907004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.54, Y:6.58, Z:4.81 [[ 9.95888197e-01 -8.40938442e-02 -3.36886293e-02 1.94540276e+02] [ 8.40967887e-02 9.96456700e-01 -1.33205815e-03 6.58367527e+00] [ 3.36812783e-02 -1.50652455e-03 9.99431489e-01 4.80977600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.57, Y:6.59, Z:4.81 [[ 9.96094196e-01 -8.14786319e-02 -3.40233152e-02 1.94572290e+02] [ 8.14801973e-02 9.96674056e-01 -1.34281378e-03 6.58868631e+00] [ 3.40195662e-02 -1.43465743e-03 9.99420137e-01 4.81070945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.60, Y:6.59, Z:4.81 [[ 9.96132393e-01 -8.12369511e-02 -3.34785533e-02 1.94603355e+02] [ 8.12384075e-02 9.96693825e-01 -1.31900315e-03 6.59144976e+00] [ 3.34750191e-02 -1.40584259e-03 9.99438566e-01 4.81159889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.64, Y:6.59, Z:4.81 [[ 9.96066268e-01 -8.16766875e-02 -3.43643387e-02 1.94635628e+02] [ 8.16785554e-02 9.96657808e-01 -1.35182208e-03 6.59384591e+00] [ 3.43598988e-02 -1.46032517e-03 9.99408457e-01 4.81283265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.67, Y:6.60, Z:4.81 [[ 9.95709326e-01 -8.39893043e-02 -3.88424472e-02 1.94666905e+02] [ 8.39935544e-02 9.96465130e-01 -1.52533429e-03 6.59723657e+00] [ 3.88332560e-02 -1.74372562e-03 9.99244183e-01 4.81232375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.70, Y:6.60, Z:4.81 [[ 9.95482844e-01 -8.54710661e-02 -4.13352637e-02 1.94697929e+02] [ 8.54772226e-02 9.96338805e-01 -1.62164780e-03 6.59943398e+00] [ 4.13225312e-02 -1.91890097e-03 9.99144017e-01 4.81221631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.73, Y:6.60, Z:4.81 [[ 9.95411948e-01 -8.57672897e-02 -4.24149245e-02 1.94726986e+02] [ 8.57740720e-02 9.96313225e-01 -1.66330187e-03 6.60147807e+00] [ 4.24012071e-02 -1.98243023e-03 9.99098698e-01 4.81206154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.76, Y:6.60, Z:4.81 [[ 9.95368264e-01 -8.59494993e-02 -4.30662650e-02 1.94756384e+02] [ 8.59566158e-02 9.96297448e-01 -1.68993674e-03 6.60406600e+00] [ 4.30520591e-02 -2.01972100e-03 9.99070789e-01 4.81264760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.185099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.79, Y:6.61, Z:4.81 [[ 9.95555811e-01 -8.42897076e-02 -4.19984864e-02 1.94785798e+02] [ 8.42949494e-02 9.96439482e-01 -1.64924724e-03 6.60864714e+00] [ 4.19879646e-02 -1.89834262e-03 9.99116313e-01 4.81414533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.21509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.82, Y:6.61, Z:4.82 [[ 9.95754037e-01 -8.23219036e-02 -4.11946785e-02 1.94815505e+02] [ 8.23252352e-02 9.96604202e-01 -1.61840585e-03 6.61139954e+00] [ 4.11880199e-02 -1.77982743e-03 9.99149828e-01 4.81560425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.85, Y:6.61, Z:4.82 [[ 9.95974278e-01 -8.00828310e-02 -4.02737891e-02 1.94845616e+02] [ 8.00841688e-02 9.96786848e-01 -1.58267850e-03 6.61437285e+00] [ 4.02711286e-02 -1.64898584e-03 9.99187428e-01 4.81735654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.88, Y:6.62, Z:4.82 [[ 9.96214086e-01 -7.75339394e-02 -3.93189811e-02 1.94876108e+02] [ 7.75332405e-02 9.96988571e-01 -1.54492781e-03 6.61717330e+00] [ 3.93203591e-02 -1.50944917e-03 9.99225516e-01 4.81884008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.91, Y:6.62, Z:4.82 [[ 9.96632253e-01 -7.25699500e-02 -3.81805580e-02 1.94906726e+02] [ 7.25656692e-02 9.97362509e-01 -1.49974417e-03 6.62159092e+00] [ 3.81886935e-02 -1.27590433e-03 9.99269731e-01 4.82038741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.94, Y:6.62, Z:4.82 [[ 9.96806334e-01 -7.03480910e-02 -3.77925804e-02 1.94936283e+02] [ 7.03422937e-02 9.97521808e-01 -1.48471132e-03 6.62417298e+00] [ 3.78033697e-02 -1.17844714e-03 9.99284502e-01 4.82150495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.97, Y:6.63, Z:4.82 [[ 9.96957179e-01 -6.86597207e-02 -3.69083363e-02 1.94966088e+02] [ 6.86530040e-02 9.97639544e-01 -1.45081751e-03 6.62649862e+00] [ 3.69208285e-02 -1.08746522e-03 9.99317602e-01 4.82299112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.00, Y:6.63, Z:4.82 [[ 9.97068799e-01 -6.75970201e-02 -3.58392726e-02 1.94996383e+02] [ 6.75899675e-02 9.97712187e-01 -1.40971157e-03 6.62872502e+00] [ 3.58525713e-02 -1.01679585e-03 9.99356573e-01 4.82449393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.03, Y:6.63, Z:4.83 [[ 9.97133788e-01 -6.70900254e-02 -3.49733904e-02 1.95025300e+02] [ 6.70829921e-02 9.97746450e-01 -1.37580727e-03 6.63039369e+00] [ 3.49868791e-02 -9.74255760e-04 9.99387297e-01 4.82630742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.06, Y:6.63, Z:4.83 [[ 9.97116720e-01 -6.73126012e-02 -3.50322787e-02 1.95055795e+02] [ 6.73056648e-02 9.97731450e-01 -1.37859890e-03 6.63116959e+00] [ 3.50456034e-02 -9.83246800e-04 9.99385230e-01 4.82748539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.09, Y:6.63, Z:4.83 [[ 9.97102842e-01 -6.77830461e-02 -3.45164021e-02 1.95085720e+02] [ 6.77766106e-02 9.97699598e-01 -1.35781228e-03 6.63181737e+00] [ 3.45290372e-02 -9.85526268e-04 9.99403209e-01 4.82838765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.12, Y:6.63, Z:4.83 [[ 9.96991728e-01 -6.94860043e-02 -3.43393156e-02 1.95116185e+02] [ 6.94806973e-02 9.97582384e-01 -1.34927986e-03 6.63202597e+00] [ 3.43500523e-02 -1.04069873e-03 9.99409321e-01 4.82910096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.15, Y:6.63, Z:4.83 [[ 9.96909812e-01 -7.04427775e-02 -3.47655278e-02 1.95147281e+02] [ 7.04379297e-02 9.97515229e-01 -1.36572492e-03 6.63271852e+00] [ 3.47753489e-02 -1.08730723e-03 9.99394563e-01 4.82981143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.18, Y:6.63, Z:4.83 [[ 9.96744011e-01 -7.25746217e-02 -3.51326125e-02 1.95177191e+02] [ 7.25710461e-02 9.97362293e-01 -1.37865010e-03 6.63307624e+00] [ 3.51399979e-02 -1.17544920e-03 9.99381708e-01 4.83038310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.21, Y:6.63, Z:4.83 [[ 9.96636715e-01 -7.39121973e-02 -3.53870879e-02 1.95207206e+02] [ 7.39094880e-02 9.97263990e-01 -1.38647942e-03 6.63395185e+00] [ 3.53927462e-02 -1.23362525e-03 9.99372719e-01 4.83112275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.24, Y:6.63, Z:4.83 [[ 9.96516461e-01 -7.53308687e-02 -3.57799193e-02 1.95237982e+02] [ 7.53290742e-02 9.97157746e-01 -1.40013679e-03 6.63455375e+00] [ 3.57836972e-02 -1.30000884e-03 9.99358713e-01 4.83197949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.27, Y:6.63, Z:4.83 [[ 9.96307733e-01 -7.77072330e-02 -3.65032390e-02 1.95269401e+02] [ 7.77069878e-02 9.96975218e-01 -1.42761899e-03 6.63403103e+00] [ 3.65037610e-02 -1.41420890e-03 9.99332515e-01 4.83199820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.30, Y:6.63, Z:4.83 [[ 9.96218112e-01 -7.88167862e-02 -3.65703074e-02 1.95301202e+02] [ 7.88173331e-02 9.96888051e-01 -1.42896188e-03 6.63492709e+00] [ 3.65691286e-02 -1.45881639e-03 9.99330061e-01 4.83276745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.33, Y:6.64, Z:4.83 [[ 9.96094405e-01 -8.07125610e-02 -3.57969235e-02 1.95332552e+02] [ 8.07143503e-02 9.96736294e-01 -1.39750112e-03 6.63567958e+00] [ 3.57928888e-02 -1.49728238e-03 9.99358108e-01 4.83334361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.36, Y:6.64, Z:4.83 [[ 9.95980741e-01 -8.22477861e-02 -3.54635793e-02 1.95364744e+02] [ 8.22505702e-02 9.96610722e-01 -1.38287475e-03 6.63634296e+00] [ 3.54571218e-02 -1.53958299e-03 9.99370013e-01 4.83431708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.40, Y:6.64, Z:4.84 [[ 9.95859345e-01 -8.36347121e-02 -3.56286382e-02 1.95396248e+02] [ 8.36384946e-02 9.96495198e-01 -1.38687670e-03 6.63736305e+00] [ 3.56197579e-02 -1.59879155e-03 9.99364136e-01 4.83576107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.43, Y:6.64, Z:4.84 [[ 9.95801578e-01 -8.22383201e-02 -4.02004480e-02 1.95428022e+02] [ 8.22421127e-02 9.96611155e-01 -1.56221253e-03 6.64251374e+00] [ 4.01926886e-02 -1.75051607e-03 9.99190414e-01 4.83900032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.46, Y:6.64, Z:4.84 [[ 9.95934616e-01 -8.05031988e-02 -4.04162727e-02 1.95458131e+02] [ 8.05056954e-02 9.96752915e-01 -1.56840542e-03 6.64462313e+00] [ 4.04112992e-02 -1.69171088e-03 9.99181698e-01 4.83984570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.49, Y:6.65, Z:4.84 [[ 9.96085397e-01 -7.85661154e-02 -4.05123191e-02 1.95489230e+02] [ 7.85670652e-02 9.96907592e-01 -1.57114291e-03 6.64661829e+00] [ 4.05104771e-02 -1.61794150e-03 9.99177804e-01 4.84040148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.52, Y:6.65, Z:4.84 [[ 9.96086814e-01 -7.85481164e-02 -4.05123659e-02 1.95520202e+02] [ 7.85491004e-02 9.96909010e-01 -1.56993469e-03 6.64782066e+00] [ 4.05104580e-02 -1.61841865e-03 9.99177804e-01 4.84121973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.935099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.55, Y:6.65, Z:4.84 [[ 9.96088231e-01 -7.85301300e-02 -4.05123942e-02 1.95551174e+02] [ 7.85311288e-02 9.96910427e-01 -1.56920376e-03 6.64902270e+00] [ 4.05104580e-02 -1.61841865e-03 9.99177804e-01 4.84203813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.58, Y:6.65, Z:4.84 [[ 9.96089648e-01 -7.85121436e-02 -4.05124225e-02 1.95582146e+02] [ 7.85131572e-02 9.96911844e-01 -1.56847283e-03 6.65022418e+00] [ 4.05104580e-02 -1.61841865e-03 9.99177804e-01 4.84285652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.61, Y:6.65, Z:4.84 [[ 9.96249090e-01 -7.64494521e-02 -4.05367945e-02 1.95612841e+02] [ 7.64487921e-02 9.97072275e-01 -1.56868556e-03 6.65221056e+00] [ 4.05380391e-02 -1.53618742e-03 9.99176815e-01 4.84362335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.64, Y:6.65, Z:4.84 [[ 9.96247749e-01 -7.64669211e-02 -4.05368032e-02 1.95642967e+02] [ 7.64662847e-02 9.97070934e-01 -1.56846164e-03 6.65340746e+00] [ 4.05380036e-02 -1.53712235e-03 9.99176815e-01 4.84441942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.67, Y:6.66, Z:4.85 [[ 9.96399211e-01 -7.43315264e-02 -4.07852586e-02 1.95673621e+02] [ 7.43290775e-02 9.97232519e-01 -1.57854126e-03 6.65546007e+00] [ 4.07897216e-02 -1.45867338e-03 9.99166688e-01 4.84519148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.70, Y:6.66, Z:4.85 [[ 9.96392996e-01 -7.44148073e-02 -4.07852120e-02 1.95703725e+02] [ 7.44123787e-02 9.97226304e-01 -1.57974541e-03 6.65664753e+00] [ 4.07896426e-02 -1.46087738e-03 9.99166688e-01 4.84598708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.73, Y:6.66, Z:4.85 [[ 9.96386774e-01 -7.44981458e-02 -4.07850797e-02 1.95733828e+02] [ 7.44956476e-02 9.97220082e-01 -1.58315384e-03 6.65783859e+00] [ 4.07896426e-02 -1.46087738e-03 9.99166688e-01 4.84678332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.76, Y:6.66, Z:4.85 [[ 9.96537335e-01 -7.22356128e-02 -4.11746969e-02 1.95763525e+02] [ 7.22310494e-02 9.97386642e-01 -1.60044528e-03 6.66036468e+00] [ 4.11827018e-02 -1.37918809e-03 9.99150681e-01 4.84770333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.79, Y:6.66, Z:4.85 [[ 9.96536059e-01 -7.22532149e-02 -4.11746909e-02 1.95793651e+02] [ 7.22486602e-02 9.97385366e-01 -1.60059805e-03 6.66156697e+00] [ 4.11826825e-02 -1.37976258e-03 9.99150681e-01 4.84849951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.82, Y:6.66, Z:4.85 [[ 9.96665655e-01 -7.01285232e-02 -4.17080581e-02 1.95823580e+02] [ 7.01219501e-02 9.97537107e-01 -1.62234459e-03 6.66440897e+00] [ 4.17191083e-02 -1.30771523e-03 9.99128523e-01 4.84959491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.85, Y:6.67, Z:4.85 [[ 9.96815843e-01 -6.81513605e-02 -4.13952594e-02 1.95851733e+02] [ 6.81429918e-02 9.97674258e-01 -1.61477845e-03 6.66719703e+00] [ 4.14090341e-02 -1.21116008e-03 9.99141544e-01 4.85053256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.88, Y:6.67, Z:4.85 [[ 9.96963107e-01 -6.60460561e-02 -4.12611478e-02 1.95880760e+02] [ 6.60355244e-02 9.97815958e-01 -1.61961394e-03 6.66984737e+00] [ 4.12780009e-02 -1.11000619e-03 9.99147084e-01 4.85204023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.91, Y:6.67, Z:4.85 [[ 9.97197427e-01 -6.33947072e-02 -3.97291108e-02 1.95909876e+02] [ 6.33824648e-02 9.97988077e-01 -1.56890318e-03 6.67281862e+00] [ 3.97486390e-02 -9.53622746e-04 9.99209256e-01 4.85313377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.94, Y:6.67, Z:4.85 [[ 9.97183171e-01 -6.36187955e-02 -3.97287384e-02 1.95939093e+02] [ 6.36063572e-02 9.97973817e-01 -1.57828518e-03 6.67402676e+00] [ 3.97486493e-02 -9.53160905e-04 9.99209256e-01 4.85390792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.97, Y:6.68, Z:4.86 [[ 9.97279209e-01 -6.26423512e-02 -3.88602102e-02 1.95968659e+02] [ 6.26294664e-02 9.98035644e-01 -1.55003298e-03 6.67606700e+00] [ 3.88809727e-02 -8.87978570e-04 9.99243455e-01 4.85503045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.00, Y:6.68, Z:4.86 [[ 9.97334005e-01 -6.22934222e-02 -3.80054188e-02 1.95998192e+02] [ 6.22807932e-02 9.98057514e-01 -1.51728694e-03 6.67882618e+00] [ 3.80261108e-02 -8.53765767e-04 9.99276381e-01 4.85643609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.03, Y:6.68, Z:4.86 [[ 9.97300110e-01 -6.29501051e-02 -3.78123739e-02 1.96027467e+02] [ 6.29380319e-02 9.98016293e-01 -1.51073396e-03 6.68035663e+00] [ 3.78324662e-02 -8.73181255e-04 9.99283714e-01 4.85719421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.06, Y:6.68, Z:4.86 [[ 9.97174781e-01 -6.46220333e-02 -3.82942448e-02 1.96057001e+02] [ 6.46108473e-02 9.97909362e-01 -1.53089544e-03 6.68173364e+00] [ 3.83131150e-02 -9.47653276e-04 9.99265334e-01 4.85786799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.09, Y:6.68, Z:4.86 [[ 9.96592860e-01 -7.23205296e-02 -3.96536494e-02 1.96086486e+02] [ 7.23145824e-02 9.97380612e-01 -1.58617381e-03 6.68247409e+00] [ 3.96644941e-02 -1.28676761e-03 9.99212226e-01 4.85775027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.12, Y:6.68, Z:4.86 [[ 9.96318486e-01 -7.56252087e-02 -4.03769961e-02 1.96116218e+02] [ 7.56217463e-02 9.97135268e-01 -1.61524786e-03 6.68317317e+00] [ 4.03834803e-02 -1.44407766e-03 9.99183211e-01 4.85804464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.15, Y:6.68, Z:4.86 [[ 9.95730684e-01 -8.23173728e-02 -4.17642829e-02 1.96146265e+02] [ 8.23195219e-02 9.96604587e-01 -1.67122405e-03 6.68415716e+00] [ 4.17600467e-02 -1.77392673e-03 9.99126094e-01 4.85853773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.18, Y:6.69, Z:4.86 [[ 9.95735126e-01 -8.22636026e-02 -4.17643161e-02 1.96178082e+02] [ 8.22657393e-02 9.96609030e-01 -1.67039316e-03 6.68540390e+00] [ 4.17601071e-02 -1.77250320e-03 9.99126094e-01 4.85937861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.21, Y:6.69, Z:4.86 [[ 9.95486641e-01 -8.52806146e-02 -4.16360929e-02 1.96209199e+02] [ 8.52854524e-02 9.96355170e-01 -1.66328565e-03 6.68729725e+00] [ 4.16261824e-02 -1.89517437e-03 9.99131457e-01 4.86034280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.24, Y:6.69, Z:4.86 [[ 9.95252230e-01 -8.78936303e-02 -4.18056094e-02 1.96240046e+02] [ 8.79008822e-02 9.96127829e-01 -1.66824765e-03 6.68934254e+00] [ 4.17903592e-02 -2.01442276e-03 9.99124371e-01 4.86128347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.27, Y:6.69, Z:4.86 [[ 9.95231356e-01 -8.88450725e-02 -4.02629105e-02 1.96272534e+02] [ 8.86621043e-02 9.96041768e-01 -6.31094204e-03 6.69220253e+00] [ 4.06642366e-02 2.71105304e-03 9.99169190e-01 4.86110457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.685099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.30, Y:6.69, Z:4.86 [[ 9.94838325e-01 -9.25537083e-02 -4.15995000e-02 1.96302218e+02] [ 9.27669673e-02 9.95682636e-01 3.22153294e-03 6.69041015e+00] [ 4.11217350e-02 -7.06396389e-03 9.99129172e-01 4.86173474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.71509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.33, Y:6.69, Z:4.86 [[ 9.94817168e-01 -9.31812684e-02 -4.06946418e-02 1.96333474e+02] [ 9.31924382e-02 9.95646787e-01 -1.62657696e-03 6.69450596e+00] [ 4.06690559e-02 -2.17428621e-03 9.99170306e-01 4.86433016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.37, Y:6.70, Z:4.87 [[ 9.94809473e-01 -9.36569820e-02 -3.97804259e-02 1.96365435e+02] [ 9.36681267e-02 9.95602210e-01 -1.58768014e-03 6.69649877e+00] [ 3.97541773e-02 -2.14671873e-03 9.99207184e-01 4.86558787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.40, Y:6.70, Z:4.87 [[ 9.94860958e-01 -9.35533826e-02 -3.87225815e-02 1.96397511e+02] [ 9.35639687e-02 9.95612075e-01 -1.54271206e-03 6.69830207e+00] [ 3.86969957e-02 -2.08825441e-03 9.99248809e-01 4.86641881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.43, Y:6.70, Z:4.87 [[ 9.94841916e-01 -9.37228911e-02 -3.88018224e-02 1.96429136e+02] [ 9.37337587e-02 9.95596104e-01 -1.54305014e-03 6.70062316e+00] [ 3.87755624e-02 -2.10194970e-03 9.99245734e-01 4.86768449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.46, Y:6.70, Z:4.87 [[ 9.94807311e-01 -9.41260268e-02 -3.87131012e-02 1.96460130e+02] [ 9.41372489e-02 9.95558043e-01 -1.53693536e-03 6.70264691e+00] [ 3.86858048e-02 -2.11539030e-03 9.99249185e-01 4.86883257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.49, Y:6.70, Z:4.87 [[ 9.94787830e-01 -9.45252542e-02 -3.82380636e-02 1.96491370e+02] [ 9.45365738e-02 9.95520235e-01 -1.51603397e-03 6.70444084e+00] [ 3.82100696e-02 -2.10676338e-03 9.99267508e-01 4.86994121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.52, Y:6.71, Z:4.87 [[ 9.94762978e-01 -9.48758385e-02 -3.80157033e-02 1.96523328e+02] [ 9.48873664e-02 9.95486877e-01 -1.50498450e-03 6.70636116e+00] [ 3.79869204e-02 -2.11010710e-03 9.99276009e-01 4.87133270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.56, Y:6.71, Z:4.87 [[ 9.94666179e-01 -9.58820933e-02 -3.80238847e-02 1.96555572e+02] [ 9.58944709e-02 9.95390372e-01 -1.50236127e-03 6.70916841e+00] [ 3.79926583e-02 -2.15193236e-03 9.99275701e-01 4.87220628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.59, Y:6.71, Z:4.87 [[ 9.94626228e-01 -9.61703993e-02 -3.83395408e-02 1.96588464e+02] [ 9.61833373e-02 9.95362488e-01 -1.51117769e-03 6.71119036e+00] [ 3.83070712e-02 -2.18456802e-03 9.99263627e-01 4.87342224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.62, Y:6.71, Z:4.87 [[ 9.94610764e-01 -9.63695111e-02 -3.82406155e-02 1.96620929e+02] [ 9.63826841e-02 9.95343216e-01 -1.50321972e-03 6.71343624e+00] [ 3.82074018e-02 -2.19061464e-03 9.99267429e-01 4.87454770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.65, Y:6.72, Z:4.88 [[ 9.94642500e-01 -9.62620324e-02 -3.76818036e-02 1.96653502e+02] [ 9.62748967e-02 9.95353687e-01 -1.47723684e-03 6.71696971e+00] [ 3.76489240e-02 -2.15848920e-03 9.99288697e-01 4.87549173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.69, Y:6.72, Z:4.88 [[ 9.94702404e-01 -9.56848246e-02 -3.75704935e-02 1.96685343e+02] [ 9.56973473e-02 9.95409393e-01 -1.46902045e-03 6.71917363e+00] [ 3.75385851e-02 -2.13415839e-03 9.99292900e-01 4.87633581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.72, Y:6.72, Z:4.88 [[ 9.94807695e-01 -9.45049148e-02 -3.77686410e-02 1.96718479e+02] [ 9.45168590e-02 9.95522171e-01 -1.47316091e-03 6.72171452e+00] [ 3.77387404e-02 -2.10426151e-03 9.99285424e-01 4.87659330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.75, Y:6.72, Z:4.88 [[ 9.94917932e-01 -9.29396705e-02 -3.87366346e-02 1.96751340e+02] [ 9.29512188e-02 9.95669524e-01 -1.50666455e-03 6.72451694e+00] [ 3.87089155e-02 -2.10160982e-03 9.99248319e-01 4.87726686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.78, Y:6.73, Z:4.88 [[ 9.95320116e-01 -8.82465207e-02 -3.93753390e-02 1.96783817e+02] [ 8.82549421e-02 9.96096748e-01 -1.52768199e-03 6.72950437e+00] [ 3.93564598e-02 -1.95453565e-03 9.99223323e-01 4.87739305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.82, Y:6.73, Z:4.88 [[ 9.95587452e-01 -8.50241390e-02 -3.97054187e-02 1.96815306e+02] [ 8.50302510e-02 9.96377183e-01 -1.53785526e-03 6.73283713e+00] [ 3.96923280e-02 -1.84509231e-03 9.99210246e-01 4.87807531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.85, Y:6.74, Z:4.88 [[ 9.95853292e-01 -8.16396319e-02 -4.01396570e-02 1.96847438e+02] [ 8.16432321e-02 9.96660410e-01 -1.55227033e-03 6.73642854e+00] [ 4.01323338e-02 -1.73129782e-03 9.99192873e-01 4.87928013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.88, Y:6.74, Z:4.88 [[ 9.96415957e-01 -7.49268072e-02 -3.92583051e-02 1.96878929e+02] [ 7.49251544e-02 9.97188009e-01 -1.51545563e-03 6.74214927e+00] [ 3.92614593e-02 -1.43141040e-03 9.99227946e-01 4.88061554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.91, Y:6.75, Z:4.88 [[ 9.96663922e-01 -7.18044851e-02 -3.87961565e-02 1.96910622e+02] [ 7.18006134e-02 9.97417885e-01 -1.49490695e-03 6.74523878e+00] [ 3.88033214e-02 -1.29566801e-03 9.99246028e-01 4.88150403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.94, Y:6.75, Z:4.88 [[ 9.97043694e-01 -6.70311912e-02 -3.75591626e-02 1.96941457e+02] [ 6.70242675e-02 9.97750299e-01 -1.44486228e-03 6.74914865e+00] [ 3.75715165e-02 -1.07678453e-03 9.99293361e-01 4.88247210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.97, Y:6.75, Z:4.88 [[ 9.97204965e-01 -6.52070925e-02 -3.64731830e-02 1.96971660e+02] [ 6.51994139e-02 9.97871271e-01 -1.40116790e-03 6.75122122e+00] [ 3.64869076e-02 -9.80778568e-04 9.99333650e-01 4.88330352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.00, Y:6.75, Z:4.88 [[ 9.97296498e-01 -6.40690722e-02 -3.59840159e-02 1.97003236e+02] [ 6.40609239e-02 9.97945035e-01 -1.38054113e-03 6.75328221e+00] [ 3.59985200e-02 -9.28360471e-04 9.99351412e-01 4.88431806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.03, Y:6.76, Z:4.89 [[ 9.97369002e-01 -6.30843335e-02 -3.57133134e-02 1.97034883e+02] [ 6.30757222e-02 9.98007805e-01 -1.36887565e-03 6.75518647e+00] [ 3.57285202e-02 -8.87368899e-04 9.99361139e-01 4.88537048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.07, Y:6.76, Z:4.89 [[ 9.97395887e-01 -6.25926161e-02 -3.58274781e-02 1.97065922e+02] [ 6.25836790e-02 9.98038777e-01 -1.37196109e-03 6.75715203e+00] [ 3.58430871e-02 -8.73827041e-04 9.99357048e-01 4.88635156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.435099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.10, Y:6.76, Z:4.89 [[ 9.97367086e-01 -6.25444614e-02 -3.67026848e-02 1.97098320e+02] [ 6.25351136e-02 9.98041777e-01 -1.40375091e-03 6.75944310e+00] [ 3.67186096e-02 -8.95151608e-04 9.99325244e-01 4.88698943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.13, Y:6.76, Z:4.89 [[ 9.97322966e-01 -6.29186173e-02 -3.72578636e-02 1.97129860e+02] [ 6.29093402e-02 9.98018232e-01 -1.42245105e-03 6.76073244e+00] [ 3.72735258e-02 -9.25224510e-04 9.99304672e-01 4.88787989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.16, Y:6.76, Z:4.89 [[ 9.97262643e-01 -6.38115738e-02 -3.73537758e-02 1.97161659e+02] [ 6.38029428e-02 9.97961500e-01 -1.42428885e-03 6.76218808e+00] [ 3.73685162e-02 -9.62890758e-04 9.99301089e-01 4.88862192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.19, Y:6.76, Z:4.89 [[ 9.97194547e-01 -6.47657182e-02 -3.75291636e-02 1.97192725e+02] [ 6.47577319e-02 9.97899991e-01 -1.42962265e-03 6.76325115e+00] [ 3.75429425e-02 -1.00469160e-03 9.99294510e-01 4.88945869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.22, Y:6.76, Z:4.89 [[ 9.97008960e-01 -6.77166740e-02 -3.72503190e-02 1.97223993e+02] [ 6.77109457e-02 9.97703974e-01 -1.41677105e-03 6.76446821e+00] [ 3.72607303e-02 -1.10972090e-03 9.99304962e-01 4.89044147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.26, Y:6.77, Z:4.89 [[ 9.96922556e-01 -6.92412494e-02 -3.67568726e-02 1.97256527e+02] [ 6.92368476e-02 9.97599276e-01 -1.39416804e-03 6.76551504e+00] [ 3.67651634e-02 -1.15505243e-03 9.99323265e-01 4.89124482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.29, Y:6.77, Z:4.89 [[ 9.96813106e-01 -7.07507361e-02 -3.68505689e-02 1.97287541e+02] [ 7.07474333e-02 9.97493285e-01 -1.39524200e-03 6.76678868e+00] [ 3.68569094e-02 -1.21628765e-03 9.99319813e-01 4.89242743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.32, Y:6.77, Z:4.89 [[ 9.96596264e-01 -7.39274397e-02 -3.64776760e-02 1.97319173e+02] [ 7.39263982e-02 9.97262746e-01 -1.37917931e-03 6.76813091e+00] [ 3.64797865e-02 -1.32217825e-03 9.99333516e-01 4.89361358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.35, Y:6.77, Z:4.89 [[ 9.96514998e-01 -7.51556324e-02 -3.61868789e-02 1.97351333e+02] [ 7.51554911e-02 9.97170891e-01 -1.36610096e-03 6.76920736e+00] [ 3.61871724e-02 -1.35830256e-03 9.99344107e-01 4.89433587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.38, Y:6.77, Z:4.89 [[ 9.96355315e-01 -7.74031558e-02 -3.58446317e-02 1.97383179e+02] [ 7.74045591e-02 9.96998852e-01 -1.35065229e-03 6.76961385e+00] [ 3.58416013e-02 -1.42880832e-03 9.99356462e-01 4.89474509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.41, Y:6.77, Z:4.90 [[ 9.96264979e-01 -7.87460461e-02 -3.54281348e-02 1.97414721e+02] [ 7.87483470e-02 9.96893636e-01 -1.33261198e-03 6.77061960e+00] [ 3.54230200e-02 -1.46227240e-03 9.99371338e-01 4.89548195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.45, Y:6.77, Z:4.90 [[ 9.96214993e-01 -7.95530332e-02 -3.50286046e-02 1.97446681e+02] [ 7.95558498e-02 9.96829542e-01 -1.31559190e-03 6.77156920e+00] [ 3.50222072e-02 -1.47611804e-03 9.99385444e-01 4.89614329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.48, Y:6.77, Z:4.90 [[ 9.96060036e-01 -8.14223083e-02 -3.51398880e-02 1.97479056e+02] [ 8.14263904e-02 9.96678488e-01 -1.31730073e-03 6.77297072e+00] [ 3.51304281e-02 -1.54920362e-03 9.99381535e-01 4.89723424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.51, Y:6.77, Z:4.90 [[ 9.95957800e-01 -8.24478688e-02 -3.56427931e-02 1.97510606e+02] [ 8.24528221e-02 9.96594077e-01 -1.33340919e-03 6.77408183e+00] [ 3.56313333e-02 -1.61082960e-03 9.99363704e-01 4.89831714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.54, Y:6.77, Z:4.90 [[ 9.95864256e-01 -8.33433085e-02 -3.61700953e-02 1.97543235e+02] [ 8.33491227e-02 9.96519494e-01 -1.34971930e-03 6.77476888e+00] [ 3.61566951e-02 -1.67060851e-03 9.99344737e-01 4.89889751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.58, Y:6.77, Z:4.90 [[ 9.95588953e-01 -8.62366004e-02 -3.69578848e-02 1.97575831e+02] [ 8.62447916e-02 9.96273027e-01 -1.37554117e-03 6.77479303e+00] [ 3.69387657e-02 -1.81795148e-03 9.99315877e-01 4.89870858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.61, Y:6.78, Z:4.90 [[ 9.95458390e-01 -8.74561994e-02 -3.76032902e-02 1.97608470e+02] [ 8.74656636e-02 9.96166556e-01 -1.39648288e-03 6.77533503e+00] [ 3.75812712e-02 -1.89885614e-03 9.99291770e-01 4.89957993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.64, Y:6.78, Z:4.90 [[ 9.95340065e-01 -8.88246001e-02 -3.75279346e-02 1.97641179e+02] [ 8.88351475e-02 9.96045373e-01 -1.38964312e-03 6.77623124e+00] [ 3.75029601e-02 -1.95063213e-03 9.99294613e-01 4.90035119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.67, Y:6.78, Z:4.90 [[ 9.95210497e-01 -9.01516600e-02 -3.77987333e-02 1.97673231e+02] [ 9.01634655e-02 9.95926002e-01 -1.39567947e-03 6.77732497e+00] [ 3.77705641e-02 -2.01906992e-03 9.99284398e-01 4.90140544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.71, Y:6.78, Z:4.90 [[ 9.95106796e-01 -9.13311260e-02 -3.76973579e-02 1.97705616e+02] [ 9.13438407e-02 9.95818445e-01 -1.38851225e-03 6.77839739e+00] [ 3.76665387e-02 -2.06170348e-03 9.99288237e-01 4.90255349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.74, Y:6.78, Z:4.90 [[ 9.94878045e-01 -9.34299920e-02 -3.85812507e-02 1.97738383e+02] [ 9.34450258e-02 9.95623432e-01 -1.41739167e-03 6.78002820e+00] [ 3.85448241e-02 -2.19509411e-03 9.99254461e-01 4.90408160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.77, Y:6.78, Z:4.91 [[ 9.94785380e-01 -9.43845080e-02 -3.86472932e-02 1.97771297e+02] [ 9.44004677e-02 9.95533298e-01 -1.41576207e-03 6.78132453e+00] [ 3.86082932e-02 -2.23994314e-03 9.99251911e-01 4.90523102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.80, Y:6.78, Z:4.91 [[ 9.94699798e-01 -9.52450618e-02 -3.87387361e-02 1.97803613e+02] [ 9.52618987e-02 9.95451238e-01 -1.41520811e-03 6.78265688e+00] [ 3.86973144e-02 -2.28261833e-03 9.99248371e-01 4.90677411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.84, Y:6.78, Z:4.91 [[ 9.94633101e-01 -9.61062180e-02 -3.83221737e-02 1.97836620e+02] [ 9.61234669e-02 9.95368439e-01 -1.39642903e-03 6.78420554e+00] [ 3.82788877e-02 -2.29472566e-03 9.99264460e-01 4.90869229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.87, Y:6.79, Z:4.91 [[ 9.94601549e-01 -9.64010374e-02 -3.84005098e-02 1.97869283e+02] [ 9.64187317e-02 9.95339882e-01 -1.39522514e-03 6.78574828e+00] [ 3.83560601e-02 -2.31483537e-03 9.99261454e-01 4.91010256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.185099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.90, Y:6.79, Z:4.91 [[ 9.94612407e-01 -9.62824638e-02 -3.84167660e-02 1.97902501e+02] [ 9.63002422e-02 9.95351358e-01 -1.39172182e-03 6.78726269e+00] [ 3.83721786e-02 -2.31532008e-03 9.99260834e-01 4.91146600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.21509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.94, Y:6.79, Z:4.91 [[ 9.94630657e-01 -9.60182028e-02 -3.86051875e-02 1.97935199e+02] [ 9.60361212e-02 9.95376873e-01 -1.39432334e-03 6.78959116e+00] [ 3.85605912e-02 -2.32065573e-03 9.99253569e-01 4.91330182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.97, Y:6.79, Z:4.91 [[ 9.94643086e-01 -9.58892990e-02 -3.86053503e-02 1.97968721e+02] [ 9.59072955e-02 9.95389300e-01 -1.38980345e-03 6.79071685e+00] [ 3.85606199e-02 -2.32017634e-03 9.99253569e-01 4.91418818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.00, Y:6.79, Z:4.92 [[ 9.94725447e-01 -9.52282806e-02 -3.81164070e-02 1.98000516e+02] [ 9.52455097e-02 9.95452873e-01 -1.36774024e-03 6.79235935e+00] [ 3.80733344e-02 -2.26989059e-03 9.99272370e-01 4.91505126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.03, Y:6.79, Z:4.92 [[ 9.94786642e-01 -9.45658388e-02 -3.81685504e-02 1.98033679e+02] [ 9.45827712e-02 9.95516064e-01 -1.36589443e-03 6.79415727e+00] [ 3.81265720e-02 -2.25131374e-03 9.99270382e-01 4.91626407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.07, Y:6.80, Z:4.92 [[ 9.94849058e-01 -9.39057990e-02 -3.81713590e-02 1.98067147e+02] [ 9.39224091e-02 9.95578589e-01 -1.36182309e-03 6.79585003e+00] [ 3.81304708e-02 -2.23033757e-03 9.99270280e-01 4.91726738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.10, Y:6.80, Z:4.92 [[ 9.94917468e-01 -9.31332393e-02 -3.82809582e-02 1.98099510e+02] [ 9.31495285e-02 9.95651199e-01 -1.36173008e-03 6.79732453e+00] [ 3.82413043e-02 -2.21104417e-03 9.99266088e-01 4.91849629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.13, Y:6.80, Z:4.92 [[ 9.94965149e-01 -9.26649609e-02 -3.81779803e-02 1.98132018e+02] [ 9.26809582e-02 9.95694936e-01 -1.35442023e-03 6.79936970e+00] [ 3.81391290e-02 -2.19077087e-03 9.99270037e-01 4.91969450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.17, Y:6.80, Z:4.92 [[ 9.94947666e-01 -9.27378076e-02 -3.84557049e-02 1.98165511e+02] [ 9.27542514e-02 9.95688103e-01 -1.36015573e-03 6.80088601e+00] [ 3.84160257e-02 -2.21364635e-03 9.99259380e-01 4.92038824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.20, Y:6.80, Z:4.92 [[ 9.94859914e-01 -9.34832226e-02 -3.89183677e-02 1.98198287e+02] [ 9.35007987e-02 9.95618259e-01 -1.37227764e-03 6.80233247e+00] [ 3.88761225e-02 -2.27367445e-03 9.99241451e-01 4.92139028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.23, Y:6.80, Z:4.92 [[ 9.94832190e-01 -9.38051424e-02 -3.88524097e-02 1.98229796e+02] [ 9.38230588e-02 9.95587951e-01 -1.36595199e-03 6.80355332e+00] [ 3.88091242e-02 -2.28635891e-03 9.99244026e-01 4.92220672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.26, Y:6.80, Z:4.92 [[ 9.94786176e-01 -9.41964965e-02 -3.90830476e-02 1.98262488e+02] [ 9.42150744e-02 9.95550924e-01 -1.37030068e-03 6.80489541e+00] [ 3.90382416e-02 -2.31905606e-03 9.99235026e-01 4.92297081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.30, Y:6.81, Z:4.92 [[ 9.94706084e-01 -9.50117967e-02 -3.91479864e-02 1.98295309e+02] [ 9.50312310e-02 9.95473351e-01 -1.36834709e-03 6.80599185e+00] [ 3.91007863e-02 -2.35917816e-03 9.99232487e-01 4.92376945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.33, Y:6.81, Z:4.92 [[ 9.94637428e-01 -9.58419661e-02 -3.88677825e-02 1.98328034e+02] [ 9.58619163e-02 9.95393720e-01 -1.35437155e-03 6.80702376e+00] [ 3.88185523e-02 -2.37883148e-03 9.99243444e-01 4.92455908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.36, Y:6.81, Z:4.93 [[ 9.94574346e-01 -9.64569553e-02 -3.89605818e-02 1.98360461e+02] [ 9.64776685e-02 9.95334230e-01 -1.35253185e-03 6.80796414e+00] [ 3.89092618e-02 -2.41363262e-03 9.99239833e-01 4.92569387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.39, Y:6.81, Z:4.93 [[ 9.94517904e-01 -9.71192222e-02 -3.87555844e-02 1.98393535e+02] [ 9.71404495e-02 9.95269782e-01 -1.33944335e-03 6.80902394e+00] [ 3.87023478e-02 -2.43263449e-03 9.99247822e-01 4.92659030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.43, Y:6.81, Z:4.93 [[ 9.94555814e-01 -9.68266734e-02 -3.85139914e-02 1.98425120e+02] [ 9.68475672e-02 9.95298341e-01 -1.32721340e-03 6.80992841e+00] [ 3.84614214e-02 -2.40999857e-03 9.99257180e-01 4.92747296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.46, Y:6.81, Z:4.93 [[ 9.94679161e-01 -9.58005921e-02 -3.78894845e-02 1.98458434e+02] [ 9.58202041e-02 9.95397806e-01 -1.30218222e-03 6.81146546e+00] [ 3.78398596e-02 -2.33532461e-03 9.99281087e-01 4.92878479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.49, Y:6.81, Z:4.93 [[ 9.94772313e-01 -9.50184572e-02 -3.74103883e-02 1.98491896e+02] [ 9.50371722e-02 9.95472899e-01 -1.28176491e-03 6.81318982e+00] [ 3.73628190e-02 -2.28031327e-03 9.99299164e-01 4.92994026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.52, Y:6.82, Z:4.93 [[ 9.95013880e-01 -9.28470123e-02 -3.64254266e-02 1.98523901e+02] [ 9.28634715e-02 9.95678075e-01 -1.24340286e-03 6.81552769e+00] [ 3.63834449e-02 -2.14538846e-03 9.99335600e-01 4.93123878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.56, Y:6.82, Z:4.93 [[ 9.95162550e-01 -9.14857593e-02 -3.58030057e-02 1.98556465e+02] [ 9.15009865e-02 9.95804243e-01 -1.21644263e-03 6.81709793e+00] [ 3.57640722e-02 -2.06545219e-03 9.99358127e-01 4.93226202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.59, Y:6.82, Z:4.93 [[ 9.95292916e-01 -9.03209340e-02 -3.51303378e-02 1.98589871e+02] [ 9.03350042e-02 9.95910725e-01 -1.18977014e-03 6.81836289e+00] [ 3.50941414e-02 -1.98932942e-03 9.99382031e-01 4.93302178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.62, Y:6.82, Z:4.93 [[ 9.95410178e-01 -8.91718625e-02 -3.47412835e-02 1.98622076e+02] [ 8.91850510e-02 9.96014383e-01 -1.17295914e-03 6.81920604e+00] [ 3.47074130e-02 -1.93082767e-03 9.99395651e-01 4.93393526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.65, Y:6.82, Z:4.93 [[ 9.95531733e-01 -8.80620911e-02 -3.40827906e-02 1.98654825e+02] [ 8.80742444e-02 9.96113252e-01 -1.14752303e-03 6.82015053e+00] [ 3.40513727e-02 -1.85942044e-03 9.99418354e-01 4.93441753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.69, Y:6.82, Z:4.94 [[ 9.95694542e-01 -8.64774782e-02 -3.33770163e-02 1.98688017e+02] [ 8.64883651e-02 9.96252231e-01 -1.12016050e-03 6.82100124e+00] [ 3.33487956e-02 -1.77138588e-03 9.99442204e-01 4.93557161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.935099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.72, Y:6.82, Z:4.94 [[ 9.95735178e-01 -8.60803135e-02 -3.31908758e-02 1.98720940e+02] [ 8.60909783e-02 9.96286661e-01 -1.11031892e-03 6.82171219e+00] [ 3.31632034e-02 -1.75185135e-03 9.99448414e-01 4.93647176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.75, Y:6.82, Z:4.94 [[ 9.95778676e-01 -8.57893946e-02 -3.26344619e-02 1.98753857e+02] [ 8.57996625e-02 9.96311816e-01 -1.08821094e-03 6.82236068e+00] [ 3.26074569e-02 -1.71640857e-03 9.99466762e-01 4.93723715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.79, Y:6.82, Z:4.94 [[ 9.95776337e-01 -8.60445386e-02 -3.20284796e-02 1.98786094e+02] [ 8.60546664e-02 9.96289848e-01 -1.06467268e-03 6.82194072e+00] [ 3.20012583e-02 -1.69602426e-03 9.99486390e-01 4.93749800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.82, Y:6.82, Z:4.94 [[ 9.95734306e-01 -8.63234385e-02 -3.25799776e-02 1.98819593e+02] [ 8.63341679e-02 9.96265650e-01 -1.07992073e-03 6.82193290e+00] [ 3.25515351e-02 -1.73745114e-03 9.99468548e-01 4.93867932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.85, Y:6.82, Z:4.94 [[ 9.95699472e-01 -8.68255368e-02 -3.23092348e-02 1.98852906e+02] [ 8.68364629e-02 9.96222008e-01 -1.06750655e-03 6.82186741e+00] [ 3.22798576e-02 -1.74270396e-03 9.99477350e-01 4.93873846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.89, Y:6.82, Z:4.94 [[ 9.95612331e-01 -8.80243482e-02 -3.17458829e-02 1.98885371e+02] [ 8.80356074e-02 9.96116780e-01 -1.04561455e-03 6.82068081e+00] [ 3.17146462e-02 -1.75374135e-03 9.99495426e-01 4.93900591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.92, Y:6.82, Z:4.94 [[ 9.95573123e-01 -8.82800803e-02 -3.22611926e-02 1.98918141e+02] [ 8.82919406e-02 9.96094077e-01 -1.05954298e-03 6.82101907e+00] [ 3.22287194e-02 -1.79355079e-03 9.99478911e-01 4.94017849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.95, Y:6.82, Z:4.94 [[ 9.95557646e-01 -8.85059300e-02 -3.21196954e-02 1.98950952e+02] [ 8.85179156e-02 9.96074030e-01 -1.05140123e-03 6.82134080e+00] [ 3.20866497e-02 -1.79643795e-03 9.99483476e-01 4.94073599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.98, Y:6.82, Z:4.94 [[ 9.95548371e-01 -8.85604505e-02 -3.22566046e-02 1.98983043e+02] [ 8.85726771e-02 9.96069161e-01 -1.05247401e-03 6.82155811e+00] [ 3.22230167e-02 -1.80926504e-03 9.99479066e-01 4.94162556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.02, Y:6.82, Z:4.94 [[ 9.95499047e-01 -8.91583587e-02 -3.21315084e-02 1.99015228e+02] [ 8.91708930e-02 9.96015792e-01 -1.04552261e-03 6.82123107e+00] [ 3.20967069e-02 -1.82437853e-03 9.99483103e-01 4.94221881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.05, Y:6.82, Z:4.94 [[ 9.95501935e-01 -8.90536709e-02 -3.23317286e-02 1.99048721e+02] [ 8.90664041e-02 9.96025138e-01 -1.04903541e-03 6.82162658e+00] [ 3.22966349e-02 -1.83535403e-03 9.99476642e-01 4.94307675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.08, Y:6.82, Z:4.94 [[ 9.95545507e-01 -8.86217758e-02 -3.21764714e-02 1.99081128e+02] [ 8.86342893e-02 9.96063693e-01 -1.04004126e-03 6.82157115e+00] [ 3.21419853e-02 -1.81653027e-03 9.99481662e-01 4.94385002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.11, Y:6.82, Z:4.94 [[ 9.95623342e-01 -8.77981701e-02 -3.20256419e-02 1.99114288e+02] [ 8.78103145e-02 9.96136682e-01 -1.02976743e-03 6.82200565e+00] [ 3.19923283e-02 -1.78692120e-03 9.99486517e-01 4.94467721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.15, Y:6.82, Z:4.95 [[ 9.95714843e-01 -8.67255628e-02 -3.21034003e-02 1.99146993e+02] [ 8.67373226e-02 9.96230685e-01 -1.02877974e-03 6.82252254e+00] [ 3.20716140e-02 -1.76019173e-03 9.99484024e-01 4.94588815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.18, Y:6.82, Z:4.95 [[ 9.95961598e-01 -8.43259756e-02 -3.08160032e-02 1.99178710e+02] [ 8.43357610e-02 9.96436907e-01 -9.84395750e-04 6.82303038e+00] [ 3.07892131e-02 -1.61847072e-03 9.99524589e-01 4.94711068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.21, Y:6.82, Z:4.95 [[ 9.96143391e-01 -8.23837727e-02 -3.01870710e-02 1.99211400e+02] [ 8.23923547e-02 9.96599506e-01 -9.61590836e-04 6.82383416e+00] [ 3.01636395e-02 -1.52930151e-03 9.99543804e-01 4.94824654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.24, Y:6.82, Z:4.95 [[ 9.96502911e-01 -7.84616767e-02 -2.87352499e-02 1.99244387e+02] [ 7.84679092e-02 9.96916223e-01 -9.12414416e-04 6.82465977e+00] [ 2.87182264e-02 -1.34557136e-03 9.99586641e-01 4.94914312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.28, Y:6.83, Z:4.95 [[ 9.96711478e-01 -7.60636305e-02 -2.79383909e-02 1.99277008e+02] [ 7.60686634e-02 9.97102190e-01 -8.84183914e-04 6.82500510e+00] [ 2.79246850e-02 -1.24395979e-03 9.99609256e-01 4.94974839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.31, Y:6.83, Z:4.95 [[ 9.96924304e-01 -7.35363013e-02 -2.70988047e-02 1.99309616e+02] [ 7.35401808e-02 9.97291889e-01 -8.54770644e-04 6.82536043e+00] [ 2.70882748e-02 -1.14070937e-03 9.99632395e-01 4.95003253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.34, Y:6.83, Z:4.95 [[ 9.97139623e-01 -7.10579294e-02 -2.57554316e-02 1.99340856e+02] [ 7.09789731e-02 9.97469919e-01 -3.96811952e-03 6.82768690e+00] [ 2.59722346e-02 2.12867512e-03 9.99660398e-01 4.94881542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.37, Y:6.82, Z:4.95 [[ 9.97293081e-01 -6.87036979e-02 -2.61975597e-02 1.99373580e+02] [ 6.87866186e-02 9.97628799e-01 2.27621090e-03 6.82443424e+00] [ 2.59790559e-02 -4.07209093e-03 9.99654194e-01 4.95021895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.41, Y:6.83, Z:4.95 [[ 9.97453617e-01 -6.65446045e-02 -2.56534114e-02 1.99405624e+02] [ 6.65460968e-02 9.97783034e-01 -7.96480487e-04 6.82625838e+00] [ 2.56495402e-02 -9.12682056e-04 9.99670580e-01 4.95274385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.44, Y:6.83, Z:4.95 [[ 9.97456728e-01 -6.58050392e-02 -2.73819683e-02 1.99438811e+02] [ 6.58065353e-02 9.97832041e-01 -8.47460739e-04 6.82675986e+00] [ 2.73783725e-02 -9.56607049e-04 9.99624684e-01 4.95316409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.47, Y:6.83, Z:4.95 [[ 9.97385909e-01 -6.57349314e-02 -3.00044446e-02 1.99471400e+02] [ 6.57367974e-02 9.97836568e-01 -9.25293548e-04 6.82703372e+00] [ 3.00003562e-02 -1.04952135e-03 9.99549337e-01 4.95320656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.50, Y:6.83, Z:4.95 [[ 9.97308245e-01 -6.64571552e-02 -3.09791915e-02 1.99504167e+02] [ 6.61602859e-02 9.97753629e-01 -1.05125114e-02 6.83028739e+00] [ 3.16082323e-02 8.43462218e-03 9.99464745e-01 4.95085612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.685099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.54, Y:6.82, Z:4.95 [[ 9.97116949e-01 -6.72822069e-02 -3.50841043e-02 1.99535281e+02] [ 6.76213228e-02 9.97674259e-01 8.56915665e-03 6.82116615e+00] [ 3.44259560e-02 -1.09168849e-02 9.99347625e-01 4.94893869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.71509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.57, Y:6.83, Z:4.95 [[ 9.97062038e-01 -6.81757083e-02 -3.49194192e-02 1.99567611e+02] [ 6.81799941e-02 9.97672464e-01 -1.06940313e-03 6.82568294e+00] [ 3.49110503e-02 -1.31454453e-03 9.99389559e-01 4.95259474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.60, Y:6.83, Z:4.95 [[ 9.97100123e-01 -6.82846631e-02 -3.35938974e-02 1.99598913e+02] [ 6.82887662e-02 9.97665069e-01 -1.02655575e-03 6.82530300e+00] [ 3.35855560e-02 -1.27050694e-03 9.99435039e-01 4.95419631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.63, Y:6.83, Z:4.96 [[ 9.97193284e-01 -6.74227119e-02 -3.25535362e-02 1.99631331e+02] [ 6.74261650e-02 9.97723773e-01 -9.92935609e-04 6.82603994e+00] [ 3.25463833e-02 -1.20481138e-03 9.99469500e-01 4.95561806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.66, Y:6.83, Z:4.96 [[ 9.97348528e-01 -6.58195225e-02 -3.10435720e-02 1.99663280e+02] [ 6.58219521e-02 9.97830937e-01 -9.44758261e-04 6.82709317e+00] [ 3.10384201e-02 -1.10109525e-03 9.99517586e-01 4.95762203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.70, Y:6.83, Z:4.96 [[ 9.97442952e-01 -6.47259992e-02 -3.03001983e-02 1.99695370e+02] [ 6.47278737e-02 9.97902528e-01 -9.20020208e-04 6.82822249e+00] [ 3.02961937e-02 -1.04359974e-03 9.99540420e-01 4.95892435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.73, Y:6.83, Z:4.96 [[ 9.97532633e-01 -6.36951989e-02 -2.95223157e-02 1.99726516e+02] [ 6.36965879e-02 9.97968910e-01 -8.94345245e-04 6.82875277e+00] [ 2.95193187e-02 -9.88332212e-04 9.99563721e-01 4.95999865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.76, Y:6.83, Z:4.96 [[ 9.97578739e-01 -6.34924423e-02 -2.83790206e-02 1.99758793e+02] [ 6.34936866e-02 9.97981871e-01 -8.58186934e-04 6.82936268e+00] [ 2.83762364e-02 -9.45779600e-04 9.99596866e-01 4.96148823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.79, Y:6.83, Z:4.96 [[ 9.97599890e-01 -6.41591924e-02 -2.60395497e-02 1.99790282e+02] [ 6.41605114e-02 9.97939282e-01 -7.85704105e-04 6.82842018e+00] [ 2.60362996e-02 -8.86892493e-04 9.99660605e-01 4.96285248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.82, Y:6.83, Z:4.96 [[ 9.97557140e-01 -6.50082522e-02 -2.55671562e-02 1.99822146e+02] [ 6.50098362e-02 9.97884326e-01 -7.70113172e-04 6.82818057e+00] [ 2.55631281e-02 -8.93884744e-04 9.99672810e-01 4.96373962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.85, Y:6.83, Z:4.96 [[ 9.97366111e-01 -6.76806317e-02 -2.60801299e-02 1.99854737e+02] [ 6.76832421e-02 9.97706552e-01 -7.83653310e-04 6.82713842e+00] [ 2.60733546e-02 -9.83598490e-04 9.99659548e-01 4.96474735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.89, Y:6.83, Z:4.97 [[ 9.97253413e-01 -6.89925521e-02 -2.69380492e-02 1.99886999e+02] [ 6.89958690e-02 9.97616619e-01 -8.07437041e-04 6.82733223e+00] [ 2.69295527e-02 -1.05339477e-03 9.99636779e-01 4.96579318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.92, Y:6.83, Z:4.97 [[ 9.97116098e-01 -7.07931030e-02 -2.73463508e-02 1.99917879e+02] [ 7.07972520e-02 9.97490391e-01 -8.17669456e-04 6.82741431e+00] [ 2.73356075e-02 -1.12073511e-03 9.99625684e-01 4.96600523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.95, Y:6.83, Z:4.97 [[ 9.96915587e-01 -7.33632929e-02 -2.78772082e-02 1.99950357e+02] [ 7.33686512e-02 9.97304542e-01 -8.31977564e-04 6.82632539e+00] [ 2.78631030e-02 -1.21590177e-03 9.99611009e-01 4.96614046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.98, Y:6.83, Z:4.97 [[ 9.96889784e-01 -7.39081368e-02 -2.73559175e-02 1.99982492e+02] [ 7.39135536e-02 9.97264320e-01 -8.14495270e-04 6.82647262e+00] [ 2.73412783e-02 -1.21001106e-03 9.99625425e-01 4.96652139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.02, Y:6.83, Z:4.97 [[ 9.96897014e-01 -7.38105339e-02 -2.73559764e-02 2.00015170e+02] [ 7.38159684e-02 9.97271549e-01 -8.12511806e-04 6.82738758e+00] [ 2.73413089e-02 -1.20931730e-03 9.99625425e-01 4.96738989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.05, Y:6.83, Z:4.97 [[ 9.96906984e-01 -7.38154271e-02 -2.69767863e-02 2.00048124e+02] [ 7.38207840e-02 9.97271204e-01 -7.98638464e-04 6.82757113e+00] [ 2.69621239e-02 -1.19527925e-03 9.99635741e-01 4.96818789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.08, Y:6.83, Z:4.97 [[ 9.97071041e-01 -7.26121969e-02 -2.40168487e-02 2.00081768e+02] [ 7.24028277e-02 9.97330451e-01 -9.47636076e-03 6.83157263e+00] [ 2.46408339e-02 7.70971713e-03 9.99666639e-01 4.96780451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.11, Y:6.82, Z:4.97 [[ 9.97008976e-01 -7.26072375e-02 -2.64818996e-02 2.00113217e+02] [ 7.28452939e-02 9.97310058e-01 8.13701520e-03 6.82477728e+00] [ 2.58198587e-02 -1.00417590e-02 9.99616175e-01 4.96687776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.15, Y:6.83, Z:4.97 [[ 9.97193544e-01 -7.03498571e-02 -2.56111907e-02 2.00145672e+02] [ 7.03538289e-02 9.97521820e-01 -7.47074175e-04 6.83092674e+00] [ 2.56002781e-02 -1.05686779e-03 9.99671701e-01 4.97091285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.18, Y:6.84, Z:4.97 [[ 9.97593615e-01 -6.60039807e-02 -2.12238992e-02 2.00178567e+02] [ 6.58244961e-02 9.97790196e-01 -9.04771362e-03 6.83514746e+00] [ 2.17741836e-02 7.62888887e-03 9.99733807e-01 4.96973793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.21, Y:6.83, Z:4.97 [[ 9.97657754e-01 -6.40833835e-02 -2.39233248e-02 2.00209660e+02] [ 6.42882714e-02 9.97900139e-01 7.89502026e-03 6.82785747e+00] [ 2.33671495e-02 -9.41451738e-03 9.99682621e-01 4.96931472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.24, Y:6.84, Z:4.97 [[ 9.97894200e-01 -6.13587945e-02 -2.10300654e-02 2.00242915e+02] [ 6.11938717e-02 9.98090563e-01 -8.39864612e-03 6.83514852e+00] [ 2.15052406e-02 7.09404913e-03 9.99743567e-01 4.97117124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.27, Y:6.83, Z:4.97 [[ 9.98080485e-01 -5.30300903e-02 -3.19867842e-02 2.00274103e+02] [ 5.32808525e-02 9.98554763e-01 7.03821526e-03 6.82783863e+00] [ 3.15673185e-02 -8.72898843e-03 9.99463511e-01 4.97013616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.30, Y:6.83, Z:4.97 [[ 9.98181601e-01 -5.14210176e-02 -3.14542654e-02 2.00304737e+02] [ 5.14180853e-02 9.98676807e-01 -9.02614390e-04 6.83272172e+00] [ 3.14590587e-02 -7.16345022e-04 9.99504785e-01 4.97357789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.435099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.34, Y:6.83, Z:4.97 [[ 9.98182526e-01 -5.14030463e-02 -3.14542678e-02 2.00335719e+02] [ 5.14001077e-02 9.98677733e-01 -9.02531002e-04 6.83361337e+00] [ 3.14590697e-02 -7.15862075e-04 9.99504785e-01 4.97440995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.37, Y:6.83, Z:4.98 [[ 9.98264382e-01 -4.97512298e-02 -3.15125173e-02 2.00366129e+02] [ 4.97474730e-02 9.98761419e-01 -9.03718046e-04 6.83464255e+00] [ 3.15184476e-02 -6.65518569e-04 9.99502949e-01 4.97522580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.40, Y:6.84, Z:4.98 [[ 9.98358257e-01 -4.80859836e-02 -3.11212110e-02 2.00395848e+02] [ 4.80815085e-02 9.98843017e-01 -8.92574313e-04 6.83555686e+00] [ 3.11281246e-02 -6.05245837e-04 9.99515219e-01 4.97579611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.43, Y:6.84, Z:4.98 [[ 9.98357407e-01 -4.81036272e-02 -3.11211949e-02 2.00425984e+02] [ 4.80991431e-02 9.98842167e-01 -8.93137759e-04 6.83645308e+00] [ 3.11281249e-02 -6.05232106e-04 9.99515219e-01 4.97660561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.46, Y:6.84, Z:4.98 [[ 9.98356557e-01 -4.81212704e-02 -3.11211791e-02 2.00456120e+02] [ 4.81167777e-02 9.98841317e-01 -8.93687472e-04 6.83734982e+00] [ 3.11281249e-02 -6.05232106e-04 9.99515219e-01 4.97741511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.49, Y:6.83, Z:4.98 [[ 9.98362074e-01 -4.64154548e-02 -3.34480825e-02 2.00486018e+02] [ 4.68014045e-02 9.98845294e-01 1.08493111e-02 6.83273835e+00] [ 3.29058841e-02 -1.23969580e-02 9.99381568e-01 4.97759514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.51, Y:6.84, Z:4.98 [[ 9.98358628e-01 -4.68646346e-02 -3.29204336e-02 2.00514935e+02] [ 4.68600729e-02 9.98901048e-01 -9.10515051e-04 6.83927412e+00] [ 3.29269266e-02 -6.33633361e-04 9.99457561e-01 4.98198047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.54, Y:6.85, Z:4.98 [[ 9.98517406e-01 -4.54444325e-02 -2.99631936e-02 2.00543872e+02] [ 4.50773821e-02 9.98901310e-01 -1.28141396e-02 6.84531898e+00] [ 3.05126047e-02 1.14444791e-02 9.99468861e-01 4.98317539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.57, Y:6.84, Z:4.98 [[ 9.98514900e-01 -4.52683281e-02 -3.03112809e-02 2.00573397e+02] [ 4.52624677e-02 9.98974742e-01 -8.79804371e-04 6.84047333e+00] [ 3.03200313e-02 -4.93465600e-04 9.99540120e-01 4.98014857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.60, Y:6.84, Z:4.98 [[ 9.98508609e-01 -4.54069621e-02 -3.03111582e-02 2.00602655e+02] [ 4.54010378e-02 9.98968450e-01 -8.84010852e-04 6.84137644e+00] [ 3.03200310e-02 -4.93465595e-04 9.99540120e-01 4.98092680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.63, Y:6.84, Z:4.98 [[ 9.98635939e-01 -4.33194819e-02 -2.91493332e-02 2.00632389e+02] [ 4.32570090e-02 9.99060136e-01 -2.77068432e-03 6.84195427e+00] [ 2.92419614e-02 1.50599197e-03 9.99571228e-01 4.98089483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.66, Y:6.84, Z:4.98 [[ 9.98627089e-01 -4.34633570e-02 -2.92382296e-02 2.00661687e+02] [ 4.34591313e-02 9.99054901e-01 -7.80281101e-04 6.84191344e+00] [ 2.92445102e-02 -4.91458218e-04 9.99572167e-01 4.98105971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.69, Y:6.84, Z:4.98 [[ 9.98597361e-01 -4.34864587e-02 -3.02032721e-02 2.00689820e+02] [ 4.35400761e-02 9.99051054e-01 1.11950637e-03 6.84270798e+00] [ 3.01259275e-02 -2.43298887e-03 9.99543150e-01 4.98283461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.72, Y:6.84, Z:4.98 [[ 9.98609751e-01 -4.32729921e-02 -3.01000550e-02 2.00718688e+02] [ 4.32656929e-02 9.99063201e-01 -8.94058332e-04 6.84441521e+00] [ 3.01105459e-02 -4.09484367e-04 9.99546491e-01 4.98445645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.75, Y:6.85, Z:4.99 [[ 9.98587603e-01 -4.39736323e-02 -2.98180915e-02 2.00747154e+02] [ 4.39667344e-02 9.99032602e-01 -8.87257119e-04 6.84533152e+00] [ 2.98282614e-02 -4.25000150e-04 9.99554948e-01 4.98550064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.78, Y:6.85, Z:4.99 [[ 9.98513914e-01 -4.53329459e-02 -3.02471039e-02 2.00777100e+02] [ 4.53264246e-02 9.98971823e-01 -9.01572457e-04 6.84589990e+00] [ 3.02568754e-02 -4.70760430e-04 9.99542045e-01 4.98674531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.81, Y:6.84, Z:4.99 [[ 9.98283982e-01 -4.99326417e-02 -3.05912217e-02 2.00806369e+02] [ 4.99280959e-02 9.98752398e-01 -9.12916385e-04 6.84495331e+00] [ 3.05986404e-02 -6.16011649e-04 9.99531562e-01 4.98770084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.84, Y:6.84, Z:4.99 [[ 9.97927911e-01 -5.62567032e-02 -3.12260641e-02 2.00836566e+02] [ 5.62550297e-02 9.98415996e-01 -9.32810318e-04 6.84310572e+00] [ 3.12290787e-02 -8.25745711e-04 9.99511912e-01 4.98822418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.87, Y:6.84, Z:4.99 [[ 9.97731203e-01 -5.93462991e-02 -3.17877960e-02 2.00867319e+02] [ 5.93461342e-02 9.98237013e-01 -9.49499193e-04 6.84266610e+00] [ 3.17881038e-02 -9.39137835e-04 9.99494189e-01 4.98886279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.90, Y:6.84, Z:4.99 [[ 9.97339831e-01 -6.51411886e-02 -3.27091285e-02 2.00897556e+02] [ 6.51441527e-02 9.97875386e-01 -9.76196251e-04 6.84181943e+00] [ 3.27032248e-02 -1.15720906e-03 9.99464437e-01 4.98995530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.93, Y:6.84, Z:4.99 [[ 9.97069200e-01 -6.94231595e-02 -3.21470749e-02 2.00929533e+02] [ 6.94283027e-02 9.97586484e-01 -9.57577802e-04 6.84173358e+00] [ 3.21359655e-02 -1.27714551e-03 9.99482691e-01 4.99126180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.96, Y:6.84, Z:4.99 [[ 9.96985557e-01 -7.08323983e-02 -3.16633798e-02 2.00961225e+02] [ 7.08381654e-02 9.97487378e-01 -9.41005903e-04 6.84208347e+00] [ 3.16504754e-02 -1.30480644e-03 9.99498147e-01 4.99234725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.99, Y:6.84, Z:4.99 [[ 9.96864546e-01 -7.27852487e-02 -3.10384346e-02 2.00992831e+02] [ 7.27917975e-02 9.97346734e-01 -9.20402208e-04 6.84156680e+00] [ 3.10230731e-02 -1.34182712e-03 9.99517768e-01 4.99397328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.03, Y:6.84, Z:4.99 [[ 9.96870723e-01 -7.27005737e-02 -3.10384864e-02 2.01025505e+02] [ 7.27071359e-02 9.97352911e-01 -9.18654647e-04 6.84247153e+00] [ 3.10231115e-02 -1.34093952e-03 9.99517768e-01 4.99484213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.06, Y:6.84, Z:5.00 [[ 9.96819575e-01 -7.34431823e-02 -3.09327294e-02 2.01057258e+02] [ 7.34501357e-02 9.97298473e-01 -9.12964572e-04 6.84284309e+00] [ 3.09162149e-02 -1.36195222e-03 9.99521052e-01 4.99607689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.185099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.09, Y:6.84, Z:5.00 [[ 9.96778728e-01 -7.38789349e-02 -3.12101006e-02 2.01089230e+02] [ 7.38862965e-02 9.97266249e-01 -9.18920571e-04 6.84325694e+00] [ 3.11926688e-02 -1.39003827e-03 9.99512424e-01 4.99705781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.21509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.12, Y:6.84, Z:5.00 [[ 9.96738063e-01 -7.44129150e-02 -3.12402264e-02 2.01121298e+02] [ 7.44206221e-02 9.97226518e-01 -9.17582013e-04 6.84392879e+00] [ 3.12218622e-02 -1.41032816e-03 9.99511484e-01 4.99804428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.15, Y:6.84, Z:5.00 [[ 9.96698143e-01 -7.49148159e-02 -3.13142507e-02 2.01153723e+02] [ 7.49228766e-02 9.97188909e-01 -9.17525663e-04 6.84475929e+00] [ 3.12949598e-02 -1.43165762e-03 9.99509167e-01 4.99873531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.18, Y:6.85, Z:5.00 [[ 9.96589724e-01 -7.52566800e-02 -3.38430809e-02 2.01184424e+02] [ 7.50834762e-02 9.97156958e-01 -6.36175243e-03 6.84768764e+00] [ 3.42256280e-02 3.79900094e-03 9.99406911e-01 5.00079797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.22, Y:6.84, Z:5.00 [[ 9.96587220e-01 -7.57632529e-02 -3.27695437e-02 2.01215421e+02] [ 7.59450088e-02 9.97102580e-01 4.33604579e-03 6.84297397e+00] [ 3.23460836e-02 -6.80993110e-03 9.99453529e-01 4.99796096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.25, Y:6.85, Z:5.00 [[ 9.96561322e-01 -7.59625786e-02 -3.30940926e-02 2.01246892e+02] [ 7.59721776e-02 9.97109467e-01 -9.69130286e-04 6.84612060e+00] [ 3.30720507e-02 -1.54843252e-03 9.99451771e-01 5.00046291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.28, Y:6.85, Z:5.00 [[ 9.96624171e-01 -7.49810770e-02 -3.34380042e-02 2.01278794e+02] [ 7.49903883e-02 9.97183778e-01 -9.77332695e-04 6.84701727e+00] [ 3.34171168e-02 -1.53349553e-03 9.99440316e-01 5.00097305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.31, Y:6.85, Z:5.00 [[ 9.96677916e-01 -7.39880183e-02 -3.40426910e-02 2.01309542e+02] [ 7.39971844e-02 9.97257957e-01 -9.92295538e-04 6.84855228e+00] [ 3.40227625e-02 -1.53006424e-03 9.99419887e-01 5.00212448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.34, Y:6.85, Z:5.00 [[ 9.96769731e-01 -7.25478026e-02 -3.44516876e-02 2.01341354e+02] [ 7.25564568e-02 9.97363805e-01 -1.00060225e-03 6.85053936e+00] [ 3.44334577e-02 -1.50232234e-03 9.99405864e-01 5.00313174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.37, Y:6.85, Z:5.00 [[ 9.97006122e-01 -6.88198271e-02 -3.52508621e-02 2.01373241e+02] [ 6.88266498e-02 9.97628112e-01 -1.02133558e-03 6.85330821e+00] [ 3.52375391e-02 -1.40792091e-03 9.99377973e-01 5.00398896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.40, Y:6.85, Z:5.00 [[ 9.97118659e-01 -6.69449792e-02 -3.56756189e-02 2.01404002e+02] [ 6.69508443e-02 9.97755742e-01 -1.03155221e-03 6.85473675e+00] [ 3.56646109e-02 -1.35993285e-03 9.99362890e-01 5.00471889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.44, Y:6.86, Z:5.01 [[ 9.97387730e-01 -6.28982616e-02 -3.55179454e-02 2.01435544e+02] [ 6.29015403e-02 9.98019210e-01 -1.02620843e-03 6.85594356e+00] [ 3.55121385e-02 -1.21060577e-03 9.99368512e-01 5.00513594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.47, Y:6.86, Z:5.01 [[ 9.97531023e-01 -6.08700050e-02 -3.50242895e-02 2.01465553e+02] [ 6.08719767e-02 9.98145070e-01 -1.01101977e-03 6.85681413e+00] [ 3.50208627e-02 -1.12347415e-03 9.99385950e-01 5.00575151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.50, Y:6.86, Z:5.01 [[ 9.97624349e-01 -5.93960633e-02 -3.48965148e-02 2.01495494e+02] [ 5.93971146e-02 9.98233924e-01 -1.00748096e-03 6.85807536e+00] [ 3.48947254e-02 -1.06766476e-03 9.99390423e-01 5.00663574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.52, Y:6.86, Z:5.01 [[ 9.97801250e-01 -5.62446266e-02 -3.50600551e-02 2.01524731e+02] [ 5.62437171e-02 9.98416555e-01 -1.01298153e-03 6.86012794e+00] [ 3.50615142e-02 -9.61153583e-04 9.99384694e-01 5.00809475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.55, Y:6.86, Z:5.01 [[ 9.97863668e-01 -5.50238514e-02 -3.52203785e-02 2.01553713e+02] [ 5.50221247e-02 9.98484616e-01 -1.01900808e-03 6.86138600e+00] [ 3.52230758e-02 -9.21068916e-04 9.99379050e-01 5.00898632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.58, Y:6.86, Z:5.01 [[ 9.97779087e-01 -5.53241622e-02 -3.70962442e-02 2.01582616e+02] [ 5.54445114e-02 9.98459296e-01 2.22259507e-03 6.86289373e+00] [ 3.69161266e-02 -4.27444201e-03 9.99309226e-01 5.01079684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.61, Y:6.86, Z:5.01 [[ 9.97956538e-01 -5.32043751e-02 -3.53842297e-02 2.01611920e+02] [ 5.30775558e-02 9.98580188e-01 -4.51447207e-03 6.86455453e+00] [ 3.55741805e-02 2.62713849e-03 9.99363585e-01 5.01164117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.64, Y:6.86, Z:5.01 [[ 9.97954324e-01 -5.32953014e-02 -3.53097365e-02 2.01640271e+02] [ 5.32922238e-02 9.98578430e-01 -1.02898483e-03 6.86362272e+00] [ 3.53143813e-02 -8.54854514e-04 9.99375887e-01 5.01126833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.67, Y:6.86, Z:5.01 [[ 9.97939346e-01 -5.36444667e-02 -3.52041671e-02 2.01668824e+02] [ 5.36413119e-02 9.98559732e-01 -1.03477927e-03 6.86463465e+00] [ 3.52089738e-02 -8.55750759e-04 9.99379605e-01 5.01205682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.70, Y:6.87, Z:5.01 [[ 9.97918660e-01 -5.41273235e-02 -3.50511296e-02 2.01697450e+02] [ 5.41242435e-02 9.98533670e-01 -1.03741217e-03 6.86573838e+00] [ 3.50558854e-02 -8.61862906e-04 9.99384982e-01 5.01322860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.73, Y:6.87, Z:5.01 [[ 9.97890457e-01 -5.47617585e-02 -3.48681102e-02 2.01727072e+02] [ 5.47590378e-02 9.98499063e-01 -1.03370488e-03 6.86670795e+00] [ 3.48723829e-02 -8.77819932e-04 9.99391388e-01 5.01421733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.76, Y:6.87, Z:5.02 [[ 9.97830649e-01 -5.60042008e-02 -3.46052698e-02 2.01756327e+02] [ 5.60022250e-02 9.98430116e-01 -1.02712940e-03 6.86744847e+00] [ 3.46084670e-02 -9.13070907e-04 9.99400530e-01 5.01543194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.79, Y:6.87, Z:5.02 [[ 9.97627256e-01 -5.81059895e-02 -3.69263147e-02 2.01785193e+02] [ 5.83457134e-02 9.98281578e-01 5.44693062e-03 6.86778135e+00] [ 3.65463604e-02 -7.58849862e-03 9.99303146e-01 5.01659975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.82, Y:6.87, Z:5.02 [[ 9.97769295e-01 -5.73720040e-02 -3.41304439e-02 2.01815977e+02] [ 5.71342908e-02 9.98335241e-01 -7.90064081e-03 6.87221630e+00] [ 3.45269005e-02 5.93299810e-03 9.99386158e-01 5.01880824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.935099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.85, Y:6.87, Z:5.02 [[ 9.97588940e-01 -5.95126552e-02 -3.57008602e-02 2.01845720e+02] [ 5.95932063e-02 9.98222030e-01 1.19549003e-03 6.87164881e+00] [ 3.55662383e-02 -3.32013636e-03 9.99361806e-01 5.01765492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.88, Y:6.88, Z:5.02 [[ 9.97642541e-01 -5.92985879e-02 -3.45403833e-02 2.01876250e+02] [ 5.91409605e-02 9.98234111e-01 -5.56841180e-03 6.87514705e+00] [ 3.48095877e-02 3.51253306e-03 9.99387790e-01 5.01889697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.91, Y:6.88, Z:5.02 [[ 9.97637726e-01 -5.94284650e-02 -3.44561380e-02 2.01907196e+02] [ 5.93651536e-02 9.98232241e-01 -2.85850171e-03 6.87532958e+00] [ 3.45651042e-02 8.06255224e-04 9.99402123e-01 5.01799517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.94, Y:6.87, Z:5.02 [[ 9.97567924e-01 -5.96608875e-02 -3.60390863e-02 2.01937134e+02] [ 5.97790575e-02 9.98209188e-01 2.20938427e-03 6.87485723e+00] [ 3.58427333e-02 -4.35839349e-03 9.99347939e-01 5.01832031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.97, Y:6.88, Z:5.02 [[ 9.97573204e-01 -5.96343046e-02 -3.59367922e-02 2.01968069e+02] [ 5.96257569e-02 9.98219942e-01 -1.31048762e-03 6.87739013e+00] [ 3.59509726e-02 -8.35451097e-04 9.99353206e-01 5.02024233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.00, Y:6.88, Z:5.02 [[ 9.97638422e-01 -5.89643347e-02 -3.52247888e-02 2.01998827e+02] [ 5.89602328e-02 9.98259663e-01 -1.15609686e-03 6.87649800e+00] [ 3.52316543e-02 -9.23495107e-04 9.99378746e-01 5.02108821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.03, Y:6.88, Z:5.02 [[ 9.97654771e-01 -5.94440863e-02 -3.39316702e-02 2.02028309e+02] [ 5.92637468e-02 9.98222499e-01 -6.29691032e-03 6.88150711e+00] [ 3.42456707e-02 4.27122471e-03 9.99404318e-01 5.02126404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.06, Y:6.88, Z:5.02 [[ 9.97649420e-01 -5.92555228e-02 -3.44153574e-02 2.02058568e+02] [ 5.94309368e-02 9.98224018e-01 4.09566020e-03 6.87644857e+00] [ 3.41115458e-02 -6.13136995e-03 9.99399224e-01 5.02078277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.17509989299998 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:202.09, Y:6.89, Z:5.02 [[ 9.97590321e-01 -6.04545772e-02 -3.40410784e-02 2.02086194e+02] [ 6.02725059e-02 9.98161758e-01 -6.35051942e-03 6.88515408e+00] [ 3.43624207e-02 4.28347561e-03 9.99400258e-01 5.02327948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.12, Y:6.88, Z:5.02 [[ 9.97777282e-01 -5.77194036e-02 -3.33011464e-02 2.02119361e+02] [ 5.76581687e-02 9.98332466e-01 -2.79701164e-03 6.88229660e+00] [ 3.34070575e-02 8.70711550e-04 9.99441449e-01 5.02257238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.15, Y:6.88, Z:5.02 [[ 9.97772700e-01 -5.70740855e-02 -3.45280719e-02 2.02150968e+02] [ 5.73207222e-02 9.98336595e-01 6.19506321e-03 6.87933118e+00] [ 3.41170601e-02 -8.16043897e-03 9.99384527e-01 5.02376301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.18, Y:6.88, Z:5.03 [[ 9.97769246e-01 -5.70092298e-02 -3.47344146e-02 2.02181406e+02] [ 5.70093210e-02 9.98373157e-01 -9.88572512e-04 6.88470781e+00] [ 3.47342649e-02 -9.93818140e-04 9.99396089e-01 5.02676635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.21, Y:6.89, Z:5.03 [[ 9.97767160e-01 -5.65697430e-02 -3.55043431e-02 2.02211956e+02] [ 5.65695608e-02 9.98398149e-01 -1.01048537e-03 6.88612775e+00] [ 3.55046333e-02 -1.00023598e-03 9.99369011e-01 5.02728152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.24, Y:6.89, Z:5.03 [[ 9.97765161e-01 -5.62696014e-02 -3.60335439e-02 2.02241528e+02] [ 5.62692131e-02 9.98415106e-01 -1.02569861e-03 6.88742697e+00] [ 3.60341502e-02 -1.00417283e-03 9.99350055e-01 5.02797515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.27, Y:6.89, Z:5.03 [[ 9.97774758e-01 -5.61086229e-02 -3.60188111e-02 2.02270754e+02] [ 5.61081013e-02 9.98424172e-01 -1.02607776e-03 6.88936066e+00] [ 3.60196235e-02 -9.97152619e-04 9.99350585e-01 5.02881944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.30, Y:6.89, Z:5.03 [[ 9.97781661e-01 -5.62199159e-02 -3.56521850e-02 2.02300081e+02] [ 5.62194304e-02 9.98417919e-01 -1.01690284e-03 6.89097473e+00] [ 3.56529505e-02 -9.89698524e-04 9.99363741e-01 5.02945712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.33, Y:6.89, Z:5.03 [[ 9.97787935e-01 -5.61948401e-02 -3.55158639e-02 2.02330010e+02] [ 5.61943024e-02 9.98419337e-01 -1.01413686e-03 6.89240413e+00] [ 3.55167145e-02 -9.83895674e-04 9.99368598e-01 5.03047304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.36, Y:6.89, Z:5.03 [[ 9.97792957e-01 -5.61901735e-02 -3.53819026e-02 2.02359576e+02] [ 5.61896149e-02 9.98419604e-01 -1.01093395e-03 6.89486525e+00] [ 3.53827897e-02 -9.79392702e-04 9.99373353e-01 5.03156906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.39, Y:6.90, Z:5.03 [[ 9.97791725e-01 -5.63404677e-02 -3.51770616e-02 2.02390514e+02] [ 5.63399920e-02 9.98411135e-01 -1.00555631e-03 6.89672554e+00] [ 3.51778235e-02 -9.78539607e-04 9.99380590e-01 5.03246560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.42, Y:6.90, Z:5.03 [[ 9.97819180e-01 -5.59018249e-02 -3.50980078e-02 2.02420962e+02] [ 5.59010802e-02 9.98435808e-01 -1.00329651e-03 6.89858698e+00] [ 3.50991939e-02 -9.60908050e-04 9.99383372e-01 5.03264662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.45, Y:6.90, Z:5.03 [[ 9.97818935e-01 -5.59831336e-02 -3.49751622e-02 2.02451756e+02] [ 5.59824439e-02 9.98431253e-01 -9.99784900e-04 6.89982909e+00] [ 3.49762661e-02 -9.60390753e-04 9.99387682e-01 5.03299117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.48, Y:6.90, Z:5.03 [[ 9.97810846e-01 -5.60698645e-02 -3.50668768e-02 2.02481400e+02] [ 5.60692201e-02 9.98426381e-01 -1.00253950e-03 6.90104546e+00] [ 3.50679071e-02 -9.65827640e-04 9.99384465e-01 5.03366496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.51, Y:6.90, Z:5.03 [[ 9.97818672e-01 -5.62182333e-02 -3.46035723e-02 2.02511975e+02] [ 5.62176779e-02 9.98418045e-01 -9.89778066e-04 6.90233630e+00] [ 3.46044746e-02 -9.57713446e-04 9.99400627e-01 5.03396909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.54, Y:6.90, Z:5.03 [[ 9.97791930e-01 -5.73355580e-02 -3.35245780e-02 2.02542652e+02] [ 5.73356661e-02 9.98354497e-01 -9.58915215e-04 6.90423963e+00] [ 3.35243931e-02 -9.65356146e-04 9.99437433e-01 5.03437023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.57, Y:6.91, Z:5.04 [[ 9.97761199e-01 -5.82451171e-02 -3.28648031e-02 2.02572561e+02] [ 5.82457166e-02 9.98301835e-01 -9.39947648e-04 6.90545372e+00] [ 3.28637406e-02 -9.76390713e-04 9.99459364e-01 5.03508202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.685099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.60, Y:6.91, Z:5.04 [[ 9.97644419e-01 -6.08908490e-02 -3.15898445e-02 2.02604151e+02] [ 6.08927466e-02 9.98143907e-01 -9.02858806e-04 6.90709212e+00] [ 3.15861866e-02 -1.02286035e-03 9.99500509e-01 5.03562970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.71509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.64, Y:6.91, Z:5.04 [[ 9.97557795e-01 -6.21501636e-02 -3.18716689e-02 2.02636427e+02] [ 6.21527786e-02 9.98066233e-01 -9.09614020e-04 6.90847318e+00] [ 3.18665691e-02 -1.07352022e-03 9.99491555e-01 5.03658926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.67, Y:6.91, Z:5.04 [[ 9.97477613e-01 -6.34617129e-02 -3.17965854e-02 2.02668477e+02] [ 6.34650533e-02 9.97983651e-01 -9.05194598e-04 6.90960305e+00] [ 3.17899176e-02 -1.11506064e-03 9.99493951e-01 5.03653041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.70, Y:6.91, Z:5.04 [[ 9.97386729e-01 -6.48054814e-02 -3.19368469e-02 2.02700759e+02] [ 6.48096128e-02 9.97897235e-01 -9.06882744e-04 6.91083039e+00] [ 3.19284622e-02 -1.16530187e-03 9.99489477e-01 5.03667664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.73, Y:6.91, Z:5.04 [[ 9.97217174e-01 -6.75997610e-02 -3.14353451e-02 2.02731788e+02] [ 6.76052169e-02 9.97711753e-01 -8.90485776e-04 6.91289068e+00] [ 3.14236099e-02 -1.23718562e-03 9.99505391e-01 5.03720004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.76, Y:6.91, Z:5.04 [[ 9.97106642e-01 -6.96258489e-02 -3.05055097e-02 2.02763684e+02] [ 6.96319826e-02 9.97572375e-01 -8.62504729e-04 6.91496786e+00] [ 3.04915063e-02 -1.26414992e-03 9.99534227e-01 5.03768429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.79, Y:6.92, Z:5.04 [[ 9.97054652e-01 -7.04142119e-02 -3.03950708e-02 2.02794404e+02] [ 7.04207307e-02 9.97517010e-01 -8.57275967e-04 6.91622757e+00] [ 3.03799645e-02 -1.28569210e-03 9.99537595e-01 5.03843727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.83, Y:6.92, Z:5.04 [[ 9.97008423e-01 -7.11948707e-02 -3.00914414e-02 2.02826289e+02] [ 7.12016633e-02 9.97461581e-01 -8.47090544e-04 6.91749798e+00] [ 3.00753652e-02 -1.29800427e-03 9.99546791e-01 5.03888637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.86, Y:6.92, Z:5.04 [[ 9.96956933e-01 -7.16608660e-02 -3.06853927e-02 2.02858933e+02] [ 7.16682161e-02 9.97428155e-01 -8.61660089e-04 6.91899028e+00] [ 3.06682220e-02 -1.34012936e-03 9.99528721e-01 5.03986193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.89, Y:6.92, Z:5.04 [[ 9.96849252e-01 -7.31722073e-02 -3.06169409e-02 2.02890684e+02] [ 7.31803002e-02 9.97318358e-01 -8.57636634e-04 6.92136725e+00] [ 3.05975924e-02 -1.38562249e-03 9.99530824e-01 5.04062168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.92, Y:6.92, Z:5.04 [[ 9.96772782e-01 -7.38955914e-02 -3.13602232e-02 2.02922881e+02] [ 7.39045106e-02 9.97264938e-01 -8.76196883e-04 6.92319485e+00] [ 3.13391982e-02 -1.44429275e-03 9.99507763e-01 5.04151655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.96, Y:6.92, Z:5.04 [[ 9.96705082e-01 -7.45276449e-02 -3.20095149e-02 2.02955402e+02] [ 7.45373381e-02 9.97217825e-01 -8.91991543e-04 6.92453344e+00] [ 3.19869369e-02 -1.49685153e-03 9.99487166e-01 5.04229861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.99, Y:6.93, Z:5.04 [[ 9.96625562e-01 -7.52907863e-02 -3.26923129e-02 2.02987197e+02] [ 7.53013871e-02 9.97160406e-01 -9.08587929e-04 6.92620944e+00] [ 3.26678883e-02 -1.55625455e-03 9.99465050e-01 5.04281943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.02, Y:6.93, Z:5.04 [[ 9.96535598e-01 -7.62021228e-02 -3.33172501e-02 2.03018011e+02] [ 7.62137211e-02 9.97091077e-01 -9.23561571e-04 6.92867840e+00] [ 3.32907102e-02 -1.61886963e-03 9.99444400e-01 5.04386862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.05, Y:6.93, Z:5.05 [[ 9.96563410e-01 -7.64573148e-02 -3.18692495e-02 2.03050104e+02] [ 7.64681119e-02 9.97071638e-01 -8.81657637e-04 6.93152474e+00] [ 3.18433339e-02 -1.55835360e-03 9.99491658e-01 5.04605190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.08, Y:6.93, Z:5.05 [[ 9.96605657e-01 -7.61504040e-02 -3.12774706e-02 2.03082427e+02] [ 7.61607245e-02 9.97095181e-01 -8.62983450e-04 6.93374434e+00] [ 3.12523317e-02 -1.52206063e-03 9.99510368e-01 5.04763147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.12, Y:6.94, Z:5.05 [[ 9.96687905e-01 -7.52205234e-02 -3.09045818e-02 2.03115718e+02] [ 7.52302405e-02 9.97165828e-01 -8.49864858e-04 6.93599050e+00] [ 3.08809202e-02 -1.47790910e-03 9.99521978e-01 5.04877449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.15, Y:6.93, Z:5.05 [[ 9.96571674e-01 -7.50776675e-02 -3.47597923e-02 2.03145301e+02] [ 7.56224155e-02 9.97029196e-01 1.46298549e-02 6.93271896e+00] [ 3.35581523e-02 -1.72083184e-02 9.99288609e-01 5.04850049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.18, Y:6.95, Z:5.06 [[ 9.97001022e-01 -7.15418906e-02 -2.95079680e-02 2.03178094e+02] [ 7.10701291e-02 9.97330854e-01 -1.67393228e-02 6.94994701e+00] [ 3.06267697e-02 1.45919869e-02 9.99424372e-01 5.05578785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.21, Y:6.94, Z:5.05 [[ 9.96989609e-01 -7.04917727e-02 -3.22897868e-02 2.03209823e+02] [ 7.08388893e-02 9.97440276e-01 9.73382954e-03 6.94152307e+00] [ 3.15209790e-02 -1.19918995e-02 9.99431149e-01 5.05099098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.24, Y:6.95, Z:5.06 [[ 9.97231926e-01 -6.85004173e-02 -2.89167392e-02 2.03242571e+02] [ 6.81864593e-02 9.97603889e-01 -1.17083948e-02 6.95236951e+00] [ 2.96494814e-02 9.70425502e-03 9.99513249e-01 5.05658257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.27, Y:6.95, Z:5.05 [[ 9.97284897e-01 -6.65727421e-02 -3.14786309e-02 2.03273676e+02] [ 6.67709678e-02 9.97754320e-01 5.28729424e-03 6.94929750e+00] [ 3.10559503e-02 -7.37479734e-03 9.99490440e-01 5.05310932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.31, Y:6.96, Z:5.06 [[ 9.97383836e-01 -6.53129459e-02 -3.09790784e-02 2.03306817e+02] [ 6.51204516e-02 9.97851554e-01 -7.18351797e-03 6.95592516e+00] [ 3.13816983e-02 5.14735313e-03 9.99494219e-01 5.05694568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.34, Y:6.96, Z:5.06 [[ 9.97417464e-01 -6.43773623e-02 -3.18427120e-02 2.03339458e+02] [ 6.43829255e-02 9.97924904e-01 -8.51651489e-04 6.95501767e+00] [ 3.18314623e-02 -1.20067488e-03 9.99492529e-01 5.05563171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.37, Y:6.96, Z:5.06 [[ 9.97432822e-01 -6.39149342e-02 -3.22900510e-02 2.03371205e+02] [ 6.39204874e-02 9.97954623e-01 -8.61315365e-04 6.95730132e+00] [ 3.22790566e-02 -1.20489159e-03 9.99478169e-01 5.05655692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.43509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.40, Y:6.96, Z:5.06 [[ 9.97438853e-01 -6.37255982e-02 -3.24774165e-02 2.03403495e+02] [ 6.37311904e-02 9.97966727e-01 -8.64022514e-04 6.96086088e+00] [ 3.24664414e-02 -1.20801479e-03 9.99472096e-01 5.05861803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.44, Y:6.96, Z:5.06 [[ 9.97463773e-01 -6.35651358e-02 -3.20233602e-02 2.03435914e+02] [ 6.35705623e-02 9.97976985e-01 -8.49680050e-04 6.96284604e+00] [ 3.20125865e-02 -1.18821795e-03 9.99486760e-01 5.05971907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.47, Y:6.96, Z:5.06 [[ 9.97516696e-01 -6.28511510e-02 -3.17832344e-02 2.03466909e+02] [ 6.28562042e-02 9.98022239e-01 -8.41114326e-04 6.96479307e+00] [ 3.17732398e-02 -1.15874789e-03 9.99494431e-01 5.06107968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.50, Y:6.97, Z:5.06 [[ 9.97565024e-01 -6.23018142e-02 -3.13449525e-02 2.03499497e+02] [ 6.23065123e-02 9.98056718e-01 -8.27782208e-04 6.96666634e+00] [ 3.13356127e-02 -1.12722809e-03 9.99508283e-01 5.06206338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.53, Y:6.97, Z:5.06 [[ 9.97680333e-01 -6.03780463e-02 -3.14395282e-02 2.03530904e+02] [ 6.03996929e-02 9.98174238e-01 -2.61599834e-04 6.97054014e+00] [ 3.13979219e-02 -1.63794483e-03 9.99505622e-01 5.06258971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.56, Y:6.97, Z:5.06 [[ 9.97784846e-01 -5.86503995e-02 -3.13931895e-02 2.03564915e+02] [ 5.86310873e-02 9.98278536e-01 -1.53614863e-03 6.97139322e+00] [ 3.14292430e-02 -3.07871014e-04 9.99505932e-01 5.06472358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.60, Y:6.97, Z:5.07 [[ 9.97855638e-01 -5.76114414e-02 -3.10652064e-02 2.03597086e+02] [ 5.76141356e-02 9.98338598e-01 -8.09123358e-04 6.97284729e+00] [ 3.10602094e-02 -9.82406711e-04 9.99517033e-01 5.06564832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.63, Y:6.98, Z:5.07 [[ 9.97971950e-01 -5.53908362e-02 -3.13662630e-02 2.03629209e+02] [ 5.53925579e-02 9.98464321e-01 -8.14719238e-04 6.97528473e+00] [ 3.13632225e-02 -9.24390594e-04 9.99507626e-01 5.06740068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.66, Y:6.98, Z:5.07 [[ 9.98007265e-01 -5.43972021e-02 -3.19756715e-02 2.03660607e+02] [ 5.43985641e-02 9.98518959e-01 -8.27986354e-04 6.97685459e+00] [ 3.19733543e-02 -9.13094218e-04 9.99488305e-01 5.06853991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.69, Y:6.98, Z:5.07 [[ 9.98053041e-01 -5.31036481e-02 -3.27128495e-02 2.03693021e+02] [ 5.31044992e-02 9.98588604e-01 -8.43428953e-04 6.97813695e+00] [ 3.27114678e-02 -8.95412657e-04 9.99464436e-01 5.06936858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.72, Y:6.98, Z:5.07 [[ 9.98094147e-01 -5.23710221e-02 -3.26397017e-02 2.03724857e+02] [ 5.23715546e-02 9.98627316e-01 -8.39197112e-04 6.97841572e+00] [ 3.26388473e-02 -8.71794196e-04 9.99466831e-01 5.06982045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.76, Y:6.98, Z:5.07 [[ 9.98129788e-01 -5.18643006e-02 -3.23577031e-02 2.03756389e+02] [ 5.18646303e-02 9.98653780e-01 -8.29708388e-04 6.97897685e+00] [ 3.23571748e-02 -8.50063652e-04 9.99476008e-01 5.07068091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.79, Y:6.98, Z:5.07 [[ 9.98176768e-01 -5.10984317e-02 -3.21261745e-02 2.03788195e+02] [ 5.10984186e-02 9.98693284e-01 -8.21954476e-04 6.97976415e+00] [ 3.21261953e-02 -8.21140852e-04 9.99483483e-01 5.07168339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.82, Y:6.98, Z:5.07 [[ 9.98245817e-01 -4.97058472e-02 -3.21654825e-02 2.03819911e+02] [ 4.97051864e-02 9.98763596e-01 -8.20638758e-04 6.98083647e+00] [ 3.21665036e-02 -7.79592099e-04 9.99482220e-01 5.07257866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.85, Y:6.98, Z:5.07 [[ 9.98321293e-01 -4.78093574e-02 -3.26934516e-02 2.03850986e+02] [ 4.78077305e-02 9.98856210e-01 -8.31917935e-04 6.98201724e+00] [ 3.26958306e-02 -7.32478332e-04 9.99465080e-01 5.07377062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.88, Y:6.98, Z:5.08 [[ 9.98501967e-01 -4.32213523e-02 -3.35520051e-02 2.03880888e+02] [ 4.32170881e-02 9.99065341e-01 -8.52635389e-04 6.98418178e+00] [ 3.35574975e-02 -5.98661848e-04 9.99436609e-01 5.07512822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.91, Y:6.99, Z:5.08 [[ 9.98591176e-01 -4.17792340e-02 -3.27132902e-02 2.03909080e+02] [ 4.15298178e-02 9.99103061e-01 -8.26731268e-03 6.99074802e+00] [ 3.30293504e-02 6.89708851e-03 9.99430584e-01 5.07631038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.94, Y:6.99, Z:5.07 [[ 9.98591523e-01 -4.15227890e-02 -3.30276992e-02 2.03938471e+02] [ 4.15078546e-02 9.99137530e-01 -1.13798799e-03 6.98803318e+00] [ 3.30464662e-02 -2.34523780e-04 9.99453789e-01 5.07452675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.97, Y:6.98, Z:5.07 [[ 9.98646427e-01 -3.85747035e-02 -3.48899259e-02 2.03968375e+02] [ 3.88180031e-02 9.99226293e-01 6.32280096e-03 6.98427051e+00] [ 3.46190312e-02 -7.66859984e-03 9.99371160e-01 5.07475572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.00, Y:6.99, Z:5.08 [[ 9.98714414e-01 -3.68697760e-02 -3.47870452e-02 2.03996463e+02] [ 3.68609772e-02 9.99320003e-01 -8.94454353e-04 6.98886856e+00] [ 3.47963684e-02 -3.88980024e-04 9.99394347e-01 5.07820157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.02, Y:6.99, Z:5.08 [[ 9.98815238e-01 -3.39514651e-02 -3.48628597e-02 2.04023509e+02] [ 3.39405442e-02 9.99423444e-01 -9.05187194e-04 6.98977217e+00] [ 3.48734917e-02 -2.79149669e-04 9.99391696e-01 5.07872821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.05, Y:7.00, Z:5.08 [[ 9.98948352e-01 -3.31365167e-02 -3.16884920e-02 2.04050170e+02] [ 3.26870623e-02 9.99359021e-01 -1.45980418e-02 6.99737398e+00] [ 3.21519086e-02 1.35468861e-02 9.99391183e-01 5.07964540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.08, Y:6.99, Z:5.08 [[ 9.98941109e-01 -3.27828062e-02 -3.22792177e-02 2.04078899e+02] [ 3.27613815e-02 9.99462490e-01 -1.19254368e-03 6.99168052e+00] [ 3.23009622e-02 1.33769136e-04 9.99478179e-01 5.07553241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.11, Y:6.98, Z:5.08 [[ 9.98806351e-01 -3.30419774e-02 -3.59736051e-02 2.04108378e+02] [ 3.35151969e-02 9.99358378e-01 1.26318880e-02 6.98366850e+00] [ 3.55331411e-02 -1.38224724e-02 9.99272903e-01 5.07612561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.14, Y:6.99, Z:5.08 [[ 9.98750077e-01 -3.51073026e-02 -3.55775301e-02 2.04136341e+02] [ 3.50959574e-02 9.99383502e-01 -9.43539614e-04 6.99031488e+00] [ 3.55887218e-02 -3.06267221e-04 9.99366474e-01 5.08168800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.16, Y:7.00, Z:5.08 [[ 9.98748808e-01 -3.76903964e-02 -3.28671984e-02 2.04161912e+02] [ 3.72745777e-02 9.99218221e-01 -1.31739485e-02 6.99694375e+00] [ 3.33380348e-02 1.19323544e-02 9.99372901e-01 5.08164162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.21509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.19, Y:6.98, Z:5.08 [[ 9.98625932e-01 -3.85488147e-02 -3.54998177e-02 2.04192376e+02] [ 3.89619623e-02 9.99179921e-01 1.10204602e-02 6.98388150e+00] [ 3.50458794e-02 -1.23884599e-02 9.99308917e-01 5.07823129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.22, Y:6.99, Z:5.08 [[ 9.98614165e-01 -3.91455129e-02 -3.51763913e-02 2.04220464e+02] [ 3.91360552e-02 9.99233432e-01 -9.57635251e-04 6.99049330e+00] [ 3.51869134e-02 -4.20357067e-04 9.99380660e-01 5.08337639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.25, Y:6.99, Z:5.08 [[ 9.98570453e-01 -4.07296221e-02 -3.46142665e-02 2.04247497e+02] [ 4.07211370e-02 9.99170099e-01 -9.50369340e-04 6.99006918e+00] [ 3.46242483e-02 -4.60521545e-04 9.99400295e-01 5.08374043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.28, Y:6.99, Z:5.08 [[ 9.98467544e-01 -4.43289828e-02 -3.31285964e-02 2.04275067e+02] [ 4.40519358e-02 9.98988280e-01 -9.04674976e-03 6.99405167e+00] [ 3.34961128e-02 7.57350722e-03 9.99410152e-01 5.08403409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.31, Y:6.99, Z:5.08 [[ 9.98349801e-01 -4.57794698e-02 -3.46686464e-02 2.04306154e+02] [ 4.60406642e-02 9.98916604e-01 6.77313434e-03 6.98540428e+00] [ 3.43210161e-02 -8.35812483e-03 9.99375910e-01 5.08284297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.34, Y:6.99, Z:5.09 [[ 9.98204846e-01 -4.92670221e-02 -3.40565176e-02 2.04335825e+02] [ 4.92635211e-02 9.98785371e-01 -9.42417296e-04 6.98850446e+00] [ 3.40615816e-02 -7.37018460e-04 9.99419464e-01 5.08672391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.37, Y:6.99, Z:5.09 [[ 9.98124743e-01 -5.09679487e-02 -3.39008330e-02 2.04366079e+02] [ 5.09654299e-02 9.98699977e-01 -9.38990722e-04 6.98844506e+00] [ 3.39046195e-02 -7.90540654e-04 9.99424760e-01 5.08763145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.40, Y:6.99, Z:5.09 [[ 9.98040679e-01 -5.27383427e-02 -3.36670449e-02 2.04397537e+02] [ 5.27368884e-02 9.98608007e-01 -9.31812761e-04 6.98826225e+00] [ 3.36693229e-02 -8.45508149e-04 9.99432670e-01 5.08833749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.43, Y:6.99, Z:5.09 [[ 9.97934249e-01 -5.48944154e-02 -3.33742030e-02 2.04428833e+02] [ 5.48942300e-02 9.98491749e-01 -9.22529650e-04 6.98807407e+00] [ 3.33745081e-02 -9.11427242e-04 9.99442500e-01 5.08934756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.46, Y:6.99, Z:5.09 [[ 9.97700922e-01 -5.92530548e-02 -3.28929538e-02 2.04460008e+02] [ 5.92552781e-02 9.98242449e-01 -9.08067879e-04 6.98716891e+00] [ 3.28889485e-02 -1.04310096e-03 9.99458468e-01 5.09059860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.49, Y:6.99, Z:5.09 [[ 9.97592760e-01 -6.10699863e-02 -3.28503056e-02 2.04491544e+02] [ 6.10732291e-02 9.98132877e-01 -9.05620321e-04 6.98719746e+00] [ 3.28442763e-02 -1.10283397e-03 9.99459873e-01 5.09177524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.52, Y:6.99, Z:5.09 [[ 9.97469149e-01 -6.32969806e-02 -3.23850163e-02 2.04524234e+02] [ 6.33013623e-02 9.97994060e-01 -8.90987805e-04 6.98742572e+00] [ 3.23764508e-02 -1.16128281e-03 9.99475071e-01 5.09256759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.56, Y:6.99, Z:5.09 [[ 9.97212488e-01 -6.70563346e-02 -3.27215713e-02 2.04556805e+02] [ 6.70629058e-02 9.97748345e-01 -8.97870755e-04 6.98647558e+00] [ 3.27081015e-02 -1.29903573e-03 9.99464103e-01 5.09275680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.59, Y:6.99, Z:5.09 [[ 9.97087963e-01 -6.89286479e-02 -3.26256934e-02 2.04588262e+02] [ 6.89362648e-02 9.97620667e-01 -8.92665437e-04 6.98652979e+00] [ 3.26095962e-02 -1.35902748e-03 9.99467242e-01 5.09358987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.62, Y:6.99, Z:5.09 [[ 9.96770148e-01 -7.33305832e-02 -3.27398597e-02 2.04620509e+02] [ 7.33407410e-02 9.97306543e-01 -8.92160168e-04 6.98534276e+00] [ 3.27170989e-02 -1.51188695e-03 9.99463509e-01 5.09375225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.65, Y:6.98, Z:5.09 [[ 9.96569038e-01 -7.59080917e-02 -3.29865781e-02 2.04652860e+02] [ 7.59198897e-02 9.97113517e-01 -8.96514429e-04 6.98484358e+00] [ 3.29594156e-02 -1.61089885e-03 9.99455393e-01 5.09437297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.69, Y:6.98, Z:5.09 [[ 9.96395958e-01 -7.81382640e-02 -3.30076851e-02 2.04685614e+02] [ 7.81513815e-02 9.96941102e-01 -8.94532603e-04 6.98430747e+00] [ 3.29766152e-02 -1.68828752e-03 9.99454698e-01 5.09462156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.72, Y:6.98, Z:5.09 [[ 9.96228774e-01 -7.99761298e-02 -3.36459334e-02 2.04717259e+02] [ 7.99909431e-02 9.96795177e-01 -9.07724689e-04 6.98391227e+00] [ 3.36107004e-02 -1.78706849e-03 9.99433403e-01 5.09470767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.75, Y:6.98, Z:5.09 [[ 9.95932269e-01 -8.29848928e-02 -3.51058912e-02 2.04750394e+02] [ 8.30030924e-02 9.96548845e-01 -9.41180940e-04 6.98274744e+00] [ 3.50628392e-02 -1.97654506e-03 9.99383155e-01 5.09452306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.78, Y:6.98, Z:5.10 [[ 9.95849632e-01 -8.38244159e-02 -3.54538681e-02 2.04782953e+02] [ 8.38436435e-02 9.96478473e-01 -9.46706048e-04 6.98319703e+00] [ 3.54083734e-02 -2.02980461e-03 9.99370866e-01 5.09537845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.82, Y:6.98, Z:5.10 [[ 9.95821397e-01 -8.38435885e-02 -3.61938836e-02 2.04815625e+02] [ 8.38637820e-02 9.96476763e-01 -9.62567099e-04 6.98395264e+00] [ 3.61470691e-02 -2.07681105e-03 9.99344323e-01 5.09656555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.85, Y:6.99, Z:5.10 [[ 9.95888661e-01 -8.29757698e-02 -3.63427603e-02 2.04848444e+02] [ 8.29956947e-02 9.96549441e-01 -9.62659201e-04 6.98519125e+00] [ 3.62972349e-02 -2.05759126e-03 9.99338920e-01 5.09756114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.88, Y:6.99, Z:5.10 [[ 9.96173976e-01 -7.96682861e-02 -3.59217630e-02 2.04880634e+02] [ 7.96857630e-02 9.96819583e-01 -9.47182255e-04 6.98697097e+00] [ 3.58829772e-02 -1.91889478e-03 9.99354156e-01 5.09912579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.91, Y:6.99, Z:5.10 [[ 9.96374498e-01 -7.74606687e-02 -3.51810193e-02 2.04913921e+02] [ 7.74762477e-02 9.96993772e-01 -9.22280159e-04 6.98844032e+00] [ 3.51466976e-02 -1.80675694e-03 9.99380531e-01 5.10027495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.93509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.95, Y:6.99, Z:5.10 [[ 9.96801183e-01 -7.24404855e-02 -3.37606016e-02 2.04945512e+02] [ 7.24520738e-02 9.97371505e-01 -8.81595190e-04 6.99143469e+00] [ 3.37357253e-02 -1.56725048e-03 9.99429560e-01 5.10219693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.98, Y:6.99, Z:5.10 [[ 9.96807527e-01 -7.23531032e-02 -3.37606807e-02 2.04978192e+02] [ 7.23647443e-02 9.97377848e-01 -8.78556927e-04 6.99222587e+00] [ 3.37357214e-02 -1.56733087e-03 9.99429560e-01 5.10310294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.01, Y:7.00, Z:5.11 [[ 9.97207999e-01 -6.70408477e-02 -3.28896715e-02 2.05010126e+02] [ 6.70491009e-02 9.97749312e-01 -8.53155228e-04 6.99542551e+00] [ 3.28728433e-02 -1.35444968e-03 9.99458624e-01 5.10546665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.04, Y:7.00, Z:5.11 [[ 9.97334973e-01 -6.46681236e-02 -3.37784762e-02 2.05042525e+02] [ 6.46755542e-02 9.97905962e-01 -8.73751395e-04 6.99738468e+00] [ 3.37642466e-02 -1.31321884e-03 9.99428963e-01 5.10634295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.08, Y:7.00, Z:5.11 [[ 9.97448906e-01 -6.20422264e-02 -3.53049839e-02 2.05075119e+02] [ 6.20487954e-02 9.98072702e-01 -9.10621898e-04 6.99898507e+00] [ 3.52934377e-02 -1.28233291e-03 9.99376170e-01 5.10682537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.11, Y:7.00, Z:5.11 [[ 9.97597534e-01 -5.87744779e-02 -3.66704251e-02 2.05106335e+02] [ 5.87794760e-02 9.98270547e-01 -9.42718147e-04 7.00047534e+00] [ 3.66624131e-02 -1.21501507e-03 9.99326969e-01 5.10665070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.13, Y:7.00, Z:5.11 [[ 9.97700612e-01 -5.50169618e-02 -3.95805737e-02 2.05134914e+02] [ 5.53545122e-02 9.98438726e-01 7.48259549e-03 7.00207115e+00] [ 3.91071079e-02 -9.65635345e-03 9.99188365e-01 5.10679434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.16, Y:7.01, Z:5.11 [[ 9.97824009e-01 -5.25905338e-02 -3.97678691e-02 2.05163701e+02] [ 5.26132821e-02 9.98614849e-01 -4.75054527e-04 7.00817788e+00] [ 3.97377680e-02 -1.61829730e-03 9.99208832e-01 5.11195664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.17509989299998 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:205.19, Y:7.01, Z:5.11 [[ 9.97992419e-01 -4.98974787e-02 -3.90047873e-02 2.05192195e+02] [ 4.98482576e-02 9.98754304e-01 -2.23404393e-03 7.01066493e+00] [ 3.90676724e-02 2.85238215e-04 9.99236526e-01 5.11373732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.22, Y:7.01, Z:5.11 [[ 9.98123690e-01 -4.72180323e-02 -3.89814832e-02 2.05221300e+02] [ 4.72782234e-02 9.98881565e-01 6.23187507e-04 7.01059404e+00] [ 3.89084592e-02 -2.46499348e-03 9.99239739e-01 5.11421025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.25, Y:7.01, Z:5.12 [[ 9.98403368e-01 -4.18903995e-02 -3.78933888e-02 2.05253505e+02] [ 4.14543051e-02 9.99065643e-01 -1.22222124e-02 7.01469796e+00] [ 3.83699761e-02 1.06318539e-02 9.99207040e-01 5.11643370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26509989299998 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:205.28, Y:7.01, Z:5.11 [[ 9.98348777e-01 -4.22069550e-02 -3.89652752e-02 2.05279459e+02] [ 4.23451616e-02 9.99099317e-01 2.72807760e-03 7.01121993e+00] [ 3.88150360e-02 -4.37356381e-03 9.99236841e-01 5.11304817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.31, Y:7.01, Z:5.12 [[ 9.98363775e-01 -4.19199319e-02 -3.88907824e-02 2.05306915e+02] [ 4.18738808e-02 9.99120906e-01 -1.99827899e-03 7.01459049e+00] [ 3.89403614e-02 3.66501371e-04 9.99241469e-01 5.11533848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.34, Y:7.01, Z:5.12 [[ 9.98352595e-01 -4.18915618e-02 -3.92070515e-02 2.05336123e+02] [ 4.19590431e-02 9.99118927e-01 8.99513755e-04 7.01338156e+00] [ 3.91348252e-02 -2.54312226e-03 9.99230703e-01 5.11579542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.37, Y:7.01, Z:5.12 [[ 9.98454804e-01 -4.10408263e-02 -3.74653830e-02 2.05366596e+02] [ 4.08235453e-02 9.99144925e-01 -6.54653508e-03 7.01448547e+00] [ 3.77020225e-02 5.00694965e-03 9.99276482e-01 5.11715542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.39, Y:7.01, Z:5.12 [[ 9.98406369e-01 -4.23170550e-02 -3.73361561e-02 2.05394836e+02] [ 4.23109563e-02 9.99104035e-01 -9.53823300e-04 7.01214118e+00] [ 3.73430672e-02 -6.27425213e-04 9.99302307e-01 5.11607665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.42, Y:7.01, Z:5.12 [[ 9.98276736e-01 -4.59303612e-02 -3.65234235e-02 2.05422982e+02] [ 4.59265686e-02 9.98944373e-01 -9.43256762e-04 7.01167436e+00] [ 3.65281925e-02 -7.35764233e-04 9.99332352e-01 5.11741518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.45, Y:7.01, Z:5.12 [[ 9.98187654e-01 -4.81704532e-02 -3.60695773e-02 2.05451699e+02] [ 4.81678549e-02 9.98838811e-01 -9.41515487e-04 7.01157035e+00] [ 3.60730470e-02 -7.97585034e-04 9.99348838e-01 5.11863538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.48, Y:7.01, Z:5.12 [[ 9.98114149e-01 -5.04349023e-02 -3.49923717e-02 2.05480646e+02] [ 5.04336008e-02 9.98726992e-01 -9.20420299e-04 7.01126506e+00] [ 3.49942475e-02 -8.46106782e-04 9.99387156e-01 5.11974337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.51, Y:7.01, Z:5.12 [[ 9.98010390e-01 -5.32344543e-02 -3.37839240e-02 2.05510788e+02] [ 5.32347957e-02 9.98581626e-01 -8.90029227e-04 7.01085838e+00] [ 3.37833860e-02 -9.10221875e-04 9.99428764e-01 5.12080919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.54, Y:7.01, Z:5.12 [[ 9.97806927e-01 -5.80513749e-02 -3.18021010e-02 2.05541161e+02] [ 5.80541225e-02 9.98313086e-01 -8.37731560e-04 7.00890547e+00] [ 3.17970851e-02 -1.01034871e-03 9.99493834e-01 5.12304362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.57, Y:7.01, Z:5.12 [[ 9.97493487e-01 -6.28178910e-02 -3.25677033e-02 2.05573548e+02] [ 6.28233385e-02 9.98024295e-01 -8.56993305e-04 7.00635881e+00] [ 3.25571937e-02 -1.19116661e-03 9.99469164e-01 5.12346497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.60, Y:7.01, Z:5.12 [[ 9.97311650e-01 -6.41013707e-02 -3.55033322e-02 2.05604995e+02] [ 6.41087521e-02 9.97942483e-01 -9.31624134e-04 7.00551154e+00] [ 3.54900019e-02 -1.34695472e-03 9.99369124e-01 5.12325080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.64, Y:7.01, Z:5.12 [[ 9.97171108e-01 -6.48666778e-02 -3.79749324e-02 2.05637677e+02] [ 6.48757694e-02 9.97892853e-01 -9.94112005e-04 7.00530610e+00] [ 3.79593984e-02 -1.47235319e-03 9.99278198e-01 5.12291350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.67, Y:7.01, Z:5.12 [[ 9.97266283e-01 -6.18072832e-02 -4.04947036e-02 2.05668447e+02] [ 6.18152004e-02 9.98087051e-01 -1.05776741e-03 7.00505750e+00] [ 4.04826170e-02 -1.44831244e-03 9.99179193e-01 5.12215926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.70, Y:7.01, Z:5.12 [[ 9.97468172e-01 -5.91693988e-02 -3.94490561e-02 2.05698042e+02] [ 5.91748594e-02 9.98247101e-01 -1.03023924e-03 7.00567778e+00] [ 3.94408645e-02 -1.30676150e-03 9.99221052e-01 5.12333625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.71509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.73, Y:7.01, Z:5.13 [[ 9.98086047e-01 -5.01715102e-02 -3.61533037e-02 2.05727207e+02] [ 5.01701627e-02 9.98740237e-01 -9.45047573e-04 7.00708130e+00] [ 3.61551735e-02 -8.70578331e-04 9.99345809e-01 5.12566121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.76, Y:7.01, Z:5.13 [[ 9.98376419e-01 -4.48807097e-02 -3.50748795e-02 2.05755356e+02] [ 4.48761241e-02 9.98992137e-01 -9.18379966e-04 7.00829550e+00] [ 3.50807464e-02 -6.57135741e-04 9.99384265e-01 5.12735467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.78, Y:7.01, Z:5.13 [[ 9.98584625e-01 -4.02443389e-02 -3.47726934e-02 2.05784444e+02] [ 4.02369051e-02 9.99189750e-01 -9.13826050e-04 7.00942745e+00] [ 3.47812951e-02 -4.86612919e-04 9.99394829e-01 5.12869402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.81, Y:7.01, Z:5.13 [[ 9.98855057e-01 -3.16048249e-02 -3.59125465e-02 2.05812378e+02] [ 3.15909775e-02 9.99500426e-01 -9.53102843e-04 7.01035847e+00] [ 3.59247282e-02 -1.82500855e-04 9.99354482e-01 5.12913354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.84, Y:7.01, Z:5.13 [[ 9.99032101e-01 -2.59364797e-02 -3.55268836e-02 2.05840107e+02] [ 2.59189913e-02 9.99663592e-01 -9.52805642e-04 7.01073397e+00] [ 3.55396446e-02 3.10624363e-05 9.99368267e-01 5.12964266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.87, Y:7.01, Z:5.13 [[ 9.99025047e-01 -2.62071775e-02 -3.55266101e-02 2.05868476e+02] [ 2.61895008e-02 9.99656532e-01 -9.62910169e-04 7.01156316e+00] [ 3.55396430e-02 3.15471925e-05 9.99368267e-01 5.13041045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.90, Y:7.01, Z:5.13 [[ 9.99084551e-01 -2.51208429e-02 -3.46266320e-02 2.05896154e+02] [ 2.51030751e-02 9.99684419e-01 -9.47848281e-04 7.01104811e+00] [ 3.46395153e-02 7.77456313e-05 9.99399869e-01 5.13107115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.92, Y:7.01, Z:5.13 [[ 9.99087418e-01 -2.57107737e-02 -3.41069839e-02 2.05923863e+02] [ 2.56935473e-02 9.99669421e-01 -9.43337409e-04 7.00757094e+00] [ 3.41199628e-02 6.61471341e-05 9.99417742e-01 5.13209673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.95, Y:7.00, Z:5.13 [[ 9.98909905e-01 -3.20427594e-02 -3.39449952e-02 2.05950907e+02] [ 3.20290586e-02 9.99486489e-01 -9.47452972e-04 7.00158029e+00] [ 3.39579231e-02 -1.40806079e-04 9.99423253e-01 5.13260891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.98, Y:7.00, Z:5.13 [[ 9.98673407e-01 -3.86952726e-02 -3.39720799e-02 2.05978593e+02] [ 3.86852130e-02 9.99250992e-01 -9.53609207e-04 6.99827828e+00] [ 3.39835347e-02 -3.61872988e-04 9.99422327e-01 5.13296509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.01, Y:7.00, Z:5.13 [[ 9.98522145e-01 -4.25031832e-02 -3.38674576e-02 2.06005181e+02] [ 4.24950813e-02 9.99096215e-01 -9.59319655e-04 6.99686002e+00] [ 3.38776228e-02 -4.81298442e-04 9.99425873e-01 5.13351334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.03, Y:7.00, Z:5.13 [[ 9.98355007e-01 -4.63374222e-02 -3.37657237e-02 2.06033101e+02] [ 4.63313802e-02 9.98925662e-01 -9.61767010e-04 6.99509787e+00] [ 3.37740137e-02 -6.04227673e-04 9.99429313e-01 5.13422371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.06, Y:7.00, Z:5.14 [[ 9.98344185e-01 -4.65701822e-02 -3.37654562e-02 2.06062322e+02] [ 4.65639584e-02 9.98914839e-01 -9.71078488e-04 6.99597571e+00] [ 3.37740385e-02 -6.02782738e-04 9.99429313e-01 5.13501431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.09, Y:6.99, Z:5.14 [[ 9.98174239e-01 -5.03253422e-02 -3.33998371e-02 2.06090023e+02] [ 5.03211259e-02 9.98732621e-01 -9.67350764e-04 6.99367125e+00] [ 3.34061891e-02 -7.15132795e-04 9.99441602e-01 5.13504929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.12, Y:6.99, Z:5.14 [[ 9.97974020e-01 -5.41978167e-02 -3.33234412e-02 2.06119966e+02] [ 5.41956889e-02 9.98529865e-01 -9.67759407e-04 6.99107805e+00] [ 3.33269017e-02 -8.40188107e-04 9.99444151e-01 5.13527039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.15, Y:6.99, Z:5.14 [[ 9.97975005e-01 -5.41796998e-02 -3.33234161e-02 2.06150948e+02] [ 5.41775331e-02 9.98530849e-01 -9.68621529e-04 6.99198192e+00] [ 3.33269386e-02 -8.38720407e-04 9.99444151e-01 5.13610629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.18, Y:6.99, Z:5.14 [[ 9.97483442e-01 -6.25246316e-02 -3.34283402e-02 2.06179435e+02] [ 6.22733399e-02 9.98022873e-01 -8.50736441e-03 6.99047598e+00] [ 3.38941680e-02 6.40426074e-03 9.99404908e-01 5.13821231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.21, Y:6.98, Z:5.13 [[ 9.97404093e-01 -6.49716402e-02 -3.10444960e-02 2.06210398e+02] [ 6.52140156e-02 9.97847730e-01 6.85862160e-03 6.98154980e+00] [ 3.05320640e-02 -8.86535350e-03 9.99494472e-01 5.13425370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.24, Y:6.98, Z:5.14 [[ 9.97214449e-01 -6.84718356e-02 -2.95795504e-02 2.06242161e+02] [ 6.84762557e-02 9.97652372e-01 -8.64706493e-04 6.98420820e+00] [ 2.95693166e-02 -1.16319905e-03 9.99562055e-01 5.13717076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.27, Y:6.98, Z:5.14 [[ 9.96865868e-01 -7.39568371e-02 -2.80860648e-02 2.06273435e+02] [ 7.39630491e-02 9.97260646e-01 -8.19056181e-04 6.98055556e+00] [ 2.80697020e-02 -1.26084184e-03 9.99605173e-01 5.13744455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.30, Y:6.98, Z:5.14 [[ 9.96556983e-01 -7.84127585e-02 -2.69373273e-02 2.06304484e+02] [ 7.84201788e-02 9.96920089e-01 -7.82463412e-04 6.97664309e+00] [ 2.69157178e-02 -1.33266064e-03 9.99636818e-01 5.13699894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.34, Y:6.96, Z:5.13 [[ 9.95886162e-01 -8.49224159e-02 -3.16059502e-02 2.06337616e+02] [ 8.49359656e-02 9.96385991e-01 -9.16053432e-04 6.96477417e+00] [ 3.15695195e-02 -1.77219696e-03 9.99499987e-01 5.13395770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.37, Y:6.97, Z:5.13 [[ 9.96006478e-01 -8.33555300e-02 -3.19836243e-02 2.06369710e+02] [ 8.33686750e-02 9.96518344e-01 -9.24672934e-04 6.96657211e+00] [ 3.19493449e-02 -1.74545215e-03 9.99487965e-01 5.13454360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.40, Y:6.97, Z:5.14 [[ 9.96014672e-01 -8.32575293e-02 -3.19836953e-02 2.06402386e+02] [ 8.32707026e-02 9.96526537e-01 -9.22213061e-04 6.96746000e+00] [ 3.19493823e-02 -1.74476704e-03 9.99487965e-01 5.13541847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.43509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.44, Y:6.97, Z:5.14 [[ 9.96022858e-01 -8.31595093e-02 -3.19837857e-02 2.06435063e+02] [ 8.31727330e-02 9.96534722e-01 -9.19067099e-04 6.96834433e+00] [ 3.19493821e-02 -1.74476703e-03 9.99487965e-01 5.13629315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.47, Y:6.97, Z:5.14 [[ 9.96143837e-01 -8.14413381e-02 -3.26307144e-02 2.06465717e+02] [ 8.14542947e-02 9.96676640e-01 -9.34257836e-04 6.97047341e+00] [ 3.25983580e-02 -1.72725664e-03 9.99467040e-01 5.13740897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.50, Y:6.97, Z:5.14 [[ 9.96151154e-01 -8.13517587e-02 -3.26308218e-02 2.06498391e+02] [ 8.13647905e-02 9.96683954e-01 -9.30490097e-04 6.97134802e+00] [ 3.25983136e-02 -1.72809120e-03 9.99467040e-01 5.13828340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.53, Y:6.97, Z:5.14 [[ 9.96158461e-01 -8.12622010e-02 -3.26309052e-02 2.06531065e+02] [ 8.12752806e-02 9.96691260e-01 -9.27558037e-04 6.97222010e+00] [ 3.25983134e-02 -1.72809119e-03 9.99467040e-01 5.13915807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.56, Y:6.97, Z:5.14 [[ 9.96312784e-01 -7.92403856e-02 -3.28907062e-02 2.06562622e+02] [ 7.92526666e-02 9.96854125e-01 -9.32188415e-04 6.97407214e+00] [ 3.28611031e-02 -1.67792494e-03 9.99458520e-01 5.14026948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.60, Y:6.97, Z:5.14 [[ 9.96320259e-01 -7.91463173e-02 -3.28907632e-02 2.06595298e+02] [ 7.91586135e-02 9.96861600e-01 -9.30174750e-04 6.97493742e+00] [ 3.28611587e-02 -1.67683526e-03 9.99458520e-01 5.14114447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.63, Y:6.98, Z:5.14 [[ 9.96509297e-01 -7.71195769e-02 -3.19654683e-02 2.06627717e+02] [ 7.71302403e-02 9.97020619e-01 -9.01181274e-04 6.97676927e+00] [ 3.19397297e-02 -1.56746873e-03 9.99488568e-01 5.14215471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.66, Y:6.98, Z:5.14 [[ 9.96516677e-01 -7.70241335e-02 -3.19655356e-02 2.06660394e+02] [ 7.70348245e-02 9.97027998e-01 -8.98789599e-04 6.97763031e+00] [ 3.19397624e-02 -1.56680060e-03 9.99488568e-01 5.14302958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.69, Y:6.98, Z:5.14 [[ 9.96524048e-01 -7.69286716e-02 -3.19656214e-02 2.06693070e+02] [ 7.69394115e-02 9.97035368e-01 -8.95729015e-04 6.97848789e+00] [ 3.19397623e-02 -1.56680059e-03 9.99488568e-01 5.14390426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.73, Y:6.98, Z:5.15 [[ 9.96690310e-01 -7.49144435e-02 -3.15634680e-02 2.06725392e+02] [ 7.49239979e-02 9.97188857e-01 -8.81578502e-04 6.98034537e+00] [ 3.15407816e-02 -1.48620046e-03 9.99501361e-01 5.14541969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.76, Y:6.98, Z:5.15 [[ 9.96874622e-01 -7.26136431e-02 -3.11166673e-02 2.06756341e+02] [ 7.26218862e-02 9.97359168e-01 -8.66651321e-04 6.98241355e+00] [ 3.10974242e-02 -1.39580837e-03 9.99515384e-01 5.14679019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.79, Y:6.99, Z:5.15 [[ 9.97253042e-01 -6.76939614e-02 -3.00648999e-02 2.06787274e+02] [ 6.76995235e-02 9.97705407e-01 -8.34047241e-04 6.98586120e+00] [ 3.00523731e-02 -1.20362325e-03 9.99547601e-01 5.14799669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.82, Y:6.99, Z:5.15 [[ 9.97418448e-01 -6.53017584e-02 -2.98683610e-02 2.06819432e+02] [ 6.53062263e-02 9.97864927e-01 -8.26944490e-04 6.98807261e+00] [ 2.98585908e-02 -1.12578025e-03 9.99553499e-01 5.14900067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.85, Y:6.99, Z:5.15 [[ 9.97577840e-01 -6.29029185e-02 -2.96930190e-02 2.06851084e+02] [ 6.29063358e-02 9.98019098e-01 -8.19969776e-04 6.99034480e+00] [ 2.96857785e-02 -1.04989535e-03 9.99558729e-01 5.14970938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.88, Y:6.99, Z:5.15 [[ 9.97746948e-01 -6.02409292e-02 -2.95306357e-02 2.06882786e+02] [ 6.02432039e-02 9.98183397e-01 -8.13480337e-04 6.99217935e+00] [ 2.95259951e-02 -9.67372587e-04 9.99563545e-01 5.15033719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.91, Y:6.99, Z:5.15 [[ 9.97876089e-01 -5.79500564e-02 -2.97506672e-02 2.06913107e+02] [ 5.79513788e-02 9.98319071e-01 -8.18512487e-04 6.99399421e+00] [ 2.97480913e-02 -9.07318144e-04 9.99557016e-01 5.15110868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.94, Y:7.00, Z:5.15 [[ 9.98136041e-01 -5.32521964e-02 -2.98101812e-02 2.06944260e+02] [ 5.32514482e-02 9.98580799e-01 -8.19557126e-04 6.99643378e+00] [ 2.98115178e-02 -7.69405815e-04 9.99555242e-01 5.15168543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.97, Y:7.00, Z:5.15 [[ 9.98251151e-01 -5.11253671e-02 -2.96788898e-02 2.06973972e+02] [ 5.11237136e-02 9.98691995e-01 -8.15022334e-04 6.99795501e+00] [ 2.96817380e-02 -7.03698080e-04 9.99559152e-01 5.15232489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.00, Y:7.00, Z:5.15 [[ 9.98450233e-01 -4.64191745e-02 -3.06984026e-02 2.07003761e+02] [ 4.64151626e-02 9.98921879e-01 -8.43662361e-04 7.00063390e+00] [ 3.07044682e-02 -5.82516469e-04 9.99528337e-01 5.15294732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.03, Y:7.00, Z:5.15 [[ 9.98570574e-01 -4.35794105e-02 -3.09458084e-02 2.07033631e+02] [ 4.35739367e-02 9.99049842e-01 -8.51559980e-04 7.00241649e+00] [ 3.09535154e-02 -4.98087956e-04 9.99520701e-01 5.15346849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.06, Y:7.00, Z:5.15 [[ 9.98797578e-01 -3.76256298e-02 -3.14278497e-02 2.07062552e+02] [ 3.76169696e-02 9.99291855e-01 -8.66977967e-04 7.00493627e+00] [ 3.14382148e-02 -3.16284975e-04 9.99505647e-01 5.15416879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.09, Y:7.01, Z:5.15 [[ 9.98919194e-01 -3.43751062e-02 -3.12857141e-02 2.07090833e+02] [ 3.43646782e-02 9.99408980e-01 -8.71107318e-04 7.00645832e+00] [ 3.12971680e-02 -2.04957676e-04 9.99510103e-01 5.15488746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.12, Y:7.01, Z:5.16 [[ 9.99029579e-01 -3.07998658e-02 -3.14844092e-02 2.07117911e+02] [ 3.07872644e-02 9.99525568e-01 -8.85056745e-04 7.00825871e+00] [ 3.14967316e-02 -8.51209636e-05 9.99503851e-01 5.15600237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.15, Y:7.01, Z:5.16 [[ 9.99021675e-01 -3.10553302e-02 -3.14842801e-02 2.07146293e+02] [ 3.10427117e-02 9.99517663e-01 -8.89625998e-04 7.00913949e+00] [ 3.14967217e-02 -8.86017777e-05 9.99503851e-01 5.15676388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.17, Y:7.01, Z:5.16 [[ 9.99201621e-01 -2.40358431e-02 -3.19123745e-02 2.07173693e+02] [ 2.40190306e-02 9.99711087e-01 -9.10131791e-04 7.01157419e+00] [ 3.19250304e-02 1.42900861e-04 9.99490256e-01 5.15776273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.20, Y:7.01, Z:5.16 [[ 9.99114695e-01 -2.20068747e-02 -3.58541978e-02 2.07200688e+02] [ 2.26042374e-02 9.99610925e-01 1.63415554e-02 7.00643812e+00] [ 3.54806213e-02 -1.71375450e-02 9.99223413e-01 5.15925892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.21509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.23, Y:7.02, Z:5.17 [[ 9.99412355e-01 -1.69430211e-02 -2.97972964e-02 2.07229933e+02] [ 1.64318384e-02 9.99715011e-01 -1.73173515e-02 7.02179391e+00] [ 3.00822127e-02 1.68175507e-02 9.99405939e-01 5.16527513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.26, Y:7.01, Z:5.16 [[ 9.99424450e-01 -1.64645326e-02 -2.96595215e-02 2.07258248e+02] [ 1.64111098e-02 9.99863240e-01 -2.04374463e-03 7.01495567e+00] [ 2.96891146e-02 1.55582269e-03 9.99557970e-01 5.16065667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.29, Y:7.01, Z:5.16 [[ 9.99423990e-01 -1.78554290e-02 -2.88595194e-02 2.07286567e+02] [ 1.78385803e-02 9.99840526e-01 -8.41193292e-04 7.01346145e+00] [ 2.88699370e-02 3.25895900e-04 9.99583123e-01 5.16112623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.31, Y:7.01, Z:5.16 [[ 9.99309061e-01 -2.26258556e-02 -2.94867974e-02 2.07314972e+02] [ 2.26100983e-02 9.99743982e-01 -8.67740528e-04 7.01169592e+00] [ 2.94988817e-02 2.00441585e-04 9.99564793e-01 5.16137678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.34, Y:7.01, Z:5.16 [[ 9.99214048e-01 -2.65315452e-02 -2.94510339e-02 2.07342206e+02] [ 2.65174195e-02 9.99647973e-01 -8.70163459e-04 7.01101395e+00] [ 2.94637531e-02 8.85141301e-05 9.99565845e-01 5.16186374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.37, Y:7.01, Z:5.16 [[ 9.99136282e-01 -3.04125248e-02 -2.83155250e-02 2.07370242e+02] [ 3.03443566e-02 9.99535486e-01 -2.83413961e-03 7.01113993e+00] [ 2.83885653e-02 1.97247532e-03 9.99595017e-01 5.16183059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.40, Y:7.01, Z:5.16 [[ 9.98967699e-01 -3.53023661e-02 -2.85881145e-02 2.07398423e+02] [ 3.53485908e-02 9.99374424e-01 1.11300235e-03 7.00798733e+00] [ 2.85309388e-02 -2.12240296e-03 9.99590657e-01 5.16297530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.43, Y:7.01, Z:5.16 [[ 9.98807337e-01 -3.98994400e-02 -2.81414000e-02 2.07426809e+02] [ 3.98913714e-02 9.99203662e-01 -8.48293362e-04 7.00735600e+00] [ 2.81528364e-02 -2.75317405e-04 9.99603592e-01 5.16423913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.45, Y:7.00, Z:5.16 [[ 9.98481378e-01 -4.77532333e-02 -2.74693587e-02 2.07454641e+02] [ 4.77483000e-02 9.98859050e-01 -8.35872665e-04 7.00306258e+00] [ 2.74779331e-02 -4.77011886e-04 9.99622296e-01 5.16413112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.48, Y:7.00, Z:5.16 [[ 9.98345393e-01 -5.04988156e-02 -2.75017275e-02 2.07484852e+02] [ 5.04946975e-02 9.98723972e-01 -8.44639436e-04 7.00170495e+00] [ 2.75092878e-02 -5.45449521e-04 9.99621399e-01 5.16452929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.52, Y:7.00, Z:5.16 [[ 9.98185146e-01 -5.36950093e-02 -2.72628001e-02 2.07515311e+02] [ 5.36921536e-02 9.98557185e-01 -8.37301442e-04 6.99951294e+00] [ 2.72684238e-02 -6.28016587e-04 9.99627950e-01 5.16484920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.55, Y:7.00, Z:5.17 [[ 9.98167067e-01 -5.40333867e-02 -2.72561708e-02 2.07545707e+02] [ 5.40306584e-02 9.98538926e-01 -8.37097841e-04 6.99915837e+00] [ 2.72615787e-02 -6.37105357e-04 9.99628131e-01 5.16525022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.58, Y:7.00, Z:5.17 [[ 9.98172246e-01 -5.39009112e-02 -2.73287216e-02 2.07576473e+02] [ 5.38981191e-02 9.98546087e-01 -8.39313383e-04 6.99894278e+00] [ 2.73342278e-02 -6.35187368e-04 9.99626148e-01 5.16584648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.61, Y:6.99, Z:5.17 [[ 9.98003924e-01 -5.40095802e-02 -3.27281612e-02 2.07605563e+02] [ 5.46150609e-02 9.98347079e-01 1.78970789e-02 6.99159256e+00] [ 3.17074504e-02 -1.96488054e-02 9.99304039e-01 5.16595966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.64, Y:7.01, Z:5.17 [[ 9.98289784e-01 -5.13118921e-02 -2.80106721e-02 2.07635639e+02] [ 5.07598722e-02 9.98509093e-01 -2.00755280e-02 7.00735685e+00] [ 2.89990241e-02 1.86193763e-02 9.99406011e-01 5.17217013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.67, Y:7.00, Z:5.17 [[ 9.98396572e-01 -4.87725329e-02 -2.87319557e-02 2.07666033e+02] [ 4.87672083e-02 9.98809779e-01 -8.86439994e-04 6.99842696e+00] [ 2.87409923e-02 -5.16158619e-04 9.99586759e-01 5.16716567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.69, Y:7.00, Z:5.17 [[ 9.98621546e-01 -4.38708725e-02 -2.88158652e-02 2.07694708e+02] [ 4.38634442e-02 9.99037139e-01 -8.90153385e-04 6.99910905e+00] [ 2.88271713e-02 -3.75036745e-04 9.99584340e-01 5.16833084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.72, Y:7.00, Z:5.17 [[ 9.98727122e-01 -4.16203939e-02 -2.84934690e-02 2.07723353e+02] [ 4.16121495e-02 9.99133450e-01 -8.82499911e-04 7.00032469e+00] [ 2.85055080e-02 -3.04297895e-04 9.99593589e-01 5.16952973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.75, Y:7.00, Z:5.17 [[ 9.98719524e-01 -4.18024844e-02 -2.84932462e-02 2.07751766e+02] [ 4.17941103e-02 9.99125848e-01 -8.89638289e-04 7.00128492e+00] [ 2.85055279e-02 -3.02350747e-04 9.99593589e-01 5.17028522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.78, Y:7.00, Z:5.17 [[ 9.98831807e-01 -3.97715357e-02 -2.74453460e-02 2.07779923e+02] [ 3.97628643e-02 9.99208773e-01 -8.61852144e-04 7.00244509e+00] [ 2.74579077e-02 -2.30460234e-04 9.99622934e-01 5.17144534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.81, Y:7.00, Z:5.17 [[ 9.98957088e-01 -3.56119995e-02 -2.85748542e-02 2.07807721e+02] [ 3.56006630e-02 9.99365685e-01 -9.05537589e-04 7.00337497e+00] [ 2.85889768e-02 -1.12690562e-04 9.99591245e-01 5.17263120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:7.00, Z:5.17 [[ 9.98921042e-01 -3.41223097e-02 -3.15027036e-02 2.07835430e+02] [ 3.41076614e-02 9.99417662e-01 -1.00239887e-03 7.00402804e+00] [ 3.15185626e-02 -7.31662271e-05 9.99503164e-01 5.17241519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.86, Y:7.00, Z:5.17 [[ 9.98917144e-01 -3.21046564e-02 -3.36724139e-02 2.07862882e+02] [ 3.20864503e-02 9.99484513e-01 -1.08104900e-03 7.00445408e+00] [ 3.36897629e-02 -5.49863310e-07 9.99432339e-01 5.17206914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.89, Y:7.00, Z:5.17 [[ 9.98950977e-01 -2.99186885e-02 -3.46672544e-02 2.07890299e+02] [ 2.98978515e-02 9.99552332e-01 -1.11941113e-03 7.00478248e+00] [ 3.46852263e-02 8.17604147e-05 9.99398283e-01 5.17232289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.93509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.92, Y:7.01, Z:5.17 [[ 9.99100645e-01 -2.63498397e-02 -3.32202670e-02 2.07917867e+02] [ 2.63285651e-02 9.99652762e-01 -1.07776711e-03 7.00504187e+00] [ 3.32371306e-02 2.02155855e-04 9.99447473e-01 5.17363896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.95, Y:7.01, Z:5.17 [[ 9.99150613e-01 -2.48873493e-02 -3.28431350e-02 2.07945260e+02] [ 2.48654883e-02 9.99690229e-01 -1.07395459e-03 7.00556629e+00] [ 3.28596890e-02 2.56381803e-04 9.99459942e-01 5.17470878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.97, Y:7.01, Z:5.18 [[ 9.99150463e-01 -2.32182431e-02 -3.40479854e-02 2.07972561e+02] [ 2.31936107e-02 9.99730367e-01 -1.11829903e-03 7.00538459e+00] [ 3.40647699e-02 3.27653280e-04 9.99419574e-01 5.17628039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.00, Y:7.01, Z:5.18 [[ 9.99140958e-01 -2.28221137e-02 -3.45904322e-02 2.08000669e+02] [ 2.27961904e-02 9.99739479e-01 -1.14368576e-03 7.00565642e+00] [ 3.46075220e-02 3.54173206e-04 9.99400918e-01 5.17706187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.03, Y:7.01, Z:5.18 [[ 9.99146352e-01 -2.29998669e-02 -3.43157947e-02 2.08028917e+02] [ 2.29741270e-02 9.99735405e-01 -1.14425459e-03 7.00578012e+00] [ 3.43330327e-02 3.54902376e-04 9.99410385e-01 5.17801210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.06, Y:7.00, Z:5.18 [[ 9.99161489e-01 -2.41365931e-02 -3.30717983e-02 2.08056814e+02] [ 2.41130039e-02 9.99708621e-01 -1.11198492e-03 7.00433135e+00] [ 3.30890014e-02 3.13592104e-04 9.99452360e-01 5.17860328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.08, Y:7.00, Z:5.18 [[ 9.99158869e-01 -2.53466501e-02 -3.22350927e-02 2.08084111e+02] [ 2.53246079e-02 9.99678684e-01 -1.09195372e-03 7.00416663e+00] [ 3.22524124e-02 2.74694157e-04 9.99479718e-01 5.17969828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.11, Y:7.00, Z:5.18 [[ 9.99109740e-01 -2.86121216e-02 -3.10012049e-02 2.08110814e+02] [ 2.85931912e-02 9.99590576e-01 -1.05387023e-03 7.00217405e+00] [ 3.10186657e-02 1.66508629e-04 9.99518792e-01 5.18119918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.14, Y:7.00, Z:5.18 [[ 9.99025122e-01 -3.10098813e-02 -3.14196395e-02 2.08138284e+02] [ 3.09914734e-02 9.99519073e-01 -1.07281167e-03 7.00139391e+00] [ 3.14377967e-02 9.80248857e-05 9.99505706e-01 5.18170136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.17, Y:7.00, Z:5.18 [[ 9.98840280e-01 -3.58422798e-02 -3.21469485e-02 2.08165278e+02] [ 3.58252386e-02 9.99357458e-01 -1.10611859e-03 6.99877835e+00] [ 3.21659386e-02 -4.68363005e-05 9.99482541e-01 5.18160256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.19, Y:7.00, Z:5.18 [[ 9.98757203e-01 -3.88972483e-02 -3.11617324e-02 2.08192869e+02] [ 3.88825810e-02 9.99243206e-01 -1.07674539e-03 6.99801883e+00] [ 3.11800318e-02 -1.36241370e-04 9.99513775e-01 5.18259856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.22, Y:7.00, Z:5.18 [[ 9.98558857e-01 -4.54616008e-02 -2.85210718e-02 2.08220330e+02] [ 4.54517815e-02 9.98966040e-01 -9.92821290e-04 6.99519440e+00] [ 2.85367175e-02 -3.04943034e-04 9.99592698e-01 5.18410978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.25, Y:6.99, Z:5.19 [[ 9.98401115e-01 -4.90514897e-02 -2.80920626e-02 2.08248432e+02] [ 4.90432269e-02 9.98796173e-01 -9.83472801e-04 6.99428243e+00] [ 2.81064854e-02 -3.95825059e-04 9.99604856e-01 5.18529174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.28, Y:6.99, Z:5.19 [[ 9.98243794e-01 -5.21383806e-02 -2.81232437e-02 2.08277145e+02] [ 5.21310990e-02 9.98639757e-01 -9.92546863e-04 6.99327847e+00] [ 2.81367390e-02 -4.75291853e-04 9.99603971e-01 5.18614818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.31, Y:6.99, Z:5.19 [[ 9.97944323e-01 -5.71426388e-02 -2.90146044e-02 2.08305815e+02] [ 5.71367845e-02 9.98365827e-01 -1.03148627e-03 6.99085008e+00] [ 2.90261313e-02 -6.28435324e-04 9.99578456e-01 5.18622400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.34, Y:6.99, Z:5.19 [[ 9.97943297e-01 -5.71606778e-02 -2.90143654e-02 2.08335945e+02] [ 5.71546369e-02 9.98364798e-01 -1.03816578e-03 6.99196238e+00] [ 2.90262633e-02 -6.22274934e-04 9.99578456e-01 5.18702488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.36, Y:6.99, Z:5.19 [[ 9.97797159e-01 -5.93699052e-02 -2.95980541e-02 2.08364634e+02] [ 5.93645708e-02 9.98235806e-01 -1.05970153e-03 6.99005592e+00] [ 2.96087518e-02 -6.99708607e-04 9.99561320e-01 5.18709918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:6.99, Z:5.19 [[ 9.97784685e-01 -5.96850007e-02 -2.93840483e-02 2.08394360e+02] [ 5.96798353e-02 9.98217014e-01 -1.05354904e-03 6.98974321e+00] [ 2.93945381e-02 -7.02420065e-04 9.99567640e-01 5.18765581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.42, Y:6.99, Z:5.19 [[ 9.97804053e-01 -5.93854787e-02 -2.93332014e-02 2.08424212e+02] [ 5.93801704e-02 9.98234886e-01 -1.05279628e-03 6.98964911e+00] [ 2.93439458e-02 -6.91326100e-04 9.99569135e-01 5.18852134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.45, Y:6.99, Z:5.19 [[ 9.97830333e-01 -5.89915009e-02 -2.92340544e-02 2.08453606e+02] [ 5.89860281e-02 9.98258256e-01 -1.05030719e-03 6.99000965e+00] [ 2.92450953e-02 -6.76372383e-04 9.99572042e-01 5.18915808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.48, Y:6.99, Z:5.19 [[ 9.97938775e-01 -5.69169504e-02 -2.96422518e-02 2.08483059e+02] [ 5.69103782e-02 9.98378722e-01 -1.06601768e-03 6.98978025e+00] [ 2.96548679e-02 -6.23131382e-04 9.99560003e-01 5.18963232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.51, Y:6.99, Z:5.19 [[ 9.97952491e-01 -5.65731695e-02 -2.98379395e-02 2.08511978e+02] [ 5.65663169e-02 9.98398266e-01 -1.07438602e-03 6.99055110e+00] [ 2.98509284e-02 -6.15636138e-04 9.99554172e-01 5.19015420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.54, Y:6.99, Z:5.19 [[ 9.97977629e-01 -5.62191681e-02 -2.96657411e-02 2.08540704e+02] [ 5.62120172e-02 9.98418275e-01 -1.07562369e-03 6.99113704e+00] [ 2.96792888e-02 -5.94122774e-04 9.99559296e-01 5.19076081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.57, Y:6.99, Z:5.19 [[ 9.97922965e-01 -5.70593697e-02 -2.98995820e-02 2.08569104e+02] [ 5.70522526e-02 9.98370597e-01 -1.09178359e-03 6.99109068e+00] [ 2.99131600e-02 -6.16322586e-04 9.99552311e-01 5.19120568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.60, Y:6.99, Z:5.19 [[ 9.97765021e-01 -5.92279397e-02 -3.09356577e-02 2.08598344e+02] [ 5.92211108e-02 9.98244241e-01 -1.13774468e-03 6.99052797e+00] [ 3.09487285e-02 -6.96842174e-04 9.99520730e-01 5.19111482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.63, Y:6.99, Z:5.19 [[ 9.97656249e-01 -6.09002106e-02 -3.11957394e-02 2.08627433e+02] [ 6.08938337e-02 9.98143580e-01 -1.15530446e-03 6.99090134e+00] [ 3.12081853e-02 -7.47031454e-04 9.99512627e-01 5.19173703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.71509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.65, Y:6.99, Z:5.19 [[ 9.97255512e-01 -6.67535178e-02 -3.20220642e-02 2.08654808e+02] [ 6.67495756e-02 9.97769047e-01 -1.19329117e-03 6.99082242e+00] [ 3.20302809e-02 -9.47442999e-04 9.99486450e-01 5.19221163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.68, Y:6.99, Z:5.19 [[ 9.97150726e-01 -6.83921101e-02 -3.18268696e-02 2.08683932e+02] [ 6.83889681e-02 9.97658026e-01 -1.18856616e-03 6.99212947e+00] [ 3.18336205e-02 -9.91427167e-04 9.99492690e-01 5.19349500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.71, Y:6.99, Z:5.19 [[ 9.97144817e-01 -6.84937868e-02 -3.17933150e-02 2.08712042e+02] [ 6.84906614e-02 9.97651049e-01 -1.18862481e-03 6.99385645e+00] [ 3.18000474e-02 -9.92314100e-04 9.99493758e-01 5.19441703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.74, Y:7.00, Z:5.20 [[ 9.97143619e-01 -6.85112569e-02 -3.17932429e-02 2.08742170e+02] [ 6.85080790e-02 9.97649851e-01 -1.19054927e-03 6.99501719e+00] [ 3.18000901e-02 -9.90945392e-04 9.99493758e-01 5.19521668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.77, Y:7.00, Z:5.20 [[ 9.97142422e-01 -6.85286908e-02 -3.17932221e-02 2.08772299e+02] [ 6.85255040e-02 9.97648654e-01 -1.19110485e-03 6.99617779e+00] [ 3.18000901e-02 -9.90945392e-04 9.99493758e-01 5.19601601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.80, Y:7.00, Z:5.20 [[ 9.97144416e-01 -6.83016718e-02 -3.22163825e-02 2.08801474e+02] [ 6.82982597e-02 9.97664217e-01 -1.20763445e-03 6.99785426e+00] [ 3.22236155e-02 -9.96136904e-04 9.99480188e-01 5.19719719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.83, Y:7.00, Z:5.20 [[ 9.97138706e-01 -6.83850137e-02 -3.22163287e-02 2.08831583e+02] [ 6.83815988e-02 9.97658506e-01 -1.20906672e-03 6.99900668e+00] [ 3.22235764e-02 -9.97396847e-04 9.99480188e-01 5.19799611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.86, Y:7.00, Z:5.20 [[ 9.97186824e-01 -6.76419786e-02 -3.22955219e-02 2.08861625e+02] [ 6.76380790e-02 9.97709184e-01 -1.21447216e-03 7.00073487e+00] [ 3.23036881e-02 -9.73351424e-04 9.99477626e-01 5.19878229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.89, Y:7.00, Z:5.20 [[ 9.97375498e-01 -6.54899058e-02 -3.08737373e-02 2.08890851e+02] [ 6.54852780e-02 9.97852859e-01 -1.16208808e-03 7.00349546e+00] [ 3.08835521e-02 -8.62737093e-04 9.99522617e-01 5.20044084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.92, Y:7.01, Z:5.20 [[ 9.97509108e-01 -6.38200602e-02 -3.00429541e-02 2.08919049e+02] [ 6.38148871e-02 9.97961111e-01 -1.13194737e-03 7.00523554e+00] [ 3.00539408e-02 -7.88059912e-04 9.99547968e-01 5.20133598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.95, Y:7.01, Z:5.20 [[ 9.97706971e-01 -6.03182525e-02 -3.07003020e-02 2.08948609e+02] [ 6.03111442e-02 9.98178954e-01 -1.15833166e-03 7.00705743e+00] [ 3.07142639e-02 -6.95894767e-04 9.99527963e-01 5.20197521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.98, Y:7.01, Z:5.20 [[ 9.97800410e-01 -5.84631532e-02 -3.12474249e-02 2.08977797e+02] [ 5.84548445e-02 9.98289356e-01 -1.18012027e-03 7.00870027e+00] [ 3.12629652e-02 -6.49038872e-04 9.99510983e-01 5.20283834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.01, Y:7.01, Z:5.20 [[ 9.97892386e-01 -5.66609047e-02 -3.16279522e-02 2.09005099e+02] [ 5.66514423e-02 9.98393301e-01 -1.19592712e-03 7.01069169e+00] [ 3.16448979e-02 -5.98362548e-04 9.99498996e-01 5.20363474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.03, Y:7.01, Z:5.20 [[ 9.98012153e-01 -5.40449636e-02 -3.24173454e-02 2.09033524e+02] [ 5.40335150e-02 9.98538365e-01 -1.22974118e-03 7.01363969e+00] [ 3.24364244e-02 -5.24326474e-04 9.99473663e-01 5.20432358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.06, Y:7.02, Z:5.20 [[ 9.98059148e-01 -5.27877798e-02 -3.30361528e-02 2.09059948e+02] [ 5.27749449e-02 9.98605635e-01 -1.26097687e-03 7.01522281e+00] [ 3.30566525e-02 -4.84951638e-04 9.99453362e-01 5.20486759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.09, Y:7.02, Z:5.21 [[ 9.98126128e-01 -5.08321100e-02 -3.40636115e-02 2.09088321e+02] [ 5.08171322e-02 9.98707121e-01 -1.30587427e-03 7.01652931e+00] [ 3.40859517e-02 -4.27587824e-04 9.99418814e-01 5.20528529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.12, Y:7.02, Z:5.21 [[ 9.98146945e-01 -5.03592034e-02 -3.41559109e-02 2.09116185e+02] [ 5.03435274e-02 9.98731089e-01 -1.31936373e-03 7.01773087e+00] [ 3.41790122e-02 -4.02610153e-04 9.99415646e-01 5.20566993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.14, Y:7.02, Z:5.21 [[ 9.98179808e-01 -4.97534261e-02 -3.40832560e-02 2.09143955e+02] [ 4.97371285e-02 9.98761462e-01 -1.32637823e-03 7.01906178e+00] [ 3.41070344e-02 -3.71239319e-04 9.99418117e-01 5.20610295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.17, Y:7.02, Z:5.21 [[ 9.98185889e-01 -4.94390530e-02 -3.43614905e-02 2.09172002e+02] [ 4.94219601e-02 9.98777080e-01 -1.34714103e-03 7.02065497e+00] [ 3.43860706e-02 -3.53515051e-04 9.99408562e-01 5.20706802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.20, Y:7.02, Z:5.21 [[ 9.98223227e-01 -4.90708400e-02 -3.38000221e-02 2.09199692e+02] [ 4.90537648e-02 9.98795248e-01 -1.33474342e-03 7.02234125e+00] [ 3.38247984e-02 -3.25646447e-04 9.99427725e-01 5.20796396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.23, Y:7.02, Z:5.21 [[ 9.98238869e-01 -4.90633061e-02 -3.33459546e-02 2.09227229e+02] [ 4.90463656e-02 9.98795622e-01 -1.32630104e-03 7.02407363e+00] [ 3.33708662e-02 -3.11532635e-04 9.99442989e-01 5.20906368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.26, Y:7.03, Z:5.21 [[ 9.98250528e-01 -4.89647374e-02 -3.31411775e-02 2.09255323e+02] [ 4.89476323e-02 9.98800464e-01 -1.32773098e-03 7.02548787e+00] [ 3.31664355e-02 -2.96774026e-04 9.99449798e-01 5.20988456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.28, Y:7.03, Z:5.21 [[ 9.98232011e-01 -4.96196370e-02 -3.27222102e-02 2.09282829e+02] [ 4.96030054e-02 9.98768141e-01 -1.32034966e-03 7.02686120e+00] [ 3.27474163e-02 -3.05104676e-04 9.99463613e-01 5.21031806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.31, Y:7.03, Z:5.21 [[ 9.98197492e-01 -5.04438125e-02 -3.25144301e-02 2.09310768e+02] [ 5.04275237e-02 9.98726849e-01 -1.32132995e-03 7.02763215e+00] [ 3.25396872e-02 -3.20673950e-04 9.99470393e-01 5.21091773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.43509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.34, Y:7.03, Z:5.21 [[ 9.98139438e-01 -5.22187475e-02 -3.14780010e-02 2.09339000e+02] [ 5.22040812e-02 9.98635607e-01 -1.28814839e-03 7.02794571e+00] [ 3.15023181e-02 -3.57528406e-04 9.99503615e-01 5.21133582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.37, Y:7.03, Z:5.21 [[ 9.98088686e-01 -5.34319908e-02 -3.10483149e-02 2.09365442e+02] [ 5.34180526e-02 9.98571418e-01 -1.27880904e-03 7.02898506e+00] [ 3.10722891e-02 -3.82175686e-04 9.99517067e-01 5.21188286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.39, Y:7.03, Z:5.21 [[ 9.97956638e-01 -5.65395342e-02 -2.97628852e-02 2.09393542e+02] [ 5.65279831e-02 9.98400257e-01 -1.23003994e-03 7.02921174e+00] [ 2.97848181e-02 -4.54909350e-04 9.99556230e-01 5.21244009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.42, Y:7.03, Z:5.21 [[ 9.97837930e-01 -5.88393639e-02 -2.92812987e-02 2.09422150e+02] [ 5.88289320e-02 9.98267335e-01 -1.21836141e-03 7.02981117e+00] [ 2.93022516e-02 -5.06860303e-04 9.99570468e-01 5.21312423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.45, Y:7.03, Z:5.21 [[ 9.97563147e-01 -6.34827976e-02 -2.89430973e-02 2.09451264e+02] [ 6.34743637e-02 9.97982735e-01 -1.21099590e-03 7.02876356e+00] [ 2.89615888e-02 -6.29099799e-04 9.99580327e-01 5.21334126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.48, Y:7.03, Z:5.21 [[ 9.97398391e-01 -6.59190354e-02 -2.91741352e-02 2.09481377e+02] [ 6.59114660e-02 9.97824727e-01 -1.22208669e-03 7.02874447e+00] [ 2.91912323e-02 -7.04002720e-04 9.99573597e-01 5.21360864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.51, Y:7.03, Z:5.21 [[ 9.97228626e-01 -6.84990186e-02 -2.90336180e-02 2.09511665e+02] [ 6.84926142e-02 9.97650882e-01 -1.21620052e-03 7.02900893e+00] [ 2.90487232e-02 -7.75758431e-04 9.99577696e-01 5.21381644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.54, Y:7.03, Z:5.21 [[ 9.97079611e-01 -7.06792116e-02 -2.89257364e-02 2.09542461e+02] [ 7.06737711e-02 9.97498747e-01 -1.21168142e-03 7.02934758e+00] [ 2.89390265e-02 -8.36148037e-04 9.99580829e-01 5.21456180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.57, Y:7.03, Z:5.22 [[ 9.97078381e-01 -7.06965640e-02 -2.89257346e-02 2.09573418e+02] [ 7.06911296e-02 9.97497517e-01 -1.21172409e-03 7.03064163e+00] [ 2.89390132e-02 -8.36608962e-04 9.99580829e-01 5.21538309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.60, Y:7.03, Z:5.22 [[ 9.96778335e-01 -7.50053016e-02 -2.84104910e-02 2.09603799e+02] [ 7.50017936e-02 9.97182688e-01 -1.19059355e-03 7.03086441e+00] [ 2.84197506e-02 -9.44079929e-04 9.99595631e-01 5.21542618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.63, Y:7.03, Z:5.22 [[ 9.96613936e-01 -7.68847740e-02 -2.91443749e-02 2.09634137e+02] [ 7.68818899e-02 9.97039459e-01 -1.22118431e-03 7.03189025e+00] [ 2.91519822e-02 -1.02362532e-03 9.99574467e-01 5.21604398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.67, Y:7.03, Z:5.22 [[ 9.96506171e-01 -7.84610209e-02 -2.86237705e-02 2.09665475e+02] [ 7.84589358e-02 9.96916627e-01 -1.19769610e-03 7.03266458e+00] [ 2.86294852e-02 -1.05227901e-03 9.99589538e-01 5.21619357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.70, Y:7.03, Z:5.22 [[ 9.96380456e-01 -8.01208081e-02 -2.84014508e-02 2.09696599e+02] [ 8.01194571e-02 9.96784562e-01 -1.18738137e-03 7.03363219e+00] [ 2.84052616e-02 -1.09242522e-03 9.99595892e-01 5.21670756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:7.04, Z:5.22 [[ 9.96088856e-01 -8.37866523e-02 -2.80497543e-02 2.09727623e+02] [ 8.37868160e-02 9.96483014e-01 -1.17156944e-03 7.03507936e+00] [ 2.80492655e-02 -1.18321234e-03 9.99605842e-01 5.21729449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:7.04, Z:5.22 [[ 9.95945908e-01 -8.53190743e-02 -2.85027142e-02 2.09760042e+02] [ 8.53199587e-02 9.96352897e-01 -1.18736407e-03 7.03659386e+00] [ 2.85000667e-02 -1.24930002e-03 9.99593010e-01 5.21792076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:7.04, Z:5.22 [[ 9.95759306e-01 -8.74014229e-02 -2.87122990e-02 2.09791899e+02] [ 8.74032424e-02 9.96172298e-01 -1.19406575e-03 7.03824002e+00] [ 2.87067599e-02 -1.32054595e-03 9.99587004e-01 5.21884158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.82, Y:7.04, Z:5.22 [[ 9.95500008e-01 -9.01540186e-02 -2.91888104e-02 2.09823922e+02] [ 9.01571401e-02 9.95926815e-01 -1.21179772e-03 7.04050417e+00] [ 2.91791674e-02 -1.42523503e-03 9.99573181e-01 5.21949991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.86, Y:7.04, Z:5.22 [[ 9.95388938e-01 -9.13088992e-02 -2.93861647e-02 2.09856169e+02] [ 9.13126260e-02 9.95821531e-01 -1.21791682e-03 7.04213968e+00] [ 2.93745821e-02 -1.47102693e-03 9.99567391e-01 5.22001732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.89, Y:7.04, Z:5.22 [[ 9.95267972e-01 -9.24736164e-02 -2.98377909e-02 2.09886989e+02] [ 9.24780437e-02 9.95713959e-01 -1.23452801e-03 7.04374014e+00] [ 2.98240662e-02 -1.53065435e-03 9.99553992e-01 5.22066920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.92, Y:7.05, Z:5.22 [[ 9.95171673e-01 -9.35199328e-02 -2.97886447e-02 2.09918969e+02] [ 9.35248621e-02 9.95616184e-01 -1.23083988e-03 7.04525144e+00] [ 2.97731648e-02 -1.56108191e-03 9.99555462e-01 5.22160029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.95, Y:7.05, Z:5.22 [[ 9.95101369e-01 -9.42715772e-02 -2.97680080e-02 2.09950627e+02] [ 9.42768996e-02 9.95545257e-01 -1.22781913e-03 7.04664912e+00] [ 2.97511476e-02 -1.58463099e-03 9.99556081e-01 5.22236136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:7.05, Z:5.22 [[ 9.94933663e-01 -9.59016836e-02 -3.01641090e-02 2.09982864e+02] [ 9.59079627e-02 9.95389431e-01 -1.24192919e-03 7.04956335e+00] [ 3.01441384e-02 -1.65734108e-03 9.99544188e-01 5.22303029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.01, Y:7.05, Z:5.22 [[ 9.94890085e-01 -9.62558673e-02 -3.04717435e-02 2.10014379e+02] [ 9.62625079e-02 9.95355193e-01 -1.25239756e-03 7.05195039e+00] [ 3.04507588e-02 -1.68728853e-03 9.99534844e-01 5.22384392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.05, Y:7.06, Z:5.22 [[ 9.94868474e-01 -9.64371625e-02 -3.06037947e-02 2.10045867e+02] [ 9.64439980e-02 9.95337620e-01 -1.25613955e-03 7.05573391e+00] [ 3.05822467e-02 -1.70185868e-03 9.99530805e-01 5.22488115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.08, Y:7.06, Z:5.23 [[ 9.94868621e-01 -9.64273119e-02 -3.06300547e-02 2.10078400e+02] [ 9.64342067e-02 9.95338569e-01 -1.25551167e-03 7.05842745e+00] [ 3.06083404e-02 -1.70471586e-03 9.99530001e-01 5.22627555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.11, Y:7.06, Z:5.23 [[ 9.94921193e-01 -9.61856044e-02 -2.96673098e-02 2.10110421e+02] [ 9.61920254e-02 9.95362055e-01 -1.21400120e-03 7.06122649e+00] [ 2.96464838e-02 -1.64592309e-03 9.99559091e-01 5.22697807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.21509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.14, Y:7.07, Z:5.23 [[ 9.95042657e-01 -9.51279807e-02 -2.89961741e-02 2.10141867e+02] [ 9.51337292e-02 9.95463797e-01 -1.18437103e-03 7.06535774e+00] [ 2.89773084e-02 -1.58001448e-03 9.99578821e-01 5.22810622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.17, Y:7.07, Z:5.23 [[ 9.95126683e-01 -9.42143080e-02 -2.90955216e-02 2.10173666e+02] [ 9.42198048e-02 9.95550714e-01 -1.18505628e-03 7.06834839e+00] [ 2.90777165e-02 -1.56209323e-03 9.99575933e-01 5.22938269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.21, Y:7.07, Z:5.23 [[ 9.95269726e-01 -9.28639608e-02 -2.85386893e-02 2.10205558e+02] [ 9.28687510e-02 9.95677683e-01 -1.16042227e-03 7.07164744e+00] [ 2.85230974e-02 -1.49541928e-03 9.99592015e-01 5.23029533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.24, Y:7.08, Z:5.23 [[ 9.95409352e-01 -9.15823769e-02 -2.78009143e-02 2.10237368e+02] [ 9.15864787e-02 9.95796487e-01 -1.12844689e-03 7.07514645e+00] [ 2.77873987e-02 -1.42292126e-03 9.99612843e-01 5.23119282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.27, Y:7.08, Z:5.23 [[ 9.95547490e-01 -9.01096294e-02 -2.76667743e-02 2.10269437e+02] [ 9.01131800e-02 9.95930900e-01 -1.12098793e-03 7.07862735e+00] [ 2.76552073e-02 -1.37714430e-03 9.99616573e-01 5.23252739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.30, Y:7.08, Z:5.23 [[ 9.95769205e-01 -8.74796903e-02 -2.81246043e-02 2.10300979e+02] [ 8.74823718e-02 9.96165418e-01 -1.13745322e-03 7.08457912e+00] [ 2.81162623e-02 -1.32776620e-03 9.99603778e-01 5.23395650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.33, Y:7.09, Z:5.23 [[ 9.95885110e-01 -8.62205031e-02 -2.79083001e-02 2.10331582e+02] [ 8.62227060e-02 9.96275251e-01 -1.12670197e-03 7.08836464e+00] [ 2.79014935e-02 -1.28426344e-03 9.99609853e-01 5.23464321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.36, Y:7.09, Z:5.24 [[ 9.95973043e-01 -8.52538759e-02 -2.77393973e-02 2.10362691e+02] [ 8.52557197e-02 9.96358475e-01 -1.11838052e-03 7.09204491e+00] [ 2.77337299e-02 -1.25106544e-03 9.99614563e-01 5.23540875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.39, Y:7.10, Z:5.24 [[ 9.96065371e-01 -8.41932627e-02 -2.76635392e-02 2.10394503e+02] [ 8.41947290e-02 9.96448698e-01 -1.11385015e-03 7.09532003e+00] [ 2.76590763e-02 -1.21965662e-03 9.99616670e-01 5.23629604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.43, Y:7.10, Z:5.24 [[ 9.96133494e-01 -8.30618746e-02 -2.86144422e-02 2.10426924e+02] [ 8.30630386e-02 9.96543631e-01 -1.15002365e-03 7.10087749e+00] [ 2.86110633e-02 -1.23122544e-03 9.99589861e-01 5.23706804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.46, Y:7.10, Z:5.24 [[ 9.96147742e-01 -8.27193151e-02 -2.91065526e-02 2.10457582e+02] [ 8.27204356e-02 9.96572108e-01 -1.16767960e-03 7.10402994e+00] [ 2.91033681e-02 -1.24452531e-03 9.99575633e-01 5.23765716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.49, Y:7.11, Z:5.24 [[ 9.96147060e-01 -8.25820390e-02 -2.95168084e-02 2.10489395e+02] [ 8.25831810e-02 9.96583474e-01 -1.18245515e-03 7.10719238e+00] [ 2.95136130e-02 -1.25969270e-03 9.99563585e-01 5.23826936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.52, Y:7.11, Z:5.24 [[ 9.96138696e-01 -8.25888795e-02 -2.97787844e-02 2.10521165e+02] [ 8.25901081e-02 9.96582890e-01 -1.19083571e-03 7.11047287e+00] [ 2.97753768e-02 -1.27319549e-03 9.99555804e-01 5.23922490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.55, Y:7.12, Z:5.24 [[ 9.96147033e-01 -8.23242194e-02 -3.02293242e-02 2.10553409e+02] [ 8.23254311e-02 9.96604770e-01 -1.20663671e-03 7.11500477e+00] [ 3.02260241e-02 -1.28665457e-03 9.99542261e-01 5.23964067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.59, Y:7.12, Z:5.24 [[ 9.96149989e-01 -8.21754871e-02 -3.05350383e-02 2.10585393e+02] [ 8.21767219e-02 9.96617031e-01 -1.21661295e-03 7.11805754e+00] [ 3.05317150e-02 -1.29734037e-03 9.99532957e-01 5.24006900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.62, Y:7.12, Z:5.24 [[ 9.96175484e-01 -8.18095757e-02 -3.06854815e-02 2.10617016e+02] [ 8.18107188e-02 9.96647138e-01 -1.22035062e-03 7.12125261e+00] [ 3.06824337e-02 -1.29471793e-03 9.99528345e-01 5.24106708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.65, Y:7.13, Z:5.24 [[ 9.96287531e-01 -8.06423357e-02 -3.01325389e-02 2.10648837e+02] [ 8.06429707e-02 9.96742334e-01 -1.19617237e-03 7.12658441e+00] [ 3.01308393e-02 -1.23824583e-03 9.99545196e-01 5.24198648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.68, Y:7.13, Z:5.24 [[ 9.96355370e-01 -7.96886876e-02 -3.04251448e-02 2.10680204e+02] [ 7.96889654e-02 9.96819049e-01 -1.20535881e-03 7.12946327e+00] [ 3.04244174e-02 -1.22358259e-03 9.99536321e-01 5.24278060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.71, Y:7.13, Z:5.24 [[ 9.96412881e-01 -7.91205112e-02 -3.00219032e-02 2.10712558e+02] [ 7.91206228e-02 9.96864344e-01 -1.18609186e-03 7.13222886e+00] [ 3.00216091e-02 -1.19351448e-03 9.99548537e-01 5.24338200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.74, Y:7.14, Z:5.24 [[ 9.96613585e-01 -7.66848987e-02 -2.96780754e-02 2.10743465e+02] [ 7.66839898e-02 9.97054761e-01 -1.17046977e-03 7.13622427e+00] [ 2.96804238e-02 -1.10932716e-03 9.99558824e-01 5.24450667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.77, Y:7.14, Z:5.25 [[ 9.96742858e-01 -7.50031228e-02 -2.96345534e-02 2.10774091e+02] [ 7.50015270e-02 9.97182736e-01 -1.16697631e-03 7.13906516e+00] [ 2.96385919e-02 -1.05946145e-03 9.99560119e-01 5.24549614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.81, Y:7.14, Z:5.25 [[ 9.97062256e-01 -7.05364040e-02 -2.98575355e-02 2.10806356e+02] [ 7.05328846e-02 9.97508766e-01 -1.17237502e-03 7.14439018e+00] [ 2.98658485e-02 -9.37007222e-04 9.99553477e-01 5.24635141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.84, Y:7.15, Z:5.25 [[ 9.97269522e-01 -6.76121164e-02 -2.97002169e-02 2.10838444e+02] [ 6.76074026e-02 9.97711323e-01 -1.16403685e-03 7.14778170e+00] [ 2.97109457e-02 -8.47096051e-04 9.99558173e-01 5.24753405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.87, Y:7.15, Z:5.25 [[ 9.97704538e-01 -6.12484550e-02 -2.88839342e-02 2.10869736e+02] [ 6.12413900e-02 9.98122345e-01 -1.12999838e-03 7.15297359e+00] [ 2.88989108e-02 -6.41487771e-04 9.99582133e-01 5.24838014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.93509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.90, Y:7.16, Z:5.25 [[ 9.97898126e-01 -5.80414342e-02 -2.88187886e-02 2.10901466e+02] [ 5.80331114e-02 9.98314024e-01 -1.12581549e-03 7.15550984e+00] [ 2.88355447e-02 -5.48994803e-04 9.99584018e-01 5.24910308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.93, Y:7.16, Z:5.25 [[ 9.98094485e-01 -5.47327561e-02 -2.84907614e-02 2.10932770e+02] [ 5.47233304e-02 9.98500938e-01 -1.11102652e-03 7.15776426e+00] [ 2.85088616e-02 -4.50199911e-04 9.99593438e-01 5.24955497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.96, Y:7.16, Z:5.25 [[ 9.98250207e-01 -5.17999510e-02 -2.85182235e-02 2.10964043e+02] [ 5.17893400e-02 9.98657414e-01 -1.11107027e-03 7.16012633e+00] [ 2.85374887e-02 -3.67813846e-04 9.99592655e-01 5.25030950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.00, Y:7.17, Z:5.25 [[ 9.98709551e-01 -4.68649036e-02 -1.95681594e-02 2.10996359e+02] [ 4.62731909e-02 9.98488122e-01 -2.96692124e-02 7.17352535e+00] [ 2.09290195e-02 2.87254447e-02 9.99368213e-01 5.24860120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.02, Y:7.15, Z:5.24 [[ 9.98461575e-01 -4.68927720e-02 -2.95897052e-02 2.11024523e+02] [ 4.77314133e-02 9.98459151e-01 2.83025728e-02 7.15036248e+00] [ 2.82169259e-02 -2.96713899e-02 9.99161355e-01 5.24334584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.06, Y:7.17, Z:5.25 [[ 9.98513031e-01 -4.62665819e-02 -2.88293459e-02 2.11055445e+02] [ 4.62532578e-02 9.98929107e-01 -1.12922256e-03 7.16762981e+00] [ 2.88507180e-02 -2.05907724e-04 9.99583710e-01 5.25339176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.08, Y:7.17, Z:5.25 [[ 9.98507157e-01 -4.63606048e-02 -2.88816785e-02 2.11084431e+02] [ 4.63472998e-02 9.98924747e-01 -1.13029524e-03 7.16877682e+00] [ 2.89030246e-02 -2.09979925e-04 9.99582198e-01 5.25383413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.11, Y:7.17, Z:5.25 [[ 9.98460475e-01 -4.73977903e-02 -2.88119787e-02 2.11114521e+02] [ 4.73849831e-02 9.98876064e-01 -1.12750191e-03 7.16967988e+00] [ 2.88330370e-02 -2.39489031e-04 9.99584213e-01 5.25454891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.15, Y:7.17, Z:5.26 [[ 9.98373929e-01 -4.91105448e-02 -2.89422135e-02 2.11145202e+02] [ 4.90983410e-02 9.98793307e-01 -1.13259840e-03 7.17011136e+00] [ 2.89629116e-02 -2.90257951e-04 9.99580445e-01 5.25515300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.18, Y:7.17, Z:5.26 [[ 9.98110700e-01 -5.40799021e-02 -2.91615286e-02 2.11175977e+02] [ 5.40696321e-02 9.98536515e-01 -1.14118088e-03 7.16938000e+00] [ 2.91805661e-02 -4.37728277e-04 9.99574061e-01 5.25584662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.21, Y:7.17, Z:5.26 [[ 9.97958386e-01 -5.69366524e-02 -2.89357412e-02 2.11205895e+02] [ 5.69277421e-02 9.98377659e-01 -1.13230604e-03 7.16978491e+00] [ 2.89532673e-02 -5.17252102e-04 9.99580632e-01 5.25661023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.24, Y:7.17, Z:5.26 [[ 9.97584626e-01 -6.32447738e-02 -2.87230344e-02 2.11236809e+02] [ 6.32386217e-02 9.97997803e-01 -1.12343717e-03 7.16897290e+00] [ 2.87365768e-02 -6.95681458e-04 9.99586777e-01 5.25736457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.27, Y:7.17, Z:5.26 [[ 9.97367857e-01 -6.64743547e-02 -2.89571698e-02 2.11269018e+02] [ 6.64694933e-02 9.97787816e-01 -1.13150428e-03 7.16920980e+00] [ 2.89683272e-02 -7.96242409e-04 9.99580013e-01 5.25804817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.30, Y:7.17, Z:5.26 [[ 9.97158633e-01 -6.93585197e-02 -2.93948227e-02 2.11301327e+02] [ 6.93548230e-02 9.97591396e-01 -1.14652790e-03 7.16904839e+00] [ 2.94035437e-02 -8.95402531e-04 9.99567221e-01 5.25850517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.33, Y:7.17, Z:5.26 [[ 9.96683271e-01 -7.56262147e-02 -3.00521751e-02 2.11332586e+02] [ 7.56252597e-02 9.97135623e-01 -1.17001624e-03 7.16750188e+00] [ 3.00545783e-02 -1.10656794e-03 9.99547647e-01 5.25880106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.37, Y:7.17, Z:5.26 [[ 9.96840367e-01 -7.57735132e-02 -2.38255773e-02 2.11367769e+02] [ 7.52850737e-02 9.96945700e-01 -2.07708561e-02 7.17365501e+00] [ 2.53266876e-02 1.89115174e-02 9.99500332e-01 5.25707334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.40, Y:7.16, Z:5.25 [[ 9.95977109e-01 -8.41002524e-02 -3.09313195e-02 2.11395457e+02] [ 8.47115286e-02 9.96224137e-01 1.90112127e-02 7.15764109e+00] [ 2.92156793e-02 -2.15549720e-02 9.99340696e-01 5.25405505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.43, Y:7.17, Z:5.26 [[ 9.95733006e-01 -8.70071364e-02 -3.07496313e-02 2.11428025e+02] [ 8.70116548e-02 9.96206579e-01 -1.19367582e-03 7.16823788e+00] [ 3.07368433e-02 -1.48699389e-03 9.99526406e-01 5.26105040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.46, Y:7.17, Z:5.26 [[ 9.95533438e-01 -8.92965434e-02 -3.06480137e-02 2.11461021e+02] [ 8.93022159e-02 9.96003869e-01 -1.18639554e-03 7.16886570e+00] [ 3.06314813e-02 -1.55583911e-03 9.99529535e-01 5.26172945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.49, Y:7.17, Z:5.26 [[ 9.95348313e-01 -9.12915088e-02 -3.07830615e-02 2.11492970e+02] [ 9.12982960e-02 9.95822881e-01 -1.18794124e-03 7.16968612e+00] [ 3.07629259e-02 -1.62802575e-03 9.99525383e-01 5.26276702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.53, Y:7.17, Z:5.26 [[ 9.95010692e-01 -9.49865988e-02 -3.05167128e-02 2.11525135e+02] [ 9.49951569e-02 9.95477044e-01 -1.17253289e-03 7.17046206e+00] [ 3.04900620e-02 -1.73225716e-03 9.99533569e-01 5.26354103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.56, Y:7.17, Z:5.26 [[ 9.95019104e-01 -9.48984054e-02 -3.05168178e-02 2.11557799e+02] [ 9.49070059e-02 9.95485455e-01 -1.16979454e-03 7.17165554e+00] [ 3.04900599e-02 -1.73229189e-03 9.99533569e-01 5.26441761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.59, Y:7.17, Z:5.27 [[ 9.95027508e-01 -9.48102123e-02 -3.05169212e-02 2.11590464e+02] [ 9.48188541e-02 9.95493859e-01 -1.16709097e-03 7.17284615e+00] [ 3.04900598e-02 -1.73229188e-03 9.99533569e-01 5.26529421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.62, Y:7.17, Z:5.27 [[ 9.94806582e-01 -9.72152969e-02 -3.01504598e-02 2.11623829e+02] [ 9.72249143e-02 9.95261771e-01 -1.15035846e-03 7.17398738e+00] [ 3.01194325e-02 -1.78699171e-03 9.99544710e-01 5.26609212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.66, Y:7.18, Z:5.27 [[ 9.94734870e-01 -9.80311670e-02 -2.98735503e-02 2.11656563e+02] [ 9.80410723e-02 9.95181720e-01 -1.13653004e-03 7.17531424e+00] [ 2.98410265e-02 -1.79828884e-03 9.99553040e-01 5.26706485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.69, Y:7.18, Z:5.27 [[ 9.94698631e-01 -9.85800463e-02 -2.92678614e-02 2.11688277e+02] [ 9.85898822e-02 9.95127531e-01 -1.11033786e-03 7.17652426e+00] [ 2.92347118e-02 -1.78106346e-03 9.99570988e-01 5.26772598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.71509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.72, Y:7.18, Z:5.27 [[ 9.94675193e-01 -9.86560366e-02 -2.98034809e-02 2.11721328e+02] [ 9.86663550e-02 9.95119932e-01 -1.12781071e-03 7.17746187e+00] [ 2.97693032e-02 -1.81879550e-03 9.99555141e-01 5.26838834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.75, Y:7.18, Z:5.27 [[ 9.94677175e-01 -9.86644326e-02 -2.97093649e-02 2.11753455e+02] [ 9.86747929e-02 9.95119103e-01 -1.12077187e-03 7.17840586e+00] [ 2.96749369e-02 -1.81675924e-03 9.99557951e-01 5.26830624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.79, Y:7.19, Z:5.27 [[ 9.95139564e-01 -9.57867398e-02 -2.28505685e-02 2.11790711e+02] [ 9.51944757e-02 9.95125957e-01 -2.57359952e-02 7.18812089e+00] [ 2.52043609e-02 2.34356591e-02 9.99407580e-01 5.26718970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.82, Y:7.17, Z:5.26 [[ 9.94658801e-01 -9.81740982e-02 -3.18702913e-02 2.11818457e+02] [ 9.89655197e-02 9.94794563e-01 2.42817343e-02 7.16857917e+00] [ 2.93205551e-02 -2.73061007e-02 9.99197019e-01 5.26229925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.85, Y:7.18, Z:5.27 [[ 9.94630669e-01 -9.85900424e-02 -3.14616525e-02 2.11849872e+02] [ 9.86018353e-02 9.95126266e-01 -1.18020894e-03 7.18275043e+00] [ 3.14246736e-02 -1.92830468e-03 9.99504263e-01 5.27045673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.88, Y:7.19, Z:5.27 [[ 9.94623669e-01 -9.82666539e-02 -3.26714358e-02 2.11883001e+02] [ 9.82793019e-02 9.95158120e-01 -1.22243796e-03 7.18542899e+00] [ 3.26333695e-02 -1.99506017e-03 9.99465399e-01 5.27102058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.91, Y:7.19, Z:5.27 [[ 9.94671395e-01 -9.77685466e-02 -3.27127908e-02 2.11914909e+02] [ 9.77810708e-02 9.95207201e-01 -1.22054548e-03 7.18730828e+00] [ 3.26753359e-02 -1.98465004e-03 9.99464048e-01 5.27200252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.95, Y:7.19, Z:5.27 [[ 9.94763129e-01 -9.69588831e-02 -3.23309645e-02 2.11948084e+02] [ 9.69707860e-02 9.95286501e-01 -1.20333628e-03 7.18918493e+00] [ 3.22952466e-02 -1.93812447e-03 9.99476493e-01 5.27287170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.98, Y:7.19, Z:5.27 [[ 9.95002600e-01 -9.44735377e-02 -3.23199216e-02 2.11981136e+02] [ 9.44842380e-02 9.95525635e-01 -1.19945350e-03 7.19224564e+00] [ 3.22886271e-02 -1.86026382e-03 9.99476855e-01 5.27465626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.01, Y:7.19, Z:5.28 [[ 9.95193744e-01 -9.25356903e-02 -3.20399431e-02 2.12012609e+02] [ 9.25453128e-02 9.95707768e-01 -1.18568579e-03 7.19439359e+00] [ 3.20121385e-02 -1.78515948e-03 9.99485886e-01 5.27534528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.04, Y:7.20, Z:5.28 [[ 9.95428799e-01 -8.99403586e-02 -3.21284496e-02 2.12044771e+02] [ 8.99487796e-02 9.95945686e-01 -1.18606684e-03 7.19652781e+00] [ 3.21048661e-02 -1.70926975e-03 9.99483044e-01 5.27615610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.08, Y:7.20, Z:5.28 [[ 9.95695764e-01 -8.71830423e-02 -3.14493711e-02 2.12077701e+02] [ 8.71898268e-02 9.96191042e-01 -1.15819673e-03 7.19898857e+00] [ 3.14305569e-02 -1.58885364e-03 9.99504675e-01 5.27725816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.11, Y:7.20, Z:5.28 [[ 9.96279496e-01 -8.02992898e-02 -3.12920139e-02 2.12109275e+02] [ 8.03027349e-02 9.96769859e-01 -1.14864920e-03 7.20371800e+00] [ 3.12831720e-02 -1.36845865e-03 9.99509625e-01 5.27849287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.14, Y:7.21, Z:5.28 [[ 9.96561657e-01 -7.66209789e-02 -3.15291850e-02 2.12141643e+02] [ 7.66228081e-02 9.97059486e-01 -1.15198668e-03 7.20668095e+00] [ 3.15247393e-02 -1.26782894e-03 9.99502168e-01 5.27930245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.17, Y:7.21, Z:5.28 [[ 9.96867056e-01 -7.26610570e-02 -3.12481001e-02 2.12174114e+02] [ 7.26609957e-02 9.97356046e-01 -1.13900154e-03 7.20945670e+00] [ 3.12482426e-02 -1.13508496e-03 9.99511010e-01 5.27999993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.21, Y:7.21, Z:5.28 [[ 9.97129209e-01 -6.89384352e-02 -3.13182408e-02 2.12206451e+02] [ 6.89366064e-02 9.97620392e-01 -1.13942957e-03 7.21202686e+00] [ 3.13222661e-02 -1.02281473e-03 9.99508814e-01 5.28099933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.24, Y:7.22, Z:5.28 [[ 9.97596471e-01 -6.21509649e-02 -3.06355872e-02 2.12237665e+02] [ 6.21460837e-02 9.98066444e-01 -1.11239118e-03 7.21520810e+00] [ 3.06454878e-02 -7.94164255e-04 9.99530001e-01 5.28166100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.27, Y:7.22, Z:5.28 [[ 9.97773073e-01 -5.92982319e-02 -3.05387289e-02 2.12269621e+02] [ 5.92921469e-02 9.98240061e-01 -1.10557940e-03 7.21718995e+00] [ 3.05505415e-02 -7.07589448e-04 9.99532973e-01 5.28228284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.30, Y:7.22, Z:5.28 [[ 9.97986694e-01 -5.50932526e-02 -3.14212012e-02 2.12301153e+02] [ 5.50847996e-02 9.98481034e-01 -1.13524635e-03 7.21988903e+00] [ 3.14360179e-02 -5.97869821e-04 9.99505587e-01 5.28267880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.33, Y:7.22, Z:5.28 [[ 9.98051720e-01 -5.36199950e-02 -3.19007934e-02 2.12331811e+02] [ 5.36105778e-02 9.98561256e-01 -1.15107513e-03 7.22188087e+00] [ 3.19166169e-02 -5.61387446e-04 9.99490377e-01 5.28326153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.36, Y:7.22, Z:5.28 [[ 9.98078135e-01 -5.26910374e-02 -3.26142675e-02 2.12362349e+02] [ 5.26806985e-02 9.98610714e-01 -1.17681939e-03 7.22361695e+00] [ 3.26309648e-02 -5.43584686e-04 9.99467320e-01 5.28382334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.39, Y:7.22, Z:5.28 [[ 9.98105435e-01 -5.19536656e-02 -3.29599299e-02 2.12392251e+02] [ 5.19427055e-02 9.98649358e-01 -1.18926733e-03 7.22464107e+00] [ 3.29771996e-02 -5.25013743e-04 9.99455966e-01 5.28371445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.42, Y:7.23, Z:5.28 [[ 9.98087608e-01 -5.18859959e-02 -3.36001560e-02 2.12422385e+02] [ 5.18745715e-02 9.98652872e-01 -1.21225412e-03 7.22550566e+00] [ 3.36177913e-02 -5.33057872e-04 9.99434620e-01 5.28369312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.45, Y:7.23, Z:5.28 [[ 9.98076891e-01 -5.21995775e-02 -3.34323786e-02 2.12451589e+02] [ 5.21884351e-02 9.98636526e-01 -1.20642593e-03 7.22628906e+00] [ 3.34497693e-02 -5.40677682e-04 9.99440254e-01 5.28422749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.43509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.48, Y:7.23, Z:5.29 [[ 9.98058267e-01 -5.24156529e-02 -3.36496008e-02 2.12481295e+02] [ 5.24044480e-02 9.98625203e-01 -1.21545440e-03 7.22730234e+00] [ 3.36670483e-02 -5.50294439e-04 9.99432953e-01 5.28509545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.51, Y:7.23, Z:5.29 [[ 9.98036436e-01 -5.27198958e-02 -3.38213772e-02 2.12511219e+02] [ 5.27087181e-02 9.98609181e-01 -1.22262427e-03 7.22842379e+00] [ 3.38387944e-02 -5.62457870e-04 9.99427146e-01 5.28606058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.54, Y:7.23, Z:5.29 [[ 9.98047857e-01 -5.33052825e-02 -3.25426116e-02 2.12540750e+02] [ 5.32952386e-02 9.98578106e-01 -1.17659241e-03 7.23007129e+00] [ 3.25590580e-02 -5.60070716e-04 9.99469656e-01 5.28753705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.57, Y:7.23, Z:5.29 [[ 9.98030212e-01 -5.39663148e-02 -3.19895621e-02 2.12571198e+02] [ 5.39569181e-02 9.98542594e-01 -1.15755047e-03 7.23149420e+00] [ 3.20054091e-02 -5.70787841e-04 9.99487533e-01 5.28892760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.60, Y:7.23, Z:5.29 [[ 9.98016545e-01 -5.48022878e-02 -3.09787900e-02 2.12600845e+02] [ 5.47938756e-02 9.98497058e-01 -1.12104622e-03 7.23239468e+00] [ 3.09936665e-02 -5.78625291e-04 9.99519413e-01 5.29016058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.63, Y:7.23, Z:5.29 [[ 9.97935724e-01 -5.69290828e-02 -2.97215567e-02 2.12632298e+02] [ 5.69222711e-02 9.98378033e-01 -1.07591685e-03 7.23246263e+00] [ 2.97346003e-02 -6.18122652e-04 9.99557638e-01 5.29158978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.66, Y:7.23, Z:5.29 [[ 9.97854825e-01 -5.83645976e-02 -2.96533577e-02 2.12663618e+02] [ 5.83584832e-02 9.98295115e-01 -1.07234398e-03 7.23295283e+00] [ 2.96653891e-02 -6.60481368e-04 9.99559667e-01 5.29254866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.70, Y:7.23, Z:5.29 [[ 9.97768593e-01 -5.98672183e-02 -2.95592706e-02 2.12695972e+02] [ 5.98618495e-02 9.98206101e-01 -1.06731927e-03 7.23344146e+00] [ 2.95701417e-02 -7.04534969e-04 9.99562459e-01 5.29363331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.73, Y:7.23, Z:5.29 [[ 9.97665378e-01 -6.15454468e-02 -2.95964942e-02 2.12727491e+02] [ 6.15408644e-02 9.98103995e-01 -1.06656479e-03 7.23401169e+00] [ 2.96060213e-02 -7.57319066e-04 9.99561359e-01 5.29479309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.76, Y:7.23, Z:5.30 [[ 9.97424048e-01 -6.51276745e-02 -3.00608427e-02 2.12759710e+02] [ 6.51246235e-02 9.97876552e-01 -1.08159562e-03 7.23412291e+00] [ 3.00674519e-02 -8.78891580e-04 9.99547486e-01 5.29554562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.79, Y:7.23, Z:5.30 [[ 9.97297237e-01 -6.67578765e-02 -3.06856023e-02 2.12791002e+02] [ 6.67555350e-02 9.97768753e-01 -1.10190268e-03 7.23428424e+00] [ 3.06906958e-02 -9.49509298e-04 9.99528479e-01 5.29654017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.82, Y:7.23, Z:5.30 [[ 9.97187817e-01 -6.81954660e-02 -3.10778874e-02 2.12823496e+02] [ 6.81938162e-02 9.97671470e-01 -1.11423263e-03 7.23435613e+00] [ 3.10815072e-02 -1.00822054e-03 9.99516345e-01 5.29732608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.85, Y:7.23, Z:5.30 [[ 9.97100430e-01 -6.93251023e-02 -3.13809281e-02 2.12854250e+02] [ 6.93240574e-02 9.97593562e-01 -1.12260288e-03 7.23417648e+00] [ 3.13832364e-02 -1.05610545e-03 9.99506867e-01 5.29784787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.89, Y:7.23, Z:5.30 [[ 9.96896248e-01 -7.17005233e-02 -3.25100811e-02 2.12886513e+02] [ 7.17007834e-02 9.97425513e-01 -1.15931086e-03 7.23398154e+00] [ 3.25095075e-02 -1.17528563e-03 9.99470735e-01 5.29920006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.92, Y:7.23, Z:5.30 [[ 9.96831548e-01 -7.24702464e-02 -3.27860931e-02 2.12919103e+02] [ 7.24710048e-02 9.97369837e-01 -1.16677187e-03 7.23492549e+00] [ 3.27844166e-02 -1.21296610e-03 9.99461710e-01 5.30052512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.95, Y:7.24, Z:5.30 [[ 9.96820677e-01 -7.24429361e-02 -3.31746589e-02 2.12950083e+02] [ 7.24437745e-02 9.97371802e-01 -1.17828819e-03 7.23577890e+00] [ 3.31728279e-02 -1.22875548e-03 9.99448875e-01 5.30184953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.98, Y:7.24, Z:5.30 [[ 9.96840925e-01 -7.18660221e-02 -3.38148778e-02 2.12981992e+02] [ 7.18666288e-02 9.97413530e-01 -1.19906197e-03 7.23675961e+00] [ 3.38135885e-02 -1.23488723e-03 9.99427394e-01 5.30339509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.01, Y:7.24, Z:5.30 [[ 9.96905142e-01 -7.07597214e-02 -3.42520096e-02 2.13013408e+02] [ 7.07597715e-02 9.97492649e-01 -1.21224887e-03 7.23745902e+00] [ 3.42519062e-02 -1.21516724e-03 9.99412493e-01 5.30472819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.05, Y:7.24, Z:5.31 [[ 9.96970492e-01 -6.95957149e-02 -3.47314691e-02 2.13045520e+02] [ 6.95951310e-02 9.97574564e-01 -1.22721553e-03 7.23833134e+00] [ 3.47326391e-02 -1.19364347e-03 9.99395927e-01 5.30573438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.08, Y:7.24, Z:5.31 [[ 9.97195078e-01 -6.57888082e-02 -3.56904650e-02 2.13077114e+02] [ 6.57858455e-02 9.97832971e-01 -1.25861663e-03 7.23987526e+00] [ 3.56959256e-02 -1.09284111e-03 9.99362100e-01 5.30766457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.11, Y:7.24, Z:5.31 [[ 9.97321682e-01 -6.37332197e-02 -3.58822997e-02 2.13108244e+02] [ 6.37289600e-02 9.97966444e-01 -1.26360443e-03 7.24169707e+00] [ 3.58898646e-02 -1.02652155e-03 9.99355224e-01 5.30899467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.14, Y:7.24, Z:5.31 [[ 9.97416693e-01 -6.18069007e-02 -3.66039274e-02 2.13139504e+02] [ 6.18012201e-02 9.98087647e-01 -1.28771730e-03 7.24343308e+00] [ 3.66135176e-02 -9.77776642e-04 9.99329022e-01 5.31077794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.17, Y:7.24, Z:5.31 [[ 9.97521693e-01 -5.98101447e-02 -3.70569555e-02 2.13170305e+02] [ 5.98029829e-02 9.98209350e-01 -1.30266826e-03 7.24491038e+00] [ 3.70685122e-02 -9.16676623e-04 9.99312306e-01 5.31226689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.20, Y:7.25, Z:5.31 [[ 9.97627713e-01 -5.71217714e-02 -3.84194017e-02 2.13198578e+02] [ 5.71120586e-02 9.98366860e-01 -1.35117171e-03 7.24622930e+00] [ 3.84338388e-02 -8.46244780e-04 9.99260789e-01 5.31360853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.23, Y:7.25, Z:5.31 [[ 9.97627229e-01 -5.65889893e-02 -3.92122303e-02 2.13227342e+02] [ 5.65782825e-02 9.98397207e-01 -1.38359048e-03 7.24693925e+00] [ 3.92276773e-02 -8.38253106e-04 9.99229947e-01 5.31468153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.26, Y:7.25, Z:5.32 [[ 9.97625879e-01 -5.63031036e-02 -3.96556009e-02 2.13255577e+02] [ 5.62916108e-02 9.98413378e-01 -1.40721886e-03 7.24768707e+00] [ 3.96719132e-02 -8.28399696e-04 9.99212416e-01 5.31558824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.21509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.28, Y:7.25, Z:5.32 [[ 9.97604751e-01 -5.63299006e-02 -4.01460200e-02 2.13283678e+02] [ 5.63178970e-02 9.98411863e-01 -1.43076054e-03 7.24823066e+00] [ 4.01628572e-02 -8.33605907e-04 9.99192799e-01 5.31770332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.31, Y:7.25, Z:5.32 [[ 9.97564245e-01 -5.69779069e-02 -4.02379831e-02 2.13311658e+02] [ 5.69659117e-02 9.98375077e-01 -1.44553774e-03 7.24931578e+00] [ 4.02549632e-02 -8.50176625e-04 9.99189079e-01 5.31943651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.34, Y:7.25, Z:5.32 [[ 9.97594446e-01 -5.70662681e-02 -3.93543300e-02 2.13338989e+02] [ 5.70545154e-02 9.98370051e-01 -1.42259697e-03 7.25024877e+00] [ 3.93713667e-02 -8.26167391e-04 9.99224306e-01 5.32070289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.37, Y:7.25, Z:5.32 [[ 9.97534910e-01 -5.84271297e-02 -3.88635255e-02 2.13367329e+02] [ 5.84164884e-02 9.98291303e-01 -1.41029310e-03 7.25089345e+00] [ 3.88795188e-02 -8.63454082e-04 9.99243533e-01 5.32246087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.40, Y:7.25, Z:5.32 [[ 9.97509446e-01 -5.90773973e-02 -3.85326718e-02 2.13396120e+02] [ 5.90671319e-02 9.98253023e-01 -1.40577781e-03 7.25169031e+00] [ 3.85484058e-02 -8.73737761e-04 9.99256352e-01 5.32370188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.43, Y:7.25, Z:5.32 [[ 9.97472071e-01 -5.98151379e-02 -3.83616611e-02 2.13425341e+02] [ 5.98054364e-02 9.98209069e-01 -1.40141427e-03 7.25243473e+00] [ 3.83767838e-02 -8.96364288e-04 9.99262938e-01 5.32457781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.46, Y:7.26, Z:5.32 [[ 9.97467549e-01 -6.16635471e-02 -3.54414494e-02 2.13455185e+02] [ 6.13622194e-02 9.98070077e-01 -9.52891748e-03 7.25709971e+00] [ 3.59606369e-02 7.33001996e-03 9.99326325e-01 5.32442990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.49, Y:7.25, Z:5.32 [[ 9.97229590e-01 -6.37521841e-02 -3.83249669e-02 2.13485812e+02] [ 6.40601961e-02 9.97922444e-01 6.86204923e-03 7.25074341e+00] [ 3.78078740e-02 -9.29814344e-03 9.99241767e-01 5.32460486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.52, Y:7.26, Z:5.33 [[ 9.97098034e-01 -6.74597735e-02 -3.52801489e-02 2.13516700e+02] [ 6.71569122e-02 9.97695259e-01 -9.70151866e-03 7.26007338e+00] [ 3.58532996e-02 7.30405932e-03 9.99330372e-01 5.32767764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.55, Y:7.26, Z:5.33 [[ 9.97101526e-01 -6.71668119e-02 -3.57374673e-02 2.13548822e+02] [ 6.71620222e-02 9.97741188e-01 -1.33584974e-03 7.25714455e+00] [ 3.57464679e-02 -1.06822276e-03 9.99360320e-01 5.32591909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.58, Y:7.26, Z:5.33 [[ 9.96829882e-01 -7.14129681e-02 -3.50766908e-02 2.13578420e+02] [ 7.13006221e-02 9.97444968e-01 -4.44497543e-03 7.26120005e+00] [ 3.53044976e-02 1.92989445e-03 9.99374739e-01 5.32773556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.61, Y:7.25, Z:5.33 [[ 9.96628975e-01 -7.31625374e-02 -3.71204745e-02 2.13610453e+02] [ 7.35533520e-02 9.97248178e-01 9.27236848e-03 7.25439486e+00] [ 3.63399355e-02 -1.19714464e-02 9.99267779e-01 5.32769134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.64, Y:7.26, Z:5.33 [[ 9.96322691e-01 -7.71700603e-02 -3.72273667e-02 2.13642774e+02] [ 7.71728030e-02 9.97016797e-01 -1.36543666e-03 7.26079184e+00] [ 3.72216807e-02 -1.51252471e-03 9.99305888e-01 5.33224240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.68, Y:7.26, Z:5.33 [[ 9.96055571e-01 -8.04403515e-02 -3.74519526e-02 2.13675017e+02] [ 8.04455355e-02 9.96758063e-01 -1.37095788e-03 7.26189631e+00] [ 3.74408160e-02 -1.64729214e-03 9.99297489e-01 5.33305909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.71, Y:7.26, Z:5.33 [[ 9.95465894e-01 -8.72834064e-02 -3.78055638e-02 2.13706116e+02] [ 8.72937045e-02 9.96181661e-01 -1.38136091e-03 7.26333442e+00] [ 3.77817792e-02 -1.92509004e-03 9.99284159e-01 5.33406094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.74, Y:7.26, Z:5.34 [[ 9.95151950e-01 -9.05203188e-02 -3.84534496e-02 2.13737949e+02] [ 9.05334695e-02 9.95892425e-01 -1.40276265e-03 7.26484124e+00] [ 3.84224777e-02 -2.08536222e-03 9.99259408e-01 5.33511863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.77, Y:7.27, Z:5.34 [[ 9.94837196e-01 -9.37543445e-02 -3.88468422e-02 2.13770001e+02] [ 9.37703288e-02 9.95592851e-01 -1.41437907e-03 7.26648398e+00] [ 3.88082425e-02 -2.23560426e-03 9.99244176e-01 5.33568181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.80, Y:7.27, Z:5.34 [[ 9.94624390e-01 -9.58571986e-02 -3.91627320e-02 2.13802466e+02] [ 9.58751884e-02 9.95392347e-01 -1.42280934e-03 7.26777222e+00] [ 3.91186703e-02 -2.33957344e-03 9.99231833e-01 5.33635503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.84, Y:7.27, Z:5.34 [[ 9.94292105e-01 -9.89148018e-02 -3.99883872e-02 2.13835631e+02] [ 9.89361763e-02 9.95092726e-01 -1.44893832e-03 7.27009442e+00] [ 3.99354747e-02 -2.51563019e-03 9.99199094e-01 5.33698267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.87, Y:7.27, Z:5.34 [[ 9.94209909e-01 -9.96991402e-02 -4.00841514e-02 2.13868266e+02] [ 9.97214242e-02 9.95014342e-01 -1.44811315e-03 7.27195284e+00] [ 4.00286812e-02 -2.55752022e-03 9.99195258e-01 5.33732420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.90, Y:7.27, Z:5.34 [[ 9.94201852e-01 -9.98661577e-02 -3.98676342e-02 2.13900784e+02] [ 9.98885069e-02 9.94997600e-01 -1.43596931e-03 7.27385073e+00] [ 3.98116051e-02 -2.55467510e-03 9.99203938e-01 5.33805033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.93, Y:7.28, Z:5.34 [[ 9.94301141e-01 -9.92487965e-02 -3.89219392e-02 2.13933991e+02] [ 9.92697868e-02 9.95059574e-01 -1.39774477e-03 7.27700852e+00] [ 3.88683727e-02 -2.47399338e-03 9.99241277e-01 5.33875210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.97, Y:7.28, Z:5.34 [[ 9.94368999e-01 -9.87431412e-02 -3.84718819e-02 2.13966392e+02] [ 9.87634219e-02 9.95109988e-01 -1.37765909e-03 7.27939213e+00] [ 3.84197884e-02 -2.42971321e-03 9.99258733e-01 5.33959205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.00, Y:7.28, Z:5.34 [[ 9.94462752e-01 -9.78888916e-02 -3.82308747e-02 2.13999416e+02] [ 9.79084281e-02 9.95194491e-01 -1.36541011e-03 7.28177847e+00] [ 3.81808144e-02 -2.38527535e-03 9.99268000e-01 5.34036209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.93509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.03, Y:7.29, Z:5.34 [[ 9.94634398e-01 -9.61586488e-02 -3.81566306e-02 2.14032677e+02] [ 9.61769968e-02 9.95363320e-01 -1.35867850e-03 7.28571510e+00] [ 3.81103592e-02 -2.31840177e-03 9.99270847e-01 5.34104834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.07, Y:7.29, Z:5.34 [[ 9.94717973e-01 -9.53345899e-02 -3.80456388e-02 2.14065431e+02] [ 9.53523862e-02 9.95442664e-01 -1.35063840e-03 7.28841047e+00] [ 3.80010146e-02 -2.28423816e-03 9.99275090e-01 5.34206187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.10, Y:7.29, Z:5.34 [[ 9.94806687e-01 -9.44870899e-02 -3.78397301e-02 2.14097790e+02] [ 9.45042636e-02 9.95523557e-01 -1.33855175e-03 7.29139376e+00] [ 3.77968186e-02 -2.24441560e-03 9.99282924e-01 5.34339549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.13, Y:7.29, Z:5.34 [[ 9.94909945e-01 -9.34653015e-02 -3.76621670e-02 2.14130988e+02] [ 9.34817989e-02 9.95620105e-01 -1.32657999e-03 7.29463892e+00] [ 3.76211999e-02 -2.20089950e-03 9.99289648e-01 5.34478275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.16, Y:7.30, Z:5.35 [[ 9.95103571e-01 -9.13638840e-02 -3.77030885e-02 2.14162898e+02] [ 9.13790610e-02 9.95815301e-01 -1.32412795e-03 7.30007179e+00] [ 3.76662899e-02 -2.12762838e-03 9.99288109e-01 5.34615573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.20, Y:7.30, Z:5.35 [[ 9.95234805e-01 -8.98857329e-02 -3.77920241e-02 2.14195668e+02] [ 8.99000572e-02 9.95949912e-01 -1.32360748e-03 7.30336393e+00] [ 3.77579365e-02 -2.08020490e-03 9.99284750e-01 5.34748111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.23, Y:7.31, Z:5.35 [[ 9.95391349e-01 -8.81361774e-02 -3.77898923e-02 2.14227521e+02] [ 8.81493942e-02 9.96106391e-01 -1.31953929e-03 7.30667213e+00] [ 3.77590524e-02 -2.01769812e-03 9.99284836e-01 5.34863888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.26, Y:7.31, Z:5.35 [[ 9.95774133e-01 -8.36539844e-02 -3.78930916e-02 2.14259751e+02] [ 8.36641686e-02 9.96493134e-01 -1.31966414e-03 7.31281699e+00] [ 3.78706008e-02 -1.85620659e-03 9.99280928e-01 5.34999644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.29, Y:7.32, Z:5.35 [[ 9.96020895e-01 -8.07696728e-02 -3.76647905e-02 2.14292254e+02] [ 8.07778122e-02 9.96731275e-01 -1.30811998e-03 7.31657257e+00] [ 3.76473310e-02 -1.73956454e-03 9.99289574e-01 5.35083282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.32, Y:7.32, Z:5.35 [[ 9.96276216e-01 -7.74955404e-02 -3.77907876e-02 2.14324417e+02] [ 7.75015320e-02 9.96991374e-01 -1.30858062e-03 7.32014173e+00] [ 3.77784984e-02 -1.62513619e-03 9.99284816e-01 5.35195535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.36, Y:7.32, Z:5.35 [[ 9.96561713e-01 -7.39498847e-02 -3.73653203e-02 2.14356730e+02] [ 7.39533708e-02 9.97260865e-01 -1.29071791e-03 7.32384276e+00] [ 3.73584201e-02 -1.47701134e-03 9.99300839e-01 5.35289847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.39, Y:7.33, Z:5.35 [[ 9.97104207e-01 -6.65067636e-02 -3.68788612e-02 2.14388739e+02] [ 6.65051692e-02 9.97785271e-01 -1.27132674e-03 7.32953664e+00] [ 3.68817363e-02 -1.18498966e-03 9.99318935e-01 5.35399871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.42, Y:7.33, Z:5.35 [[ 9.97364128e-01 -6.26486426e-02 -3.66052523e-02 2.14421154e+02] [ 6.26445715e-02 9.98035106e-01 -1.25927942e-03 7.33274538e+00] [ 3.66122190e-02 -1.03716023e-03 9.99329010e-01 5.35465207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.45, Y:7.34, Z:5.36 [[ 9.97595483e-01 -5.89998420e-02 -3.63630536e-02 2.14453324e+02] [ 5.89934967e-02 9.98257586e-01 -1.24835567e-03 7.33581829e+00] [ 3.63733469e-02 -8.99829708e-04 9.99337866e-01 5.35537602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.48, Y:7.34, Z:5.36 [[ 9.97814477e-01 -5.52467506e-02 -3.62500505e-02 2.14483958e+02] [ 5.52380809e-02 9.98472440e-01 -1.24140721e-03 7.33896436e+00] [ 3.62632600e-02 -7.63689136e-04 9.99341980e-01 5.35656548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.51, Y:7.34, Z:5.36 [[ 9.98096996e-01 -4.96874666e-02 -3.65177100e-02 2.14514992e+02] [ 4.96750805e-02 9.98764653e-01 -1.24697832e-03 7.34418755e+00] [ 3.65345571e-02 -5.69414871e-04 9.99332228e-01 5.35715321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.55, Y:7.35, Z:5.36 [[ 9.98176751e-01 -4.78318740e-02 -3.68141914e-02 2.14545106e+02] [ 4.78180598e-02 9.98855272e-01 -1.25614643e-03 7.34675246e+00] [ 3.68321330e-02 -5.06527041e-04 9.99321338e-01 5.35774342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.57, Y:7.35, Z:5.36 [[ 9.98225304e-01 -4.65887810e-02 -3.70907982e-02 2.14574559e+02] [ 4.65738869e-02 9.98914046e-01 -1.26595332e-03 7.34901999e+00] [ 3.71094985e-02 -4.63756002e-04 9.99311098e-01 5.35811241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.60, Y:7.35, Z:5.36 [[ 9.98279450e-01 -4.59427705e-02 -3.64335261e-02 2.14604586e+02] [ 4.59279233e-02 9.98943981e-01 -1.24478806e-03 7.35133173e+00] [ 3.64522406e-02 -4.30669849e-04 9.99335303e-01 5.35855740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.63, Y:7.35, Z:5.36 [[ 9.98244465e-01 -4.65397641e-02 -3.66338413e-02 2.14634282e+02] [ 4.65251074e-02 9.98916335e-01 -1.25292898e-03 7.35210939e+00] [ 3.66524536e-02 -4.53663982e-04 9.99327970e-01 5.35898314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.66, Y:7.35, Z:5.36 [[ 9.98208476e-01 -4.77287809e-02 -3.60804900e-02 2.14663755e+02] [ 4.77152940e-02 9.98860213e-01 -1.23527321e-03 7.35249501e+00] [ 3.60983240e-02 -4.88531000e-04 9.99348124e-01 5.35934935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.69, Y:7.35, Z:5.36 [[ 9.98064589e-01 -5.09792258e-02 -3.56117099e-02 2.14693032e+02] [ 5.09681154e-02 9.98699535e-01 -1.22032786e-03 7.35122310e+00] [ 3.56276095e-02 -5.97095713e-04 9.99364957e-01 5.35977496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.72, Y:7.35, Z:5.36 [[ 9.97973828e-01 -5.29548757e-02 -3.52706751e-02 2.14723952e+02] [ 5.29452043e-02 9.98596687e-01 -1.20880186e-03 7.35110779e+00] [ 3.52851913e-02 -6.61060485e-04 9.99377065e-01 5.36083940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.76, Y:7.35, Z:5.36 [[ 9.97897432e-01 -5.49881969e-02 -3.43076189e-02 2.14755571e+02] [ 5.49802885e-02 9.98486749e-01 -1.17458669e-03 7.35139893e+00] [ 3.43202913e-02 -7.14125741e-04 9.99410630e-01 5.36193022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.79, Y:7.35, Z:5.36 [[ 9.97807639e-01 -5.69169545e-02 -3.37694383e-02 2.14787446e+02] [ 5.69104454e-02 9.98378620e-01 -1.15469101e-03 7.35166645e+00] [ 3.37804067e-02 -7.69674264e-04 9.99428983e-01 5.36341147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.82, Y:7.35, Z:5.36 [[ 9.97701608e-01 -5.88363410e-02 -3.36122931e-02 2.14818413e+02] [ 5.88310579e-02 9.98267294e-01 -1.14701533e-03 7.35221303e+00] [ 3.36215391e-02 -8.33067727e-04 9.99434289e-01 5.36440641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.71509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.85, Y:7.36, Z:5.37 [[ 9.97654534e-01 -6.18884218e-02 -2.92447409e-02 2.14848766e+02] [ 6.14043836e-02 9.97965275e-01 -1.71700689e-02 7.36037892e+00] [ 3.02478644e-02 1.53340418e-02 9.99424802e-01 5.36520532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.88, Y:7.34, Z:5.36 [[ 9.97515825e-01 -6.26029826e-02 -3.22962063e-02 2.14882121e+02] [ 6.31100062e-02 9.97894967e-01 1.49252418e-02 7.34440485e+00] [ 3.12938570e-02 -1.69263786e-02 9.99366896e-01 5.35998383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.91, Y:7.35, Z:5.37 [[ 9.97469523e-01 -6.43052071e-02 -3.03214529e-02 2.14914725e+02] [ 6.43036195e-02 9.97929851e-01 -1.02847906e-03 7.35224564e+00] [ 3.03248195e-02 -9.23902647e-04 9.99539670e-01 5.36684647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.95, Y:7.35, Z:5.37 [[ 9.97394110e-01 -6.61991062e-02 -2.86821891e-02 2.14946614e+02] [ 6.61985570e-02 9.97805999e-01 -9.69748199e-04 7.35062189e+00] [ 2.86834568e-02 -9.31498387e-04 9.99588111e-01 5.36781440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.98, Y:7.35, Z:5.37 [[ 9.97329906e-01 -6.70076981e-02 -2.90349304e-02 2.14980028e+02] [ 6.70076268e-02 9.97751985e-01 -9.76536124e-04 7.35006338e+00] [ 2.90350949e-02 -9.71633100e-04 9.99577921e-01 5.36854074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.01, Y:7.35, Z:5.37 [[ 9.97287240e-01 -6.75710383e-02 -2.91944491e-02 2.15011612e+02] [ 6.75712984e-02 9.97713968e-01 -9.78786935e-04 7.34960872e+00] [ 2.91938473e-02 -9.96575108e-04 9.99573272e-01 5.36910266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.04, Y:7.35, Z:5.37 [[ 9.97288380e-01 -6.78285594e-02 -2.85512411e-02 2.15044765e+02] [ 6.78289855e-02 9.97696506e-01 -9.54689036e-04 7.34863339e+00] [ 2.85502286e-02 -9.84501436e-04 9.99591874e-01 5.36985319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.08, Y:7.35, Z:5.37 [[ 9.97281637e-01 -6.80306761e-02 -2.83048236e-02 2.15078096e+02] [ 6.80312617e-02 9.97682744e-01 -9.43428719e-04 7.34894121e+00] [ 2.83034162e-02 -9.84748726e-04 9.99598893e-01 5.37113859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.11, Y:7.35, Z:5.37 [[ 9.97282165e-01 -6.80322212e-02 -2.82824962e-02 2.15111475e+02] [ 6.80328934e-02 9.97682636e-01 -9.39612435e-04 7.34930898e+00] [ 2.82808792e-02 -9.87081322e-04 9.99599529e-01 5.37186375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.14, Y:7.35, Z:5.37 [[ 9.97271155e-01 -6.80765349e-02 -2.85627314e-02 2.15144432e+02] [ 6.80773280e-02 9.97679599e-01 -9.45795626e-04 7.34964336e+00] [ 2.85608409e-02 -1.00125974e-03 9.99591555e-01 5.37252783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.18, Y:7.35, Z:5.37 [[ 9.97230240e-01 -6.78191053e-02 -3.05355248e-02 2.15176464e+02] [ 6.78199967e-02 9.97697065e-01 -1.00770137e-03 7.34872325e+00] [ 3.05335449e-02 -1.06600892e-03 9.99533174e-01 5.37253087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.21, Y:7.35, Z:5.37 [[ 9.97230725e-01 -6.74292457e-02 -3.13716252e-02 2.15208987e+02] [ 6.74300816e-02 9.97723468e-01 -1.03251627e-03 7.34875085e+00] [ 3.13698284e-02 -1.08573430e-03 9.99507256e-01 5.37275546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.24, Y:7.35, Z:5.37 [[ 9.97253438e-01 -6.68746064e-02 -3.18334240e-02 2.15240340e+02] [ 6.68752546e-02 9.97760797e-01 -1.04553701e-03 7.34901392e+00] [ 3.18320624e-02 -1.08620295e-03 9.99492641e-01 5.37292060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.27, Y:7.35, Z:5.37 [[ 9.97314633e-01 -6.58639116e-02 -3.20229431e-02 2.15272173e+02] [ 6.58641042e-02 9.97828050e-01 -1.04998427e-03 7.34950107e+00] [ 3.20225469e-02 -1.06199779e-03 9.99486583e-01 5.37373858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.30, Y:7.35, Z:5.37 [[ 9.97467213e-01 -6.29184251e-02 -3.31727395e-02 2.15304517e+02] [ 6.29170840e-02 9.98018167e-01 -1.08531603e-03 7.35017472e+00] [ 3.31752830e-02 -1.00456488e-03 9.99449044e-01 5.37498819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.34, Y:7.35, Z:5.38 [[ 9.97560512e-01 -6.08621854e-02 -3.41880067e-02 2.15336593e+02] [ 6.08596398e-02 9.98145710e-01 -1.11605878e-03 7.35111168e+00] [ 3.41925380e-02 -9.67333614e-04 9.99414796e-01 5.37570377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.37, Y:7.35, Z:5.38 [[ 9.97696381e-01 -5.83617103e-02 -3.45809415e-02 2.15369267e+02] [ 5.83576908e-02 9.98295102e-01 -1.12641875e-03 7.35188937e+00] [ 3.45877243e-02 -8.94239983e-04 9.99401266e-01 5.37641463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.40, Y:7.35, Z:5.38 [[ 9.98021887e-01 -5.25846621e-02 -3.44552934e-02 2.15399469e+02] [ 5.25773007e-02 9.98616229e-01 -1.12029581e-03 7.35283607e+00] [ 3.44665255e-02 -6.93486581e-04 9.99405612e-01 5.37762715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.43, Y:7.35, Z:5.38 [[ 9.98199966e-01 -4.95463637e-02 -3.37932742e-02 2.15430165e+02] [ 4.95375576e-02 9.98771658e-01 -1.09831026e-03 7.35412373e+00] [ 3.38061818e-02 -5.77703003e-04 9.99428241e-01 5.37862014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.46, Y:7.36, Z:5.38 [[ 9.98493967e-01 -4.41009077e-02 -3.26329368e-02 2.15460955e+02] [ 4.40897882e-02 9.99027010e-01 -1.06059831e-03 7.35560622e+00] [ 3.26479586e-02 -3.79778262e-04 9.99466841e-01 5.38043857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.49, Y:7.36, Z:5.38 [[ 9.98608644e-01 -4.17278286e-02 -3.22422802e-02 2.15490878e+02] [ 4.17157307e-02 9.99128970e-01 -1.04809902e-03 7.35642898e+00] [ 3.22579311e-02 -2.98369537e-04 9.99479533e-01 5.38174133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.52, Y:7.36, Z:5.38 [[ 9.98793306e-01 -3.81855962e-02 -3.08835233e-02 2.15519144e+02] [ 3.81727686e-02 9.99270649e-01 -1.00505735e-03 7.35581332e+00] [ 3.08993771e-02 -1.75065041e-04 9.99522485e-01 5.38213064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.55, Y:7.36, Z:5.38 [[ 9.98786668e-01 -3.83588898e-02 -3.08834537e-02 2.15547545e+02] [ 3.83460790e-02 9.99264011e-01 -1.00719301e-03 7.35682058e+00] [ 3.08993586e-02 -1.78288401e-04 9.99522485e-01 5.38288981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.57, Y:7.36, Z:5.38 [[ 9.98848357e-01 -3.75653684e-02 -2.98463186e-02 2.15574941e+02] [ 3.75529034e-02 9.99294162e-01 -9.78259162e-04 7.35612489e+00] [ 2.98620006e-02 -1.43683363e-04 9.99554021e-01 5.38325306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.43509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.60, Y:7.36, Z:5.38 [[ 9.98823443e-01 -3.81886954e-02 -2.98890177e-02 2.15604163e+02] [ 3.81763467e-02 9.99270533e-01 -9.83904742e-04 7.35604133e+00] [ 2.99047887e-02 -1.58306382e-04 9.99552739e-01 5.38422570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.63, Y:7.36, Z:5.38 [[ 9.98786112e-01 -3.96754886e-02 -2.91917575e-02 2.15632617e+02] [ 3.96641438e-02 9.99212600e-01 -9.67810448e-04 7.35583833e+00] [ 2.92071702e-02 -1.91230432e-04 9.99573361e-01 5.38442750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.66, Y:7.36, Z:5.39 [[ 9.98591090e-01 -4.09429848e-02 -3.37565739e-02 2.15660782e+02] [ 4.03946514e-02 9.99043077e-01 -1.67690766e-02 7.36304919e+00] [ 3.44108475e-02 1.53818654e-02 9.99289393e-01 5.39111444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.69, Y:7.35, Z:5.38 [[ 9.98564551e-01 -4.40298652e-02 -3.04993323e-02 2.15691465e+02] [ 4.44830537e-02 9.98907171e-01 1.43430142e-02 7.34805373e+00] [ 2.98344808e-02 -1.56791290e-02 9.99431873e-01 5.38021220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.72, Y:7.36, Z:5.39 [[ 9.98407610e-01 -4.75255973e-02 -3.03901605e-02 2.15721790e+02] [ 4.75164681e-02 9.98869931e-01 -1.02292014e-03 7.35531713e+00] [ 3.04044324e-02 -4.22741838e-04 9.99537589e-01 5.38619570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.75, Y:7.36, Z:5.39 [[ 9.98252754e-01 -5.08425817e-02 -3.01076554e-02 2.15753018e+02] [ 5.08351327e-02 9.98706545e-01 -1.01329146e-03 7.35500078e+00] [ 3.01202308e-02 -5.19005669e-04 9.99546148e-01 5.38664709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.78, Y:7.35, Z:5.39 [[ 9.98060410e-01 -5.42354097e-02 -3.05603891e-02 2.15783859e+02] [ 5.42293602e-02 9.98527977e-01 -1.02735548e-03 7.35474235e+00] [ 3.05711225e-02 -6.31907517e-04 9.99532394e-01 5.38719449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.82, Y:7.35, Z:5.39 [[ 9.97690343e-01 -6.07115134e-02 -3.04645933e-02 2.15815480e+02] [ 6.07085682e-02 9.98155010e-01 -1.02246613e-03 7.35361504e+00] [ 3.04704619e-02 -8.29357257e-04 9.99535324e-01 5.38698412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.85, Y:7.35, Z:5.39 [[ 9.97495268e-01 -6.37526239e-02 -3.06397496e-02 2.15846441e+02] [ 6.37511128e-02 9.97965300e-01 -1.02719989e-03 7.35382432e+00] [ 3.06428936e-02 -9.28691106e-04 9.99529965e-01 5.38766308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.88, Y:7.35, Z:5.39 [[ 9.97138290e-01 -6.93187062e-02 -3.01686433e-02 2.15878607e+02] [ 6.93198332e-02 9.97593976e-01 -1.00978207e-03 7.35323260e+00] [ 3.01660536e-02 -1.08439295e-03 9.99544313e-01 5.38842698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.91, Y:7.35, Z:5.39 [[ 9.96991845e-01 -7.15821910e-02 -2.97195501e-02 2.15909725e+02] [ 7.15843491e-02 9.97434056e-01 -9.92707561e-04 7.35323340e+00] [ 2.97143516e-02 -1.13773331e-03 9.99557784e-01 5.38929985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.94, Y:7.35, Z:5.39 [[ 9.96716322e-01 -7.55358994e-02 -2.91702101e-02 2.15941758e+02] [ 7.55397138e-02 9.97142320e-01 -9.72782514e-04 7.35207748e+00] [ 2.91603310e-02 -1.23392111e-03 9.99573986e-01 5.38966512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.97, Y:7.35, Z:5.39 [[ 9.96578363e-01 -7.72110752e-02 -2.94960476e-02 2.15974033e+02] [ 7.72157720e-02 9.97013922e-01 -9.81464836e-04 7.35198360e+00] [ 2.94837500e-02 -1.29945346e-03 9.99564415e-01 5.39066184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.01, Y:7.35, Z:5.39 [[ 9.96394957e-01 -7.94079143e-02 -2.98575446e-02 2.16006663e+02] [ 7.94137934e-02 9.96841245e-01 -9.90734879e-04 7.35102120e+00] [ 2.98419041e-02 -1.38393764e-03 9.99553673e-01 5.39115662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.04, Y:7.35, Z:5.39 [[ 9.96361304e-01 -7.99635861e-02 -2.94953631e-02 2.16039369e+02] [ 7.99696598e-02 9.96796821e-01 -9.75536623e-04 7.35149709e+00] [ 2.94788916e-02 -1.38674721e-03 9.99564441e-01 5.39180141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.07, Y:7.35, Z:5.39 [[ 9.96329066e-01 -8.04228531e-02 -2.93352634e-02 2.16071520e+02] [ 8.04291593e-02 9.96759859e-01 -9.66841123e-04 7.35213979e+00] [ 2.93179692e-02 -1.39611867e-03 9.99569161e-01 5.39291102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.10, Y:7.35, Z:5.39 [[ 9.96321978e-01 -8.06047756e-02 -2.90755276e-02 2.16104902e+02] [ 8.06111942e-02 9.96745166e-01 -9.53239794e-04 7.35265007e+00] [ 2.90577272e-02 -1.39407924e-03 9.99576763e-01 5.39406419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.14, Y:7.35, Z:5.39 [[ 9.96351928e-01 -8.04291409e-02 -2.85304825e-02 2.16138011e+02] [ 8.04353348e-02 9.96759393e-01 -9.32363678e-04 7.35309470e+00] [ 2.85130157e-02 -1.36589657e-03 9.99592488e-01 5.39472414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.17, Y:7.35, Z:5.40 [[ 9.96377875e-01 -8.00595838e-02 -2.86634325e-02 2.16169770e+02] [ 8.00657710e-02 9.96789146e-01 -9.33638960e-04 7.35353135e+00] [ 2.86461452e-02 -1.36470262e-03 9.99588683e-01 5.39567697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.20, Y:7.35, Z:5.40 [[ 9.96442578e-01 -7.91090222e-02 -2.90508408e-02 2.16203247e+02] [ 7.91150525e-02 9.96865045e-01 -9.43589437e-04 7.35432111e+00] [ 2.90344142e-02 -1.35812611e-03 9.99577490e-01 5.39696272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.24, Y:7.36, Z:5.40 [[ 9.96620093e-01 -7.66001047e-02 -2.96785251e-02 2.16236330e+02] [ 7.66053861e-02 9.97061027e-01 -9.60695020e-04 7.35583688e+00] [ 2.96648900e-02 -1.31608691e-03 9.99559034e-01 5.39804500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.27, Y:7.36, Z:5.40 [[ 9.96754844e-01 -7.45429980e-02 -3.03829272e-02 2.16268500e+02] [ 7.45476797e-02 9.97216969e-01 -9.80210948e-04 7.35721325e+00] [ 3.03714385e-02 -1.28794672e-03 9.99537852e-01 5.39900112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.30, Y:7.36, Z:5.40 [[ 9.97020723e-01 -7.04425764e-02 -3.14248411e-02 2.16301037e+02] [ 7.04456401e-02 9.97515107e-01 -1.01101900e-03 7.35964803e+00] [ 3.14179726e-02 -1.20573615e-03 9.99505606e-01 5.39975347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.33, Y:7.36, Z:5.40 [[ 9.97156932e-01 -6.81969356e-02 -3.20504455e-02 2.16332939e+02] [ 6.81990391e-02 9.97671205e-01 -1.02882563e-03 7.36136102e+00] [ 3.20459693e-02 -1.15990898e-03 9.99485723e-01 5.40055207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.36, Y:7.36, Z:5.40 [[ 9.97290953e-01 -6.57976631e-02 -3.28849834e-02 2.16363943e+02] [ 6.57986512e-02 9.97832365e-01 -1.05331140e-03 7.36315677e+00] [ 3.28830062e-02 -1.11332963e-03 9.99458588e-01 5.40143525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.40, Y:7.37, Z:5.40 [[ 9.97565874e-01 -6.11722003e-02 -3.34707262e-02 2.16395811e+02] [ 6.11706882e-02 9.98126746e-01 -1.07013582e-03 7.36608026e+00] [ 3.34734896e-02 -9.79896381e-04 9.99439125e-01 5.40213413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.21509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.43, Y:7.37, Z:5.40 [[ 9.97695711e-01 -5.88590324e-02 -3.37473491e-02 2.16427087e+02] [ 5.88562462e-02 9.98265888e-01 -1.07682114e-03 7.36800106e+00] [ 3.37522080e-02 -9.11902447e-04 9.99429816e-01 5.40298148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.46, Y:7.37, Z:5.40 [[ 9.97819649e-01 -5.66220486e-02 -3.39100645e-02 2.16458504e+02] [ 5.66179866e-02 9.98395330e-01 -1.08078385e-03 7.37006472e+00] [ 3.39168462e-02 -8.41492217e-04 9.99424304e-01 5.40381026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.49, Y:7.37, Z:5.40 [[ 9.97949981e-01 -5.43703920e-02 -3.37593952e-02 2.16488929e+02] [ 5.43651150e-02 9.98520545e-01 -1.07490216e-03 7.37218438e+00] [ 3.37678926e-02 -7.62634811e-04 9.99429411e-01 5.40485993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.52, Y:7.37, Z:5.41 [[ 9.98198918e-01 -5.05784472e-02 -3.22605137e-02 2.16519663e+02] [ 5.05716632e-02 9.98719907e-01 -1.02672351e-03 7.37498973e+00] [ 3.22711473e-02 -6.06593536e-04 9.99478967e-01 5.40593963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.55, Y:7.38, Z:5.41 [[ 9.98284955e-01 -4.89493943e-02 -3.21108168e-02 2.16549824e+02] [ 4.89418307e-02 9.98801108e-01 -1.02195925e-03 7.37651212e+00] [ 3.21223437e-02 -5.51355611e-04 9.99483792e-01 5.40702623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.58, Y:7.38, Z:5.41 [[ 9.98369497e-01 -4.74045538e-02 -3.17986661e-02 2.16580208e+02] [ 4.73963533e-02 9.98875649e-01 -1.01202474e-03 7.37792315e+00] [ 3.18108878e-02 -4.96766180e-04 9.99493782e-01 5.40815777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.61, Y:7.38, Z:5.41 [[ 9.98439942e-01 -4.60206495e-02 -3.16193247e-02 2.16609501e+02] [ 4.60118447e-02 9.98940387e-01 -1.00640464e-03 7.37930742e+00] [ 3.16321358e-02 -4.50028865e-04 9.99499477e-01 5.40919201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.64, Y:7.38, Z:5.41 [[ 9.98486772e-01 -4.49536197e-02 -3.16755028e-02 2.16639988e+02] [ 4.49442318e-02 9.98988988e-01 -1.00866849e-03 7.38029971e+00] [ 3.16888218e-02 -4.16488997e-04 9.99497696e-01 5.41001708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.67, Y:7.38, Z:5.41 [[ 9.98547966e-01 -4.38051478e-02 -3.13539369e-02 2.16669133e+02] [ 4.37953809e-02 9.99040023e-01 -9.98513232e-04 7.38157317e+00] [ 3.13675779e-02 -3.76094254e-04 9.99507846e-01 5.41073368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48509989299998 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:216.70, Y:7.39, Z:5.41 [[ 9.98553117e-01 -4.48102977e-02 -2.97272527e-02 2.16696403e+02] [ 4.45203794e-02 9.98954921e-01 -1.03441693e-02 7.38891693e+00] [ 3.01597107e-02 9.00573397e-03 9.99504522e-01 5.41128771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.73, Y:7.38, Z:5.41 [[ 9.98516413e-01 -4.40698250e-02 -3.19816116e-02 2.16726433e+02] [ 4.43484462e-02 9.98983648e-01 8.05515646e-03 7.37857399e+00] [ 3.15941177e-02 -9.46154072e-03 9.99455998e-01 5.40840468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.76, Y:7.38, Z:5.41 [[ 9.98467538e-01 -4.51872256e-02 -3.19482400e-02 2.16755425e+02] [ 4.51774144e-02 9.98978449e-01 -1.02925017e-03 7.38345416e+00] [ 3.19621122e-02 -4.15665991e-04 9.99488995e-01 5.41199151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.78, Y:7.38, Z:5.41 [[ 9.98412099e-01 -4.63878256e-02 -3.19601331e-02 2.16784947e+02] [ 4.63785856e-02 9.98923403e-01 -1.03077146e-03 7.38395024e+00] [ 3.19735401e-02 -4.53131069e-04 9.99488613e-01 5.41236872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.81, Y:7.38, Z:5.41 [[ 9.98276448e-01 -4.85981492e-02 -3.28991441e-02 2.16814286e+02] [ 4.85895217e-02 9.98818267e-01 -1.06215674e-03 7.38396547e+00] [ 3.29118850e-02 -5.38227619e-04 9.99458112e-01 5.41282510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.84, Y:7.38, Z:5.41 [[ 9.98220714e-01 -4.97470466e-02 -3.28730527e-02 2.16843558e+02] [ 4.97390401e-02 9.98761684e-01 -1.06177813e-03 7.38496928e+00] [ 3.28851658e-02 -5.75185165e-04 9.99458971e-01 5.41369283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.87, Y:7.39, Z:5.41 [[ 9.98196294e-01 -5.02938383e-02 -3.27824511e-02 2.16874505e+02] [ 5.02861723e-02 9.98734289e-01 -1.05879684e-03 7.38599690e+00] [ 3.27942090e-02 -5.91616905e-04 9.99461950e-01 5.41483960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.90, Y:7.39, Z:5.42 [[ 9.98214068e-01 -5.01898619e-02 -3.23983314e-02 2.16904560e+02] [ 5.01823198e-02 9.98739526e-01 -1.04639067e-03 7.38690952e+00] [ 3.24100124e-02 -5.81301542e-04 9.99474489e-01 5.41592149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.93, Y:7.39, Z:5.42 [[ 9.98267942e-01 -4.96544724e-02 -3.15523326e-02 2.16934312e+02] [ 4.96470515e-02 9.98766305e-01 -1.01906967e-03 7.38729230e+00] [ 3.15640080e-02 -5.49175701e-04 9.99501582e-01 5.41694678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.96, Y:7.39, Z:5.42 [[ 9.98316437e-01 -4.91088084e-02 -3.08644955e-02 2.16964468e+02] [ 4.91014463e-02 9.98793299e-01 -9.96869037e-04 7.38774013e+00] [ 3.08762063e-02 -5.20300622e-04 9.99523081e-01 5.41773145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.99, Y:7.39, Z:5.42 [[ 9.98345612e-01 -4.87911693e-02 -3.04213926e-02 2.16993697e+02] [ 4.87838676e-02 9.98808875e-01 -9.82622832e-04 7.38817507e+00] [ 3.04331002e-02 -5.03075997e-04 9.99536679e-01 5.41874122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.03, Y:7.39, Z:5.42 [[ 9.98385057e-01 -4.83160330e-02 -2.98804018e-02 2.17025297e+02] [ 4.83087657e-02 9.98831983e-01 -9.65489518e-04 7.38850095e+00] [ 2.98921496e-02 -4.79555021e-04 9.99553015e-01 5.41980197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.06, Y:7.39, Z:5.42 [[ 9.98384909e-01 -4.80895350e-02 -3.02484810e-02 2.17055739e+02] [ 4.80820199e-02 9.98842914e-01 -9.76187066e-04 7.38833277e+00] [ 3.02604252e-02 -4.79797629e-04 9.99541933e-01 5.42054693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.09, Y:7.39, Z:5.42 [[ 9.98378640e-01 -4.80583930e-02 -3.05038009e-02 2.17085901e+02] [ 4.80507842e-02 9.98844410e-01 -9.82848651e-04 7.38850154e+00] [ 3.05157851e-02 -4.84476453e-04 9.99534168e-01 5.42103695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.12, Y:7.39, Z:5.42 [[ 9.98309255e-01 -4.92222542e-02 -3.09160445e-02 2.17116374e+02] [ 4.92149962e-02 9.98787711e-01 -9.96131358e-04 7.38799656e+00] [ 3.09275971e-02 -5.27085858e-04 9.99521488e-01 5.42163832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.93509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.15, Y:7.39, Z:5.42 [[ 9.98244511e-01 -4.99487481e-02 -3.18279575e-02 2.17146263e+02] [ 4.99414251e-02 9.98751622e-01 -1.02550262e-03 7.38787511e+00] [ 3.18394468e-02 -5.65831197e-04 9.99492836e-01 5.42232104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.18, Y:7.39, Z:5.42 [[ 9.98186190e-01 -5.08662614e-02 -3.22017539e-02 2.17177141e+02] [ 5.08592446e-02 9.98705292e-01 -1.03748834e-03 7.38739767e+00] [ 3.22128352e-02 -6.02150346e-04 9.99480851e-01 5.42253881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.21, Y:7.39, Z:5.42 [[ 9.98083785e-01 -5.23609028e-02 -3.29711167e-02 2.17206858e+02] [ 5.23543581e-02 9.98628005e-01 -1.06238665e-03 7.38714160e+00] [ 3.29815080e-02 -6.65830757e-04 9.99455740e-01 5.42327641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.24, Y:7.39, Z:5.42 [[ 9.97910287e-01 -5.49504657e-02 -3.39927207e-02 2.17237688e+02] [ 5.49449939e-02 9.98488782e-01 -1.09578892e-03 7.38598804e+00] [ 3.40015644e-02 -7.74230793e-04 9.99421480e-01 5.42404271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.27, Y:7.39, Z:5.42 [[ 9.97826931e-01 -5.63353407e-02 -3.41723003e-02 2.17267721e+02] [ 5.63306224e-02 9.98411562e-01 -1.10157785e-03 7.38620152e+00] [ 3.41800775e-02 -8.25762899e-04 9.99415349e-01 5.42484218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.30, Y:7.39, Z:5.43 [[ 9.97728704e-01 -5.76523867e-02 -3.48372811e-02 2.17296874e+02] [ 5.76482853e-02 9.98336323e-01 -1.12301459e-03 7.38650900e+00] [ 3.48440676e-02 -8.87845630e-04 9.99392367e-01 5.42557291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.33, Y:7.39, Z:5.43 [[ 9.97661136e-01 -5.83938367e-02 -3.55305232e-02 2.17327480e+02] [ 5.83900405e-02 9.98293189e-01 -1.14536337e-03 7.38699834e+00] [ 3.55367615e-02 -9.31944168e-04 9.99367935e-01 5.42635187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.36, Y:7.39, Z:5.43 [[ 9.97598619e-01 -5.93159354e-02 -3.57577270e-02 2.17357756e+02] [ 5.93126823e-02 9.98238788e-01 -1.15268752e-03 7.38801215e+00] [ 3.57631228e-02 -9.70967223e-04 9.99359823e-01 5.42692879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.39, Y:7.39, Z:5.43 [[ 9.97572008e-01 -5.94630963e-02 -3.62523013e-02 2.17388110e+02] [ 5.94598499e-02 9.98230014e-01 -1.16863063e-03 7.38934694e+00] [ 3.62576256e-02 -9.89763184e-04 9.99341986e-01 5.42795303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.42, Y:7.39, Z:5.43 [[ 9.97591893e-01 -5.94364394e-02 -3.57452807e-02 2.17417700e+02] [ 5.94332601e-02 9.98231616e-01 -1.15244780e-03 7.39071835e+00] [ 3.57505667e-02 -9.74785979e-04 9.99360269e-01 5.42847850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.45, Y:7.39, Z:5.43 [[ 9.97655918e-01 -5.90045992e-02 -3.46572853e-02 2.17447859e+02] [ 5.90013336e-02 9.98257278e-01 -1.11783135e-03 7.39274664e+00] [ 3.46628445e-02 -9.29614996e-04 9.99398631e-01 5.42971041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.48, Y:7.39, Z:5.43 [[ 9.97692044e-01 -5.87260251e-02 -3.40857688e-02 2.17477850e+02] [ 5.87227036e-02 9.98273728e-01 -1.09939773e-03 7.39469800e+00] [ 3.40914907e-02 -9.04748132e-04 9.99418307e-01 5.43107985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.51, Y:7.40, Z:5.43 [[ 9.97693079e-01 -5.87084405e-02 -3.40857730e-02 2.17508830e+02] [ 5.87051132e-02 9.98274762e-01 -1.09926726e-03 7.39569925e+00] [ 3.40915032e-02 -9.04277828e-04 9.99418307e-01 5.43190769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.54, Y:7.40, Z:5.43 [[ 9.97726275e-01 -5.83354692e-02 -3.37528390e-02 2.17538677e+02] [ 5.83320132e-02 9.98296646e-01 -1.08794003e-03 7.39750108e+00] [ 3.37588115e-02 -8.83404695e-04 9.99429618e-01 5.43288347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.57, Y:7.40, Z:5.43 [[ 9.97763428e-01 -5.77278567e-02 -3.36991933e-02 2.17569602e+02] [ 5.77240891e-02 9.98331984e-01 -1.08550734e-03 7.39929250e+00] [ 3.37056465e-02 -8.62175709e-04 9.99431431e-01 5.43389463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.60, Y:7.40, Z:5.43 [[ 9.97853294e-01 -5.64577112e-02 -3.31863032e-02 2.17601110e+02] [ 5.64533925e-02 9.98404665e-01 -1.06786895e-03 7.40226484e+00] [ 3.31936494e-02 -8.07902847e-04 9.99448612e-01 5.43467022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.63, Y:7.40, Z:5.44 [[ 9.97895814e-01 -5.57092037e-02 -3.31727213e-02 2.17632374e+02] [ 5.57045143e-02 9.98446729e-01 -1.06625642e-03 7.40432430e+00] [ 3.31805954e-02 -7.83857512e-04 9.99449065e-01 5.43535579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.66, Y:7.41, Z:5.44 [[ 9.97947338e-01 -5.49339752e-02 -3.29145775e-02 2.17663891e+02] [ 5.49289755e-02 9.98489705e-01 -1.05679288e-03 7.40630951e+00] [ 3.29229206e-02 -7.53340384e-04 9.99457610e-01 5.43584662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.69, Y:7.41, Z:5.44 [[ 9.97949801e-01 -5.48088978e-02 -3.30481303e-02 2.17694010e+02] [ 5.48038203e-02 9.98496579e-01 -1.06012882e-03 7.40813647e+00] [ 3.30565495e-02 -7.53208451e-04 9.99453199e-01 5.43666086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.72, Y:7.41, Z:5.44 [[ 9.97937344e-01 -5.50059016e-02 -3.30969443e-02 2.17724636e+02] [ 5.50009174e-02 9.98485739e-01 -1.06169469e-03 7.41018963e+00] [ 3.31052264e-02 -7.60857523e-04 9.99451582e-01 5.43740053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.75, Y:7.41, Z:5.44 [[ 9.97917300e-01 -5.52807605e-02 -3.32430338e-02 2.17754973e+02] [ 5.52758886e-02 9.98470550e-01 -1.06626294e-03 7.41148638e+00] [ 3.32511341e-02 -7.73495998e-04 9.99446729e-01 5.43831977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.79, Y:7.41, Z:5.44 [[ 9.97875565e-01 -5.61498928e-02 -3.30385584e-02 2.17785452e+02] [ 5.61455723e-02 9.98422031e-01 -1.05922705e-03 7.41314853e+00] [ 3.30459001e-02 -7.97991976e-04 9.99453517e-01 5.43903593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.82, Y:7.42, Z:5.44 [[ 9.97792310e-01 -5.73999209e-02 -3.34029350e-02 2.17817090e+02] [ 5.73962126e-02 9.98350904e-01 -1.07066695e-03 7.41523888e+00] [ 3.34093066e-02 -8.48898709e-04 9.99441393e-01 5.43990191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.85, Y:7.42, Z:5.44 [[ 9.97736965e-01 -5.81730039e-02 -3.37172099e-02 2.17848430e+02] [ 5.81697079e-02 9.98306125e-01 -1.07951711e-03 7.41697805e+00] [ 3.37228959e-02 -8.84246123e-04 9.99430830e-01 5.44084089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.88, Y:7.42, Z:5.44 [[ 9.97727088e-01 -5.83147333e-02 -3.37646220e-02 2.17879562e+02] [ 5.83115690e-02 9.98297849e-01 -1.07926176e-03 7.41847517e+00] [ 3.37700864e-02 -8.92059391e-04 9.99429230e-01 5.44145175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.91, Y:7.42, Z:5.44 [[ 9.97695962e-01 -5.86775054e-02 -3.40546394e-02 2.17910266e+02] [ 5.86746166e-02 9.98276571e-01 -1.08504587e-03 7.42012735e+00] [ 3.40596165e-02 -9.15597034e-04 9.99419384e-01 5.44234885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.71509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.94, Y:7.42, Z:5.44 [[ 9.97701990e-01 -5.87645804e-02 -3.37263002e-02 2.17941517e+02] [ 5.87618524e-02 9.98271453e-01 -1.07293127e-03 7.42239904e+00] [ 3.37310530e-02 -9.11354213e-04 9.99430531e-01 5.44305286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.97, Y:7.42, Z:5.44 [[ 9.97741626e-01 -5.85188338e-02 -3.29726375e-02 2.17971340e+02] [ 5.85161256e-02 9.98285913e-01 -1.04793687e-03 7.42422378e+00] [ 3.29774436e-02 -8.83860759e-04 9.99455705e-01 5.44388614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.00, Y:7.43, Z:5.45 [[ 9.97797301e-01 -5.79499424e-02 -3.22854436e-02 2.18003505e+02] [ 5.79470756e-02 9.98319130e-01 -1.02524209e-03 7.42645510e+00] [ 3.22905887e-02 -8.47863251e-04 9.99478163e-01 5.44542120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.03, Y:7.43, Z:5.45 [[ 9.97912481e-01 -5.70019441e-02 -3.03555499e-02 2.18034655e+02] [ 5.69990316e-02 9.98373770e-01 -9.61959425e-04 7.43013918e+00] [ 3.03610184e-02 -7.70285633e-04 9.99538701e-01 5.44715182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.07, Y:7.43, Z:5.45 [[ 9.97964668e-01 -5.61263191e-02 -3.02714070e-02 2.18066933e+02] [ 5.61230710e-02 9.98423399e-01 -9.57617622e-04 7.43222424e+00] [ 3.02774286e-02 -7.43255771e-04 9.99541257e-01 5.44834988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.10, Y:7.44, Z:5.45 [[ 9.98022330e-01 -5.49963561e-02 -3.04438694e-02 2.18098693e+02] [ 5.49926111e-02 9.98486299e-01 -9.60922835e-04 7.43542439e+00] [ 3.04506338e-02 -7.15165425e-04 9.99536016e-01 5.44956204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.13, Y:7.44, Z:5.45 [[ 9.98057526e-01 -5.44852296e-02 -3.02081995e-02 2.18130019e+02] [ 5.44813778e-02 9.98514334e-01 -9.51185493e-04 7.43740997e+00] [ 3.02151457e-02 -6.96446490e-04 9.99543176e-01 5.45023959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.16, Y:7.44, Z:5.45 [[ 9.98080437e-01 -5.42029226e-02 -2.99580551e-02 2.18161917e+02] [ 5.41991046e-02 9.98529706e-01 -9.40058345e-04 7.44026868e+00] [ 2.99649618e-02 -6.85445917e-04 9.99550715e-01 5.45119455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.19, Y:7.44, Z:5.45 [[ 9.98101240e-01 -5.40394473e-02 -2.95576257e-02 2.18193675e+02] [ 5.40357200e-02 9.98538574e-01 -9.25428813e-04 7.44197747e+00] [ 2.95644391e-02 -6.73495941e-04 9.99562650e-01 5.45216443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.23, Y:7.44, Z:5.45 [[ 9.98106204e-01 -5.40807715e-02 -2.93133939e-02 2.18226308e+02] [ 5.40771850e-02 9.98536339e-01 -9.15683245e-04 7.44373748e+00] [ 2.93200099e-02 -6.71236698e-04 9.99569851e-01 5.45279408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.26, Y:7.45, Z:5.45 [[ 9.98073955e-01 -5.44181047e-02 -2.97833866e-02 2.18257542e+02] [ 5.44146159e-02 9.98517996e-01 -9.28233980e-04 7.44526238e+00] [ 2.97897602e-02 -6.94205383e-04 9.99555946e-01 5.45354853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.29, Y:7.45, Z:5.45 [[ 9.97966446e-01 -5.60913901e-02 -3.02775363e-02 2.18290234e+02] [ 5.60886064e-02 9.98425351e-01 -9.41910171e-04 7.44595991e+00] [ 3.02826928e-02 -7.58230068e-04 9.99541087e-01 5.45294088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.32, Y:7.45, Z:5.45 [[ 9.97873894e-01 -5.75036862e-02 -3.06760225e-02 2.18321353e+02] [ 5.75015619e-02 9.98344962e-01 -9.52142425e-04 7.44619563e+00] [ 3.06800042e-02 -8.13801137e-04 9.99528927e-01 5.45323640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.35, Y:7.45, Z:5.45 [[ 9.97772278e-01 -5.92462799e-02 -3.06652947e-02 2.18353828e+02] [ 5.92450319e-02 9.98243018e-01 -9.50091638e-04 7.44635641e+00] [ 3.06677057e-02 -8.68791263e-04 9.99529258e-01 5.45336013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.39, Y:7.45, Z:5.45 [[ 9.97693054e-01 -6.06195242e-02 -3.05588343e-02 2.18386414e+02] [ 6.06189945e-02 9.98160531e-01 -9.44624451e-04 7.44644481e+00] [ 3.05598849e-02 -9.10000555e-04 9.99532523e-01 5.45379545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.42, Y:7.45, Z:5.45 [[ 9.97517489e-01 -6.34596735e-02 -3.05242292e-02 2.18418822e+02] [ 6.34605391e-02 9.97983905e-01 -9.41385553e-04 7.44634535e+00] [ 3.05224295e-02 -9.98035487e-04 9.99533584e-01 5.45412183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.45, Y:7.45, Z:5.46 [[ 9.97461740e-01 -6.41347906e-02 -3.09322647e-02 2.18450359e+02] [ 6.41360712e-02 9.97940709e-01 -9.51795859e-04 7.44708249e+00] [ 3.09296093e-02 -1.03449398e-03 9.99521030e-01 5.45514136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.48, Y:7.45, Z:5.46 [[ 9.97435584e-01 -6.44468893e-02 -3.11264138e-02 2.18482419e+02] [ 6.44483924e-02 9.97920583e-01 -9.56018529e-04 7.44836184e+00] [ 3.11233015e-02 -1.05248043e-03 9.99514999e-01 5.45601805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.51, Y:7.45, Z:5.46 [[ 9.97459622e-01 -6.43079992e-02 -3.06395834e-02 2.18514444e+02] [ 6.43094550e-02 9.97929563e-01 -9.38944394e-04 7.44939811e+00] [ 3.06365277e-02 -1.03385579e-03 9.99530057e-01 5.45637720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.55, Y:7.45, Z:5.46 [[ 9.97479828e-01 -6.40487499e-02 -3.05245987e-02 2.18545876e+02] [ 6.40501390e-02 9.97946245e-01 -9.33278511e-04 7.45070112e+00] [ 3.05216840e-02 -1.02417830e-03 9.99533580e-01 5.45724680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.58, Y:7.45, Z:5.46 [[ 9.97515682e-01 -6.35842242e-02 -3.03234293e-02 2.18578524e+02] [ 6.35854318e-02 9.97975970e-01 -9.25437283e-04 7.45173428e+00] [ 3.03208969e-02 -1.00499014e-03 9.99539711e-01 5.45810964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.61, Y:7.45, Z:5.46 [[ 9.97590312e-01 -6.27533274e-02 -2.95903695e-02 2.18610405e+02] [ 6.27541718e-02 9.98028608e-01 -9.01041290e-04 7.45240814e+00] [ 2.95885786e-02 -9.58049069e-04 9.99561703e-01 5.45831378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.64, Y:7.45, Z:5.46 [[ 9.97649900e-01 -6.21894636e-02 -2.87601755e-02 2.18643037e+02] [ 6.21900842e-02 9.98063941e-01 -8.73772584e-04 7.45311609e+00] [ 2.87588336e-02 -9.16878605e-04 9.99585959e-01 5.45879245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.67, Y:7.45, Z:5.46 [[ 9.97686433e-01 -6.17223995e-02 -2.84978366e-02 2.18674819e+02] [ 6.17228764e-02 9.98092952e-01 -8.63767622e-04 7.45412766e+00] [ 2.84968037e-02 -8.97199210e-04 9.99593481e-01 5.45980143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.43509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.71, Y:7.46, Z:5.46 [[ 9.97812908e-01 -5.97097277e-02 -2.83575354e-02 2.18705628e+02] [ 5.97094443e-02 9.98215431e-01 -8.57527355e-04 7.45539051e+00] [ 2.83581321e-02 -8.37560814e-04 9.99597476e-01 5.46039239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.74, Y:7.46, Z:5.46 [[ 9.97869423e-01 -5.87381883e-02 -2.83979013e-02 2.18738165e+02] [ 5.87375550e-02 9.98273091e-01 -8.57199480e-04 7.45677383e+00] [ 2.83992110e-02 -8.12650140e-04 9.99596331e-01 5.46107902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.77, Y:7.46, Z:5.46 [[ 9.97934341e-01 -5.75301672e-02 -2.85889878e-02 2.18769673e+02] [ 5.75290887e-02 9.98343459e-01 -8.60920101e-04 7.45800183e+00] [ 2.85911579e-02 -7.85556684e-04 9.99590881e-01 5.46201763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.80, Y:7.46, Z:5.46 [[ 9.98023073e-01 -5.61526279e-02 -2.82281376e-02 2.18801707e+02] [ 5.61510691e-02 9.98421924e-01 -8.48522383e-04 7.45928929e+00] [ 2.82312382e-02 -7.38195190e-04 9.99601147e-01 5.46272950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.83, Y:7.46, Z:5.46 [[ 9.98159594e-01 -5.38454934e-02 -2.78942375e-02 2.18832939e+02] [ 5.38431252e-02 9.98549056e-01 -8.36543653e-04 7.46050751e+00] [ 2.78988087e-02 -6.66908849e-04 9.99610530e-01 5.46328217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.86, Y:7.46, Z:5.46 [[ 9.98201088e-01 -5.29732139e-02 -2.80789185e-02 2.18864698e+02] [ 5.29705122e-02 9.98595723e-01 -8.40556897e-04 7.46108311e+00] [ 2.80840149e-02 -6.48309884e-04 9.99605356e-01 5.46372197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.90, Y:7.46, Z:5.46 [[ 9.98238184e-01 -5.21592570e-02 -2.82832127e-02 2.18897071e+02] [ 5.21562471e-02 9.98638580e-01 -8.44633608e-04 7.46140877e+00] [ 2.82887628e-02 -6.32000710e-04 9.99599593e-01 5.46395581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.93, Y:7.46, Z:5.46 [[ 9.98279987e-01 -5.12848426e-02 -2.84065584e-02 2.18928799e+02] [ 5.12815099e-02 9.98683879e-01 -8.46300907e-04 7.46105385e+00] [ 2.84125743e-02 -6.11885948e-04 9.99596094e-01 5.46334099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.96, Y:7.46, Z:5.46 [[ 9.98278801e-01 -5.12117376e-02 -2.85795975e-02 2.18960962e+02] [ 5.12083791e-02 9.98687629e-01 -8.49887791e-04 7.46124857e+00] [ 2.85856147e-02 -6.15089902e-04 9.99591159e-01 5.46384675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.99, Y:7.46, Z:5.46 [[ 9.98282649e-01 -5.09951461e-02 -2.88313609e-02 2.18993227e+02] [ 5.09916967e-02 9.98698711e-01 -8.55341093e-04 7.46156519e+00] [ 2.88374612e-02 -6.16287840e-04 9.99583924e-01 5.46478131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.02, Y:7.46, Z:5.47 [[ 9.98311516e-01 -5.06356884e-02 -2.84630367e-02 2.19024278e+02] [ 5.06322377e-02 9.98717010e-01 -8.42404107e-04 7.46205350e+00] [ 2.84691747e-02 -6.00165521e-04 9.99594491e-01 5.46534202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.06, Y:7.46, Z:5.47 [[ 9.98329085e-01 -5.01256382e-02 -2.87482040e-02 2.19056297e+02] [ 5.01219528e-02 9.98742744e-01 -8.49242093e-04 7.46277451e+00] [ 2.87546290e-02 -5.93093044e-04 9.99586324e-01 5.46646511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.09, Y:7.46, Z:5.47 [[ 9.98427289e-01 -4.81628977e-02 -2.86929318e-02 2.19086634e+02] [ 4.81584740e-02 9.98839350e-01 -8.45602974e-04 7.46241896e+00] [ 2.87003560e-02 -5.37534723e-04 9.99587915e-01 5.46699251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.12, Y:7.46, Z:5.47 [[ 9.98475123e-01 -4.71927857e-02 -2.86403556e-02 2.19117659e+02] [ 4.71880269e-02 9.98885669e-01 -8.42388460e-04 7.46320755e+00] [ 2.86481955e-02 -5.10377952e-04 9.99589426e-01 5.46787712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.15, Y:7.46, Z:5.47 [[ 9.98545070e-01 -4.57305195e-02 -2.85738196e-02 2.19148637e+02] [ 4.57252131e-02 9.98953703e-01 -8.39429316e-04 7.46395404e+00] [ 2.85823104e-02 -4.68335986e-04 9.99591333e-01 5.46881827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.18, Y:7.46, Z:5.47 [[ 9.98609431e-01 -4.44724651e-02 -2.83090929e-02 2.19179147e+02] [ 4.44667774e-02 9.99010518e-01 -8.30729106e-04 7.46465137e+00] [ 2.83180262e-02 -4.29240214e-04 9.99598872e-01 5.46959405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.21, Y:7.47, Z:5.47 [[ 9.98675482e-01 -4.31633370e-02 -2.80037240e-02 2.19208546e+02] [ 4.31572561e-02 9.99067954e-01 -8.21791462e-04 7.46518877e+00] [ 2.80130945e-02 -3.87860906e-04 9.99607481e-01 5.47020578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.24, Y:7.47, Z:5.47 [[ 9.98796257e-01 -4.08886516e-02 -2.70952964e-02 2.19239069e+02] [ 4.08821095e-02 9.99163660e-01 -7.95591831e-04 7.46560738e+00] [ 2.71051662e-02 -3.13078732e-04 9.99632538e-01 5.47102501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.27, Y:7.47, Z:5.47 [[ 9.98861201e-01 -3.95831245e-02 -2.66360236e-02 2.19269375e+02] [ 3.95763383e-02 9.99216244e-01 -7.82106327e-04 7.46629606e+00] [ 2.66461056e-02 -2.72940612e-04 9.99644892e-01 5.47158894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.30, Y:7.47, Z:5.47 [[ 9.98898340e-01 -3.81980253e-02 -2.72583471e-02 2.19299670e+02] [ 3.81904030e-02 9.99270160e-01 -8.00369417e-04 7.46687490e+00] [ 2.72690254e-02 -2.41519578e-04 9.99628102e-01 5.47237901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.33, Y:7.47, Z:5.47 [[ 9.99032369e-01 -3.45026807e-02 -2.72743456e-02 2.19329521e+02] [ 3.44936847e-02 9.99404595e-01 -8.00391329e-04 7.46761812e+00] [ 2.72857220e-02 -1.41175831e-04 9.99627665e-01 5.47274510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.36, Y:7.47, Z:5.47 [[ 9.99104316e-01 -3.26534110e-02 -2.69131904e-02 2.19357969e+02] [ 3.26439548e-02 9.99466731e-01 -7.90756661e-04 7.46856657e+00] [ 2.69246593e-02 -8.85045777e-05 9.99637462e-01 5.47348779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.39, Y:7.47, Z:5.47 [[ 9.99155549e-01 -3.09387097e-02 -2.70367339e-02 2.19386853e+02] [ 3.09284896e-02 9.99521283e-01 -7.96204602e-04 7.46965477e+00] [ 2.70484245e-02 -4.06730980e-05 9.99634124e-01 5.47442391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.42, Y:7.47, Z:5.48 [[ 9.99210516e-01 -2.94477625e-02 -2.66678336e-02 2.19415111e+02] [ 2.94371138e-02 9.99566321e-01 -7.91889419e-04 7.47046585e+00] [ 2.66795877e-02 6.24018257e-06 9.99644036e-01 5.47505380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.44, Y:7.47, Z:5.48 [[ 9.99285204e-01 -2.65939967e-02 -2.68670816e-02 2.19442470e+02] [ 2.65819460e-02 9.99646313e-01 -8.05650657e-04 7.47029953e+00] [ 2.68790045e-02 9.08954698e-05 9.99638690e-01 5.47575458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.47, Y:7.47, Z:5.48 [[ 9.99278117e-01 -2.68590915e-02 -2.68669790e-02 2.19470837e+02] [ 2.68470449e-02 9.99639226e-01 -8.09058492e-04 7.47121970e+00] [ 2.68790166e-02 8.71754555e-05 9.99638690e-01 5.47651380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.21509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.50, Y:7.47, Z:5.48 [[ 9.99302782e-01 -2.59351369e-02 -2.68573870e-02 2.19497604e+02] [ 2.59225743e-02 9.99663621e-01 -8.15874258e-04 7.47131224e+00] [ 2.68695126e-02 1.19092805e-04 9.99638942e-01 5.47719345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.53, Y:7.47, Z:5.48 [[ 9.99312591e-01 -2.55376504e-02 -2.68732985e-02 2.19525204e+02] [ 2.55248397e-02 9.99673852e-01 -8.19686327e-04 7.47148317e+00] [ 2.68854667e-02 1.33186230e-04 9.99638512e-01 5.47781021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.55, Y:7.47, Z:5.48 [[ 9.99312940e-01 -2.53876504e-02 -2.70021506e-02 2.19553424e+02] [ 2.53744568e-02 9.99677671e-01 -8.31200888e-04 7.47142008e+00] [ 2.70145492e-02 1.45464901e-04 9.99635030e-01 5.47842189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.58, Y:7.47, Z:5.48 [[ 9.99307925e-01 -2.56592136e-02 -2.69309281e-02 2.19580070e+02] [ 2.56459866e-02 9.99670738e-01 -8.36484994e-04 7.47156257e+00] [ 2.69435243e-02 1.45235864e-04 9.99636947e-01 5.47895667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.61, Y:7.47, Z:5.48 [[ 9.99253297e-01 -2.75401432e-02 -2.70996165e-02 2.19607744e+02] [ 2.75273501e-02 9.99620693e-01 -8.45094319e-04 7.46970669e+00] [ 2.71126115e-02 9.84826547e-05 9.99632381e-01 5.47919399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.64, Y:7.47, Z:5.48 [[ 9.99222626e-01 -2.87321966e-02 -2.69926671e-02 2.19635600e+02] [ 2.87197369e-02 9.99587143e-01 -8.49246378e-04 7.46905996e+00] [ 2.70059237e-02 7.33638983e-05 9.99635271e-01 5.47987240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.66, Y:7.47, Z:5.48 [[ 9.99164955e-01 -3.05367244e-02 -2.71459292e-02 2.19662490e+02] [ 3.05245818e-02 9.99533645e-01 -8.61675757e-04 7.46896605e+00] [ 2.71595823e-02 3.23380827e-05 9.99631110e-01 5.48071251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.69, Y:7.47, Z:5.48 [[ 9.99089016e-01 -3.25061314e-02 -2.76494072e-02 2.19690843e+02] [ 3.24941288e-02 9.99471536e-01 -8.83413728e-04 7.46849762e+00] [ 2.76635118e-02 -1.58344466e-05 9.99617292e-01 5.48131368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.72, Y:7.47, Z:5.48 [[ 9.98930692e-01 -3.66884257e-02 -2.81323857e-02 2.19718268e+02] [ 3.66774329e-02 9.99326745e-01 -9.06842073e-04 7.46616757e+00] [ 2.81467160e-02 -1.25951308e-04 9.99603795e-01 5.48167438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.75, Y:7.47, Z:5.48 [[ 9.98818083e-01 -3.94578803e-02 -2.83815711e-02 2.19746754e+02] [ 3.94477021e-02 9.99221214e-01 -9.18656259e-04 7.46565698e+00] [ 2.83957162e-02 -2.02017280e-04 9.99596740e-01 5.48253729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.78, Y:7.46, Z:5.48 [[ 9.98558708e-01 -4.54979327e-02 -2.84683136e-02 2.19775204e+02] [ 4.54899434e-02 9.98964365e-01 -9.28555454e-04 7.46386242e+00] [ 2.84810782e-02 -3.67804841e-04 9.99594264e-01 5.48333567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.81, Y:7.46, Z:5.48 [[ 9.98417727e-01 -4.85864611e-02 -2.83089941e-02 2.19805886e+02] [ 4.85796141e-02 9.98818881e-01 -9.29983684e-04 7.46354882e+00] [ 2.83207424e-02 -4.46727813e-04 9.99598788e-01 5.48397211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.84, Y:7.46, Z:5.48 [[ 9.98264143e-01 -5.14281266e-02 -2.87027619e-02 2.19835992e+02] [ 5.14222627e-02 9.98676555e-01 -9.42883435e-04 7.46284737e+00] [ 2.87132661e-02 -5.34714238e-04 9.99587546e-01 5.48469287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.87, Y:7.46, Z:5.49 [[ 9.98127102e-01 -5.41426589e-02 -2.84756341e-02 2.19867545e+02] [ 5.41380064e-02 9.98533025e-01 -9.34886912e-04 7.46221576e+00] [ 2.84844783e-02 -6.08478099e-04 9.99594050e-01 5.48501607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.90, Y:7.46, Z:5.49 [[ 9.97982880e-01 -5.67624119e-02 -2.84288387e-02 2.19898902e+02] [ 5.67588654e-02 9.98387481e-01 -9.32344562e-04 7.46179385e+00] [ 2.84359188e-02 -6.83124718e-04 9.99595384e-01 5.48580275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.93, Y:7.46, Z:5.49 [[ 9.97674520e-01 -6.20967194e-02 -2.80989212e-02 2.19930208e+02] [ 6.20953965e-02 9.98069794e-01 -9.20499598e-04 7.46059481e+00] [ 2.81018445e-02 -8.26454658e-04 9.99604724e-01 5.48687711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.96, Y:7.46, Z:5.49 [[ 9.97511885e-01 -6.47798691e-02 -2.78137961e-02 2.19962400e+02] [ 6.47796563e-02 9.97899178e-01 -9.09657119e-04 7.46073353e+00] [ 2.78142917e-02 -8.94374364e-04 9.99612708e-01 5.48814175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.99, Y:7.46, Z:5.49 [[ 9.97346218e-01 -6.74017092e-02 -2.75232819e-02 2.19994418e+02] [ 6.74025505e-02 9.97725458e-01 -8.98235511e-04 7.46098579e+00] [ 2.75212216e-02 -9.59287607e-04 9.99620759e-01 5.48925304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.03, Y:7.46, Z:5.49 [[ 9.97165806e-01 -6.98366319e-02 -2.79857113e-02 2.20027015e+02] [ 6.98385153e-02 9.97557894e-01 -9.11321547e-04 7.46114256e+00] [ 2.79810108e-02 -1.04574184e-03 9.99607908e-01 5.49027076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.06, Y:7.46, Z:5.49 [[ 9.96838148e-01 -7.40506798e-02 -2.88132473e-02 2.20059685e+02] [ 7.40544940e-02 9.97253757e-01 -9.36165206e-04 7.46060772e+00] [ 2.88034428e-02 -1.20054526e-03 9.99584374e-01 5.49087249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.09, Y:7.46, Z:5.49 [[ 9.96707781e-01 -7.57200065e-02 -2.89841472e-02 2.20091954e+02] [ 7.57246311e-02 9.97128325e-01 -9.39627317e-04 7.46107768e+00] [ 2.89720628e-02 -1.25828000e-03 9.99579430e-01 5.49160016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.12, Y:7.46, Z:5.49 [[ 9.96604346e-01 -7.70329734e-02 -2.90808801e-02 2.20124559e+02] [ 7.70382474e-02 9.97027694e-01 -9.40675820e-04 7.46196006e+00] [ 2.90669059e-02 -1.30285843e-03 9.99576619e-01 5.49128659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.16, Y:7.46, Z:5.49 [[ 9.96339124e-01 -7.99995922e-02 -3.01399348e-02 2.20156898e+02] [ 8.00066824e-02 9.96793853e-01 -9.72590185e-04 7.46231935e+00] [ 3.01211085e-02 -1.44236654e-03 9.99545216e-01 5.49335933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.19, Y:7.46, Z:5.49 [[ 9.96235702e-01 -8.10983319e-02 -3.06184045e-02 2.20188772e+02] [ 8.11062532e-02 9.96704974e-01 -9.85213154e-04 7.46333323e+00] [ 3.05974152e-02 -1.50183955e-03 9.99530661e-01 5.49420446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.93509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.22, Y:7.46, Z:5.50 [[ 9.96131887e-01 -8.20381034e-02 -3.14803676e-02 2.20222141e+02] [ 8.20470387e-02 9.96627946e-01 -1.00999459e-03 7.46433514e+00] [ 3.14570722e-02 -1.57678312e-03 9.99503860e-01 5.49518500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.25, Y:7.47, Z:5.50 [[ 9.96024196e-01 -8.30057157e-02 -3.23396441e-02 2.20254174e+02] [ 8.30157687e-02 9.96547697e-01 -1.03404098e-03 7.46542187e+00] [ 3.23138292e-02 -1.65477058e-03 9.99476402e-01 5.49557218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.29, Y:7.47, Z:5.50 [[ 9.95921893e-01 -8.39456110e-02 -3.30562659e-02 2.20286471e+02] [ 8.39567283e-02 9.96468844e-01 -1.05402699e-03 7.46662636e+00] [ 3.30280200e-02 -1.72556738e-03 9.99452937e-01 5.49637700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.32, Y:7.47, Z:5.50 [[ 9.95780474e-01 -8.52679905e-02 -3.39207462e-02 2.20318957e+02] [ 8.52805458e-02 9.96356394e-01 -1.07913723e-03 7.46843774e+00] [ 3.38891682e-02 -1.81819596e-03 9.99423943e-01 5.49690961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.35, Y:7.47, Z:5.50 [[ 9.95703468e-01 -8.58333770e-02 -3.47453038e-02 2.20351053e+02] [ 8.58469818e-02 9.96307723e-01 -1.10285373e-03 7.46993768e+00] [ 3.47116762e-02 -1.88466418e-03 9.99395591e-01 5.49795411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.38, Y:7.47, Z:5.50 [[ 9.95643729e-01 -8.62765052e-02 -3.53543407e-02 2.20382102e+02] [ 8.62909753e-02 9.96269349e-01 -1.11921898e-03 7.47164579e+00] [ 3.53190083e-02 -1.93641718e-03 9.99374213e-01 5.49909028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.41, Y:7.47, Z:5.50 [[ 9.95618499e-01 -8.64824555e-02 -3.55610525e-02 2.20414311e+02] [ 8.64973629e-02 9.96251448e-01 -1.12192555e-03 7.47329099e+00] [ 3.55247769e-02 -1.95892743e-03 9.99366876e-01 5.49989908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.45, Y:7.48, Z:5.50 [[ 9.95619763e-01 -8.64444032e-02 -3.56181444e-02 2.20445530e+02] [ 8.64594406e-02 9.96254741e-01 -1.12074231e-03 7.47503468e+00] [ 3.55816271e-02 -1.96369165e-03 9.99364844e-01 5.50088410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.48, Y:7.48, Z:5.50 [[ 9.95710680e-01 -8.55706409e-02 -3.51839160e-02 2.20476581e+02] [ 8.55849155e-02 9.96330269e-01 -1.10292601e-03 7.47756573e+00] [ 3.51491786e-02 -1.91301728e-03 9.99380246e-01 5.50231912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.51, Y:7.48, Z:5.50 [[ 9.95808346e-01 -8.47824491e-02 -3.43172639e-02 2.20509088e+02] [ 8.47956836e-02 9.96397783e-01 -1.07219718e-03 7.47921088e+00] [ 3.42845492e-02 -1.84225295e-03 9.99410414e-01 5.50324719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.54, Y:7.48, Z:5.50 [[ 9.95890298e-01 -8.38405721e-02 -3.42530727e-02 2.20540760e+02] [ 8.38532843e-02 9.96477539e-01 -1.06778010e-03 7.48085427e+00] [ 3.42219409e-02 -1.80884080e-03 9.99412621e-01 5.50423960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.57, Y:7.48, Z:5.51 [[ 9.95984166e-01 -8.28830815e-02 -3.38516843e-02 2.20572473e+02] [ 8.28950266e-02 9.96557728e-01 -1.05287244e-03 7.48249691e+00] [ 3.38224229e-02 -1.75749199e-03 9.99426313e-01 5.50516770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.29509989299999 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:220.60, Y:7.49, Z:5.51 [[ 9.96153321e-01 -8.13881229e-02 -3.24735947e-02 2.20603604e+02] [ 8.13983962e-02 9.96681135e-01 -1.00771143e-03 7.48507881e+00] [ 3.24478350e-02 -1.63946344e-03 9.99472086e-01 5.50524197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.64, Y:7.49, Z:5.51 [[ 9.96114211e-01 -8.11590310e-02 -3.42007381e-02 2.20635468e+02] [ 8.11703921e-02 9.96699678e-01 -1.05842422e-03 7.48655897e+00] [ 3.41737653e-02 -1.72177592e-03 9.99414423e-01 5.50676664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.67, Y:7.49, Z:5.51 [[ 9.96048836e-01 -8.14608079e-02 -3.53674117e-02 2.20667787e+02] [ 8.14732485e-02 9.96674931e-01 -1.09170405e-03 7.48922667e+00] [ 3.53387437e-02 -1.79410737e-03 9.99373781e-01 5.50798476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.70, Y:7.49, Z:5.51 [[ 9.96014202e-01 -8.19449107e-02 -3.52241489e-02 2.20698571e+02] [ 8.19576357e-02 9.96635224e-01 -1.08491671e-03 7.49070007e+00] [ 3.51945310e-02 -1.80629552e-03 9.99378848e-01 5.50872673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.73, Y:7.49, Z:5.51 [[ 9.95908633e-01 -8.30221927e-02 -3.56834670e-02 2.20730640e+02] [ 8.30360162e-02 9.96545943e-01 -1.09697699e-03 7.49201248e+00] [ 3.56512877e-02 -1.87052409e-03 9.99362540e-01 5.50988365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.76, Y:7.49, Z:5.51 [[ 9.95826920e-01 -8.39282747e-02 -3.58439699e-02 2.20761519e+02] [ 8.39428938e-02 9.96469960e-01 -1.09951913e-03 7.49308204e+00] [ 3.58097200e-02 -1.91391581e-03 9.99356794e-01 5.51074162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.79, Y:7.49, Z:5.51 [[ 9.95613845e-01 -8.63681245e-02 -3.59669026e-02 2.20793617e+02] [ 8.63845064e-02 9.96261263e-01 -1.10118631e-03 7.49436641e+00] [ 3.59275392e-02 -2.01062679e-03 9.99352375e-01 5.51170349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.83, Y:7.50, Z:5.51 [[ 9.95532678e-01 -8.73959445e-02 -3.57300412e-02 2.20826071e+02] [ 8.74128698e-02 9.96171571e-01 -1.09115441e-03 7.49539005e+00] [ 3.56886138e-02 -2.03698557e-03 9.99360883e-01 5.51218858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.86, Y:7.50, Z:5.51 [[ 9.95465088e-01 -8.81618672e-02 -3.57315590e-02 2.20857913e+02] [ 8.81794023e-02 9.96104015e-01 -1.08793197e-03 7.49644794e+00] [ 3.56882635e-02 -2.06778923e-03 9.99360832e-01 5.51299942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.89, Y:7.50, Z:5.51 [[ 9.95419454e-01 -8.86803727e-02 -3.57197810e-02 2.20890610e+02] [ 8.86983503e-02 9.96057944e-01 -1.08416815e-03 7.49775718e+00] [ 3.56751160e-02 -2.08908358e-03 9.99361257e-01 5.51367927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.92, Y:7.50, Z:5.51 [[ 9.95377896e-01 -8.89582778e-02 -3.61838119e-02 2.20923914e+02] [ 8.89770535e-02 9.96033075e-01 -1.09426479e-03 7.50023981e+00] [ 3.61376173e-02 -2.13032198e-03 9.99344552e-01 5.51450747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.96, Y:7.50, Z:5.52 [[ 9.95404086e-01 -8.86211322e-02 -3.62905097e-02 2.20956033e+02] [ 8.86399336e-02 9.96063134e-01 -1.09369082e-03 7.50168847e+00] [ 3.62445629e-02 -2.12812405e-03 9.99340684e-01 5.51526820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.99, Y:7.50, Z:5.52 [[ 9.95445314e-01 -8.81241031e-02 -3.63698907e-02 2.20988781e+02] [ 8.81427832e-02 9.96107251e-01 -1.09259641e-03 7.50281161e+00] [ 3.63245959e-02 -2.11812341e-03 9.99337799e-01 5.51596325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.02, Y:7.50, Z:5.52 [[ 9.95495751e-01 -8.76518865e-02 -3.61297160e-02 2.21021412e+02] [ 8.76701532e-02 9.96148972e-01 -1.08142821e-03 7.50383139e+00] [ 3.60853687e-02 -2.09094055e-03 9.99346524e-01 5.51643573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.71509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.05, Y:7.51, Z:5.52 [[ 9.95662538e-01 -8.58538414e-02 -3.58500852e-02 2.21054171e+02] [ 8.58708049e-02 9.96305707e-01 -1.06913648e-03 7.50554031e+00] [ 3.58094339e-02 -2.01397653e-03 9.99356607e-01 5.51693655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.09, Y:7.51, Z:5.52 [[ 9.95764149e-01 -8.46127612e-02 -3.59783352e-02 2.21087616e+02] [ 8.46291818e-02 9.96411942e-01 -1.06899196e-03 7.50729266e+00] [ 3.59396932e-02 -1.98035320e-03 9.99351998e-01 5.51826526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.12, Y:7.51, Z:5.52 [[ 9.95870991e-01 -8.33092825e-02 -3.60629129e-02 2.21119418e+02] [ 8.33250672e-02 9.96521848e-01 -1.06766078e-03 7.50929815e+00] [ 3.60264267e-02 -1.94169224e-03 9.99348951e-01 5.51938276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.15, Y:7.51, Z:5.52 [[ 9.96032145e-01 -8.15135868e-02 -3.57141659e-02 2.21151687e+02] [ 8.15280267e-02 9.96670492e-01 -1.05424069e-03 7.51162207e+00] [ 3.56811903e-02 -1.86164786e-03 9.99361490e-01 5.52029721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.18, Y:7.52, Z:5.52 [[ 9.96415260e-01 -7.67166288e-02 -3.56537211e-02 2.21183703e+02] [ 7.67280816e-02 9.97051504e-01 -1.04894156e-03 7.51586791e+00] [ 3.56290675e-02 -1.69046025e-03 9.99363653e-01 5.52120856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.22, Y:7.52, Z:5.52 [[ 9.96648756e-01 -7.37126836e-02 -3.54640165e-02 2.21215215e+02] [ 7.37222972e-02 9.97278269e-01 -1.03828340e-03 7.51817328e+00] [ 3.54440276e-02 -1.57968490e-03 9.99370415e-01 5.52190117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.25, Y:7.52, Z:5.52 [[ 9.96890782e-01 -7.03606150e-02 -3.54704578e-02 2.21247165e+02] [ 7.03681865e-02 9.97520548e-01 -1.03643590e-03 7.52050622e+00] [ 3.54554348e-02 -1.46277840e-03 9.99370188e-01 5.52299459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.28, Y:7.52, Z:5.52 [[ 9.97160331e-01 -6.66724696e-02 -3.50150908e-02 2.21279031e+02] [ 6.66776641e-02 9.97774046e-01 -1.02065096e-03 7.52291643e+00] [ 3.50051982e-02 -1.31697182e-03 9.99386263e-01 5.52373533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.31, Y:7.53, Z:5.52 [[ 9.97675415e-01 -5.88112273e-02 -3.44239135e-02 2.21310235e+02] [ 5.88116507e-02 9.98268595e-01 -1.00114210e-03 7.52729814e+00] [ 3.44231901e-02 -1.02571232e-03 9.99406820e-01 5.52474950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.34, Y:7.53, Z:5.53 [[ 9.97918351e-01 -5.47762225e-02 -3.40371765e-02 2.21341303e+02] [ 5.47743476e-02 9.98498270e-01 -9.88235083e-04 7.52980160e+00] [ 3.40401936e-02 -8.78186211e-04 9.99420079e-01 5.52585413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.37, Y:7.53, Z:5.53 [[ 9.98336017e-01 -4.66869214e-02 -3.38456498e-02 2.21371337e+02] [ 4.66804564e-02 9.98909391e-01 -9.81610116e-04 7.53394704e+00] [ 3.38545658e-02 -5.99953646e-04 9.99426590e-01 5.52670324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.40, Y:7.54, Z:5.53 [[ 9.98497162e-01 -4.29521777e-02 -3.40371432e-02 2.21400627e+02] [ 4.29434772e-02 9.99077016e-01 -9.86960495e-04 7.53666245e+00] [ 3.40481195e-02 -4.76196029e-04 9.99420081e-01 5.52741489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.43, Y:7.54, Z:5.53 [[ 9.98498208e-01 -4.01707522e-02 -3.72510215e-02 2.21429514e+02] [ 4.04939545e-02 9.99148056e-01 7.96251935e-03 7.53561916e+00] [ 3.68994254e-02 -9.45900247e-03 9.99274216e-01 5.52830662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.46, Y:7.54, Z:5.53 [[ 9.98492064e-01 -4.06831679e-02 -3.68575343e-02 2.21457604e+02] [ 4.06733159e-02 9.99171980e-01 -1.01738572e-03 7.54093462e+00] [ 3.68684060e-02 -4.83266570e-04 9.99320012e-01 5.53218758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.49, Y:7.55, Z:5.53 [[ 9.98706677e-01 -3.71788500e-02 -3.46800607e-02 2.21486771e+02] [ 3.68497074e-02 9.99269955e-01 -1.00824230e-02 7.54644022e+00] [ 3.50295957e-02 8.79143309e-03 9.99347606e-01 5.53203257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.51, Y:7.54, Z:5.53 [[ 9.98745724e-01 -3.48146366e-02 -3.59849849e-02 2.21514309e+02] [ 3.47987824e-02 9.99393769e-01 -1.06699581e-03 7.54410004e+00] [ 3.60003167e-02 -1.86576156e-04 9.99351761e-01 5.52955056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.54, Y:7.55, Z:5.53 [[ 9.98802174e-01 -3.28698829e-02 -3.62462061e-02 2.21541935e+02] [ 3.28522959e-02 9.99459633e-01 -1.08084511e-03 7.54588054e+00] [ 3.62621471e-02 -1.11220646e-04 9.99342306e-01 5.52995247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.57, Y:7.55, Z:5.53 [[ 9.98878956e-01 -2.93934010e-02 -3.71060634e-02 2.21569618e+02] [ 2.93721738e-02 9.99567920e-01 -1.11718729e-03 7.54767795e+00] [ 3.71228685e-02 2.60491278e-05 9.99310708e-01 5.52939093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.60, Y:7.55, Z:5.53 [[ 9.98874229e-01 -2.85554333e-02 -3.78795806e-02 2.21597719e+02] [ 2.85322920e-02 9.99592208e-01 -1.15147787e-03 7.54889182e+00] [ 3.78970146e-02 6.93903120e-05 9.99281648e-01 5.52981918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.62, Y:7.55, Z:5.53 [[ 9.98865457e-01 -2.79051299e-02 -3.85888891e-02 2.21624848e+02] [ 2.78802690e-02 9.99610571e-01 -1.18233935e-03 7.55003122e+00] [ 3.86068547e-02 1.05129325e-04 9.99254472e-01 5.53048200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.65, Y:7.55, Z:5.53 [[ 9.98856061e-01 -2.83328368e-02 -3.85203861e-02 2.21652386e+02] [ 2.83081229e-02 9.99598540e-01 -1.18696034e-03 7.55056675e+00] [ 3.85385517e-02 9.51627024e-05 9.99257110e-01 5.53094495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.68, Y:7.55, Z:5.53 [[ 9.98834473e-01 -2.91223889e-02 -3.84913181e-02 2.21680151e+02] [ 2.90978793e-02 9.99575850e-01 -1.19693953e-03 7.55091803e+00] [ 3.85098498e-02 7.55287391e-05 9.99258218e-01 5.53189295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.71, Y:7.55, Z:5.53 [[ 9.98833534e-01 -3.01592044e-02 -3.77093402e-02 2.21708307e+02] [ 3.01360182e-02 9.99545107e-01 -1.18325230e-03 7.55139176e+00] [ 3.77278725e-02 4.54627090e-05 9.99288049e-01 5.53248477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.74, Y:7.55, Z:5.53 [[ 9.98808725e-01 -3.13519791e-02 -3.73923020e-02 2.21736603e+02] [ 3.13296160e-02 9.99508406e-01 -1.18401053e-03 7.55189299e+00] [ 3.74110413e-02 1.11135837e-05 9.99299962e-01 5.53384682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.43509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.76, Y:7.55, Z:5.53 [[ 9.98742049e-01 -3.43111626e-02 -3.65658689e-02 2.21763282e+02] [ 3.42914150e-02 9.99411195e-01 -1.16726044e-03 7.55112515e+00] [ 3.65843888e-02 -8.81033050e-05 9.99330563e-01 5.53493738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.79, Y:7.55, Z:5.54 [[ 9.98675575e-01 -3.64987372e-02 -3.62620805e-02 2.21791448e+02] [ 3.64804690e-02 9.99333686e-01 -1.16552463e-03 7.55094694e+00] [ 3.62804588e-02 -1.58876726e-04 9.99341635e-01 5.53578553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.82, Y:7.55, Z:5.54 [[ 9.98473559e-01 -4.19272233e-02 -3.59535920e-02 2.21819261e+02] [ 4.19124152e-02 9.99120609e-01 -1.16579532e-03 7.54969922e+00] [ 3.59708533e-02 -3.42886070e-04 9.99352781e-01 5.53660510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.85, Y:7.55, Z:5.54 [[ 9.98251186e-01 -4.63835517e-02 -3.66488240e-02 2.21845637e+02] [ 4.63542851e-02 9.98923702e-01 -1.64832254e-03 7.55183945e+00] [ 3.66858340e-02 -5.33901031e-05 9.99326847e-01 5.53828379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.87, Y:7.55, Z:5.54 [[ 9.97995381e-01 -5.04681253e-02 -3.81862152e-02 2.21873509e+02] [ 5.06906396e-02 9.98702476e-01 4.88088551e-03 7.54918437e+00] [ 3.78903386e-02 -6.80678487e-03 9.99258720e-01 5.53868232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.91, Y:7.55, Z:5.54 [[ 9.98000206e-01 -5.23656359e-02 -3.54038042e-02 2.21905360e+02] [ 5.21351943e-02 9.98612606e-01 -7.40173317e-03 7.55127884e+00] [ 3.57422817e-02 5.54114701e-03 9.99345678e-01 5.54171831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.94, Y:7.55, Z:5.54 [[ 9.97642931e-01 -5.87463933e-02 -3.54604366e-02 2.21935357e+02] [ 5.87414872e-02 9.98272529e-01 -1.18106802e-03 7.54593617e+00] [ 3.54685633e-02 -9.04714625e-04 9.99370383e-01 5.54096985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.97, Y:7.55, Z:5.54 [[ 9.97461979e-01 -6.17050750e-02 -3.55258110e-02 2.21967001e+02] [ 6.17020201e-02 9.98093914e-01 -1.18338292e-03 7.54551296e+00] [ 3.55311165e-02 -1.01163484e-03 9.99368059e-01 5.54211513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.00, Y:7.55, Z:5.54 [[ 9.97289220e-01 -6.43020891e-02 -3.57694450e-02 2.21998037e+02] [ 6.43007069e-02 9.97929859e-01 -1.19020014e-03 7.54536500e+00] [ 3.57719295e-02 -1.11302683e-03 9.99359360e-01 5.54321512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.03, Y:7.55, Z:5.54 [[ 9.96919806e-01 -6.92193655e-02 -3.68724799e-02 2.22026363e+02] [ 6.91361606e-02 9.97600993e-01 -3.52837604e-03 7.54858475e+00] [ 3.70282545e-02 9.68286261e-04 9.99313750e-01 5.54495527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.06, Y:7.54, Z:5.54 [[ 9.96959043e-01 -6.89842764e-02 -3.62468662e-02 2.22059663e+02] [ 6.90499476e-02 9.97613046e-01 5.61584545e-04 7.54351339e+00] [ 3.61216061e-02 -3.06272101e-03 9.99342709e-01 5.54431350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.09, Y:7.55, Z:5.55 [[ 9.96808462e-01 -7.05181616e-02 -3.74176374e-02 2.22087002e+02] [ 7.05609172e-02 9.97507456e-01 -1.78328367e-04 7.54737043e+00] [ 3.73369477e-02 -2.46246359e-03 9.99299699e-01 5.54632278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.12, Y:7.55, Z:5.55 [[ 9.96962773e-01 -6.91665355e-02 -3.57941407e-02 2.22119444e+02] [ 6.91091625e-02 9.97605064e-01 -2.83911811e-03 7.54538572e+00] [ 3.59047880e-02 3.56791975e-04 9.99355152e-01 5.54711914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.15, Y:7.55, Z:5.55 [[ 9.97039482e-01 -6.80884877e-02 -3.57243549e-02 2.22151424e+02] [ 6.80893682e-02 9.97678512e-01 -1.19338105e-03 7.54502068e+00] [ 3.57226768e-02 -1.24260073e-03 9.99360969e-01 5.54769964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.18, Y:7.55, Z:5.55 [[ 9.97262200e-01 -6.49473263e-02 -3.53546089e-02 2.22182533e+02] [ 6.49462994e-02 9.97888064e-01 -1.17869337e-03 7.54564530e+00] [ 3.53564952e-02 -1.12068467e-03 9.99374135e-01 5.54852202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.21, Y:7.55, Z:5.55 [[ 9.97413464e-01 -6.26858527e-02 -3.51691035e-02 2.22214099e+02] [ 6.26834918e-02 9.98032770e-01 -1.17081415e-03 7.54683423e+00] [ 3.51733112e-02 -1.03673641e-03 9.99380690e-01 5.54957826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.25, Y:7.55, Z:5.55 [[ 9.97692390e-01 -5.79689917e-02 -3.53481510e-02 2.22245033e+02] [ 5.79636926e-02 9.98318000e-01 -1.17553137e-03 7.54822333e+00] [ 3.53568398e-02 -8.76090661e-04 9.99374367e-01 5.55052288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.28, Y:7.55, Z:5.55 [[ 9.97792112e-01 -5.57876347e-02 -3.60366498e-02 2.22275494e+02] [ 5.57807479e-02 9.98442324e-01 -1.19726359e-03 7.54926998e+00] [ 3.60473089e-02 -8.15531109e-04 9.99349752e-01 5.55119528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.31, Y:7.55, Z:5.55 [[ 9.97878205e-01 -5.38978278e-02 -3.65254942e-02 2.22306460e+02] [ 5.38895058e-02 9.98546168e-01 -1.21301705e-03 7.55001275e+00] [ 3.65377712e-02 -7.57897552e-04 9.99331985e-01 5.55132591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.34, Y:7.55, Z:5.55 [[ 9.97934378e-01 -5.17852758e-02 -3.80166008e-02 2.22335624e+02] [ 5.17747213e-02 9.98657991e-01 -1.26274465e-03 7.55030184e+00] [ 3.80309738e-02 -7.08162616e-04 9.99276310e-01 5.55103043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.36, Y:7.55, Z:5.55 [[ 9.97923391e-01 -5.13693731e-02 -3.88599233e-02 2.22364350e+02] [ 5.13578905e-02 9.98679474e-01 -1.29434976e-03 7.55081479e+00] [ 3.88750977e-02 -7.04101786e-04 9.99243830e-01 5.55145062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.39, Y:7.55, Z:5.55 [[ 9.97891019e-01 -5.10310595e-02 -4.01166553e-02 2.22390768e+02] [ 5.10181631e-02 9.98696819e-01 -1.34582501e-03 7.55149608e+00] [ 4.01330549e-02 -7.03691371e-04 9.99194097e-01 5.55235987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.42, Y:7.55, Z:5.55 [[ 9.97955604e-01 -4.94163710e-02 -4.05294254e-02 2.22418662e+02] [ 4.94014949e-02 9.98778062e-01 -1.36909517e-03 7.55287729e+00] [ 4.05475567e-02 -6.35918002e-04 9.99177407e-01 5.55316192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.45, Y:7.55, Z:5.55 [[ 9.97942601e-01 -4.96785734e-02 -4.05290475e-02 2.22447029e+02] [ 4.96634621e-02 9.98765055e-01 -1.38020711e-03 7.55391552e+00] [ 4.05475631e-02 -6.35445341e-04 9.99177407e-01 5.55391483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.47, Y:7.56, Z:5.56 [[ 9.98118099e-01 -4.62342862e-02 -4.02821405e-02 2.22474850e+02] [ 4.62161143e-02 9.98930508e-01 -1.38271772e-03 7.55595310e+00] [ 4.03029881e-02 -4.81568429e-04 9.99187388e-01 5.55606072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.50, Y:7.56, Z:5.56 [[ 9.98256966e-01 -4.43889927e-02 -3.88927657e-02 2.22501307e+02] [ 4.43703039e-02 9.99014249e-01 -1.34398259e-03 7.55736080e+00] [ 3.89140852e-02 -3.84043857e-04 9.99242486e-01 5.55718722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.21509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.53, Y:7.56, Z:5.56 [[ 9.98479428e-01 -4.10605161e-02 -3.67813360e-02 2.22528488e+02] [ 4.10413809e-02 9.99156634e-01 -1.27544335e-03 7.55936414e+00] [ 3.68026862e-02 -2.36052873e-04 9.99322524e-01 5.55941682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.56, Y:7.56, Z:5.56 [[ 9.98556071e-01 -4.00290807e-02 -3.58252052e-02 2.22556467e+02] [ 4.00100520e-02 9.99198498e-01 -1.24819763e-03 7.56037620e+00] [ 3.58464554e-02 -1.86973006e-04 9.99357292e-01 5.56065620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.58, Y:7.56, Z:5.56 [[ 9.98624793e-01 -3.89099158e-02 -3.51360330e-02 2.22582994e+02] [ 3.88906188e-02 9.99242713e-01 -1.23274071e-03 7.56126758e+00] [ 3.51573908e-02 -1.35416626e-04 9.99381779e-01 5.56186941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.61, Y:7.56, Z:5.56 [[ 9.98693295e-01 -3.82782383e-02 -3.38597099e-02 2.22610909e+02] [ 3.82597753e-02 9.99267114e-01 -1.19326835e-03 7.56251090e+00] [ 3.38805709e-02 -1.03755792e-04 9.99425883e-01 5.56273456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.64, Y:7.56, Z:5.56 [[ 9.98735906e-01 -3.75443710e-02 -3.34217068e-02 2.22638520e+02] [ 3.75256553e-02 9.99294959e-01 -1.18729262e-03 7.56363017e+00] [ 3.34427193e-02 -6.83796798e-05 9.99440633e-01 5.56401710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.67, Y:7.56, Z:5.56 [[ 9.98786896e-01 -3.68312985e-02 -3.26832046e-02 2.22666784e+02] [ 3.68127176e-02 9.99321497e-01 -1.17027935e-03 7.56436610e+00] [ 3.27041318e-02 -3.42979032e-05 9.99465076e-01 5.56499895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.69, Y:7.56, Z:5.57 [[ 9.98563651e-01 -3.79066609e-02 -3.78644847e-02 2.22692250e+02] [ 3.86215735e-02 9.99085756e-01 1.83310181e-02 7.55982929e+00] [ 3.71349996e-02 -1.97670743e-02 9.99114735e-01 5.56588047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.73, Y:7.57, Z:5.57 [[ 9.98934616e-01 -3.52595563e-02 -2.97724004e-02 2.22726702e+02] [ 3.46376036e-02 9.99176035e-01 -2.11539018e-02 7.57453504e+00] [ 3.04937462e-02 2.01001201e-02 9.99332836e-01 5.57344260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.76, Y:7.56, Z:5.57 [[ 9.98941161e-01 -3.47112961e-02 -3.01941012e-02 2.22755419e+02] [ 3.46944405e-02 9.99397381e-01 -1.08212638e-03 7.56469801e+00] [ 3.02134677e-02 3.34131383e-05 9.99543468e-01 5.56734984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.78, Y:7.56, Z:5.57 [[ 9.98953277e-01 -3.43756299e-02 -3.01772467e-02 2.22781998e+02] [ 3.43583961e-02 9.99408982e-01 -1.08959255e-03 7.56433848e+00] [ 3.01968668e-02 5.16102522e-05 9.99543969e-01 5.56788028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.81, Y:7.56, Z:5.57 [[ 9.98969309e-01 -3.39649465e-02 -3.01114846e-02 2.22809674e+02] [ 3.39474691e-02 9.99423022e-01 -1.09160023e-03 7.56189773e+00] [ 3.01311871e-02 6.82664372e-05 9.99545950e-01 5.56821591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.84, Y:7.56, Z:5.57 [[ 9.98982330e-01 -3.39556027e-02 -2.96870673e-02 2.22837856e+02] [ 3.39383696e-02 9.99423339e-01 -1.08432081e-03 7.56142381e+00] [ 2.97067667e-02 7.56866727e-05 9.99558654e-01 5.56853457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.87, Y:7.56, Z:5.57 [[ 9.98986253e-01 -3.35479174e-02 -3.00167083e-02 2.22865255e+02] [ 3.35298731e-02 9.99437106e-01 -1.10442296e-03 7.56071784e+00] [ 3.00368631e-02 9.68469374e-05 9.99548787e-01 5.56936236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.89, Y:7.56, Z:5.57 [[ 9.99013113e-01 -3.30950151e-02 -2.96229562e-02 2.22893101e+02] [ 3.30771163e-02 9.99452204e-01 -1.09418020e-03 7.55768657e+00] [ 2.96429407e-02 1.13258399e-04 9.99560545e-01 5.56889935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.92, Y:7.56, Z:5.57 [[ 9.99034938e-01 -3.28677150e-02 -2.91360024e-02 2.22920353e+02] [ 3.28500725e-02 9.99459703e-01 -1.08410441e-03 7.55640340e+00] [ 2.91558923e-02 1.25938390e-04 9.99574869e-01 5.56879849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.95, Y:7.56, Z:5.57 [[ 9.99039552e-01 -3.30230116e-02 -2.88002621e-02 2.22947838e+02] [ 3.30057208e-02 9.99454584e-01 -1.07567994e-03 7.55508077e+00] [ 2.88200762e-02 1.24073392e-04 9.99584608e-01 5.56883216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.97, Y:7.55, Z:5.57 [[ 9.99040781e-01 -3.31266686e-02 -2.86381147e-02 2.22974894e+02] [ 3.31093892e-02 9.99451153e-01 -1.07748247e-03 7.55364528e+00] [ 2.86580902e-02 1.28258440e-04 9.99589264e-01 5.56918394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.00, Y:7.55, Z:5.57 [[ 9.99033841e-01 -3.42587224e-02 -2.75267972e-02 2.23002639e+02] [ 3.42430894e-02 9.99412993e-01 -1.03924668e-03 7.55232967e+00] [ 2.75462421e-02 9.56400279e-05 9.99620526e-01 5.56910959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.03, Y:7.55, Z:5.57 [[ 9.98903788e-01 -3.85694212e-02 -2.65258723e-02 2.23031074e+02] [ 3.85562288e-02 9.99255923e-01 -1.00881089e-03 7.54871379e+00] [ 2.65450442e-02 -1.50325852e-05 9.99647618e-01 5.56927319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.06, Y:7.55, Z:5.57 [[ 9.98787622e-01 -4.15205751e-02 -2.64448242e-02 2.23059743e+02] [ 4.15082998e-02 9.99137645e-01 -1.01319089e-03 7.54708523e+00] [ 2.64640876e-02 -8.57171735e-05 9.99649761e-01 5.56954318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.09, Y:7.55, Z:5.57 [[ 9.98618592e-01 -4.52317859e-02 -2.67393719e-02 2.23089261e+02] [ 4.52205272e-02 9.98976502e-01 -1.02590241e-03 7.54560663e+00] [ 2.67584076e-02 -1.84683273e-04 9.99641913e-01 5.56985212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.12, Y:7.54, Z:5.57 [[ 9.98417867e-01 -4.95012847e-02 -2.66718005e-02 2.23119569e+02] [ 4.94915812e-02 9.98774016e-01 -1.02422380e-03 7.54401694e+00] [ 2.66898017e-02 -2.97426242e-04 9.99643720e-01 5.57009220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.15, Y:7.54, Z:5.57 [[ 9.97905255e-01 -5.87616843e-02 -2.70585894e-02 2.23150470e+02] [ 5.87550984e-02 9.98271886e-01 -1.03907688e-03 7.53877217e+00] [ 2.70728870e-02 -5.52929808e-04 9.99633309e-01 5.56988432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.18, Y:7.54, Z:5.57 [[ 9.97616295e-01 -6.35038370e-02 -2.69998235e-02 2.23182861e+02] [ 6.34990166e-02 9.97981363e-01 -1.03675191e-03 7.53688946e+00] [ 2.70111583e-02 -6.80181635e-04 9.99634901e-01 5.57025470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.93509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.21, Y:7.53, Z:5.57 [[ 9.97319390e-01 -6.79777670e-02 -2.70750407e-02 2.23213770e+02] [ 6.79746189e-02 9.97686511e-01 -1.03769915e-03 7.53492547e+00] [ 2.70829434e-02 -8.05498094e-04 9.99632865e-01 5.57044711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.25, Y:7.53, Z:5.57 [[ 9.97012320e-01 -7.22493448e-02 -2.73215280e-02 2.23245663e+02] [ 7.22477817e-02 9.97386166e-01 -1.04564136e-03 7.53359631e+00] [ 2.73256610e-02 -9.31402474e-04 9.99626150e-01 5.57103814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.28, Y:7.53, Z:5.57 [[ 9.97018699e-01 -7.21612356e-02 -2.73216026e-02 2.23278327e+02] [ 7.21596930e-02 9.97392545e-01 -1.04368836e-03 7.53478596e+00] [ 2.73256766e-02 -9.30941653e-04 9.99626150e-01 5.57189011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.31, Y:7.53, Z:5.57 [[ 9.96498262e-01 -7.88810191e-02 -2.77308147e-02 2.23309336e+02] [ 7.88820939e-02 9.96883393e-01 -1.05689196e-03 7.53197251e+00] [ 2.77277574e-02 -1.13427373e-03 9.99614868e-01 5.57226711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.34, Y:7.53, Z:5.57 [[ 9.96257768e-01 -8.18359447e-02 -2.78089628e-02 2.23341636e+02] [ 8.18382160e-02 9.96645065e-01 -1.05836535e-03 7.53174242e+00] [ 2.78022778e-02 -1.22143120e-03 9.99612696e-01 5.57286798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.37, Y:7.52, Z:5.57 [[ 9.95625794e-01 -8.62406333e-02 -3.59420628e-02 2.23370805e+02] [ 8.72897730e-02 9.95768916e-01 2.87186517e-02 7.52001309e+00] [ 3.33132742e-02 -3.17304049e-02 9.98941143e-01 5.57458229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.40, Y:7.55, Z:5.58 [[ 9.95904204e-01 -8.65200036e-02 -2.62508261e-02 2.23403397e+02] [ 8.56778183e-02 9.95819382e-01 -3.16712736e-02 7.54674566e+00] [ 2.88812801e-02 2.92924410e-02 9.99153554e-01 5.58313583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.44, Y:7.53, Z:5.58 [[ 9.95798168e-01 -8.75493335e-02 -2.68537427e-02 2.23435207e+02] [ 8.75537240e-02 9.96159283e-01 -1.01450542e-03 7.53126773e+00] [ 2.68394243e-02 -1.34090254e-03 9.99638858e-01 5.57621044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.47, Y:7.53, Z:5.58 [[ 9.95795124e-01 -8.78249591e-02 -2.60546899e-02 2.23468016e+02] [ 8.78292218e-02 9.96135062e-01 -9.82938271e-04 7.53195342e+00] [ 2.60403167e-02 -1.30955800e-03 9.99660036e-01 5.57766931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.50, Y:7.53, Z:5.58 [[ 9.95840162e-01 -8.75368864e-02 -2.52916178e-02 2.23500879e+02] [ 8.75408791e-02 9.96160474e-01 -9.51420695e-04 7.53279510e+00] [ 2.52777943e-02 -1.26658751e-03 9.99679663e-01 5.57940620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.53, Y:7.53, Z:5.58 [[ 9.95978745e-01 -8.60911027e-02 -2.47923828e-02 2.23533249e+02] [ 8.60945595e-02 9.96286536e-01 -9.29930044e-04 7.53332623e+00] [ 2.47803759e-02 -1.20829872e-03 9.99692189e-01 5.58118720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.57, Y:7.53, Z:5.58 [[ 9.96077106e-01 -8.47956929e-02 -2.52999919e-02 2.23565941e+02] [ 8.47989359e-02 9.96397634e-01 -9.46606291e-04 7.53439744e+00] [ 2.52891202e-02 -1.20251954e-03 9.99679456e-01 5.58223206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.60, Y:7.54, Z:5.58 [[ 9.96213988e-01 -8.28572415e-02 -2.63128621e-02 2.23597720e+02] [ 8.28601532e-02 9.96560701e-01 -9.81535826e-04 7.53554036e+00] [ 2.63036916e-02 -1.20246806e-03 9.99653275e-01 5.58288740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.63, Y:7.54, Z:5.58 [[ 9.96484494e-01 -7.83731123e-02 -2.96025219e-02 2.23630022e+02] [ 7.83749100e-02 9.96923347e-01 -1.10135859e-03 7.53779290e+00] [ 2.95977621e-02 -1.22260823e-03 9.99561143e-01 5.58408226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.66, Y:7.54, Z:5.58 [[ 9.96673723e-01 -7.54971167e-02 -3.06867238e-02 2.23662575e+02] [ 7.54977590e-02 9.97145320e-01 -1.13938801e-03 7.53966421e+00] [ 3.06851436e-02 -1.18118079e-03 9.99528402e-01 5.58453287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.70, Y:7.54, Z:5.59 [[ 9.96847887e-01 -7.25619925e-02 -3.20787567e-02 2.23695073e+02] [ 7.25612556e-02 9.97363249e-01 -1.18864441e-03 7.54179266e+00] [ 3.20804234e-02 -1.14277720e-03 9.99484637e-01 5.58550700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.73, Y:7.55, Z:5.59 [[ 9.97203667e-01 -6.60556151e-02 -3.49500055e-02 2.23726197e+02] [ 6.60508333e-02 9.97815422e-01 -1.29265518e-03 7.54538885e+00] [ 3.49590416e-02 -1.01943650e-03 9.99388226e-01 5.58642946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.76, Y:7.55, Z:5.59 [[ 9.97385185e-01 -6.26057699e-02 -3.61013946e-02 2.23755502e+02] [ 6.25984390e-02 9.98037902e-01 -1.33445559e-03 7.54765914e+00] [ 3.61141047e-02 -9.28924711e-04 9.99347241e-01 5.58721220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.79, Y:7.55, Z:5.59 [[ 9.97547482e-01 -5.93344428e-02 -3.71274095e-02 2.23785156e+02] [ 5.93243926e-02 9.98237813e-01 -1.37326824e-03 7.54994898e+00] [ 3.71434662e-02 -8.32660741e-04 9.99309596e-01 5.58810054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.81, Y:7.55, Z:5.59 [[ 9.97718079e-01 -5.59320668e-02 -3.78184943e-02 2.23812530e+02] [ 5.59191200e-02 9.98434319e-01 -1.40085046e-03 7.55228966e+00] [ 3.78376351e-02 -7.17123091e-04 9.99283643e-01 5.58916714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.84, Y:7.56, Z:5.59 [[ 9.98049299e-01 -4.97224556e-02 -3.77528015e-02 2.23839790e+02] [ 4.97048965e-02 9.98762961e-01 -1.40413114e-03 7.55650389e+00] [ 3.77759166e-02 -4.75106992e-04 9.99286122e-01 5.59062292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.87, Y:7.56, Z:5.59 [[ 9.98187414e-01 -4.71451045e-02 -3.74062344e-02 2.23868031e+02] [ 4.71256596e-02 9.98887985e-01 -1.40185520e-03 7.55896713e+00] [ 3.74307287e-02 -3.63479255e-04 9.99299159e-01 5.59176116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.90, Y:7.56, Z:5.59 [[ 9.98298532e-01 -4.48561356e-02 -3.72554485e-02 2.23895970e+02] [ 4.48348575e-02 9.98993422e-01 -1.40682563e-03 7.56108866e+00] [ 3.72810527e-02 -2.65910766e-04 9.99304785e-01 5.59333662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.92, Y:7.56, Z:5.59 [[ 9.98406136e-01 -4.31707679e-02 -3.63520738e-02 2.23923518e+02] [ 4.31490207e-02 9.99067690e-01 -1.38292898e-03 7.56320149e+00] [ 3.63778845e-02 -1.87831606e-04 9.99338088e-01 5.59445392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.95, Y:7.57, Z:5.60 [[ 9.98529849e-01 -4.07778096e-02 -3.57114938e-02 2.23950715e+02] [ 4.07549907e-02 9.99168235e-01 -1.36699354e-03 7.56584348e+00] [ 3.57375332e-02 -9.04377383e-05 9.99361206e-01 5.59648584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.98, Y:7.57, Z:5.60 [[ 9.98522765e-01 -4.10632677e-02 -3.55822526e-02 2.23978944e+02] [ 4.10405847e-02 9.99156544e-01 -1.36794217e-03 7.56764162e+00] [ 3.56084127e-02 -9.43950521e-05 9.99365815e-01 5.59811107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.71509989299997 meters Centerline goodness : 0.997332 Centerline is valid? [True, True] Translation: X:224.01, Y:7.57, Z:5.60 [[ 9.98557380e-01 -4.13110279e-02 -3.43010016e-02 2.24006281e+02] [ 4.14533773e-02 9.99134487e-01 3.44896976e-03 7.56676870e+00] [ 3.41288332e-02 -4.86588657e-03 9.99405596e-01 5.59787777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.04, Y:7.57, Z:5.60 [[ 9.98432052e-01 -4.38533398e-02 -3.47896790e-02 2.24035196e+02] [ 4.36713081e-02 9.99028083e-01 -5.97545512e-03 7.57303642e+00] [ 3.50179100e-02 4.44677513e-03 9.99376792e-01 5.60232343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.06, Y:7.57, Z:5.60 [[ 9.98320887e-01 -4.63398263e-02 -3.47566704e-02 2.24063306e+02] [ 4.63207397e-02 9.98925700e-01 -1.35460144e-03 7.57188799e+00] [ 3.47821033e-02 -2.57627773e-04 9.99394886e-01 5.60219123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.09, Y:7.57, Z:5.60 [[ 9.97883958e-01 -5.42501703e-02 -3.58402702e-02 2.24091054e+02] [ 5.42345966e-02 9.98527229e-01 -1.40730905e-03 7.57195581e+00] [ 3.58638325e-02 -5.39451474e-04 9.99356540e-01 5.60375900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.12, Y:7.57, Z:5.60 [[ 9.97569684e-01 -5.94827432e-02 -3.62839964e-02 2.24119401e+02] [ 5.94698555e-02 9.98229070e-01 -1.43530208e-03 7.57205302e+00] [ 3.63051157e-02 -7.25990183e-04 9.99340488e-01 5.60461787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.15, Y:7.57, Z:5.61 [[ 9.96824689e-01 -7.04275325e-02 -3.71550988e-02 2.24148558e+02] [ 7.04212913e-02 9.97516244e-01 -1.47828687e-03 7.57128423e+00] [ 3.71669267e-02 -1.14291719e-03 9.99308418e-01 5.60573154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.18, Y:7.57, Z:5.61 [[ 9.96422508e-01 -7.58424319e-02 -3.72841968e-02 2.24177658e+02] [ 7.58398550e-02 9.97118905e-01 -1.48545752e-03 7.57143383e+00] [ 3.72894382e-02 -1.34748477e-03 9.99303599e-01 5.60656129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.21, Y:7.57, Z:5.61 [[ 9.95970574e-01 -8.11536470e-02 -3.81667544e-02 2.24208670e+02] [ 8.11548379e-02 9.96700346e-01 -1.52063134e-03 7.57184676e+00] [ 3.81642221e-02 -1.58291270e-03 9.99270227e-01 5.60741472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.24, Y:7.57, Z:5.61 [[ 9.95583065e-01 -8.56660822e-02 -3.84146253e-02 2.24239502e+02] [ 8.56706835e-02 9.96322335e-01 -1.52934963e-03 7.57239795e+00] [ 3.84043626e-02 -1.76841262e-03 9.99260716e-01 5.60814164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.27, Y:7.57, Z:5.61 [[ 9.95221675e-01 -8.98029964e-02 -3.83306475e-02 2.24271133e+02] [ 8.98106714e-02 9.95957689e-01 -1.52509435e-03 7.57316305e+00] [ 3.83126611e-02 -1.92469423e-03 9.99263947e-01 5.60853533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.30, Y:7.57, Z:5.61 [[ 9.94919012e-01 -9.30855096e-02 -3.83568423e-02 2.24303389e+02] [ 9.30956962e-02 9.95655999e-01 -1.52431526e-03 7.57418621e+00] [ 3.83321118e-02 -2.05428671e-03 9.99262943e-01 5.60926738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.34, Y:7.58, Z:5.61 [[ 9.94447248e-01 -9.77031372e-02 -3.90994708e-02 2.24335789e+02] [ 9.77173894e-02 9.95212995e-01 -1.55098941e-03 7.57627964e+00] [ 3.90638380e-02 -2.27832106e-03 9.99234120e-01 5.61009478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.37, Y:7.58, Z:5.61 [[ 9.94356357e-01 -9.87105601e-02 -3.88800764e-02 2.24367325e+02] [ 9.87255196e-02 9.95113512e-01 -1.53971044e-03 7.57814548e+00] [ 3.88420751e-02 -2.30743489e-03 9.99242698e-01 5.61091885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.40, Y:7.58, Z:5.61 [[ 9.94336995e-01 -9.91971898e-02 -3.81294968e-02 2.24399150e+02] [ 9.92120188e-02 9.95065175e-01 -1.50771604e-03 7.58005964e+00] [ 3.80908956e-02 -2.28372651e-03 9.99271669e-01 5.61168680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.43, Y:7.58, Z:5.61 [[ 9.94331166e-01 -9.92988159e-02 -3.80168057e-02 2.24431275e+02] [ 9.93137357e-02 9.95055039e-01 -1.50050746e-03 7.58210370e+00] [ 3.79778126e-02 -2.28358965e-03 9.99275973e-01 5.61270488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.46, Y:7.58, Z:5.61 [[ 9.94402883e-01 -9.89315123e-02 -3.70872281e-02 2.24462133e+02] [ 9.89455464e-02 9.95091776e-01 -1.46135856e-03 7.58481074e+00] [ 3.70497701e-02 -2.21643689e-03 9.99310964e-01 5.61280691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.49, Y:7.59, Z:5.61 [[ 9.94436361e-01 -9.86352183e-02 -3.69786217e-02 2.24494497e+02] [ 9.86490476e-02 9.95121223e-01 -1.45487265e-03 7.58689253e+00] [ 3.69417129e-02 -2.20112755e-03 9.99314998e-01 5.61363684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.53, Y:7.59, Z:5.61 [[ 9.94476622e-01 -9.83526771e-02 -3.66469577e-02 2.24526983e+02] [ 9.83661628e-02 9.95149248e-01 -1.43923124e-03 7.58922145e+00] [ 3.66107447e-02 -2.17353879e-03 9.99327238e-01 5.61412061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.56, Y:7.59, Z:5.61 [[ 9.94583144e-01 -9.75910026e-02 -3.57822110e-02 2.24558634e+02] [ 9.76034566e-02 9.95224396e-01 -1.40276115e-03 7.59255086e+00] [ 3.57482262e-02 -2.09730489e-03 9.99358627e-01 5.61459734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.59, Y:7.60, Z:5.62 [[ 9.94606225e-01 -9.71561009e-02 -3.63201001e-02 2.24590577e+02] [ 9.71687471e-02 9.95266907e-01 -1.42101005e-03 7.59501368e+00] [ 3.62862535e-02 -2.11583318e-03 9.99339197e-01 5.61576411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.62, Y:7.60, Z:5.62 [[ 9.94675210e-01 -9.64494611e-02 -3.63142832e-02 2.24622988e+02] [ 9.64617450e-02 9.95335683e-01 -1.41772645e-03 7.59730233e+00] [ 3.62816408e-02 -2.09276177e-03 9.99339413e-01 5.61618268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.65, Y:7.60, Z:5.62 [[ 9.94706857e-01 -9.58572134e-02 -3.70089706e-02 2.24653774e+02] [ 9.58696551e-02 9.95392851e-01 -1.44239920e-03 7.59932017e+00] [ 3.69767291e-02 -2.11327287e-03 9.99313892e-01 5.61672625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.69, Y:7.60, Z:5.62 [[ 9.94733637e-01 -9.54492471e-02 -3.73420997e-02 2.24685074e+02] [ 9.54617016e-02 9.95432042e-01 -1.45340880e-03 7.60139466e+00] [ 3.73102493e-02 -2.11898576e-03 9.99301484e-01 5.61745418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.72, Y:7.60, Z:5.62 [[ 9.94845757e-01 -9.38248648e-02 -3.84553672e-02 2.24716777e+02] [ 9.38369545e-02 9.95586457e-01 -1.49442751e-03 7.60467951e+00] [ 3.84258572e-02 -2.12180967e-03 9.99259201e-01 5.61800690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.43509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.75, Y:7.61, Z:5.62 [[ 9.94917286e-01 -9.27253212e-02 -3.92633267e-02 2.24747397e+02] [ 9.27371766e-02 9.95689458e-01 -1.52317055e-03 7.60713069e+00] [ 3.92353170e-02 -2.12574135e-03 9.99227737e-01 5.61879961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.78, Y:7.61, Z:5.62 [[ 9.95023599e-01 -9.14367809e-02 -3.95898056e-02 2.24779066e+02] [ 9.14479126e-02 9.95808680e-01 -1.53344997e-03 7.60972577e+00] [ 3.95640858e-02 -2.09458618e-03 9.99214840e-01 5.61935799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.81, Y:7.61, Z:5.62 [[ 9.95325318e-01 -8.73929575e-02 -4.11094005e-02 2.24811341e+02] [ 8.74016461e-02 9.96171886e-01 -1.58932283e-03 7.61430913e+00] [ 4.10909247e-02 -2.01113602e-03 9.99153387e-01 5.62074413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.84, Y:7.62, Z:5.62 [[ 9.95542624e-01 -8.48584592e-02 -4.11573262e-02 2.24842643e+02] [ 8.48651185e-02 9.96391182e-01 -1.58848236e-03 7.61744997e+00] [ 4.11435931e-02 -1.91141947e-03 9.99151416e-01 5.62172883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.87, Y:7.62, Z:5.62 [[ 9.95840680e-01 -8.15340382e-02 -4.06637518e-02 2.24873777e+02] [ 8.15378494e-02 9.96669013e-01 -1.56753711e-03 7.62046286e+00] [ 4.06561090e-02 -1.75461765e-03 9.99171658e-01 5.62247773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.91, Y:7.62, Z:5.62 [[ 9.96178135e-01 -7.76745399e-02 -3.99473349e-02 2.24906232e+02] [ 7.76751957e-02 9.96977532e-01 -1.53801308e-03 7.62359968e+00] [ 3.99460598e-02 -1.57078206e-03 9.99200603e-01 5.62323351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.94, Y:7.63, Z:5.62 [[ 9.96513787e-01 -7.36407709e-02 -3.92085411e-02 2.24937893e+02] [ 7.36383731e-02 9.97283870e-01 -1.50730020e-03 7.62693077e+00] [ 3.92130443e-02 -1.38520775e-03 9.99229913e-01 5.62421721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.97, Y:7.63, Z:5.62 [[ 9.97241036e-01 -6.39376885e-02 -3.77132329e-02 2.24968421e+02] [ 6.39285761e-02 9.97953425e-01 -1.44871609e-03 7.63277621e+00] [ 3.77286775e-02 -9.66234146e-04 9.99287553e-01 5.62494124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.00, Y:7.64, Z:5.63 [[ 9.97562581e-01 -5.90417824e-02 -3.71882393e-02 2.24999049e+02] [ 5.90295384e-02 9.98255215e-01 -1.42810014e-03 7.63648979e+00] [ 3.72076714e-02 -7.70585334e-04 9.99307258e-01 5.62589630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.03, Y:7.64, Z:5.63 [[ 9.97872038e-01 -5.40116571e-02 -3.65258393e-02 2.25028651e+02] [ 5.39964627e-02 9.98540141e-01 -1.40304700e-03 7.63997977e+00] [ 3.65482976e-02 -5.72204745e-04 9.99331724e-01 5.62658064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.06, Y:7.65, Z:5.63 [[ 9.98352466e-01 -4.51186406e-02 -3.54494239e-02 2.25058580e+02] [ 4.50986786e-02 9.98981607e-01 -1.36292952e-03 7.64537826e+00] [ 3.54748159e-02 -2.38038127e-04 9.99370542e-01 5.62676263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.09, Y:7.65, Z:5.63 [[ 9.98503222e-01 -4.15699398e-02 -3.55422968e-02 2.25085672e+02] [ 4.15475474e-02 9.99135590e-01 -1.36868940e-03 7.64802083e+00] [ 3.55684700e-02 -1.10054484e-04 9.99367236e-01 5.62739406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.11, Y:7.65, Z:5.63 [[ 9.98636583e-01 -3.84391262e-02 -3.53186594e-02 2.25113767e+02] [ 3.84148468e-02 9.99260944e-01 -1.36602559e-03 7.65022846e+00] [ 3.53450658e-02 7.40223408e-06 9.99375168e-01 5.62760161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.14, Y:7.65, Z:5.63 [[ 9.98846356e-01 -3.31846962e-02 -3.47092765e-02 2.25141872e+02] [ 3.31577406e-02 9.99449216e-01 -1.35209467e-03 7.65332819e+00] [ 3.47350281e-02 1.99653641e-04 9.99396537e-01 5.62814856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.17, Y:7.66, Z:5.63 [[ 9.98932720e-01 -3.10618493e-02 -3.41845335e-02 2.25169391e+02] [ 3.10341363e-02 9.99517425e-01 -1.34111841e-03 7.65524248e+00] [ 3.42096945e-02 2.78799588e-04 9.99414638e-01 5.62843079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.20, Y:7.66, Z:5.63 [[ 9.98996768e-01 -2.91321095e-02 -3.40114320e-02 2.25196144e+02] [ 2.91032825e-02 9.99575508e-01 -1.34243244e-03 7.65730610e+00] [ 3.40361024e-02 3.51241355e-04 9.99420542e-01 5.62907973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.22, Y:7.66, Z:5.63 [[ 9.98989215e-01 -2.93902121e-02 -3.40112236e-02 2.25224508e+02] [ 2.93613554e-02 9.99567954e-01 -1.34769556e-03 7.65850177e+00] [ 3.40361382e-02 3.47717705e-04 9.99420542e-01 5.62980771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.25, Y:7.66, Z:5.63 [[ 9.99028598e-01 -2.78594897e-02 -3.41424890e-02 2.25252017e+02] [ 2.78292053e-02 9.99611765e-01 -1.36198840e-03 7.66049232e+00] [ 3.41671780e-02 4.10507021e-04 9.99416047e-01 5.63078257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.28, Y:7.66, Z:5.63 [[ 9.99080172e-01 -2.57801364e-02 -3.42665159e-02 2.25278428e+02] [ 2.57481202e-02 9.99667516e-01 -1.37535140e-03 7.66302108e+00] [ 3.42905796e-02 4.91787944e-04 9.99411784e-01 5.63156615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.31, Y:7.66, Z:5.63 [[ 9.99068671e-01 -2.58284564e-02 -3.45641754e-02 2.25306224e+02] [ 2.57957121e-02 9.99666265e-01 -1.39302333e-03 7.66496618e+00] [ 3.45886197e-02 5.00118446e-04 9.99401510e-01 5.63242047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.33, Y:7.67, Z:5.63 [[ 9.99055672e-01 -2.62500687e-02 -3.46222271e-02 2.25332666e+02] [ 2.62171792e-02 9.99655285e-01 -1.40367442e-03 7.66628526e+00] [ 3.46471388e-02 4.94651759e-04 9.99399485e-01 5.63284000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.36, Y:7.67, Z:5.63 [[ 9.98990052e-01 -2.87688295e-02 -3.45142108e-02 2.25360933e+02] [ 2.87374533e-02 9.99586007e-01 -1.40491318e-03 7.66698698e+00] [ 3.45403399e-02 4.11643770e-04 9.99403220e-01 5.63322817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.39, Y:7.67, Z:5.63 [[ 9.98966427e-01 -3.06495705e-02 -3.35660917e-02 2.25388542e+02] [ 3.06206439e-02 9.99530132e-01 -1.37561693e-03 7.66763103e+00] [ 3.35924821e-02 3.46379792e-04 9.99435553e-01 5.63402479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.41, Y:7.66, Z:5.64 [[ 9.98730754e-01 -3.40690396e-02 -3.70969151e-02 2.25414489e+02] [ 3.44931749e-02 9.99345996e-01 1.08536336e-02 7.66467034e+00] [ 3.67028807e-02 -1.21194481e-02 9.99252730e-01 5.63522230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.44, Y:7.68, Z:5.64 [[ 9.98850785e-01 -3.55468067e-02 -3.21486099e-02 2.25443789e+02] [ 3.51127359e-02 9.99285748e-01 -1.39674321e-02 7.67565755e+00] [ 3.26221453e-02 1.28225549e-02 9.99385500e-01 5.64025356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.47, Y:7.67, Z:5.64 [[ 9.98766882e-01 -3.77734899e-02 -3.22161340e-02 2.25472085e+02] [ 3.77500611e-02 9.99286320e-01 -1.33538330e-03 7.67044650e+00] [ 3.22435841e-02 1.17575589e-04 9.99480034e-01 5.63713829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.21509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.50, Y:7.67, Z:5.64 [[ 9.98628669e-01 -4.27458255e-02 -3.02254211e-02 2.25500317e+02] [ 4.27272358e-02 9.99085979e-01 -1.26093665e-03 7.67053324e+00] [ 3.02516942e-02 -3.22412041e-05 9.99542312e-01 5.63800715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.53, Y:7.67, Z:5.64 [[ 9.98548288e-01 -4.51648043e-02 -2.93506016e-02 2.25530137e+02] [ 4.51481085e-02 9.98979545e-01 -1.23163640e-03 7.67105363e+00] [ 2.93762773e-02 -9.52757285e-05 9.99568419e-01 5.63837227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.56, Y:7.67, Z:5.64 [[ 9.98451785e-01 -4.76926388e-02 -2.86259371e-02 2.25561124e+02] [ 4.76777707e-02 9.98862045e-01 -1.20210667e-03 7.67130598e+00] [ 2.86506937e-02 -1.64575311e-04 9.99589471e-01 5.63835389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.59, Y:7.67, Z:5.64 [[ 9.98209694e-01 -5.25723085e-02 -2.85229464e-02 2.25592821e+02] [ 5.25595414e-02 9.98617074e-01 -1.19767356e-03 7.66994839e+00] [ 2.85464657e-02 -3.03623617e-04 9.99592420e-01 5.63829173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.62, Y:7.67, Z:5.64 [[ 9.98074835e-01 -5.48695151e-02 -2.89129753e-02 2.25623823e+02] [ 5.48573902e-02 9.98493463e-01 -1.21300010e-03 7.67000405e+00] [ 2.89359736e-02 -3.75425492e-04 9.99581197e-01 5.63865638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.66, Y:7.67, Z:5.64 [[ 9.97959970e-01 -5.69214537e-02 -2.89110232e-02 2.25655364e+02] [ 5.69102298e-02 9.98378564e-01 -1.21157958e-03 7.67033066e+00] [ 2.89331107e-02 -4.36225050e-04 9.99581255e-01 5.63915628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.69, Y:7.67, Z:5.64 [[ 9.97882364e-01 -5.83835055e-02 -2.86732269e-02 2.25687612e+02] [ 5.83731633e-02 9.98294114e-01 -1.19832306e-03 7.67070864e+00] [ 2.86942759e-02 -4.77961501e-04 9.99588120e-01 5.63934442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.72, Y:7.67, Z:5.64 [[ 9.97739717e-01 -6.06437540e-02 -2.89446438e-02 2.25719241e+02] [ 6.06342305e-02 9.98159322e-01 -1.20742227e-03 7.67011870e+00] [ 2.89645886e-02 -5.50343047e-04 9.99580287e-01 5.63937596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.45509989299998 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:225.75, Y:7.69, Z:5.64 [[ 9.97918821e-01 -6.06278832e-02 -2.19610057e-02 2.25750425e+02] [ 5.98560304e-02 9.97619376e-01 -3.42466857e-02 7.68657164e+00] [ 2.39850289e-02 3.28609137e-02 9.99172097e-01 5.64103742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.78, Y:7.65, Z:5.63 [[ 9.97671109e-01 -6.11161999e-02 -3.02847716e-02 2.25783599e+02] [ 6.20823623e-02 9.97555961e-01 3.20606585e-02 7.65460951e+00] [ 2.82513288e-02 -3.38661429e-02 9.99027000e-01 5.62927709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.82, Y:7.67, Z:5.64 [[ 9.97619153e-01 -6.24981418e-02 -2.91548875e-02 2.25815011e+02] [ 6.24895033e-02 9.98044890e-01 -1.20822627e-03 7.67190964e+00] [ 2.91733984e-02 -6.16524770e-04 9.99574176e-01 5.64026847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.85, Y:7.67, Z:5.64 [[ 9.97551784e-01 -6.35516698e-02 -2.91825749e-02 2.25846685e+02] [ 6.35435316e-02 9.97978338e-01 -1.20710541e-03 7.67234817e+00] [ 2.92002911e-02 -6.50213707e-04 9.99573369e-01 5.64002087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.88, Y:7.67, Z:5.64 [[ 9.97519755e-01 -6.39289206e-02 -2.94521856e-02 2.25878401e+02] [ 6.39208920e-02 9.97954229e-01 -1.21498969e-03 7.67334827e+00] [ 2.94696062e-02 -6.70633761e-04 9.99565452e-01 5.64051988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.91, Y:7.67, Z:5.64 [[ 9.97484910e-01 -6.42849487e-02 -2.98546571e-02 2.25910145e+02] [ 6.42769227e-02 9.97931343e-01 -1.22944808e-03 7.67491184e+00] [ 2.98719331e-02 -6.92609575e-04 9.99553494e-01 5.64107504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.94, Y:7.68, Z:5.64 [[ 9.97458458e-01 -6.43531850e-02 -3.05825620e-02 2.25941757e+02] [ 6.43448686e-02 9.97926930e-01 -1.25702190e-03 7.67642829e+00] [ 3.06000556e-02 -7.14003811e-04 9.99531454e-01 5.64173849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.97, Y:7.68, Z:5.64 [[ 9.97426385e-01 -6.48651316e-02 -3.05470337e-02 2.25973581e+02] [ 6.48571713e-02 9.97893771e-01 -1.25239096e-03 7.67796125e+00] [ 3.05639311e-02 -7.32026409e-04 9.99532546e-01 5.64229782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.01, Y:7.68, Z:5.64 [[ 9.97381728e-01 -6.60283977e-02 -2.94947195e-02 2.26005816e+02] [ 6.60215439e-02 9.97817467e-01 -1.20723135e-03 7.67959768e+00] [ 2.95100578e-02 -7.43216428e-04 9.99564207e-01 5.64269638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.04, Y:7.68, Z:5.64 [[ 9.97328848e-01 -6.69995219e-02 -2.90900929e-02 2.26037644e+02] [ 6.69933273e-02 9.97752716e-01 -1.18861810e-03 7.68107141e+00] [ 2.91043561e-02 -7.63398997e-04 9.99576087e-01 5.64354777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.07, Y:7.68, Z:5.64 [[ 9.97270625e-01 -6.78557898e-02 -2.91014206e-02 2.26068514e+02] [ 6.78500140e-02 9.97694826e-01 -1.18703961e-03 7.68222811e+00] [ 2.91148843e-02 -7.90732070e-04 9.99575759e-01 5.64436642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.10, Y:7.68, Z:5.65 [[ 9.97208038e-01 -6.90291286e-02 -2.84799726e-02 2.26100844e+02] [ 6.90241191e-02 9.97614317e-01 -1.16013299e-03 7.68368201e+00] [ 2.84921114e-02 -8.08911087e-04 9.99593690e-01 5.64519998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.13, Y:7.69, Z:5.65 [[ 9.97014773e-01 -7.18390729e-02 -2.82964627e-02 2.26133368e+02] [ 7.18353147e-02 9.97415843e-01 -1.15065392e-03 7.68543577e+00] [ 2.83060021e-02 -8.85466349e-04 9.99598913e-01 5.64630527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.16, Y:7.69, Z:5.65 [[ 9.96901229e-01 -7.32591203e-02 -2.86537997e-02 2.26164587e+02] [ 7.32559116e-02 9.97312498e-01 -1.16312531e-03 7.68659858e+00] [ 2.86620021e-02 -9.39539170e-04 9.99588719e-01 5.64713157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.20, Y:7.69, Z:5.65 [[ 9.96793136e-01 -7.46828914e-02 -2.87386388e-02 2.26196981e+02] [ 7.46803112e-02 9.97206847e-01 -1.16459956e-03 7.68772826e+00] [ 2.87453430e-02 -9.85345643e-04 9.99586282e-01 5.64780605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.23, Y:7.69, Z:5.65 [[ 9.96659819e-01 -7.62699684e-02 -2.91906917e-02 2.26229103e+02] [ 7.62681301e-02 9.97086649e-01 -1.17799360e-03 7.68874857e+00] [ 2.91954945e-02 -1.05226059e-03 9.99573167e-01 5.64862604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.93509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.26, Y:7.69, Z:5.65 [[ 9.96332119e-01 -8.01701353e-02 -2.99175317e-02 2.26261567e+02] [ 8.01700238e-02 9.96780475e-01 -1.20517690e-03 7.68966632e+00] [ 2.99178307e-02 -1.19773277e-03 9.99551644e-01 5.64939346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.29, Y:7.69, Z:5.65 [[ 9.96229874e-01 -8.06206578e-02 -3.20366662e-02 2.26291309e+02] [ 8.03464558e-02 9.96719230e-01 -9.75820829e-03 7.69483166e+00] [ 3.27182744e-02 7.14738603e-03 9.99439057e-01 5.65305451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.33, Y:7.69, Z:5.65 [[ 9.96068686e-01 -8.31814246e-02 -3.04634876e-02 2.26326269e+02] [ 8.34337914e-02 9.96487981e-01 7.10677261e-03 7.68808183e+00] [ 2.97653478e-02 -9.62051792e-03 9.99510615e-01 5.64848418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.36, Y:7.69, Z:5.65 [[ 9.95846331e-01 -8.60593820e-02 -2.97299125e-02 2.26358793e+02] [ 8.60620807e-02 9.96289064e-01 -1.19118452e-03 7.69434966e+00] [ 2.97220993e-02 -1.37238140e-03 9.99557259e-01 5.65290541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.39, Y:7.70, Z:5.65 [[ 9.95795163e-01 -8.68255296e-02 -2.92116573e-02 2.26391888e+02] [ 8.68285538e-02 9.96222585e-01 -1.16733357e-03 7.69622272e+00] [ 2.92026671e-02 -1.37398083e-03 9.99572567e-01 5.65399168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.42, Y:7.70, Z:5.65 [[ 9.95745823e-01 -8.75234511e-02 -2.88080078e-02 2.26424166e+02] [ 8.75267698e-02 9.96161506e-01 -1.14820046e-03 7.69810120e+00] [ 2.87979229e-02 -1.37815605e-03 9.99584304e-01 5.65490608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.46, Y:7.70, Z:5.66 [[ 9.95724420e-01 -8.77911852e-02 -2.87330418e-02 2.26457462e+02] [ 8.77946728e-02 9.96137937e-01 -1.14260227e-03 7.70010776e+00] [ 2.87223834e-02 -1.38489102e-03 9.99586468e-01 5.65585519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.49, Y:7.71, Z:5.66 [[ 9.95883171e-01 -8.64936689e-02 -2.71211209e-02 2.26489605e+02] [ 8.63593613e-02 9.96245455e-01 -6.08713848e-03 7.70531398e+00] [ 2.75457924e-02 3.71991610e-03 9.99613621e-01 5.65606228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.52, Y:7.70, Z:5.66 [[ 9.95843009e-01 -8.65322245e-02 -2.84407522e-02 2.26522141e+02] [ 8.66773459e-02 9.96228773e-01 3.90766871e-03 7.70256659e+00] [ 2.79953564e-02 -6.35659348e-03 9.99587842e-01 5.65624339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.56, Y:7.71, Z:5.66 [[ 9.95952084e-01 -8.53493285e-02 -2.81946539e-02 2.26555141e+02] [ 8.53519331e-02 9.96350244e-01 -1.11328324e-03 7.70814266e+00] [ 2.81867683e-02 -1.29769145e-03 9.99601832e-01 5.65867819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.59, Y:7.71, Z:5.66 [[ 9.96043612e-01 -8.40896541e-02 -2.87411507e-02 2.26587030e+02] [ 8.40919351e-02 9.96457358e-01 -1.13147022e-03 7.71009381e+00] [ 2.87344761e-02 -1.28990529e-03 9.99586247e-01 5.65985917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.62, Y:7.71, Z:5.66 [[ 9.96100677e-01 -8.32992136e-02 -2.90634221e-02 2.26619811e+02] [ 8.33013558e-02 9.96523751e-01 -1.13915968e-03 7.71221053e+00] [ 2.90572815e-02 -1.28630474e-03 9.99576920e-01 5.66057775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.65, Y:7.71, Z:5.66 [[ 9.96153964e-01 -8.24642706e-02 -2.96128960e-02 2.26652965e+02] [ 8.24662227e-02 9.96593188e-01 -1.15745984e-03 7.71425135e+00] [ 2.96074595e-02 -1.28905546e-03 9.99560772e-01 5.66188350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.69, Y:7.72, Z:5.66 [[ 9.96297171e-01 -8.04921635e-02 -3.02152098e-02 2.26685450e+02] [ 8.04933912e-02 9.96754447e-01 -1.17768176e-03 7.71721373e+00] [ 3.02119389e-02 -1.25880370e-03 9.99542723e-01 5.66275338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.72, Y:7.72, Z:5.66 [[ 9.96377116e-01 -7.91995864e-02 -3.09849751e-02 2.26717790e+02] [ 7.92003587e-02 9.96857990e-01 -1.20431307e-03 7.71943420e+00] [ 3.09830011e-02 -1.25407115e-03 9.99519125e-01 5.66392100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.75, Y:7.72, Z:5.66 [[ 9.96476683e-01 -7.78305070e-02 -3.12511201e-02 2.26751181e+02] [ 7.78307131e-02 9.96965853e-01 -1.21170111e-03 7.72184589e+00] [ 3.12506069e-02 -1.22486506e-03 9.99510830e-01 5.66489652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.78, Y:7.71, Z:5.67 [[ 9.96194190e-01 -7.77515618e-02 -3.93932822e-02 2.26780575e+02] [ 7.87411439e-02 9.96600774e-01 2.42224884e-02 7.71452056e+00] [ 3.73760392e-02 -2.72321743e-02 9.98930148e-01 5.66607494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.81, Y:7.73, Z:5.68 [[ 9.96325199e-01 -7.58469025e-02 -3.97912769e-02 2.26809834e+02] [ 7.60372289e-02 9.97099553e-01 3.28952880e-03 7.72996055e+00] [ 3.94263639e-02 -6.30305887e-03 9.99202599e-01 5.67589197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.84, Y:7.75, Z:5.68 [[ 9.96930148e-01 -7.15523882e-02 -3.17889258e-02 2.26843476e+02] [ 7.05811665e-02 9.97033762e-01 -3.06916334e-02 7.74538031e+00] [ 3.38906919e-02 2.83537151e-02 9.99023267e-01 5.68001857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.87, Y:7.72, Z:5.67 [[ 9.96793032e-01 -6.95469637e-02 -3.95837159e-02 2.26874256e+02] [ 7.04391743e-02 9.97282005e-01 2.16084488e-02 7.72464184e+00] [ 3.79733255e-02 -2.43273955e-02 9.98982585e-01 5.67097230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.91, Y:7.74, Z:5.68 [[ 9.96971261e-01 -6.77052417e-02 -3.82662263e-02 2.26905680e+02] [ 6.77479499e-02 9.97702452e-01 -1.81011288e-04 7.73800400e+00] [ 3.81905632e-02 -2.41199533e-03 9.99267563e-01 5.67992137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.94, Y:7.75, Z:5.68 [[ 9.97638504e-01 -6.15481254e-02 -3.04834847e-02 2.26938391e+02] [ 6.07625843e-02 9.97812027e-01 -2.60588996e-02 7.75147647e+00] [ 3.20206641e-02 2.41451063e-02 9.99195522e-01 5.68092200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.97, Y:7.73, Z:5.67 [[ 9.97486071e-01 -5.98448181e-02 -3.79491221e-02 2.26970444e+02] [ 6.06175845e-02 9.97969601e-01 1.95495170e-02 7.73303452e+00] [ 3.67021330e-02 -2.18007550e-02 9.99088425e-01 5.67285505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.00, Y:7.75, Z:5.68 [[ 9.97889105e-01 -5.73795370e-02 -3.04125487e-02 2.27001357e+02] [ 5.67067525e-02 9.98136370e-01 -2.25417576e-02 7.75351921e+00] [ 3.16493066e-02 2.07695775e-02 9.99283216e-01 5.68073421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.03, Y:7.74, Z:5.67 [[ 9.97781865e-01 -5.58976469e-02 -3.61497247e-02 2.27031926e+02] [ 5.64877699e-02 9.98282754e-01 1.55136872e-02 7.73853956e+00] [ 3.52204681e-02 -1.75212931e-02 9.99225962e-01 5.67429141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.06, Y:7.75, Z:5.68 [[ 9.97955107e-01 -5.42196215e-02 -3.38502014e-02 2.27062932e+02] [ 5.41045808e-02 9.98525990e-01 -4.30598650e-03 7.74988359e+00] [ 3.40337748e-02 2.46573027e-03 9.99417642e-01 5.68045337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.71509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.09, Y:7.76, Z:5.68 [[ 9.98270361e-01 -5.04676343e-02 -3.01546868e-02 2.27093888e+02] [ 5.00280080e-02 9.98632747e-01 -1.51603185e-02 7.75667153e+00] [ 3.08785631e-02 1.36255177e-02 9.99430268e-01 5.68001608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.12, Y:7.74, Z:5.68 [[ 9.98038902e-01 -4.95189786e-02 -3.82912603e-02 2.27123032e+02] [ 5.04722842e-02 9.98428744e-01 2.43431913e-02 7.74172312e+00] [ 3.70256449e-02 -2.62280993e-02 9.98970064e-01 5.67537532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.15, Y:7.77, Z:5.69 [[ 9.98482582e-01 -4.63081661e-02 -2.98008018e-02 2.27153190e+02] [ 4.54954640e-02 9.98588846e-01 -2.73948908e-02 7.76596782e+00] [ 3.10273554e-02 2.59975200e-02 9.99180380e-01 5.68570410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.18, Y:7.75, Z:5.68 [[ 9.98479877e-01 -4.57054046e-02 -3.08050515e-02 2.27184036e+02] [ 4.56910541e-02 9.98954933e-01 -1.16997890e-03 7.75428863e+00] [ 3.08263325e-02 -2.39314889e-04 9.99524727e-01 5.67690940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.83509989299998 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:227.21, Y:7.75, Z:5.68 [[ 9.98357601e-01 -4.49209331e-02 -3.55557352e-02 2.27212073e+02] [ 4.54491171e-02 9.98865888e-01 1.41885360e-02 7.75192109e+00] [ 3.48780488e-02 -1.57812096e-02 9.99266969e-01 5.67750949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.24, Y:7.77, Z:5.69 [[ 9.98753196e-01 -3.85895992e-02 -3.16685532e-02 2.27243508e+02] [ 3.80627783e-02 9.99129486e-01 -1.70732441e-02 7.76656374e+00] [ 3.22998349e-02 1.58465640e-02 9.99352594e-01 5.68523632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.27, Y:7.76, Z:5.68 [[ 9.98832494e-01 -3.58722728e-02 -3.23547335e-02 2.27271327e+02] [ 3.58511374e-02 9.99356380e-01 -1.23331710e-03 7.76001947e+00] [ 3.23781513e-02 7.19231955e-05 9.99475688e-01 5.68056140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.30, Y:7.76, Z:5.68 [[ 9.98910550e-01 -3.35452788e-02 -3.24411467e-02 2.27297730e+02] [ 3.35225543e-02 9.99437187e-01 -1.24428085e-03 7.76124216e+00] [ 3.24646281e-02 1.55415162e-04 9.99472873e-01 5.68178854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.33, Y:7.76, Z:5.68 [[ 9.98986573e-01 -3.13058369e-02 -3.23384026e-02 2.27325769e+02] [ 3.12819172e-02 9.99509825e-01 -1.24546578e-03 7.76233626e+00] [ 3.23615414e-02 2.32596361e-04 9.99476201e-01 5.68284996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.35, Y:7.76, Z:5.68 [[ 9.99059746e-01 -2.86551902e-02 -3.25346620e-02 2.27353421e+02] [ 2.86292825e-02 9.99589301e-01 -1.26197185e-03 7.76330774e+00] [ 3.25574621e-02 3.29341243e-04 9.99469811e-01 5.68425588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.38, Y:7.76, Z:5.69 [[ 9.99052770e-01 -2.85722121e-02 -3.28206007e-02 2.27381358e+02] [ 2.85455070e-02 9.99591672e-01 -1.28204223e-03 7.76400377e+00] [ 3.28438299e-02 3.43947158e-04 9.99460437e-01 5.68535117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.41, Y:7.76, Z:5.69 [[ 9.99028211e-01 -2.91592814e-02 -3.30510141e-02 2.27408920e+02] [ 2.91322239e-02 9.99574721e-01 -1.30002063e-03 7.76458978e+00] [ 3.30748659e-02 3.35907737e-04 9.99452821e-01 5.68680839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.44, Y:7.76, Z:5.69 [[ 9.98988605e-01 -3.03539471e-02 -3.31723642e-02 2.27436483e+02] [ 3.03270511e-02 9.99539166e-01 -1.31375978e-03 7.76486319e+00] [ 3.31969550e-02 3.06411070e-04 9.99448782e-01 5.68793651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.46, Y:7.76, Z:5.69 [[ 9.98931715e-01 -3.19437199e-02 -3.33920364e-02 2.27463835e+02] [ 3.19171003e-02 9.99489635e-01 -1.33005366e-03 7.76494784e+00] [ 3.34174812e-02 2.62855802e-04 9.99441445e-01 5.68874276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.49, Y:7.76, Z:5.69 [[ 9.98707072e-01 -3.74952899e-02 -3.43261909e-02 2.27490748e+02] [ 3.74702976e-02 9.99296801e-01 -1.37131400e-03 7.76319048e+00] [ 3.43534705e-02 8.33284041e-05 9.99409742e-01 5.68959675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.52, Y:7.76, Z:5.69 [[ 9.98543063e-01 -4.11856424e-02 -3.48639310e-02 2.27518489e+02] [ 4.11619033e-02 9.99151511e-01 -1.39868842e-03 7.76248865e+00] [ 3.48919552e-02 -3.84151377e-05 9.99391090e-01 5.69030879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.55, Y:7.76, Z:5.69 [[ 9.98348920e-01 -4.53773493e-02 -3.52183183e-02 2.27545651e+02] [ 4.53554356e-02 9.98969902e-01 -1.42130712e-03 7.76179110e+00] [ 3.52465351e-02 -1.78381734e-04 9.99378632e-01 5.69080116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.57, Y:7.76, Z:5.69 [[ 9.98136058e-01 -4.96796915e-02 -3.54448663e-02 2.27574389e+02] [ 4.96599970e-02 9.98765148e-01 -1.43633881e-03 7.76062270e+00] [ 3.54724540e-02 -3.26530401e-04 9.99370601e-01 5.69123280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.60, Y:7.76, Z:5.69 [[ 9.97680542e-01 -5.81571477e-02 -3.53734651e-02 2.27603657e+02] [ 5.81426189e-02 9.98307248e-01 -1.44013665e-03 7.75697528e+00] [ 3.53973408e-02 -6.19909585e-04 9.99373126e-01 5.69095217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.63, Y:7.76, Z:5.69 [[ 9.97448992e-01 -6.20007528e-02 -3.53753563e-02 2.27634800e+02] [ 6.19886056e-02 9.98075817e-01 -1.44111331e-03 7.75615354e+00] [ 3.53966378e-02 -7.55431992e-04 9.99373057e-01 5.69167995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.67, Y:7.76, Z:5.69 [[ 9.97249338e-01 -6.54778480e-02 -3.47334109e-02 2.27666323e+02] [ 6.54682863e-02 9.97853649e-01 -1.41375107e-03 7.75576952e+00] [ 3.47514302e-02 -8.64074572e-04 9.99395613e-01 5.69213805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.70, Y:7.76, Z:5.69 [[ 9.97045561e-01 -6.84222213e-02 -3.49077208e-02 2.27698254e+02] [ 6.84144224e-02 9.97655979e-01 -1.41922703e-03 7.75575245e+00] [ 3.49230030e-02 -9.73157550e-04 9.99389532e-01 5.69302928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.73, Y:7.76, Z:5.69 [[ 9.96800505e-01 -7.16451849e-02 -3.54361615e-02 2.27727302e+02] [ 7.15491601e-02 9.97429165e-01 -3.97215989e-03 7.75554310e+00] [ 3.56296471e-02 1.42402340e-03 9.99364048e-01 5.69376790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.76, Y:7.75, Z:5.69 [[ 9.96793002e-01 -7.25396099e-02 -3.37892940e-02 2.27756985e+02] [ 7.27795724e-02 9.97330450e-01 5.92514927e-03 7.75068906e+00] [ 3.32692837e-02 -8.36531769e-03 9.99411415e-01 5.69107214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.43509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.79, Y:7.76, Z:5.70 [[ 9.96561801e-01 -7.59876450e-02 -3.30220189e-02 2.27790909e+02] [ 7.58232324e-02 9.97101970e-01 -6.20475159e-03 7.75755376e+00] [ 3.33978045e-02 3.67958221e-03 9.99435364e-01 5.69609476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.82, Y:7.76, Z:5.70 [[ 9.96383904e-01 -7.89458011e-02 -3.14114019e-02 2.27823509e+02] [ 7.89453397e-02 9.96878154e-01 -1.25682387e-03 7.75534607e+00] [ 3.14125613e-02 -1.22750473e-03 9.99505750e-01 5.69582197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.86, Y:7.76, Z:5.70 [[ 9.96316275e-01 -8.02379872e-02 -3.02612852e-02 2.27856457e+02] [ 8.02382246e-02 9.96774983e-01 -1.20845157e-03 7.75601558e+00] [ 3.02606557e-02 -1.22411183e-03 9.99541292e-01 5.69670939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.89, Y:7.76, Z:5.70 [[ 9.96248271e-01 -8.15124078e-02 -2.90707739e-02 2.27889359e+02] [ 8.15132572e-02 9.96671585e-01 -1.15783252e-03 7.75691739e+00] [ 2.90683920e-02 -1.21616483e-03 9.99576685e-01 5.69808804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.92, Y:7.76, Z:5.70 [[ 9.96133823e-01 -8.36898355e-02 -2.67098998e-02 2.27921641e+02] [ 8.36914099e-02 9.96491155e-01 -1.06090857e-03 7.75809928e+00] [ 2.67049662e-02 -1.17858227e-03 9.99642664e-01 5.69954170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.95, Y:7.76, Z:5.70 [[ 9.96068861e-01 -8.44740127e-02 -2.66639328e-02 2.27954877e+02] [ 8.44759836e-02 9.96424958e-01 -1.05452587e-03 7.75920975e+00] [ 2.66576882e-02 -1.20208157e-03 9.99643898e-01 5.70052141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.99, Y:7.77, Z:5.70 [[ 9.96223492e-01 -8.41124931e-02 -2.15370257e-02 2.27987364e+02] [ 8.36462495e-02 9.96259086e-01 -2.17057270e-02 7.76964552e+00] [ 2.32821803e-02 1.98222637e-02 9.99532400e-01 5.70178443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.02, Y:7.75, Z:5.70 [[ 9.95990635e-01 -8.50760086e-02 -2.76536978e-02 2.28019116e+02] [ 8.56388129e-02 9.96128573e-01 1.98459037e-02 7.75104522e+00] [ 2.58582282e-02 -2.21345641e-02 9.99420539e-01 5.69532390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.05, Y:7.76, Z:5.70 [[ 9.95927875e-01 -8.59675821e-02 -2.71522089e-02 2.28051290e+02] [ 8.59705255e-02 9.96297116e-01 -1.06110179e-03 7.76230924e+00] [ 2.71428878e-02 -1.27750881e-03 9.99630748e-01 5.70272220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.08, Y:7.76, Z:5.70 [[ 9.95797325e-01 -8.68957686e-02 -2.89277087e-02 2.28083494e+02] [ 8.68995961e-02 9.96216437e-01 -1.12721421e-03 7.76269446e+00] [ 2.89162090e-02 -1.39132930e-03 9.99580871e-01 5.70232161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.12, Y:7.76, Z:5.70 [[ 9.95746406e-01 -8.70355385e-02 -3.02309485e-02 2.28116499e+02] [ 8.70398735e-02 9.96204136e-01 -1.17502541e-03 7.76352587e+00] [ 3.02184648e-02 -1.46127060e-03 9.99542250e-01 5.70300090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.15, Y:7.76, Z:5.70 [[ 9.95705634e-01 -8.73116934e-02 -3.07726848e-02 2.28148255e+02] [ 8.73164178e-02 9.96179914e-01 -1.19281141e-03 7.76456782e+00] [ 3.07592768e-02 -1.49927156e-03 9.99525697e-01 5.70328371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.18, Y:7.77, Z:5.70 [[ 9.95712544e-01 -8.70760807e-02 -3.12135566e-02 2.28180965e+02] [ 8.70809194e-02 9.96200510e-01 -1.20692214e-03 7.76575373e+00] [ 3.12000551e-02 -1.51635770e-03 9.99512010e-01 5.70417472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.21, Y:7.77, Z:5.70 [[ 9.95794310e-01 -8.57184099e-02 -3.23426446e-02 2.28213223e+02] [ 8.57230029e-02 9.96318228e-01 -1.24714042e-03 7.76723792e+00] [ 3.23304693e-02 -1.53061328e-03 9.99476062e-01 5.70496308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.25, Y:7.78, Z:5.70 [[ 9.96213352e-01 -8.30914534e-02 -2.55884423e-02 2.28246260e+02] [ 8.23951981e-02 9.96229590e-01 -2.71594499e-02 7.78053282e+00] [ 2.77486815e-02 2.49482419e-02 9.99303555e-01 5.70425315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.28, Y:7.76, Z:5.70 [[ 9.96316322e-01 -7.84125707e-02 -3.47167969e-02 2.28277386e+02] [ 7.93042888e-02 9.96534450e-01 2.50982064e-02 7.75909500e+00] [ 3.26284692e-02 -2.77589436e-02 9.99081991e-01 5.69851759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.31, Y:7.77, Z:5.71 [[ 9.96601635e-01 -7.52941120e-02 -3.34062540e-02 2.28308453e+02] [ 7.52933463e-02 9.97160602e-01 -1.28269489e-03 7.77449764e+00] [ 3.34079797e-02 -1.23693282e-03 9.99441032e-01 5.70812418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.34, Y:7.78, Z:5.71 [[ 9.96942254e-01 -7.09188348e-02 -3.28125280e-02 2.28340193e+02] [ 7.09158042e-02 9.97481512e-01 -1.25759629e-03 7.77703825e+00] [ 3.28190773e-02 -1.07317593e-03 9.99460733e-01 5.70908325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.37, Y:7.78, Z:5.71 [[ 9.97300472e-01 -6.61634264e-02 -3.18460147e-02 2.28372694e+02] [ 6.61582199e-02 9.97808401e-01 -1.21832530e-03 7.77967198e+00] [ 3.18568296e-02 -8.91839248e-04 9.99492045e-01 5.71016084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.40, Y:7.78, Z:5.71 [[ 9.97968227e-01 -5.63326938e-02 -2.97665171e-02 2.28403241e+02] [ 5.63238304e-02 9.98411906e-01 -1.13681641e-03 7.78444514e+00] [ 2.97832850e-02 -5.42057601e-04 9.99556233e-01 5.71242208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.43, Y:7.79, Z:5.71 [[ 9.98288172e-01 -5.10253795e-02 -2.85855907e-02 2.28433929e+02] [ 5.10150727e-02 9.98697288e-01 -1.09021435e-03 7.78699729e+00] [ 2.86039806e-02 -3.69947898e-04 9.99590754e-01 5.71358027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.47, Y:7.79, Z:5.71 [[ 9.98560408e-01 -4.58980947e-02 -2.77574516e-02 2.28465261e+02] [ 4.58864342e-02 9.98946103e-01 -1.05724412e-03 7.78919883e+00] [ 2.77767236e-02 -2.17968351e-04 9.99614129e-01 5.71448787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.50, Y:7.79, Z:5.72 [[ 9.98922105e-01 -3.76166448e-02 -2.71958714e-02 2.28496379e+02] [ 3.76024078e-02 9.99292244e-01 -1.03489964e-03 7.79183717e+00] [ 2.72155528e-02 1.11538738e-05 9.99629588e-01 5.71521398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.53, Y:7.79, Z:5.72 [[ 9.99044913e-01 -3.45578760e-02 -2.67397544e-02 2.28525994e+02] [ 3.45430383e-02 9.99402694e-01 -1.01674805e-03 7.79330691e+00] [ 2.67589192e-02 9.21046057e-05 9.99641912e-01 5.71608888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.55, Y:7.79, Z:5.72 [[ 9.99120254e-01 -3.24737121e-02 -2.65363084e-02 2.28554966e+02] [ 3.24583373e-02 9.99472579e-01 -1.01003418e-03 7.79441980e+00] [ 2.65551121e-02 1.47821159e-04 9.99647340e-01 5.71690659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.58, Y:7.80, Z:5.72 [[ 9.99161756e-01 -3.11416839e-02 -2.65703182e-02 2.28584004e+02] [ 3.11256246e-02 9.99514962e-01 -1.01787446e-03 7.79519090e+00] [ 2.65891289e-02 1.90003485e-04 9.99646429e-01 5.71747655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.21509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.61, Y:7.79, Z:5.72 [[ 9.99145536e-01 -3.04534134e-02 -2.79425760e-02 2.28611716e+02] [ 3.04351785e-02 9.99536162e-01 -1.07775112e-03 7.79414914e+00] [ 2.79624364e-02 2.26392932e-04 9.99608949e-01 5.71711284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.64, Y:7.79, Z:5.72 [[ 9.99089763e-01 -3.07946540e-02 -2.95183743e-02 2.28638396e+02] [ 3.07742188e-02 9.99525704e-01 -1.14644683e-03 7.79358129e+00] [ 2.95396783e-02 2.36998381e-04 9.99563580e-01 5.71759438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.67, Y:7.79, Z:5.72 [[ 9.99061538e-01 -3.11958411e-02 -3.00476860e-02 2.28665927e+02] [ 3.11747068e-02 9.99513264e-01 -1.17168290e-03 7.79292153e+00] [ 3.00696124e-02 2.33855513e-04 9.99547780e-01 5.71765079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.69, Y:7.79, Z:5.72 [[ 9.99036311e-01 -3.16838088e-02 -3.03740894e-02 2.28693641e+02] [ 3.16621783e-02 9.99497916e-01 -1.19295808e-03 7.79261004e+00] [ 3.03966365e-02 2.30098606e-04 9.99537889e-01 5.71803585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.72, Y:7.79, Z:5.72 [[ 9.99039980e-01 -3.14063428e-02 -3.05411284e-02 2.28720732e+02] [ 3.13841089e-02 9.99506668e-01 -1.20720861e-03 7.79109260e+00] [ 3.05639755e-02 2.47543569e-04 9.99532782e-01 5.71884574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.75, Y:7.79, Z:5.72 [[ 9.99066647e-01 -3.10255911e-02 -3.00540897e-02 2.28748422e+02] [ 3.10037526e-02 9.99518557e-01 -1.19248061e-03 7.79069272e+00] [ 3.00766178e-02 2.59578040e-04 9.99547562e-01 5.71920764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.78, Y:7.79, Z:5.72 [[ 9.99085898e-01 -3.04444638e-02 -3.00083724e-02 2.28776775e+02] [ 3.04221856e-02 9.99536419e-01 -1.19878855e-03 7.79002417e+00] [ 3.00309576e-02 2.84772462e-04 9.99548929e-01 5.71988178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.80, Y:7.79, Z:5.72 [[ 9.99120896e-01 -2.98935594e-02 -2.93906362e-02 2.28804931e+02] [ 2.98717110e-02 9.99553042e-01 -1.18226808e-03 7.78934745e+00] [ 2.94128420e-02 3.03280154e-04 9.99567303e-01 5.72051286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.83, Y:7.79, Z:5.72 [[ 9.99145468e-01 -2.93241236e-02 -2.91278126e-02 2.28831741e+02] [ 2.93022040e-02 9.99569903e-01 -1.17918536e-03 7.78866899e+00] [ 2.91498634e-02 3.24668602e-04 9.99575000e-01 5.72128356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.86, Y:7.79, Z:5.72 [[ 9.99212947e-01 -2.93477408e-02 -2.66870199e-02 2.28860146e+02] [ 2.93292572e-02 9.99569217e-01 -1.08385333e-03 7.78519829e+00] [ 2.67073322e-02 3.00289807e-04 9.99643250e-01 5.72199806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.89, Y:7.78, Z:5.72 [[ 9.99182593e-01 -2.99809112e-02 -2.71162418e-02 2.28888327e+02] [ 2.99618504e-02 9.99550428e-01 -1.10905039e-03 7.78386587e+00] [ 2.71373015e-02 2.95691064e-04 9.99631672e-01 5.72276100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.92, Y:7.78, Z:5.72 [[ 9.99136043e-01 -3.11690010e-02 -2.74893000e-02 2.28916758e+02] [ 3.11496466e-02 9.99514091e-01 -1.13211655e-03 7.78252997e+00] [ 2.75112297e-02 2.74856472e-04 9.99621457e-01 5.72262572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.95, Y:7.78, Z:5.72 [[ 9.99077050e-01 -3.23535629e-02 -2.82541239e-02 2.28945066e+02] [ 3.23333611e-02 9.99476453e-01 -1.17169866e-03 7.78133609e+00] [ 2.82772402e-02 2.57066452e-04 9.99600086e-01 5.72289044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.97, Y:7.78, Z:5.72 [[ 9.99081558e-01 -3.37473177e-02 -2.64037801e-02 2.28972949e+02] [ 3.37299791e-02 9.99430375e-01 -1.10189936e-03 7.77704798e+00] [ 2.64259260e-02 2.10288371e-04 9.99650752e-01 5.72327150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.00, Y:7.78, Z:5.72 [[ 9.99081599e-01 -3.42270851e-02 -2.57772032e-02 2.29000407e+02] [ 3.42105383e-02 9.99414062e-01 -1.08277197e-03 7.77528576e+00] [ 2.57991594e-02 1.99925560e-04 9.99667126e-01 5.72420125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.03, Y:7.77, Z:5.72 [[ 9.99073350e-01 -3.46513678e-02 -2.55288930e-02 2.29028306e+02] [ 3.46351897e-02 9.99399443e-01 -1.07575007e-03 7.77342396e+00] [ 2.55508377e-02 1.90555173e-04 9.99673506e-01 5.72491817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.06, Y:7.77, Z:5.73 [[ 9.99065170e-01 -3.45193557e-02 -2.60230623e-02 2.29056756e+02] [ 3.45023015e-02 9.99404008e-01 -1.10420145e-03 7.76875214e+00] [ 2.60456691e-02 2.05313670e-04 9.99660733e-01 5.72561420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.09, Y:7.77, Z:5.73 [[ 9.99055839e-01 -3.47886056e-02 -2.60227446e-02 2.29085124e+02] [ 3.47714490e-02 9.99394672e-01 -1.11164171e-03 7.77002492e+00] [ 2.60456648e-02 2.05743602e-04 9.99660733e-01 5.72630111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.11, Y:7.77, Z:5.73 [[ 9.99047030e-01 -3.47402250e-02 -2.64224879e-02 2.29112688e+02] [ 3.47223275e-02 9.99396353e-01 -1.13600109e-03 7.76872840e+00] [ 2.64460029e-02 2.17468235e-04 9.99650220e-01 5.72670984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.14, Y:7.77, Z:5.73 [[ 9.99041700e-01 -3.46753725e-02 -2.67076789e-02 2.29140746e+02] [ 3.46568529e-02 9.99398602e-01 -1.15613389e-03 7.76756716e+00] [ 2.67317063e-02 2.29421868e-04 9.99642618e-01 5.72698303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.17, Y:7.77, Z:5.73 [[ 9.99024247e-01 -3.47530754e-02 -2.72539343e-02 2.29168385e+02] [ 3.47335999e-02 9.99395901e-01 -1.18781626e-03 7.76626739e+00] [ 2.72787504e-02 2.40029998e-04 9.99627837e-01 5.72777982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.20, Y:7.76, Z:5.73 [[ 9.99010261e-01 -3.49394213e-02 -2.75269937e-02 2.29195700e+02] [ 3.49194189e-02 9.99389402e-01 -1.20716363e-03 7.76493317e+00] [ 2.75523634e-02 2.44742226e-04 9.99620332e-01 5.72802994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.22, Y:7.76, Z:5.73 [[ 9.98969564e-01 -3.54937057e-02 -2.82844002e-02 2.29224127e+02] [ 3.54726869e-02 9.99369871e-01 -1.24469709e-03 7.76334791e+00] [ 2.83107563e-02 2.40090833e-04 9.99599141e-01 5.72848248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.25, Y:7.76, Z:5.73 [[ 9.98891650e-01 -3.66520717e-02 -2.95312980e-02 2.29252565e+02] [ 3.66294010e-02 9.99328062e-01 -1.30847622e-03 7.75923079e+00] [ 2.95594131e-02 2.25312214e-04 9.99563000e-01 5.72855787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.93509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.28, Y:7.76, Z:5.73 [[ 9.98814419e-01 -3.79097381e-02 -3.05386487e-02 2.29280632e+02] [ 3.78858035e-02 9.99281147e-01 -1.36220036e-03 7.75789196e+00] [ 3.05683365e-02 2.03604121e-04 9.99532658e-01 5.72915014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.31, Y:7.76, Z:5.73 [[ 9.98770032e-01 -3.92863622e-02 -3.02490610e-02 2.29307451e+02] [ 3.92632635e-02 9.99227979e-01 -1.35744211e-03 7.75630329e+00] [ 3.02790370e-02 1.68095646e-04 9.99541471e-01 5.72939079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.34, Y:7.75, Z:5.73 [[ 9.98712383e-01 -4.10596948e-02 -2.97939222e-02 2.29335589e+02] [ 4.10378842e-02 9.99156688e-01 -1.34341619e-03 7.75493779e+00] [ 2.98239569e-02 1.19006860e-04 9.99555160e-01 5.73003216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.36, Y:7.75, Z:5.73 [[ 9.98538308e-01 -4.52958199e-02 -2.94878871e-02 2.29362976e+02] [ 4.52760762e-02 9.98973618e-01 -1.33724366e-03 7.75177267e+00] [ 2.95181928e-02 1.93201097e-07 9.99564243e-01 5.73185882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.39, Y:7.75, Z:5.73 [[ 9.98425266e-01 -4.79754280e-02 -2.90748533e-02 2.29390973e+02] [ 4.79572404e-02 9.98848513e-01 -1.32294602e-03 7.75063171e+00] [ 2.91048429e-02 -7.34870002e-05 9.99576362e-01 5.73248725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.42, Y:7.75, Z:5.73 [[ 9.98162571e-01 -5.33633820e-02 -2.87024789e-02 2.29418773e+02] [ 5.33476487e-02 9.98575136e-01 -1.31418241e-03 7.74614237e+00] [ 2.87317110e-02 -2.19442073e-04 9.99587135e-01 5.73292941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.45, Y:7.74, Z:5.73 [[ 9.98027211e-01 -5.58073693e-02 -2.87615111e-02 2.29447821e+02] [ 5.57923780e-02 9.98441514e-01 -1.32409206e-03 7.74459798e+00] [ 2.87905808e-02 -2.83193193e-04 9.99585425e-01 5.73356524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.48, Y:7.74, Z:5.73 [[ 9.97769541e-01 -6.02887727e-02 -2.86567189e-02 2.29477922e+02] [ 6.02756961e-02 9.98180894e-01 -1.32071619e-03 7.74046617e+00] [ 2.86842136e-02 -4.09533287e-04 9.99588439e-01 5.73382443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.51, Y:7.74, Z:5.73 [[ 9.97675579e-01 -6.19866324e-02 -2.83036607e-02 2.29508669e+02] [ 6.19745347e-02 9.98076877e-01 -1.30529810e-03 7.73920095e+00] [ 2.83301404e-02 -4.51842172e-04 9.99598519e-01 5.73431905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.54, Y:7.74, Z:5.74 [[ 9.97626982e-01 -6.29041350e-02 -2.79906021e-02 2.29538065e+02] [ 6.28926624e-02 9.98019462e-01 -1.29093165e-03 7.73830599e+00] [ 2.80163706e-02 -4.72535247e-04 9.99607353e-01 5.73545861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.57, Y:7.74, Z:5.74 [[ 9.97594093e-01 -6.33260786e-02 -2.82105199e-02 2.29567139e+02] [ 6.33145791e-02 9.97992770e-01 -1.30159006e-03 7.73801443e+00] [ 2.82363196e-02 -4.87678645e-04 9.99601157e-01 5.73632947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.60, Y:7.74, Z:5.74 [[ 9.97627459e-01 -6.28127916e-02 -2.81781261e-02 2.29597299e+02] [ 6.28011017e-02 9.98025215e-01 -1.30052742e-03 7.73796522e+00] [ 2.82041701e-02 -4.72175499e-04 9.99602072e-01 5.73683319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.63, Y:7.74, Z:5.74 [[ 9.97816450e-01 -5.97061576e-02 -2.82401484e-02 2.29626180e+02] [ 5.96931659e-02 9.98215922e-01 -1.30361284e-03 7.73673274e+00] [ 2.82675995e-02 -3.84977525e-04 9.99600317e-01 5.73765508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.66, Y:7.74, Z:5.74 [[ 9.97957513e-01 -5.71718127e-02 -2.84988836e-02 2.29655802e+02] [ 5.71575070e-02 9.98364305e-01 -1.31701860e-03 7.73704876e+00] [ 2.85275645e-02 -3.14596528e-04 9.99592957e-01 5.73836637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.69, Y:7.74, Z:5.74 [[ 9.98108545e-01 -5.42675144e-02 -2.88854585e-02 2.29685074e+02] [ 5.42515715e-02 9.98526405e-01 -1.33593294e-03 7.73746530e+00] [ 2.89153908e-02 -2.33675431e-04 9.99581835e-01 5.73911683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.71, Y:7.74, Z:5.74 [[ 9.98451015e-01 -4.78246306e-02 -2.84319322e-02 2.29712510e+02] [ 4.78065318e-02 9.98855747e-01 -1.31636889e-03 7.73701548e+00] [ 2.84623537e-02 -4.49022207e-05 9.99594864e-01 5.73903896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.74, Y:7.74, Z:5.74 [[ 9.98593480e-01 -4.47232428e-02 -2.84761819e-02 2.29740253e+02] [ 4.47037022e-02 9.98999414e-01 -1.32278275e-03 7.73763515e+00] [ 2.85068481e-02 4.79314741e-05 9.99593596e-01 5.73966832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.77, Y:7.74, Z:5.74 [[ 9.98831465e-01 -3.89259949e-02 -2.86438569e-02 2.29767817e+02] [ 3.88004874e-02 9.99234842e-01 -4.92470926e-03 7.73955845e+00] [ 2.88136390e-02 3.80755896e-03 9.99577549e-01 5.74080843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.80, Y:7.74, Z:5.74 [[ 9.98975641e-01 -3.55074065e-02 -2.80516116e-02 2.29796189e+02] [ 3.55837807e-02 9.99364213e-01 2.22799347e-03 7.73564708e+00] [ 2.79546665e-02 -3.22389360e-03 9.99603993e-01 5.73944863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.82, Y:7.74, Z:5.74 [[ 9.98988826e-01 -3.53091352e-02 -2.78314823e-02 2.29824703e+02] [ 3.51866371e-02 9.99368848e-01 -4.87909498e-03 7.73712453e+00] [ 2.79861930e-02 3.89486509e-03 9.99600722e-01 5.73870763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.85, Y:7.73, Z:5.74 [[ 9.98694768e-01 -4.10427947e-02 -3.04014635e-02 2.29851457e+02] [ 4.11286810e-02 9.99151425e-01 2.20488491e-03 7.73290185e+00] [ 3.02851709e-02 -3.45237912e-03 9.99535337e-01 5.73915705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.88, Y:7.73, Z:5.74 [[ 9.98530676e-01 -4.49440354e-02 -3.02741423e-02 2.29879275e+02] [ 4.49210923e-02 9.98989503e-01 -1.43789104e-03 7.73443372e+00] [ 3.03081750e-02 7.58307682e-05 9.99540599e-01 5.74051047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.91, Y:7.74, Z:5.74 [[ 9.98522868e-01 -4.51174158e-02 -3.02737710e-02 2.29907682e+02] [ 4.50943165e-02 9.98981688e-01 -1.44566949e-03 7.73587274e+00] [ 3.03081678e-02 7.83590275e-05 9.99540599e-01 5.74119858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.93, Y:7.74, Z:5.74 [[ 9.98291694e-01 -4.98604303e-02 -3.04570268e-02 2.29934274e+02] [ 4.98390911e-02 9.98756193e-01 -1.45985541e-03 7.73552075e+00] [ 3.04919331e-02 -6.05889996e-05 9.99535011e-01 5.74187075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.96, Y:7.74, Z:5.74 [[ 9.98013921e-01 -5.50617742e-02 -3.06008777e-02 2.29962067e+02] [ 5.50424791e-02 9.98482927e-01 -1.47319282e-03 7.73533378e+00] [ 3.06355705e-02 -2.14081228e-04 9.99530598e-01 5.74287812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.99, Y:7.74, Z:5.74 [[ 9.97727938e-01 -6.04520081e-02 -2.97408138e-02 2.29990251e+02] [ 6.04359356e-02 9.98171040e-01 -1.43985029e-03 7.73506621e+00] [ 2.97734609e-02 -3.60835044e-04 9.99556607e-01 5.74349595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.71509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.02, Y:7.73, Z:5.74 [[ 9.97392186e-01 -6.59189554e-02 -2.93856810e-02 2.30017473e+02] [ 6.59054095e-02 9.97824850e-01 -1.43033062e-03 7.73458904e+00] [ 2.94160487e-02 -5.10074760e-04 9.99567124e-01 5.74442345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.05, Y:7.74, Z:5.75 [[ 9.97053811e-01 -7.07115690e-02 -2.97249493e-02 2.30045005e+02] [ 7.05839074e-02 9.97491639e-01 -5.32364385e-03 7.73596053e+00] [ 3.00268316e-02 3.20985632e-03 9.99543939e-01 5.74542054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.07, Y:7.73, Z:5.74 [[ 9.96700855e-01 -7.60593104e-02 -2.83264495e-02 2.30073897e+02] [ 7.61568436e-02 9.97093013e-01 2.37884139e-03 7.73168172e+00] [ 2.80631719e-02 -4.52824623e-03 9.99595895e-01 5.74453391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.10, Y:7.73, Z:5.75 [[ 9.96354623e-01 -8.07405414e-02 -2.75395938e-02 2.30102284e+02] [ 8.07339348e-02 9.96734769e-01 -1.35352970e-03 7.73325814e+00] [ 2.75589553e-02 -8.74784197e-04 9.99619797e-01 5.74567599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.13, Y:7.73, Z:5.75 [[ 9.95719143e-01 -8.85937835e-02 -2.63539198e-02 2.30132711e+02] [ 8.85904470e-02 9.96067293e-01 -1.29643066e-03 7.73265839e+00] [ 2.63651333e-02 -1.04382472e-03 9.99651834e-01 5.74652036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.16, Y:7.73, Z:5.75 [[ 9.95436704e-01 -9.18299837e-02 -2.59426821e-02 2.30163777e+02] [ 9.18278488e-02 9.95774080e-01 -1.27613558e-03 7.73367588e+00] [ 2.59502379e-02 -1.11194849e-03 9.99662617e-01 5.74722705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.20, Y:7.73, Z:5.75 [[ 9.95202431e-01 -9.43405667e-02 -2.59225402e-02 2.30195664e+02] [ 9.43393104e-02 9.95539287e-01 -1.27415678e-03 7.73486093e+00] [ 2.59271119e-02 -1.17747064e-03 9.99663142e-01 5.74799100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.23, Y:7.74, Z:5.75 [[ 9.94985212e-01 -9.65305008e-02 -2.61971298e-02 2.30228074e+02] [ 9.65300263e-02 9.95329243e-01 -1.28569601e-03 7.73630917e+00] [ 2.61988783e-02 -1.24956112e-03 9.99655970e-01 5.74869742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.26, Y:7.74, Z:5.75 [[ 9.94849574e-01 -9.80005854e-02 -2.58884154e-02 2.30259171e+02] [ 9.80006662e-02 9.95185540e-01 -1.26869730e-03 7.73762254e+00] [ 2.58881098e-02 -1.27491899e-03 9.99664034e-01 5.74920207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.29, Y:7.74, Z:5.75 [[ 9.94680415e-01 -9.98507235e-02 -2.53121345e-02 2.30290839e+02] [ 9.98514327e-02 9.95001586e-01 -1.23907789e-03 7.73892454e+00] [ 2.53093368e-02 -1.29496639e-03 9.99678829e-01 5.74959180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.32, Y:7.74, Z:5.75 [[ 9.94679633e-01 -9.99985922e-02 -2.47529512e-02 2.30323385e+02] [ 9.99993595e-02 9.94986766e-01 -1.20994301e-03 7.74068332e+00] [ 2.47498514e-02 -1.27177360e-03 9.99692867e-01 5.75011362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.36, Y:7.74, Z:5.75 [[ 9.94716487e-01 -9.97703114e-02 -2.41866897e-02 2.30355481e+02] [ 9.97710178e-02 9.95009724e-01 -1.18055538e-03 7.74321529e+00] [ 2.41837758e-02 -1.23881275e-03 9.99706762e-01 5.75087264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.39, Y:7.75, Z:5.75 [[ 9.94874670e-01 -9.82601850e-02 -2.38605585e-02 2.30386186e+02] [ 9.82604790e-02 9.95160050e-01 -1.16296126e-03 7.74749946e+00] [ 2.38593474e-02 -1.18754921e-03 9.99714620e-01 5.75141510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.42, Y:7.75, Z:5.75 [[ 9.94982840e-01 -9.71245413e-02 -2.39994264e-02 2.30417964e+02] [ 9.71245786e-02 9.95271548e-01 -1.16684514e-03 7.75069172e+00] [ 2.39992756e-02 -1.16994328e-03 9.99711291e-01 5.75212513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.45, Y:7.75, Z:5.75 [[ 9.95123767e-01 -9.55334674e-02 -2.45365978e-02 2.30449092e+02] [ 9.55330682e-02 9.95425544e-01 -1.19116260e-03 7.75409039e+00] [ 2.45381521e-02 -1.15870225e-03 9.99698223e-01 5.75247027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.48, Y:7.76, Z:5.75 [[ 9.95432070e-01 -9.18861833e-02 -2.59214843e-02 2.30481426e+02] [ 9.18845430e-02 9.95768874e-01 -1.25689309e-03 7.75953947e+00] [ 2.59272983e-02 -1.13063205e-03 9.99663192e-01 5.75248240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.51, Y:7.76, Z:5.75 [[ 9.95623504e-01 -8.97636538e-02 -2.60062426e-02 2.30513339e+02] [ 8.97613295e-02 9.95962509e-01 -1.25909657e-03 7.76294059e+00] [ 2.60142638e-02 -1.08076877e-03 9.99660988e-01 5.75268385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.55, Y:7.77, Z:5.75 [[ 9.95844278e-01 -8.71981592e-02 -2.62803221e-02 2.30545675e+02] [ 8.71949446e-02 9.96190458e-01 -1.27043873e-03 7.76657836e+00] [ 2.62909860e-02 -1.02635208e-03 9.99653805e-01 5.75316750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.58, Y:7.77, Z:5.75 [[ 9.96012869e-01 -8.50925692e-02 -2.67884230e-02 2.30577191e+02] [ 8.50885218e-02 9.96372557e-01 -1.29302339e-03 7.77119416e+00] [ 2.68012762e-02 -9.91519380e-04 9.99640290e-01 5.75394912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.61, Y:7.78, Z:5.75 [[ 9.96428728e-01 -7.97417558e-02 -2.77676626e-02 2.30609059e+02] [ 7.97353896e-02 9.96815167e-01 -1.33820235e-03 7.77873499e+00] [ 2.77859379e-02 -8.80642130e-04 9.99613508e-01 5.75488161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.64, Y:7.78, Z:5.76 [[ 9.96631103e-01 -7.70531418e-02 -2.80937460e-02 2.30639710e+02] [ 7.70456145e-02 9.97026652e-01 -1.35191340e-03 7.78282219e+00] [ 2.81143827e-02 -8.17140979e-04 9.99604379e-01 5.75572910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.67, Y:7.79, Z:5.76 [[ 9.96861459e-01 -7.39643002e-02 -2.82225616e-02 2.30669921e+02] [ 7.39555109e-02 9.97260619e-01 -1.35654934e-03 7.78666671e+00] [ 2.82455855e-02 -7.34922207e-04 9.99600744e-01 5.75599614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.70, Y:7.79, Z:5.76 [[ 9.97062714e-01 -7.11369388e-02 -2.83809825e-02 2.30700649e+02] [ 7.11269511e-02 9.97466340e-01 -1.36257377e-03 7.79057207e+00] [ 2.84060041e-02 -6.60081257e-04 9.99596250e-01 5.75676360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.73, Y:7.79, Z:5.76 [[ 9.97261006e-01 -6.82719732e-02 -2.84503572e-02 2.30731965e+02] [ 6.82608003e-02 9.97666578e-01 -1.36488321e-03 7.79445435e+00] [ 2.84771538e-02 -5.80899351e-04 9.99594275e-01 5.75735332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.43509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.76, Y:7.80, Z:5.76 [[ 9.97604522e-01 -6.33146588e-02 -2.78652319e-02 2.30761970e+02] [ 6.33020372e-02 9.97993521e-01 -1.33573650e-03 7.80088101e+00] [ 2.78938926e-02 -4.31389181e-04 9.99610797e-01 5.75763156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.79, Y:7.81, Z:5.76 [[ 9.97728846e-01 -6.12856795e-02 -2.79502212e-02 2.30792263e+02] [ 6.12722252e-02 9.98120195e-01 -1.33837010e-03 7.80501566e+00] [ 2.79797032e-02 -3.77241793e-04 9.99608420e-01 5.75876959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.82, Y:7.81, Z:5.76 [[ 9.97833132e-01 -5.95940163e-02 -2.78853792e-02 2.30822186e+02] [ 5.95799602e-02 9.98222643e-01 -1.33540119e-03 7.80902233e+00] [ 2.79153988e-02 -3.28902228e-04 9.99610235e-01 5.75952377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.85, Y:7.81, Z:5.76 [[ 9.97907472e-01 -5.82966937e-02 -2.79673538e-02 2.30852810e+02] [ 5.82820211e-02 9.98299259e-01 -1.34019768e-03 7.81248936e+00] [ 2.79979177e-02 -2.92600625e-04 9.99607939e-01 5.75997757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.88, Y:7.82, Z:5.76 [[ 9.97948888e-01 -5.76480707e-02 -2.78337299e-02 2.30882519e+02] [ 5.76332839e-02 9.98336930e-01 -1.33386195e-03 7.81595274e+00] [ 2.78643350e-02 -2.73023207e-04 9.99611677e-01 5.76062152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.91, Y:7.82, Z:5.76 [[ 9.98001639e-01 -5.70426981e-02 -2.71819639e-02 2.30912337e+02] [ 5.70283567e-02 9.98371708e-01 -1.30316063e-03 7.82031088e+00] [ 2.72120395e-02 -2.49586291e-04 9.99629653e-01 5.76172708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.94, Y:7.82, Z:5.76 [[ 9.98002619e-01 -5.70255693e-02 -2.71819266e-02 2.30943298e+02] [ 5.70112004e-02 9.98372687e-01 -1.30393765e-03 7.82179818e+00] [ 2.72120509e-02 -2.48341076e-04 9.99629653e-01 5.76247568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.97, Y:7.82, Z:5.76 [[ 9.98003338e-01 -5.71644536e-02 -2.68619082e-02 2.30974034e+02] [ 5.71504824e-02 9.98364744e-01 -1.28817570e-03 7.82455864e+00] [ 2.68916200e-02 -2.49567366e-04 9.99638324e-01 5.76363766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.00, Y:7.83, Z:5.76 [[ 9.97990687e-01 -5.75726055e-02 -2.64571934e-02 2.31004789e+02] [ 5.75591956e-02 9.98341289e-01 -1.26876741e-03 7.82744195e+00] [ 2.64863548e-02 -2.56636714e-04 9.99649142e-01 5.76459940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.04, Y:7.83, Z:5.77 [[ 9.97922193e-01 -5.90696353e-02 -2.57308186e-02 2.31035421e+02] [ 5.90574492e-02 9.98253823e-01 -1.23393375e-03 7.83183099e+00] [ 2.57587761e-02 -2.88226634e-04 9.99668146e-01 5.76593094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.07, Y:7.83, Z:5.77 [[ 9.97851248e-01 -6.04084908e-02 -2.53712699e-02 2.31066068e+02] [ 6.03970760e-02 9.98173689e-01 -1.21666878e-03 7.83443525e+00] [ 2.53984312e-02 -3.18296060e-04 9.99677357e-01 5.76703921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.10, Y:7.84, Z:5.77 [[ 9.97743402e-01 -6.22074193e-02 -2.52653982e-02 2.31097709e+02] [ 6.21966880e-02 9.98063177e-01 -1.21111989e-03 7.83697440e+00] [ 2.52918042e-02 -3.63037212e-04 9.99680045e-01 5.76767000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.13, Y:7.84, Z:5.77 [[ 9.97499568e-01 -6.62778453e-02 -2.45328358e-02 2.31129711e+02] [ 6.62689787e-02 9.97801103e-01 -1.17514328e-03 7.83932326e+00] [ 2.45567766e-02 -4.53561058e-04 9.99698334e-01 5.76783387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.16, Y:7.84, Z:5.77 [[ 9.97340269e-01 -6.86865645e-02 -2.43832842e-02 2.31161996e+02] [ 6.86785678e-02 9.97638158e-01 -1.16622501e-03 7.84088024e+00] [ 2.44057987e-02 -5.11485873e-04 9.99702003e-01 5.76852909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.19, Y:7.84, Z:5.77 [[ 9.97177733e-01 -7.11070662e-02 -2.40905323e-02 2.31193333e+02] [ 7.11000084e-02 9.97468528e-01 -1.15046940e-03 7.84239129e+00] [ 2.41113543e-02 -5.65614577e-04 9.99709119e-01 5.76904680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.23, Y:7.84, Z:5.77 [[ 9.96998497e-01 -7.35554342e-02 -2.41576950e-02 2.31225648e+02] [ 7.35490873e-02 9.97290932e-01 -1.15234582e-03 7.84409544e+00] [ 2.41770115e-02 -6.27889364e-04 9.99707496e-01 5.76965855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.26, Y:7.85, Z:5.77 [[ 9.96606970e-01 -7.83559905e-02 -2.51969545e-02 2.31257914e+02] [ 7.83506649e-02 9.96925139e-01 -1.20006718e-03 7.84648455e+00] [ 2.52135098e-02 -7.78202827e-04 9.99681786e-01 5.76988095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.29, Y:7.85, Z:5.77 [[ 9.96414628e-01 -8.05577270e-02 -2.58523208e-02 2.31289717e+02] [ 8.05529100e-02 9.96749576e-01 -1.22938266e-03 7.84817809e+00] [ 2.58673261e-02 -8.57504806e-04 9.99665017e-01 5.77031103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.32, Y:7.85, Z:5.77 [[ 9.96215348e-01 -8.28951652e-02 -2.61413956e-02 2.31321038e+02] [ 8.28910920e-02 9.96557839e-01 -1.24127489e-03 7.84965902e+00] [ 2.61543084e-02 -9.30311732e-04 9.99657485e-01 5.77074891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.35, Y:7.85, Z:5.77 [[ 9.96037596e-01 -8.49558840e-02 -2.62983806e-02 2.31353528e+02] [ 8.49525169e-02 9.96384220e-01 -1.24727891e-03 7.85114666e+00] [ 2.63092551e-02 -9.91776934e-04 9.99653360e-01 5.77118829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.38, Y:7.85, Z:5.77 [[ 9.95867274e-01 -8.67956454e-02 -2.67374131e-02 2.31384760e+02] [ 8.67928775e-02 9.96225573e-01 -1.26621436e-03 7.85241495e+00] [ 2.67463966e-02 -1.05963558e-03 9.99641690e-01 5.77172548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.42, Y:7.85, Z:5.77 [[ 9.95517440e-01 -9.07055561e-02 -2.67867411e-02 2.31417159e+02] [ 9.07042298e-02 9.95877069e-01 -1.26707081e-03 7.85432294e+00] [ 2.67912316e-02 -1.16827963e-03 9.99640368e-01 5.77178758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.45, Y:7.86, Z:5.77 [[ 9.95369016e-01 -9.22066704e-02 -2.71744663e-02 2.31449057e+02] [ 9.22059279e-02 9.95739133e-01 -1.28305283e-03 7.85637094e+00] [ 2.71769856e-02 -1.22853586e-03 9.99629883e-01 5.77251624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.48, Y:7.86, Z:5.77 [[ 9.95236657e-01 -9.35084781e-02 -2.75710316e-02 2.31481176e+02] [ 9.35083501e-02 9.95617651e-01 -1.29677960e-03 7.85851746e+00] [ 2.75714656e-02 -1.28751909e-03 9.99619006e-01 5.77305631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.51, Y:7.86, Z:5.77 [[ 9.95107614e-01 -9.46448500e-02 -2.83405897e-02 2.31514593e+02] [ 9.46453017e-02 9.95510172e-01 -1.32849882e-03 7.86072276e+00] [ 2.83390809e-02 -1.36030437e-03 9.99597442e-01 5.77385263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.55, Y:7.86, Z:5.77 [[ 9.94994629e-01 -9.57233125e-02 -2.86833601e-02 2.31548034e+02] [ 9.57243115e-02 9.95406980e-01 -1.34146095e-03 7.86311270e+00] [ 2.86800259e-02 -1.41094846e-03 9.99587648e-01 5.77448199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.21509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.58, Y:7.87, Z:5.78 [[ 9.94794594e-01 -9.76044363e-02 -2.92760940e-02 2.31579786e+02] [ 9.76063817e-02 9.95224160e-01 -1.36603624e-03 7.86687295e+00] [ 2.92696072e-02 -1.49860814e-03 9.99570430e-01 5.77512585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.61, Y:7.87, Z:5.78 [[ 9.94711892e-01 -9.82879705e-02 -2.97947546e-02 2.31612560e+02] [ 9.82903755e-02 9.95156810e-01 -1.38741901e-03 7.86965735e+00] [ 2.97868195e-02 -1.54845543e-03 9.99555075e-01 5.77625717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.64, Y:7.87, Z:5.78 [[ 9.94657012e-01 -9.88294180e-02 -2.98357924e-02 2.31644822e+02] [ 9.88321647e-02 9.95103151e-01 -1.38624214e-03 7.87223617e+00] [ 2.98266926e-02 -1.56990048e-03 9.99553852e-01 5.77667864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.68, Y:7.88, Z:5.78 [[ 9.94480553e-01 -1.00299150e-01 -3.07978969e-02 2.31677642e+02] [ 1.00302870e-01 9.94955926e-01 -1.42801884e-03 7.87643491e+00] [ 3.07857791e-02 -1.66898048e-03 9.99524612e-01 5.77801280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.71, Y:7.88, Z:5.78 [[ 9.94412079e-01 -1.01050687e-01 -3.05511823e-02 2.31710444e+02] [ 1.01054802e-01 9.94879857e-01 -1.41329168e-03 7.87952186e+00] [ 3.05375700e-02 -1.68194936e-03 9.99532205e-01 5.77938001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.74, Y:7.88, Z:5.78 [[ 9.94366146e-01 -1.01673524e-01 -2.99743627e-02 2.31742955e+02] [ 1.01677863e-01 9.94816414e-01 -1.38335227e-03 7.88267341e+00] [ 2.99596384e-02 -1.67217050e-03 9.99549711e-01 5.78039160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.77, Y:7.89, Z:5.78 [[ 9.94289183e-01 -1.02457415e-01 -2.98579778e-02 2.31774773e+02] [ 1.02462167e-01 9.94735952e-01 -1.37482265e-03 7.88569191e+00] [ 2.98416647e-02 -1.69234182e-03 9.99553206e-01 5.78191418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.81, Y:7.89, Z:5.78 [[ 9.94149699e-01 -1.03942027e-01 -2.93671839e-02 2.31806316e+02] [ 1.03947347e-01 9.94581886e-01 -1.34959245e-03 7.89001871e+00] [ 2.93483485e-02 -1.71094392e-03 9.99567780e-01 5.78310961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.84, Y:7.89, Z:5.78 [[ 9.94088478e-01 -1.04528100e-01 -2.93594003e-02 2.31839191e+02] [ 1.04533752e-01 9.94520428e-01 -1.34649849e-03 7.89297732e+00] [ 2.93392703e-02 -1.73050964e-03 9.99568013e-01 5.78411911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.87, Y:7.90, Z:5.79 [[ 9.94042321e-01 -1.04930469e-01 -2.94866169e-02 2.31871612e+02] [ 1.04936441e-01 9.94478015e-01 -1.34913117e-03 7.89621478e+00] [ 2.94653573e-02 -1.75312717e-03 9.99564265e-01 5.78510434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.90, Y:7.90, Z:5.79 [[ 9.93974662e-01 -1.05322602e-01 -3.03565758e-02 2.31904261e+02] [ 1.05329219e-01 9.94436441e-01 -1.38549727e-03 7.90095186e+00] [ 3.03336094e-02 -1.82028523e-03 9.99538173e-01 5.78606036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.94, Y:7.90, Z:5.79 [[ 9.93977328e-01 -1.05176478e-01 -3.07730349e-02 2.31936350e+02] [ 1.05183330e-01 9.94451862e-01 -1.40057641e-03 7.90404684e+00] [ 3.07496095e-02 -1.84466907e-03 9.99525417e-01 5.78687487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.97, Y:7.91, Z:5.79 [[ 9.94075290e-01 -1.04499995e-01 -2.99009909e-02 2.31968030e+02] [ 1.04281592e-01 9.94509082e-01 -8.77696406e-03 7.91249561e+00] [ 3.06539997e-02 5.60684015e-03 9.99514330e-01 5.78618781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.00, Y:7.91, Z:5.79 [[ 9.93926479e-01 -1.05139369e-01 -3.24941139e-02 2.32000587e+02] [ 1.05388108e-01 9.94412857e-01 6.03464021e-03 7.90849067e+00] [ 3.16780863e-02 -9.42248187e-03 9.99453709e-01 5.78548809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.03, Y:7.92, Z:5.79 [[ 9.93918669e-01 -1.05346973e-01 -3.20576823e-02 2.32032938e+02] [ 1.05354984e-01 9.94433629e-01 -1.44386529e-03 7.91530043e+00] [ 3.20313442e-02 -1.94235195e-03 9.99484978e-01 5.78824620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.06, Y:7.92, Z:5.79 [[ 9.93921529e-01 -1.05289597e-01 -3.21573334e-02 2.32064573e+02] [ 1.05297739e-01 9.94439691e-01 -1.44492602e-03 7.91853064e+00] [ 3.21306643e-02 -1.94995141e-03 9.99481775e-01 5.78932603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.10, Y:7.92, Z:5.79 [[ 9.93934045e-01 -1.05254141e-01 -3.18854295e-02 2.32097279e+02] [ 1.05262225e-01 9.94443473e-01 -1.42964852e-03 7.92211147e+00] [ 3.18587336e-02 -1.93535491e-03 9.99490508e-01 5.79000159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.13, Y:7.93, Z:5.79 [[ 9.94008752e-01 -1.04600100e-01 -3.17083440e-02 2.32129126e+02] [ 1.04607890e-01 9.94512534e-01 -1.41766910e-03 7.92772847e+00] [ 3.16826338e-02 -1.90776747e-03 9.99496159e-01 5.79101982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.16, Y:7.93, Z:5.79 [[ 9.94049226e-01 -1.04381412e-01 -3.11553611e-02 2.32160949e+02] [ 1.04388980e-01 9.94535577e-01 -1.38797604e-03 7.93153270e+00] [ 3.11299939e-02 -1.87255986e-03 9.99513590e-01 5.79192165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.19, Y:7.94, Z:5.79 [[ 9.94137018e-01 -1.03707288e-01 -3.06004407e-02 2.32193728e+02] [ 1.03714357e-01 9.94606194e-01 -1.36041688e-03 7.93505052e+00] [ 3.05764730e-02 -1.82126426e-03 9.99530771e-01 5.79275975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.23, Y:7.94, Z:5.79 [[ 9.94196006e-01 -1.03205345e-01 -3.03802332e-02 2.32225446e+02] [ 1.03212173e-01 9.94658450e-01 -1.34752391e-03 7.93838831e+00] [ 3.03570273e-02 -1.79590701e-03 9.99537506e-01 5.79382877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.26, Y:7.94, Z:5.79 [[ 9.94292410e-01 -1.02519840e-01 -2.95344836e-02 2.32258700e+02] [ 1.02526069e-01 9.94729459e-01 -1.30736691e-03 7.94302658e+00] [ 2.95128519e-02 -1.72814952e-03 9.99562907e-01 5.79473198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.29, Y:7.95, Z:5.80 [[ 9.94348394e-01 -1.02163827e-01 -2.88760046e-02 2.32291726e+02] [ 1.02169719e-01 9.94766165e-01 -1.27519854e-03 7.94590729e+00] [ 2.88551515e-02 -1.68226165e-03 9.99582188e-01 5.79554716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.32, Y:7.95, Z:5.80 [[ 9.94360023e-01 -1.02109103e-01 -2.86683861e-02 2.32323639e+02] [ 1.02114972e-01 9.94771802e-01 -1.26308225e-03 7.94883389e+00] [ 2.86474743e-02 -1.67151295e-03 9.99588179e-01 5.79681577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.93509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.36, Y:7.95, Z:5.80 [[ 9.94365031e-01 -1.02367162e-01 -2.75526460e-02 2.32356614e+02] [ 1.02372747e-01 9.94745371e-01 -1.21152730e-03 7.95242022e+00] [ 2.75318877e-02 -1.61593968e-03 9.99619620e-01 5.79791304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.39, Y:7.95, Z:5.80 [[ 9.94379943e-01 -1.02215248e-01 -2.75784859e-02 2.32390048e+02] [ 1.02220865e-01 9.94760992e-01 -1.20975987e-03 7.95469260e+00] [ 2.75576579e-02 -1.61613575e-03 9.99618909e-01 5.79865954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.42, Y:7.96, Z:5.80 [[ 9.94398671e-01 -1.01919875e-01 -2.79932563e-02 2.32421643e+02] [ 1.01925629e-01 9.94791267e-01 -1.22498609e-03 7.95692984e+00] [ 2.79722974e-02 -1.63510572e-03 9.99607361e-01 5.79941631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.45, Y:7.96, Z:5.80 [[ 9.94416123e-01 -1.01635999e-01 -2.84024147e-02 2.32454321e+02] [ 1.01641882e-01 9.94820280e-01 -1.24027842e-03 7.95946167e+00] [ 2.83813551e-02 -1.65352203e-03 9.99595801e-01 5.79974984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.49, Y:7.96, Z:5.80 [[ 9.94466111e-01 -1.00938878e-01 -2.91289791e-02 2.32486203e+02] [ 1.00944856e-01 9.94891213e-01 -1.26900237e-03 7.96162083e+00] [ 2.91082570e-02 -1.67844074e-03 9.99574856e-01 5.80032773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.52, Y:7.96, Z:5.80 [[ 9.94584747e-01 -9.93394843e-02 -3.05425610e-02 2.32519155e+02] [ 9.93453924e-02 9.95052124e-01 -1.32775113e-03 7.96434134e+00] [ 3.05233383e-02 -1.71370168e-03 9.99532585e-01 5.79998390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.55, Y:7.97, Z:5.80 [[ 9.94621450e-01 -9.87484360e-02 -3.12556906e-02 2.32552031e+02] [ 9.87544356e-02 9.95110910e-01 -1.35546909e-03 7.96663593e+00] [ 3.12367292e-02 -1.73845946e-03 9.99510502e-01 5.80071283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.59, Y:7.97, Z:5.80 [[ 9.94671545e-01 -9.79638711e-02 -3.21184770e-02 2.32585447e+02] [ 9.79699119e-02 9.95188407e-01 -1.38939262e-03 7.96939863e+00] [ 3.21000463e-02 -1.76465506e-03 9.99483103e-01 5.80133321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.62, Y:7.97, Z:5.80 [[ 9.94819960e-01 -9.64828873e-02 -3.20046893e-02 2.32617060e+02] [ 9.64882290e-02 9.95333167e-01 -1.38110226e-03 7.97366818e+00] [ 3.19885815e-02 -1.71412769e-03 9.99486765e-01 5.80302345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.65, Y:7.98, Z:5.80 [[ 9.94934146e-01 -9.55401270e-02 -3.12750518e-02 2.32648832e+02] [ 9.55448495e-02 9.95424215e-01 -1.34684391e-03 7.97635650e+00] [ 3.12606216e-02 -1.64814913e-03 9.99509908e-01 5.80419376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.68, Y:7.98, Z:5.81 [[ 9.95064749e-01 -9.44027335e-02 -3.05658322e-02 2.32681644e+02] [ 9.44067919e-02 9.95532838e-01 -1.31357769e-03 7.97892143e+00] [ 3.05532950e-02 -1.57852730e-03 9.99531893e-01 5.80517622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.71, Y:7.98, Z:5.81 [[ 9.95214738e-01 -9.30617888e-02 -2.97847099e-02 2.32714805e+02] [ 9.30651347e-02 9.95659204e-01 -1.27692460e-03 7.98149935e+00] [ 2.97742534e-02 -1.50110385e-03 9.99555521e-01 5.80623231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.75, Y:7.98, Z:5.81 [[ 9.95368714e-01 -9.15943903e-02 -2.91820405e-02 2.32747219e+02] [ 9.15970744e-02 9.95795370e-01 -1.24760768e-03 7.98421943e+00] [ 2.91736147e-02 -1.43115988e-03 9.99573335e-01 5.80710514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.78, Y:7.99, Z:5.81 [[ 9.95544321e-01 -8.96891448e-02 -2.91094848e-02 2.32780544e+02] [ 8.96911445e-02 9.95968856e-01 -1.23964621e-03 7.98799769e+00] [ 2.91033231e-02 -1.37674027e-03 9.99575460e-01 5.80871158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.81, Y:7.99, Z:5.81 [[ 9.95606813e-01 -8.90483822e-02 -2.89388862e-02 2.32813934e+02] [ 8.90501790e-02 9.96026382e-01 -1.22924730e-03 7.98985105e+00] [ 2.89333567e-02 -1.35316601e-03 9.99580427e-01 5.80957827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.85, Y:7.99, Z:5.81 [[ 9.95606238e-01 -8.90006890e-02 -2.91049219e-02 2.32845930e+02] [ 8.90025770e-02 9.96030632e-01 -1.23318245e-03 7.99142953e+00] [ 2.90991479e-02 -1.36264892e-03 9.99575601e-01 5.81045392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.88, Y:7.99, Z:5.81 [[ 9.95575976e-01 -8.92550747e-02 -2.93599824e-02 2.32878658e+02] [ 8.92571878e-02 9.96007838e-01 -1.24122043e-03 7.99323998e+00] [ 2.93535578e-02 -1.38486022e-03 9.99568132e-01 5.81176213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.91, Y:7.99, Z:5.81 [[ 9.95501991e-01 -8.98741220e-02 -2.99737911e-02 2.32911951e+02] [ 8.98767021e-02 9.95952098e-01 -1.26391779e-03 7.99414049e+00] [ 2.99660537e-02 -1.43571282e-03 9.99549886e-01 5.81315475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.94, Y:7.99, Z:5.81 [[ 9.95436391e-01 -9.05660015e-02 -3.00697768e-02 2.32944768e+02] [ 9.05690100e-02 9.95889379e-01 -1.26474364e-03 7.99488394e+00] [ 3.00607141e-02 -1.46441807e-03 9.99547002e-01 5.81450806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.98, Y:8.00, Z:5.82 [[ 9.95379701e-01 -9.11066005e-02 -3.03123459e-02 2.32977423e+02] [ 9.11100090e-02 9.95840022e-01 -1.27160967e-03 7.99559794e+00] [ 3.03020993e-02 -1.49602366e-03 9.99539666e-01 5.81601974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.01, Y:8.00, Z:5.82 [[ 9.95391225e-01 -9.09805608e-02 -3.03124884e-02 2.33010939e+02] [ 9.09840144e-02 9.95851546e-01 -1.26820537e-03 7.99691509e+00] [ 3.03021205e-02 -1.49559139e-03 9.99539666e-01 5.81683096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.04, Y:8.00, Z:5.82 [[ 9.95272514e-01 -9.18100231e-02 -3.16787365e-02 2.33042730e+02] [ 9.18143382e-02 9.95775266e-01 -1.32148591e-03 7.99792181e+00] [ 3.16662279e-02 -1.59332362e-03 9.99497229e-01 5.81889258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.08, Y:8.00, Z:5.82 [[ 9.95198063e-01 -9.23676640e-02 -3.23887459e-02 2.33075929e+02] [ 9.23725700e-02 9.95723602e-01 -1.34800871e-03 7.99953672e+00] [ 3.23747511e-02 -1.65029604e-03 9.99474438e-01 5.82038574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.11, Y:8.00, Z:5.82 [[ 9.95166894e-01 -9.25908506e-02 -3.27075957e-02 2.33109173e+02] [ 9.25960882e-02 9.95702828e-01 -1.35779774e-03 8.00108001e+00] [ 3.26927652e-02 -1.67736006e-03 9.99464041e-01 5.82183611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.14, Y:8.00, Z:5.82 [[ 9.95151741e-01 -9.26182922e-02 -3.30887280e-02 2.33141827e+02] [ 9.26237853e-02 9.95700235e-01 -1.37007499e-03 8.00273393e+00] [ 3.30733483e-02 -1.70137073e-03 9.99451479e-01 5.82312668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.17, Y:8.00, Z:5.82 [[ 9.95145235e-01 -9.25280052e-02 -3.35340082e-02 2.33174963e+02] [ 9.25337193e-02 9.95708588e-01 -1.38485186e-03 8.00455878e+00] [ 3.35182375e-02 -1.72489777e-03 9.99436618e-01 5.82492998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.71509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.21, Y:8.01, Z:5.83 [[ 9.95242372e-01 -9.15848776e-02 -3.32389926e-02 2.33208336e+02] [ 9.15900867e-02 9.95795853e-01 -1.36906031e-03 8.00574578e+00] [ 3.32246363e-02 -1.68181539e-03 9.99446494e-01 5.82569309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.24, Y:8.01, Z:5.83 [[ 9.95374469e-01 -9.01760003e-02 -3.31354143e-02 2.33240977e+02] [ 9.01805182e-02 9.95924506e-01 -1.36117500e-03 8.00705685e+00] [ 3.31231164e-02 -1.63328999e-03 9.99449944e-01 5.82686200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.27, Y:8.01, Z:5.83 [[ 9.95524898e-01 -8.84905098e-02 -3.31603171e-02 2.33273348e+02] [ 8.84942170e-02 9.96075764e-01 -1.35872592e-03 8.00840802e+00] [ 3.31504226e-02 -1.58185082e-03 9.99449122e-01 5.82825787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.31, Y:8.01, Z:5.83 [[ 9.95713624e-01 -8.64883534e-02 -3.27741297e-02 2.33306677e+02] [ 8.64909937e-02 9.96251732e-01 -1.33980768e-03 8.01032012e+00] [ 3.27671612e-02 -1.50060228e-03 9.99461886e-01 5.82946033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.34, Y:8.01, Z:5.83 [[ 9.96049501e-01 -8.28142517e-02 -3.20498116e-02 2.33340038e+02] [ 8.28149865e-02 9.96564082e-01 -1.30680108e-03 8.01295650e+00] [ 3.20479128e-02 -1.35256615e-03 9.99485419e-01 5.83099690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.37, Y:8.01, Z:5.83 [[ 9.96186837e-01 -8.11172503e-02 -3.21212807e-02 2.33372504e+02] [ 8.11172165e-02 9.96703713e-01 -1.30633528e-03 8.01457432e+00] [ 3.21213661e-02 -1.30423487e-03 9.99483125e-01 5.83223123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.41, Y:8.02, Z:5.83 [[ 9.96288042e-01 -7.98398894e-02 -3.21827558e-02 2.33405037e+02] [ 7.98392889e-02 9.96806893e-01 -1.30577227e-03 8.01602936e+00] [ 3.21842455e-02 -1.26852303e-03 9.99481148e-01 5.83301834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.44, Y:8.02, Z:5.83 [[ 9.96344579e-01 -7.90265655e-02 -3.24388842e-02 2.33437836e+02] [ 7.90256394e-02 9.96871720e-01 -1.31264677e-03 8.01735079e+00] [ 3.24411403e-02 -1.25565507e-03 9.99472859e-01 5.83373287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.47, Y:8.02, Z:5.83 [[ 9.96368520e-01 -7.85293219e-02 -3.29077178e-02 2.33470313e+02] [ 7.85282118e-02 9.96911007e-01 -1.32817458e-03 8.01839022e+00] [ 3.29103668e-02 -1.26083289e-03 9.99457512e-01 5.83427982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.50, Y:8.02, Z:5.83 [[ 9.96387418e-01 -7.76482359e-02 -3.43928006e-02 2.33503597e+02] [ 7.76466170e-02 9.96979982e-01 -1.38472491e-03 8.01855140e+00] [ 3.43964552e-02 -1.29076214e-03 9.99407433e-01 5.83464571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.54, Y:8.02, Z:5.84 [[ 9.96399028e-01 -7.73706368e-02 -3.46808496e-02 2.33535399e+02] [ 7.73689490e-02 9.97001558e-01 -1.39269370e-03 8.01921838e+00] [ 3.46846147e-02 -1.29554224e-03 9.99397468e-01 5.83546042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.57, Y:8.02, Z:5.84 [[ 9.96353813e-01 -7.75676547e-02 -3.55293971e-02 2.33567537e+02] [ 7.75661180e-02 9.96986194e-01 -1.42370446e-03 8.01949156e+00] [ 3.55327518e-02 -1.33736404e-03 9.99367618e-01 5.83728968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.60, Y:8.02, Z:5.84 [[ 9.96319070e-01 -7.76534979e-02 -3.63076330e-02 2.33600226e+02] [ 7.76520467e-02 9.96979463e-01 -1.45224706e-03 8.02018518e+00] [ 3.63107365e-02 -1.37246057e-03 9.99339605e-01 5.83782191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.63, Y:8.02, Z:5.84 [[ 9.96238144e-01 -7.81876526e-02 -3.73664356e-02 2.33632619e+02] [ 7.81865930e-02 9.96937626e-01 -1.49188570e-03 8.02085321e+00] [ 3.73686527e-02 -1.43528085e-03 9.99300517e-01 5.83865719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.66, Y:8.02, Z:5.84 [[ 9.96205205e-01 -7.81161247e-02 -3.83804821e-02 2.33664966e+02] [ 7.81150610e-02 9.96943177e-01 -1.52961226e-03 8.02106448e+00] [ 3.83826472e-02 -1.47428600e-03 9.99262027e-01 5.83899776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.70, Y:8.02, Z:5.84 [[ 9.96302303e-01 -7.71212090e-02 -3.78687331e-02 2.33697203e+02] [ 7.71195555e-02 9.97020714e-01 -1.50657678e-03 8.02238718e+00] [ 3.78721003e-02 -1.41941395e-03 9.99281587e-01 5.83983431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.73, Y:8.02, Z:5.84 [[ 9.96554485e-01 -7.47813780e-02 -3.58734553e-02 2.33728326e+02] [ 7.47784581e-02 9.97199153e-01 -1.42498209e-03 8.02409653e+00] [ 3.58795414e-02 -1.26248939e-03 9.99355325e-01 5.84114922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.76, Y:8.03, Z:5.84 [[ 9.96616326e-01 -7.39784462e-02 -3.58202164e-02 2.33760789e+02] [ 7.39750911e-02 9.97259077e-01 -1.42080208e-03 8.02543864e+00] [ 3.58271447e-02 -1.23380922e-03 9.99357240e-01 5.84248557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.79, Y:8.03, Z:5.84 [[ 9.96682321e-01 -7.32186425e-02 -3.55440856e-02 2.33792704e+02] [ 7.32149440e-02 9.97315192e-01 -1.40738392e-03 8.02657846e+00] [ 3.55517033e-02 -1.19964357e-03 9.99367118e-01 5.84316865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.82, Y:8.03, Z:5.84 [[ 9.96617933e-01 -7.39332469e-02 -3.58687955e-02 2.33824856e+02] [ 7.39300351e-02 9.97262423e-01 -1.41767110e-03 8.02739513e+00] [ 3.58754150e-02 -1.23890487e-03 9.99355502e-01 5.84315213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.86, Y:8.03, Z:5.84 [[ 9.96508647e-01 -7.51534973e-02 -3.63657617e-02 2.33857436e+02] [ 7.51511039e-02 9.97171125e-01 -1.43466482e-03 8.02823167e+00] [ 3.63707076e-02 -1.30327124e-03 9.99337517e-01 5.84365821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.89, Y:8.03, Z:5.84 [[ 9.96389829e-01 -7.66573997e-02 -3.64821984e-02 2.33889487e+02] [ 7.66560941e-02 9.97056558e-01 -1.43660450e-03 8.02858208e+00] [ 3.64849416e-02 -1.36516472e-03 9.99333270e-01 5.84399330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.92, Y:8.03, Z:5.84 [[ 9.96214767e-01 -7.88472796e-02 -3.65956781e-02 2.33920940e+02] [ 7.88475306e-02 9.96885649e-01 -1.43861572e-03 8.02897184e+00] [ 3.65951373e-02 -1.45230862e-03 9.99329118e-01 5.84467455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.95, Y:8.03, Z:5.85 [[ 9.96038078e-01 -8.12082274e-02 -3.62404713e-02 2.33952218e+02] [ 8.12101037e-02 9.96695989e-01 -1.42268974e-03 8.02925873e+00] [ 3.62362665e-02 -1.52603928e-03 9.99342086e-01 5.84533878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.43509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.98, Y:8.03, Z:5.85 [[ 9.95728881e-01 -8.51129433e-02 -3.57740463e-02 2.33984418e+02] [ 8.51173614e-02 9.96369946e-01 -1.40223732e-03 8.02863175e+00] [ 3.57635331e-02 -1.64874423e-03 9.99358920e-01 5.84562420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.02, Y:8.03, Z:5.85 [[ 9.95584655e-01 -8.66679656e-02 -3.60535395e-02 2.34016257e+02] [ 8.66735741e-02 9.96235767e-01 -1.41031321e-03 8.02891257e+00] [ 3.60400546e-02 -1.72080294e-03 9.99348865e-01 5.84665804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.05, Y:8.03, Z:5.85 [[ 9.95504235e-01 -8.76710639e-02 -3.58483200e-02 2.34047969e+02] [ 8.76774110e-02 9.96147939e-01 -1.39799125e-03 8.02943027e+00] [ 3.58327935e-02 -1.75138168e-03 9.99356265e-01 5.84769860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.08, Y:8.03, Z:5.85 [[ 9.95437000e-01 -8.91150193e-02 -3.41129458e-02 2.34080813e+02] [ 8.91217876e-02 9.96019855e-01 -1.32511856e-03 8.02989338e+00] [ 3.40952593e-02 -1.72113467e-03 9.99417106e-01 5.84913951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.11, Y:8.03, Z:5.85 [[ 9.95441247e-01 -8.93363807e-02 -3.34026141e-02 2.34113319e+02] [ 8.93431137e-02 9.96000067e-01 -1.29392969e-03 8.03082088e+00] [ 3.33846009e-02 -1.69626257e-03 9.99441139e-01 5.85081155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.15, Y:8.03, Z:5.85 [[ 9.95486275e-01 -8.92041332e-02 -3.23990723e-02 2.34145660e+02] [ 8.92105055e-02 9.96012007e-01 -1.25170041e-03 8.03160064e+00] [ 3.23815219e-02 -1.64428704e-03 9.99474228e-01 5.85221721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.18, Y:8.03, Z:5.85 [[ 9.95597076e-01 -8.84389188e-02 -3.10647789e-02 2.34177831e+02] [ 8.84444898e-02 9.96080388e-01 -1.19740511e-03 8.03192611e+00] [ 3.10489142e-02 -1.55537549e-03 9.99516656e-01 5.85364824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.21, Y:8.03, Z:5.85 [[ 9.95639112e-01 -8.79591440e-02 -3.10797016e-02 2.34210640e+02] [ 8.79645783e-02 9.96122886e-01 -1.19504930e-03 8.03256390e+00] [ 3.10643176e-02 -1.54407502e-03 9.99516195e-01 5.85458948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.24, Y:8.03, Z:5.86 [[ 9.95666164e-01 -8.76953204e-02 -3.09583857e-02 2.34242696e+02] [ 8.77006856e-02 9.96146164e-01 -1.18713658e-03 8.03333175e+00] [ 3.09431835e-02 -1.53307993e-03 9.99519969e-01 5.85513703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.28, Y:8.03, Z:5.86 [[ 9.95682141e-01 -8.73571013e-02 -3.13976352e-02 2.34275646e+02] [ 8.73625463e-02 9.96175860e-01 -1.20099485e-03 8.03381303e+00] [ 3.13824816e-02 -1.54716824e-03 9.99506251e-01 5.85590892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.31, Y:8.03, Z:5.86 [[ 9.95670619e-01 -8.74065549e-02 -3.16245615e-02 2.34308653e+02] [ 8.74122102e-02 9.96171496e-01 -1.20631314e-03 8.03465778e+00] [ 3.16089265e-02 -1.56328227e-03 9.99499091e-01 5.85660238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.34, Y:8.03, Z:5.86 [[ 9.95587996e-01 -8.78318973e-02 -3.30166700e-02 2.34341313e+02] [ 8.78384161e-02 9.96133945e-01 -1.25577863e-03 8.03460496e+00] [ 3.29993231e-02 -1.64989387e-03 9.99454012e-01 5.85726786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.37, Y:8.03, Z:5.86 [[ 9.95532522e-01 -8.81327852e-02 -3.38763839e-02 2.34374711e+02] [ 8.81399497e-02 9.96107273e-01 -1.28472572e-03 8.03474754e+00] [ 3.38577389e-02 -1.70687654e-03 9.99425205e-01 5.85769344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.41, Y:8.03, Z:5.86 [[ 9.95417411e-01 -8.87768585e-02 -3.55365612e-02 2.34408124e+02] [ 8.87852957e-02 9.96049881e-01 -1.34369138e-03 8.03426146e+00] [ 3.55154762e-02 -1.81759030e-03 9.99367474e-01 5.85829372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.44, Y:8.03, Z:5.86 [[ 9.95338673e-01 -8.92201303e-02 -3.66154897e-02 2.34439825e+02] [ 8.92295302e-02 9.96010133e-01 -1.38060888e-03 8.03418794e+00] [ 3.65925769e-02 -1.89300953e-03 9.99328474e-01 5.85945062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.47, Y:8.04, Z:5.86 [[ 9.95623577e-01 -8.58186074e-02 -3.69981127e-02 2.34471329e+02] [ 8.58259874e-02 9.96309170e-01 -1.39166468e-03 8.03506085e+00] [ 3.69809897e-02 -1.78982539e-03 9.99314366e-01 5.86173209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.50, Y:8.04, Z:5.87 [[ 9.96535325e-01 -7.46741325e-02 -3.66212987e-02 2.34503821e+02] [ 7.46739585e-02 9.97207055e-01 -1.37445225e-03 8.03689674e+00] [ 3.66216534e-02 -1.36496711e-03 9.99328270e-01 5.86512546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.54, Y:8.04, Z:5.87 [[ 9.96613731e-01 -7.34376393e-02 -3.69862715e-02 2.34535375e+02] [ 7.34367037e-02 9.97298917e-01 -1.38567443e-03 8.03779291e+00] [ 3.69881292e-02 -1.33516770e-03 9.99314813e-01 5.86629791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.57, Y:8.04, Z:5.87 [[ 9.96620137e-01 -7.33506067e-02 -3.69863623e-02 2.34568045e+02] [ 7.33497012e-02 9.97305323e-01 -1.38324777e-03 8.03895635e+00] [ 3.69881581e-02 -1.33436604e-03 9.99314813e-01 5.86708900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.60, Y:8.04, Z:5.87 [[ 9.96669407e-01 -7.26783351e-02 -3.69858566e-02 2.34599940e+02] [ 7.26770798e-02 9.97354569e-01 -1.38019295e-03 8.03997186e+00] [ 3.69883232e-02 -1.31242796e-03 9.99314836e-01 5.86802964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.63, Y:8.04, Z:5.87 [[ 9.96675923e-01 -7.25888563e-02 -3.69859642e-02 2.34632611e+02] [ 7.25876465e-02 9.97361086e-01 -1.37730503e-03 8.04113354e+00] [ 3.69883384e-02 -1.31199733e-03 9.99314836e-01 5.86882062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.66, Y:8.04, Z:5.87 [[ 9.96688669e-01 -7.22446540e-02 -3.73149665e-02 2.34664383e+02] [ 7.22432992e-02 9.97386075e-01 -1.38641831e-03 8.04212419e+00] [ 3.73175893e-02 -1.31392887e-03 9.99302592e-01 5.86965016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.70, Y:8.04, Z:5.87 [[ 9.96695686e-01 -7.21477287e-02 -3.73150784e-02 2.34697057e+02] [ 7.21464189e-02 9.97393092e-01 -1.38340229e-03 8.04328169e+00] [ 3.73176107e-02 -1.31331818e-03 9.99302592e-01 5.87044120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.73, Y:8.04, Z:5.87 [[ 9.96668088e-01 -7.20838436e-02 -3.81659827e-02 2.34728263e+02] [ 7.20825785e-02 9.97397669e-01 -1.41099238e-03 8.04407102e+00] [ 3.81683719e-02 -1.34481137e-03 9.99270417e-01 5.87171417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.15509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.76, Y:8.05, Z:5.87 [[ 9.96671927e-01 -7.20306703e-02 -3.81661088e-02 2.34760087e+02] [ 7.20294971e-02 9.97401509e-01 -1.40757251e-03 8.04521652e+00] [ 3.81683229e-02 -1.34619762e-03 9.99270417e-01 5.87248432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.79, Y:8.05, Z:5.87 [[ 9.96675764e-01 -7.19775303e-02 -3.81661837e-02 2.34791910e+02] [ 7.19763959e-02 9.97405345e-01 -1.40553908e-03 8.04636099e+00] [ 3.81683229e-02 -1.34619762e-03 9.99270417e-01 5.87325494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.21509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.82, Y:8.05, Z:5.87 [[ 9.96698748e-01 -7.28706193e-02 -3.57977521e-02 2.34822579e+02] [ 7.25937435e-02 9.97321202e-01 -8.97599089e-03 8.05206023e+00] [ 3.63559432e-02 6.34766604e-03 9.99318744e-01 5.87338433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.86, Y:8.04, Z:5.87 [[ 9.96586790e-01 -7.28055779e-02 -3.89116756e-02 2.34855553e+02] [ 7.30935375e-02 9.97306874e-01 6.02776905e-03 8.04380139e+00] [ 3.83680263e-02 -8.85138702e-03 9.99224473e-01 5.87192863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.89, Y:8.05, Z:5.87 [[ 9.96431454e-01 -7.47969545e-02 -3.91123121e-02 2.34886611e+02] [ 7.47981923e-02 9.97197661e-01 -1.43373173e-03 8.04648972e+00] [ 3.91099449e-02 -1.49691485e-03 9.99233792e-01 5.87479374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.92, Y:8.05, Z:5.87 [[ 9.96370414e-01 -7.63171091e-02 -3.77054101e-02 2.34916965e+02] [ 7.61566719e-02 9.97079713e-01 -5.67522140e-03 8.04970687e+00] [ 3.80284159e-02 2.78310415e-03 9.99272783e-01 5.87436955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.95, Y:8.05, Z:5.88 [[ 9.96225326e-01 -7.75880641e-02 -3.89254569e-02 2.34949439e+02] [ 7.77519604e-02 9.96969045e-01 2.71220892e-03 8.04516207e+00] [ 3.85970406e-02 -5.72850180e-03 9.99238436e-01 5.87515309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.98, Y:8.05, Z:5.88 [[ 9.96286672e-01 -7.83916486e-02 -3.56035927e-02 2.34981868e+02] [ 7.80226439e-02 9.96883631e-01 -1.16401462e-02 8.05254774e+00] [ 3.64051290e-02 8.81903612e-03 9.99298199e-01 5.87644036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.01, Y:8.04, Z:5.87 [[ 9.96025615e-01 -8.03070543e-02 -3.85194884e-02 2.35014056e+02] [ 8.07060611e-02 9.96698072e-01 8.91543270e-03 8.04312623e+00] [ 3.76763277e-02 -1.19887555e-02 9.99218076e-01 5.87468335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.05, Y:8.05, Z:5.88 [[ 9.96026950e-01 -8.04682938e-02 -3.81466669e-02 2.35046466e+02] [ 8.04741544e-02 9.96755734e-01 -1.38430769e-03 8.04925453e+00] [ 3.81343019e-02 -1.69101300e-03 9.99271192e-01 5.87879037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.08, Y:8.05, Z:5.88 [[ 9.95795930e-01 -8.37589698e-02 -3.70796427e-02 2.35077878e+02] [ 8.37668859e-02 9.96484473e-01 -1.34275366e-03 8.04937441e+00] [ 3.70617559e-02 -1.76893757e-03 9.99311411e-01 5.88008537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.11, Y:8.05, Z:5.88 [[ 9.95692410e-01 -8.51474342e-02 -3.66952264e-02 2.35110551e+02] [ 8.51562083e-02 9.96366730e-01 -1.32661272e-03 8.05006897e+00] [ 3.66748604e-02 -1.80392812e-03 9.99325623e-01 5.88108537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.14, Y:8.05, Z:5.88 [[ 9.95592754e-01 -8.64994257e-02 -3.62342130e-02 2.35141422e+02] [ 8.65089890e-02 9.96250213e-01 -1.30673888e-03 8.05070538e+00] [ 3.62113746e-02 -1.83360537e-03 9.99342471e-01 5.88203931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.17, Y:8.05, Z:5.88 [[ 9.95412727e-01 -8.88026625e-02 -3.56032386e-02 2.35172510e+02] [ 8.88134869e-02 9.96047451e-01 -1.28051385e-03 8.05035100e+00] [ 3.55762281e-02 -1.88740798e-03 9.99365183e-01 5.88253251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.21, Y:8.05, Z:5.88 [[ 9.95330318e-01 -8.97010313e-02 -3.56550658e-02 2.35205783e+02] [ 8.97125522e-02 9.95966877e-01 -1.27984272e-03 8.05076514e+00] [ 3.56260678e-02 -1.92484069e-03 9.99363336e-01 5.88322893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.24, Y:8.05, Z:5.88 [[ 9.95191450e-01 -9.13631917e-02 -3.53092739e-02 2.35238976e+02] [ 9.13756644e-02 9.95815691e-01 -1.26368956e-03 8.05041023e+00] [ 3.52769837e-02 -1.96879532e-03 9.99375634e-01 5.88373864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.27, Y:8.05, Z:5.88 [[ 9.95143281e-01 -9.19773086e-02 -3.50717044e-02 2.35271976e+02] [ 9.19901257e-02 9.95759133e-01 -1.25142168e-03 8.05087897e+00] [ 3.50380723e-02 -1.98090662e-03 9.99384015e-01 5.88389098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.30, Y:8.05, Z:5.88 [[ 9.95110771e-01 -9.22385497e-02 -3.53072678e-02 2.35304169e+02] [ 9.22518328e-02 9.95734915e-01 -1.25617161e-03 8.05158779e+00] [ 3.52725467e-02 -2.00713026e-03 9.99375715e-01 5.88429016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.34, Y:8.05, Z:5.88 [[ 9.95118383e-01 -9.20573058e-02 -3.55648179e-02 2.35336069e+02] [ 9.20707824e-02 9.95751665e-01 -1.26213135e-03 8.05172735e+00] [ 3.55299151e-02 -2.01851050e-03 9.99366575e-01 5.88445866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.37, Y:8.05, Z:5.89 [[ 9.95166792e-01 -9.16744763e-02 -3.51972539e-02 2.35369021e+02] [ 9.16875517e-02 9.95787046e-01 -1.24581462e-03 8.05261131e+00] [ 3.51631789e-02 -1.98735670e-03 9.99379608e-01 5.88500797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.40, Y:8.05, Z:5.89 [[ 9.95221991e-01 -9.11249750e-02 -3.50631910e-02 2.35401787e+02] [ 9.11377397e-02 9.95837528e-01 -1.23739599e-03 8.05372761e+00] [ 3.50299991e-02 -1.96409627e-03 9.99384331e-01 5.88575094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.43, Y:8.05, Z:5.89 [[ 9.95276456e-01 -9.07541780e-02 -3.44739849e-02 2.35434261e+02] [ 9.07664119e-02 9.95871471e-01 -1.21320287e-03 8.05465514e+00] [ 3.44417613e-02 -1.92160767e-03 9.99404859e-01 5.88609541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.47, Y:8.06, Z:5.89 [[ 9.95293092e-01 -9.05549126e-02 -3.45176519e-02 2.35467494e+02] [ 9.05671702e-02 9.95889612e-01 -1.21149381e-03 8.05589074e+00] [ 3.44854777e-02 -1.92037464e-03 9.99403354e-01 5.88660883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.50, Y:8.06, Z:5.89 [[ 9.95332894e-01 -8.98779029e-02 -3.51339202e-02 2.35499599e+02] [ 8.98903447e-02 9.95950911e-01 -1.22850817e-03 8.05690769e+00] [ 3.51020756e-02 -1.93542561e-03 9.99381858e-01 5.88751426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.53, Y:8.06, Z:5.89 [[ 9.95367268e-01 -8.93770572e-02 -3.54364736e-02 2.35531269e+02] [ 8.93896167e-02 9.95995972e-01 -1.23292295e-03 8.05800666e+00] [ 3.54047800e-02 -1.94044164e-03 9.99371170e-01 5.88756790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.56, Y:8.06, Z:5.89 [[ 9.95385455e-01 -8.91535131e-02 -3.54886868e-02 2.35564613e+02] [ 8.91661574e-02 9.96016006e-01 -1.22940241e-03 8.05897309e+00] [ 3.54569057e-02 -1.94066055e-03 9.99369322e-01 5.88794472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.93509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.60, Y:8.06, Z:5.89 [[ 9.95356494e-01 -8.94415935e-02 -3.55759927e-02 2.35597963e+02] [ 8.94546196e-02 9.95990141e-01 -1.22860443e-03 8.06034482e+00] [ 3.55432263e-02 -1.95953750e-03 9.99366219e-01 5.88858712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.63, Y:8.06, Z:5.89 [[ 9.95356217e-01 -8.94562443e-02 -3.55468995e-02 2.35631326e+02] [ 8.94693952e-02 9.95988820e-01 -1.22374849e-03 8.06175249e+00] [ 3.55137864e-02 -1.96229392e-03 9.99367260e-01 5.88913734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.66, Y:8.06, Z:5.89 [[ 9.95294089e-01 -9.01567540e-02 -3.55167118e-02 2.35662901e+02] [ 9.01704587e-02 9.95925601e-01 -1.21900187e-03 8.06373378e+00] [ 3.54819038e-02 -1.98929284e-03 9.99368339e-01 5.88971992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.70, Y:8.06, Z:5.89 [[ 9.95292506e-01 -9.01824003e-02 -3.54959406e-02 2.35695994e+02] [ 9.01962267e-02 9.95923273e-01 -1.21486154e-03 8.06489726e+00] [ 3.54607925e-02 -1.99245732e-03 9.99369082e-01 5.89020583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.73, Y:8.07, Z:5.89 [[ 9.95239604e-01 -9.06876196e-02 -3.56915349e-02 2.35729143e+02] [ 9.07020604e-02 9.95877329e-01 -1.21770120e-03 8.06617031e+00] [ 3.56548208e-02 -2.02539129e-03 9.99362112e-01 5.89084247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.76, Y:8.07, Z:5.89 [[ 9.95164814e-01 -9.13362651e-02 -3.61203503e-02 2.35761088e+02] [ 9.13516151e-02 9.95817942e-01 -1.22862746e-03 8.06765392e+00] [ 3.60815111e-02 -2.07696552e-03 9.99346692e-01 5.89157671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.79, Y:8.07, Z:5.89 [[ 9.95060042e-01 -9.24116185e-02 -3.62712723e-02 2.35794241e+02] [ 9.24279349e-02 9.95718617e-01 -1.23028898e-03 8.06956958e+00] [ 3.62296741e-02 -2.12826739e-03 9.99341224e-01 5.89216494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.83, Y:8.07, Z:5.89 [[ 9.94970208e-01 -9.34561833e-02 -3.60586613e-02 2.35826519e+02] [ 9.34731237e-02 9.95621057e-01 -1.21942005e-03 8.07064020e+00] [ 3.60147248e-02 -2.15722909e-03 9.99348931e-01 5.89340945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.86, Y:8.07, Z:5.89 [[ 9.94889374e-01 -9.45078636e-02 -3.55442936e-02 2.35859326e+02] [ 9.45251109e-02 9.95521756e-01 -1.19867212e-03 8.07178999e+00] [ 3.54984015e-02 -2.16728213e-03 9.99367383e-01 5.89454893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.89, Y:8.07, Z:5.90 [[ 9.94769727e-01 -9.60972072e-02 -3.46196026e-02 2.35891896e+02] [ 9.61146526e-02 9.95369589e-01 -1.16381943e-03 8.07259389e+00] [ 3.45711394e-02 -2.16971874e-03 9.99399884e-01 5.89584382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.92, Y:8.07, Z:5.90 [[ 9.94734390e-01 -9.67220561e-02 -3.38871173e-02 2.35923926e+02] [ 9.67392476e-02 9.95309112e-01 -1.13575056e-03 8.07362618e+00] [ 3.38380088e-02 -2.14844409e-03 9.99425021e-01 5.89669460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.96, Y:8.07, Z:5.90 [[ 9.94695416e-01 -9.71527161e-02 -3.37991096e-02 2.35957027e+02] [ 9.71701732e-02 9.95267141e-01 -1.12962040e-03 8.07448960e+00] [ 3.37488889e-02 -2.16063711e-03 9.99428008e-01 5.89813818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.99, Y:8.08, Z:5.90 [[ 9.94652573e-01 -9.80381116e-02 -3.24775029e-02 2.35990071e+02] [ 9.80548054e-02 9.95180428e-01 -1.08214321e-03 8.07509918e+00] [ 3.24270665e-02 -2.10821870e-03 9.99471881e-01 5.89912909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.02, Y:8.08, Z:5.90 [[ 9.94633405e-01 -9.83838222e-02 -3.20158411e-02 2.36022873e+02] [ 9.84003281e-02 9.95146343e-01 -1.06345958e-03 8.07615110e+00] [ 3.19650744e-02 -2.09261685e-03 9.99486796e-01 5.90039794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.06, Y:8.08, Z:5.90 [[ 9.94599133e-01 -9.88005745e-02 -3.17964165e-02 2.36056178e+02] [ 9.88171725e-02 9.95105049e-01 -1.05283833e-03 8.07738262e+00] [ 3.17447956e-02 -2.09487988e-03 9.99493812e-01 5.90155778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.09, Y:8.08, Z:5.90 [[ 9.94501736e-01 -9.98368318e-02 -3.16054598e-02 2.36088335e+02] [ 9.98538567e-02 9.95001567e-01 -1.04318646e-03 8.07770013e+00] [ 3.15516305e-02 -2.11847631e-03 9.99499878e-01 5.90212275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.12, Y:8.08, Z:5.90 [[ 9.94426808e-01 -1.00574410e-01 -3.16245311e-02 2.36121266e+02] [ 1.00591922e-01 9.94927224e-01 -1.04079121e-03 8.07826319e+00] [ 3.15687839e-02 -2.14618168e-03 9.99499278e-01 5.90251564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.15, Y:8.08, Z:5.90 [[ 9.94334967e-01 -1.01257565e-01 -3.23245962e-02 2.36153327e+02] [ 1.01276333e-01 9.94857769e-01 -1.06037738e-03 8.07886592e+00] [ 3.22657469e-02 -2.21934625e-03 9.99476861e-01 5.90323186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.19, Y:8.08, Z:5.90 [[ 9.94221115e-01 -1.02209918e-01 -3.28254183e-02 2.36186382e+02] [ 1.02229893e-01 9.94760221e-01 -1.07362561e-03 8.07939941e+00] [ 3.27631556e-02 -2.28831775e-03 9.99460524e-01 5.90378117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.22, Y:8.08, Z:5.90 [[ 9.93963078e-01 -1.04504454e-01 -3.34098713e-02 2.36219554e+02] [ 1.04526561e-01 9.94521499e-01 -1.08903392e-03 8.07927571e+00] [ 3.33406442e-02 -2.40975943e-03 9.99441141e-01 5.90356832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.25, Y:8.08, Z:5.90 [[ 9.93821145e-01 -1.05730654e-01 -3.37721807e-02 2.36251895e+02] [ 1.05754066e-01 9.94391710e-01 -1.09729474e-03 8.07943382e+00] [ 3.36987943e-02 -2.48103073e-03 9.99428955e-01 5.90397957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.28, Y:8.08, Z:5.90 [[ 9.93646412e-01 -1.07205253e-01 -3.42613727e-02 2.36284513e+02] [ 1.07230334e-01 9.94233586e-01 -1.10987257e-03 8.07943404e+00] [ 3.41827916e-02 -2.57103755e-03 9.99412291e-01 5.90406954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.32, Y:8.08, Z:5.90 [[ 9.93634083e-01 -1.07312789e-01 -3.42822658e-02 2.36317396e+02] [ 1.07338092e-01 9.94221962e-01 -1.10684026e-03 8.07995639e+00] [ 3.42029597e-02 -2.57999878e-03 9.99411577e-01 5.90479325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.35, Y:8.08, Z:5.91 [[ 9.93649818e-01 -1.07149345e-01 -3.43373961e-02 2.36350718e+02] [ 1.07174759e-01 9.94239584e-01 -1.10491846e-03 8.08068229e+00] [ 3.42579897e-02 -2.58220012e-03 9.99409687e-01 5.90559878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.65509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.38, Y:8.08, Z:5.91 [[ 9.93726732e-01 -1.06773184e-01 -3.32666392e-02 2.36382401e+02] [ 1.06796936e-01 9.94280280e-01 -1.06714570e-03 8.08126742e+00] [ 3.31903059e-02 -2.49232394e-03 9.99445942e-01 5.90591842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.42, Y:8.08, Z:5.91 [[ 9.93887484e-01 -1.05667306e-01 -3.19701242e-02 2.36415794e+02] [ 1.05688764e-01 9.94398733e-01 -1.02266973e-03 8.08156622e+00] [ 3.18991137e-02 -2.36246427e-03 9.99488302e-01 5.90760598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.71509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.45, Y:8.08, Z:5.91 [[ 9.94050698e-01 -1.04310816e-01 -3.13442752e-02 2.36448881e+02] [ 1.04330874e-01 9.94542141e-01 -9.99359137e-04 8.08248258e+00] [ 3.12774466e-02 -2.27676197e-03 9.99508148e-01 5.90861053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.48, Y:8.08, Z:5.91 [[ 9.94213192e-01 -1.02864282e-01 -3.09688193e-02 2.36481660e+02] [ 1.02883267e-01 9.94692950e-01 -9.84037324e-04 8.08330185e+00] [ 3.09056885e-02 -2.20783041e-03 9.99519867e-01 5.90952002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.51, Y:8.08, Z:5.91 [[ 9.94353207e-01 -1.01508575e-01 -3.09468564e-02 2.36514399e+02] [ 1.01526984e-01 9.94832303e-01 -9.79973859e-04 8.08428582e+00] [ 3.08864082e-02 -2.16750086e-03 9.99520551e-01 5.91051401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.55, Y:8.09, Z:5.91 [[ 9.94537148e-01 -9.98366760e-02 -3.04712900e-02 2.36546344e+02] [ 9.98538559e-02 9.95001650e-01 -9.61177740e-04 8.08526754e+00] [ 3.04149446e-02 -2.08674883e-03 9.99535180e-01 5.91119544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.58, Y:8.09, Z:5.91 [[ 9.94700033e-01 -9.82811672e-02 -3.02101946e-02 2.36579669e+02] [ 9.82974896e-02 9.95156623e-01 -9.47970984e-04 8.08606942e+00] [ 3.01570429e-02 -2.02663952e-03 9.99543118e-01 5.91195252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.61, Y:8.09, Z:5.91 [[ 9.94894405e-01 -9.66028280e-02 -2.92064334e-02 2.36611616e+02] [ 9.66174486e-02 9.95321171e-01 -9.13528914e-04 8.08609789e+00] [ 2.91580310e-02 -1.91298627e-03 9.99572984e-01 5.91251512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.64, Y:8.09, Z:5.92 [[ 9.94849967e-01 -9.62929004e-02 -3.16420728e-02 2.36644238e+02] [ 9.60073285e-02 9.95326009e-01 -1.04272771e-02 8.09104600e+00] [ 3.24982508e-02 7.33570542e-03 9.99444871e-01 5.91621943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.68, Y:8.08, Z:5.91 [[ 9.94994220e-01 -9.53247336e-02 -2.99949411e-02 2.36677222e+02] [ 9.56028985e-02 9.95387588e-01 7.97717395e-03 8.08227530e+00] [ 2.90961701e-02 -1.08048453e-02 9.99518218e-01 5.91116186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.71, Y:8.09, Z:5.91 [[ 9.94989933e-01 -9.53140316e-02 -3.01706557e-02 2.36708983e+02] [ 9.53294202e-02 9.95445345e-01 -9.31222269e-04 8.08681999e+00] [ 3.01219973e-02 -1.94959433e-03 9.99544328e-01 5.91444630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.74, Y:8.09, Z:5.91 [[ 9.94994900e-01 -9.52229162e-02 -3.02943211e-02 2.36741877e+02] [ 9.52384763e-02 9.95454049e-01 -9.32165858e-04 8.08748812e+00] [ 3.02453682e-02 -1.95768471e-03 9.99540587e-01 5.91491747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.77, Y:8.09, Z:5.92 [[ 9.94967190e-01 -9.52848226e-02 -3.10015097e-02 2.36774411e+02] [ 9.53012560e-02 9.95448023e-01 -9.50451700e-04 8.08802366e+00] [ 3.09509552e-02 -2.00881456e-03 9.99518886e-01 5.91564020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.81, Y:8.09, Z:5.92 [[ 9.94824951e-01 -9.65961733e-02 -3.15039119e-02 2.36806422e+02] [ 9.66139053e-02 9.95321469e-01 -9.62468700e-04 8.08820287e+00] [ 3.14494907e-02 -2.08622809e-03 9.99503165e-01 5.91603379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.84, Y:8.09, Z:5.92 [[ 9.94769084e-01 -9.71127694e-02 -3.16793125e-02 2.36839779e+02] [ 9.71310561e-02 9.95271132e-01 -9.64803688e-04 8.08843454e+00] [ 3.16232000e-02 -2.11728820e-03 9.99497619e-01 5.91702805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.87, Y:8.09, Z:5.92 [[ 9.94772466e-01 -9.70583725e-02 -3.17397711e-02 2.36872828e+02] [ 9.70768111e-02 9.95276426e-01 -9.63187929e-04 8.08874363e+00] [ 3.16833314e-02 -2.12304294e-03 9.99495702e-01 5.91773883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.91, Y:8.09, Z:5.92 [[ 9.94797836e-01 -9.65584662e-02 -3.24611697e-02 2.36905128e+02] [ 9.65775997e-02 9.95324974e-01 -9.81652158e-04 8.08897718e+00] [ 3.24041997e-02 -2.15847641e-03 9.99472515e-01 5.91908666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.94, Y:8.09, Z:5.92 [[ 9.94881319e-01 -9.57746930e-02 -3.22237421e-02 2.36937806e+02] [ 9.57932348e-02 9.95400780e-01 -9.71466661e-04 8.08972048e+00] [ 3.21685800e-02 -2.12032246e-03 9.99480208e-01 5.92025285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.97, Y:8.09, Z:5.92 [[ 9.94960666e-01 -9.48851273e-02 -3.24050369e-02 2.36970234e+02] [ 9.49035184e-02 9.95485999e-01 -9.73550664e-04 8.09042979e+00] [ 3.23511361e-02 -2.10670740e-03 9.99474345e-01 5.92125481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.00, Y:8.09, Z:5.92 [[ 9.95035606e-01 -9.40412977e-02 -3.25634394e-02 2.37002550e+02] [ 9.40595144e-02 9.95566098e-01 -9.75389519e-04 8.09144288e+00] [ 3.25107832e-02 -2.09235399e-03 9.99469195e-01 5.92252224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.04, Y:8.09, Z:5.92 [[ 9.95269573e-01 -9.16383733e-02 -3.22627493e-02 2.37035622e+02] [ 9.16550933e-02 9.95790347e-01 -9.63402635e-04 8.09243492e+00] [ 3.22152189e-02 -1.99819996e-03 9.99478958e-01 5.92371578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.07, Y:8.09, Z:5.92 [[ 9.95334765e-01 -9.08068986e-02 -3.26008077e-02 2.37068479e+02] [ 9.08236429e-02 9.95866520e-01 -9.69939028e-04 8.09297573e+00] [ 3.25541301e-02 -1.99551009e-03 9.99467982e-01 5.92496642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.10, Y:8.09, Z:5.93 [[ 9.95509254e-01 -8.88082458e-02 -3.27783439e-02 2.37101565e+02] [ 8.88242112e-02 9.96046844e-01 -9.71636806e-04 8.09253319e+00] [ 3.27350554e-02 -1.94423711e-03 9.99462173e-01 5.92566198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.13, Y:8.09, Z:5.93 [[ 9.95517221e-01 -8.87188610e-02 -3.27784444e-02 2.37134242e+02] [ 8.87348897e-02 9.96054809e-01 -9.68235707e-04 8.09344135e+00] [ 3.27350280e-02 -1.94469633e-03 9.99462173e-01 5.92647384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.17, Y:8.09, Z:5.93 [[ 9.95620347e-01 -8.76667656e-02 -3.24755606e-02 2.37165885e+02] [ 8.76820354e-02 9.96148054e-01 -9.56394264e-04 8.09367258e+00] [ 3.24343105e-02 -1.89531767e-03 9.99472072e-01 5.92718193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.20, Y:8.09, Z:5.93 [[ 9.95669424e-01 -8.68758127e-02 -3.30906604e-02 2.37199201e+02] [ 8.68913362e-02 9.96217322e-01 -9.71355779e-04 8.09407863e+00] [ 3.30498764e-02 -1.90814245e-03 9.99451882e-01 5.92834164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.43509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.23, Y:8.09, Z:5.93 [[ 9.95752281e-01 -8.59246352e-02 -3.30809926e-02 2.37230675e+02] [ 8.59397290e-02 9.96299868e-01 -9.67973617e-04 8.09444425e+00] [ 3.30417613e-02 -1.87910960e-03 9.99452205e-01 5.92905408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.26, Y:8.09, Z:5.93 [[ 9.95882163e-01 -8.42287637e-02 -3.35295733e-02 2.37262829e+02] [ 8.42433780e-02 9.96444727e-01 -9.79132730e-04 8.09467673e+00] [ 3.34928376e-02 -1.84954369e-03 9.99437246e-01 5.93026843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.29, Y:8.10, Z:5.93 [[ 9.95989054e-01 -8.29346828e-02 -3.35803900e-02 2.37293726e+02] [ 8.29486849e-02 9.96553340e-01 -9.78337640e-04 8.09535449e+00] [ 3.35457879e-02 -1.81103561e-03 9.99435541e-01 5.93126813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.33, Y:8.10, Z:5.93 [[ 9.96102536e-01 -8.15052739e-02 -3.37139240e-02 2.37325901e+02] [ 8.15186386e-02 9.96671335e-01 -9.80236634e-04 8.09595476e+00] [ 3.36815961e-02 -1.77189699e-03 9.99431043e-01 5.93174101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.36, Y:8.10, Z:5.93 [[ 9.96177316e-01 -8.05601992e-02 -3.37758807e-02 2.37357553e+02] [ 8.05731683e-02 9.96748216e-01 -9.79169037e-04 8.09660239e+00] [ 3.37449309e-02 -1.74600374e-03 9.99428953e-01 5.93237503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.39, Y:8.10, Z:5.93 [[ 9.96286671e-01 -7.87910536e-02 -3.47108016e-02 2.37390247e+02] [ 7.88038123e-02 9.96889640e-01 -1.00249081e-03 8.09699312e+00] [ 3.46818258e-02 -1.73657527e-03 9.99396896e-01 5.93281468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.42, Y:8.10, Z:5.93 [[ 9.96340189e-01 -7.80780273e-02 -3.47857763e-02 2.37421781e+02] [ 7.80904896e-02 9.96945771e-01 -1.00230570e-03 8.09744667e+00] [ 3.47577906e-02 -1.71780084e-03 9.99394289e-01 5.93305055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.45, Y:8.10, Z:5.93 [[ 9.96398861e-01 -7.73070244e-02 -3.48271999e-02 2.37454396e+02] [ 7.73191189e-02 9.97005893e-01 -1.00142750e-03 8.09798458e+00] [ 3.48003409e-02 -1.69498719e-03 9.99392847e-01 5.93347326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.48, Y:8.09, Z:5.94 [[ 9.96127216e-01 -7.86812362e-02 -3.92406889e-02 2.37483263e+02] [ 7.93141533e-02 9.96739210e-01 1.48395342e-02 8.09430346e+00] [ 3.79451404e-02 -1.78944059e-02 9.99119591e-01 5.93524673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.52, Y:8.11, Z:5.94 [[ 9.96515013e-01 -7.63654335e-02 -3.35581551e-02 2.37515873e+02] [ 7.58142724e-02 9.96970086e-01 -1.74023932e-02 8.10699873e+00] [ 3.47854181e-02 1.47975590e-02 9.99285248e-01 5.93967215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.55, Y:8.10, Z:5.94 [[ 9.96553461e-01 -7.51594138e-02 -3.51035963e-02 2.37547397e+02] [ 7.49681454e-02 9.97163182e-01 -6.73536364e-03 8.10232723e+00] [ 3.55102397e-02 4.08049843e-03 9.99360982e-01 5.93689661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.58, Y:8.10, Z:5.94 [[ 9.96665675e-01 -7.39127025e-02 -3.45607443e-02 2.37577632e+02] [ 7.38878813e-02 9.97264556e-01 -1.99658064e-03 8.10094663e+00] [ 3.46137780e-02 -5.63696786e-04 9.99400605e-01 5.93630381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.61, Y:8.09, Z:5.93 [[ 9.96419704e-01 -7.56529272e-02 -3.77413359e-02 2.37605514e+02] [ 7.66310028e-02 9.96741590e-01 2.51772272e-02 8.09233733e+00] [ 3.57136282e-02 -2.79792417e-02 9.98970319e-01 5.93420842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.64, Y:8.11, Z:5.94 [[ 9.96981325e-01 -7.18261682e-02 -2.94828774e-02 2.37639034e+02] [ 7.11326456e-02 9.97179653e-01 -2.39350557e-02 8.11181756e+00] [ 3.11188887e-02 2.17656085e-02 9.99278676e-01 5.94165365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.67, Y:8.10, Z:5.94 [[ 9.97042184e-01 -7.07487091e-02 -3.00250506e-02 2.37671291e+02] [ 7.07566526e-02 9.97493287e-01 -7.99164313e-04 8.10149629e+00] [ 3.00063262e-02 -1.32767154e-03 9.99548827e-01 5.93535928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.70, Y:8.10, Z:5.94 [[ 9.97056695e-01 -7.07108087e-02 -2.96298707e-02 2.37702458e+02] [ 7.07185869e-02 9.97495996e-01 -7.86640151e-04 8.10246838e+00] [ 2.96113014e-02 -1.31105776e-03 9.99560629e-01 5.93618286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.73, Y:8.10, Z:5.94 [[ 9.97044443e-01 -7.09232872e-02 -2.95341646e-02 2.37734209e+02] [ 7.09311589e-02 9.97480906e-01 -7.82381345e-04 8.10324101e+00] [ 2.95152544e-02 -1.31482355e-03 9.99563465e-01 5.93695511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.76, Y:8.11, Z:5.94 [[ 9.97099037e-01 -6.93372522e-02 -3.13983568e-02 2.37762960e+02] [ 6.90690063e-02 9.97566172e-01 -9.55010846e-03 8.10763209e+00] [ 3.19841169e-02 7.35375064e-03 9.99461324e-01 5.94028693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.80, Y:8.10, Z:5.94 [[ 9.97018820e-01 -7.15568818e-02 -2.88632313e-02 2.37795846e+02] [ 7.18114530e-02 9.97387092e-01 7.88060954e-03 8.10041600e+00] [ 2.82239025e-02 -9.92982661e-03 9.99552305e-01 5.93530262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.83, Y:8.11, Z:5.94 [[ 9.96945109e-01 -7.29656071e-02 -2.78651979e-02 2.37826518e+02] [ 7.29733535e-02 9.97333616e-01 -7.40168101e-04 8.10603611e+00] [ 2.78449054e-02 -1.29550997e-03 9.99611416e-01 5.93917209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.86, Y:8.11, Z:5.94 [[ 9.96920985e-01 -7.35435187e-02 -2.72010984e-02 2.37859059e+02] [ 7.35511543e-02 9.97291185e-01 -7.21062229e-04 8.10737317e+00] [ 2.71804451e-02 -1.28183012e-03 9.99629722e-01 5.93997766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.89, Y:8.11, Z:5.94 [[ 9.96867542e-01 -7.48668766e-02 -2.54961708e-02 2.37888806e+02] [ 7.46729072e-02 9.97172041e-01 -8.47808430e-03 8.11416381e+00] [ 2.60587963e-02 6.54765387e-03 9.99638969e-01 5.94023673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.92, Y:8.11, Z:5.94 [[ 9.96852584e-01 -7.43726391e-02 -2.74524326e-02 2.37922673e+02] [ 7.45872927e-02 9.97190766e-01 6.87831712e-03 8.10603779e+00] [ 2.68637537e-02 -8.90427082e-03 9.99599446e-01 5.93925806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.95, Y:8.11, Z:5.94 [[ 9.96798028e-01 -7.51476587e-02 -2.73225450e-02 2.37954649e+02] [ 7.51561673e-02 9.97171518e-01 -7.16829365e-04 8.11086884e+00] [ 2.72991317e-02 -1.33892366e-03 9.99626413e-01 5.94141342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.15509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.99, Y:8.11, Z:5.94 [[ 9.96772968e-01 -7.53502496e-02 -2.76765345e-02 2.37985831e+02] [ 7.53591119e-02 9.97156196e-01 -7.24173879e-04 8.11148295e+00] [ 2.76523945e-02 -1.36384211e-03 9.99616669e-01 5.94197202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.02, Y:8.11, Z:5.94 [[ 9.96763527e-01 -7.54454308e-02 -2.77571156e-02 2.38017780e+02] [ 7.54544265e-02 9.97148988e-01 -7.24668475e-04 8.11292252e+00] [ 2.77326527e-02 -1.37207414e-03 9.99614434e-01 5.94186121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.21509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.05, Y:8.12, Z:5.94 [[ 9.96868888e-01 -7.46794869e-02 -2.59883592e-02 2.38048847e+02] [ 7.44418922e-02 9.97175271e-01 -9.99414377e-03 8.11981189e+00] [ 2.66613067e-02 8.02822834e-03 9.99612286e-01 5.94085707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.08, Y:8.11, Z:5.94 [[ 9.96872213e-01 -7.36667410e-02 -2.86182133e-02 2.38082279e+02] [ 7.39385314e-02 9.97226093e-01 8.55647765e-03 8.11135160e+00] [ 2.79085012e-02 -1.06457035e-02 9.99553793e-01 5.94010180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.11, Y:8.12, Z:5.94 [[ 9.96934381e-01 -7.28122079e-02 -2.86395344e-02 2.38112628e+02] [ 7.27673934e-02 9.97345536e-01 -2.60529007e-03 8.11999775e+00] [ 2.87532087e-02 5.13278974e-04 9.99586409e-01 5.94230599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.15, Y:8.12, Z:5.94 [[ 9.97181940e-01 -6.93843211e-02 -2.85305826e-02 2.38146030e+02] [ 6.94394570e-02 9.97585720e-01 9.45109901e-04 8.11918634e+00] [ 2.83961260e-02 -2.92359469e-03 9.99592473e-01 5.94312314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.18, Y:8.12, Z:5.94 [[ 9.97312721e-01 -6.77392718e-02 -2.79056777e-02 2.38177771e+02] [ 6.77457159e-02 9.97702363e-01 -7.15527014e-04 8.12164248e+00] [ 2.78900298e-02 -1.17688592e-03 9.99610305e-01 5.94458226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.21, Y:8.12, Z:5.95 [[ 9.97455160e-01 -6.61402584e-02 -2.66208664e-02 2.38209555e+02] [ 6.61456026e-02 9.97809749e-01 -6.80745581e-04 8.12310562e+00] [ 2.66075847e-02 -1.08184005e-03 9.99645370e-01 5.94531348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.24, Y:8.12, Z:5.95 [[ 9.97560435e-01 -6.49043254e-02 -2.57022759e-02 2.38240858e+02] [ 6.49089422e-02 9.97890976e-01 -6.55508343e-04 8.12441190e+00] [ 2.56906145e-02 -1.01439835e-03 9.99669427e-01 5.94625672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.27, Y:8.13, Z:5.95 [[ 9.97752076e-01 -6.27113016e-02 -2.36238710e-02 2.38272804e+02] [ 6.27146156e-02 9.98031320e-01 -6.01304810e-04 8.12598943e+00] [ 2.36150718e-02 -8.81608867e-04 9.99720737e-01 5.94772507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.31, Y:8.13, Z:5.95 [[ 9.97805585e-01 -6.21464295e-02 -2.28437317e-02 2.38305054e+02] [ 6.21494160e-02 9.98066688e-01 -5.79882351e-04 8.12717832e+00] [ 2.28356052e-02 -8.41114736e-04 9.99738880e-01 5.94881442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.34, Y:8.13, Z:5.95 [[ 9.97823448e-01 -6.18934610e-02 -2.27500906e-02 2.38336130e+02] [ 6.18963939e-02 9.98082414e-01 -5.75903891e-04 8.12828677e+00] [ 2.27421100e-02 -8.33498161e-04 9.99741017e-01 5.94989101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.37, Y:8.13, Z:5.95 [[ 9.97816521e-01 -6.20494357e-02 -2.26287013e-02 2.38368125e+02] [ 6.20524042e-02 9.98072729e-01 -5.71641820e-04 8.12917061e+00] [ 2.26205597e-02 -8.33771668e-04 9.99743775e-01 5.95074553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.40, Y:8.13, Z:5.95 [[ 9.97804723e-01 -6.22923373e-02 -2.24810907e-02 2.38400005e+02] [ 6.22953641e-02 9.98057597e-01 -5.66339582e-04 8.12943948e+00] [ 2.24727019e-02 -8.35371419e-04 9.99747108e-01 5.95107157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.43, Y:8.13, Z:5.95 [[ 9.97736150e-01 -6.31901457e-02 -2.30126034e-02 2.38432477e+02] [ 6.31935950e-02 9.98001120e-01 -5.78030495e-04 8.13002402e+00] [ 2.30031298e-02 -8.77527221e-04 9.99735008e-01 5.95163943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.47, Y:8.13, Z:5.95 [[ 9.97666258e-01 -6.40667865e-02 -2.36110999e-02 2.38465022e+02] [ 6.40707040e-02 9.97945186e-01 -5.91321169e-04 8.13029245e+00] [ 2.36004675e-02 -9.22838611e-04 9.99721044e-01 5.95247128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.50, Y:8.13, Z:5.95 [[ 9.97467546e-01 -6.64694041e-02 -2.53044204e-02 2.38496325e+02] [ 6.64747238e-02 9.97787909e-01 -6.31832500e-04 8.13069467e+00] [ 2.52904423e-02 -1.05187194e-03 9.99679592e-01 5.95307869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.53, Y:8.13, Z:5.95 [[ 9.97368915e-01 -6.76161244e-02 -2.61401412e-02 2.38528021e+02] [ 6.76222344e-02 9.97710784e-01 -6.51182383e-04 8.13117919e+00] [ 2.61243312e-02 -1.11818569e-03 9.99658076e-01 5.95353909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.56, Y:8.13, Z:5.95 [[ 9.97237025e-01 -6.90973834e-02 -2.72739373e-02 2.38559668e+02] [ 6.91046414e-02 9.97609187e-01 -6.77475389e-04 8.13191643e+00] [ 2.72555422e-02 -1.20915212e-03 9.99627767e-01 5.95456223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.59, Y:8.13, Z:5.96 [[ 9.97074449e-01 -7.10802287e-02 -2.81095193e-02 2.38591479e+02] [ 7.10887716e-02 9.97469750e-01 -6.96569369e-04 8.13194013e+00] [ 2.80879075e-02 -1.30373968e-03 9.99604607e-01 5.95546867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.62, Y:8.13, Z:5.96 [[ 9.97007608e-01 -7.22215023e-02 -2.75659969e-02 2.38623082e+02] [ 7.22302051e-02 9.97387755e-01 -6.81199875e-04 8.13240882e+00] [ 2.75431850e-02 -1.31193615e-03 9.99619754e-01 5.95638842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.66, Y:8.13, Z:5.96 [[ 9.96944865e-01 -7.30914091e-02 -2.75423751e-02 2.38655449e+02] [ 7.31004721e-02 9.97324350e-01 -6.79020814e-04 8.13282267e+00] [ 2.75183120e-02 -1.33641431e-03 9.99620406e-01 5.95734653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.69, Y:8.13, Z:5.96 [[ 9.96853825e-01 -7.44530743e-02 -2.71880884e-02 2.38687583e+02] [ 7.44624630e-02 9.97223593e-01 -6.68351869e-04 8.13295466e+00] [ 2.71623640e-02 -1.35824291e-03 9.99630112e-01 5.95769467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.72, Y:8.13, Z:5.96 [[ 9.96812195e-01 -7.51773206e-02 -2.67173977e-02 2.38719675e+02] [ 7.51866970e-02 9.97169259e-01 -6.54879343e-04 8.13356149e+00] [ 2.66909998e-02 -1.35600117e-03 9.99642812e-01 5.95821502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.75, Y:8.13, Z:5.96 [[ 9.96797683e-01 -7.54778006e-02 -2.64098563e-02 2.38751529e+02] [ 7.54871203e-02 9.97146568e-01 -6.45334518e-04 8.13404325e+00] [ 2.63832060e-02 -1.35033604e-03 9.99650991e-01 5.95871914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.78, Y:8.13, Z:5.96 [[ 9.96762499e-01 -7.59703422e-02 -2.63254216e-02 2.38784159e+02] [ 7.59798390e-02 9.97109148e-01 -6.40788247e-04 8.13479935e+00] [ 2.62979996e-02 -1.36148760e-03 9.99653221e-01 5.95937787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.93509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.82, Y:8.14, Z:5.96 [[ 9.96639039e-01 -7.72974136e-02 -2.71244358e-02 2.38816537e+02] [ 7.73080659e-02 9.97007037e-01 -6.57290914e-04 8.13567304e+00] [ 2.70940603e-02 -1.44185589e-03 9.99631849e-01 5.96037917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.84, Y:8.12, Z:5.96 [[ 9.96033522e-01 -8.06544295e-02 -3.75777220e-02 2.38844540e+02] [ 8.21315497e-02 9.95835328e-01 3.95778778e-02 8.12127593e+00] [ 3.42290920e-02 -4.25072096e-02 9.98509643e-01 5.96188446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.88, Y:8.16, Z:5.97 [[ 9.96316298e-01 -8.19170927e-02 -2.53657940e-02 2.38878135e+02] [ 8.08112548e-02 9.95847465e-01 -4.19209752e-02 8.15692801e+00] [ 2.86945061e-02 3.97167092e-02 9.98798883e-01 5.97437696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.91, Y:8.14, Z:5.96 [[ 9.96227775e-01 -8.27318249e-02 -2.61852238e-02 2.38910605e+02] [ 8.27438838e-02 9.96570650e-01 -6.24524174e-04 8.13760510e+00] [ 2.61470935e-02 -1.54449878e-03 9.99656913e-01 5.96200874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.94, Y:8.14, Z:5.96 [[ 9.96089574e-01 -8.44283457e-02 -2.60271974e-02 2.38942874e+02] [ 8.44408865e-02 9.96428298e-01 -6.18819013e-04 8.13837693e+00] [ 2.59864818e-02 -1.58136045e-03 9.99661044e-01 5.96260204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.98, Y:8.14, Z:5.96 [[ 9.95798476e-01 -8.75088449e-02 -2.69740161e-02 2.38976290e+02] [ 8.75235102e-02 9.96162249e-01 -6.38751041e-04 8.13957085e+00] [ 2.69263929e-02 -1.72479326e-03 9.99635931e-01 5.96316068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.01, Y:8.14, Z:5.96 [[ 9.95731116e-01 -8.81828054e-02 -2.72642234e-02 2.39009306e+02] [ 8.81981196e-02 9.96102745e-01 -6.42693160e-04 8.14069243e+00] [ 2.72146423e-02 -1.76470366e-03 9.99628055e-01 5.96356071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.04, Y:8.14, Z:5.96 [[ 9.95665373e-01 -8.87017313e-02 -2.79726331e-02 2.39041272e+02] [ 8.87181376e-02 9.96056555e-01 -6.56478475e-04 8.14189033e+00] [ 2.79205554e-02 -1.82804703e-03 9.99608474e-01 5.96408292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.07, Y:8.14, Z:5.96 [[ 9.95634586e-01 -8.89213373e-02 -2.83684227e-02 2.39074425e+02] [ 8.89383751e-02 9.96036910e-01 -6.63125149e-04 8.14301311e+00] [ 2.83149620e-02 -1.86281108e-03 9.99597315e-01 5.96457246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.11, Y:8.15, Z:5.97 [[ 9.95624717e-01 -8.87528099e-02 -2.92294755e-02 2.39107812e+02] [ 8.87709206e-02 9.96051837e-01 -6.80021209e-04 8.14558730e+00] [ 2.91744266e-02 -1.91768153e-03 9.99572496e-01 5.96573232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.14, Y:8.15, Z:5.97 [[ 9.95636022e-01 -8.86258713e-02 -2.92295527e-02 2.39141344e+02] [ 8.86440248e-02 9.96063140e-01 -6.76691294e-04 8.14627895e+00] [ 2.91744524e-02 -1.91728697e-03 9.99572496e-01 5.96647221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.17, Y:8.15, Z:5.97 [[ 9.95672110e-01 -8.82112074e-02 -2.92546246e-02 2.39173988e+02] [ 8.82293192e-02 9.96099962e-01 -6.73669443e-04 8.14790799e+00] [ 2.91999557e-02 -1.91036174e-03 9.99571765e-01 5.96727885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.21, Y:8.15, Z:5.97 [[ 9.95708863e-01 -8.77144489e-02 -2.94963818e-02 2.39205792e+02] [ 8.77327360e-02 9.96143820e-01 -6.76131127e-04 8.14962274e+00] [ 2.94419449e-02 -1.91456852e-03 9.99564658e-01 5.96822343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.24, Y:8.15, Z:5.97 [[ 9.95755230e-01 -8.71207032e-02 -2.96901412e-02 2.39238913e+02] [ 8.71390533e-02 9.96195928e-01 -6.77720927e-04 8.15120296e+00] [ 2.96362413e-02 -1.91232664e-03 9.99558921e-01 5.96912464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.27, Y:8.15, Z:5.97 [[ 9.95849230e-01 -8.57080242e-02 -3.06340545e-02 2.39270651e+02] [ 8.57269959e-02 9.96318422e-01 -6.95973371e-04 8.15355974e+00] [ 3.05809233e-02 -1.93308092e-03 9.99530425e-01 5.96925901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.30, Y:8.16, Z:5.97 [[ 9.95832104e-01 -8.56457383e-02 -3.13564542e-02 2.39303169e+02] [ 8.56656811e-02 9.96323686e-01 -7.09332208e-04 8.15525234e+00] [ 3.13019293e-02 -1.97979622e-03 9.99508014e-01 5.97004199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.34, Y:8.16, Z:5.97 [[ 9.95794851e-01 -8.59210354e-02 -3.17835029e-02 2.39336639e+02] [ 8.59417742e-02 9.96299904e-01 -7.15564631e-04 8.15645238e+00] [ 3.17273830e-02 -2.01897506e-03 9.99494521e-01 5.97063268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.37, Y:8.16, Z:5.97 [[ 9.95784964e-01 -8.61243220e-02 -3.15421491e-02 2.39369704e+02] [ 8.61449548e-02 9.96282363e-01 -7.06747661e-04 8.15742329e+00] [ 3.14857550e-02 -2.01342831e-03 9.99502173e-01 5.97090028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.40, Y:8.16, Z:5.97 [[ 9.95735250e-01 -8.69011766e-02 -3.09757433e-02 2.39401450e+02] [ 8.69215452e-02 9.96214920e-01 -6.90930892e-04 8.15840565e+00] [ 3.09185403e-02 -2.00447522e-03 9.99519898e-01 5.97108631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.43, Y:8.16, Z:5.97 [[ 9.95691496e-01 -8.74179162e-02 -3.09281907e-02 2.39434650e+02] [ 8.74385601e-02 9.96169677e-01 -6.86967637e-04 8.15954275e+00] [ 3.08697790e-02 -2.02030863e-03 9.99521373e-01 5.97196510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.46, Y:8.15, Z:5.97 [[ 9.95221754e-01 -9.00300542e-02 -3.77921977e-02 2.39462430e+02] [ 9.12060862e-02 9.95360590e-01 3.06389491e-02 8.14952846e+00] [ 3.48584380e-02 -3.39394271e-02 9.98815801e-01 5.97197546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.50, Y:8.18, Z:5.98 [[ 9.95607530e-01 -8.87852144e-02 -2.97125038e-02 2.39497380e+02] [ 8.78098086e-02 9.95601513e-01 -3.26659519e-02 8.17732410e+00] [ 3.24820673e-02 2.99134184e-02 9.99024576e-01 5.98400989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.53, Y:8.16, Z:5.97 [[ 9.95544268e-01 -8.94405347e-02 -2.98663839e-02 2.39530981e+02] [ 8.94610079e-02 9.95990111e-01 -6.52723480e-04 8.16302806e+00] [ 2.98050029e-02 -2.02206168e-03 9.99553687e-01 5.97453079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.56, Y:8.16, Z:5.97 [[ 9.95499025e-01 -9.00496110e-02 -2.95424959e-02 2.39563874e+02] [ 9.00700041e-02 9.95935230e-01 -6.42420819e-04 8.16364223e+00] [ 2.94802622e-02 -2.02136343e-03 9.99563319e-01 5.97481665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.65509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.60, Y:8.16, Z:5.98 [[ 9.95429893e-01 -9.07904935e-02 -2.96042948e-02 2.39595682e+02] [ 9.08113906e-02 9.95867903e-01 -6.40635901e-04 8.16400876e+00] [ 2.95401306e-02 -2.05069905e-03 9.99561492e-01 5.97520717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.63, Y:8.16, Z:5.98 [[ 9.95318674e-01 -9.17745455e-02 -3.03013180e-02 2.39628693e+02] [ 9.17969817e-02 9.95777529e-01 -6.52776774e-04 8.16481994e+00] [ 3.02332798e-02 -2.13184862e-03 9.99540596e-01 5.97621357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.71509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.66, Y:8.17, Z:5.98 [[ 9.95132104e-01 -9.34667298e-02 -3.12420495e-02 2.39660558e+02] [ 9.34915125e-02 9.95619851e-01 -6.69804297e-04 8.16620842e+00] [ 3.11678091e-02 -2.25432270e-03 9.99511624e-01 5.97698213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.69, Y:8.17, Z:5.98 [[ 9.95057365e-01 -9.40349768e-02 -3.19102347e-02 2.39693830e+02] [ 9.40612191e-02 9.95566182e-01 -6.81097505e-04 8.16712689e+00] [ 3.18327975e-02 -2.32378449e-03 9.99490507e-01 5.97791467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.73, Y:8.17, Z:5.98 [[ 9.94872124e-01 -9.57039557e-02 -3.27140669e-02 2.39725946e+02] [ 9.56866609e-02 9.95409295e-01 -2.09743339e-03 8.16989042e+00] [ 3.27646189e-02 -1.04362182e-03 9.99462551e-01 5.97968134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.76, Y:8.17, Z:5.98 [[ 9.94947790e-01 -9.53565069e-02 -3.14011373e-02 2.39758300e+02] [ 9.52510408e-02 9.95441512e-01 -4.84099720e-03 8.17136489e+00] [ 3.17196162e-02 1.82554845e-03 9.99495139e-01 5.98014220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.79, Y:8.17, Z:5.98 [[ 9.94881518e-01 -9.54715918e-02 -3.31049957e-02 2.39790173e+02] [ 9.56854456e-02 9.95399396e-01 4.93328830e-03 8.16701774e+00] [ 3.24817038e-02 -8.07570362e-03 9.99439704e-01 5.97995786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.82, Y:8.17, Z:5.98 [[ 9.94943476e-01 -9.52272682e-02 -3.19256537e-02 2.39821606e+02] [ 9.52546181e-02 9.95452718e-01 -6.66614532e-04 8.17046478e+00] [ 3.18439586e-02 -2.37782217e-03 9.99490024e-01 5.98251343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.85, Y:8.17, Z:5.98 [[ 9.94995051e-01 -9.47381750e-02 -3.17730529e-02 2.39854776e+02] [ 9.47651170e-02 9.95499441e-01 -6.60240335e-04 8.17114981e+00] [ 3.16926064e-02 -2.35404121e-03 9.99494891e-01 5.98334937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.89, Y:8.17, Z:5.98 [[ 9.95102192e-01 -9.38632815e-02 -3.10050144e-02 2.39888303e+02] [ 9.38886164e-02 9.95582501e-01 -6.40947561e-04 8.17184688e+00] [ 3.09282112e-02 -2.27320958e-03 9.99519023e-01 5.98377738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.92, Y:8.17, Z:5.98 [[ 9.95213450e-01 -9.27735887e-02 -3.07123663e-02 2.39921653e+02] [ 9.27980331e-02 9.95684752e-01 -6.31568729e-04 8.17281332e+00] [ 3.06384278e-02 -2.22150149e-03 9.99528064e-01 5.98472784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.95, Y:8.17, Z:5.98 [[ 9.95459898e-01 -9.04265873e-02 -2.97089930e-02 2.39953199e+02] [ 9.04485087e-02 9.95900948e-01 -6.07923053e-04 8.17363536e+00] [ 2.96421867e-02 -2.08197109e-03 9.99558406e-01 5.98489621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.99, Y:8.17, Z:5.99 [[ 9.95562083e-01 -8.94771963e-02 -2.91542624e-02 2.39985861e+02] [ 8.94979807e-02 9.95986827e-01 -5.93833550e-04 8.17370664e+00] [ 2.90903958e-02 -2.01804945e-03 9.99574748e-01 5.98548242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.02, Y:8.17, Z:5.99 [[ 9.95589436e-01 -8.92838790e-02 -2.88108122e-02 2.40017637e+02] [ 8.93041822e-02 9.96004228e-01 -5.83828221e-04 8.17402744e+00] [ 2.87478172e-02 -1.99167281e-03 9.99584712e-01 5.98592837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.05, Y:8.17, Z:5.99 [[ 9.95575976e-01 -8.94568864e-02 -2.87392144e-02 2.40050090e+02] [ 8.94772352e-02 9.95988699e-01 -5.79772234e-04 8.17399902e+00] [ 2.86757973e-02 -1.99429814e-03 9.99586775e-01 5.98644745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.08, Y:8.17, Z:5.99 [[ 9.95477126e-01 -9.04708990e-02 -2.89880748e-02 2.40082984e+02] [ 9.04921093e-02 9.95897002e-01 -5.82041083e-04 8.17264977e+00] [ 2.89217945e-02 -2.04378344e-03 9.99579588e-01 5.98665377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.12, Y:8.17, Z:5.99 [[ 9.95315908e-01 -9.21083120e-02 -2.93649871e-02 2.40115209e+02] [ 9.21308777e-02 9.95746734e-01 -5.86502466e-04 8.17226155e+00] [ 2.92941117e-02 -2.12166680e-03 9.99568584e-01 5.98733915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.15, Y:8.17, Z:5.99 [[ 9.95133357e-01 -9.38410764e-02 -3.00575268e-02 2.40147461e+02] [ 9.38655884e-02 9.95584700e-01 -5.97582604e-04 8.17172957e+00] [ 2.99808916e-02 -2.22669306e-03 9.99547992e-01 5.98769769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.18, Y:8.17, Z:5.99 [[ 9.94973115e-01 -9.51531459e-02 -3.12150593e-02 2.40180162e+02] [ 9.51803184e-02 9.95459856e-01 -6.17621975e-04 8.17145698e+00] [ 3.11321071e-02 -2.35654202e-03 9.99512500e-01 5.98801515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.21, Y:8.17, Z:5.99 [[ 9.94673907e-01 -9.76999684e-02 -3.28410676e-02 2.40213505e+02] [ 9.77315451e-02 9.95212604e-01 -6.46208744e-04 8.17022023e+00] [ 3.27469790e-02 -2.56684130e-03 9.99460378e-01 5.98848492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.25, Y:8.17, Z:5.99 [[ 9.94580695e-01 -9.85767588e-02 -3.30433731e-02 2.40245194e+02] [ 9.86093174e-02 9.95126014e-01 -6.46837960e-04 8.17007676e+00] [ 3.29460833e-02 -2.61505191e-03 9.99453709e-01 5.98918264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.28, Y:8.17, Z:5.99 [[ 9.94549804e-01 -9.89042543e-02 -3.29944811e-02 2.40278636e+02] [ 9.89369980e-02 9.95093492e-01 -6.42769872e-04 8.16989359e+00] [ 3.28961661e-02 -2.62510826e-03 9.99455327e-01 5.98993921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.31, Y:8.17, Z:5.99 [[ 9.94617480e-01 -9.89976868e-02 -3.05863648e-02 2.40310966e+02] [ 9.88183758e-02 9.95078539e-01 -7.32318754e-03 8.17396530e+00] [ 3.11608138e-02 4.26127545e-03 9.99505300e-01 5.99008170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.34, Y:8.17, Z:5.99 [[ 9.94709265e-01 -9.79463108e-02 -3.09838403e-02 2.40342988e+02] [ 9.81815080e-02 9.95149464e-01 6.15924165e-03 8.16557497e+00] [ 3.02302770e-02 -9.16869490e-03 9.99500908e-01 5.98969572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.37, Y:8.16, Z:5.99 [[ 9.94579937e-01 -9.83608518e-02 -3.37029992e-02 2.40372816e+02] [ 9.88905754e-02 9.94993763e-01 1.44244764e-02 8.16460180e+00] [ 3.21154702e-02 -1.76792038e-02 9.99327795e-01 5.99203324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.41, Y:8.18, Z:6.00 [[ 9.94993368e-01 -9.56047273e-02 -2.91192955e-02 2.40406508e+02] [ 9.51666316e-02 9.95331481e-01 -1.60796309e-02 8.17737014e+00] [ 3.05206403e-02 1.32279409e-02 9.99446603e-01 5.99849857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.43509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.44, Y:8.17, Z:5.99 [[ 9.95367826e-01 -9.16093728e-02 -2.91653010e-02 2.40440016e+02] [ 9.16325724e-02 9.95792738e-01 -5.42899678e-04 8.17118289e+00] [ 2.90923297e-02 -2.13210669e-03 9.99574455e-01 5.99461356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.47, Y:8.17, Z:6.00 [[ 9.95495867e-01 -9.02028043e-02 -2.91793228e-02 2.40473350e+02] [ 9.02255180e-02 9.95921214e-01 -5.39973444e-04 8.17193649e+00] [ 2.91090137e-02 -2.09517818e-03 9.99574047e-01 5.99549849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.51, Y:8.17, Z:6.00 [[ 9.95553962e-01 -8.96404852e-02 -2.89291044e-02 2.40506824e+02] [ 8.96626668e-02 9.95972049e-01 -5.32150090e-04 8.17247455e+00] [ 2.88602816e-02 -2.06407652e-03 9.99581324e-01 5.99660731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.54, Y:8.17, Z:6.00 [[ 9.95582408e-01 -8.92673215e-02 -2.91035052e-02 2.40540281e+02] [ 8.92897069e-02 9.96005555e-01 -5.32123972e-04 8.17281456e+00] [ 2.90347541e-02 -2.06887018e-03 9.99576262e-01 5.99729039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.57, Y:8.17, Z:6.00 [[ 9.95634105e-01 -8.86222517e-02 -2.93057153e-02 2.40573741e+02] [ 8.86447664e-02 9.96063162e-01 -5.32575937e-04 8.17146563e+00] [ 2.92375415e-02 -2.06754752e-03 9.99570353e-01 5.99713645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.61, Y:8.17, Z:6.00 [[ 9.95645331e-01 -8.84264228e-02 -2.95151174e-02 2.40605993e+02] [ 8.84492868e-02 9.96080539e-01 -5.32591266e-04 8.17106513e+00] [ 2.94465292e-02 -2.08031907e-03 9.99564192e-01 5.99776174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.64, Y:8.17, Z:6.00 [[ 9.95670993e-01 -8.82336916e-02 -2.92248102e-02 2.40639525e+02] [ 8.82561603e-02 9.96097674e-01 -5.22715499e-04 8.17093977e+00] [ 2.91568866e-02 -2.05881687e-03 9.99572727e-01 5.99861476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.67, Y:8.17, Z:6.00 [[ 9.95686639e-01 -8.79694682e-02 -2.94870953e-02 2.40671875e+02] [ 8.79923190e-02 9.96121015e-01 -5.24283586e-04 8.17156113e+00] [ 2.94188362e-02 -2.07261573e-03 9.99565024e-01 5.99952146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.70, Y:8.17, Z:6.00 [[ 9.95805114e-01 -8.62270605e-02 -3.06115917e-02 2.40704807e+02] [ 8.62509607e-02 9.96273295e-01 -5.41296096e-04 8.17192872e+00] [ 3.05441857e-02 -2.10125377e-03 9.99531209e-01 6.00012249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.74, Y:8.17, Z:6.00 [[ 9.95909917e-01 -8.50847664e-02 -3.03976826e-02 2.40737769e+02] [ 8.51079007e-02 9.96371597e-01 -5.34326458e-04 8.17231630e+00] [ 3.03328506e-02 -2.05494193e-03 9.99537741e-01 6.00047600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.77, Y:8.18, Z:6.00 [[ 9.96047232e-01 -8.41128541e-02 -2.85471278e-02 2.40769445e+02] [ 8.38866516e-02 9.96434359e-01 -9.03315587e-03 8.17779784e+00] [ 2.92051435e-02 6.60272694e-03 9.99551631e-01 6.00055221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.80, Y:8.17, Z:6.00 [[ 9.96256070e-01 -8.11115877e-02 -2.99124356e-02 2.40802820e+02] [ 8.13826381e-02 9.96651176e-01 7.95615407e-03 8.16846108e+00] [ 2.91669278e-02 -1.03607197e-02 9.99520858e-01 5.99980167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.84, Y:8.17, Z:6.00 [[ 9.96389746e-01 -7.98666874e-02 -2.87886485e-02 2.40835905e+02] [ 7.98856820e-02 9.96803911e-01 -4.91582340e-04 8.17295340e+00] [ 2.87358985e-02 -1.80999321e-03 9.99585400e-01 6.00300620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.87, Y:8.17, Z:6.00 [[ 9.96503715e-01 -7.85847133e-02 -2.83688024e-02 2.40868735e+02] [ 7.86027246e-02 9.96905903e-01 -4.81428494e-04 8.17332399e+00] [ 2.83188595e-02 -1.75011988e-03 9.99597409e-01 6.00422159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.90, Y:8.17, Z:6.01 [[ 9.96744090e-01 -7.56107072e-02 -2.80043001e-02 2.40902075e+02] [ 7.56271731e-02 9.97136053e-01 -4.72222762e-04 8.17361915e+00] [ 2.79598024e-02 -1.64720081e-03 9.99607691e-01 6.00515870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.93, Y:8.17, Z:6.01 [[ 9.96830249e-01 -7.43166529e-02 -2.83987470e-02 2.40933227e+02] [ 7.43331520e-02 9.97233351e-01 -4.75739414e-04 8.17381325e+00] [ 2.83555330e-02 -1.63673694e-03 9.99596561e-01 6.00581126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.97, Y:8.17, Z:6.01 [[ 9.96970379e-01 -7.20823995e-02 -2.92265396e-02 2.40965916e+02] [ 7.20990077e-02 9.97397361e-01 -4.86544921e-04 8.17290164e+00] [ 2.91855448e-02 -1.62213363e-03 9.99572695e-01 6.00597252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.00, Y:8.17, Z:6.01 [[ 9.97032948e-01 -7.11299032e-02 -2.94251280e-02 2.40997992e+02] [ 7.11463880e-02 9.97465766e-01 -4.87694432e-04 8.17262911e+00] [ 2.93852475e-02 -1.60724416e-03 9.99566868e-01 6.00675077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.03, Y:8.17, Z:6.01 [[ 9.97084976e-01 -7.02775697e-02 -2.97088211e-02 2.41029818e+02] [ 7.02940616e-02 9.97526192e-01 -4.90219443e-04 8.17258077e+00] [ 2.96697786e-02 -1.59956326e-03 9.99558475e-01 6.00756988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.06, Y:8.17, Z:6.01 [[ 9.97127418e-01 -6.96745020e-02 -2.97048296e-02 2.41061897e+02] [ 6.96907866e-02 9.97568522e-01 -4.87998877e-04 8.17271246e+00] [ 2.96666040e-02 -1.58355588e-03 9.99558595e-01 6.00866450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.09, Y:8.17, Z:6.01 [[ 9.97142502e-01 -6.93787170e-02 -2.98902074e-02 2.41094159e+02] [ 6.93951379e-02 9.97589132e-01 -4.88875967e-04 8.17286352e+00] [ 2.98520636e-02 -1.58675606e-03 9.99553068e-01 6.01003600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.13, Y:8.17, Z:6.01 [[ 9.97142557e-01 -6.95099778e-02 -2.95818118e-02 2.41125917e+02] [ 6.95261817e-02 9.97580011e-01 -4.81709929e-04 8.17292389e+00] [ 2.95437077e-02 -1.57637695e-03 9.99562246e-01 6.01099079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.16, Y:8.17, Z:6.01 [[ 9.97016355e-01 -6.97903032e-02 -3.29803154e-02 2.41156155e+02] [ 7.02642446e-02 9.97437930e-01 1.34354515e-02 8.16809219e+00] [ 3.19581533e-02 -1.57127019e-02 9.99365693e-01 6.01138265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.19, Y:8.18, Z:6.02 [[ 9.97206347e-01 -6.86076670e-02 -2.95379467e-02 2.41189334e+02] [ 6.81991981e-02 9.97564567e-01 -1.46220198e-02 8.17993783e+00] [ 3.04691917e-02 1.25667066e-02 9.99456706e-01 6.01711868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.15509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.22, Y:8.17, Z:6.01 [[ 9.97226581e-01 -6.82135913e-02 -2.97666145e-02 2.41222226e+02] [ 6.82296855e-02 9.97669526e-01 -4.75877104e-04 8.17354115e+00] [ 2.97297054e-02 -1.55640945e-03 9.99556763e-01 6.01347543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.25, Y:8.17, Z:6.01 [[ 9.97253329e-01 -6.77932556e-02 -2.98307126e-02 2.41253024e+02] [ 6.78093038e-02 9.97698187e-01 -4.74485190e-04 8.17398242e+00] [ 2.97942148e-02 -1.54961792e-03 9.99554853e-01 6.01427377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.21509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.29, Y:8.17, Z:6.02 [[ 9.97279458e-01 -6.74557245e-02 -2.97221729e-02 2.41285386e+02] [ 6.74715586e-02 9.97721087e-01 -4.71006609e-04 8.17497128e+00] [ 2.96862108e-02 -1.53567612e-03 9.99558088e-01 6.01533123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.32, Y:8.18, Z:6.02 [[ 9.97294292e-01 -6.69745343e-02 -3.03068799e-02 2.41317941e+02] [ 6.69908433e-02 9.97753476e-01 -4.78069413e-04 8.17557156e+00] [ 3.02708132e-02 -1.55350754e-03 9.99540527e-01 6.01625599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.35, Y:8.18, Z:6.02 [[ 9.97322812e-01 -6.65955163e-02 -3.02034135e-02 2.41349503e+02] [ 6.66116010e-02 9.97778868e-01 -4.74438635e-04 8.17602628e+00] [ 3.01679232e-02 -1.53872926e-03 9.99543660e-01 6.01659153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.38, Y:8.17, Z:6.02 [[ 9.97201431e-01 -6.67710582e-02 -3.36293292e-02 2.41379881e+02] [ 6.71783823e-02 9.97678897e-01 1.11302609e-02 8.17303340e+00] [ 3.28080928e-02 -1.33582761e-02 9.99372396e-01 6.01641735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.41, Y:8.18, Z:6.02 [[ 9.97360070e-01 -6.60518862e-02 -3.01668671e-02 2.41411797e+02] [ 6.57024832e-02 9.97761817e-01 -1.24314143e-02 8.18383807e+00] [ 3.09204665e-02 1.04165582e-02 9.99467568e-01 6.02111339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.44, Y:8.18, Z:6.02 [[ 9.97390071e-01 -6.55579731e-02 -3.02522488e-02 2.41442965e+02] [ 6.55738210e-02 9.97847611e-01 -4.69016730e-04 8.17895809e+00] [ 3.02178819e-02 -1.51596292e-03 9.99542186e-01 6.01819449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.48, Y:8.18, Z:6.02 [[ 9.97427116e-01 -6.56438013e-02 -2.88104149e-02 2.41475301e+02] [ 6.56582943e-02 9.97842067e-01 -4.43700962e-04 8.18044279e+00] [ 2.87773702e-02 -1.44908333e-03 9.99584795e-01 6.01889629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.51, Y:8.18, Z:6.02 [[ 9.97402566e-01 -6.62167274e-02 -2.83454815e-02 2.41506904e+02] [ 6.62310404e-02 9.97804219e-01 -4.34648475e-04 8.18134419e+00] [ 2.83120220e-02 -1.44383123e-03 9.99598092e-01 6.01994624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.54, Y:8.18, Z:6.02 [[ 9.97388640e-01 -6.67027040e-02 -2.76884409e-02 2.41539372e+02] [ 6.67165910e-02 9.97771877e-01 -4.22996665e-04 8.18204465e+00] [ 2.76549627e-02 -1.42538632e-03 9.99616512e-01 6.02054717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.57, Y:8.18, Z:6.02 [[ 9.97238248e-01 -6.94216121e-02 -2.63915897e-02 2.41571143e+02] [ 6.94352256e-02 9.97586381e-01 -4.01342239e-04 8.18217076e+00] [ 2.63557523e-02 -1.43227216e-03 9.99651601e-01 6.02144987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.60, Y:8.18, Z:6.02 [[ 9.97077157e-01 -7.16540743e-02 -2.65110754e-02 2.41602764e+02] [ 7.16686474e-02 9.97428415e-01 -4.01288503e-04 8.18225449e+00] [ 2.64716539e-02 -1.49989731e-03 9.99648439e-01 6.02260992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.64, Y:8.18, Z:6.02 [[ 9.96734781e-01 -7.57666848e-02 -2.79139159e-02 2.41635397e+02] [ 7.57844963e-02 9.97124131e-01 -4.20808718e-04 8.18186772e+00] [ 2.78655224e-02 -1.69600737e-03 9.99610242e-01 6.02289150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.67, Y:8.18, Z:6.02 [[ 9.96584676e-01 -7.70785364e-02 -2.96291013e-02 2.41666327e+02] [ 7.70992612e-02 9.97023323e-01 -4.44033422e-04 8.18166457e+00] [ 2.95751305e-02 -1.84186491e-03 9.99560863e-01 6.02329890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.70, Y:8.18, Z:6.02 [[ 9.96450409e-01 -7.85446532e-02 -3.02872837e-02 2.41698279e+02] [ 7.85670825e-02 9.96908727e-01 -4.50643925e-04 8.18127020e+00] [ 3.02290531e-02 -1.93053920e-03 9.99541133e-01 6.02348109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.73, Y:8.18, Z:6.02 [[ 9.96333825e-01 -7.98972953e-02 -3.05831765e-02 2.41730805e+02] [ 7.99208679e-02 9.96801108e-01 -4.52815819e-04 8.18117404e+00] [ 3.05215230e-02 -1.99307829e-03 9.99532123e-01 6.02397915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.76, Y:8.18, Z:6.02 [[ 9.96248633e-01 -8.09291591e-02 -3.06452557e-02 2.41762633e+02] [ 8.09533812e-02 9.96717787e-01 -4.51519587e-04 8.18109875e+00] [ 3.05812126e-02 -2.03101130e-03 9.99530222e-01 6.02463078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.79, Y:8.18, Z:6.03 [[ 9.96102340e-01 -8.24389918e-02 -3.13678191e-02 2.41794771e+02] [ 8.24651873e-02 9.96593840e-01 -4.59874151e-04 8.18121863e+00] [ 3.12988868e-02 -2.12867136e-03 9.99507803e-01 6.02577426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.83, Y:8.18, Z:6.03 [[ 9.95953144e-01 -8.39065545e-02 -3.22028762e-02 2.41826034e+02] [ 8.39349974e-02 9.96471121e-01 -4.69954695e-04 8.18106264e+00] [ 3.21286685e-02 -2.23489548e-03 9.99481242e-01 6.02701914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.86, Y:8.18, Z:6.03 [[ 9.95688793e-01 -8.66459600e-02 -3.31105007e-02 2.41858299e+02] [ 8.66776034e-02 9.96236298e-01 -4.81179847e-04 8.18079043e+00] [ 3.30275750e-02 -2.39083347e-03 9.99451581e-01 6.02831534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.89, Y:8.18, Z:6.03 [[ 9.95561872e-01 -8.79318407e-02 -3.35343105e-02 2.41890872e+02] [ 8.79651072e-02 9.96123439e-01 -4.84899167e-04 8.18054401e+00] [ 3.34469507e-02 -2.46710209e-03 9.99437449e-01 6.02936229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.92, Y:8.18, Z:6.03 [[ 9.95450419e-01 -8.90784595e-02 -3.38155589e-02 2.41922410e+02] [ 8.91130204e-02 9.96021402e-01 -4.86718113e-04 8.18051159e+00] [ 3.37243765e-02 -2.52890284e-03 9.99427972e-01 6.03033534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.95, Y:8.18, Z:6.03 [[ 9.95379793e-01 -8.98833627e-02 -3.37646098e-02 2.41953593e+02] [ 8.99183411e-02 9.95949024e-01 -4.84163638e-04 8.18020638e+00] [ 3.36713484e-02 -2.55413100e-03 9.99429696e-01 6.03141271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.99, Y:8.18, Z:6.03 [[ 9.95154740e-01 -9.19781777e-02 -3.47427560e-02 2.41985827e+02] [ 9.23151532e-02 9.95695914e-01 8.21945640e-03 8.17601704e+00] [ 3.38372096e-02 -1.13869138e-02 9.99362488e-01 6.03238023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.02, Y:8.18, Z:6.04 [[ 9.95237791e-01 -9.20696009e-02 -3.20144873e-02 2.42017525e+02] [ 9.18151157e-02 9.95732329e-01 -9.33343550e-03 8.18353550e+00] [ 3.27371857e-02 6.34957387e-03 9.99443825e-01 6.03608591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.93509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.05, Y:8.18, Z:6.03 [[ 9.95383052e-01 -9.06226912e-02 -3.16244943e-02 2.42050404e+02] [ 9.06539731e-02 9.95882352e-01 -4.46186929e-04 8.17866120e+00] [ 3.15347104e-02 -2.42275915e-03 9.99499721e-01 6.03428758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.08, Y:8.18, Z:6.04 [[ 9.95554015e-01 -8.83960444e-02 -3.25321905e-02 2.42079156e+02] [ 8.83621532e-02 9.96085325e-01 -2.48081151e-03 8.17940761e+00] [ 3.26241315e-02 -4.04832552e-04 9.99467609e-01 6.03599370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.11, Y:8.18, Z:6.04 [[ 9.95560026e-01 -8.86432088e-02 -3.16641094e-02 2.42112551e+02] [ 8.87323737e-02 9.96054492e-01 1.41920633e-03 8.17800070e+00] [ 3.14133754e-02 -4.22253668e-03 9.99497559e-01 6.03570685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.15, Y:8.18, Z:6.04 [[ 9.95685097e-01 -8.73054191e-02 -3.14475989e-02 2.42145564e+02] [ 8.73347400e-02 9.96178923e-01 -4.42618788e-04 8.17922867e+00] [ 3.13660782e-02 -2.30575894e-03 9.99505304e-01 6.03704483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.18, Y:8.18, Z:6.04 [[ 9.95786054e-01 -8.53460706e-02 -3.35586403e-02 2.42176759e+02] [ 8.51943316e-02 9.96346717e-01 -5.92842479e-03 8.18216046e+00] [ 3.39420088e-02 3.04443680e-03 9.99419167e-01 6.04087924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.21, Y:8.18, Z:6.04 [[ 9.95822845e-01 -8.51854975e-02 -3.28677878e-02 2.42209330e+02] [ 8.53873558e-02 9.96336340e-01 4.78501539e-03 8.17715183e+00] [ 3.23397575e-02 -7.57152113e-03 9.99448254e-01 6.03871816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.24, Y:8.18, Z:6.04 [[ 9.95854871e-01 -8.46531617e-02 -3.32703723e-02 2.42241193e+02] [ 8.46848830e-02 9.96407678e-01 -4.57077878e-04 8.17892845e+00] [ 3.31895475e-02 -2.36231435e-03 9.99446283e-01 6.04137396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.27, Y:8.18, Z:6.04 [[ 9.95910153e-01 -8.38427376e-02 -3.36654549e-02 2.42272059e+02] [ 8.38748308e-02 9.96476192e-01 -4.60303250e-04 8.17871569e+00] [ 3.35854174e-02 -2.36526365e-03 9.99433052e-01 6.04214190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.30, Y:8.18, Z:6.04 [[ 9.96010813e-01 -8.25777058e-02 -3.38139371e-02 2.42304533e+02] [ 8.26094255e-02 9.96581894e-01 -4.60321991e-04 8.17858076e+00] [ 3.37363698e-02 -2.33486424e-03 9.99428039e-01 6.04281343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.34, Y:8.18, Z:6.04 [[ 9.96123181e-01 -8.11443492e-02 -3.39735484e-02 2.42336385e+02] [ 8.11756213e-02 9.96699707e-01 -4.60093589e-04 8.17856591e+00] [ 3.38987598e-02 -2.29951401e-03 9.99422626e-01 6.04338514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.37, Y:8.18, Z:6.04 [[ 9.96401746e-01 -7.72591496e-02 -3.48508971e-02 2.42368566e+02] [ 7.72897810e-02 9.97008560e-01 -4.69449770e-04 8.17902712e+00] [ 3.47829121e-02 -2.22585764e-03 9.99392413e-01 6.04426070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.40, Y:8.18, Z:6.04 [[ 9.96589058e-01 -7.45959186e-02 -3.52944488e-02 2.42400625e+02] [ 7.46257622e-02 9.97211498e-01 -4.72870850e-04 8.17984695e+00] [ 3.52313044e-02 -2.16261723e-03 9.99376845e-01 6.04497990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.43, Y:8.18, Z:6.05 [[ 9.96780405e-01 -7.16967006e-02 -3.58943933e-02 2.42431727e+02] [ 7.17257811e-02 9.97424274e-01 -4.78526539e-04 8.18068815e+00] [ 3.58362480e-02 -2.09756752e-03 9.99355474e-01 6.04575131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.46, Y:8.18, Z:6.05 [[ 9.97130680e-01 -6.61456446e-02 -3.68125168e-02 2.42462788e+02] [ 6.61725267e-02 9.97808077e-01 -4.89017254e-04 8.18214732e+00] [ 3.67641729e-02 -1.94836314e-03 9.99322070e-01 6.04684893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.49, Y:8.18, Z:6.05 [[ 9.97314710e-01 -6.33553439e-02 -3.67351197e-02 2.42492888e+02] [ 6.33802536e-02 9.97989332e-01 -4.87220368e-04 8.18331905e+00] [ 3.66921256e-02 -1.84236916e-03 9.99324919e-01 6.04784666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.52, Y:8.18, Z:6.05 [[ 9.97442110e-01 -6.14428198e-02 -3.65241988e-02 2.42521181e+02] [ 6.14661358e-02 9.98109052e-01 -4.85221640e-04 8.18413961e+00] [ 3.64849469e-02 -1.76102087e-03 9.99332651e-01 6.04894191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.55, Y:8.18, Z:6.05 [[ 9.97610904e-01 -5.89405485e-02 -3.60346443e-02 2.42550453e+02] [ 5.89615552e-02 9.98260139e-01 -4.80363372e-04 8.18475500e+00] [ 3.60002619e-02 -1.64544293e-03 9.99350426e-01 6.05064026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.58, Y:8.19, Z:6.05 [[ 9.97780401e-01 -5.63710484e-02 -3.54482068e-02 2.42580092e+02] [ 5.63409848e-02 9.98409876e-01 -1.84722996e-03 8.18518277e+00] [ 3.54959700e-02 -1.54057026e-04 9.99369808e-01 6.05161540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.61, Y:8.19, Z:6.05 [[ 9.97948350e-01 -5.45853692e-02 -3.34593570e-02 2.42609935e+02] [ 5.46453609e-02 9.98505438e-01 8.80461801e-04 8.18535663e+00] [ 3.33612896e-02 -2.70705404e-03 9.99439691e-01 6.05123490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.64, Y:8.18, Z:6.05 [[ 9.98048440e-01 -5.24525022e-02 -3.38828223e-02 2.42639340e+02] [ 5.24670054e-02 9.98622551e-01 -4.61551501e-04 8.18444687e+00] [ 3.38603600e-02 -1.31707946e-03 9.99425706e-01 6.05282776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.67, Y:8.18, Z:6.05 [[ 9.98028255e-01 -5.24130237e-02 -3.45322679e-02 2.42668127e+02] [ 5.24279441e-02 9.98624597e-01 -4.73908138e-04 8.18483848e+00] [ 3.45096111e-02 -1.33748210e-03 9.99403471e-01 6.05362008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.70, Y:8.19, Z:6.05 [[ 9.98014805e-01 -5.26685845e-02 -3.45321500e-02 2.42696525e+02] [ 5.26833650e-02 9.98611151e-01 -4.82375977e-04 8.18531900e+00] [ 3.45095961e-02 -1.33785150e-03 9.99403471e-01 6.05423332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.72, Y:8.18, Z:6.06 [[ 9.97514417e-01 -5.66008828e-02 -4.19681807e-02 2.42722635e+02] [ 5.75790674e-02 9.98087903e-01 2.24763938e-02 8.17982329e+00] [ 4.06157497e-02 -2.48370156e-02 9.98866099e-01 6.05723666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.75, Y:8.19, Z:6.06 [[ 9.97523926e-01 -5.69450612e-02 -4.12707703e-02 2.42751556e+02] [ 5.69647151e-02 9.98375946e-01 -7.00571374e-04 8.19112218e+00] [ 4.12436385e-02 -1.65214096e-03 9.99147753e-01 6.06455410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.65509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.79, Y:8.20, Z:6.06 [[ 9.97952801e-01 -5.39658911e-02 -3.43204024e-02 2.42785460e+02] [ 5.31372908e-02 9.98283813e-01 -2.46141465e-02 8.19672925e+00] [ 3.55898265e-02 2.27400632e-02 9.99107729e-01 6.06313908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.81, Y:8.18, Z:6.06 [[ 9.97907293e-01 -5.47170913e-02 -3.44539603e-02 2.42813319e+02] [ 5.47329056e-02 9.98500913e-01 -4.84703398e-04 8.18494753e+00] [ 3.44288324e-02 -1.40207630e-03 9.99406169e-01 6.05661719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.71509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.84, Y:8.18, Z:6.06 [[ 9.97350547e-01 -5.99204281e-02 -4.12483873e-02 2.42840382e+02] [ 6.07373418e-02 9.97975894e-01 1.88438461e-02 8.18081539e+00] [ 4.00357648e-02 -2.12992376e-02 9.98971211e-01 6.06012426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.87, Y:8.19, Z:6.06 [[ 9.97481721e-01 -6.11563925e-02 -3.59181331e-02 2.42874425e+02] [ 6.04450586e-02 9.97959593e-01 -2.05680924e-02 8.19325416e+00] [ 3.71027158e-02 1.83452225e-02 9.99143053e-01 6.06412270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.90, Y:8.18, Z:6.06 [[ 9.97365743e-01 -6.26529676e-02 -3.65538144e-02 2.42904094e+02] [ 6.26760418e-02 9.98033791e-01 -5.15452822e-04 8.18350742e+00] [ 3.65142366e-02 -1.77695341e-03 9.99331553e-01 6.05852827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.93, Y:8.18, Z:6.06 [[ 9.97242155e-01 -6.41973169e-02 -3.72396200e-02 2.42933409e+02] [ 6.42222900e-02 9.97935479e-01 -5.26464201e-04 8.18340648e+00] [ 3.71965356e-02 -1.86660138e-03 9.99306226e-01 6.05920280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.96, Y:8.18, Z:6.06 [[ 9.97070645e-01 -6.67882097e-02 -3.72755251e-02 2.42962943e+02] [ 6.68150101e-02 9.97765241e-01 -5.27663615e-04 8.18345666e+00] [ 3.72274650e-02 -1.96444668e-03 9.99304887e-01 6.05991978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.99, Y:8.18, Z:6.06 [[ 9.97047253e-01 -6.76331931e-02 -3.63665675e-02 2.42992877e+02] [ 6.76592442e-02 9.97708355e-01 -5.15259859e-04 8.18410701e+00] [ 3.63180769e-02 -1.94679605e-03 9.99338385e-01 6.06083247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.02, Y:8.18, Z:6.06 [[ 9.97025610e-01 -6.82372484e-02 -3.58275200e-02 2.43023811e+02] [ 6.82628947e-02 9.97667239e-01 -5.08350140e-04 8.18490807e+00] [ 3.57786314e-02 -1.93885212e-03 9.99357859e-01 6.06222708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.05, Y:8.19, Z:6.06 [[ 9.97039431e-01 -6.85440998e-02 -3.48436343e-02 2.43054279e+02] [ 6.85685421e-02 9.97646285e-01 -4.94389965e-04 8.18580304e+00] [ 3.47955098e-02 -1.89625091e-03 9.99392654e-01 6.06360716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.09, Y:8.19, Z:6.06 [[ 9.97086811e-01 -6.86140603e-02 -3.33166944e-02 2.43085865e+02] [ 6.86364590e-02 9.97641626e-01 -4.72276450e-04 8.18687116e+00] [ 3.32705259e-02 -1.81583931e-03 9.99444733e-01 6.06491206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.12, Y:8.19, Z:6.07 [[ 9.97079546e-01 -6.89852126e-02 -3.27630874e-02 2.43117536e+02] [ 6.90071105e-02 9.97616060e-01 -4.63253535e-04 8.18745852e+00] [ 3.27169398e-02 -1.79898537e-03 9.99463039e-01 6.06621756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.14, Y:8.19, Z:6.07 [[ 9.96703108e-01 -7.25881560e-02 -3.62473981e-02 2.43144389e+02] [ 7.30623671e-02 9.97255991e-01 1.19323036e-02 8.18748137e+00] [ 3.52817910e-02 -1.45412848e-02 9.99271608e-01 6.06953620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.18, Y:8.19, Z:6.07 [[ 9.96719431e-01 -7.25610654e-02 -3.58506276e-02 2.43176051e+02] [ 7.25784049e-02 9.97362373e-01 -8.19229930e-04 8.19376707e+00] [ 3.58155112e-02 -1.78543898e-03 9.99356824e-01 6.07385621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.21, Y:8.19, Z:6.07 [[ 9.96993361e-01 -7.08649940e-02 -3.13431108e-02 2.43208725e+02] [ 7.04700881e-02 9.97422117e-01 -1.35309580e-02 8.19495686e+00] [ 3.22211832e-02 1.12815235e-02 9.99417091e-01 6.07262924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.24, Y:8.19, Z:6.07 [[ 9.96836525e-01 -7.29382891e-02 -3.15744819e-02 2.43240423e+02] [ 7.29609478e-02 9.97334703e-01 -4.35454047e-04 8.18927356e+00] [ 3.15220878e-02 -1.86962763e-03 9.99501307e-01 6.06980376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.27, Y:8.19, Z:6.07 [[ 9.96742709e-01 -7.42446051e-02 -3.14914409e-02 2.43272906e+02] [ 7.42678531e-02 9.97238236e-01 -4.32434673e-04 8.18974816e+00] [ 3.14365749e-02 -1.90777560e-03 9.99503928e-01 6.07060719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.30, Y:8.19, Z:6.07 [[ 9.96553694e-01 -7.64122228e-02 -3.22785895e-02 2.43304549e+02] [ 7.64378764e-02 9.97074249e-01 -4.40278005e-04 8.19031488e+00] [ 3.22177930e-02 -2.02854616e-03 9.99478814e-01 6.07132575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.34, Y:8.19, Z:6.07 [[ 9.96440308e-01 -7.74791056e-02 -3.32219857e-02 2.43337179e+02] [ 7.75069879e-02 9.96991707e-01 -4.49669097e-04 8.19067946e+00] [ 3.31568842e-02 -2.12686763e-03 9.99447896e-01 6.07213804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.37, Y:8.19, Z:6.07 [[ 9.96341655e-01 -7.84727085e-02 -3.38428773e-02 2.43367859e+02] [ 7.85022905e-02 9.96913829e-01 -4.55817928e-04 8.19127511e+00] [ 3.37742017e-02 -2.20259300e-03 9.99427062e-01 6.07277792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.40, Y:8.19, Z:6.07 [[ 9.96176114e-01 -8.00250816e-02 -3.50590311e-02 2.43400504e+02] [ 8.00578640e-02 9.96790107e-01 -4.70000746e-04 8.19210964e+00] [ 3.49841072e-02 -2.33854762e-03 9.99385133e-01 6.07316064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.43, Y:8.19, Z:6.07 [[ 9.96107358e-01 -8.05972416e-02 -3.56961759e-02 2.43432767e+02] [ 8.06316856e-02 9.96743851e-01 -4.75954690e-04 8.19288907e+00] [ 3.56183044e-02 -2.40414086e-03 9.99362575e-01 6.07406008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.47, Y:8.19, Z:6.07 [[ 9.96091546e-01 -8.06086386e-02 -3.61092837e-02 2.43465143e+02] [ 8.06439866e-02 9.96742855e-01 -4.78862193e-04 8.19365824e+00] [ 3.60302710e-02 -2.43500601e-03 9.99347732e-01 6.07479378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.50, Y:8.20, Z:6.08 [[ 9.96060315e-01 -8.08101777e-02 -3.65179973e-02 2.43497465e+02] [ 8.08465616e-02 9.96726443e-01 -4.81663088e-04 8.19518874e+00] [ 3.64373769e-02 -2.47258903e-03 9.99332879e-01 6.07599606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.53, Y:8.20, Z:6.08 [[ 9.96121907e-01 -8.03550372e-02 -3.58359263e-02 2.43529834e+02] [ 8.03898711e-02 9.96763386e-01 -4.70119973e-04 8.19644132e+00] [ 3.57577157e-02 -2.41254869e-03 9.99357576e-01 6.07690032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.56, Y:8.20, Z:6.08 [[ 9.96199236e-01 -7.98565894e-02 -3.47851556e-02 2.43560971e+02] [ 7.98891831e-02 9.96803648e-01 -4.54114333e-04 8.19759217e+00] [ 3.47102340e-02 -2.32656931e-03 9.99394710e-01 6.07791486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.43509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.59, Y:8.20, Z:6.08 [[ 9.96326447e-01 -7.91388002e-02 -3.27209753e-02 2.43593415e+02] [ 7.91673141e-02 9.96861252e-01 -4.25254237e-04 8.19953003e+00] [ 3.26519265e-02 -2.16673969e-03 9.99464435e-01 6.07987323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.62, Y:8.20, Z:6.08 [[ 9.95864120e-01 -8.26897576e-02 -3.76438417e-02 2.43621341e+02] [ 8.34144211e-02 9.96350508e-01 1.81024855e-02 8.19708072e+00] [ 3.60095706e-02 -2.11676550e-02 9.99127240e-01 6.08224207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.66, Y:8.21, Z:6.09 [[ 9.96285164e-01 -7.99010828e-02 -3.21199158e-02 2.43655544e+02] [ 7.93006608e-02 9.96658951e-01 -1.95535237e-02 8.21097588e+00] [ 3.35749493e-02 1.69337550e-02 9.99292735e-01 6.08727315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.69, Y:8.20, Z:6.08 [[ 9.96315618e-01 -7.94193423e-02 -3.23690843e-02 2.43688470e+02] [ 7.94476106e-02 9.96838957e-01 -4.13944275e-04 8.20239198e+00] [ 3.22996394e-02 -2.15922726e-03 9.99475898e-01 6.08208638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.72, Y:8.20, Z:6.08 [[ 9.96289435e-01 -7.96135411e-02 -3.26962805e-02 2.43720136e+02] [ 7.96425976e-02 9.96823397e-01 -4.14787348e-04 8.20350911e+00] [ 3.26254401e-02 -2.19076846e-03 9.99465248e-01 6.08293946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.75, Y:8.21, Z:6.08 [[ 9.96189984e-01 -8.03733188e-02 -3.38473822e-02 2.43750813e+02] [ 8.04050051e-02 9.96762185e-01 -4.26152182e-04 8.20526623e+00] [ 3.37720419e-02 -2.29697040e-03 9.99426922e-01 6.08371591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.78, Y:8.21, Z:6.08 [[ 9.96150225e-01 -8.09032596e-02 -3.37548920e-02 2.43782788e+02] [ 8.09351434e-02 9.96719280e-01 -4.22974784e-04 8.20618114e+00] [ 3.36783717e-02 -2.31061059e-03 9.99430052e-01 6.08401989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.81, Y:8.21, Z:6.08 [[ 9.96113879e-01 -8.11284388e-02 -3.42828769e-02 2.43814985e+02] [ 8.11615452e-02 9.96700868e-01 -4.27146096e-04 8.20681670e+00] [ 3.42044269e-02 -2.35696511e-03 9.99412078e-01 6.08476322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.85, Y:8.21, Z:6.09 [[ 9.96068835e-01 -8.19390022e-02 -3.36582167e-02 2.43846017e+02] [ 8.19714437e-02 9.96634591e-01 -4.17238062e-04 8.20820986e+00] [ 3.35791311e-02 -2.34341478e-03 9.99433315e-01 6.08566405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.88, Y:8.21, Z:6.09 [[ 9.96069484e-01 -8.21088975e-02 -3.32221580e-02 2.43878090e+02] [ 8.21406618e-02 9.96620662e-01 -4.09881295e-04 8.20891293e+00] [ 3.31435440e-02 -2.32061980e-03 9.99447908e-01 6.08632537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.91, Y:8.21, Z:6.09 [[ 9.96093015e-01 -8.22133790e-02 -3.22438394e-02 2.43910030e+02] [ 8.22434233e-02 9.96612193e-01 -3.95622882e-04 8.21019148e+00] [ 3.21671290e-02 -2.25776655e-03 9.99479954e-01 6.08721021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.94, Y:8.21, Z:6.09 [[ 9.96110733e-01 -8.21749502e-02 -3.17912877e-02 2.43942607e+02] [ 8.22042064e-02 9.96615431e-01 -3.87877052e-04 8.21138344e+00] [ 3.17155617e-02 -2.22700908e-03 9.99494454e-01 6.08806328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.98, Y:8.21, Z:6.09 [[ 9.96098277e-01 -8.24685535e-02 -3.14191166e-02 2.43975310e+02] [ 8.24973560e-02 9.96591211e-01 -3.80706374e-04 8.21214821e+00] [ 3.13434118e-02 -2.21277309e-03 9.99506225e-01 6.08904057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.01, Y:8.21, Z:6.09 [[ 9.96071908e-01 -8.27773537e-02 -3.14430135e-02 2.44006883e+02] [ 8.28064552e-02 9.96565577e-01 -3.77743762e-04 8.21262093e+00] [ 3.13662935e-02 -2.22742454e-03 9.99505475e-01 6.08990864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.04, Y:8.21, Z:6.09 [[ 9.96082787e-01 -8.27825458e-02 -3.10826434e-02 2.44039955e+02] [ 8.28110788e-02 9.96565195e-01 -3.70421478e-04 8.21280977e+00] [ 3.10065450e-02 -2.20501677e-03 9.99516749e-01 6.09012210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.07, Y:8.21, Z:6.09 [[ 9.95943563e-01 -8.39989270e-02 -3.22583400e-02 2.44073440e+02] [ 8.40304125e-02 9.96463118e-01 -3.80807431e-04 8.21289592e+00] [ 3.21762335e-02 -2.33141891e-03 9.99479492e-01 6.09019354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.11, Y:8.21, Z:6.09 [[ 9.95882498e-01 -8.43834777e-02 -3.31282109e-02 2.44105174e+02] [ 8.44170137e-02 9.96430438e-01 -3.87558432e-04 8.21304217e+00] [ 3.30426613e-02 -2.41062198e-03 9.99451035e-01 6.09080164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.14, Y:8.21, Z:6.09 [[ 9.95792116e-01 -8.52145952e-02 -3.37125236e-02 2.44137232e+02] [ 8.52498964e-02 9.96359524e-01 -3.91509137e-04 8.21327276e+00] [ 3.36231563e-02 -2.48412743e-03 9.99431495e-01 6.09113088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.17, Y:8.21, Z:6.09 [[ 9.95562000e-01 -8.73574333e-02 -3.49997689e-02 2.44169467e+02] [ 8.73969007e-02 9.96173488e-01 -4.03600906e-04 8.21350892e+00] [ 3.49010994e-02 -2.65706160e-03 9.99387239e-01 6.09157185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.20, Y:8.21, Z:6.09 [[ 9.95480721e-01 -8.80303799e-02 -3.56200187e-02 2.44201591e+02] [ 8.80717940e-02 9.96114046e-01 -4.07772466e-04 8.21383555e+00] [ 3.55174973e-02 -2.73118932e-03 9.99365323e-01 6.09235291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.23, Y:8.21, Z:6.09 [[ 9.95474983e-01 -8.79844619e-02 -3.58927901e-02 2.44233879e+02] [ 8.80265777e-02 9.96118043e-01 -4.08271940e-04 8.21412008e+00] [ 3.57893774e-02 -2.75309497e-03 9.99355563e-01 6.09317572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.27, Y:8.21, Z:6.09 [[ 9.95484132e-01 -8.78490060e-02 -3.59707592e-02 2.44265619e+02] [ 8.78913122e-02 9.96129988e-01 -4.06515477e-04 8.21462423e+00] [ 3.58672639e-02 -2.75683752e-03 9.99352760e-01 6.09425737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.30, Y:8.22, Z:6.10 [[ 9.95588780e-01 -8.70395931e-02 -3.50298501e-02 2.44297808e+02] [ 8.70793125e-02 9.96201304e-01 -3.93084488e-04 8.21564618e+00] [ 3.49309963e-02 -2.65902476e-03 9.99386189e-01 6.09601069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.33, Y:8.22, Z:6.10 [[ 9.95675583e-01 -8.61653258e-02 -3.47227647e-02 2.44329840e+02] [ 8.62039233e-02 9.96277438e-01 -3.86734484e-04 8.21667685e+00] [ 3.46268301e-02 -2.60817646e-03 9.99396908e-01 6.09705635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.15509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.36, Y:8.22, Z:6.10 [[ 9.95794717e-01 -8.48943143e-02 -3.44359982e-02 2.44361635e+02] [ 8.49316546e-02 9.96386707e-01 -3.79642288e-04 8.21738622e+00] [ 3.43438003e-02 -2.54666052e-03 9.99406833e-01 6.09801941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.39, Y:8.22, Z:6.10 [[ 9.96011228e-01 -8.27332829e-02 -3.34191199e-02 2.44394132e+02] [ 8.27673857e-02 9.96568827e-01 -3.64021395e-04 8.21823473e+00] [ 3.33345698e-02 -2.40344379e-03 9.99441359e-01 6.09883592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.21509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.42, Y:8.22, Z:6.10 [[ 9.96152333e-01 -8.07556348e-02 -3.40449287e-02 2.44424018e+02] [ 8.06321015e-02 9.96731449e-01 -4.98825871e-03 8.22072260e+00] [ 3.43364811e-02 2.22395141e-03 9.99407855e-01 6.10077590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.46, Y:8.22, Z:6.10 [[ 9.96199239e-01 -8.07911044e-02 -3.25557083e-02 2.44457011e+02] [ 8.09695402e-02 9.96707735e-01 4.19820691e-03 8.21686771e+00] [ 3.21093485e-02 -6.81827125e-03 9.99461105e-01 6.09846151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.49, Y:8.22, Z:6.10 [[ 9.96251658e-01 -8.01855683e-02 -3.24485413e-02 2.44488763e+02] [ 8.02163035e-02 9.96777417e-01 -3.55588243e-04 8.21962068e+00] [ 3.23724862e-02 -2.24864666e-03 9.99473344e-01 6.10038981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.52, Y:8.22, Z:6.10 [[ 9.96350907e-01 -7.91186397e-02 -3.20173490e-02 2.44520973e+02] [ 7.91480867e-02 9.96862808e-01 -3.48605585e-04 8.22117152e+00] [ 3.19444856e-02 -2.18677842e-03 9.99487252e-01 6.10137197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.55, Y:8.22, Z:6.10 [[ 9.96336417e-01 -7.94989564e-02 -3.15223804e-02 2.44553333e+02] [ 7.95277585e-02 9.96832593e-01 -3.40991495e-04 8.22199626e+00] [ 3.14496447e-02 -2.16716201e-03 9.99502988e-01 6.10199463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.59, Y:8.22, Z:6.10 [[ 9.96308559e-01 -8.00014585e-02 -3.11291207e-02 2.44585048e+02] [ 8.00298593e-02 9.96792411e-01 -3.34506758e-04 8.22254733e+00] [ 3.10560323e-02 -2.15798720e-03 9.99515316e-01 6.10206719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.62, Y:8.22, Z:6.10 [[ 9.96267213e-01 -8.05121785e-02 -3.11356641e-02 2.44617125e+02] [ 8.05409155e-02 9.96751248e-01 -3.32127787e-04 8.22272171e+00] [ 3.10612523e-02 -2.17680686e-03 9.99515112e-01 6.10243100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.65, Y:8.22, Z:6.10 [[ 9.96228152e-01 -8.10333114e-02 -3.10333841e-02 2.44650318e+02] [ 8.10622046e-02 9.96708990e-01 -3.28024474e-04 8.22302503e+00] [ 3.09578338e-02 -2.18884731e-03 9.99518295e-01 6.10297119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.68, Y:8.22, Z:6.10 [[ 9.96181679e-01 -8.15633312e-02 -3.11365746e-02 2.44682698e+02] [ 8.15927754e-02 9.96665698e-01 -3.25870981e-04 8.22319972e+00] [ 3.10593350e-02 -2.21589284e-03 9.99515086e-01 6.10337022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.71, Y:8.22, Z:6.10 [[ 9.96170971e-01 -8.19689935e-02 -3.04052728e-02 2.44714392e+02] [ 8.19973395e-02 9.96632498e-01 -3.15521002e-04 8.22358058e+00] [ 3.03287459e-02 -2.17883861e-03 9.99537603e-01 6.10353027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.75, Y:8.22, Z:6.10 [[ 9.96138843e-01 -8.24571138e-02 -3.01368402e-02 2.44747280e+02] [ 8.24852685e-02 9.96592236e-01 -3.09901019e-04 8.22468321e+00] [ 3.00596945e-02 -2.17714092e-03 9.99545734e-01 6.10398682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.78, Y:8.23, Z:6.10 [[ 9.96134020e-01 -8.25578296e-02 -3.00203140e-02 2.44779730e+02] [ 8.25859053e-02 9.96583903e-01 -3.05598874e-04 8.22524890e+00] [ 2.99429913e-02 -2.17483737e-03 9.99549242e-01 6.10457232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.81, Y:8.23, Z:6.11 [[ 9.96138215e-01 -8.26122392e-02 -2.97300117e-02 2.44812644e+02] [ 8.26398834e-02 9.96579430e-01 -2.99772830e-04 8.22565283e+00] [ 2.96530830e-02 -2.15826953e-03 9.99557921e-01 6.10527397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.85, Y:8.23, Z:6.11 [[ 9.96156624e-01 -8.24876957e-02 -2.94577878e-02 2.44845202e+02] [ 8.25148769e-02 9.96589790e-01 -2.93778685e-04 8.22605352e+00] [ 2.93815637e-02 -2.13805615e-03 9.99565982e-01 6.10573612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.88, Y:8.23, Z:6.11 [[ 9.96165899e-01 -8.23125167e-02 -2.96336037e-02 2.44877509e+02] [ 8.23400387e-02 9.96604251e-01 -2.92415877e-04 8.22687373e+00] [ 2.95570449e-02 -2.14873735e-03 9.99560786e-01 6.10635047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.91, Y:8.23, Z:6.11 [[ 9.96182175e-01 -8.22785847e-02 -2.91772029e-02 2.44910899e+02] [ 8.23053316e-02 9.96607120e-01 -2.85121645e-04 8.22712319e+00] [ 2.91016676e-02 -2.11740626e-03 9.99574214e-01 6.10689381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.94, Y:8.23, Z:6.11 [[ 9.96255451e-01 -8.16765852e-02 -2.83551098e-02 2.44943145e+02] [ 8.17017026e-02 9.96656790e-01 -2.73556945e-04 8.22732427e+00] [ 2.82826559e-02 -2.04412815e-03 9.99597876e-01 6.10742390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.98, Y:8.23, Z:6.11 [[ 9.96259917e-01 -8.15356737e-02 -2.86026412e-02 2.44975919e+02] [ 8.15613022e-02 9.96668290e-01 -2.71456202e-04 8.22770480e+00] [ 2.85294788e-02 -2.06242772e-03 9.99590824e-01 6.10789038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.01, Y:8.23, Z:6.11 [[ 9.96313834e-01 -8.08623370e-02 -2.86361214e-02 2.45008180e+02] [ 8.08878545e-02 9.96723173e-01 -2.68077348e-04 8.22813064e+00] [ 2.85639632e-02 -2.04922525e-03 9.99589866e-01 6.10812479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.04, Y:8.23, Z:6.11 [[ 9.96465293e-01 -7.89595697e-02 -2.86758669e-02 2.45040798e+02] [ 7.89845032e-02 9.96875809e-01 -2.63943091e-04 8.22914131e+00] [ 2.86071189e-02 -2.00193897e-03 9.99588728e-01 6.10829578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.07, Y:8.23, Z:6.11 [[ 9.96554887e-01 -7.78135287e-02 -2.86951539e-02 2.45072485e+02] [ 7.78381292e-02 9.96965976e-01 -2.60412768e-04 8.22969692e+00] [ 2.86283558e-02 -1.97406148e-03 9.99588175e-01 6.10878368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.10, Y:8.23, Z:6.11 [[ 9.96633572e-01 -7.68956781e-02 -2.84354866e-02 2.45104546e+02] [ 7.69195862e-02 9.97037268e-01 -2.53725818e-04 8.23023636e+00] [ 2.83707503e-02 -1.93437419e-03 9.99595598e-01 6.10900769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.14, Y:8.23, Z:6.11 [[ 9.96753921e-01 -7.54823723e-02 -2.80005849e-02 2.45137345e+02] [ 7.55050728e-02 9.97145387e-01 -2.47211707e-04 8.23105432e+00] [ 2.79393142e-02 -1.86777696e-03 9.99607876e-01 6.10922812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.17, Y:8.23, Z:6.11 [[ 9.96787795e-01 -7.49703616e-02 -2.81697876e-02 2.45170791e+02] [ 7.49932211e-02 9.97184013e-01 -2.45600434e-04 8.23171215e+00] [ 2.81088746e-02 -1.86773160e-03 9.99603123e-01 6.11001706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.93509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.20, Y:8.23, Z:6.11 [[ 9.96855582e-01 -7.42991790e-02 -2.75423592e-02 2.45202575e+02] [ 7.43208708e-02 9.97234352e-01 -2.36681073e-04 8.23223899e+00] [ 2.74837719e-02 -1.81103527e-03 9.99620609e-01 6.11038038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.24, Y:8.23, Z:6.11 [[ 9.96862099e-01 -7.42116710e-02 -2.75423954e-02 2.45235266e+02] [ 7.42334474e-02 9.97240864e-01 -2.32395903e-04 8.23245415e+00] [ 2.74836487e-02 -1.81290029e-03 9.99620609e-01 6.11104940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.27, Y:8.23, Z:6.11 [[ 9.96905566e-01 -7.37264735e-02 -2.72708710e-02 2.45268384e+02] [ 7.37477098e-02 9.97276904e-01 -2.27599735e-04 8.23299712e+00] [ 2.72133899e-02 -1.78426884e-03 9.99628055e-01 6.11174625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.30, Y:8.23, Z:6.11 [[ 9.96948593e-01 -7.33423630e-02 -2.67282905e-02 2.45301298e+02] [ 7.33627005e-02 9.97305302e-01 -2.20236066e-04 8.23348956e+00] [ 2.66724184e-02 -1.74129553e-03 9.99642711e-01 6.11168244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.33, Y:8.23, Z:6.11 [[ 9.96968133e-01 -7.28769862e-02 -2.72669502e-02 2.45333284e+02] [ 7.28980583e-02 9.97339372e-01 -2.21756436e-04 8.23390594e+00] [ 2.72105639e-02 -1.76662362e-03 9.99628163e-01 6.11236987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.37, Y:8.23, Z:6.11 [[ 9.97007828e-01 -7.24686653e-02 -2.69013757e-02 2.45366079e+02] [ 7.24890951e-02 9.97369182e-01 -2.16277671e-04 8.23421040e+00] [ 2.68462764e-02 -1.73442585e-03 9.99638069e-01 6.11237594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.40, Y:8.23, Z:6.11 [[ 9.97028305e-01 -7.23454877e-02 -2.64705482e-02 2.45399395e+02] [ 7.23652974e-02 9.97378173e-01 -2.10066027e-04 8.23411972e+00] [ 2.64163443e-02 -1.70610732e-03 9.99649572e-01 6.11288100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.43, Y:8.23, Z:6.11 [[ 9.96980363e-01 -7.30348394e-02 -2.63830934e-02 2.45431800e+02] [ 7.30548325e-02 9.97327904e-01 -2.06569050e-04 8.23349403e+00] [ 2.63276820e-02 -1.72146718e-03 9.99651884e-01 6.11323287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.47, Y:8.23, Z:6.11 [[ 9.96963530e-01 -7.32137246e-02 -2.65229985e-02 2.45465293e+02] [ 7.32340605e-02 9.97314760e-01 -2.05131690e-04 8.23320101e+00] [ 2.64667964e-02 -1.73787807e-03 9.99648182e-01 6.11354679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.50, Y:8.23, Z:6.11 [[ 9.96951600e-01 -7.33839964e-02 -2.65008603e-02 2.45498384e+02] [ 7.34044334e-02 9.97302235e-01 -2.02119177e-04 8.23317310e+00] [ 2.64441995e-02 -1.74377760e-03 9.99648770e-01 6.11371468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.53, Y:8.23, Z:6.11 [[ 9.96940829e-01 -7.32987428e-02 -2.71344418e-02 2.45530796e+02] [ 7.33202325e-02 9.97308429e-01 -2.03453245e-04 8.23342482e+00] [ 2.70763204e-02 -1.78667274e-03 9.99631773e-01 6.11456219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.56, Y:8.23, Z:6.11 [[ 9.96961321e-01 -7.30357815e-02 -2.70905772e-02 2.45563473e+02] [ 7.30572243e-02 9.97327731e-01 -1.98716552e-04 8.23357923e+00] [ 2.70326973e-02 -1.78104966e-03 9.99632963e-01 6.11459732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.60, Y:8.23, Z:6.12 [[ 9.96976187e-01 -7.27234204e-02 -2.73822166e-02 2.45595235e+02] [ 7.27452883e-02 9.97350532e-01 -1.98007321e-04 8.23356042e+00] [ 2.73240681e-02 -1.79451866e-03 9.99625017e-01 6.11522194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.63, Y:8.23, Z:6.12 [[ 9.96993445e-01 -7.24842505e-02 -2.73880144e-02 2.45628290e+02] [ 7.25061087e-02 9.97367949e-01 -1.95457136e-04 8.23362279e+00] [ 2.73300953e-02 -1.79092887e-03 9.99624859e-01 6.11576618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.66, Y:8.23, Z:6.12 [[ 9.97056490e-01 -7.16235504e-02 -2.73573286e-02 2.45660254e+02] [ 7.16451160e-02 9.97430168e-01 -1.92345605e-04 8.23381261e+00] [ 2.73008014e-02 -1.76823955e-03 9.99625700e-01 6.11662088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.69, Y:8.23, Z:6.12 [[ 9.97087208e-01 -7.13704351e-02 -2.68953711e-02 2.45692027e+02] [ 7.13912483e-02 9.97448372e-01 -1.86790502e-04 8.23381032e+00] [ 2.68400754e-02 -1.73384770e-03 9.99638237e-01 6.11675271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.72, Y:8.23, Z:6.12 [[ 9.97118467e-01 -7.08845514e-02 -2.70211676e-02 2.45724107e+02] [ 7.09054381e-02 9.97483025e-01 -1.85597584e-04 8.23395766e+00] [ 2.69663120e-02 -1.73088495e-03 9.99634844e-01 6.11750165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.76, Y:8.23, Z:6.12 [[ 9.97104854e-01 -7.13445538e-02 -2.63033044e-02 2.45756001e+02] [ 7.13645646e-02 9.97450283e-01 -1.78364976e-04 8.23429416e+00] [ 2.62489638e-02 -1.69927528e-03 9.99653992e-01 6.11861594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.79, Y:8.23, Z:6.12 [[ 9.97130119e-01 -7.09453116e-02 -2.64251456e-02 2.45789356e+02] [ 7.09654335e-02 9.97478760e-01 -1.76736349e-04 8.23468810e+00] [ 2.63710601e-02 -1.69904277e-03 9.99650779e-01 6.11971103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.82, Y:8.23, Z:6.12 [[ 9.97198403e-01 -7.00682352e-02 -2.61875610e-02 2.45822190e+02] [ 7.00877690e-02 9.97540814e-01 -1.72337207e-04 8.23477943e+00] [ 2.61352363e-02 -1.66357334e-03 9.99657032e-01 6.12004687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.85, Y:8.24, Z:6.12 [[ 9.97339259e-01 -6.79940711e-02 -2.62908637e-02 2.45854595e+02] [ 6.80131149e-02 9.97684413e-01 -1.70221878e-04 8.23546323e+00] [ 2.62415590e-02 -1.61835457e-03 9.99654321e-01 6.12036312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.89, Y:8.24, Z:6.12 [[ 9.97443591e-01 -6.66195363e-02 -2.58480179e-02 2.45886362e+02] [ 6.66375411e-02 9.97777235e-01 -1.65135851e-04 8.23610991e+00] [ 2.58015651e-02 -1.55773466e-03 9.99665871e-01 6.12106595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.92, Y:8.24, Z:6.12 [[ 9.97560982e-01 -6.50800917e-02 -2.52323087e-02 2.45917259e+02] [ 6.50968001e-02 9.97878941e-01 -1.59528308e-04 8.23699625e+00] [ 2.51891716e-02 -1.48340334e-03 9.99681602e-01 6.12177675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.95, Y:8.24, Z:6.12 [[ 9.97630755e-01 -6.41728661e-02 -2.47935424e-02 2.45949406e+02] [ 6.41887529e-02 9.97937764e-01 -1.55380124e-04 8.23773308e+00] [ 2.47523834e-02 -1.43645457e-03 9.99692581e-01 6.12288466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.65509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.98, Y:8.24, Z:6.12 [[ 9.97722290e-01 -6.28434034e-02 -2.45140658e-02 2.45980497e+02] [ 6.28585747e-02 9.98022433e-01 -1.51964984e-04 8.23790766e+00] [ 2.44751376e-02 -1.38930039e-03 9.99699474e-01 6.12424985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.01, Y:8.24, Z:6.12 [[ 9.97780824e-01 -6.19074576e-02 -2.45131435e-02 2.46013155e+02] [ 6.19223802e-02 9.98080957e-01 -1.50572024e-04 8.23772312e+00] [ 2.44754232e-02 -1.36767431e-03 9.99699496e-01 6.12492424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.71509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.05, Y:8.24, Z:6.13 [[ 9.97822958e-01 -6.11481806e-02 -2.47031371e-02 2.46045607e+02] [ 6.11631598e-02 9.98127770e-01 -1.49460560e-04 8.23768488e+00] [ 2.46660264e-02 -1.36178674e-03 9.99694820e-01 6.12562268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.08, Y:8.24, Z:6.13 [[ 9.97885351e-01 -5.99015457e-02 -2.52315481e-02 2.46077337e+02] [ 5.99168802e-02 9.98203359e-01 -1.48510301e-04 8.23779436e+00] [ 2.51951120e-02 -1.36359939e-03 9.99681623e-01 6.12654017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.11, Y:8.24, Z:6.13 [[ 9.97925438e-01 -5.92334081e-02 -2.52234776e-02 2.46109974e+02] [ 5.92485655e-02 9.98243250e-01 -1.46656134e-04 8.23794104e+00] [ 2.51878532e-02 -1.34810298e-03 9.99681827e-01 6.12696591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.14, Y:8.24, Z:6.13 [[ 9.97949170e-01 -5.84812612e-02 -2.60268371e-02 2.46142582e+02] [ 5.84971946e-02 9.98287562e-01 -1.49413760e-04 8.23819788e+00] [ 2.59910056e-02 -1.37338962e-03 9.99661233e-01 6.12798222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.17, Y:8.24, Z:6.13 [[ 9.97982931e-01 -5.77293026e-02 -2.64082868e-02 2.46174653e+02] [ 5.77454949e-02 9.98331325e-01 -1.49688182e-04 8.23844153e+00] [ 2.63728614e-02 -1.37557334e-03 9.99651229e-01 6.12857743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.21, Y:8.24, Z:6.13 [[ 9.97997258e-01 -5.68471436e-02 -2.77466231e-02 2.46206805e+02] [ 5.68647372e-02 9.98381880e-01 -1.55200665e-04 8.23817861e+00] [ 2.77105484e-02 -1.42291459e-03 9.99614976e-01 6.12926802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.24, Y:8.24, Z:6.13 [[ 9.97993686e-01 -5.66646984e-02 -2.82438524e-02 2.46237633e+02] [ 5.66829096e-02 9.98392219e-01 -1.56074860e-04 8.23764338e+00] [ 2.82072864e-02 -1.44518200e-03 9.99601051e-01 6.12953058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.27, Y:8.24, Z:6.13 [[ 9.97994886e-01 -5.62688227e-02 -2.89832055e-02 2.46269104e+02] [ 5.62878938e-02 9.98414567e-01 -1.58094690e-04 8.23715882e+00] [ 2.89461504e-02 -1.47362590e-03 9.99579886e-01 6.13021233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.30, Y:8.24, Z:6.13 [[ 9.97989313e-01 -5.60573500e-02 -2.95787795e-02 2.46300422e+02] [ 5.60771989e-02 9.98426423e-01 -1.58702819e-04 8.23651151e+00] [ 2.95411315e-02 -1.50031138e-03 9.99562440e-01 6.13102135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.33, Y:8.24, Z:6.13 [[ 9.98023208e-01 -5.56022307e-02 -2.92927854e-02 2.46332719e+02] [ 5.56215411e-02 9.98451912e-01 -1.55827029e-04 8.23636844e+00] [ 2.92561019e-02 -1.47379087e-03 9.99570862e-01 6.13186518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.36, Y:8.24, Z:6.13 [[ 9.98141644e-01 -5.37643763e-02 -2.86818732e-02 2.46364496e+02] [ 5.37821828e-02 9.98552680e-01 -1.50814804e-04 8.23570188e+00] [ 2.86484698e-02 -1.39203921e-03 9.99588579e-01 6.13290963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.40, Y:8.24, Z:6.13 [[ 9.98232044e-01 -5.24360125e-02 -2.79866266e-02 2.46396986e+02] [ 5.24524805e-02 9.98623411e-01 -1.45886283e-04 8.23525576e+00] [ 2.79557502e-02 -1.32233962e-03 9.99608287e-01 6.13320955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.43, Y:8.24, Z:6.13 [[ 9.98304964e-01 -5.11037050e-02 -2.78497752e-02 2.46428650e+02] [ 5.11195439e-02 9.98692531e-01 -1.43411478e-04 8.23516688e+00] [ 2.78206913e-02 -1.28049941e-03 9.99612109e-01 6.13421573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.46, Y:8.23, Z:6.13 [[ 9.98460419e-01 -4.80897621e-02 -2.76435628e-02 2.46459641e+02] [ 4.81042422e-02 9.98842311e-01 -1.41348224e-04 8.23450659e+00] [ 2.76183576e-02 -1.18864203e-03 9.99617834e-01 6.13449049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.49, Y:8.23, Z:6.14 [[ 9.98522807e-01 -4.67248443e-02 -2.77307131e-02 2.46490231e+02] [ 4.67389112e-02 9.98907130e-01 -1.41046519e-04 8.23442203e+00] [ 2.77069974e-02 -1.15526517e-03 9.99615420e-01 6.13511492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.52, Y:8.23, Z:6.14 [[ 9.98663629e-01 -4.38644448e-02 -2.73288528e-02 2.46519397e+02] [ 4.38770382e-02 9.99036929e-01 -1.38975207e-04 8.23369146e+00] [ 2.73086293e-02 -1.06031963e-03 9.99626487e-01 6.13543600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.55, Y:8.23, Z:6.14 [[ 9.98722107e-01 -4.28175524e-02 -2.68478966e-02 2.46549401e+02] [ 4.28293307e-02 9.99082394e-01 -1.36448877e-04 8.23324233e+00] [ 2.68291032e-02 -1.01360293e-03 9.99639521e-01 6.13592788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.58, Y:8.23, Z:6.14 [[ 9.98763613e-01 -4.20060667e-02 -2.65844964e-02 2.46579578e+02] [ 4.20173307e-02 9.99116873e-01 -1.35001366e-04 8.23286457e+00] [ 2.65666898e-02 -9.82175126e-04 9.99646561e-01 6.13643702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.61, Y:8.23, Z:6.14 [[ 9.98793049e-01 -4.16051359e-02 -2.61047587e-02 2.46610380e+02] [ 4.16158695e-02 9.99133676e-01 -1.32205479e-04 8.23256195e+00] [ 2.60876440e-02 -9.54326319e-04 9.99659204e-01 6.13710168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.64, Y:8.23, Z:6.14 [[ 9.98796447e-01 -4.14182890e-02 -2.62713163e-02 2.46640987e+02] [ 4.14290955e-02 9.99141438e-01 -1.33048997e-04 8.23207418e+00] [ 2.62542714e-02 -9.55508009e-04 9.99654841e-01 6.13791431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.67, Y:8.23, Z:6.14 [[ 9.98790577e-01 -4.14981179e-02 -2.63683348e-02 2.46671825e+02] [ 4.15090323e-02 9.99138120e-01 -1.33540339e-04 8.23143515e+00] [ 2.63511501e-02 -9.61145228e-04 9.99652286e-01 6.13838636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.70, Y:8.23, Z:6.14 [[ 9.98753382e-01 -4.21447188e-02 -2.67489270e-02 2.46701672e+02] [ 4.21561792e-02 9.99111024e-01 -1.35579307e-04 8.22962062e+00] [ 2.67308618e-02 -9.92222268e-04 9.99642174e-01 6.13876775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.73, Y:8.23, Z:6.14 [[ 9.98692008e-01 -4.32461029e-02 -2.72772313e-02 2.46732139e+02] [ 4.32584208e-02 9.99063907e-01 -1.38629641e-04 8.22759343e+00] [ 2.72576925e-02 -1.04152163e-03 9.99627897e-01 6.13932258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.76, Y:8.23, Z:6.14 [[ 9.98668618e-01 -4.36853958e-02 -2.74331469e-02 2.46763061e+02] [ 4.36980204e-02 9.99044776e-01 -1.39422043e-04 8.22540804e+00] [ 2.74130328e-02 -1.05953779e-03 9.99623631e-01 6.13931877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.43509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.79, Y:8.22, Z:6.14 [[ 9.98675864e-01 -4.36035195e-02 -2.72992985e-02 2.46793610e+02] [ 4.36159906e-02 9.99048360e-01 -1.38741793e-04 8.22456532e+00] [ 2.72793691e-02 -1.05212787e-03 9.99627295e-01 6.13976883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.82, Y:8.22, Z:6.14 [[ 9.98668630e-01 -4.37414781e-02 -2.73431877e-02 2.46823977e+02] [ 4.37540409e-02 9.99042324e-01 -1.38964848e-04 8.22290988e+00] [ 2.73230803e-02 -1.05759512e-03 9.99626095e-01 6.14028408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.85, Y:8.22, Z:6.14 [[ 9.98681801e-01 -4.37584473e-02 -2.68301969e-02 2.46853431e+02] [ 4.37705460e-02 9.99041601e-01 -1.36471210e-04 8.22190953e+00] [ 2.68104546e-02 -1.03808105e-03 9.99639996e-01 6.14024929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.88, Y:8.22, Z:6.14 [[ 9.98681017e-01 -4.37763233e-02 -2.68301944e-02 2.46883584e+02] [ 4.37884156e-02 9.99040818e-01 -1.36951765e-04 8.22209463e+00] [ 2.68104546e-02 -1.03808057e-03 9.99639996e-01 6.14086756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.91, Y:8.22, Z:6.14 [[ 9.98674987e-01 -4.40427045e-02 -2.66178516e-02 2.46913923e+02] [ 4.40546908e-02 9.99029112e-01 -1.36231711e-04 8.22112388e+00] [ 2.65980087e-02 -1.03659002e-03 9.99645673e-01 6.14132488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.94, Y:8.22, Z:6.14 [[ 9.98670559e-01 -4.48755138e-02 -2.53633971e-02 2.46943200e+02] [ 4.48866622e-02 9.98992077e-01 -1.29897620e-04 8.21818019e+00] [ 2.53436620e-02 -1.00875331e-03 9.99678289e-01 6.14105503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.97, Y:8.22, Z:6.14 [[ 9.98631132e-01 -4.57363525e-02 -2.53781067e-02 2.46973849e+02] [ 4.57477821e-02 9.98953014e-01 -1.30336399e-04 8.21707662e+00] [ 2.53574973e-02 -1.03083411e-03 9.99677915e-01 6.14121626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.00, Y:8.21, Z:6.14 [[ 9.98560848e-01 -4.73382323e-02 -2.52056607e-02 2.47004812e+02] [ 4.73500207e-02 9.98878350e-01 -1.29279364e-04 8.21473754e+00] [ 2.51835087e-02 -1.06439525e-03 9.99682279e-01 6.14060437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.04, Y:8.21, Z:6.14 [[ 9.98514249e-01 -4.84640994e-02 -2.49103488e-02 2.47035650e+02] [ 4.84759830e-02 9.98824340e-01 -1.26948034e-04 8.21391524e+00] [ 2.48872151e-02 -1.08079422e-03 9.99689681e-01 6.14081391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.07, Y:8.21, Z:6.14 [[ 9.98459596e-01 -4.95636165e-02 -2.49375831e-02 2.47066147e+02] [ 4.95758776e-02 9.98770352e-01 -1.26716395e-04 8.21310807e+00] [ 2.49131992e-02 -1.10978137e-03 9.99689002e-01 6.14124572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.10, Y:8.21, Z:6.14 [[ 9.98393131e-01 -5.08320950e-02 -2.50450589e-02 2.47097651e+02] [ 5.08448644e-02 9.98706555e-01 -1.27097744e-04 8.21239788e+00] [ 2.50191251e-02 -1.14651911e-03 9.99686315e-01 6.14143489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.13, Y:8.21, Z:6.14 [[ 9.98326461e-01 -5.20893797e-02 -2.51191772e-02 2.47128129e+02] [ 5.21026473e-02 9.98641727e-01 -1.26462303e-04 8.21140605e+00] [ 2.50916458e-02 -1.18252497e-03 9.99684456e-01 6.14170012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.16, Y:8.21, Z:6.14 [[ 9.98205774e-01 -5.45145685e-02 -2.47668178e-02 2.47159628e+02] [ 5.45282435e-02 9.98512221e-01 -1.23364693e-04 8.20924393e+00] [ 2.47366954e-02 -1.22734772e-03 9.99693248e-01 6.14205690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.19, Y:8.21, Z:6.14 [[ 9.98148942e-01 -5.56651004e-02 -2.44966726e-02 2.47190382e+02] [ 5.56788476e-02 9.98448722e-01 -1.21059458e-04 8.20831609e+00] [ 2.44654102e-02 -1.24311113e-03 9.99699904e-01 6.14263489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.22, Y:8.21, Z:6.14 [[ 9.98153867e-01 -5.55767092e-02 -2.44966798e-02 2.47223072e+02] [ 5.55904659e-02 9.98453647e-01 -1.19584874e-04 8.20841778e+00] [ 2.44654454e-02 -1.24241774e-03 9.99699904e-01 6.14330471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.26, Y:8.21, Z:6.14 [[ 9.98054793e-01 -5.77284221e-02 -2.35384631e-02 2.47255766e+02] [ 5.77417659e-02 9.98331546e-01 -1.12947843e-04 8.20672411e+00] [ 2.35057106e-02 -1.24642429e-03 9.99722926e-01 6.14369285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.29, Y:8.21, Z:6.14 [[ 9.97959825e-01 -5.93085986e-02 -2.36363546e-02 2.47288181e+02] [ 5.93225352e-02 9.98238861e-01 -1.11738276e-04 8.20551683e+00] [ 2.36013547e-02 -1.29065816e-03 9.99720616e-01 6.14412349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.32, Y:8.21, Z:6.14 [[ 9.97958379e-01 -5.93373218e-02 -2.36253070e-02 2.47320457e+02] [ 5.93512928e-02 9.98237152e-01 -1.10015738e-04 8.20514518e+00] [ 2.35901872e-02 -1.29240138e-03 9.99720877e-01 6.14452386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.35, Y:8.20, Z:6.14 [[ 9.97944998e-01 -5.94836855e-02 -2.38216587e-02 2.47352831e+02] [ 5.94979726e-02 9.98228420e-01 -1.09196859e-04 8.20490422e+00] [ 2.37859522e-02 -1.30836794e-03 9.99716218e-01 6.14496835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.39, Y:8.20, Z:6.15 [[ 9.97950344e-01 -5.93939342e-02 -2.38216667e-02 2.47385521e+02] [ 5.94082380e-02 9.98233765e-01 -1.07421220e-04 8.20499528e+00] [ 2.37859722e-02 -1.30800220e-03 9.99716218e-01 6.14563808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.42, Y:8.20, Z:6.15 [[ 9.97991237e-01 -5.87327101e-02 -2.37478264e-02 2.47417396e+02] [ 5.87467879e-02 9.98272911e-01 -1.05014979e-04 8.20450903e+00] [ 2.37129796e-02 -1.29030449e-03 9.99717975e-01 6.14517324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.45, Y:8.20, Z:6.15 [[ 9.98015096e-01 -5.82955185e-02 -2.38222620e-02 2.47448203e+02] [ 5.83096003e-02 9.98298542e-01 -1.03671947e-04 8.20472098e+00] [ 2.37877730e-02 -1.28560041e-03 9.99716204e-01 6.14536980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.48, Y:8.21, Z:6.15 [[ 9.98053553e-01 -5.77643152e-02 -2.35029561e-02 2.47480098e+02] [ 5.77779060e-02 9.98329456e-01 -1.00965549e-04 8.20503791e+00] [ 2.34695256e-02 -1.25718256e-03 9.99723762e-01 6.14621337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.51, Y:8.21, Z:6.15 [[ 9.98093633e-01 -5.69249722e-02 -2.38463362e-02 2.47510902e+02] [ 5.69387705e-02 9.98377667e-01 -1.00504812e-04 8.20625397e+00] [ 2.38133707e-02 -1.25746785e-03 9.99715631e-01 6.14631340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.15509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.54, Y:8.21, Z:6.15 [[ 9.98092036e-01 -5.68866604e-02 -2.40040738e-02 2.47542396e+02] [ 5.69006944e-02 9.98379838e-01 -9.85188874e-05 8.20700087e+00] [ 2.39707877e-02 -1.26751755e-03 9.99711856e-01 6.14672454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.57, Y:8.21, Z:6.15 [[ 9.98093502e-01 -5.68687194e-02 -2.39856187e-02 2.47574648e+02] [ 5.68827593e-02 9.98380860e-01 -9.70806972e-05 8.20763191e+00] [ 2.39523035e-02 -1.26747256e-03 9.99712299e-01 6.14749886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.21509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.61, Y:8.21, Z:6.15 [[ 9.98101905e-01 -5.68861940e-02 -2.35912899e-02 2.47605716e+02] [ 5.68998191e-02 9.98379889e-01 -9.38576876e-05 8.20801932e+00] [ 2.35584085e-02 -1.24866059e-03 9.99721682e-01 6.14786758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.64, Y:8.21, Z:6.15 [[ 9.98092071e-01 -5.72289958e-02 -2.31745316e-02 2.47637856e+02] [ 5.72422654e-02 9.98360313e-01 -9.09180660e-05 8.20868556e+00] [ 2.31417358e-02 -1.23581809e-03 9.99731430e-01 6.14825999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.67, Y:8.21, Z:6.15 [[ 9.98095884e-01 -5.71832201e-02 -2.31232514e-02 2.47670404e+02] [ 5.71964572e-02 9.98362939e-01 -8.90475540e-05 8.20943513e+00] [ 2.30904892e-02 -1.23369006e-03 9.99732618e-01 6.14884605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.70, Y:8.21, Z:6.15 [[ 9.98095923e-01 -5.71805662e-02 -2.31281549e-02 2.47703016e+02] [ 5.71938470e-02 9.98363088e-01 -8.73896014e-05 8.21171734e+00] [ 2.30952931e-02 -1.23556495e-03 9.99732505e-01 6.14921419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.74, Y:8.21, Z:6.15 [[ 9.98105259e-01 -5.70207486e-02 -2.31198320e-02 2.47735494e+02] [ 5.70340158e-02 9.98372232e-01 -8.56830224e-05 8.21321894e+00] [ 2.30870840e-02 -1.23309619e-03 9.99732697e-01 6.14974259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.77, Y:8.21, Z:6.15 [[ 9.98135930e-01 -5.65295055e-02 -2.30017334e-02 2.47766299e+02] [ 5.65425451e-02 9.98400187e-01 -8.36021330e-05 8.21472699e+00] [ 2.29696609e-02 -1.21713026e-03 9.99735422e-01 6.15042770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.80, Y:8.22, Z:6.15 [[ 9.98191854e-01 -5.53135937e-02 -2.35250521e-02 2.47798824e+02] [ 5.53269292e-02 9.98468289e-01 -8.41299403e-05 8.21772963e+00] [ 2.34936720e-02 -1.21759107e-03 9.99723244e-01 6.15107615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.83, Y:8.22, Z:6.15 [[ 9.98222112e-01 -5.48071670e-02 -2.34262585e-02 2.47830363e+02] [ 5.48202904e-02 9.98496234e-01 -8.21172234e-05 8.21938031e+00] [ 2.33955315e-02 -1.20226307e-03 9.99725564e-01 6.15137098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.45509989299998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:247.86, Y:8.22, Z:6.15 [[ 9.98244024e-01 -5.44196665e-02 -2.33959135e-02 2.47862619e+02] [ 5.44326810e-02 9.98517439e-01 -8.06796643e-05 8.22123014e+00] [ 2.33656182e-02 -1.19296430e-03 9.99726275e-01 6.15214030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.89, Y:8.22, Z:6.15 [[ 9.98259794e-01 -5.43226250e-02 -2.29441845e-02 2.47894962e+02] [ 5.43351537e-02 9.98522751e-01 -7.74786489e-05 8.22268730e+00] [ 2.29144990e-02 -1.16933197e-03 9.99736745e-01 6.15269039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.93, Y:8.23, Z:6.15 [[ 9.98242261e-01 -5.46743068e-02 -2.28715836e-02 2.47926522e+02] [ 5.46868852e-02 9.98503550e-01 -7.56155945e-05 8.22581216e+00] [ 2.28414916e-02 -1.17529299e-03 9.99738408e-01 6.15308465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.96, Y:8.23, Z:6.15 [[ 9.98198799e-01 -5.54410916e-02 -2.29225555e-02 2.47958317e+02] [ 5.54539573e-02 9.98461243e-01 -7.44950930e-05 8.22770170e+00] [ 2.28914134e-02 -1.19678550e-03 9.99737241e-01 6.15383351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.99, Y:8.23, Z:6.15 [[ 9.98115590e-01 -5.67670438e-02 -2.32974673e-02 2.47990873e+02] [ 5.67807336e-02 9.98386670e-01 -7.40187834e-05 8.23122855e+00] [ 2.32640826e-02 -1.24896798e-03 9.99728574e-01 6.15433185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.02, Y:8.23, Z:6.15 [[ 9.98083867e-01 -5.73393376e-02 -2.32549919e-02 2.48022165e+02] [ 5.73531700e-02 9.98353950e-01 -7.22639682e-05 8.23291871e+00] [ 2.32208566e-02 -1.26162201e-03 9.99729563e-01 6.15454646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.635099893 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:248.05, Y:8.24, Z:6.16 [[ 9.98033088e-01 -5.73007150e-02 -2.54280137e-02 2.48053021e+02] [ 5.71219801e-02 9.98337503e-01 -7.70121439e-03 8.23847861e+00] [ 2.58270248e-02 6.23356828e-03 9.99646991e-01 6.15752794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.665099893 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:248.09, Y:8.23, Z:6.15 [[ 9.98002438e-01 -5.87804347e-02 -2.31515591e-02 2.48085653e+02] [ 5.89668143e-02 9.98232135e-01 7.45114468e-03 8.23466690e+00] [ 2.26726488e-02 -8.80143424e-03 9.99704199e-01 6.15393482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.695099893 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:248.12, Y:8.24, Z:6.16 [[ 9.97990225e-01 -5.93523153e-02 -2.21993860e-02 2.48117705e+02] [ 5.93655193e-02 9.98236310e-01 -6.43383783e-05 8.24041427e+00] [ 2.21640518e-02 -1.25366901e-03 9.99753561e-01 6.15751920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.15, Y:8.24, Z:6.16 [[ 9.98019740e-01 -5.91624928e-02 -2.13634902e-02 2.48148908e+02] [ 5.91747085e-02 9.98247640e-01 -6.04562311e-05 8.24224742e+00] [ 2.13296304e-02 -1.20384179e-03 9.99771773e-01 6.15834553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.18, Y:8.24, Z:6.16 [[ 9.98047783e-01 -5.86402977e-02 -2.14927627e-02 2.48181246e+02] [ 5.86525663e-02 9.98278455e-01 -5.96498746e-05 8.24423008e+00] [ 2.14592598e-02 -1.20107227e-03 9.99769002e-01 6.15902391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.21, Y:8.25, Z:6.16 [[ 9.98167303e-01 -5.70053748e-02 -2.03081910e-02 2.48212225e+02] [ 5.70160180e-02 9.98373262e-01 -5.50055842e-05 8.24786955e+00] [ 2.02782905e-02 -1.10298741e-03 9.99793766e-01 6.15948274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.24, Y:8.25, Z:6.16 [[ 9.98246077e-01 -5.58462385e-02 -1.96460402e-02 2.48244667e+02] [ 5.58559942e-02 9.98438834e-01 -5.22328073e-05 8.24983548e+00] [ 1.96182865e-02 -1.04520791e-03 9.99806997e-01 6.16058103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.845099893 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:248.28, Y:8.25, Z:6.16 [[ 9.98325010e-01 -5.45599688e-02 -1.92453833e-02 2.48275687e+02] [ 5.45691187e-02 9.98509994e-01 -4.97862397e-05 8.25172412e+00] [ 1.92194239e-02 -1.00050076e-03 9.99814789e-01 6.16113514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.31, Y:8.25, Z:6.16 [[ 9.98470518e-01 -5.16291144e-02 -1.97752336e-02 2.48306517e+02] [ 5.16382235e-02 9.98665856e-01 -5.00610914e-05 8.25487730e+00] [ 1.97514352e-02 -9.71173409e-04 9.99804450e-01 6.16172571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.34, Y:8.26, Z:6.16 [[ 9.98534461e-01 -5.01922876e-02 -2.02401888e-02 2.48339042e+02] [ 5.02015571e-02 9.98739106e-01 -5.01814299e-05 8.25656906e+00] [ 2.02171867e-02 -9.65981105e-04 9.99795145e-01 6.16225748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.93509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.37, Y:8.26, Z:6.16 [[ 9.98607911e-01 -4.84532128e-02 -2.08452820e-02 2.48370808e+02] [ 4.84626992e-02 9.98824992e-01 -5.01333468e-05 8.25818234e+00] [ 2.08232178e-02 -9.60155076e-04 9.99782712e-01 6.16270099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.40, Y:8.26, Z:6.16 [[ 9.98717543e-01 -4.55373740e-02 -2.21272698e-02 2.48402461e+02] [ 4.55473890e-02 9.98962178e-01 -5.14240230e-05 8.26196845e+00] [ 2.21066473e-02 -9.56481292e-04 9.99755161e-01 6.16355635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.43, Y:8.27, Z:6.17 [[ 9.98797097e-01 -4.24744696e-02 -2.45005685e-02 2.48431884e+02] [ 4.23192029e-02 9.99080853e-01 -6.82157076e-03 8.26704746e+00] [ 2.47677915e-02 5.77652054e-03 9.99676542e-01 6.16665039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.46, Y:8.26, Z:6.16 [[ 9.98846948e-01 -4.18130792e-02 -2.35889797e-02 2.48464979e+02] [ 4.19713357e-02 9.99099242e-01 6.25397328e-03 8.26280014e+00] [ 2.33062338e-02 -7.23682311e-03 9.99702180e-01 6.16307868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.50, Y:8.27, Z:6.17 [[ 9.98900530e-01 -4.02863717e-02 -2.39737180e-02 2.48496475e+02] [ 4.02968295e-02 9.99187752e-01 -4.69180276e-05 8.26760205e+00] [ 2.39561356e-02 -9.19198385e-04 9.99712588e-01 6.16604883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.53, Y:8.27, Z:6.17 [[ 9.98949641e-01 -3.85644248e-02 -2.47467000e-02 2.48527343e+02] [ 3.85750635e-02 9.99255704e-01 -4.75078932e-05 8.26907458e+00] [ 2.47301132e-02 -9.07147530e-04 9.99693752e-01 6.16726012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.56, Y:8.27, Z:6.17 [[ 9.99030613e-01 -3.51987278e-02 -2.64364104e-02 2.48557034e+02] [ 3.50780313e-02 9.99371990e-01 -5.01564257e-03 8.27448535e+00] [ 2.65963523e-02 4.08344324e-03 9.99637914e-01 6.17040208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.59, Y:8.27, Z:6.17 [[ 9.99077545e-01 -3.51602394e-02 -2.46539502e-02 2.48587069e+02] [ 3.52868166e-02 9.99366090e-01 4.71790960e-03 8.27136213e+00] [ 2.44724390e-02 -5.58351696e-03 9.99684912e-01 6.16829498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.62, Y:8.28, Z:6.17 [[ 9.99125939e-01 -3.45618423e-02 -2.35124857e-02 2.48617670e+02] [ 3.45702596e-02 9.99402269e-01 -4.85056085e-05 8.27621039e+00] [ 2.35001080e-02 -7.64369521e-04 9.99723542e-01 6.17191104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.64, Y:8.28, Z:6.17 [[ 9.99146709e-01 -3.29605190e-02 -2.48889169e-02 2.48644493e+02] [ 3.28891696e-02 9.99453653e-01 -3.27075583e-03 8.27871053e+00] [ 2.49831248e-02 2.44938912e-03 9.99684872e-01 6.17421752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.67, Y:8.28, Z:6.17 [[ 9.99128796e-01 -3.33870758e-02 -2.50390040e-02 2.48673073e+02] [ 3.33948295e-02 9.99442231e-01 -1.08542553e-04 8.27788429e+00] [ 2.50286620e-02 -7.27725280e-04 9.99686469e-01 6.17401120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26509989299998 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:248.70, Y:8.28, Z:6.18 [[ 9.99079705e-01 -3.46980422e-02 -2.52148593e-02 2.48702307e+02] [ 3.46704819e-02 9.99397628e-01 -1.52950185e-03 8.27920736e+00] [ 2.52527413e-02 6.53882927e-04 9.99680885e-01 6.17559654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.73, Y:8.28, Z:6.17 [[ 9.98991133e-01 -3.82520720e-02 -2.35264849e-02 2.48733367e+02] [ 3.83519712e-02 9.99257030e-01 3.80963683e-03 8.27681900e+00] [ 2.33632790e-02 -4.70808048e-03 9.99715955e-01 6.17448207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.77, Y:8.28, Z:6.18 [[ 9.98935777e-01 -3.95814662e-02 -2.36774450e-02 2.48765113e+02] [ 3.95909746e-02 9.99215968e-01 -6.72428768e-05 8.27839917e+00] [ 2.36615427e-02 -8.70241806e-04 9.99719648e-01 6.17691216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.80, Y:8.28, Z:6.18 [[ 9.98876595e-01 -4.10844145e-02 -2.36139702e-02 2.48796009e+02] [ 4.10943168e-02 9.99155270e-01 -6.59764372e-05 8.27811186e+00] [ 2.35967334e-02 -9.04497656e-04 9.99721149e-01 6.17739999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.83, Y:8.28, Z:6.18 [[ 9.98703052e-01 -4.42522538e-02 -2.51784206e-02 2.48827064e+02] [ 4.42645903e-02 9.99019840e-01 -6.74409053e-05 8.27690326e+00] [ 2.51567262e-02 -1.04715904e-03 9.99682971e-01 6.17789800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.86, Y:8.28, Z:6.18 [[ 9.98600784e-01 -4.59477237e-02 -2.61778793e-02 2.48859692e+02] [ 4.59616812e-02 9.98943201e-01 -6.85817652e-05 8.27627653e+00] [ 2.61533657e-02 -1.13469354e-03 9.99657298e-01 6.17819055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.89, Y:8.27, Z:6.18 [[ 9.98448628e-01 -4.86679046e-02 -2.70512947e-02 2.48890570e+02] [ 4.86838562e-02 9.98814236e-01 -6.89965665e-05 8.27435586e+00] [ 2.70225761e-02 -1.24807181e-03 9.99634044e-01 6.17771906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.92, Y:8.27, Z:6.18 [[ 9.98380479e-01 -4.99554592e-02 -2.72189590e-02 2.48921799e+02] [ 4.99721263e-02 9.98750611e-01 -6.79663553e-05 8.27338743e+00] [ 2.71883472e-02 -1.29233297e-03 9.99629493e-01 6.17792821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.95, Y:8.27, Z:6.18 [[ 9.98335326e-01 -5.09711996e-02 -2.69910063e-02 2.48953538e+02] [ 5.09880003e-02 9.98699264e-01 -6.58597515e-05 8.27225700e+00] [ 2.69592551e-02 -1.31046732e-03 9.99635674e-01 6.17836847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.99, Y:8.27, Z:6.18 [[ 9.98284999e-01 -5.24987688e-02 -2.59025195e-02 2.48985870e+02] [ 5.25148007e-02 9.98620144e-01 -6.13937852e-05 8.27035803e+00] [ 2.58700008e-02 -1.29897715e-03 9.99664472e-01 6.17907389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.02, Y:8.27, Z:6.18 [[ 9.98289719e-01 -5.24089343e-02 -2.59025240e-02 2.49018565e+02] [ 5.24249868e-02 9.98624863e-01 -5.94323430e-05 8.27037663e+00] [ 2.58700193e-02 -1.29860878e-03 9.99664472e-01 6.17975374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.05, Y:8.27, Z:6.18 [[ 9.98236107e-01 -5.37275701e-02 -2.52591169e-02 2.49050295e+02] [ 5.37433098e-02 9.98554782e-01 -5.58118207e-05 8.26865394e+00] [ 2.52256106e-02 -1.30179517e-03 9.99680936e-01 6.18055942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.08, Y:8.27, Z:6.18 [[ 9.98216230e-01 -5.47602682e-02 -2.37838407e-02 2.49081731e+02] [ 5.47745563e-02 9.98498746e-01 -5.07946265e-05 8.26685514e+00] [ 2.37509166e-02 -1.25204530e-03 9.99717123e-01 6.18056775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.65509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.11, Y:8.27, Z:6.18 [[ 9.98186606e-01 -5.52495734e-02 -2.38952804e-02 2.49114065e+02] [ 5.52642003e-02 9.98471765e-01 -4.83190830e-05 8.26608023e+00] [ 2.38614324e-02 -1.27232210e-03 9.99714466e-01 6.18146001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.15, Y:8.26, Z:6.18 [[ 9.98122793e-01 -5.63512757e-02 -2.39879922e-02 2.49145038e+02] [ 5.63663743e-02 9.98410151e-01 -4.68031928e-05 8.26400794e+00] [ 2.39524923e-02 -1.30540081e-03 9.99712246e-01 6.18130613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.71509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.18, Y:8.26, Z:6.18 [[ 9.98103597e-01 -5.66285446e-02 -2.41333105e-02 2.49177197e+02] [ 5.66439409e-02 9.98394442e-01 -4.57072391e-05 8.26264769e+00] [ 2.40971514e-02 -1.32138525e-03 9.99708748e-01 6.18142709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.21, Y:8.26, Z:6.18 [[ 9.98069646e-01 -5.68828552e-02 -2.49263325e-02 2.49209091e+02] [ 5.68994054e-02 9.98379915e-01 -4.53640581e-05 8.26035237e+00] [ 2.48885302e-02 -1.37301701e-03 9.99689290e-01 6.18113566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.24, Y:8.26, Z:6.18 [[ 9.98074846e-01 -5.67915363e-02 -2.49263359e-02 2.49241786e+02] [ 5.68081054e-02 9.98385115e-01 -4.34630356e-05 8.26035481e+00] [ 2.48885510e-02 -1.37263855e-03 9.99689290e-01 6.18181552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.27, Y:8.26, Z:6.18 [[ 9.98094646e-01 -5.63408036e-02 -2.51553543e-02 2.49272643e+02] [ 5.63575903e-02 9.98410647e-01 -4.17042875e-05 8.25948017e+00] [ 2.51177233e-02 -1.37607033e-03 9.99683553e-01 6.18191965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.31, Y:8.26, Z:6.18 [[ 9.98100222e-01 -5.62419289e-02 -2.51553568e-02 2.49305341e+02] [ 5.62587236e-02 9.98416223e-01 -4.01377238e-05 8.25947790e+00] [ 2.51177738e-02 -1.37514680e-03 9.99683553e-01 6.18259970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.34, Y:8.26, Z:6.18 [[ 9.98151225e-01 -5.52458832e-02 -2.53382136e-02 2.49336086e+02] [ 5.52626692e-02 9.98471850e-01 -3.78183607e-05 8.25869508e+00] [ 2.53015823e-02 -1.36250887e-03 9.99678935e-01 6.18327489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.37, Y:8.26, Z:6.18 [[ 9.98276428e-01 -5.31094243e-02 -2.49712399e-02 2.49368549e+02] [ 5.31251287e-02 9.98587863e-01 -3.45527853e-05 8.25832147e+00] [ 2.49378121e-02 -1.29210710e-03 9.99688169e-01 6.18433190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.40, Y:8.26, Z:6.19 [[ 9.98365119e-01 -5.16446227e-02 -2.44932923e-02 2.49401090e+02] [ 5.16593338e-02 9.98664765e-01 -3.21760699e-05 8.25839713e+00] [ 2.44622497e-02 -1.23318370e-03 9.99699994e-01 6.18500062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.43, Y:8.26, Z:6.19 [[ 9.98546267e-01 -4.82346365e-02 -2.40576874e-02 2.49432877e+02] [ 4.82478821e-02 9.98835392e-01 -2.99087027e-05 8.25847792e+00] [ 2.40311122e-02 -1.13086724e-03 9.99710572e-01 6.18572989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.46, Y:8.26, Z:6.19 [[ 9.98633023e-01 -4.65983905e-02 -2.36786045e-02 2.49464436e+02] [ 4.66108012e-02 9.98913126e-01 -2.78132625e-05 8.25842485e+00] [ 2.36541649e-02 -1.07590349e-03 9.99719622e-01 6.18659069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.50, Y:8.26, Z:6.19 [[ 9.98715145e-01 -4.50259228e-02 -2.32535034e-02 2.49496598e+02] [ 4.50374957e-02 9.98985297e-01 -2.60495550e-05 8.25837333e+00] [ 2.32310809e-02 -1.02126347e-03 9.99729600e-01 6.18718887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.53, Y:8.26, Z:6.19 [[ 9.98792583e-01 -4.33457573e-02 -2.31197366e-02 2.49528852e+02] [ 4.33567856e-02 9.99059652e-01 -2.42808766e-05 8.25818975e+00] [ 2.30990485e-02 -9.78145902e-04 9.99732703e-01 6.18794866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.56, Y:8.26, Z:6.19 [[ 9.98808072e-01 -4.30249267e-02 -2.30497539e-02 2.49561463e+02] [ 4.30358404e-02 9.99073529e-01 -2.25868608e-05 8.25803016e+00] [ 2.30293708e-02 -9.69405592e-04 9.99734319e-01 6.18828401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.59, Y:8.26, Z:6.19 [[ 9.98803384e-01 -4.31573608e-02 -2.30052668e-02 2.49592756e+02] [ 4.31683079e-02 9.99067814e-01 -2.07836735e-05 8.25735716e+00] [ 2.29847186e-02 -9.72339638e-04 9.99735344e-01 6.18806690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.62, Y:8.26, Z:6.19 [[ 9.98757954e-01 -4.39708614e-02 -2.34331659e-02 2.49624525e+02] [ 4.39825048e-02 9.99032301e-01 -1.85379285e-05 8.25678022e+00] [ 2.34113048e-02 -1.01213443e-03 9.99725405e-01 6.18847721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.66, Y:8.26, Z:6.19 [[ 9.98700739e-01 -4.53350422e-02 -2.32716257e-02 2.49655743e+02] [ 4.53469139e-02 9.98971299e-01 -1.76033640e-05 8.25608112e+00] [ 2.32484842e-02 -1.03771591e-03 9.99729179e-01 6.18854784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.69, Y:8.25, Z:6.19 [[ 9.98525135e-01 -4.86288933e-02 -2.41409698e-02 2.49688322e+02] [ 4.86426530e-02 9.98816245e-01 -1.72719169e-05 8.25445959e+00] [ 2.41132327e-02 -1.15703437e-03 9.99708564e-01 6.18852077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.72, Y:8.25, Z:6.19 [[ 9.98287233e-01 -5.25978483e-02 -2.56138133e-02 2.49720391e+02] [ 5.26146907e-02 9.98614888e-01 -1.64096562e-05 8.25296725e+00] [ 2.55791984e-02 -1.33128132e-03 9.99671912e-01 6.18795975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.75, Y:8.25, Z:6.19 [[ 9.98202040e-01 -5.40425931e-02 -2.59245975e-02 2.49752110e+02] [ 5.40603810e-02 9.98537668e-01 -1.47439792e-05 8.25258125e+00] [ 2.58874840e-02 -1.38677615e-03 9.99663901e-01 6.18862613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.78, Y:8.25, Z:6.19 [[ 9.98155140e-01 -5.51302200e-02 -2.54357156e-02 2.49783913e+02] [ 5.51477409e-02 9.98478205e-01 -1.26613268e-05 8.25256969e+00] [ 2.53977056e-02 -1.39008428e-03 9.99676460e-01 6.18878490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.82, Y:8.25, Z:6.19 [[ 9.98134080e-01 -5.56943516e-02 -2.50299259e-02 2.49815904e+02] [ 5.57115393e-02 9.98446906e-01 -1.06696090e-05 8.25261295e+00] [ 2.49916463e-02 -1.38380600e-03 9.99686702e-01 6.18957945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.85, Y:8.25, Z:6.19 [[ 9.98164379e-01 -5.54346582e-02 -2.43899826e-02 2.49847120e+02] [ 5.54509411e-02 9.98461413e-01 -8.73095557e-06 8.25267443e+00] [ 2.43529405e-02 -1.34373256e-03 9.99702520e-01 6.19035144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.88, Y:8.25, Z:6.19 [[ 9.98249285e-01 -5.42630686e-02 -2.35347688e-02 2.49879804e+02] [ 5.42779346e-02 9.98525866e-01 -7.14722114e-06 8.25271090e+00] [ 2.35004632e-02 -1.27028393e-03 9.99723019e-01 6.19111566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.91, Y:8.25, Z:6.19 [[ 9.98500812e-01 -5.00828225e-02 -2.20870832e-02 2.49912002e+02] [ 5.00949276e-02 9.98744461e-01 -5.23682655e-06 8.25372661e+00] [ 2.20596143e-02 -1.10122186e-03 9.99756051e-01 6.19185512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.43509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.94, Y:8.25, Z:6.19 [[ 9.98648540e-01 -4.73312762e-02 -2.14672554e-02 2.49943220e+02] [ 4.73421099e-02 9.98878734e-01 -3.55338033e-06 8.25439451e+00] [ 2.14433531e-02 -1.01275659e-03 9.99769552e-01 6.19250106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.97, Y:8.26, Z:6.19 [[ 9.98789348e-01 -4.42932164e-02 -2.13997450e-02 2.49974917e+02] [ 4.43033115e-02 9.99018126e-01 -2.35653878e-06 8.25549496e+00] [ 2.13788375e-02 -9.45725882e-04 9.99770999e-01 6.19331363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.01, Y:8.26, Z:6.19 [[ 9.99064777e-01 -3.82020446e-02 -2.02527901e-02 2.50006242e+02] [ 3.82098636e-02 9.99269737e-01 -9.00579300e-07 8.25802532e+00] [ 2.02380346e-02 -7.72956609e-04 9.99794891e-01 6.19408680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.04, Y:8.26, Z:6.19 [[ 9.99193571e-01 -3.51624747e-02 -1.93857814e-02 2.50038041e+02] [ 3.51691081e-02 9.99381376e-01 1.25821886e-06 8.25913133e+00] [ 1.93737447e-02 -6.83037847e-04 9.99812078e-01 6.19467817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.07, Y:8.26, Z:6.20 [[ 9.99277285e-01 -3.29359428e-02 -1.89771438e-02 2.50068395e+02] [ 3.29419115e-02 9.99457268e-01 1.92360450e-06 8.26009216e+00] [ 1.89667809e-02 -6.27065605e-04 9.99819918e-01 6.19568422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.10, Y:8.26, Z:6.20 [[ 9.99405208e-01 -2.95200105e-02 -1.78269258e-02 2.50099264e+02] [ 2.95247388e-02 9.99564050e-01 2.04508391e-06 8.26078852e+00] [ 1.78190938e-02 -5.28379195e-04 9.99841088e-01 6.19555450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.13, Y:8.26, Z:6.20 [[ 9.99429802e-01 -2.86628389e-02 -1.78469429e-02 2.50130156e+02] [ 2.86674526e-02 9.99589004e-01 2.68675865e-06 8.26134103e+00] [ 1.78395309e-02 -5.14311617e-04 9.99840731e-01 6.19612091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.16, Y:8.26, Z:6.20 [[ 9.99432405e-01 -2.83543086e-02 -1.81906729e-02 2.50161671e+02] [ 2.83590628e-02 9.99597801e-01 3.40117941e-06 8.26172994e+00] [ 1.81832602e-02 -5.19269684e-04 9.99834536e-01 6.19649880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.19, Y:8.26, Z:6.20 [[ 9.99404104e-01 -2.87983374e-02 -1.90287348e-02 2.50191768e+02] [ 2.88036353e-02 9.99585089e-01 4.34424297e-06 8.26214805e+00] [ 1.90207144e-02 -5.52438391e-04 9.99818937e-01 6.19684370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.22, Y:8.26, Z:6.20 [[ 9.99316472e-01 -3.08356471e-02 -2.03899681e-02 2.50222224e+02] [ 3.08421535e-02 9.99524268e-01 4.63116044e-06 8.26205710e+00] [ 2.03801251e-02 -6.33498520e-04 9.99792103e-01 6.19618220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.25, Y:8.26, Z:6.20 [[ 9.99256854e-01 -3.23534856e-02 -2.09521057e-02 2.50252837e+02] [ 3.23607148e-02 9.99476255e-01 5.98762175e-06 8.26191608e+00] [ 2.09409384e-02 -6.84008288e-04 9.99780481e-01 6.19627983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.28, Y:8.26, Z:6.20 [[ 9.99183170e-01 -3.40939741e-02 -2.16931940e-02 2.50283314e+02] [ 3.41021348e-02 9.99418353e-01 6.25415398e-06 8.26184772e+00] [ 2.16803630e-02 -7.46033272e-04 9.99764675e-01 6.19645376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.31, Y:8.26, Z:6.20 [[ 9.99122683e-01 -3.56381855e-02 -2.19950884e-02 2.50313898e+02] [ 3.56469772e-02 9.99364445e-01 7.64129544e-06 8.26168136e+00] [ 2.19808370e-02 -7.91693006e-04 9.99758079e-01 6.19622905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.34, Y:8.26, Z:6.20 [[ 9.98996586e-01 -3.85590753e-02 -2.27819651e-02 2.50344076e+02] [ 3.85692686e-02 9.99255929e-01 8.03530351e-06 8.26174849e+00] [ 2.27647038e-02 -8.86710970e-04 9.99740457e-01 6.19630065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.38, Y:8.26, Z:6.20 [[ 9.98948842e-01 -3.99172219e-02 -2.25350094e-02 2.50375332e+02] [ 3.99275700e-02 9.99202577e-01 9.26532015e-06 8.26210918e+00] [ 2.25166696e-02 -9.09023747e-04 9.99746054e-01 6.19706574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.41, Y:8.26, Z:6.20 [[ 9.98907666e-01 -4.16646104e-02 -2.11550030e-02 2.50405768e+02] [ 4.16741356e-02 9.99131256e-01 9.41141054e-06 8.26277732e+00] [ 2.11362326e-02 -8.91017596e-04 9.99776208e-01 6.19763107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.44, Y:8.26, Z:6.20 [[ 9.98887606e-01 -4.22889472e-02 -2.08613229e-02 2.50437780e+02] [ 4.22983709e-02 9.99105023e-01 1.04906988e-05 8.26306478e+00] [ 2.08422089e-02 -8.92879003e-04 9.99782379e-01 6.19833501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.47, Y:8.26, Z:6.20 [[ 9.98895689e-01 -4.24415495e-02 -2.01523521e-02 2.50469299e+02] [ 4.24504021e-02 9.99098575e-01 1.15123109e-05 8.26330024e+00] [ 2.01336977e-02 -8.66975048e-04 9.99796921e-01 6.19911191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.50, Y:8.27, Z:6.20 [[ 9.98833071e-01 -4.30015720e-02 -2.19854697e-02 2.50502252e+02] [ 4.27565426e-02 9.99019374e-01 -1.14964467e-02 8.26943522e+00] [ 2.24582755e-02 1.05430085e-02 9.99692188e-01 6.20322562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.53, Y:8.26, Z:6.20 [[ 9.98952008e-01 -4.18976619e-02 -1.84247381e-02 2.50534055e+02] [ 4.21072221e-02 9.99051027e-01 1.11367664e-02 8.25891381e+00] [ 1.79406490e-02 -1.19009097e-02 9.99768224e-01 6.19677232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.57, Y:8.27, Z:6.20 [[ 9.98917993e-01 -4.19321562e-02 -2.01131233e-02 2.50565804e+02] [ 4.17980269e-02 9.99101253e-01 -7.04359384e-03 8.26817269e+00] [ 2.03903997e-02 6.19528375e-03 9.99772899e-01 6.20311608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.60, Y:8.27, Z:6.20 [[ 9.98922526e-01 -4.16155295e-02 -2.05410526e-02 2.50596553e+02] [ 4.15937012e-02 9.99133498e-01 -1.48894245e-03 8.26573460e+00] [ 2.05852168e-02 6.32959753e-04 9.99787902e-01 6.20208415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.63, Y:8.26, Z:6.20 [[ 9.98888728e-01 -4.24045541e-02 -2.05709106e-02 2.50629399e+02] [ 4.24177693e-02 9.99099940e-01 2.06319170e-04 8.26496727e+00] [ 2.05436467e-02 -1.07866204e-03 9.99788375e-01 6.20212720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.66, Y:8.26, Z:6.20 [[ 9.98912319e-01 -4.25900584e-02 -1.89806810e-02 2.50660503e+02] [ 4.27558126e-02 9.99050121e-01 8.41407878e-03 8.26112864e+00] [ 1.86042955e-02 -9.21646138e-03 9.99784445e-01 6.20003454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.15509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.69, Y:8.27, Z:6.20 [[ 9.98869565e-01 -4.32465581e-02 -1.97313882e-02 2.50692912e+02] [ 4.31923615e-02 9.99061762e-01 -3.16486843e-03 8.26676272e+00] [ 1.98497451e-02 2.30904550e-03 9.99800308e-01 6.20423855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.73, Y:8.26, Z:6.20 [[ 9.98796952e-01 -4.46530808e-02 -2.02670013e-02 2.50725142e+02] [ 4.47263500e-02 9.98994227e-01 3.17620117e-03 8.26311424e+00] [ 2.01047901e-02 -4.07884904e-03 9.99789558e-01 6.20263973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.21509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.76, Y:8.26, Z:6.20 [[ 9.98742645e-01 -4.55792046e-02 -2.08726038e-02 2.50757403e+02] [ 4.55895275e-02 9.98960257e-01 1.87478601e-05 8.26446556e+00] [ 2.08500471e-02 -9.70296432e-04 9.99782143e-01 6.20384559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.79, Y:8.26, Z:6.20 [[ 9.98686068e-01 -4.63378163e-02 -2.18848123e-02 2.50789437e+02] [ 4.63493822e-02 9.98925290e-01 2.12824004e-05 8.26433588e+00] [ 2.18603063e-02 -1.03560197e-03 9.99760499e-01 6.20432458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.82, Y:8.27, Z:6.21 [[ 9.98621129e-01 -4.64160682e-02 -2.45232433e-02 2.50820026e+02] [ 4.62777880e-02 9.98909512e-01 -6.17679939e-03 8.26746547e+00] [ 2.47832037e-02 5.03340092e-03 9.99680178e-01 6.20636447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.85, Y:8.26, Z:6.20 [[ 9.98579930e-01 -4.75412153e-02 -2.40407309e-02 2.50851246e+02] [ 4.77027191e-02 9.98842401e-01 6.18933767e-03 8.26136977e+00] [ 2.37186527e-02 -7.32735661e-03 9.99691820e-01 6.20289960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.88, Y:8.27, Z:6.21 [[ 9.98507217e-01 -4.83468087e-02 -2.54150406e-02 2.50883274e+02] [ 4.83631554e-02 9.98829818e-01 2.85463759e-05 8.26527133e+00] [ 2.53839203e-02 -1.25765532e-03 9.99676985e-01 6.20525482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.92, Y:8.27, Z:6.21 [[ 9.98502113e-01 -4.83189974e-02 -2.56672057e-02 2.50915512e+02] [ 4.83357066e-02 9.98831146e-01 3.06073488e-05 8.26568634e+00] [ 2.56357255e-02 -1.27120402e-03 9.99670543e-01 6.20606696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.95, Y:8.27, Z:6.21 [[ 9.98531586e-01 -4.77584858e-02 -2.55694945e-02 2.50947224e+02] [ 4.77749293e-02 9.98858126e-01 3.22380643e-05 8.26629759e+00] [ 2.55387577e-02 -1.25377152e-03 9.99673047e-01 6.20698729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.98, Y:8.27, Z:6.21 [[ 9.98595138e-01 -4.68790097e-02 -2.47003697e-02 2.50978979e+02] [ 4.68941268e-02 9.98899865e-01 3.28193468e-05 8.26766093e+00] [ 2.46716574e-02 -1.19107551e-03 9.99694899e-01 6.20805202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.01, Y:8.27, Z:6.21 [[ 9.98687869e-01 -4.54541614e-02 -2.35893738e-02 2.51010107e+02] [ 4.54675901e-02 9.98965814e-01 3.29529237e-05 8.26888426e+00] [ 2.35634801e-02 -1.10546166e-03 9.99721731e-01 6.20934173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.04, Y:8.27, Z:6.21 [[ 9.98741320e-01 -4.45932053e-02 -2.29613237e-02 2.51042154e+02] [ 4.46057295e-02 9.99004669e-01 3.33069314e-05 8.26942803e+00] [ 2.29369843e-02 -1.05747160e-03 9.99736353e-01 6.21022249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.07, Y:8.27, Z:6.21 [[ 9.98887387e-01 -4.21038957e-02 -2.12426545e-02 2.51072497e+02] [ 4.22566274e-02 9.99083698e-01 6.79276038e-03 8.26670002e+00] [ 2.09371882e-02 -7.68284560e-03 9.99751273e-01 6.20848062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.11, Y:8.27, Z:6.21 [[ 9.98852293e-01 -4.26169854e-02 -2.18606937e-02 2.51105723e+02] [ 4.24759350e-02 9.99073824e-01 -6.87670554e-03 8.27400800e+00] [ 2.21335114e-02 5.94025969e-03 9.99737376e-01 6.21433669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.14, Y:8.27, Z:6.21 [[ 9.99108164e-01 -3.84350108e-02 -1.74821850e-02 2.51140086e+02] [ 3.81921120e-02 9.99172029e-01 -1.40220928e-02 8.27448458e+00] [ 1.80066495e-02 1.33419058e-02 9.99748846e-01 6.21040270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.17, Y:8.27, Z:6.21 [[ 9.98973774e-01 -4.00202616e-02 -2.12079485e-02 2.51168465e+02] [ 4.03282562e-02 9.99084160e-01 1.42993972e-02 8.26527901e+00] [ 2.06162598e-02 -1.51400024e-02 9.99672822e-01 6.20927484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.20, Y:8.27, Z:6.21 [[ 9.98954179e-01 -4.01846768e-02 -2.18114838e-02 2.51199320e+02] [ 4.01950940e-02 9.99191850e-01 3.92248445e-05 8.27266211e+00] [ 2.17922806e-02 -9.15898463e-04 9.99762101e-01 6.21498971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.23, Y:8.27, Z:6.22 [[ 9.98956309e-01 -4.01316760e-02 -2.18114791e-02 2.51231167e+02] [ 4.01421342e-02 9.99193979e-01 4.16816927e-05 8.27257255e+00] [ 2.17922258e-02 -9.17197509e-04 9.99762101e-01 6.21568336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.27, Y:8.28, Z:6.21 [[ 9.99125878e-01 -3.63677300e-02 -2.06123217e-02 2.51265050e+02] [ 3.60893388e-02 9.99254369e-01 -1.37209602e-02 8.27525502e+00] [ 2.10959527e-02 1.29650814e-02 9.99693387e-01 6.21218279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.29, Y:8.27, Z:6.21 [[ 9.98845953e-01 -3.98346741e-02 -2.68320920e-02 2.51291977e+02] [ 4.02235733e-02 9.99091027e-01 1.41132477e-02 8.26605720e+00] [ 2.62455057e-02 -1.51762430e-02 9.99540322e-01 6.21064405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.32, Y:8.27, Z:6.21 [[ 9.99039122e-01 -3.70706448e-02 -2.33794969e-02 2.51323914e+02] [ 3.68129787e-02 9.99257637e-01 -1.13569163e-02 8.27457028e+00] [ 2.37831491e-02 1.04853347e-02 9.99662153e-01 6.21323680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.35, Y:8.27, Z:6.21 [[ 9.99006980e-01 -3.72986234e-02 -2.43693736e-02 2.51352991e+02] [ 3.73204518e-02 9.99303252e-01 4.41380957e-04 8.26974393e+00] [ 2.43359314e-02 -1.35041869e-03 9.99702925e-01 6.21052331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.38, Y:8.27, Z:6.21 [[ 9.99009425e-01 -3.70768744e-02 -2.46063969e-02 2.51383636e+02] [ 3.70868536e-02 9.99312045e-01 -5.08330814e-05 8.27032772e+00] [ 2.45913535e-02 -8.61791111e-04 9.99697215e-01 6.21142869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.41, Y:8.27, Z:6.21 [[ 9.99011495e-01 -3.68505450e-02 -2.48610011e-02 2.51413492e+02] [ 3.67962064e-02 9.99319304e-01 -2.63979179e-03 8.27245725e+00] [ 2.49413561e-02 1.72239182e-03 9.99687432e-01 6.21279524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.44, Y:8.27, Z:6.21 [[ 9.98870176e-01 -3.74664383e-02 -2.92341837e-02 2.51440581e+02] [ 3.78979881e-02 9.99178574e-01 1.43498995e-02 8.26929814e+00] [ 2.86725304e-02 -1.54416034e-02 9.99469581e-01 6.21452163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.47, Y:8.28, Z:6.22 [[ 9.98908656e-01 -3.67039331e-02 -2.88845607e-02 2.51469426e+02] [ 3.67201240e-02 9.99325588e-01 3.01259977e-05 8.27744561e+00] [ 2.88639749e-02 -1.09073777e-03 9.99582754e-01 6.22052269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.93509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.50, Y:8.28, Z:6.22 [[ 9.98999861e-01 -3.51024571e-02 -2.76964738e-02 2.51498251e+02] [ 3.51166594e-02 9.99383220e-01 2.64052420e-05 8.27931409e+00] [ 2.76784643e-02 -9.98986472e-04 9.99616379e-01 6.22168994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.53, Y:8.28, Z:6.22 [[ 9.99023654e-01 -3.45967678e-02 -2.74736656e-02 2.51526534e+02] [ 3.46103687e-02 9.99400882e-01 1.95369481e-05 8.28016049e+00] [ 2.74565297e-02 -9.70391570e-04 9.99622527e-01 6.22295671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.55, Y:8.28, Z:6.22 [[ 9.99040390e-01 -3.43605315e-02 -2.71597830e-02 2.51554847e+02] [ 3.43735834e-02 9.99409054e-01 1.36934638e-05 8.28085640e+00] [ 2.71432626e-02 -9.47259392e-04 9.99631105e-01 6.22332219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.58, Y:8.28, Z:6.22 [[ 9.99021585e-01 -3.47580512e-02 -2.73450294e-02 2.51583568e+02] [ 3.47713634e-02 9.99395293e-01 1.13321094e-05 8.28128726e+00] [ 2.73280998e-02 -9.62144978e-04 9.99626055e-01 6.22376386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.61, Y:8.28, Z:6.22 [[ 9.98989631e-01 -3.55325894e-02 -2.75164123e-02 2.51612599e+02] [ 3.55461742e-02 9.99368035e-01 4.55626233e-06 8.28154348e+00] [ 2.74988610e-02 -9.82654843e-04 9.99621352e-01 6.22386294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.64, Y:8.28, Z:6.22 [[ 9.98865138e-01 -3.82724261e-02 -2.83488618e-02 2.51641101e+02] [ 3.82877740e-02 9.99266754e-01 -1.42527207e-06 8.28219567e+00] [ 2.83281297e-02 -1.08399116e-03 9.99598090e-01 6.22429127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.67, Y:8.28, Z:6.23 [[ 9.98788643e-01 -3.99711590e-02 -2.86976007e-02 2.51671158e+02] [ 3.99875373e-02 9.99200179e-01 -3.17537231e-06 8.28231538e+00] [ 2.86747747e-02 -1.14437485e-03 9.99588139e-01 6.22505097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.70, Y:8.28, Z:6.23 [[ 9.98683737e-01 -4.20969099e-02 -2.93026120e-02 2.51701922e+02] [ 4.21148763e-02 9.99112775e-01 -4.04139895e-06 8.28278613e+00] [ 2.92767841e-02 -1.23003980e-03 9.99570586e-01 6.22603677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.73, Y:8.28, Z:6.23 [[ 9.98573939e-01 -4.42575832e-02 -2.98555582e-02 2.51732747e+02] [ 4.42771981e-02 9.99019284e-01 -4.11766096e-06 8.28330893e+00] [ 2.98264606e-02 -1.31780867e-03 9.99554223e-01 6.22698131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.76, Y:8.28, Z:6.23 [[ 9.98423226e-01 -4.62542260e-02 -3.18058043e-02 2.51763401e+02] [ 4.62774999e-02 9.98928623e-01 -4.38663774e-06 8.28351274e+00] [ 3.17719312e-02 -1.46751338e-03 9.99494067e-01 6.22761891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.79, Y:8.28, Z:6.23 [[ 9.98424636e-01 -4.63351473e-02 -3.16433160e-02 2.51793433e+02] [ 4.63582298e-02 9.98924879e-01 -4.19378940e-06 8.28373815e+00] [ 3.16094899e-02 -1.46274093e-03 9.99499225e-01 6.22803273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.82, Y:8.28, Z:6.23 [[ 9.98440691e-01 -4.57900414e-02 -3.19289720e-02 2.51823826e+02] [ 4.58132775e-02 9.98950021e-01 -3.83351160e-06 8.28399439e+00] [ 3.18956228e-02 -1.45894332e-03 9.99490140e-01 6.22903272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.85, Y:8.28, Z:6.23 [[ 9.98555006e-01 -4.38455049e-02 -3.10720478e-02 2.51852932e+02] [ 4.38665653e-02 9.99037399e-01 -3.88888076e-06 8.28481186e+00] [ 3.10423083e-02 -1.35914075e-03 9.99517147e-01 6.23024304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.88, Y:8.29, Z:6.23 [[ 9.98620496e-01 -4.26499163e-02 -3.06282431e-02 2.51883662e+02] [ 4.26698059e-02 9.99089229e-01 -4.21746838e-06 8.28552928e+00] [ 3.06005277e-02 -1.30268954e-03 9.99530845e-01 6.23140412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.91, Y:8.29, Z:6.23 [[ 9.98684462e-01 -4.15781332e-02 -3.00100641e-02 2.51913256e+02] [ 4.15967404e-02 9.99134481e-01 -4.27269769e-06 8.28623124e+00] [ 2.99842675e-02 -1.24405377e-03 9.99549597e-01 6.23274577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.94, Y:8.29, Z:6.23 [[ 9.98766841e-01 -3.96570265e-02 -2.98683388e-02 2.51943805e+02] [ 3.96745891e-02 9.99212654e-01 -4.64268485e-06 8.28723616e+00] [ 2.98450062e-02 -1.18037711e-03 9.99553842e-01 6.23400198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.97, Y:8.29, Z:6.23 [[ 9.98778699e-01 -3.90598764e-02 -3.02561809e-02 2.51973328e+02] [ 3.90776161e-02 9.99236178e-01 -4.99172020e-06 8.28747088e+00] [ 3.02332655e-02 -1.17735380e-03 9.99542177e-01 6.23475246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.00, Y:8.29, Z:6.24 [[ 9.98780111e-01 -3.86853547e-02 -3.06876706e-02 2.52002608e+02] [ 3.87033941e-02 9.99250743e-01 -6.16358193e-06 8.28780819e+00] [ 3.06649160e-02 -1.18156094e-03 9.99529023e-01 6.23528811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.03, Y:8.29, Z:6.24 [[ 9.98768972e-01 -3.85685481e-02 -3.11930836e-02 2.52031403e+02] [ 3.85870335e-02 9.99255243e-01 -9.36595805e-06 8.28795076e+00] [ 3.11702136e-02 -1.19429413e-03 9.99513377e-01 6.23589380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.06, Y:8.29, Z:6.24 [[ 9.98759793e-01 -3.85770546e-02 -3.14751640e-02 2.52059688e+02] [ 3.85956873e-02 9.99254909e-01 -1.55846289e-05 8.28818638e+00] [ 3.14523133e-02 -1.19924029e-03 9.99504534e-01 6.23635547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.09, Y:8.29, Z:6.24 [[ 9.98735973e-01 -3.82779488e-02 -3.25769026e-02 2.52088090e+02] [ 3.82976929e-02 9.99266374e-01 -1.79101459e-05 8.28883651e+00] [ 3.25536889e-02 -1.22973271e-03 9.99469232e-01 6.23743467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.12, Y:8.29, Z:6.24 [[ 9.98682890e-01 -3.85515901e-02 -3.38564769e-02 2.52116364e+02] [ 3.85729208e-02 9.99255788e-01 -2.31413236e-05 8.28908927e+00] [ 3.38321726e-02 -1.28283236e-03 9.99426705e-01 6.23807219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.14, Y:8.29, Z:6.24 [[ 9.98645093e-01 -3.90548551e-02 -3.43903607e-02 2.52144300e+02] [ 3.90768246e-02 9.99236209e-01 -3.33285577e-05 8.28888779e+00] [ 3.43653953e-02 -1.31058269e-03 9.99408476e-01 6.23839572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.17, Y:8.29, Z:6.24 [[ 9.98557868e-01 -3.99294541e-02 -3.58862410e-02 2.52171405e+02] [ 3.99536454e-02 9.99201533e-01 -4.30472678e-05 8.28841959e+00] [ 3.58593059e-02 -1.39080096e-03 9.99355880e-01 6.23897105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.65509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.20, Y:8.29, Z:6.24 [[ 9.98489255e-01 -4.09925212e-02 -3.65898992e-02 2.52198650e+02] [ 4.10181815e-02 9.99158399e-01 -4.94244429e-05 8.28823346e+00] [ 3.65611311e-02 -1.45150135e-03 9.99330364e-01 6.23944817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.23, Y:8.29, Z:6.24 [[ 9.98457759e-01 -4.14586779e-02 -3.69226539e-02 2.52226652e+02] [ 4.14848111e-02 9.99139133e-01 -5.83923784e-05 8.28807497e+00] [ 3.68932893e-02 -1.47342700e-03 9.99318125e-01 6.24038527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.71509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.25, Y:8.29, Z:6.24 [[ 9.98456078e-01 -4.16243920e-02 -3.67813788e-02 2.52254582e+02] [ 4.16500482e-02 9.99132258e-01 -6.87576094e-05 8.28798524e+00] [ 3.67523241e-02 -1.46329475e-03 9.99323334e-01 6.24121395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.28, Y:8.29, Z:6.24 [[ 9.98464487e-01 -4.10619043e-02 -3.71831697e-02 2.52281291e+02] [ 4.10874257e-02 9.99155552e-01 -7.78358457e-05 8.28790749e+00] [ 3.71549666e-02 -1.45004440e-03 9.99308464e-01 6.24202830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.31, Y:8.29, Z:6.24 [[ 9.98453551e-01 -4.13269947e-02 -3.71831545e-02 2.52309672e+02] [ 4.13524481e-02 9.99144618e-01 -8.45998151e-05 8.28804211e+00] [ 3.71548450e-02 -1.45314548e-03 9.99308464e-01 6.24265665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.34, Y:8.29, Z:6.24 [[ 9.98494259e-01 -4.07760158e-02 -3.66950995e-02 2.52336785e+02] [ 4.08001553e-02 9.99167323e-01 -9.10674191e-05 8.28795157e+00] [ 3.66682577e-02 -1.40623546e-03 9.99326504e-01 6.24346723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.36, Y:8.29, Z:6.24 [[ 9.98565098e-01 -3.94454846e-02 -3.62187554e-02 2.52364441e+02] [ 3.94678835e-02 9.99220835e-01 -9.66080265e-05 8.28747527e+00] [ 3.61943457e-02 -1.33300821e-03 9.99343881e-01 6.24482187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.39, Y:8.29, Z:6.25 [[ 9.98609510e-01 -3.85378700e-02 -3.59705351e-02 2.52391331e+02] [ 3.85590866e-02 9.99256316e-01 -1.03957925e-04 8.28723743e+00] [ 3.59477907e-02 -1.28317761e-03 9.99352845e-01 6.24584086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.42, Y:8.29, Z:6.25 [[ 9.98583550e-01 -3.82008805e-02 -3.70349369e-02 2.52419495e+02] [ 3.81100345e-02 9.99268565e-01 -3.15608606e-03 8.28884055e+00] [ 3.71284135e-02 1.74021290e-03 9.99308988e-01 6.24786776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.45, Y:8.29, Z:6.25 [[ 9.98618205e-01 -3.80356808e-02 -3.62624896e-02 2.52448550e+02] [ 3.81639692e-02 9.99267421e-01 2.85192291e-03 8.28522761e+00] [ 3.61274496e-02 -4.23190267e-03 9.99338230e-01 6.24712797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.48, Y:8.29, Z:6.25 [[ 9.98617348e-01 -3.82677474e-02 -3.60412550e-02 2.52475122e+02] [ 3.82882678e-02 9.99266728e-01 -1.20922993e-04 8.28614435e+00] [ 3.60194545e-02 -1.25920143e-03 9.99350296e-01 6.24867710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.50, Y:8.28, Z:6.25 [[ 9.98266565e-01 -4.20262298e-02 -4.12026846e-02 2.52500644e+02] [ 4.27738074e-02 9.98932676e-01 1.74330271e-02 8.28227984e+00] [ 4.04260636e-02 -1.91652038e-02 9.98998713e-01 6.25025491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.53, Y:8.29, Z:6.26 [[ 9.98592890e-01 -3.90058179e-02 -3.59275014e-02 2.52533442e+02] [ 3.83693879e-02 9.99097196e-01 -1.82368738e-02 8.29351231e+00] [ 3.66064101e-02 1.68326963e-02 9.99187986e-01 6.25618053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.56, Y:8.28, Z:6.25 [[ 9.98334146e-01 -4.19836177e-02 -3.95766123e-02 2.52558988e+02] [ 4.26200066e-02 9.98973039e-01 1.53753869e-02 8.27988472e+00] [ 3.88904543e-02 -1.70365292e-02 9.99098238e-01 6.25042470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.59, Y:8.29, Z:6.26 [[ 9.98566161e-01 -3.98038171e-02 -3.57949480e-02 2.52592083e+02] [ 3.92453067e-02 9.99098716e-01 -1.61728755e-02 8.28973237e+00] [ 3.64064287e-02 1.47449025e-02 9.99228282e-01 6.25693983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.62, Y:8.28, Z:6.25 [[ 9.98590940e-01 -3.96704852e-02 -3.52475083e-02 2.52619337e+02] [ 3.96903899e-02 9.99212017e-01 -1.35092649e-04 8.28113681e+00] [ 3.52250930e-02 -1.26408505e-03 9.99378604e-01 6.25179604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.64, Y:8.28, Z:6.25 [[ 9.98225595e-01 -4.37917705e-02 -4.03477624e-02 2.52644880e+02] [ 4.45222623e-02 9.98857070e-01 1.73873887e-02 8.27647391e+00] [ 3.95402233e-02 -1.91529101e-02 9.99034402e-01 6.25482824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.67, Y:8.29, Z:6.26 [[ 9.98158056e-01 -4.55874254e-02 -4.00285176e-02 2.52671748e+02] [ 4.55530792e-02 9.98960351e-01 -1.77017687e-03 8.28535401e+00] [ 4.00675998e-02 -5.65059282e-05 9.99196970e-01 6.26245470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.70, Y:8.28, Z:6.26 [[ 9.98445252e-01 -4.32565425e-02 -3.51560879e-02 2.52704572e+02] [ 4.26840457e-02 9.98946092e-01 -1.68753491e-02 8.28489029e+00] [ 3.58490058e-02 1.53485081e-02 9.99239347e-01 6.26188768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.73, Y:8.27, Z:6.26 [[ 9.98139095e-01 -4.60568664e-02 -3.99638855e-02 2.52730190e+02] [ 4.67904464e-02 9.98749337e-01 1.76186340e-02 8.27263095e+00] [ 3.91024451e-02 -1.94557754e-02 9.99045781e-01 6.25779073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.76, Y:8.28, Z:6.26 [[ 9.98423698e-01 -4.40105942e-02 -3.48308362e-02 2.52764160e+02] [ 4.33801170e-02 9.98884460e-01 -1.86547872e-02 8.28336746e+00] [ 3.56129892e-02 1.71144159e-02 9.99219101e-01 6.26432464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.79, Y:8.27, Z:6.26 [[ 9.97856047e-01 -4.95298973e-02 -4.27796591e-02 2.52788400e+02] [ 5.06199274e-02 9.98410434e-01 2.47836111e-02 8.26745798e+00] [ 4.14841283e-02 -2.68959794e-02 9.98777089e-01 6.26096235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.82, Y:8.28, Z:6.27 [[ 9.97886045e-01 -4.97519265e-02 -4.18113167e-02 2.52815571e+02] [ 4.98108146e-02 9.98758603e-01 3.67177758e-04 8.27746139e+00] [ 4.17411445e-02 -2.44905730e-03 9.99125457e-01 6.26954883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.84, Y:8.28, Z:6.27 [[ 9.97829759e-01 -5.01627173e-02 -4.26552969e-02 2.52842047e+02] [ 5.02110012e-02 9.98738630e-01 6.06645419e-05 8.27626727e+00] [ 4.25984497e-02 -2.20229805e-03 9.99089847e-01 6.27126478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.88, Y:8.28, Z:6.27 [[ 9.98483942e-01 -4.42261892e-02 -3.27698152e-02 2.52879723e+02] [ 4.33196759e-02 9.98672304e-01 -2.78753322e-02 8.27783466e+00] [ 3.39591266e-02 2.64134938e-02 9.99074124e-01 6.26983698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.90, Y:8.26, Z:6.26 [[ 9.98087132e-01 -4.70768130e-02 -4.00730682e-02 2.52903653e+02] [ 4.80959011e-02 9.98533359e-01 2.48578876e-02 8.25813047e+00] [ 3.88440652e-02 -2.67376880e-02 9.98887498e-01 6.26273777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.43509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.94, Y:8.28, Z:6.27 [[ 9.98519641e-01 -4.15773156e-02 -3.50692561e-02 2.52940823e+02] [ 4.03461513e-02 9.98568617e-01 -3.51127515e-02 8.27695169e+00] [ 3.64789525e-02 3.36458626e-02 9.98767862e-01 6.27496059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.97, Y:8.26, Z:6.26 [[ 9.98535542e-01 -4.09068077e-02 -3.54034549e-02 2.52970545e+02] [ 4.09254632e-02 9.99162183e-01 -1.97882623e-04 8.26045850e+00] [ 3.53818881e-02 -1.25130996e-03 9.99373082e-01 6.26380027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.99, Y:8.25, Z:6.26 [[ 9.98195731e-01 -4.32376631e-02 -4.16627698e-02 2.52993796e+02] [ 4.46195655e-02 9.98464463e-01 3.28300251e-02 8.25110799e+00] [ 4.01793015e-02 -3.46297656e-02 9.98592211e-01 6.26450619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.02, Y:8.27, Z:6.28 [[ 9.98352996e-01 -4.12932515e-02 -3.98266646e-02 2.53023256e+02] [ 4.10995895e-02 9.99138969e-01 -5.66952985e-03 8.26734412e+00] [ 4.00264859e-02 4.02333255e-03 9.99190519e-01 6.27572064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.06, Y:8.26, Z:6.27 [[ 9.98960784e-01 -3.19485215e-02 -3.25060763e-02 2.53060080e+02] [ 3.12598987e-02 9.99280527e-01 -2.14766749e-02 8.26353023e+00] [ 3.31688371e-02 2.04382194e-02 9.99240765e-01 6.27084337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.09, Y:8.25, Z:6.26 [[ 9.98964166e-01 -3.17684617e-02 -3.25785284e-02 2.53088652e+02] [ 3.17818723e-02 9.99494823e-01 -1.06249098e-04 8.25338941e+00] [ 3.25654458e-02 -9.29267587e-04 9.99469173e-01 6.26434708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.12, Y:8.25, Z:6.26 [[ 9.99004895e-01 -3.03513478e-02 -3.26805132e-02 2.53116298e+02] [ 3.03637918e-02 9.99538907e-01 -1.15553681e-04 8.25208697e+00] [ 3.26689517e-02 -8.76865606e-04 9.99465843e-01 6.26468659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.14, Y:8.25, Z:6.27 [[ 9.99039635e-01 -2.91956597e-02 -3.26714021e-02 2.53144605e+02] [ 2.92071746e-02 9.99573372e-01 -1.24849247e-04 8.25096136e+00] [ 3.26611086e-02 -8.29509998e-04 9.99466139e-01 6.26531899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.17, Y:8.25, Z:6.27 [[ 9.98636873e-01 -3.23836497e-02 -4.09352464e-02 2.53167796e+02] [ 3.32699717e-02 9.99222399e-01 2.11590864e-02 8.24645857e+00] [ 4.02182066e-02 -2.24921584e-02 9.98937735e-01 6.26963499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.20, Y:8.26, Z:6.27 [[ 9.99095305e-01 -2.71721352e-02 -3.27146365e-02 2.53204538e+02] [ 2.64472851e-02 9.99399449e-01 -2.23893239e-02 8.25767654e+00] [ 3.33033554e-02 2.15038551e-02 9.99213926e-01 6.27435516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.23, Y:8.25, Z:6.27 [[ 9.99106583e-01 -2.65776289e-02 -3.28582509e-02 2.53231880e+02] [ 2.65876295e-02 9.99646478e-01 -1.32615689e-04 8.24541651e+00] [ 3.28501594e-02 -7.41125793e-04 9.99460013e-01 6.26790607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.25, Y:8.24, Z:6.27 [[ 9.98479424e-01 -3.25053229e-02 -4.45223911e-02 2.53253758e+02] [ 3.37961417e-02 9.99020787e-01 2.85532479e-02 8.23800501e+00] [ 4.35506617e-02 -3.00145156e-02 9.98600255e-01 6.27440427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.29, Y:8.25, Z:6.28 [[ 9.99129524e-01 -2.76527875e-02 -3.12332781e-02 2.53291962e+02] [ 2.67453425e-02 9.99218423e-01 -2.91072050e-02 8.25382543e+00] [ 3.20137623e-02 2.82465232e-02 9.99088211e-01 6.27847576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.32, Y:8.24, Z:6.27 [[ 9.98707700e-01 -3.29219249e-02 -3.87179247e-02 2.53315546e+02] [ 3.37804249e-02 9.99192978e-01 2.17319063e-02 8.23508094e+00] [ 3.79712223e-02 -2.30117301e-02 9.99013837e-01 6.27352678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.34, Y:8.24, Z:6.28 [[ 9.98588122e-01 -3.47663311e-02 -4.01629899e-02 2.53343005e+02] [ 3.52216669e-02 9.99322397e-01 1.06855804e-02 8.23950020e+00] [ 3.97642769e-02 -1.20851011e-02 9.99136003e-01 6.28103040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.37, Y:8.25, Z:6.29 [[ 9.98683924e-01 -3.53248578e-02 -3.71829793e-02 2.53371549e+02] [ 3.50666714e-02 9.99356280e-01 -7.57328922e-03 8.24500312e+00] [ 3.74265693e-02 6.25943888e-03 9.99279776e-01 6.28552131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.41, Y:8.24, Z:6.28 [[ 9.99089753e-01 -3.31509598e-02 -2.68454603e-02 2.53408419e+02] [ 3.24048733e-02 9.99089078e-01 -2.77657757e-02 8.24235353e+00] [ 2.77414683e-02 2.68705783e-02 9.99253913e-01 6.28096443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.43, Y:8.22, Z:6.28 [[ 9.98630734e-01 -3.84647396e-02 -3.54559074e-02 2.53433652e+02] [ 3.93994510e-02 9.98883867e-01 2.60519294e-02 8.22172308e+00] [ 3.44142533e-02 -2.74132006e-02 9.99031619e-01 6.27633974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.46, Y:8.23, Z:6.28 [[ 9.98530092e-01 -4.17341602e-02 -3.45820176e-02 2.53462011e+02] [ 4.16643049e-02 9.99127913e-01 -2.73848011e-03 8.23029125e+00] [ 3.46661473e-02 1.29361907e-03 9.99398111e-01 6.28334870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.49, Y:8.23, Z:6.28 [[ 9.98556961e-01 -4.26342054e-02 -3.26545575e-02 2.53491279e+02] [ 4.25101474e-02 9.99085971e-01 -4.48430514e-03 8.22775929e+00] [ 3.28158951e-02 3.08968406e-03 9.99456638e-01 6.28156824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.52, Y:8.23, Z:6.28 [[ 9.98327429e-01 -4.44854834e-02 -3.69240506e-02 2.53517685e+02] [ 4.44454001e-02 9.99009997e-01 -1.90608999e-03 8.22583549e+00] [ 3.69722890e-02 2.61797713e-04 9.99316257e-01 6.28333595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.56, Y:8.23, Z:6.28 [[ 9.98719103e-01 -4.25481357e-02 -2.73826462e-02 2.53555097e+02] [ 4.19854392e-02 9.98901552e-01 -2.08065575e-02 8.22590356e+00] [ 2.82378481e-02 1.96302341e-02 9.99408464e-01 6.27767666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.58, Y:8.20, Z:6.27 [[ 9.98070753e-01 -4.92594101e-02 -3.77926331e-02 2.53580080e+02] [ 5.04714965e-02 9.98218550e-01 3.18175126e-02 8.20433720e+00] [ 3.61579955e-02 -3.36635795e-02 9.98778936e-01 6.27451968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.61, Y:8.22, Z:6.28 [[ 9.98046243e-01 -5.12127051e-02 -3.57904298e-02 2.53610062e+02] [ 5.09638076e-02 9.98669783e-01 -7.83294308e-03 8.22087870e+00] [ 3.61439669e-02 5.99362284e-03 9.99328620e-01 6.28307019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.15509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.64, Y:8.22, Z:6.28 [[ 9.98129902e-01 -5.13804330e-02 -3.31172056e-02 2.53640120e+02] [ 5.10231002e-02 9.98630720e-01 -1.15467722e-02 8.22021106e+00] [ 3.36651371e-02 9.83543611e-03 9.99384772e-01 6.28103716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.67, Y:8.21, Z:6.28 [[ 9.98044271e-01 -5.26670513e-02 -3.36721757e-02 2.53668738e+02] [ 5.26444330e-02 9.98612104e-01 -1.55856252e-03 8.21398074e+00] [ 3.37075271e-02 -2.17138206e-04 9.99431716e-01 6.27793503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.21509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.70, Y:8.21, Z:6.28 [[ 9.98060561e-01 -5.27187780e-02 -3.31035817e-02 2.53697602e+02] [ 5.27136232e-02 9.98609140e-01 -1.02905077e-03 8.21283417e+00] [ 3.31117896e-02 -7.17954747e-04 9.99451396e-01 6.27820988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.73, Y:8.21, Z:6.28 [[ 9.98122289e-01 -5.23271940e-02 -3.18396131e-02 2.53726187e+02] [ 5.23062466e-02 9.98629978e-01 -1.49103741e-03 8.21265559e+00] [ 3.18740139e-02 -1.77172975e-04 9.99491879e-01 6.27874727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.75, Y:8.21, Z:6.28 [[ 9.98026094e-01 -5.25780014e-02 -3.43434026e-02 2.53754773e+02] [ 5.30889478e-02 9.98489693e-01 1.41384566e-02 8.20654492e+00] [ 3.35481617e-02 -1.59338038e-02 9.99310079e-01 6.27970581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.79, Y:8.22, Z:6.28 [[ 9.98589354e-01 -4.65621401e-02 -2.55199593e-02 2.53788714e+02] [ 4.58800576e-02 9.98590300e-01 -2.66914345e-02 8.21965093e+00] [ 2.67267942e-02 2.54829251e-02 9.99317917e-01 6.28103496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.81, Y:8.20, Z:6.28 [[ 9.98192614e-01 -4.91618073e-02 -3.45632933e-02 2.53814879e+02] [ 5.01571871e-02 9.98333285e-01 2.85466196e-02 8.20018281e+00] [ 3.31022827e-02 -3.02286224e-02 9.98994729e-01 6.27849938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.84, Y:8.22, Z:6.29 [[ 9.98258331e-01 -4.77520579e-02 -3.46416608e-02 2.53842987e+02] [ 4.76752644e-02 9.98858262e-01 -3.03991584e-03 8.21568649e+00] [ 3.47472714e-02 1.38307098e-03 9.99395174e-01 6.28761809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.87, Y:8.21, Z:6.29 [[ 9.98328974e-01 -4.45882604e-02 -3.67579590e-02 2.53870529e+02] [ 4.50043496e-02 9.98930863e-01 1.05706815e-02 8.21184957e+00] [ 3.62473314e-02 -1.22072857e-02 9.99268289e-01 6.28713523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.90, Y:8.22, Z:6.29 [[ 9.98677836e-01 -4.10970429e-02 -3.08806091e-02 2.53901925e+02] [ 4.04414156e-02 9.98949189e-01 -2.15640877e-02 8.22470040e+00] [ 3.17343797e-02 2.02867209e-02 9.99290437e-01 6.28931970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.93, Y:8.22, Z:6.28 [[ 9.99045848e-01 -3.56210188e-02 -2.52692758e-02 2.53934127e+02] [ 3.52005432e-02 9.99237466e-01 -1.68940355e-02 8.21785646e+00] [ 2.58517898e-02 1.59884238e-02 9.99537921e-01 6.28043805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.96, Y:8.21, Z:6.28 [[ 9.99107580e-01 -3.35034884e-02 -2.57208235e-02 2.53961823e+02] [ 3.35129580e-02 9.99438281e-01 -6.29253923e-05 8.21042600e+00] [ 2.57084838e-02 -7.99111639e-04 9.99669163e-01 6.27554608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.99, Y:8.21, Z:6.28 [[ 9.99098876e-01 -3.32103707e-02 -2.64292970e-02 2.53988766e+02] [ 3.32201526e-02 9.99448056e-01 -6.89879684e-05 8.21116773e+00] [ 2.64170006e-02 -8.09059477e-04 9.99650683e-01 6.27563062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.01, Y:8.21, Z:6.28 [[ 9.98756615e-01 -3.70116400e-02 -3.33970523e-02 2.54014407e+02] [ 3.75911661e-02 9.99150376e-01 1.68946559e-02 8.20831465e+00] [ 3.27433785e-02 -1.81290834e-02 9.99299358e-01 6.27965110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.05, Y:8.22, Z:6.28 [[ 9.99036306e-01 -3.43795627e-02 -2.72856082e-02 2.54046911e+02] [ 3.39114939e-02 9.99272737e-01 -1.74357899e-02 8.22108787e+00] [ 2.78651993e-02 1.64936914e-02 9.99475607e-01 6.28075051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.07, Y:8.21, Z:6.28 [[ 9.99009343e-01 -3.49792353e-02 -2.75097220e-02 2.54074780e+02] [ 3.49901143e-02 9.99387655e-01 -8.59641599e-05 8.21307546e+00] [ 2.74958835e-02 -8.76689319e-04 9.99621532e-01 6.27631245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.10, Y:8.20, Z:6.28 [[ 9.98549007e-01 -3.92492079e-02 -3.68697875e-02 2.54100635e+02] [ 4.03721195e-02 9.98727555e-01 3.02218826e-02 8.20469758e+00] [ 3.56366878e-02 -3.16665423e-02 9.98862982e-01 6.28134638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.13, Y:8.23, Z:6.29 [[ 9.98974523e-01 -3.65528586e-02 -2.67168796e-02 2.54134732e+02] [ 3.57183519e-02 9.98878733e-01 -3.10720987e-02 8.22881673e+00] [ 2.78226969e-02 3.00859521e-02 9.99160014e-01 6.28601676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.16, Y:8.21, Z:6.28 [[ 9.98545159e-01 -4.06572725e-02 -3.54196491e-02 2.54160430e+02] [ 4.17168101e-02 9.98687751e-01 2.97066383e-02 8.20592478e+00] [ 3.41653788e-02 -3.11410146e-02 9.98930911e-01 6.28222456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.19, Y:8.22, Z:6.29 [[ 9.98570927e-01 -4.13362685e-02 -3.38735475e-02 2.54187365e+02] [ 4.14171443e-02 9.99140514e-01 1.68909444e-03 8.22027918e+00] [ 3.37746128e-02 -3.08962620e-03 9.99424699e-01 6.29088572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.22, Y:8.22, Z:6.29 [[ 9.98572009e-01 -4.18758883e-02 -3.31715737e-02 2.54215528e+02] [ 4.19348685e-02 9.99119758e-01 1.08401643e-03 8.22142279e+00] [ 3.30969806e-02 -2.47351405e-03 9.99449084e-01 6.29159837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.24, Y:8.22, Z:6.29 [[ 9.98444679e-01 -4.38245321e-02 -3.44620483e-02 2.54243417e+02] [ 4.39336031e-02 9.99031537e-01 2.41374573e-03 8.22262261e+00] [ 3.43228918e-02 -3.92403353e-03 9.99403092e-01 6.29246990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.27, Y:8.22, Z:6.29 [[ 9.98410311e-01 -4.44307192e-02 -3.46808531e-02 2.54270892e+02] [ 4.47156600e-02 9.98971723e-01 7.48377982e-03 8.22123881e+00] [ 3.43126819e-02 -9.02266018e-03 9.99370418e-01 6.29287284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.31, Y:8.24, Z:6.29 [[ 9.98966029e-01 -3.97689035e-02 -2.20296787e-02 2.54306831e+02] [ 3.87782435e-02 9.98291588e-01 -4.37053090e-02 8.23897780e+00] [ 2.37301552e-02 4.28058468e-02 9.98801551e-01 6.29106241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.33, Y:8.20, Z:6.28 [[ 9.98281887e-01 -4.61353252e-02 -3.61220904e-02 2.54331382e+02] [ 4.78600212e-02 9.97679082e-01 4.84341688e-02 8.20372251e+00] [ 3.38037279e-02 -5.00797575e-02 9.98172994e-01 6.28381569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.37, Y:8.24, Z:6.29 [[ 9.98931673e-01 -4.11208145e-02 -2.10853397e-02 2.54367532e+02] [ 4.00432168e-02 9.97985586e-01 -4.92068244e-02 8.24360034e+00] [ 2.30662898e-02 4.83099306e-02 9.98566020e-01 6.29329988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.93509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.39, Y:8.21, Z:6.28 [[ 9.98451485e-01 -4.61460135e-02 -3.10673085e-02 2.54393854e+02] [ 4.71432801e-02 9.98369920e-01 3.21716383e-02 8.21254104e+00] [ 2.95320735e-02 -3.35864348e-02 9.98999403e-01 6.28390781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.43, Y:8.24, Z:6.29 [[ 9.98893645e-01 -4.24663763e-02 -2.02013318e-02 2.54428141e+02] [ 4.17887279e-02 9.98585936e-01 -3.28607740e-02 8.23846570e+00] [ 2.15682439e-02 3.19802303e-02 9.99255761e-01 6.28920255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.46, Y:8.22, Z:6.28 [[ 9.98884527e-01 -4.27349682e-02 -2.00854143e-02 2.54459688e+02] [ 4.27426595e-02 9.99086114e-01 -4.64026965e-05 8.22347731e+00] [ 2.00690415e-02 -8.12153088e-04 9.99798267e-01 6.27977107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.49, Y:8.22, Z:6.28 [[ 9.98551357e-01 -4.67294544e-02 -2.66747939e-02 2.54488123e+02] [ 4.72564015e-02 9.98692866e-01 1.94779826e-02 8.21988068e+00] [ 2.57297309e-02 -2.07103207e-02 9.99454383e-01 6.28307131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.52, Y:8.23, Z:6.29 [[ 9.98611489e-01 -4.67283991e-02 -2.43218171e-02 2.54519575e+02] [ 4.65340685e-02 9.98880574e-01 -8.49585491e-03 8.23348806e+00] [ 2.46915883e-02 7.35226522e-03 9.99668080e-01 6.28920741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.55, Y:8.23, Z:6.29 [[ 9.98527470e-01 -4.75407789e-02 -2.61297936e-02 2.54551535e+02] [ 4.77028594e-02 9.98845791e-01 5.61461000e-03 8.22821652e+00] [ 2.58327115e-02 -6.85280819e-03 9.99642791e-01 6.28737742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.58, Y:8.23, Z:6.29 [[ 9.98529735e-01 -4.77135874e-02 -2.57251037e-02 2.54582167e+02] [ 4.77441374e-02 9.98859433e-01 5.74305203e-04 8.23308890e+00] [ 2.56683604e-02 -1.80168371e-03 9.99668890e-01 6.28903527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.61, Y:8.23, Z:6.29 [[ 9.98338767e-01 -4.94953426e-02 -2.94943688e-02 2.54611046e+02] [ 4.99210592e-02 9.98656767e-01 1.38762003e-02 8.23027788e+00] [ 2.87679438e-02 -1.53255388e-02 9.99468625e-01 6.29135081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.65, Y:8.25, Z:6.29 [[ 9.98729235e-01 -4.63186316e-02 -1.98620324e-02 2.54645934e+02] [ 4.56401324e-02 9.98401038e-01 -3.33518416e-02 8.24857042e+00] [ 2.13750855e-02 3.24029534e-02 9.99246293e-01 6.29148218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.67, Y:8.23, Z:6.29 [[ 9.98437809e-01 -4.94616250e-02 -2.59901826e-02 2.54674379e+02] [ 4.99144732e-02 9.98607550e-01 1.70735649e-02 8.22955135e+00] [ 2.51095063e-02 -1.83441790e-02 9.99516385e-01 6.28527901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.71, Y:8.24, Z:6.29 [[ 9.98400837e-01 -5.01005109e-02 -2.61860320e-02 2.54706091e+02] [ 5.00333048e-02 9.98742373e-01 -3.21582850e-03 8.23979937e+00] [ 2.63142144e-02 1.90051214e-03 9.99651915e-01 6.29110929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.74, Y:8.24, Z:6.29 [[ 9.98244753e-01 -5.17145495e-02 -2.88620680e-02 2.54735110e+02] [ 5.20618398e-02 9.98578640e-01 1.14133848e-02 8.23579102e+00] [ 2.82308065e-02 -1.28959639e-02 9.99518242e-01 6.29217600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.77, Y:8.25, Z:6.29 [[ 9.98610231e-01 -4.91268706e-02 -1.90828852e-02 2.54770295e+02] [ 4.86048332e-02 9.98455266e-01 -2.69193539e-02 8.24995443e+00] [ 2.03758708e-02 2.59544218e-02 9.99455448e-01 6.29114913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.80, Y:8.23, Z:6.29 [[ 9.98137653e-01 -5.38823255e-02 -2.85993093e-02 2.54798008e+02] [ 5.47037641e-02 9.98088301e-01 2.87618132e-02 8.23019276e+00] [ 2.69948826e-02 -3.02727386e-02 9.99177080e-01 6.28624355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.83, Y:8.25, Z:6.29 [[ 9.98603180e-01 -4.93840730e-02 -1.87856821e-02 2.54832354e+02] [ 4.88219420e-02 9.98377956e-01 -2.92895032e-02 8.25307470e+00] [ 2.02016459e-02 2.83314376e-02 9.99394428e-01 6.29262827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.86, Y:8.23, Z:6.29 [[ 9.97934566e-01 -5.54207666e-02 -3.24829341e-02 2.54855373e+02] [ 5.69300752e-02 9.97245454e-01 4.75444207e-02 8.22591071e+00] [ 2.97585101e-02 -4.92954767e-02 9.98340817e-01 6.28757193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.89, Y:8.25, Z:6.30 [[ 9.97967144e-01 -5.53486780e-02 -3.15927645e-02 2.54886705e+02] [ 5.53521095e-02 9.98466602e-01 -7.66623190e-04 8.24962715e+00] [ 3.15867518e-02 -9.83661408e-04 9.99500530e-01 6.30212595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.92, Y:8.25, Z:6.30 [[ 9.98142836e-01 -5.32569380e-02 -2.95732462e-02 2.54917297e+02] [ 5.32884684e-02 9.98579121e-01 2.78516355e-04 8.25018301e+00] [ 2.95163933e-02 -1.85391210e-03 9.99562577e-01 6.30073589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.95, Y:8.25, Z:6.30 [[ 9.98195110e-01 -5.27457889e-02 -2.87124461e-02 2.54948903e+02] [ 5.27454330e-02 9.98607694e-01 -7.70305488e-04 8.25045814e+00] [ 2.87131000e-02 -7.45535232e-04 9.99587416e-01 6.30092855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.98, Y:8.25, Z:6.30 [[ 9.98321992e-01 -5.11717981e-02 -2.71043965e-02 2.54980918e+02] [ 5.11426120e-02 9.98689793e-01 -1.76938648e-03 8.25134228e+00] [ 2.71594268e-02 3.80227804e-04 9.99631042e-01 6.30084486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.02, Y:8.27, Z:6.30 [[ 9.99082709e-01 -4.11128828e-02 -1.19779886e-02 2.55018400e+02] [ 4.04901546e-02 9.98013258e-01 -4.82709418e-02 8.26685417e+00] [ 1.39387490e-02 4.77416726e-02 9.98762456e-01 6.29781162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.04, Y:8.23, Z:6.29 [[ 9.98507424e-01 -4.71788227e-02 -2.75151285e-02 2.55040085e+02] [ 4.85869311e-02 9.97413091e-01 5.29758021e-02 8.22965947e+00] [ 2.49446134e-02 -5.42336074e-02 9.98216651e-01 6.28653160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.07, Y:8.26, Z:6.30 [[ 9.98596223e-01 -4.56489912e-02 -2.68654774e-02 2.55072278e+02] [ 4.54808428e-02 9.98941812e-01 -6.83732858e-03 8.25854136e+00] [ 2.71491659e-02 5.60586594e-03 9.99615675e-01 6.30389473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.10, Y:8.26, Z:6.30 [[ 9.98720990e-01 -4.35998242e-02 -2.56015609e-02 2.55102453e+02] [ 4.36650801e-02 9.99044233e-01 1.99515129e-03 8.25512971e+00] [ 2.54901036e-02 -3.11049368e-03 9.99670235e-01 6.30054933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.65509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.13, Y:8.26, Z:6.30 [[ 9.98782727e-01 -4.20920160e-02 -2.57162802e-02 2.55134101e+02] [ 4.20195948e-02 9.99111169e-01 -3.35032500e-03 8.25884807e+00] [ 2.58344447e-02 2.26565907e-03 9.99663668e-01 6.30152901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.16, Y:8.26, Z:6.30 [[ 9.98773160e-01 -4.16590039e-02 -2.67712893e-02 2.55164135e+02] [ 4.16887161e-02 9.99130495e-01 5.52441090e-04 8.25787928e+00] [ 2.67249974e-02 -1.66782401e-03 9.99641432e-01 6.30075401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.71509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.19, Y:8.26, Z:6.30 [[ 9.98827120e-01 -4.07465570e-02 -2.61553661e-02 2.55194566e+02] [ 4.07576177e-02 9.99169057e-01 -1.10304080e-04 8.25832984e+00] [ 2.61381270e-02 -9.55855706e-04 9.99657884e-01 6.30028115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.23, Y:8.26, Z:6.30 [[ 9.98835363e-01 -4.00302682e-02 -2.69350289e-02 2.55225516e+02] [ 3.99175832e-02 9.99191881e-01 -4.70856301e-03 8.26143307e+00] [ 2.71017473e-02 3.62789798e-03 9.99626097e-01 6.30115963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.25, Y:8.26, Z:6.30 [[ 9.98940536e-01 -3.87080506e-02 -2.48895905e-02 2.55254743e+02] [ 3.87537888e-02 9.99247867e-01 1.35774108e-03 8.25876666e+00] [ 2.48183148e-02 -2.32086854e-03 9.99689284e-01 6.29863521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.29, Y:8.26, Z:6.30 [[ 9.99005124e-01 -3.77542611e-02 -2.37355720e-02 2.55285193e+02] [ 3.77509723e-02 9.99287006e-01 -5.86786845e-04 8.26015077e+00] [ 2.37408024e-02 -3.09837856e-04 9.99718099e-01 6.29886451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.32, Y:8.26, Z:6.30 [[ 9.99054292e-01 -3.62702894e-02 -2.39788907e-02 2.55316019e+02] [ 3.62522093e-02 9.99341966e-01 -1.18841999e-03 8.26103610e+00] [ 2.40062162e-02 3.18008328e-04 9.99711759e-01 6.29898273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.35, Y:8.26, Z:6.30 [[ 9.99149536e-01 -3.49682327e-02 -2.18500961e-02 2.55345526e+02] [ 3.49371118e-02 9.99387884e-01 -1.80452018e-03 8.26098834e+00] [ 2.18998222e-02 1.03960625e-03 9.99759630e-01 6.29778092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.38, Y:8.26, Z:6.30 [[ 9.99164922e-01 -3.47146608e-02 -2.15488052e-02 2.55376446e+02] [ 3.46787821e-02 9.99396435e-01 -2.03656802e-03 8.26133630e+00] [ 2.16064978e-02 1.28758100e-03 9.99765723e-01 6.29760144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.41, Y:8.26, Z:6.30 [[ 9.99212221e-01 -3.43008626e-02 -1.99596417e-02 2.55407069e+02] [ 3.42903682e-02 9.99411536e-01 -8.67892378e-04 8.26060601e+00] [ 1.99776656e-02 1.82785210e-04 9.99800410e-01 6.29658280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.44, Y:8.26, Z:6.30 [[ 9.99203993e-01 -3.48143859e-02 -1.94766186e-02 2.55438386e+02] [ 3.47995463e-02 9.99393707e-01 -1.10042740e-03 8.26115061e+00] [ 1.95031208e-02 4.21773960e-04 9.99809707e-01 6.29695262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.47, Y:8.26, Z:6.30 [[ 9.99199214e-01 -3.55917567e-02 -1.82800018e-02 2.55469849e+02] [ 3.55163468e-02 9.99359261e-01 -4.43358254e-03 8.26274412e+00] [ 1.84260881e-02 3.78079330e-03 9.99823077e-01 6.29700888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.50, Y:8.26, Z:6.30 [[ 9.99200461e-01 -3.61783401e-02 -1.70166633e-02 2.55500872e+02] [ 3.62365461e-02 9.99338356e-01 3.12462592e-03 8.25936476e+00] [ 1.68923605e-02 -3.73875276e-03 9.99850324e-01 6.29507448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.53, Y:8.26, Z:6.30 [[ 9.99189291e-01 -3.72841916e-02 -1.51871834e-02 2.55532431e+02] [ 3.72005187e-02 9.99291248e-01 -5.75527705e-03 8.26304719e+00] [ 1.53910003e-02 5.18564009e-03 9.99868104e-01 6.29607505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.56, Y:8.26, Z:6.29 [[ 9.99126093e-01 -3.94556042e-02 -1.37951409e-02 2.55564097e+02] [ 3.94182531e-02 9.99218387e-01 -2.96916001e-03 8.26163061e+00] [ 1.39015084e-02 2.42278489e-03 9.99900434e-01 6.29334895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.60, Y:8.26, Z:6.29 [[ 9.99102918e-01 -4.03566604e-02 -1.28335053e-02 2.55596435e+02] [ 4.03354384e-02 9.99184373e-01 -1.90830408e-03 8.26107152e+00] [ 1.29000507e-02 1.38894711e-03 9.99915826e-01 6.29157937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.63, Y:8.26, Z:6.29 [[ 9.99081688e-01 -4.11949560e-02 -1.17795014e-02 2.55629129e+02] [ 4.10978658e-02 9.99120076e-01 -8.36898570e-03 8.26347177e+00] [ 1.21138964e-02 7.87718799e-03 9.99895596e-01 6.29133915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.66, Y:8.26, Z:6.29 [[ 9.99024121e-01 -4.25050541e-02 -1.20052883e-02 2.55660382e+02] [ 4.25350164e-02 9.99092440e-01 2.25143687e-03 8.25952786e+00] [ 1.18986954e-02 -2.75988488e-03 9.99925399e-01 6.28771728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.69, Y:8.27, Z:6.29 [[ 9.98956959e-01 -4.43204882e-02 -1.09857958e-02 2.55693062e+02] [ 4.42216397e-02 9.98980451e-01 -9.08323252e-03 8.26590489e+00] [ 1.13771686e-02 8.58794844e-03 9.99898398e-01 6.28852663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.73, Y:8.26, Z:6.29 [[ 9.98936898e-01 -4.50543740e-02 -9.75590478e-03 2.55725105e+02] [ 4.50063245e-02 9.98973734e-01 -5.09004754e-03 8.26412578e+00] [ 9.97522154e-03 4.64555888e-03 9.99939455e-01 6.28512127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.76, Y:8.26, Z:6.28 [[ 9.98913484e-01 -4.56427670e-02 -9.41223603e-03 2.55756745e+02] [ 4.56457387e-02 9.98957685e-01 1.01044750e-04 8.26192272e+00] [ 9.39781356e-03 -5.30563430e-04 9.99955699e-01 6.28305992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.79, Y:8.26, Z:6.28 [[ 9.99077303e-01 -4.27508966e-02 -4.11130183e-03 2.55792722e+02] [ 4.26921206e-02 9.98997671e-01 -1.34549738e-02 8.26322804e+00] [ 4.68239315e-03 1.32670387e-02 9.99901026e-01 6.27963505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.82, Y:8.26, Z:6.28 [[ 9.98878210e-01 -4.67193002e-02 -7.72191622e-03 2.55819883e+02] [ 4.68087630e-02 9.98833673e-01 1.18420373e-02 8.25662683e+00] [ 7.15965824e-03 -1.21902064e-02 9.99900064e-01 6.27813070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.85, Y:8.26, Z:6.28 [[ 9.98902390e-01 -4.63675955e-02 -6.63793471e-03 2.55852476e+02] [ 4.63649591e-02 9.98924415e-01 -5.50583825e-04 8.26330182e+00] [ 6.65632430e-03 2.42211927e-04 9.99977817e-01 6.28139842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.88, Y:8.26, Z:6.28 [[ 9.98951657e-01 -4.53245611e-02 -6.42420031e-03 2.55884392e+02] [ 4.53256343e-02 9.98972265e-01 2.14822342e-05 8.26277912e+00] [ 6.41662426e-03 -3.12640667e-04 9.99979364e-01 6.28101857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.92, Y:8.26, Z:6.28 [[ 9.98980610e-01 -4.46986976e-02 -6.30609340e-03 2.55916114e+02] [ 4.46912635e-02 9.98999981e-01 -1.31498157e-03 8.26310720e+00] [ 6.35856515e-03 1.03181381e-03 9.99979252e-01 6.28014513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.43509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.95, Y:8.26, Z:6.28 [[ 9.99016990e-01 -4.36566266e-02 -7.69111820e-03 2.55948297e+02] [ 4.36746572e-02 9.99043402e-01 2.19211395e-03 8.26250592e+00] [ 7.58806059e-03 -2.52586603e-03 9.99968020e-01 6.27844807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.98, Y:8.26, Z:6.28 [[ 9.99043896e-01 -4.28875522e-02 -8.48246315e-03 2.55980644e+02] [ 4.29147321e-02 9.99074087e-01 3.04853269e-03 8.26176332e+00] [ 8.34386503e-03 -3.40964060e-03 9.99959376e-01 6.27839038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.01, Y:8.26, Z:6.28 [[ 9.99110682e-01 -4.16004101e-02 -6.87399917e-03 2.56012936e+02] [ 4.15558076e-02 9.99114983e-01 -6.50883661e-03 8.26450272e+00] [ 7.13868584e-03 6.21739359e-03 9.99955191e-01 6.27880793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.05, Y:8.26, Z:6.28 [[ 9.99111649e-01 -4.17246361e-02 -5.91332538e-03 2.56045541e+02] [ 4.17201166e-02 9.99128944e-01 -8.85664174e-04 8.26123052e+00] [ 5.94512856e-03 6.38172769e-04 9.99982124e-01 6.27627032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.08, Y:8.26, Z:6.28 [[ 9.99101000e-01 -4.18777863e-02 -6.59108050e-03 2.56077891e+02] [ 4.19097098e-02 9.99109957e-01 4.78216606e-03 8.25898584e+00] [ 6.38494763e-03 -5.05409717e-03 9.99966844e-01 6.27559005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.11, Y:8.26, Z:6.28 [[ 9.99107553e-01 -4.17126071e-02 -6.64500415e-03 2.56109213e+02] [ 4.17266154e-02 9.99127097e-01 1.98353882e-03 8.26034074e+00] [ 6.55646512e-03 -2.25904215e-03 9.99975954e-01 6.27671150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.14, Y:8.26, Z:6.28 [[ 9.99163094e-01 -4.04525997e-02 -6.05787602e-03 2.56141866e+02] [ 4.04603491e-02 9.99180469e-01 1.16212838e-03 8.26026111e+00] [ 6.00590028e-03 -1.40625957e-03 9.99980976e-01 6.27665269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.17, Y:8.26, Z:6.28 [[ 9.99179751e-01 -3.99171413e-02 -6.81517199e-03 2.56173218e+02] [ 3.99552053e-02 9.99186095e-01 5.54344612e-03 8.25878638e+00] [ 6.58834656e-03 -5.81120071e-03 9.99961411e-01 6.27654085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.21, Y:8.27, Z:6.28 [[ 9.99470836e-01 -3.25198942e-02 -7.10322097e-04 2.56209522e+02] [ 3.24973400e-02 9.99243879e-01 -2.13446427e-02 8.26775977e+00] [ 1.40391053e-03 2.13102643e-02 9.99771925e-01 6.27726667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.24, Y:8.26, Z:6.27 [[ 9.99513027e-01 -3.11967192e-02 -6.88472916e-04 2.56242624e+02] [ 3.11967346e-02 9.99513263e-01 1.16372717e-05 8.25814098e+00] [ 6.87774766e-04 -3.31097116e-05 9.99999763e-01 6.26899169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.28, Y:8.26, Z:6.27 [[ 9.99560958e-01 -2.95995457e-02 -1.32621009e-03 2.56275538e+02] [ 2.95996002e-02 9.99561836e-01 2.15010855e-05 8.25840682e+00] [ 1.32499257e-03 -6.07469342e-05 9.99999120e-01 6.26868315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.31, Y:8.26, Z:6.27 [[ 9.99630924e-01 -2.71031811e-02 -1.85302398e-03 2.56308642e+02] [ 2.71032828e-02 9.99632638e-01 2.97960554e-05 8.25944687e+00] [ 1.85153568e-03 -8.00080915e-05 9.99998283e-01 6.26818965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.34, Y:8.26, Z:6.27 [[ 9.99659609e-01 -2.60458361e-02 -1.51021866e-03 2.56341108e+02] [ 2.60459043e-02 9.99660748e-01 2.55225907e-05 8.25934112e+00] [ 1.50904156e-03 -6.48489139e-05 9.99998859e-01 6.26782244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.37, Y:8.26, Z:6.27 [[ 9.99679273e-01 -2.53027785e-02 -1.05815022e-03 2.56372698e+02] [ 2.53028113e-02 9.99679832e-01 1.75851721e-05 8.25910208e+00] [ 1.05736648e-03 -4.43537073e-05 9.99999440e-01 6.26741222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.41, Y:8.26, Z:6.27 [[ 9.99706074e-01 -2.42435298e-02 -1.27437613e-04 2.56405899e+02] [ 2.42435304e-02 9.99706082e-01 3.14823108e-06 8.25874424e+00] [ 1.27323832e-04 -6.23684337e-06 9.99999992e-01 6.26737135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.44, Y:8.26, Z:6.27 [[ 9.99702939e-01 -2.43512319e-02 1.02553914e-03 2.56439088e+02] [ 2.43512603e-02 9.99703464e-01 -1.51872950e-05 8.25815774e+00] [-1.02486520e-03 4.01559539e-05 9.99999474e-01 6.26685907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.47, Y:8.26, Z:6.27 [[ 9.99702581e-01 -2.43226978e-02 1.77632423e-03 2.56471492e+02] [ 2.43227850e-02 9.99704157e-01 -2.75103328e-05 8.25715022e+00] [-1.77512959e-03 7.07073031e-05 9.99998422e-01 6.26681798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.50, Y:8.26, Z:6.27 [[ 9.99685421e-01 -2.49906084e-02 2.12798939e-03 2.56504653e+02] [ 2.49907356e-02 9.99687682e-01 -3.31852703e-05 8.25620190e+00] [-2.12649546e-03 8.63548511e-05 9.99997735e-01 6.26635620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.54, Y:8.25, Z:6.26 [[ 9.99681024e-01 -2.51251665e-02 2.56433263e-03 2.56537855e+02] [ 2.51253529e-02 9.99684308e-01 -4.04931565e-05 8.25422085e+00] [-2.56250570e-03 1.04910002e-04 9.99996711e-01 6.26480534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.57, Y:8.25, Z:6.27 [[ 9.99717568e-01 -2.37270094e-02 1.34625093e-03 2.56568175e+02] [ 2.37312919e-02 9.99713059e-01 -3.25961363e-03 8.25429082e+00] [-1.26852375e-03 3.29064129e-03 9.99993781e-01 6.26553168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.60, Y:8.25, Z:6.26 [[ 9.99639577e-01 -2.68261915e-02 -1.03515338e-03 2.56600657e+02] [ 2.68406938e-02 9.99470724e-01 1.83806881e-02 8.24531530e+00] [ 5.41521636e-04 -1.84018475e-02 9.99830525e-01 6.26184702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.63, Y:8.26, Z:6.27 [[ 9.99717141e-01 -2.35231401e-02 3.50725940e-03 2.56633474e+02] [ 2.35814691e-02 9.99566317e-01 -1.76378048e-02 8.25843370e+00] [-3.09084181e-03 1.77155221e-02 9.99838290e-01 6.26616802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.67, Y:8.24, Z:6.26 [[ 9.99695756e-01 -2.40662097e-02 5.40490253e-03 2.56666140e+02] [ 2.40197554e-02 9.99675337e-01 8.50130625e-03 8.24421167e+00] [-5.60774198e-03 -8.36889534e-03 9.99949256e-01 6.25539570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.69, Y:8.24, Z:6.26 [[ 9.99672708e-01 -2.51295450e-02 -4.79394642e-03 2.56689567e+02] [ 2.52319734e-02 9.99424799e-01 2.26587347e-02 8.24043105e+00] [ 4.22178525e-03 -2.27722794e-02 9.99731764e-01 6.26114100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.15509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.73, Y:8.26, Z:6.26 [[ 9.99785275e-01 -1.99665514e-02 5.54437557e-03 2.56727708e+02] [ 2.01526458e-02 9.99154757e-01 -3.58279683e-02 8.26011524e+00] [-4.82432825e-03 3.59320090e-02 9.99342592e-01 6.26410456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.75, Y:8.23, Z:6.25 [[ 9.99671222e-01 -2.55639761e-02 -1.98247396e-03 2.56753761e+02] [ 2.56203980e-02 9.98966885e-01 3.75334258e-02 8.22997286e+00] [ 1.02092224e-03 -3.75718774e-02 9.99293406e-01 6.25202633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.21509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.79, Y:8.26, Z:6.26 [[ 9.99799001e-01 -1.91996789e-02 5.77313465e-03 2.56791856e+02] [ 1.94044333e-02 9.99097140e-01 -3.77938149e-02 8.25955685e+00] [-5.04229321e-03 3.78982428e-02 9.99268882e-01 6.26290078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.82, Y:8.24, Z:6.25 [[ 9.99795779e-01 -1.90711251e-02 6.68526398e-03 2.56824184e+02] [ 1.90724671e-02 9.99818095e-01 -1.37036494e-04 8.24075560e+00] [-6.68143445e-03 2.64512985e-04 9.99977644e-01 6.24881764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.86, Y:8.24, Z:6.25 [[ 9.99815890e-01 -1.73735896e-02 8.14524050e-03 2.56856900e+02] [ 1.73755359e-02 9.99849020e-01 -1.68238162e-04 8.24113655e+00] [-8.14108783e-03 3.09735107e-04 9.99966813e-01 6.24829123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.89, Y:8.24, Z:6.25 [[ 9.99824982e-01 -1.65284604e-02 8.76441586e-03 2.56889061e+02] [ 1.65306923e-02 9.99863342e-01 -1.82275332e-04 8.24091293e+00] [-8.76020541e-03 3.27125292e-04 9.99961575e-01 6.24817100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.92, Y:8.24, Z:6.25 [[ 9.99835523e-01 -1.52761261e-02 9.77587070e-03 2.56922036e+02] [ 1.52788522e-02 9.99883251e-01 -2.04234613e-04 8.24015084e+00] [-9.77160946e-03 3.53565104e-04 9.99952194e-01 6.24756215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.96, Y:8.24, Z:6.25 [[ 9.99838054e-01 -1.44807327e-02 1.06851888e-02 2.56955438e+02] [ 1.44839584e-02 9.99895077e-01 -2.24554937e-04 8.23937962e+00] [-1.06808159e-02 3.79282400e-04 9.99942887e-01 6.24697783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.99, Y:8.24, Z:6.25 [[ 9.99840901e-01 -1.42828404e-02 1.06851766e-02 2.56989004e+02] [ 1.42860609e-02 9.99897924e-01 -2.25134959e-04 8.23859270e+00] [-1.06808703e-02 3.77748224e-04 9.99942887e-01 6.24640452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.02, Y:8.24, Z:6.25 [[ 9.99840328e-01 -1.34106067e-02 1.18098950e-02 2.57022334e+02] [ 1.34145176e-02 9.99909990e-01 -2.52001803e-04 8.23767817e+00] [-1.18054524e-02 4.10385609e-04 9.99930229e-01 6.24584587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.06, Y:8.24, Z:6.25 [[ 9.99833647e-01 -1.28225590e-02 1.29715264e-02 2.57055554e+02] [ 1.28272483e-02 9.99917689e-01 -2.78371609e-04 8.23666404e+00] [-1.29668892e-02 4.44714291e-04 9.99915827e-01 6.24548401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.09, Y:8.24, Z:6.25 [[ 9.99823153e-01 -1.24774917e-02 1.40703853e-02 2.57088022e+02] [ 1.24829921e-02 9.99922038e-01 -3.03157649e-04 8.23550230e+00] [-1.40655057e-02 4.78744544e-04 9.99900961e-01 6.24537649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.11, Y:8.22, Z:6.25 [[ 9.99812933e-01 -1.91978386e-02 2.35394653e-03 2.57113066e+02] [ 1.90694958e-02 9.98762083e-01 4.59418767e-02 8.21911381e+00] [-3.23301727e-03 -4.58883939e-02 9.98941341e-01 6.24646718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.15, Y:8.25, Z:6.26 [[ 9.99850615e-01 -1.38201790e-02 1.03802748e-02 2.57151776e+02] [ 1.42880141e-02 9.98819065e-01 -4.64362853e-02 8.25400636e+00] [-9.72625854e-03 4.65776619e-02 9.98867319e-01 6.25836976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.18, Y:8.23, Z:6.24 [[ 9.99815836e-01 -1.57069804e-02 1.10265473e-02 2.57182754e+02] [ 1.57106156e-02 9.99876551e-01 -2.43128467e-04 8.23026354e+00] [-1.10213673e-02 4.16317538e-04 9.99939176e-01 6.24085298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.21, Y:8.23, Z:6.24 [[ 9.99803045e-01 -1.67876142e-02 1.05852829e-02 2.57214676e+02] [ 1.67910370e-02 9.99858993e-01 -2.34558115e-04 8.22887302e+00] [-1.05798526e-02 4.12249795e-04 9.99943947e-01 6.23988972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.25, Y:8.23, Z:6.24 [[ 9.99778054e-01 -1.91388985e-02 8.80600310e-03 2.57248009e+02] [ 1.91413841e-02 9.99816767e-01 -1.98051589e-04 8.22631610e+00] [-8.80059906e-03 3.66566720e-04 9.99961207e-01 6.23847678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.28, Y:8.22, Z:6.24 [[ 9.99751976e-01 -2.21162654e-02 2.61873445e-03 2.57279911e+02] [ 2.20626511e-02 9.99576319e-01 1.89847863e-02 8.21774381e+00] [-3.03749752e-03 -1.89223014e-02 9.99816343e-01 6.23935683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.31, Y:8.23, Z:6.24 [[ 9.99763278e-01 -2.08152980e-02 6.33338787e-03 2.57312400e+02] [ 2.09346045e-02 9.99592729e-01 -1.93937658e-02 8.23333108e+00] [-5.92712145e-03 1.95217618e-02 9.99791863e-01 6.24369553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.34, Y:8.22, Z:6.24 [[ 9.99712638e-01 -2.39530750e-02 9.44458870e-04 2.57343412e+02] [ 2.39300653e-02 9.99522687e-01 1.95384253e-02 8.21531207e+00] [-1.41201344e-03 -1.95102098e-02 9.99808661e-01 6.23746179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.38, Y:8.23, Z:6.24 [[ 9.99750169e-01 -2.15419275e-02 5.96202096e-03 2.57375168e+02] [ 2.16575055e-02 9.99564334e-01 -2.00523190e-02 8.23199290e+00] [-5.52745790e-03 2.01764318e-02 9.99781155e-01 6.24226484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.41, Y:8.22, Z:6.24 [[ 9.99741118e-01 -2.17348606e-02 6.73005674e-03 2.57406395e+02] [ 2.17364003e-02 9.99763724e-01 -1.55719223e-04 8.22180064e+00] [-6.72508206e-03 3.01966117e-04 9.99977341e-01 6.23538447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.44, Y:8.21, Z:6.24 [[ 9.99739279e-01 -2.26505013e-02 2.88599460e-03 2.57437567e+02] [ 2.25963827e-02 9.99590146e-01 1.75768000e-02 8.21436570e+00] [-3.28293509e-03 -1.75070043e-02 9.99841351e-01 6.23607608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.47, Y:8.22, Z:6.24 [[ 9.99787493e-01 -1.97727029e-02 5.83167471e-03 2.57471086e+02] [ 1.97886069e-02 9.99800589e-01 -2.68219187e-03 8.22394932e+00] [-5.77747763e-03 2.79702260e-03 9.99979398e-01 6.24149314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.50, Y:8.22, Z:6.24 [[ 9.99794181e-01 -1.98496190e-02 4.19391076e-03 2.57500201e+02] [ 1.97865881e-02 9.99698042e-01 1.45710270e-02 8.21683405e+00] [-4.48187371e-03 -1.44850448e-02 9.99885042e-01 6.23970604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.53, Y:8.23, Z:6.25 [[ 9.99848754e-01 -1.61779262e-02 6.38312052e-03 2.57532999e+02] [ 1.62160682e-02 9.99850690e-01 -5.96963525e-03 8.22680302e+00] [-6.28559114e-03 6.07224149e-03 9.99961809e-01 6.24505089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.93509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.57, Y:8.23, Z:6.24 [[ 9.99846110e-01 -1.37065396e-02 1.09493402e-02 2.57566097e+02] [ 1.38350260e-02 9.99835294e-01 -1.17463591e-02 8.22784162e+00] [-1.07865349e-02 1.18960359e-02 9.99871059e-01 6.24233552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.60, Y:8.23, Z:6.24 [[ 9.99817408e-01 -1.13768377e-02 1.53531334e-02 2.57598412e+02] [ 1.15806237e-02 9.99845148e-01 -1.32502665e-02 8.22655210e+00] [-1.52000098e-02 1.34256459e-02 9.99794335e-01 6.23646918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.63, Y:8.22, Z:6.23 [[ 9.99814685e-01 -1.13251727e-02 1.55671248e-02 2.57631454e+02] [ 1.13324781e-02 9.99935713e-01 -3.81146825e-04 8.21932735e+00] [-1.55618075e-02 5.57490295e-04 9.99878752e-01 6.23128559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.66, Y:8.22, Z:6.23 [[ 9.99819430e-01 -1.20143776e-02 1.47228212e-02 2.57663677e+02] [ 1.20209963e-02 9.99927680e-01 -3.61134551e-04 8.21824046e+00] [-1.47174177e-02 5.38052320e-04 9.99891548e-01 6.22986586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.05509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.69, Y:8.21, Z:6.23 [[ 9.99838133e-01 -1.66210929e-02 6.88822389e-03 2.57691836e+02] [ 1.64199859e-02 9.99464876e-01 2.82903854e-02 8.20732130e+00] [-7.35475496e-03 -2.81727016e-02 9.99576013e-01 6.22987890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.73, Y:8.22, Z:6.24 [[ 9.99844844e-01 -1.66825366e-02 5.65510837e-03 2.57725466e+02] [ 1.66808502e-02 9.99860805e-01 3.45245676e-04 8.21945456e+00] [-5.66008078e-03 -2.50860094e-04 9.99983950e-01 6.23819992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.11509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.76, Y:8.22, Z:6.24 [[ 9.99801564e-01 -1.91653099e-02 5.43356299e-03 2.57756522e+02] [ 1.91928065e-02 9.99803025e-01 -5.05435629e-03 8.21984569e+00] [-5.33562441e-03 5.15763865e-03 9.99972465e-01 6.23729921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.79, Y:8.22, Z:6.23 [[ 9.99777073e-01 -2.02888592e-02 5.84519294e-03 2.57787956e+02] [ 2.02855502e-02 9.99794032e-01 6.24838369e-04 8.21613418e+00] [-5.85666627e-03 -5.06126121e-04 9.99982721e-01 6.23434465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.17509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.82, Y:8.22, Z:6.23 [[ 9.99753614e-01 -2.15038705e-02 5.50398758e-03 2.57819866e+02] [ 2.15029155e-02 9.99768759e-01 2.32621647e-04 8.21547492e+00] [-5.50771710e-03 -1.14212552e-04 9.99984826e-01 6.23399744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.86, Y:8.22, Z:6.23 [[ 9.99763381e-01 -1.77246931e-02 1.26101992e-02 2.57855290e+02] [ 1.80504107e-02 9.99493673e-01 -2.62026756e-02 8.22322494e+00] [-1.21393799e-02 2.64240948e-02 9.99577112e-01 6.23230151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.23509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.89, Y:8.21, Z:6.22 [[ 9.99750330e-01 -1.80494218e-02 1.31718254e-02 2.57887395e+02] [ 1.80556112e-02 9.99836923e-01 -3.51123844e-04 8.20998462e+00] [-1.31633398e-02 5.88861537e-04 9.99913186e-01 6.22303099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.92, Y:8.21, Z:6.22 [[ 9.99776815e-01 -1.60211077e-02 1.37711201e-02 2.57920929e+02] [ 1.60277029e-02 9.99871480e-01 -3.68675511e-04 8.20978092e+00] [-1.37634436e-02 5.89312650e-04 9.99905106e-01 6.22309462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.29509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.95, Y:8.21, Z:6.22 [[ 9.99775214e-01 -1.51597413e-02 1.48224113e-02 2.57953232e+02] [ 1.51672979e-02 9.99884891e-01 -3.97518948e-04 8.20949037e+00] [-1.48146789e-02 6.22245520e-04 9.99890063e-01 6.22213659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.99, Y:8.21, Z:6.22 [[ 9.99794614e-01 -1.24721372e-02 1.59742457e-02 2.57985410e+02] [ 1.24806514e-02 9.99922020e-01 -4.33407571e-04 8.20932677e+00] [-1.59675946e-02 6.32687547e-04 9.99872310e-01 6.22217061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.02, Y:8.21, Z:6.22 [[ 9.99798711e-01 -1.10255318e-02 1.67623101e-02 2.58018555e+02] [ 1.10347959e-02 9.99939009e-01 -4.60282328e-04 8.20888418e+00] [-1.67562129e-02 6.45158349e-04 9.99859397e-01 6.22194339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.05, Y:8.21, Z:6.22 [[ 9.99842476e-01 -8.26419634e-03 1.57074928e-02 2.58050224e+02] [ 8.25594779e-03 9.99965745e-01 5.89907430e-04 8.20939151e+00] [-1.57118299e-02 -4.60134265e-04 9.99876456e-01 6.22357881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.08, Y:8.21, Z:6.22 [[ 9.99834817e-01 -6.67893463e-03 1.69035382e-02 2.58083768e+02] [ 6.70462783e-03 9.99976452e-01 -1.46377592e-03 8.20879957e+00] [-1.68933637e-02 1.57686606e-03 9.99856054e-01 6.22173125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.12, Y:8.21, Z:6.22 [[ 9.99842931e-01 -5.23241549e-03 1.69332831e-02 2.58117178e+02] [ 5.24118704e-03 9.99986153e-01 -4.73668995e-04 8.20776471e+00] [-1.69305702e-02 5.62345100e-04 9.99856509e-01 6.22038052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.15, Y:8.21, Z:6.22 [[ 9.99891653e-01 -5.82233710e-03 1.35197303e-02 2.58148169e+02] [ 5.81310915e-03 9.99982843e-01 7.21752517e-04 8.20783527e+00] [-1.35237006e-02 -6.43082649e-04 9.99908344e-01 6.22130264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.18, Y:8.21, Z:6.22 [[ 9.99893134e-01 -5.58082638e-03 1.35120255e-02 2.58181740e+02] [ 5.58575045e-03 9.99984346e-01 -3.26709591e-04 8.20729313e+00] [-1.35099907e-02 4.02149480e-04 9.99908655e-01 6.22092393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.21, Y:8.21, Z:6.22 [[ 9.99873216e-01 -4.83245639e-03 1.51723099e-02 2.58214554e+02] [ 4.85569445e-03 9.99987093e-01 -1.49514514e-03 8.20522934e+00] [-1.51648889e-02 1.56862768e-03 9.99883776e-01 6.21836802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.25, Y:8.20, Z:6.22 [[ 9.99873235e-01 -4.73181164e-03 1.52027540e-02 2.58248057e+02] [ 4.73898663e-03 9.99988676e-01 -4.35962398e-04 8.20365966e+00] [-1.52005190e-02 5.07952781e-04 9.99884336e-01 6.21726341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.28, Y:8.20, Z:6.22 [[ 9.99907617e-01 -8.03633854e-03 1.09624035e-02 2.58277923e+02] [ 7.97843365e-03 9.99954043e-01 5.31567982e-03 8.20224106e+00] [-1.10046183e-02 -5.22772594e-03 9.99925782e-01 6.21856225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.31, Y:8.21, Z:6.22 [[ 9.99890946e-01 -7.01985461e-03 1.29930114e-02 2.58311521e+02] [ 7.12953790e-03 9.99939179e-01 -8.41473382e-03 8.20633821e+00] [-1.29331510e-02 8.50645032e-03 9.99880180e-01 6.21960614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.65509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.34, Y:8.20, Z:6.22 [[ 9.99870331e-01 -7.66369760e-03 1.41629677e-02 2.58344294e+02] [ 7.63546770e-03 9.99968756e-01 2.04621974e-03 8.19924220e+00] [-1.41782068e-02 -1.93781352e-03 9.99897606e-01 6.21512314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.38, Y:8.20, Z:6.22 [[ 9.99866258e-01 -8.96527381e-03 1.36780981e-02 2.58377393e+02] [ 8.97155643e-03 9.99959676e-01 -3.98027830e-04 8.19974406e+00] [-1.36739781e-02 5.20688425e-04 9.99906371e-01 6.21598962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.71509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.41, Y:8.20, Z:6.22 [[ 9.99861563e-01 -9.62523935e-03 1.35724177e-02 2.58409554e+02] [ 9.63154111e-03 9.99953536e-01 -3.99016603e-04 8.19923698e+00] [-1.35679465e-02 5.29684664e-04 9.99907811e-01 6.21595932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.44, Y:8.20, Z:6.22 [[ 9.99846865e-01 -1.03314093e-02 1.41247843e-02 2.58442729e+02] [ 1.03383804e-02 9.99946469e-01 -4.20607745e-04 8.19856840e+00] [-1.41196827e-02 5.66570728e-04 9.99900152e-01 6.21545460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.77509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.48, Y:8.20, Z:6.22 [[ 9.99839897e-01 -1.11515087e-02 1.39937148e-02 2.58475603e+02] [ 1.11584511e-02 9.99937655e-01 -4.18127335e-04 8.19776989e+00] [-1.39881796e-02 5.74208575e-04 9.99901996e-01 6.21530110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.51, Y:8.20, Z:6.22 [[ 9.99830315e-01 -1.21455935e-02 1.38500835e-02 2.58509058e+02] [ 1.21525098e-02 9.99926069e-01 -4.15313348e-04 8.19688391e+00] [-1.38440154e-02 5.83556151e-04 9.99903997e-01 6.21502562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.83509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.54, Y:8.20, Z:6.21 [[ 9.99798147e-01 -1.49928371e-02 1.33745745e-02 2.58541976e+02] [ 1.49995379e-02 9.99887420e-01 -4.00831944e-04 8.19608537e+00] [-1.33670592e-02 6.01363472e-04 9.99910476e-01 6.21490673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.57, Y:8.20, Z:6.21 [[ 9.99779353e-01 -1.67438871e-02 1.26841796e-02 2.58574115e+02] [ 1.67500994e-02 9.99859634e-01 -3.83677685e-04 8.19518269e+00] [-1.26759749e-02 5.96054296e-04 9.99919479e-01 6.21489933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.89509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.61, Y:8.19, Z:6.21 [[ 9.99750543e-01 -1.90322949e-02 1.16886239e-02 2.58607371e+02] [ 1.90377773e-02 9.99818701e-01 -3.57938473e-04 8.19375098e+00] [-1.16796924e-02 5.80374601e-04 9.99931622e-01 6.21427463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.64, Y:8.19, Z:6.21 [[ 9.99754564e-01 -1.92757965e-02 1.09204442e-02 2.58639953e+02] [ 1.92806073e-02 9.99814056e-01 -3.35413899e-04 8.19232043e+00] [-1.09119482e-02 5.45884373e-04 9.99940314e-01 6.21391433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.95509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.67, Y:8.19, Z:6.21 [[ 9.99752134e-01 -1.93518797e-02 1.10079851e-02 2.58672576e+02] [ 1.93567861e-02 9.99812582e-01 -3.39330507e-04 8.19089746e+00] [-1.09993553e-02 5.52325612e-04 9.99939353e-01 6.21343590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.71, Y:8.19, Z:6.21 [[ 9.99766377e-01 -1.89414078e-02 1.04122378e-02 2.58705188e+02] [ 1.89457859e-02 9.99820461e-01 -3.21995762e-04 8.18978119e+00] [-1.04042694e-02 5.19188564e-04 9.99945739e-01 6.21334571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.01509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.74, Y:8.19, Z:6.21 [[ 9.99774483e-01 -1.83290842e-02 1.07250849e-02 2.58738691e+02] [ 1.83337077e-02 9.99831868e-01 -3.32920432e-04 8.18865565e+00] [-1.07171796e-02 5.29475925e-04 9.99942429e-01 6.21304743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.77, Y:8.19, Z:6.21 [[ 9.99775154e-01 -1.78462184e-02 1.14522333e-02 2.58771045e+02] [ 1.78514553e-02 9.99840587e-01 -3.55211554e-04 8.18805349e+00] [-1.14440684e-02 5.59570716e-04 9.99934358e-01 6.21364328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.80, Y:8.19, Z:6.21 [[ 9.99794299e-01 -1.69757416e-02 1.10988138e-02 2.58803719e+02] [ 1.69806572e-02 9.99855757e-01 -3.48800534e-04 8.18700974e+00] [-1.10912917e-02 5.37193939e-04 9.99938345e-01 6.21317193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.84, Y:8.19, Z:6.21 [[ 9.99807228e-01 -1.62817463e-02 1.09732185e-02 2.58837089e+02] [ 1.62865223e-02 9.99867306e-01 -3.46019700e-04 8.18603623e+00] [-1.09661286e-02 5.24668565e-04 9.99939733e-01 6.21217973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.87, Y:8.19, Z:6.21 [[ 9.99825754e-01 -1.52684282e-02 1.07394610e-02 2.58869762e+02] [ 1.52729564e-02 9.99883304e-01 -3.39743473e-04 8.18507828e+00] [-1.07330204e-02 5.03707593e-04 9.99942273e-01 6.21156456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.90, Y:8.18, Z:6.21 [[ 9.99830302e-01 -1.51387023e-02 1.04970379e-02 2.58901864e+02] [ 1.51430348e-02 9.99885282e-01 -3.33370131e-04 8.18400232e+00] [-1.04907869e-02 4.92270568e-04 9.99944849e-01 6.21075781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.93, Y:8.18, Z:6.21 [[ 9.99835523e-01 -1.48168825e-02 1.04588233e-02 2.58934652e+02] [ 1.48211734e-02 9.99890105e-01 -3.32879198e-04 8.18290291e+00] [-1.04527417e-02 4.87836480e-04 9.99945250e-01 6.21014724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.97, Y:8.18, Z:6.21 [[ 9.99842892e-01 -1.48590109e-02 9.66446563e-03 2.58967923e+02] [ 1.48626851e-02 9.99889497e-01 -3.08464593e-04 8.18186471e+00] [-9.65881420e-03 4.52056040e-04 9.99953250e-01 6.21007050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.00, Y:8.18, Z:6.21 [[ 9.99850736e-01 -1.49512331e-02 8.65830286e-03 2.58999651e+02] [ 1.49541936e-02 9.99888141e-01 -2.77280372e-04 8.18068671e+00] [-8.65318867e-03 4.06716921e-04 9.99962478e-01 6.20927571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.03, Y:8.18, Z:6.21 [[ 9.99852548e-01 -1.48295670e-02 8.65829246e-03 2.59033172e+02] [ 1.48325257e-02 9.99889954e-01 -2.77606128e-04 8.17951551e+00] [-8.65322286e-03 4.05989540e-04 9.99962478e-01 6.20853828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.07, Y:8.18, Z:6.21 [[ 9.99857009e-01 -1.49949108e-02 7.81752863e-03 2.59065961e+02] [ 1.49973348e-02 9.99887502e-01 -2.51538045e-04 8.17828530e+00] [-7.81287739e-03 3.68744171e-04 9.99969411e-01 6.20777791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.10, Y:8.18, Z:6.21 [[ 9.99861990e-01 -1.49687569e-02 7.20674690e-03 2.59098632e+02] [ 1.49708204e-02 9.99887904e-01 -2.32469357e-04 8.17759228e+00] [-7.20245928e-03 3.40328188e-04 9.99974004e-01 6.20764979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.13, Y:8.18, Z:6.21 [[ 9.99865355e-01 -1.47894284e-02 7.10943435e-03 2.59131911e+02] [ 1.47914372e-02 9.99890574e-01 -2.30046929e-04 8.17703775e+00] [-7.10525413e-03 3.35174706e-04 9.99974701e-01 6.20745937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.16, Y:8.18, Z:6.21 [[ 9.99869155e-01 -1.44432944e-02 7.28447466e-03 2.59163825e+02] [ 1.44453927e-02 9.99895632e-01 -2.35520521e-04 8.17646052e+00] [-7.28031270e-03 3.40716802e-04 9.99973440e-01 6.20715188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.43509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.20, Y:8.18, Z:6.21 [[ 9.99874468e-01 -1.38406385e-02 7.71266767e-03 2.59196474e+02] [ 1.38429935e-02 9.99904149e-01 -2.52034270e-04 8.17558004e+00] [-7.70844009e-03 3.58769040e-04 9.99970225e-01 6.20654371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.23, Y:8.18, Z:6.21 [[ 9.99888837e-01 -1.21829911e-02 8.59578881e-03 2.59229461e+02] [ 1.21858656e-02 9.99925710e-01 -2.82111932e-04 8.17570390e+00] [-8.59171326e-03 3.86827699e-04 9.99963016e-01 6.20649983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.49509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.26, Y:8.18, Z:6.21 [[ 9.99896361e-01 -1.12038839e-02 9.04104875e-03 2.59262090e+02] [ 1.12070339e-02 9.99937155e-01 -2.97818061e-04 8.17527173e+00] [-9.03714385e-03 3.99110535e-04 9.99959085e-01 6.20616297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.29, Y:8.17, Z:6.21 [[ 9.99906017e-01 -9.73915936e-03 9.64910841e-03 2.59294006e+02] [ 9.74269327e-03 9.99952488e-01 -3.19303137e-04 8.17468394e+00] [-9.64554021e-03 4.13281431e-04 9.99953395e-01 6.20580115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.55509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.33, Y:8.17, Z:6.21 [[ 9.99917003e-01 -7.93769549e-03 1.01479171e-02 2.59326039e+02] [ 7.94152224e-03 9.99968409e-01 -3.36855551e-04 8.17418404e+00] [-1.01449226e-02 4.17417502e-04 9.99948452e-01 6.20530244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.58509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.36, Y:8.17, Z:6.20 [[ 9.99935847e-01 -4.20218640e-03 1.05187106e-02 2.59359361e+02] [ 4.20609962e-03 9.99991093e-01 -3.49930312e-04 8.17381846e+00] [-1.05171464e-02 3.94150608e-04 9.99944616e-01 6.20474051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.61509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.39, Y:8.17, Z:6.20 [[ 9.99940210e-01 -2.18863863e-03 1.07138272e-02 2.59391410e+02] [ 2.19259837e-03 9.99997532e-01 -3.57859465e-04 8.17296959e+00] [-1.07130175e-02 3.81329189e-04 9.99942541e-01 6.20414714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.42, Y:8.17, Z:6.20 [[ 9.99938917e-01 -4.34531090e-05 1.10526008e-02 2.59424002e+02] [ 4.75461037e-05 9.99999930e-01 -3.70057111e-04 8.17206064e+00] [-1.10525839e-02 3.70560015e-04 9.99938850e-01 6.20344060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.67509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.46, Y:8.17, Z:6.20 [[ 9.99937442e-01 1.97664210e-03 1.10093087e-02 2.59456610e+02] [-1.97269037e-03 9.99997986e-01 -3.69791979e-04 8.17146851e+00] [-1.10100175e-02 3.48050888e-04 9.99939327e-01 6.20297906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.70509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.49, Y:8.17, Z:6.20 [[ 9.99927206e-01 5.53482714e-03 1.07214168e-02 2.59488466e+02] [-5.53126764e-03 9.99984637e-01 -3.61623666e-04 8.17167933e+00] [-1.07232536e-02 3.02294316e-04 9.99942459e-01 6.20279362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.73509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.52, Y:8.17, Z:6.20 [[ 9.99920508e-01 7.36108529e-03 1.02368059e-02 2.59520654e+02] [-7.35793124e-03 9.99972870e-01 -3.45737044e-04 8.17102226e+00] [-1.02390731e-02 2.70387847e-04 9.99947543e-01 6.20268561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.76509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.55, Y:8.17, Z:6.20 [[ 9.99890259e-01 1.06332625e-02 1.03152630e-02 2.59552544e+02] [-1.06302220e-02 9.99943437e-01 -3.49546348e-04 8.17008949e+00] [-1.03183963e-02 2.39854453e-04 9.99946735e-01 6.20249134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.79509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.58, Y:8.17, Z:6.20 [[ 9.99871337e-01 1.23461176e-02 1.02412337e-02 2.59583535e+02] [-1.23431988e-02 9.99923759e-01 -3.48169847e-04 8.16885957e+00] [-1.02447514e-02 2.21715467e-04 9.99947497e-01 6.20184132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.61, Y:8.17, Z:6.20 [[ 9.99851276e-01 1.40474843e-02 1.00047167e-02 2.59613732e+02] [-1.40447762e-02 9.99901309e-01 -3.40893589e-04 8.16768370e+00] [-1.00085180e-02 2.00328883e-04 9.99949893e-01 6.20138250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.64, Y:8.17, Z:6.20 [[ 9.99794123e-01 1.76786078e-02 9.95888429e-03 2.59644273e+02] [-1.76761045e-02 9.99843708e-01 -3.39331929e-04 8.16671977e+00] [-9.96332671e-03 1.63227788e-04 9.99950352e-01 6.20107456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.67, Y:8.17, Z:6.20 [[ 9.99761105e-01 1.94227322e-02 1.00245203e-02 2.59672432e+02] [-1.94202771e-02 9.99811350e-01 -3.42199954e-04 8.16622832e+00] [-1.00292756e-02 1.47439242e-04 9.99949695e-01 6.20062577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.70, Y:8.17, Z:6.20 [[ 9.99735875e-01 2.07610128e-02 9.85696084e-03 2.59700972e+02] [-2.07587068e-02 9.99784458e-01 -3.36211963e-04 8.16590544e+00] [-9.86181636e-03 1.31505401e-04 9.99951362e-01 6.20052181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.73, Y:8.17, Z:6.20 [[ 9.99691647e-01 2.29784890e-02 9.41274404e-03 2.59729182e+02] [-2.29764881e-02 9.99735954e-01 -3.20671456e-04 8.16558184e+00] [-9.41762719e-03 1.04300775e-04 9.99955648e-01 6.20026686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.76, Y:8.16, Z:6.20 [[ 9.99677406e-01 2.36228595e-02 9.32976627e-03 2.59758243e+02] [-2.36209316e-02 9.99720937e-01 -3.16785873e-04 8.16482502e+00] [-9.33464607e-03 9.63059084e-05 9.99956427e-01 6.20005010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.79, Y:8.16, Z:6.20 [[ 9.99668306e-01 2.39355638e-02 9.50618835e-03 2.59787073e+02] [-2.39335831e-02 9.99713499e-01 -3.22077706e-04 8.16379957e+00] [-9.51117393e-03 9.44537252e-05 9.99954763e-01 6.19959790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.81, Y:8.16, Z:6.20 [[ 9.99656014e-01 2.40936941e-02 1.03608681e-02 2.59814901e+02] [-2.40913567e-02 9.99709700e-01 -3.50367214e-04 8.16238752e+00] [-1.03663020e-02 1.00639323e-04 9.99946263e-01 6.19896417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.84, Y:8.16, Z:6.20 [[ 9.99677477e-01 2.27439486e-02 1.12984232e-02 2.59842386e+02] [-2.27410959e-02 9.99741315e-01 -3.80911078e-04 8.16044951e+00] [-1.13041639e-02 1.23849700e-04 9.99936098e-01 6.19868853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.87, Y:8.16, Z:6.20 [[ 9.99701996e-01 2.14157224e-02 1.17168743e-02 2.59871008e+02] [-2.14125778e-02 9.99770647e-01 -3.93784795e-04 8.15867483e+00] [-1.17226202e-02 1.42778963e-04 9.99931278e-01 6.19800245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.90, Y:8.16, Z:6.20 [[ 9.99736831e-01 1.95595862e-02 1.19871012e-02 2.59900024e+02] [-1.95561718e-02 9.99808679e-01 -4.01999341e-04 8.15669919e+00] [-1.19926707e-02 1.67471738e-04 9.99928071e-01 6.19712685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.15509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.93, Y:8.15, Z:6.20 [[ 9.99808290e-01 1.50216008e-02 1.25592756e-02 2.59928505e+02] [-1.50175093e-02 9.99887143e-01 -4.20026579e-04 8.15335546e+00] [-1.25641677e-02 2.31337017e-04 9.99921041e-01 6.19566656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.96, Y:8.15, Z:6.19 [[ 9.99840137e-01 1.23545915e-02 1.29253437e-02 2.59960095e+02] [-1.23500552e-02 9.99923642e-01 -4.30718454e-04 8.15074367e+00] [-1.29296781e-02 2.71020890e-04 9.99916371e-01 6.19461306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.21509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.99, Y:8.15, Z:6.19 [[ 9.99865656e-01 9.73579843e-03 1.31865206e-02 2.59991869e+02] [-9.73086788e-03 9.99952558e-01 -4.38019444e-04 8.14795988e+00] [-1.31901595e-02 3.09644309e-04 9.99912958e-01 6.19365339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.02, Y:8.14, Z:6.19 [[ 9.99898552e-01 3.91483200e-03 1.36952455e-02 2.60023940e+02] [-3.90890970e-03 9.99992255e-01 -4.59175805e-04 8.14275320e+00] [-1.36969370e-02 4.05595745e-04 9.99906110e-01 6.19216790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.27509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.06, Y:8.14, Z:6.19 [[ 9.99901393e-01 1.03676838e-03 1.40046032e-02 2.60057432e+02] [-1.03026901e-03 9.99999358e-01 -4.71294498e-04 8.13990439e+00] [-1.40050828e-02 4.56819517e-04 9.99901820e-01 6.19124447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.30509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.09, Y:8.14, Z:6.19 [[ 9.99891969e-01 -1.77314914e-03 1.45913312e-02 2.60090826e+02] [ 1.78056785e-03 9.99998292e-01 -4.95457218e-04 8.13703339e+00] [-1.45904278e-02 5.21384548e-04 9.99893418e-01 6.19048355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.33509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.12, Y:8.13, Z:6.19 [[ 9.99873093e-01 -4.60793793e-03 1.52500797e-02 2.60124134e+02] [ 4.61644100e-03 9.99989208e-01 -5.22420122e-04 8.13421038e+00] [-1.52475079e-02 5.92754917e-04 9.99883574e-01 6.18978471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.36509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.16, Y:8.13, Z:6.19 [[ 9.99827602e-01 -1.01507374e-02 1.55476005e-02 2.60157006e+02] [ 1.01603147e-02 9.99948238e-01 -5.37133078e-04 8.13004346e+00] [-1.55413434e-02 6.95008992e-04 9.99878984e-01 6.18890842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.39509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.19, Y:8.13, Z:6.19 [[ 9.99805395e-01 -1.24393737e-02 1.53112513e-02 2.60189494e+02] [ 1.24489985e-02 9.99922366e-01 -5.33455660e-04 8.12735606e+00] [-1.53034267e-02 7.23961591e-04 9.99882634e-01 6.18792905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.22, Y:8.12, Z:6.19 [[ 9.99761259e-01 -1.65032853e-02 1.43201138e-02 2.60222283e+02] [ 1.65121678e-02 9.99863539e-01 -5.02266325e-04 8.12297596e+00] [-1.43098706e-02 7.38602536e-04 9.99897336e-01 6.18644125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.45509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.25, Y:8.12, Z:6.19 [[ 9.99739844e-01 -1.80839342e-02 1.39002318e-02 2.60254359e+02] [ 1.80925113e-02 9.99836196e-01 -4.91533312e-04 8.12023579e+00] [-1.38890660e-02 7.42895538e-04 9.99903266e-01 6.18534137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.48509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.29, Y:8.12, Z:6.18 [[ 9.99716098e-01 -1.93463490e-02 1.39083518e-02 2.60287001e+02] [ 1.93551084e-02 9.99812550e-01 -4.95453553e-04 8.11799362e+00] [-1.38961595e-02 7.64510551e-04 9.99903151e-01 6.18455088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.51509989299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.32, Y:8.12, Z:6.18 [[ 9.99690791e-01 -2.09185030e-02 1.34439093e-02 2.60320410e+02] [ 2.09268769e-02 9.99780893e-01 -4.82482945e-04 8.11537371e+00] [-1.34308708e-02 7.63672791e-04 9.99909510e-01 6.18410884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54509989299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:8.11, Z:6.18 [[ 9.99691420e-01 -2.11044912e-02 1.31021268e-02 2.60352406e+02] [ 2.11125104e-02 9.99776994e-01 -4.74022265e-04 8.11383987e+00] [-1.30892010e-02 7.50494779e-04 9.99914051e-01 6.18372829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.39, Y:8.11, Z:6.18 [[ 9.99689834e-01 -2.11762222e-02 1.31073454e-02 2.60385506e+02] [ 2.11843187e-02 9.99775472e-01 -4.79161535e-04 8.11229035e+00] [-1.30942556e-02 7.56683097e-04 9.99913980e-01 6.18336950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.42, Y:8.11, Z:6.18 [[ 9.99704225e-01 -2.04886596e-02 1.31025857e-02 2.60417498e+02] [ 2.04966915e-02 9.99789806e-01 -4.78993299e-04 8.11084493e+00] [-1.30900177e-02 7.47411282e-04 9.99914043e-01 6.18304825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.45, Y:8.11, Z:6.18 [[ 9.99708289e-01 -2.02894703e-02 1.31024301e-02 2.60451041e+02] [ 2.02975402e-02 9.99793867e-01 -4.83203955e-04 8.10952844e+00] [-1.30899253e-02 7.49010099e-04 9.99914043e-01 6.18231152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.48, Y:8.11, Z:6.18 [[ 9.99717572e-01 -1.94720360e-02 1.36240858e-02 2.60482815e+02] [ 1.94807273e-02 9.99810105e-01 -5.05501880e-04 8.10713844e+00] [-1.36116555e-02 7.70766211e-04 9.99907060e-01 6.18149952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.52, Y:8.11, Z:6.18 [[ 9.99714607e-01 -1.94907048e-02 1.38136219e-02 2.60516219e+02] [ 1.94996842e-02 9.99809730e-01 -5.15638346e-04 8.10533188e+00] [-1.38009434e-02 7.84852452e-04 9.99904454e-01 6.18071067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.55, Y:8.10, Z:6.18 [[ 9.99730643e-01 -1.89622302e-02 1.33818912e-02 2.60548724e+02] [ 1.89706099e-02 9.99819917e-01 -4.99529900e-04 8.10356705e+00] [-1.33700091e-02 7.53257985e-04 9.99910334e-01 6.17972905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.58, Y:8.10, Z:6.18 [[ 9.99771795e-01 -1.81424764e-02 1.12786836e-02 2.60581007e+02] [ 1.81836696e-02 9.99828324e-01 -3.56054181e-03 8.10263867e+00] [-1.12121503e-02 3.76481714e-03 9.99930054e-01 6.17919637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.61, Y:8.10, Z:6.18 [[ 9.99744458e-01 -1.89913072e-02 1.22617112e-02 2.60614052e+02] [ 1.89595316e-02 9.99816599e-01 2.70252189e-03 8.09782218e+00] [-1.23107868e-02 -2.46935498e-03 9.99921170e-01 6.17597964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.65, Y:8.10, Z:6.18 [[ 9.99745642e-01 -1.89569404e-02 1.22182496e-02 2.60647402e+02] [ 1.89640120e-02 9.99820060e-01 -4.63167805e-04 8.09774027e+00] [-1.22072708e-02 6.94757027e-04 9.99925247e-01 6.17640496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.68, Y:8.10, Z:6.18 [[ 9.99744644e-01 -1.90416369e-02 1.21681023e-02 2.60680597e+02] [ 1.90486727e-02 9.99818451e-01 -4.62568128e-04 8.09643678e+00] [-1.21570852e-02 6.94236207e-04 9.99925859e-01 6.17586760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.71, Y:8.10, Z:6.18 [[ 9.99738924e-01 -1.94028061e-02 1.20670940e-02 2.60713802e+02] [ 1.94097671e-02 9.99811507e-01 -4.59995712e-04 8.09516440e+00] [-1.20558942e-02 6.94095102e-04 9.99927084e-01 6.17530842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.75, Y:8.09, Z:6.17 [[ 9.99745585e-01 -1.94447174e-02 1.14309908e-02 2.60746934e+02] [ 1.94509790e-02 9.99810716e-01 -4.36839319e-04 8.09405002e+00] [-1.14203329e-02 6.59072143e-04 9.99934569e-01 6.17463435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.93509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.78, Y:8.09, Z:6.17 [[ 9.99758609e-01 -1.91117359e-02 1.08381408e-02 2.60779307e+02] [ 1.91173481e-02 9.99817161e-01 -4.14448461e-04 8.09317576e+00] [-1.08282383e-02 6.21544927e-04 9.99941180e-01 6.17389973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.81, Y:8.09, Z:6.17 [[ 9.99779213e-01 -1.81834269e-02 1.05303198e-02 2.60811510e+02] [ 1.81886822e-02 9.99834491e-01 -4.03503227e-04 8.09321589e+00] [-1.05212398e-02 5.94946778e-04 9.99944473e-01 6.17374505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.99509989299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.84, Y:8.09, Z:6.17 [[ 9.99784022e-01 -1.77084696e-02 1.08774814e-02 2.60844796e+02] [ 1.77140997e-02 9.99843004e-01 -4.21461896e-04 8.09258961e+00] [-1.08683103e-02 6.14055660e-04 9.99940750e-01 6.17336928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.88, Y:8.09, Z:6.17 [[ 9.99787533e-01 -1.69973258e-02 1.16609963e-02 2.60876559e+02] [ 1.70037666e-02 9.99855323e-01 -4.53405965e-04 8.09195486e+00] [-1.16516025e-02 6.51590490e-04 9.99931905e-01 6.17299879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.91, Y:8.09, Z:6.17 [[ 9.99822876e-01 -1.40652549e-02 1.25053924e-02 2.60909338e+02] [ 1.40724472e-02 9.99900859e-01 -4.87326218e-04 8.09197226e+00] [-1.24972982e-02 6.63221375e-04 9.99921686e-01 6.17306403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.94, Y:8.09, Z:6.17 [[ 9.99838654e-01 -1.22174506e-02 1.31681749e-02 2.60942860e+02] [ 1.22252845e-02 9.99925136e-01 -5.14576021e-04 8.09125011e+00] [-1.31609023e-02 6.75477681e-04 9.99913163e-01 6.17212335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.98, Y:8.09, Z:6.17 [[ 9.99861970e-01 -8.30180103e-03 1.43917228e-02 2.60976036e+02] [ 8.31077969e-03 9.99965306e-01 -5.64181683e-04 8.09171205e+00] [-1.43865398e-02 6.83710246e-04 9.99896275e-01 6.17147164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.01, Y:8.09, Z:6.17 [[ 9.99863005e-01 -8.17628454e-03 1.43916671e-02 2.61009548e+02] [ 8.18527057e-03 9.99966340e-01 -5.65598480e-04 8.09030831e+00] [-1.43865582e-02 6.83320685e-04 9.99896275e-01 6.17073465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.17509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.04, Y:8.09, Z:6.17 [[ 9.99866309e-01 -4.76891526e-03 1.56403547e-02 2.61041961e+02] [ 4.77915061e-03 9.99988389e-01 -6.17108727e-04 8.09127395e+00] [-1.56372301e-02 6.91773836e-04 9.99877492e-01 6.17040457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.07, Y:8.09, Z:6.17 [[ 9.99866539e-01 -3.42676154e-03 1.59737543e-02 2.61074898e+02] [ 3.43728886e-03 9.99993893e-01 -6.31630387e-04 8.09056267e+00] [-1.59714923e-02 6.86452497e-04 9.99872212e-01 6.16984132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.23509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.11, Y:8.09, Z:6.17 [[ 9.99867188e-01 -3.23225659e-03 1.59737080e-02 2.61108437e+02] [ 3.24277776e-03 9.99994542e-01 -6.32798392e-04 8.08915233e+00] [-1.59715755e-02 6.84513534e-04 9.99872212e-01 6.16910372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.14, Y:8.09, Z:6.17 [[ 9.99863275e-01 -1.59665548e-03 1.64585076e-02 2.61141696e+02] [ 1.60766682e-03 9.99998493e-01 -6.55827204e-04 8.08792951e+00] [-1.64574356e-02 6.82197333e-04 9.99864335e-01 6.16784385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.17, Y:8.09, Z:6.17 [[ 9.99864655e-01 -1.53193818e-03 1.63806543e-02 2.61174963e+02] [ 1.54286534e-03 9.99998596e-01 -6.54460876e-04 8.08642223e+00] [-1.63796287e-02 6.79645441e-04 9.99865614e-01 6.16711419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.21, Y:8.08, Z:6.17 [[ 9.99861286e-01 -1.39687152e-03 1.65969081e-02 2.61207447e+02] [ 1.40808648e-03 9.99998788e-01 -6.64059251e-04 8.08469867e+00] [-1.65959604e-02 6.87337018e-04 9.99862041e-01 6.16606777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.24, Y:8.08, Z:6.17 [[ 9.99861264e-01 -1.89844270e-03 1.65483750e-02 2.61240737e+02] [ 1.90974678e-03 9.99997954e-01 -6.67317124e-04 8.08284209e+00] [-1.65470743e-02 6.98827749e-04 9.99862844e-01 6.16526339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.27, Y:8.08, Z:6.16 [[ 9.99848744e-01 -3.42802317e-03 1.70510606e-02 2.61273661e+02] [ 3.44026288e-03 9.99993845e-01 -6.88546421e-04 8.08056767e+00] [-1.70485953e-02 7.47102404e-04 9.99854383e-01 6.16424774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.31, Y:8.08, Z:6.16 [[ 9.99839311e-01 -4.05233528e-03 1.74622714e-02 2.61305865e+02] [ 4.06535968e-03 9.99991484e-01 -7.10426109e-04 8.07863287e+00] [-1.74592438e-02 7.81302365e-04 9.99847271e-01 6.16334446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.34, Y:8.08, Z:6.16 [[ 9.99840919e-01 -5.17037529e-03 1.70705379e-02 2.61339272e+02] [ 5.18305822e-03 9.99986324e-01 -6.98813281e-04 8.07565124e+00] [-1.70666913e-02 7.87179705e-04 9.99854044e-01 6.16171721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.37, Y:8.07, Z:6.16 [[ 9.99854224e-01 -5.44077094e-03 1.61842332e-02 2.61371452e+02] [ 5.45227983e-03 9.99984914e-01 -6.67078608e-04 8.07391862e+00] [-1.61803596e-02 7.55222332e-04 9.99868804e-01 6.16073527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.40, Y:8.07, Z:6.16 [[ 9.99867731e-01 -5.36667437e-03 1.53531225e-02 2.61404267e+02] [ 5.37709956e-03 9.99985340e-01 -6.37827965e-04 8.07253246e+00] [-1.53494744e-02 7.20298868e-04 9.99881930e-01 6.15979610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.44, Y:8.07, Z:6.16 [[ 9.99890381e-01 -4.67601374e-03 1.40485254e-02 2.61436653e+02] [ 4.68467514e-03 9.99988857e-01 -5.83689703e-04 8.07136907e+00] [-1.40456395e-02 6.49438497e-04 9.99901144e-01 6.15815481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.46, Y:8.07, Z:6.16 [[ 9.99906880e-01 -6.34224705e-03 1.20833113e-02 2.61464202e+02] [ 6.26225767e-03 9.99958305e-01 6.64619766e-03 8.07028426e+00] [-1.21249593e-02 -6.56990996e-03 9.99904906e-01 6.15690030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.50, Y:8.07, Z:6.16 [[ 9.99903919e-01 -3.18938285e-03 1.34900352e-02 2.61499389e+02] [ 3.29171938e-03 9.99965924e-01 -7.57069518e-03 8.07209556e+00] [-1.34654297e-02 7.61437318e-03 9.99880345e-01 6.15881000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.53, Y:8.07, Z:6.16 [[ 9.99882237e-01 -1.17448053e-03 1.53014186e-02 2.61531873e+02] [ 1.18447683e-03 9.99999091e-01 -6.44245911e-04 8.06822034e+00] [-1.53006480e-02 6.62294218e-04 9.99882719e-01 6.15617445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.56, Y:8.07, Z:6.16 [[ 9.99867970e-01 7.21374047e-05 1.62492155e-02 2.61564617e+02] [-6.09972813e-05 9.99999763e-01 -6.86073721e-04 8.06751618e+00] [-1.62492611e-02 6.84991981e-04 9.99867737e-01 6.15560200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.59, Y:8.07, Z:6.15 [[ 9.99877172e-01 4.34158066e-04 1.56669376e-02 2.61594269e+02] [-5.21621085e-04 9.99984301e-01 5.57899490e-03 8.06585885e+00] [-1.56642695e-02 -5.58648185e-03 9.99861701e-01 6.15480552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.63, Y:8.07, Z:6.16 [[ 9.99864146e-01 2.34957780e-03 1.63146925e-02 2.61627003e+02] [-2.36422823e-03 9.99996819e-01 8.78760745e-04 8.06666739e+00] [-1.63125758e-02 -9.17213018e-04 9.99866520e-01 6.15613874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.66, Y:8.07, Z:6.16 [[ 9.99807999e-01 6.50932118e-03 1.84822494e-02 2.61661246e+02] [-6.35406817e-03 9.99944140e-01 -8.44644922e-03 8.06784400e+00] [-1.85361976e-02 8.32739002e-03 9.99793511e-01 6.15585196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.69, Y:8.06, Z:6.15 [[ 9.99799288e-01 8.37422221e-03 1.82004439e-02 2.61692913e+02] [-8.36126773e-03 9.99964734e-01 -7.87747433e-04 8.06259606e+00] [-1.82063989e-02 6.35410538e-04 9.99834048e-01 6.15145210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.73, Y:8.06, Z:6.15 [[ 9.99798238e-01 8.49882483e-03 1.82003793e-02 2.61726419e+02] [-8.48586387e-03 9.99963683e-01 -7.89238482e-04 8.06105778e+00] [-1.82064259e-02 6.34633302e-04 9.99834048e-01 6.15070669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.76, Y:8.06, Z:6.15 [[ 9.99784353e-01 9.59223407e-03 1.84183862e-02 2.61758558e+02] [-9.57911280e-03 9.99953799e-01 -8.00493838e-04 8.05920560e+00] [-1.84252137e-02 6.23889415e-04 9.99830047e-01 6.14951579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.79, Y:8.06, Z:6.15 [[ 9.99772243e-01 1.03872424e-02 1.86431534e-02 2.61790991e+02] [-1.03738431e-02 9.99945858e-01 -8.15291806e-04 8.05675632e+00] [-1.86506126e-02 6.21704970e-04 9.99825869e-01 6.14840357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.82, Y:8.05, Z:6.15 [[ 9.99775108e-01 1.05751271e-02 1.83820607e-02 2.61823759e+02] [-1.05620477e-02 9.99943893e-01 -8.08471224e-04 8.05491844e+00] [-1.83895790e-02 6.14137204e-04 9.99830709e-01 6.14728165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.92509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.86, Y:8.05, Z:6.15 [[ 9.99797543e-01 1.09575868e-02 1.68761536e-02 2.61856556e+02] [-1.09465481e-02 9.99939806e-01 -7.46337731e-04 8.05251617e+00] [-1.68833158e-02 5.61451002e-04 9.99857309e-01 6.14582698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.89, Y:8.05, Z:6.14 [[ 9.99812161e-01 1.11486595e-02 1.58540125e-02 2.61888305e+02] [-1.11388726e-02 9.99937712e-01 -7.05491019e-04 8.05046254e+00] [-1.58608902e-02 5.28762676e-04 9.99874068e-01 6.14450646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.98509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.92, Y:8.05, Z:6.14 [[ 9.99819494e-01 1.11833994e-02 1.53594266e-02 2.61921232e+02] [-1.11741588e-02 9.99937331e-01 -6.87318519e-04 8.04869048e+00] [-1.53661506e-02 5.15565782e-04 9.99881801e-01 6.14303782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.95, Y:8.05, Z:6.14 [[ 9.99832167e-01 1.11393694e-02 1.45448460e-02 2.61954270e+02] [-1.11310222e-02 9.99937834e-01 -6.54726448e-04 8.04688754e+00] [-1.45512350e-02 4.92717559e-04 9.99894004e-01 6.14203182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.99, Y:8.05, Z:6.14 [[ 9.99847833e-01 1.06805895e-02 1.37926009e-02 2.61986056e+02] [-1.06729768e-02 9.99942847e-01 -6.25434276e-04 8.04504853e+00] [-1.37984926e-02 4.78130997e-04 9.99904682e-01 6.14072651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.02, Y:8.04, Z:6.14 [[ 9.99850087e-01 1.08769286e-02 1.34720628e-02 2.62018890e+02] [-1.08696648e-02 9.99940736e-01 -6.12285161e-04 8.04354990e+00] [-1.34779241e-02 4.65756566e-04 9.99909060e-01 6.13981670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.05, Y:8.04, Z:6.14 [[ 9.99850780e-01 1.17162971e-02 1.26943338e-02 2.62052178e+02] [-1.17098738e-02 9.99931269e-01 -5.80205916e-04 8.04260424e+00] [-1.27002591e-02 4.31470291e-04 9.99919255e-01 6.13895978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.08, Y:8.04, Z:6.14 [[ 9.99830073e-01 1.25433844e-02 1.35088428e-02 2.62084222e+02] [-1.25361246e-02 9.99921226e-01 -6.21958715e-04 8.04178907e+00] [-1.35155802e-02 4.52504490e-04 9.99908558e-01 6.13824941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.12, Y:8.04, Z:6.14 [[ 9.99813223e-01 1.29654206e-02 1.43323728e-02 2.62116618e+02] [-1.29572353e-02 9.99915831e-01 -6.63821267e-04 8.04102420e+00] [-1.43397732e-02 4.77989354e-04 9.99897066e-01 6.13804957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.15, Y:8.04, Z:6.14 [[ 9.99792668e-01 1.34761848e-02 1.52647727e-02 2.62149684e+02] [-1.34668986e-02 9.99909064e-01 -7.10974849e-04 8.04013272e+00] [-1.52729658e-02 5.05258294e-04 9.99883234e-01 6.13800508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.18, Y:8.04, Z:6.14 [[ 9.99760908e-01 1.37837053e-02 1.69745736e-02 2.62183289e+02] [-1.37721720e-02 9.99904842e-01 -7.96160844e-04 8.03975739e+00] [-1.69839323e-02 5.62193742e-04 9.99855605e-01 6.13790936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.22, Y:8.04, Z:6.14 [[ 9.99755703e-01 1.36351964e-02 1.73958477e-02 2.62215506e+02] [-1.35937610e-02 9.99904480e-01 -2.49794632e-03 8.03972216e+00] [-1.74282460e-02 2.26086108e-03 9.99845560e-01 6.13660750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.25, Y:8.04, Z:6.13 [[ 9.99749008e-01 1.37161884e-02 1.77140235e-02 2.62247886e+02] [-1.36889967e-02 9.99904931e-01 -1.65538486e-03 8.03715091e+00] [-1.77350450e-02 1.41248216e-03 9.99841724e-01 6.13476226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.28, Y:8.03, Z:6.13 [[ 9.99792622e-01 1.15648208e-02 1.67620792e-02 2.62281106e+02] [-1.15983593e-02 9.99930922e-01 1.90502221e-03 8.03382566e+00] [-1.67388901e-02 -2.09903977e-03 9.99857692e-01 6.13357703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.31, Y:8.03, Z:6.13 [[ 9.99806022e-01 1.07471334e-02 1.65050963e-02 2.62314644e+02] [-1.07356236e-02 9.99942063e-01 -7.85798751e-04 8.03349019e+00] [-1.65125851e-02 6.08453823e-04 9.99863473e-01 6.13345322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.35, Y:8.03, Z:6.13 [[ 9.99814136e-01 9.81046433e-03 1.65966452e-02 2.62347299e+02] [-9.79861901e-03 9.99951676e-01 -7.94886877e-04 8.03187887e+00] [-1.66036414e-02 6.32114933e-04 9.99861950e-01 6.13259713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.38, Y:8.03, Z:6.13 [[ 9.99828607e-01 8.10311483e-03 1.66461876e-02 2.62379589e+02] [-8.09088023e-03 9.99966947e-01 -8.02194355e-04 8.02967052e+00] [-1.66521377e-02 6.67374555e-04 9.99861121e-01 6.13106862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.41, Y:8.03, Z:6.13 [[ 9.99837438e-01 7.52303329e-03 1.63860169e-02 2.62412237e+02] [-7.51103119e-03 9.99971477e-01 -7.93879607e-04 8.02786219e+00] [-1.63915219e-02 6.70674669e-04 9.99865425e-01 6.13038936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.44, Y:8.03, Z:6.13 [[ 9.99852048e-01 6.10233010e-03 1.60824115e-02 2.62444825e+02] [-6.09051405e-03 9.99981146e-01 -7.83595207e-04 8.02656726e+00] [-1.60868900e-02 6.85529119e-04 9.99870363e-01 6.12956729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.48, Y:8.03, Z:6.13 [[ 9.99856802e-01 5.90340947e-03 1.58595608e-02 2.62477443e+02] [-5.89182242e-03 9.99982341e-01 -7.77228721e-04 8.02508418e+00] [-1.58638690e-02 6.83675708e-04 9.99873927e-01 6.12887411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.51, Y:8.02, Z:6.13 [[ 9.99854618e-01 5.82246119e-03 1.60262827e-02 2.62510177e+02] [-5.81054373e-03 9.99982807e-01 -7.90083424e-04 8.02404793e+00] [-1.60306074e-02 6.96847144e-04 9.99871259e-01 6.12792863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.54, Y:8.02, Z:6.13 [[ 9.99848391e-01 5.98280920e-03 1.63524122e-02 2.62541861e+02] [-5.97034118e-03 9.99981848e-01 -8.11170057e-04 8.02314155e+00] [-1.63569684e-02 7.13417596e-04 9.99865961e-01 6.12719670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.57, Y:8.02, Z:6.13 [[ 9.99841195e-01 7.16017880e-03 1.63192390e-02 2.62574507e+02] [-7.14784760e-03 9.99974123e-01 -8.13826068e-04 8.02223778e+00] [-1.63246438e-02 6.97049395e-04 9.99866501e-01 6.12664662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.61, Y:8.02, Z:6.13 [[ 9.99830069e-01 8.03157620e-03 1.65929682e-02 2.62607600e+02] [-8.01886659e-03 9.99967502e-01 -8.32355787e-04 8.02136946e+00] [-1.65991141e-02 6.99157546e-04 9.99861981e-01 6.12592328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.64, Y:8.02, Z:6.13 [[ 9.99807241e-01 1.00435876e-02 1.68702787e-02 2.62641062e+02] [-1.00306520e-02 9.99949329e-01 -8.51212169e-04 8.02194173e+00] [-1.68779731e-02 6.81828196e-04 9.99857324e-01 6.12506207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.67509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.67, Y:8.02, Z:6.12 [[ 9.99783393e-01 1.13327515e-02 1.74566912e-02 2.62673869e+02] [-1.13190071e-02 9.99935546e-01 -8.85948745e-04 8.02183888e+00] [-1.74656063e-02 6.88164430e-04 9.99847228e-01 6.12460144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.71, Y:8.02, Z:6.12 [[ 9.99778548e-01 1.15016894e-02 1.76229091e-02 2.62705809e+02] [-1.14876162e-02 9.99933610e-01 -8.99602222e-04 8.02126051e+00] [-1.76320861e-02 6.96957788e-04 9.99844300e-01 6.12421114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.73509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.74, Y:8.02, Z:6.12 [[ 9.99781497e-01 1.13291515e-02 1.75672420e-02 2.62738787e+02] [-1.13150606e-02 9.99935576e-01 -9.01302630e-04 8.01976772e+00] [-1.75763212e-02 7.02331286e-04 9.99845278e-01 6.12368076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.77, Y:8.02, Z:6.12 [[ 9.99796704e-01 1.08396551e-02 1.70015613e-02 2.62771135e+02] [-1.08263028e-02 9.99941009e-01 -8.77199884e-04 8.01812434e+00] [-1.70100669e-02 6.92957503e-04 9.99855078e-01 6.12276555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.80, Y:8.02, Z:6.12 [[ 9.99814163e-01 1.02958495e-02 1.62983355e-02 2.62804051e+02] [-1.02834393e-02 9.99946767e-01 -8.45061112e-04 8.01610300e+00] [-1.63061685e-02 6.77301124e-04 9.99866816e-01 6.12167645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.84, Y:8.01, Z:6.12 [[ 9.99831109e-01 9.39228491e-03 1.57967767e-02 2.62836202e+02] [-9.38043444e-03 9.99955663e-01 -8.24112348e-04 8.01419175e+00] [-1.58038167e-02 6.75792535e-04 9.99874884e-01 6.12076332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.87, Y:8.01, Z:6.12 [[ 9.99846488e-01 8.29167191e-03 1.54353152e-02 2.62869608e+02] [-8.28019627e-03 9.99965393e-01 -8.07226539e-04 8.01233299e+00] [-1.54414743e-02 6.79295181e-04 9.99880543e-01 6.12002627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.90, Y:8.01, Z:6.12 [[ 9.99858380e-01 7.32834431e-03 1.51497617e-02 2.62903011e+02] [-7.31711799e-03 9.99972912e-01 -7.96320384e-04 8.01003713e+00] [-1.51551871e-02 6.85355015e-04 9.99884919e-01 6.11897422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.93, Y:8.01, Z:6.12 [[ 9.99875157e-01 5.04478969e-03 1.49740107e-02 2.62934764e+02] [-5.03349940e-03 9.99987019e-01 -7.91584709e-04 8.00806665e+00] [-1.49778097e-02 7.16114212e-04 9.99887570e-01 6.11793602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.97, Y:8.01, Z:6.12 [[ 9.99876911e-01 4.26458958e-03 1.50988533e-02 2.62967883e+02] [-4.25295992e-03 9.99990634e-01 -8.02260525e-04 8.00650446e+00] [-1.51021332e-02 7.37946958e-04 9.99885684e-01 6.11750840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.00, Y:8.01, Z:6.12 [[ 9.99884914e-01 3.90312087e-03 1.46603299e-02 2.63000451e+02] [-3.89205615e-03 9.99992119e-01 -7.83194269e-04 8.00507448e+00] [-1.46632713e-02 7.26045307e-04 9.99892225e-01 6.11695193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.03, Y:8.00, Z:6.12 [[ 9.99888234e-01 3.62538694e-03 1.45043510e-02 2.63033806e+02] [-3.61447296e-03 9.99993165e-01 -7.78606568e-04 8.00421633e+00] [-1.45070746e-02 7.26093961e-04 9.99894503e-01 6.11584354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.07, Y:8.00, Z:6.12 [[ 9.99878575e-01 3.99071844e-03 1.50635290e-02 2.63067060e+02] [-3.97891959e-03 9.99991753e-01 -8.13161708e-04 8.00324633e+00] [-1.50666499e-02 7.53126399e-04 9.99886208e-01 6.11522806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.10, Y:8.00, Z:6.12 [[ 9.99856262e-01 4.56059877e-03 1.63296295e-02 2.63099530e+02] [-4.54672102e-03 9.99989270e-01 -8.86875968e-04 8.00426560e+00] [-1.63334989e-02 8.12502221e-04 9.99866269e-01 6.11574932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.13, Y:8.00, Z:6.12 [[ 9.99855363e-01 4.75444265e-03 1.63293669e-02 2.63133046e+02] [-4.74051242e-03 9.99988366e-01 -8.91679890e-04 8.00235210e+00] [-1.63334164e-02 8.14141354e-04 9.99866269e-01 6.11500268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.17, Y:8.00, Z:6.11 [[ 9.99847250e-01 5.10901589e-03 1.67144912e-02 2.63166374e+02] [-5.09442262e-03 9.99986604e-01 -9.15552833e-04 8.00173853e+00] [-1.67189448e-02 8.30262300e-04 9.99859884e-01 6.11471839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.20, Y:8.00, Z:6.11 [[ 9.99837576e-01 5.48877594e-03 1.71666966e-02 2.63199973e+02] [-5.47335065e-03 9.99984574e-01 -9.45413567e-04 8.00090882e+00] [-1.71716210e-02 8.51300659e-04 9.99852194e-01 6.11423179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.23, Y:8.00, Z:6.11 [[ 9.99824729e-01 5.68425766e-03 1.78381536e-02 2.63233197e+02] [-5.66753832e-03 9.99983452e-01 -9.87693367e-04 7.99977485e+00] [-1.78434727e-02 8.86421835e-04 9.99840400e-01 6.11358140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.27, Y:8.00, Z:6.11 [[ 9.99807407e-01 5.76262979e-03 1.87601066e-02 2.63265214e+02] [-5.74404180e-03 9.99982957e-01 -1.04455894e-03 7.99878103e+00] [-1.87658063e-02 9.36598927e-04 9.99823468e-01 6.11243237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.29, Y:8.00, Z:6.11 [[ 9.99825979e-01 5.34898024e-03 1.78717594e-02 2.63294246e+02] [-5.34673137e-03 9.99985691e-01 -1.73613218e-04 7.99901596e+00] [-1.78724323e-02 7.80275092e-05 9.99840272e-01 6.11112576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.32, Y:8.00, Z:6.11 [[ 9.99828133e-01 6.31550829e-03 1.74303737e-02 2.63324907e+02] [-6.30596738e-03 9.99979936e-01 -6.02280692e-04 7.99775818e+00] [-1.74338276e-02 4.92261812e-04 9.99847898e-01 6.11009795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.36, Y:7.99, Z:6.11 [[ 9.99796483e-01 9.40167203e-03 1.78493971e-02 2.63360170e+02] [-9.37023609e-03 9.99954398e-01 -1.84399576e-03 7.99494548e+00] [-1.78659198e-02 1.67636741e-03 9.99838986e-01 6.10883636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.39, Y:7.99, Z:6.11 [[ 9.99783814e-01 1.02175536e-02 1.81087696e-02 2.63393434e+02] [-1.02007325e-02 9.99947450e-01 -1.02102202e-03 7.99337804e+00] [-1.81182503e-02 8.36078575e-04 9.99835501e-01 6.10783714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.43, Y:7.99, Z:6.11 [[ 9.99775115e-01 1.09915621e-02 1.81357118e-02 2.63426767e+02] [-1.09747264e-02 9.99939248e-01 -1.02758826e-03 7.99234761e+00] [-1.81459048e-02 8.28322692e-04 9.99835006e-01 6.10723761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.46, Y:7.99, Z:6.11 [[ 9.99764876e-01 1.14255349e-02 1.84295890e-02 2.63459533e+02] [-1.14081261e-02 9.99934374e-01 -1.04947142e-03 7.99109674e+00] [-1.84403704e-02 8.38977586e-04 9.99829610e-01 6.10664969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.42509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.49, Y:7.99, Z:6.11 [[ 9.99752603e-01 1.17348435e-02 1.88951180e-02 2.63492694e+02] [-1.17164952e-02 9.99930775e-01 -1.08147358e-03 7.98982889e+00] [-1.89065009e-02 8.59821466e-04 9.99820886e-01 6.10584095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.53, Y:7.99, Z:6.10 [[ 9.99749049e-01 1.21655996e-02 1.88105638e-02 2.63525263e+02] [-1.21473909e-02 9.99925632e-01 -1.08197006e-03 7.98752627e+00] [-1.88223277e-02 8.53199272e-04 9.99822480e-01 6.10486864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.48509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.56, Y:7.99, Z:6.10 [[ 9.99745664e-01 1.26677878e-02 1.86583713e-02 2.63557978e+02] [-1.26498608e-02 9.99919406e-01 -1.07851920e-03 7.98534862e+00] [-1.86705299e-02 8.42219098e-04 9.99825336e-01 6.10386233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.59, Y:7.98, Z:6.10 [[ 9.99724147e-01 1.30654911e-02 1.95172220e-02 2.63590488e+02] [-1.30458349e-02 9.99914256e-01 -1.13411013e-03 7.98337412e+00] [-1.95303663e-02 8.79178826e-04 9.99808878e-01 6.10343784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.62, Y:7.98, Z:6.10 [[ 9.99711866e-01 1.37543825e-02 1.96723847e-02 2.63623300e+02] [-1.37344425e-02 9.99905019e-01 -1.14835990e-03 7.98175331e+00] [-1.96863112e-02 8.77839782e-04 9.99805820e-01 6.10277888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.66, Y:7.98, Z:6.10 [[ 9.99700790e-01 1.42492999e-02 1.98818497e-02 2.63656229e+02] [-1.42289160e-02 9.99898084e-01 -1.16634943e-03 7.97996833e+00] [-1.98964430e-02 8.83103280e-04 9.99801656e-01 6.10249987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.69, Y:7.98, Z:6.10 [[ 9.99698039e-01 1.46740735e-02 1.97104663e-02 2.63689418e+02] [-1.46540115e-02 9.99891949e-01 -1.16188971e-03 7.97763133e+00] [-1.97253862e-02 8.72701465e-04 9.99805055e-01 6.10165016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.72, Y:7.98, Z:6.10 [[ 9.99704733e-01 1.45391611e-02 1.94694434e-02 2.63721467e+02] [-1.45194502e-02 9.99893922e-01 -1.15338118e-03 7.97571190e+00] [-1.94841473e-02 8.70355013e-04 9.99809787e-01 6.10110197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.75, Y:7.97, Z:6.10 [[ 9.99706998e-01 1.44428791e-02 1.94247423e-02 2.63754751e+02] [-1.44231383e-02 9.99895313e-01 -1.15598949e-03 7.97325463e+00] [-1.94394046e-02 8.75485036e-04 9.99810654e-01 6.09982037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.79, Y:7.97, Z:6.10 [[ 9.99740511e-01 1.32820211e-02 1.85066927e-02 2.63787354e+02] [-1.32638114e-02 9.99911420e-01 -1.10635482e-03 7.97013834e+00] [-1.85197480e-02 8.60598450e-04 9.99828124e-01 6.09901686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.82, Y:7.97, Z:6.10 [[ 9.99763934e-01 1.25443553e-02 1.77401998e-02 2.63819801e+02] [-1.25274185e-02 9.99920961e-01 -1.06552466e-03 7.96768068e+00] [-1.77521639e-02 8.43034224e-04 9.99842063e-01 6.09858563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.85, Y:7.97, Z:6.10 [[ 9.99779771e-01 1.16680052e-02 1.74432832e-02 2.63852137e+02] [-1.16514164e-02 9.99931566e-01 -1.05234279e-03 7.96530246e+00] [-1.74543682e-02 8.48872074e-04 9.99847301e-01 6.09761667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.88, Y:7.96, Z:6.10 [[ 9.99808486e-01 9.96892328e-03 1.68407778e-02 2.63884695e+02] [-9.95315125e-03 9.99949946e-01 -1.02009629e-03 7.96203058e+00] [-1.68501041e-02 8.52282118e-04 9.99857664e-01 6.09739994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.92, Y:7.96, Z:6.10 [[ 9.99824409e-01 8.32396223e-03 1.67887518e-02 2.63916365e+02] [-8.30797490e-03 9.99964966e-01 -1.02178573e-03 7.95837211e+00] [-1.67966690e-02 8.82125787e-04 9.99858537e-01 6.09716521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.95, Y:7.96, Z:6.10 [[ 9.99833019e-01 7.19342569e-03 1.67985009e-02 2.63949473e+02] [-7.17718804e-03 9.99973717e-01 -1.02670070e-03 7.95530107e+00] [-1.68054449e-02 9.05963262e-04 9.99858368e-01 6.09700705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.98, Y:7.95, Z:6.10 [[ 9.99840716e-01 6.15688707e-03 1.67521841e-02 2.63982914e+02] [-6.14051426e-03 9.99980618e-01 -1.02861626e-03 7.95239767e+00] [-1.67581925e-02 9.25585388e-04 9.99859143e-01 6.09671996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.02, Y:7.95, Z:6.10 [[ 9.99839862e-01 5.21098218e-03 1.71200340e-02 2.64015187e+02] [-5.19365623e-03 9.99985955e-01 -1.05633326e-03 7.94929493e+00] [-1.71252981e-02 9.67248531e-04 9.99852883e-01 6.09614407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.05, Y:7.95, Z:6.10 [[ 9.99865919e-01 4.26415116e-03 1.58101321e-02 2.64046586e+02] [-4.20752885e-03 9.99984622e-01 -3.61292904e-03 7.94616526e+00] [-1.58252951e-02 3.54592303e-03 9.99868485e-01 6.09639758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.08, Y:7.94, Z:6.09 [[ 9.99863236e-01 4.44704148e-03 1.59289776e-02 2.64080023e+02] [-4.43257365e-03 9.99989731e-01 -9.43461397e-04 7.94265442e+00] [-1.59330096e-02 8.72725999e-04 9.99872681e-01 6.09475414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.11, Y:7.94, Z:6.10 [[ 9.99919466e-01 3.39280353e-03 1.22291101e-02 2.64112770e+02] [-3.25848765e-03 9.99934337e-01 -1.09865327e-02 7.94391326e+00] [-1.22655823e-02 1.09457995e-02 9.99864863e-01 6.09879210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.14, Y:7.93, Z:6.09 [[ 9.99853600e-01 1.51466065e-03 1.70435950e-02 2.64144742e+02] [-1.70969574e-03 9.99933162e-01 1.14345615e-02 7.93024856e+00] [-1.70251364e-02 -1.14620269e-02 9.99789361e-01 6.09016143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.18, Y:7.93, Z:6.09 [[ 9.99867841e-01 1.43465562e-03 1.61938858e-02 2.64178435e+02] [-1.41844237e-03 9.99998481e-01 -1.01263719e-03 7.93327458e+00] [-1.61953140e-02 9.89533264e-04 9.99868358e-01 6.09435821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.21, Y:7.93, Z:6.09 [[ 9.99864552e-01 1.27945458e-03 1.64085422e-02 2.64210996e+02] [-1.26271141e-03 9.99998672e-01 -1.03071300e-03 7.93031302e+00] [-1.64098392e-02 1.00985414e-03 9.99864840e-01 6.09418081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.24, Y:7.93, Z:6.09 [[ 9.99858831e-01 1.32963572e-03 1.67496377e-02 2.64243118e+02] [-1.31211087e-03 9.99998580e-01 -1.05722879e-03 7.92664887e+00] [-1.67510197e-02 1.03510216e-03 9.99859156e-01 6.09436939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.27, Y:7.92, Z:6.09 [[ 9.99877634e-01 1.26214493e-03 1.55924114e-02 2.64274676e+02] [-1.24688124e-03 9.99998734e-01 -9.88600340e-04 7.92254341e+00] [-1.55936394e-02 9.69037484e-04 9.99877942e-01 6.09418083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.17509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.31, Y:7.92, Z:6.09 [[ 9.99883397e-01 1.99319991e-03 1.51400253e-02 2.64307471e+02] [-1.97884763e-03 9.99997579e-01 -9.62891029e-04 7.91918324e+00] [-1.51419078e-02 9.32818950e-04 9.99884920e-01 6.09333860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.34, Y:7.92, Z:6.09 [[ 9.99888542e-01 2.67609150e-03 1.46881925e-02 2.64340570e+02] [-2.66263478e-03 9.99996017e-01 -9.35638574e-04 7.91638425e+00] [-1.46906378e-02 8.96424998e-04 9.99891685e-01 6.09254499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.23509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.37, Y:7.91, Z:6.09 [[ 9.99890330e-01 5.21876625e-03 1.38597571e-02 2.64372758e+02] [-5.20700736e-03 9.99986052e-01 -8.84369501e-04 7.91307112e+00] [-1.38641792e-02 8.12104655e-04 9.99903558e-01 6.09227317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.41, Y:7.91, Z:6.09 [[ 9.99889334e-01 6.93055151e-03 1.31638445e-02 2.64405740e+02] [-6.92007977e-03 9.99975702e-01 -8.40876218e-04 7.91045813e+00] [-1.31693524e-02 7.49688308e-04 9.99912999e-01 6.09167615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.44, Y:7.91, Z:6.09 [[ 9.99877793e-01 9.45999875e-03 1.24462021e-02 2.64438279e+02] [-9.45081832e-03 9.99955023e-01 -7.96219481e-04 7.90801029e+00] [-1.24531746e-02 6.78495382e-04 9.99922226e-01 6.09101958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.47, Y:7.91, Z:6.09 [[ 9.99822074e-01 1.51957955e-02 1.11762499e-02 2.64468882e+02] [-1.51887331e-02 9.99884388e-01 -7.16529445e-04 7.90565647e+00] [-1.11858460e-02 5.46648879e-04 9.99937287e-01 6.09057565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.50, Y:7.90, Z:6.09 [[ 9.99773481e-01 1.84026529e-02 1.06924656e-02 2.64499632e+02] [-1.83963618e-02 9.99830537e-01 -6.86437921e-04 7.90362890e+00] [-1.07032859e-02 4.89579964e-04 9.99942598e-01 6.09027038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.53, Y:7.90, Z:6.09 [[ 9.99717756e-01 2.12272907e-02 1.06681763e-02 2.64529273e+02] [-2.12211801e-02 9.99774570e-01 -6.85680532e-04 7.90202931e+00] [-1.06803265e-02 4.59095713e-04 9.99942858e-01 6.08983732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.56, Y:7.90, Z:6.09 [[ 9.99588035e-01 2.67140431e-02 1.04938360e-02 2.64556651e+02] [-2.67084297e-02 9.99643039e-01 -6.74729919e-04 7.89978602e+00] [-1.05081149e-02 3.94178072e-04 9.99944711e-01 6.08967264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.58, Y:7.91, Z:6.09 [[ 9.99481530e-01 2.94991459e-02 1.29023611e-02 2.64584643e+02] [-2.92100216e-02 9.99330047e-01 -2.20506743e-02 7.90872432e+00] [-1.35441931e-02 2.16623635e-02 9.99673595e-01 6.08965623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.61, Y:7.88, Z:6.08 [[ 9.99372821e-01 3.33418783e-02 1.19283092e-02 2.64611994e+02] [-3.35809296e-02 9.99227056e-01 2.04355459e-02 7.88419117e+00] [-1.12377298e-02 -2.08232929e-02 9.99720013e-01 6.08208894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.64, Y:7.90, Z:6.09 [[ 9.99257482e-01 3.60933270e-02 1.34817006e-02 2.64640800e+02] [-3.58008302e-02 9.99131048e-01 -2.13412432e-02 7.90304211e+00] [-1.42402621e-02 2.08427409e-02 9.99681347e-01 6.08841349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.67, Y:7.88, Z:6.08 [[ 9.99201799e-01 3.79683079e-02 1.24166525e-02 2.64668489e+02] [-3.82081096e-02 9.99075946e-01 1.96823308e-02 7.87975704e+00] [-1.16578741e-02 -2.01410372e-02 9.99729180e-01 6.08061465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.70, Y:7.89, Z:6.09 [[ 9.99033751e-01 4.23279824e-02 1.18281605e-02 2.64696547e+02] [-4.23220175e-02 9.99103737e-01 -7.54253853e-04 7.88678254e+00] [-1.18494854e-02 2.52933442e-04 9.99929760e-01 6.08706376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.72, Y:7.88, Z:6.09 [[ 9.98973149e-01 4.35952142e-02 1.23331028e-02 2.64724584e+02] [-4.35888382e-02 9.99049246e-01 -7.85441859e-04 7.88440823e+00] [-1.23556186e-02 2.47049705e-04 9.99923636e-01 6.08682240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.75, Y:7.88, Z:6.09 [[ 9.98921559e-01 4.46165994e-02 1.28482621e-02 2.64752689e+02] [-4.46097827e-02 9.99004154e-01 -8.16798335e-04 7.88091795e+00] [-1.28719100e-02 2.42759286e-04 9.99917124e-01 6.08659929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.78, Y:7.88, Z:6.09 [[ 9.98950527e-01 4.39865201e-02 1.27683805e-02 2.64780490e+02] [-4.39797534e-02 9.99032094e-01 -8.10398361e-04 7.87821254e+00] [-1.27916685e-02 2.47997643e-04 9.99918153e-01 6.08610659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.81, Y:7.88, Z:6.09 [[ 9.98988070e-01 4.33271496e-02 1.20662251e-02 2.64808349e+02] [-4.33210722e-02 9.99060909e-01 -7.64704544e-04 7.87505347e+00] [-1.20880263e-02 2.41208907e-04 9.99926908e-01 6.08559825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.84, Y:7.87, Z:6.08 [[ 9.99039534e-01 4.21497157e-02 1.19754172e-02 2.64835711e+02] [-4.21436601e-02 9.99111274e-01 -7.57682474e-04 7.87199797e+00] [-1.19967105e-02 2.52266832e-04 9.99928005e-01 6.08460616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.86, Y:7.87, Z:6.08 [[ 9.99171531e-01 3.92202611e-02 1.08638403e-02 2.64862822e+02] [-3.92151170e-02 9.99230556e-01 -6.86202853e-04 7.86721489e+00] [-1.08823942e-02 2.59607587e-04 9.99940751e-01 6.08336760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.89, Y:7.86, Z:6.08 [[ 9.99237001e-01 3.76025500e-02 1.05576220e-02 2.64890524e+02] [-3.75976087e-02 9.99292738e-01 -6.66190406e-04 7.86377942e+00] [-1.05752054e-02 2.68740764e-04 9.99944045e-01 6.08257372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.92, Y:7.86, Z:6.08 [[ 9.99290442e-01 3.61360750e-02 1.06205441e-02 2.64918101e+02] [-3.61310038e-02 9.99346838e-01 -6.69032185e-04 7.86047588e+00] [-1.06377833e-02 2.84826550e-04 9.99943377e-01 6.08196800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.95, Y:7.86, Z:6.08 [[ 9.99312823e-01 3.54400969e-02 1.08573229e-02 2.64946135e+02] [-3.54347717e-02 9.99371758e-01 -6.82511131e-04 7.85703623e+00] [-1.08746901e-02 2.97315368e-04 9.99940825e-01 6.08085083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.97, Y:7.85, Z:6.08 [[ 9.99321499e-01 3.48880543e-02 1.18053242e-02 2.64974664e+02] [-3.48817367e-02 9.99391173e-01 -7.40686144e-04 7.85231412e+00] [-1.18239779e-02 3.28393376e-04 9.99930040e-01 6.07977514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.00, Y:7.85, Z:6.08 [[ 9.99273139e-01 3.55484123e-02 1.37660351e-02 2.65002320e+02] [-3.55398995e-02 9.99367886e-01 -8.62614532e-04 7.84813823e+00] [-1.37879980e-02 3.72744028e-04 9.99904872e-01 6.07941243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.92509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.03, Y:7.85, Z:6.08 [[ 9.99274976e-01 3.54967159e-02 1.37661287e-02 2.65031574e+02] [-3.54882187e-02 9.99369724e-01 -8.61116692e-04 7.84637064e+00] [-1.37880191e-02 3.71956974e-04 9.99904872e-01 6.07876198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.06, Y:7.84, Z:6.08 [[ 9.99239985e-01 3.58174143e-02 1.53806759e-02 2.65060071e+02] [-3.58068573e-02 9.99358267e-01 -9.61301805e-04 7.84181846e+00] [-1.54052369e-02 4.09837535e-04 9.99881248e-01 6.07779284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.98509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.09, Y:7.84, Z:6.08 [[ 9.99231454e-01 3.56449236e-02 1.63077202e-02 2.65088637e+02] [-3.56330529e-02 9.99364423e-01 -1.01800405e-03 7.83843924e+00] [-1.63336421e-02 4.36127809e-04 9.99866502e-01 6.07709528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.12, Y:7.83, Z:6.08 [[ 9.99247500e-01 3.45067656e-02 1.77120361e-02 2.65116683e+02] [-3.44926077e-02 9.99404343e-01 -1.10429567e-03 7.83307939e+00] [-1.77395914e-02 4.92530377e-04 9.99842520e-01 6.07622483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.15, Y:7.83, Z:6.08 [[ 9.99251532e-01 3.43897814e-02 1.77121002e-02 2.65145914e+02] [-3.43756234e-02 9.99408375e-01 -1.10326627e-03 7.83131357e+00] [-1.77395623e-02 4.93576020e-04 9.99842520e-01 6.07557503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.18, Y:7.83, Z:6.07 [[ 9.99287276e-01 3.30596949e-02 1.82207908e-02 2.65175127e+02] [-3.30445373e-02 9.99453239e-01 -1.13241679e-03 7.82763636e+00] [-1.82482657e-02 5.29512090e-04 9.99833346e-01 6.07480201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.20, Y:7.82, Z:6.07 [[ 9.99383926e-01 2.99571331e-02 1.82849395e-02 2.65204602e+02] [-2.99413618e-02 9.99551012e-01 -1.13574524e-03 7.82219893e+00] [-1.83107535e-02 5.87569552e-04 9.99832171e-01 6.07368791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.23, Y:7.82, Z:6.07 [[ 9.99450290e-01 2.82047509e-02 1.74244302e-02 2.65234487e+02] [-2.81901763e-02 9.99601993e-01 -1.08154598e-03 7.81852604e+00] [-1.74479999e-02 5.89753683e-04 9.99847598e-01 6.07272290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.26, Y:7.82, Z:6.07 [[ 9.99505949e-01 2.64731083e-02 1.69420107e-02 2.65263395e+02] [-2.64590797e-02 9.99649344e-01 -1.05169369e-03 7.81505008e+00] [-1.69639115e-02 6.02904085e-04 9.99855921e-01 6.07189114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.29, Y:7.81, Z:6.07 [[ 9.99596806e-01 2.37206116e-02 1.56063320e-02 2.65293812e+02] [-2.37083869e-02 9.99718448e-01 -9.67886096e-04 7.81048434e+00] [-1.56248969e-02 5.97494892e-04 9.99877745e-01 6.07155234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.32, Y:7.81, Z:6.07 [[ 9.99618861e-01 2.30184615e-02 1.52408277e-02 2.65324415e+02] [-2.30066943e-02 9.99734862e-01 -9.46984333e-04 7.80732586e+00] [-1.52585849e-02 5.95982336e-04 9.99883403e-01 6.07115807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.35, Y:7.80, Z:6.07 [[ 9.99637777e-01 2.29039710e-02 1.41323486e-02 2.65354218e+02] [-2.28938440e-02 9.99737516e-01 -8.77968477e-04 7.80344444e+00] [-1.41487481e-02 5.54106672e-04 9.99899748e-01 6.07112614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.38, Y:7.80, Z:6.07 [[ 9.99627893e-01 2.34770268e-02 1.38890514e-02 2.65384729e+02] [-2.34672954e-02 9.99724232e-01 -8.63236854e-04 7.80078568e+00] [-1.39054875e-02 5.36977166e-04 9.99903170e-01 6.07056143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.42, Y:7.80, Z:6.07 [[ 9.99609823e-01 2.45140598e-02 1.33889299e-02 2.65415241e+02] [-2.45051095e-02 9.99699358e-01 -8.32153140e-04 7.79810848e+00] [-1.34053041e-02 5.03731260e-04 9.99910018e-01 6.07016679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.44, Y:7.80, Z:6.07 [[ 9.99586868e-01 2.56210312e-02 1.30251836e-02 2.65444632e+02] [-2.56126524e-02 9.99671614e-01 -8.09712230e-04 7.79598104e+00] [-1.30416520e-02 4.75768212e-04 9.99914841e-01 6.06984850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.47, Y:7.79, Z:6.07 [[ 9.99490810e-01 2.90724947e-02 1.31495875e-02 2.65473743e+02] [-2.90642543e-02 9.99577211e-01 -8.17365290e-04 7.79368287e+00] [-1.31677909e-02 4.34766139e-04 9.99913206e-01 6.06964523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.50, Y:7.79, Z:6.07 [[ 9.99342260e-01 3.34630018e-02 1.39740496e-02 2.65502388e+02] [-3.34541280e-02 9.99439877e-01 -8.68357838e-04 7.79072227e+00] [-1.39952803e-02 4.00297039e-04 9.99901981e-01 6.06896046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.53, Y:7.79, Z:6.07 [[ 9.99266946e-01 3.55872690e-02 1.41108933e-02 2.65529947e+02] [-3.55784452e-02 9.99366503e-01 -8.75938077e-04 7.78822113e+00] [-1.41331263e-02 3.73252323e-04 9.99900053e-01 6.06862095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.56, Y:7.79, Z:6.07 [[ 9.99102300e-01 3.94368286e-02 1.54703034e-02 2.65558780e+02] [-3.94267108e-02 9.99222005e-01 -9.58575982e-04 7.78513345e+00] [-1.54960708e-02 3.47772290e-04 9.99879868e-01 6.06784834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.59, Y:7.78, Z:6.07 [[ 9.99041533e-01 4.10121707e-02 1.52975916e-02 2.65587069e+02] [-4.10024791e-02 9.99158596e-01 -9.46768978e-04 7.78288707e+00] [-1.53235492e-02 3.18622352e-04 9.99882537e-01 6.06715691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.62, Y:7.78, Z:6.07 [[ 9.98998242e-01 4.22073922e-02 1.48677276e-02 2.65615907e+02] [-4.21983854e-02 9.99108829e-01 -9.19131839e-04 7.78070589e+00] [-1.48932720e-02 2.90816994e-04 9.99889047e-01 6.06632938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.64, Y:7.78, Z:6.07 [[ 9.98980429e-01 4.27363580e-02 1.45500985e-02 2.65644796e+02] [-4.27278031e-02 9.99086346e-01 -8.98458872e-04 7.77845596e+00] [-1.45752016e-02 2.75849084e-04 9.99893738e-01 6.06574110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.67, Y:7.78, Z:6.07 [[ 9.98972066e-01 4.30488628e-02 1.41988278e-02 2.65673359e+02] [-4.30407618e-02 9.99072933e-01 -8.75769319e-04 7.77622615e+00] [-1.42233654e-02 2.63740721e-04 9.99898808e-01 6.06520967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.70, Y:7.77, Z:6.06 [[ 9.98966353e-01 4.29908047e-02 1.47653653e-02 2.65700682e+02] [-4.29820528e-02 9.99075430e-01 -9.09707518e-04 7.77385282e+00] [-1.47908228e-02 2.74121490e-04 9.99890572e-01 6.06453797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.73, Y:7.77, Z:6.06 [[ 9.98993440e-01 4.22035646e-02 1.51975966e-02 2.65729298e+02] [-4.21942254e-02 9.99108990e-01 -9.34782786e-04 7.77051091e+00] [-1.52235066e-02 2.92591054e-04 9.99884073e-01 6.06398860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.67509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.76, Y:7.77, Z:6.06 [[ 9.99019437e-01 4.14438641e-02 1.55746534e-02 2.65756498e+02] [-4.14339796e-02 9.99140786e-01 -9.56937604e-04 7.76803093e+00] [-1.56009307e-02 3.10679395e-04 9.99878250e-01 6.06332372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.79, Y:7.77, Z:6.06 [[ 9.99055105e-01 4.06740425e-02 1.53139969e-02 2.65785351e+02] [-4.06644178e-02 9.99172419e-01 -9.39481663e-04 7.76571462e+00] [-1.53395358e-02 3.15859185e-04 9.99882293e-01 6.06296707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.73509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.81, Y:7.76, Z:6.06 [[ 9.99116782e-01 3.91851528e-02 1.51716994e-02 2.65813636e+02] [-3.91755507e-02 9.99231911e-01 -9.29690612e-04 7.76345977e+00] [-1.51964763e-02 3.34509812e-04 9.99884471e-01 6.06216059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.84, Y:7.76, Z:6.06 [[ 9.99155370e-01 3.81694548e-02 1.52197026e-02 2.65842300e+02] [-3.81596905e-02 9.99271220e-01 -9.31556420e-04 7.76166989e+00] [-1.52441678e-02 3.49990458e-04 9.99883740e-01 6.06169063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.87, Y:7.76, Z:6.06 [[ 9.99229998e-01 3.61745560e-02 1.51925358e-02 2.65871358e+02] [-3.61646124e-02 9.99345415e-01 -9.28821254e-04 7.75956653e+00] [-1.52161907e-02 3.78673891e-04 9.99884155e-01 6.06078042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.90, Y:7.76, Z:6.06 [[ 9.99271940e-01 3.50192906e-02 1.51406416e-02 2.65900430e+02] [-3.50092986e-02 9.99386559e-01 -9.24572282e-04 7.75735824e+00] [-1.51637316e-02 3.93835895e-04 9.99884946e-01 6.05969305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.93, Y:7.76, Z:6.06 [[ 9.99326789e-01 3.36786400e-02 1.45505212e-02 2.65929072e+02] [-3.36692859e-02 9.99432635e-01 -8.87422563e-04 7.75534671e+00] [-1.45721530e-02 3.96919481e-04 9.99893742e-01 6.05855146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.96, Y:7.75, Z:6.06 [[ 9.99377471e-01 3.22747704e-02 1.42481438e-02 2.65957388e+02] [-3.22656670e-02 9.99478951e-01 -8.68387032e-04 7.75337193e+00] [-1.42687468e-02 4.08120570e-04 9.99898113e-01 6.05731027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.99, Y:7.75, Z:6.06 [[ 9.99461234e-01 2.94727202e-02 1.44430401e-02 2.65986454e+02] [-2.94630925e-02 9.99565482e-01 -8.78966718e-04 7.75110506e+00] [-1.44626699e-02 4.52956534e-04 9.99895308e-01 6.05585810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.02, Y:7.75, Z:6.06 [[ 9.99509409e-01 2.76610378e-02 1.46904409e-02 2.66015000e+02] [-2.76508881e-02 9.99617242e-01 -8.93608031e-04 7.74943801e+00] [-1.47095361e-02 4.86965898e-04 9.99891690e-01 6.05506766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.04, Y:7.75, Z:6.05 [[ 9.99604582e-01 2.35794337e-02 1.53195967e-02 2.66044711e+02] [-2.35679325e-02 9.99721804e-01 -9.30877742e-04 7.74747597e+00] [-1.53372844e-02 5.69458435e-04 9.99882215e-01 6.05439215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.08, Y:7.75, Z:6.05 [[ 9.99604159e-01 2.35973023e-02 1.53196522e-02 2.66075652e+02] [-2.35858172e-02 9.99721383e-01 -9.29963489e-04 7.74559932e+00] [-1.53373285e-02 5.68268855e-04 9.99882215e-01 6.05370460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.11, Y:7.74, Z:6.05 [[ 9.99699268e-01 1.89020673e-02 1.56232275e-02 2.66107231e+02] [-1.88895473e-02 9.99821127e-01 -9.48560628e-04 7.74291015e+00] [-1.56383627e-02 6.53159669e-04 9.99877500e-01 6.05287777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.14, Y:7.74, Z:6.05 [[ 9.99732147e-01 1.70183450e-02 1.56847332e-02 2.66139524e+02] [-1.70055079e-02 9.99854943e-01 -9.51467531e-04 7.74095028e+00] [-1.56986504e-02 6.84485824e-04 9.99876534e-01 6.05237572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.17, Y:7.74, Z:6.05 [[ 9.99788198e-01 1.33919020e-02 1.56274138e-02 2.66172141e+02] [-1.33786564e-02 9.99910049e-01 -9.51827473e-04 7.74016820e+00] [-1.56387548e-02 7.42552075e-04 9.99877431e-01 6.05287924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.20, Y:7.74, Z:6.05 [[ 9.99798268e-01 1.22437943e-02 1.59220578e-02 2.66204746e+02] [-1.22298310e-02 9.99924738e-01 -9.74057039e-04 7.73874073e+00] [-1.59327856e-02 7.79136465e-04 9.99872762e-01 6.05279791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.24, Y:7.74, Z:6.05 [[ 9.99812013e-01 1.12333083e-02 1.58035303e-02 2.66237381e+02] [-1.12193536e-02 9.99936589e-01 -9.71389806e-04 7.73739735e+00] [-1.58134401e-02 7.93901802e-04 9.99874645e-01 6.05294195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.27, Y:7.74, Z:6.05 [[ 9.99823548e-01 1.04847433e-02 1.55866493e-02 2.66269901e+02] [-1.04710066e-02 9.99944714e-01 -9.62665692e-04 7.73596752e+00] [-1.55958809e-02 7.99287919e-04 9.99878057e-01 6.05282229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.30, Y:7.73, Z:6.05 [[ 9.99854805e-01 8.64375566e-03 1.46851639e-02 2.66303329e+02] [-8.63131217e-03 9.99962335e-01 -9.10520290e-04 7.73434899e+00] [-1.46924811e-02 7.83635853e-04 9.99891753e-01 6.05195156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.34, Y:7.73, Z:6.05 [[ 9.99874401e-01 7.76678735e-03 1.38151676e-02 2.66336373e+02] [-7.75564137e-03 9.99969555e-01 -8.60186511e-04 7.73255935e+00] [-1.38214278e-02 7.52932987e-04 9.99904196e-01 6.05148965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.37, Y:7.73, Z:6.05 [[ 9.99889501e-01 7.01604885e-03 1.31057481e-02 2.66369617e+02] [-7.00590861e-03 9.99975123e-01 -8.19475267e-04 7.73097807e+00] [-1.31111716e-02 7.27567043e-04 9.99913780e-01 6.05095279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.40, Y:7.73, Z:6.05 [[ 9.99913739e-01 5.84835081e-03 1.17606243e-02 2.66403122e+02] [-5.84007243e-03 9.99982674e-01 -7.38126267e-04 7.73049205e+00] [-1.17647374e-02 6.69379697e-04 9.99930569e-01 6.05084486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.44, Y:7.73, Z:6.05 [[ 9.99926454e-01 5.53118785e-03 1.07931463e-02 2.66435722e+02] [-5.52416970e-03 9.99984510e-01 -6.79945866e-04 7.72937042e+00] [-1.07967400e-02 6.20272687e-04 9.99941521e-01 6.05060937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.47, Y:7.73, Z:6.05 [[ 9.99930922e-01 5.95127732e-03 1.01357211e-02 2.66469262e+02] [-5.94508400e-03 9.99982122e-01 -6.41058771e-04 7.72838157e+00] [-1.01393550e-02 5.80756775e-04 9.99948427e-01 6.04969989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.50, Y:7.73, Z:6.05 [[ 9.99923698e-01 7.94658164e-03 9.45775867e-03 2.66501168e+02] [-7.94123017e-03 9.99968286e-01 -6.03248132e-04 7.72887699e+00] [-9.46225249e-03 5.28095865e-04 9.99955092e-01 6.04921521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.42509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.53, Y:7.73, Z:6.05 [[ 9.99899816e-01 9.96433204e-03 1.00533336e-02 2.66532882e+02] [-9.95840285e-03 9.99950209e-01 -6.39660705e-04 7.72856520e+00] [-1.00592068e-02 5.39481476e-04 9.99949259e-01 6.04890735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.57, Y:7.73, Z:6.05 [[ 9.99820050e-01 1.49927063e-02 1.16226992e-02 2.66565034e+02] [-1.49850475e-02 9.99887440e-01 -7.45763263e-04 7.73107448e+00] [-1.16325720e-02 5.71462362e-04 9.99932176e-01 6.04967324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.48509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.60, Y:7.73, Z:6.05 [[ 9.99766687e-01 1.78136448e-02 1.22166035e-02 2.66596237e+02] [-1.78053769e-02 9.99841163e-01 -7.85220914e-04 7.73169001e+00] [-1.22286507e-02 5.67516481e-04 9.99925066e-01 6.04979281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.63, Y:7.73, Z:6.05 [[ 9.99646939e-01 2.33475291e-02 1.26842808e-02 2.66627131e+02] [-2.33390571e-02 9.99727274e-01 -8.15551984e-04 7.73450586e+00] [-1.26998626e-02 5.19224890e-04 9.99919219e-01 6.05022542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.66, Y:7.73, Z:6.05 [[ 9.99594112e-01 2.53987930e-02 1.29039583e-02 2.66655668e+02] [-2.53901717e-02 9.99677272e-01 -8.31520912e-04 7.73460369e+00] [-1.29209135e-02 5.03549690e-04 9.99916395e-01 6.04990247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.68, Y:7.73, Z:6.05 [[ 9.99559112e-01 2.66790064e-02 1.30312341e-02 2.66684424e+02] [-2.66703297e-02 9.99643931e-01 -8.39196954e-04 7.73462619e+00] [-1.30489831e-02 4.91279651e-04 9.99914738e-01 6.04960346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.71, Y:7.73, Z:6.05 [[ 9.99542529e-01 2.72982660e-02 1.30206607e-02 2.66713374e+02] [-2.72896681e-02 9.99627217e-01 -8.37572878e-04 7.73451754e+00] [-1.30386711e-02 4.81860203e-04 9.99914877e-01 6.04899337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.74, Y:7.73, Z:6.05 [[ 9.99548564e-01 2.75763009e-02 1.19254376e-02 2.66740954e+02] [-2.75691150e-02 9.99619606e-01 -7.66576580e-04 7.73445997e+00] [-1.19420406e-02 4.37456759e-04 9.99928596e-01 6.04846927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.77, Y:7.74, Z:6.05 [[ 9.99601311e-01 2.65991122e-02 9.47134129e-03 2.66768888e+02] [-2.65945400e-02 9.99646118e-01 -6.08378841e-04 7.73551621e+00] [-9.48417189e-03 3.56250322e-04 9.99954961e-01 6.04745772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.80, Y:7.74, Z:6.05 [[ 9.99634715e-01 2.54558331e-02 9.07954305e-03 2.66797861e+02] [-2.54515929e-02 9.99675886e-01 -5.82262329e-04 7.73507292e+00] [-9.09142222e-03 3.50960803e-04 9.99958611e-01 6.04689905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.83, Y:7.73, Z:6.05 [[ 9.99669704e-01 2.40127770e-02 9.15803117e-03 2.66826842e+02] [-2.40084085e-02 9.99711584e-01 -5.86665396e-04 7.73454393e+00] [-9.16947731e-03 3.66601870e-04 9.99957892e-01 6.04614153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.85, Y:7.74, Z:6.05 [[ 9.99738011e-01 2.11377635e-02 8.78092893e-03 2.66854648e+02] [-2.11336396e-02 9.99776502e-01 -5.62174354e-04 7.73501608e+00] [-8.79084952e-03 3.76454083e-04 9.99961289e-01 6.04607279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.88, Y:7.73, Z:6.05 [[ 9.99769205e-01 1.95295318e-02 8.95175954e-03 2.66883622e+02] [-1.95251909e-02 9.99809202e-01 -5.72065461e-04 7.73405186e+00] [-8.96122373e-03 3.97148617e-04 9.99959769e-01 6.04517445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.91, Y:7.73, Z:6.04 [[ 9.99800094e-01 1.81775653e-02 8.32750587e-03 2.66912050e+02] [-1.81737661e-02 9.99834702e-01 -5.31675045e-04 7.73295643e+00] [-8.33579391e-03 3.80226616e-04 9.99965184e-01 6.04423526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.94, Y:7.73, Z:6.04 [[ 9.99848382e-01 1.54937192e-02 7.94716368e-03 2.66940941e+02] [-1.54901807e-02 9.99879892e-01 -5.06621638e-04 7.73249743e+00] [-7.95405861e-03 3.83441824e-04 9.99968292e-01 6.04322149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.97, Y:7.73, Z:6.04 [[ 9.99865761e-01 1.41778965e-02 8.21257068e-03 2.66970336e+02] [-1.41740796e-02 9.99899406e-01 -5.22788920e-04 7.73144706e+00] [-8.21915659e-03 4.06313111e-04 9.99966140e-01 6.04239909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.00, Y:7.73, Z:6.04 [[ 9.99866008e-01 1.41604489e-02 8.21260433e-03 2.67000430e+02] [-1.41566357e-02 9.99899653e-01 -5.22259671e-04 7.72956578e+00] [-8.21917565e-03 4.05926845e-04 9.99966140e-01 6.04173025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.03, Y:7.73, Z:6.04 [[ 9.99876734e-01 1.28877700e-02 8.96786828e-03 2.67030562e+02] [-1.28831717e-02 9.99916846e-01 -5.70339869e-04 7.72855273e+00] [-8.97447297e-03 4.54734979e-04 9.99959625e-01 6.04110590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.06, Y:7.73, Z:6.04 [[ 9.99887521e-01 1.18262800e-02 9.22407078e-03 2.67061394e+02] [-1.18213777e-02 9.99929953e-01 -5.85813756e-04 7.72743118e+00] [-9.23035267e-03 4.76706640e-04 9.99957286e-01 6.04042608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.09, Y:7.73, Z:6.04 [[ 9.99904624e-01 1.02755444e-02 9.22802964e-03 2.67091968e+02] [-1.02705820e-02 9.99947085e-01 -5.84977800e-04 7.72694336e+00] [-9.23355231e-03 4.90144772e-04 9.99957250e-01 6.03978191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.12, Y:7.73, Z:6.04 [[ 9.99918541e-01 1.03018428e-02 7.53548875e-03 2.67124078e+02] [-1.02535918e-02 9.99926859e-01 -6.41401101e-03 7.72859524e+00] [-7.60101374e-03 6.33622271e-03 9.99951037e-01 6.04081068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.15, Y:7.72, Z:6.04 [[ 9.99904876e-01 9.31160457e-03 1.01750980e-02 2.67154041e+02] [-9.36596621e-03 9.99942050e-01 5.30808896e-03 7.72261612e+00] [-1.01250815e-02 -5.40288366e-03 9.99934144e-01 6.03677966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.19, Y:7.72, Z:6.04 [[ 9.99898708e-01 9.68755464e-03 1.04271254e-02 2.67186640e+02] [-9.68116904e-03 9.99952917e-01 -6.62704399e-04 7.72427136e+00] [-1.04330544e-02 5.61690509e-04 9.99945416e-01 6.03791828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.22, Y:7.72, Z:6.04 [[ 9.99888680e-01 1.01255583e-02 1.09590164e-02 2.67217487e+02] [-1.01184944e-02 9.99948562e-01 -6.99827545e-04 7.72334850e+00] [-1.09655389e-02 5.88860894e-04 9.99939703e-01 6.03726073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.25, Y:7.72, Z:6.04 [[ 9.99885424e-01 1.07007034e-02 1.07067313e-02 2.67249516e+02] [-1.06939695e-02 9.99942583e-01 -6.85993888e-04 7.72209075e+00] [-1.07134571e-02 5.71417832e-04 9.99942446e-01 6.03697719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.17509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.28, Y:7.72, Z:6.04 [[ 9.99873945e-01 1.14138273e-02 1.10371126e-02 2.67281629e+02] [-1.14066837e-02 9.99934690e-01 -7.09968461e-04 7.72193716e+00] [-1.10444952e-02 5.83982113e-04 9.99938837e-01 6.03607639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.31, Y:7.72, Z:6.04 [[ 9.99874921e-01 1.17180370e-02 1.06221233e-02 2.67313024e+02] [-1.17113977e-02 9.99931183e-01 -6.87036795e-04 7.72083024e+00] [-1.06294430e-02 5.62550952e-04 9.99943348e-01 6.03535654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.23509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.34, Y:7.72, Z:6.03 [[ 9.99873689e-01 1.18812382e-02 1.05566194e-02 2.67344258e+02] [-1.18746613e-02 9.99929259e-01 -6.85469922e-04 7.71935592e+00] [-1.05640168e-02 5.60027060e-04 9.99944042e-01 6.03454979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.38, Y:7.72, Z:6.03 [[ 9.99869798e-01 1.20745408e-02 1.07047970e-02 2.67375948e+02] [-1.20677848e-02 9.99926940e-01 -6.95487600e-04 7.71831538e+00] [-1.07124126e-02 5.66213859e-04 9.99942460e-01 6.03344172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.41, Y:7.72, Z:6.03 [[ 9.99858801e-01 1.25772657e-02 1.11440965e-02 2.67407356e+02] [-1.25699702e-02 9.99920732e-01 -7.24459720e-04 7.71694884e+00] [-1.11523249e-02 5.84276466e-04 9.99937640e-01 6.03243776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.44, Y:7.72, Z:6.03 [[ 9.99837680e-01 1.39985993e-02 1.13425046e-02 2.67438508e+02] [-1.39911282e-02 9.99901847e-01 -7.37766520e-04 7.71687096e+00] [-1.13517190e-02 5.78952330e-04 9.99935400e-01 6.03173120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.47, Y:7.72, Z:6.03 [[ 9.99825590e-01 1.48517356e-02 1.13232095e-02 2.67469814e+02] [-1.48443400e-02 9.99889545e-01 -7.36907421e-04 7.71585207e+00] [-1.13329032e-02 5.68693326e-04 9.99935619e-01 6.03071392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.50, Y:7.71, Z:6.03 [[ 9.99813134e-01 1.60126605e-02 1.08301660e-02 2.67500066e+02] [-1.60059568e-02 9.99871648e-01 -7.05384075e-04 7.71495783e+00] [-1.08400710e-02 5.31905093e-04 9.99941103e-01 6.02989168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.53, Y:7.72, Z:6.03 [[ 9.99775001e-01 1.84119287e-02 1.05331716e-02 2.67530545e+02] [-1.84057164e-02 9.99830365e-01 -6.86427237e-04 7.71605948e+00] [-1.05440233e-02 4.92402222e-04 9.99944289e-01 6.02852594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.56, Y:7.72, Z:6.03 [[ 9.99756640e-01 1.93926492e-02 1.05160235e-02 2.67560405e+02] [-1.93865070e-02 9.99811829e-01 -6.85714795e-04 7.71559321e+00] [-1.05273425e-02 4.81678956e-04 9.99944470e-01 6.02740980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.59, Y:7.71, Z:6.03 [[ 9.99740136e-01 2.02750628e-02 1.04202947e-02 2.67589381e+02] [-2.02690788e-02 9.99794330e-01 -6.79566225e-04 7.71494261e+00] [-1.04319299e-02 4.68179855e-04 9.99945476e-01 6.02643490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.62, Y:7.72, Z:6.03 [[ 9.99714475e-01 2.15150734e-02 1.03956601e-02 2.67617633e+02] [-2.15091903e-02 9.99768421e-01 -6.77407521e-04 7.71551300e+00] [-1.04078272e-02 4.53611872e-04 9.99945734e-01 6.02558479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.65, Y:7.71, Z:6.02 [[ 9.99698655e-01 2.18490129e-02 1.11901743e-02 2.67646755e+02] [-2.18422324e-02 9.99761165e-01 -7.27807244e-04 7.71484067e+00] [-1.12034036e-02 4.83169535e-04 9.99937123e-01 6.02436838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.67, Y:7.72, Z:6.02 [[ 9.99661886e-01 2.29775273e-02 1.21715616e-02 2.67674424e+02] [-2.29695991e-02 9.99735851e-01 -7.90782667e-04 7.71577443e+00] [-1.21865167e-02 5.10939401e-04 9.99925611e-01 6.02367855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.70, Y:7.72, Z:6.02 [[ 9.99605448e-01 2.45033496e-02 1.37307574e-02 2.67703639e+02] [-2.44934262e-02 9.99699594e-01 -8.90434207e-04 7.71750852e+00] [-1.37484512e-02 5.53769591e-04 9.99905332e-01 6.02335146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.73, Y:7.72, Z:6.02 [[ 9.99575488e-01 2.55465137e-02 1.40078566e-02 2.67732683e+02] [-2.55363026e-02 9.99673484e-01 -9.07365119e-04 7.71727900e+00] [-1.40264628e-02 5.49271066e-04 9.99901473e-01 6.02275102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.76, Y:7.72, Z:6.02 [[ 9.99562666e-01 2.60072031e-02 1.40748633e-02 2.67761888e+02] [-2.59969541e-02 9.99661607e-01 -9.10681795e-04 7.71700216e+00] [-1.40937848e-02 5.44379947e-04 9.99900529e-01 6.02208481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.79, Y:7.72, Z:6.02 [[ 9.99540581e-01 2.64784656e-02 1.47484987e-02 2.67789251e+02] [-2.64672782e-02 9.99649226e-01 -9.53250397e-04 7.71656162e+00] [-1.47685659e-02 5.62459839e-04 9.99890781e-01 6.02135213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.82, Y:7.72, Z:6.02 [[ 9.99526228e-01 2.67874802e-02 1.51575475e-02 2.67817571e+02] [-2.67757226e-02 9.99640988e-01 -9.78141443e-04 7.71588712e+00] [-1.51783076e-02 5.71823741e-04 9.99884639e-01 6.02073721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.85, Y:7.72, Z:6.02 [[ 9.99516731e-01 2.70816794e-02 1.52606353e-02 2.67846859e+02] [-2.70698123e-02 9.99633061e-01 -9.83691244e-04 7.71506758e+00] [-1.52816756e-02 5.70113324e-04 9.99883066e-01 6.02005954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.87, Y:7.72, Z:6.02 [[ 9.99529148e-01 2.67795191e-02 1.49780032e-02 2.67874571e+02] [-2.67680666e-02 9.99641206e-01 -9.64612254e-04 7.71516464e+00] [-1.49984610e-02 5.63225877e-04 9.99887358e-01 6.01886929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.90, Y:7.71, Z:6.02 [[ 9.99532840e-01 2.64320585e-02 1.53442963e-02 2.67903342e+02] [-2.64200235e-02 9.99650443e-01 -9.86543240e-04 7.71409012e+00] [-1.53650090e-02 5.80685697e-04 9.99881783e-01 6.01794636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.93, Y:7.71, Z:6.02 [[ 9.99548324e-01 2.58423446e-02 1.53401895e-02 2.67931040e+02] [-2.58302621e-02 9.99665858e-01 -9.85279588e-04 7.71310281e+00] [-1.53605256e-02 5.88593446e-04 9.99881847e-01 6.01728347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.96, Y:7.71, Z:6.02 [[ 9.99576481e-01 2.47558356e-02 1.52972828e-02 2.67959621e+02] [-2.47437202e-02 9.99693346e-01 -9.80782608e-04 7.71296281e+00] [-1.53168719e-02 6.01855543e-04 9.99882509e-01 6.01676631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.99, Y:7.71, Z:6.02 [[ 9.99602056e-01 2.40032348e-02 1.48180386e-02 2.67988673e+02] [-2.39917880e-02 9.99711704e-01 -9.49801822e-04 7.71252242e+00] [-1.48365650e-02 5.93912613e-04 9.99889756e-01 6.01598387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.92509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.02, Y:7.71, Z:6.02 [[ 9.99605566e-01 2.38358192e-02 1.48514809e-02 2.68017427e+02] [-2.38243201e-02 9.99715709e-01 -9.50737008e-04 7.71100759e+00] [-1.48699203e-02 5.96535571e-04 9.99889259e-01 6.01517024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.05, Y:7.71, Z:6.01 [[ 9.99607795e-01 2.37029829e-02 1.49139253e-02 2.68045944e+02] [-2.36913824e-02 9.99718865e-01 -9.54049934e-04 7.70981913e+00] [-1.49323463e-02 6.00344244e-04 9.99888326e-01 6.01429462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.98509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.08, Y:7.71, Z:6.01 [[ 9.99589857e-01 2.40753060e-02 1.55079634e-02 2.68075159e+02] [-2.40628257e-02 9.99709957e-01 -9.90889499e-04 7.70854536e+00] [-1.55273214e-02 6.17317673e-04 9.99879253e-01 6.01343289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.10, Y:7.71, Z:6.01 [[ 9.99542500e-01 2.56172083e-02 1.60794787e-02 2.68104227e+02] [-2.56040090e-02 9.99671637e-01 -1.02623809e-03 7.70786585e+00] [-1.61004881e-02 6.14069471e-04 9.99870190e-01 6.01257457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.13, Y:7.70, Z:6.01 [[ 9.99699882e-01 2.17414198e-02 1.12896941e-02 2.68130018e+02] [-2.20294058e-02 9.99418042e-01 2.60438504e-02 7.70029261e+00] [-1.07168936e-02 -2.62847395e-02 9.99597049e-01 6.01146602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.17, Y:7.72, Z:6.02 [[ 9.99481674e-01 2.80763381e-02 1.57512537e-02 2.68166908e+02] [-2.76444210e-02 9.99253127e-01 -2.69995306e-02 7.71750849e+00] [-1.64975375e-02 2.65501017e-02 9.99511342e-01 6.02050000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.19, Y:7.70, Z:6.01 [[ 9.99455902e-01 2.80235067e-02 1.73949142e-02 2.68194847e+02] [-2.80083401e-02 9.99607068e-01 -1.11495159e-03 7.70399075e+00] [-1.74193240e-02 6.27142280e-04 9.99848075e-01 6.01006139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.22, Y:7.70, Z:6.01 [[ 9.99410899e-01 2.89524783e-02 1.84284673e-02 2.68223881e+02] [-2.89356384e-02 9.99580580e-01 -1.17984231e-03 7.70246056e+00] [-1.84548974e-02 6.45907799e-04 9.99829485e-01 6.00847643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.25, Y:7.70, Z:6.01 [[ 9.99405128e-01 2.91579819e-02 1.84174281e-02 2.68251697e+02] [-2.91412203e-02 9.99574610e-01 -1.17786933e-03 7.70107616e+00] [-1.84439378e-02 6.40462316e-04 9.99829691e-01 6.00787312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.28, Y:7.70, Z:6.01 [[ 9.99390937e-01 2.93817168e-02 1.88273563e-02 2.68280419e+02] [-2.93642746e-02 9.99568054e-01 -1.20226865e-03 7.69958942e+00] [-1.88545487e-02 6.48684727e-04 9.99822027e-01 6.00683442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.31, Y:7.70, Z:6.01 [[ 9.99393926e-01 2.94794350e-02 1.85133331e-02 2.68309164e+02] [-2.94626106e-02 9.99565185e-01 -1.18092523e-03 7.69872653e+00] [-1.85400962e-02 6.34758379e-04 9.99827916e-01 6.00649288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.34, Y:7.70, Z:6.01 [[ 9.99399143e-01 2.95422318e-02 1.81276165e-02 2.68337917e+02] [-2.95261347e-02 9.99563341e-01 -1.15504908e-03 7.69745162e+00] [-1.81538237e-02 6.19116614e-04 9.99835014e-01 6.00584506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.37, Y:7.70, Z:6.00 [[ 9.99407565e-01 2.92438730e-02 1.81470348e-02 2.68367115e+02] [-2.92277187e-02 9.99572112e-01 -1.15482824e-03 7.69573775e+00] [-1.81730416e-02 6.23747650e-04 9.99834662e-01 6.00443924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.40, Y:7.69, Z:6.00 [[ 9.99412551e-01 2.90693517e-02 1.81528197e-02 2.68396092e+02] [-2.90531699e-02 9.99577201e-01 -1.15456037e-03 7.69365601e+00] [-1.81787070e-02 6.26485174e-04 9.99834557e-01 6.00354030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.43, Y:7.69, Z:6.00 [[ 9.99403483e-01 2.90311748e-02 1.87048013e-02 2.68425224e+02] [-2.90139982e-02 9.99578298e-01 -1.18907778e-03 7.69126300e+00] [-1.87314338e-02 6.45667401e-04 9.99824343e-01 6.00281679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.45, Y:7.69, Z:6.00 [[ 9.99377834e-01 2.94259680e-02 1.94436741e-02 2.68453570e+02] [-2.94075105e-02 9.99566743e-01 -1.23458461e-03 7.68884564e+00] [-1.94715788e-02 6.62026442e-04 9.99810192e-01 6.00176733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.48, Y:7.69, Z:6.00 [[ 9.99369879e-01 2.96703838e-02 1.94811054e-02 2.68481827e+02] [-2.96519301e-02 9.99559521e-01 -1.23549825e-03 7.68706411e+00] [-1.95091821e-02 6.57067360e-04 9.99809462e-01 6.00132944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.51, Y:7.69, Z:6.00 [[ 9.99378924e-01 2.96026481e-02 1.91167452e-02 2.68510216e+02] [-2.95848840e-02 9.99561537e-01 -1.21144188e-03 7.68544388e+00] [-1.91442252e-02 6.45122795e-04 9.99816524e-01 6.00084058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.54, Y:7.67, Z:6.00 [[ 9.99593824e-01 2.54130029e-02 1.28982898e-02 2.68535154e+02] [-2.58342818e-02 9.99100744e-01 3.36198402e-02 7.67339282e+00] [-1.20323098e-02 -3.39394027e-02 9.99351460e-01 5.99861880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.57, Y:7.70, Z:6.01 [[ 9.99352937e-01 3.18213369e-02 1.67663225e-02 2.68572202e+02] [-3.12175872e-02 9.98895479e-01 -3.51181423e-02 7.69748792e+00] [-1.78653100e-02 3.45720145e-02 9.99242516e-01 6.01153548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.60, Y:7.68, Z:6.00 [[ 9.99351152e-01 3.09766445e-02 1.83772191e-02 2.68598644e+02] [-3.09604667e-02 9.99519932e-01 -1.16424034e-03 7.67945057e+00] [-1.84044611e-02 5.94517641e-04 9.99830447e-01 5.99797583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.63, Y:7.68, Z:6.00 [[ 9.99373986e-01 3.03628728e-02 1.81585338e-02 2.68627424e+02] [-3.03470068e-02 9.99538763e-01 -1.14872289e-03 7.67718838e+00] [-1.81850370e-02 5.96946623e-04 9.99834460e-01 5.99684787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.66, Y:7.67, Z:6.00 [[ 9.99414516e-01 2.90976863e-02 1.79985925e-02 2.68656291e+02] [-2.90819161e-02 9.99576385e-01 -1.13736833e-03 7.67412827e+00] [-1.80240629e-02 6.13268862e-04 9.99837365e-01 5.99537316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.68, Y:7.67, Z:5.99 [[ 9.99443933e-01 2.84301519e-02 1.74227156e-02 2.68684518e+02] [-2.84152957e-02 9.99595599e-01 -1.09970426e-03 7.67215348e+00] [-1.74469346e-02 6.04021138e-04 9.99847608e-01 5.99488710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.71, Y:7.67, Z:5.99 [[ 9.99465441e-01 2.75314971e-02 1.76309095e-02 2.68713860e+02] [-2.75161622e-02 9.99620740e-01 -1.11182000e-03 7.67001994e+00] [-1.76548329e-02 6.26090702e-04 9.99843945e-01 5.99433177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.67509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.74, Y:7.67, Z:5.99 [[ 9.99459998e-01 2.74471235e-02 1.80656405e-02 2.68742376e+02] [-2.74310180e-02 9.99623050e-01 -1.13873996e-03 7.66810616e+00] [-1.80900858e-02 6.42566127e-04 9.99836155e-01 5.99374368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.77, Y:7.67, Z:5.99 [[ 9.99449524e-01 2.75635627e-02 1.84634612e-02 2.68771066e+02] [-2.75467860e-02 9.99619839e-01 -1.16240507e-03 7.66614400e+00] [-1.84884822e-02 6.53156180e-04 9.99828860e-01 5.99311270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.73509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.80, Y:7.66, Z:5.99 [[ 9.99437198e-01 2.76264802e-02 1.90280213e-02 2.68800182e+02] [-2.76086938e-02 9.99618091e-01 -1.19685677e-03 7.66364403e+00] [-1.90538193e-02 6.70844360e-04 9.99818234e-01 5.99253421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.83, Y:7.66, Z:5.99 [[ 9.99437211e-01 2.74801577e-02 1.92380296e-02 2.68829025e+02] [-2.74619619e-02 9.99622118e-01 -1.20942081e-03 7.66088136e+00] [-1.92639950e-02 6.80426121e-04 9.99814200e-01 5.99148563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.86, Y:7.66, Z:5.99 [[ 9.99439513e-01 2.71197330e-02 1.96259888e-02 2.68858097e+02] [-2.71007497e-02 9.99631947e-01 -1.23262174e-03 7.65801562e+00] [-1.96521938e-02 7.00051860e-04 9.99806632e-01 5.99055730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.89, Y:7.66, Z:5.99 [[ 9.99463461e-01 2.63337013e-02 1.94763176e-02 2.68887883e+02] [-2.63148631e-02 9.99652956e-01 -1.22293153e-03 7.65530383e+00] [-1.95017628e-02 7.09758747e-04 9.99809571e-01 5.98980312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.92, Y:7.65, Z:5.99 [[ 9.99463911e-01 2.63165611e-02 1.94763630e-02 2.68917977e+02] [-2.62977337e-02 9.99653408e-01 -1.22220854e-03 7.65344714e+00] [-1.95017770e-02 7.09369121e-04 9.99809571e-01 5.98911798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.95, Y:7.65, Z:5.99 [[ 9.99514496e-01 2.45251988e-02 1.92168229e-02 2.68948339e+02] [-2.45065467e-02 9.99698943e-01 -1.20553679e-03 7.65054015e+00] [-1.92406036e-02 7.34013529e-04 9.99814613e-01 5.98802627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.98, Y:7.65, Z:5.99 [[ 9.99545573e-01 2.33693731e-02 1.90399619e-02 2.68978297e+02] [-2.33508547e-02 9.99726618e-01 -1.19437813e-03 7.64834759e+00] [-1.90626686e-02 7.49235989e-04 9.99818010e-01 5.98717863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.01, Y:7.65, Z:5.99 [[ 9.99597566e-01 2.12884392e-02 1.87485839e-02 2.69009920e+02] [-2.12701132e-02 9.99773074e-01 -1.17634940e-03 7.64534636e+00] [-1.87693719e-02 7.77091493e-04 9.99823538e-01 5.98638019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.04, Y:7.64, Z:5.99 [[ 9.99609190e-01 2.07485430e-02 1.87340929e-02 2.69041314e+02] [-2.07301527e-02 9.99784416e-01 -1.17533688e-03 7.64270220e+00] [-1.87544406e-02 7.86516937e-04 9.99823811e-01 5.98558067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.07, Y:7.64, Z:5.98 [[ 9.99623463e-01 2.01940963e-02 1.85777204e-02 2.69072874e+02] [-2.01758205e-02 9.99795762e-01 -1.17067159e-03 7.64013158e+00] [-1.85975668e-02 7.95410036e-04 9.99826734e-01 5.98497259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.11, Y:7.64, Z:5.98 [[ 9.99625426e-01 1.99815017e-02 1.87015586e-02 2.69105080e+02] [-1.99629477e-02 9.99800026e-01 -1.17828779e-03 7.63738975e+00] [-1.87213628e-02 8.04508200e-04 9.99824416e-01 5.98374959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.14, Y:7.63, Z:5.98 [[ 9.99638628e-01 1.98412238e-02 1.81366614e-02 2.69137689e+02] [-1.98236704e-02 9.99802834e-01 -1.14712702e-03 7.63455478e+00] [-1.81558459e-02 7.87177280e-04 9.99834859e-01 5.98300058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.17, Y:7.63, Z:5.98 [[ 9.99649871e-01 1.95674681e-02 1.78114960e-02 2.69169290e+02] [-1.95504145e-02 9.99808233e-01 -1.13108754e-03 7.63160992e+00] [-1.78302128e-02 7.82469388e-04 9.99840723e-01 5.98178249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.20, Y:7.63, Z:5.98 [[ 9.99660558e-01 1.94093196e-02 1.73794830e-02 2.69201174e+02] [-1.93929929e-02 9.99811325e-01 -1.10747714e-03 7.62926613e+00] [-1.73976993e-02 7.70061028e-04 9.99848352e-01 5.98122788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.23, Y:7.63, Z:5.98 [[ 9.99661406e-01 1.93726072e-02 1.73716587e-02 2.69232296e+02] [-1.93561925e-02 9.99812032e-01 -1.11257021e-03 7.62715357e+00] [-1.73899467e-02 7.75944335e-04 9.99848482e-01 5.98053766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.26, Y:7.62, Z:5.98 [[ 9.99650287e-01 1.94569642e-02 1.79089510e-02 2.69263332e+02] [-1.94395365e-02 9.99810377e-01 -1.14671541e-03 7.62435780e+00] [-1.79278667e-02 7.98172680e-04 9.99838964e-01 5.97983456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.30, Y:7.62, Z:5.98 [[ 9.99625423e-01 2.02336667e-02 1.84285843e-02 2.69295757e+02] [-2.02152632e-02 9.99794949e-01 -1.18439646e-03 7.62169835e+00] [-1.84487702e-02 8.11414127e-04 9.99829478e-01 5.97894934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.33, Y:7.62, Z:5.98 [[ 9.99599431e-01 2.12232135e-02 1.87230554e-02 2.69326792e+02] [-2.12042992e-02 9.99774434e-01 -1.20817909e-03 7.61915704e+00] [-1.87444736e-02 8.10685862e-04 9.99823978e-01 5.97805693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.36, Y:7.62, Z:5.98 [[ 9.99536221e-01 2.36384709e-02 1.91980879e-02 2.69358370e+02] [-2.36189283e-02 9.99720260e-01 -1.24407640e-03 7.61696370e+00] [-1.92221255e-02 7.90061162e-04 9.99814926e-01 5.97770058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.39, Y:7.62, Z:5.98 [[ 9.99499769e-01 2.52938030e-02 1.89851237e-02 2.69388334e+02] [-2.52749755e-02 9.99679779e-01 -1.23102444e-03 7.61520246e+00] [-1.90101815e-02 7.50560103e-04 9.99819008e-01 5.97660446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.42, Y:7.61, Z:5.98 [[ 9.99417045e-01 2.87936745e-02 1.83437726e-02 2.69418499e+02] [-2.87766791e-02 9.99585157e-01 -1.18983375e-03 7.61378172e+00] [-1.83704225e-02 6.61267274e-04 9.99831031e-01 5.97541040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.45, Y:7.61, Z:5.97 [[ 9.99373897e-01 3.03234985e-02 1.82291030e-02 2.69447300e+02] [-3.03069633e-02 9.99539939e-01 -1.18271167e-03 7.61254210e+00] [-1.82565805e-02 6.29502412e-04 9.99833137e-01 5.97449574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.48, Y:7.61, Z:5.97 [[ 9.99272346e-01 3.35000056e-02 1.82353693e-02 2.69475908e+02] [-3.34840111e-02 9.99438555e-01 -1.18181604e-03 7.61132845e+00] [-1.82647220e-02 5.70362779e-04 9.99833023e-01 5.97333033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.42509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.50, Y:7.61, Z:5.97 [[ 9.99232188e-01 3.47921106e-02 1.80150810e-02 2.69504734e+02] [-3.47767327e-02 9.99394426e-01 -1.16628692e-03 7.60967047e+00] [-1.80447491e-02 5.38885781e-04 9.99837035e-01 5.97261959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.53, Y:7.61, Z:5.97 [[ 9.99190808e-01 3.57565365e-02 1.84173717e-02 2.69533743e+02] [-3.57406525e-02 9.99360389e-01 -1.19098306e-03 7.60772305e+00] [-1.84481772e-02 5.31770440e-04 9.99829676e-01 5.97140067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.48509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.56, Y:7.61, Z:5.97 [[ 9.99160920e-01 3.65448688e-02 1.84912862e-02 2.69561303e+02] [-3.65290146e-02 9.99331879e-01 -1.19453442e-03 7.60572620e+00] [-1.85225859e-02 5.18063642e-04 9.99828308e-01 5.97065396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.59, Y:7.60, Z:5.97 [[ 9.99138776e-01 3.71955914e-02 1.83900331e-02 2.69590375e+02] [-3.71800547e-02 9.99307879e-01 -1.18614104e-03 7.60410693e+00] [-1.84214242e-02 5.01377066e-04 9.99830185e-01 5.96961520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.62, Y:7.61, Z:5.97 [[ 9.99051860e-01 3.85547425e-02 2.02216092e-02 2.69619219e+02] [-3.82444796e-02 9.99148007e-01 -1.55119084e-02 7.60911053e+00] [-2.08024382e-02 1.47238360e-02 9.99675181e-01 5.96852762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.65, Y:7.59, Z:5.96 [[ 9.99157517e-01 3.64342650e-02 1.88891675e-02 2.69647099e+02] [-3.66827563e-02 9.99242662e-01 1.29799148e-02 7.59384560e+00] [-1.84019483e-02 -1.36618861e-02 9.99737326e-01 5.96289936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.68, Y:7.60, Z:5.97 [[ 9.99196330e-01 3.59244277e-02 1.77800512e-02 2.69676838e+02] [-3.59097782e-02 9.99354383e-01 -1.14261195e-03 7.59874848e+00] [-1.78096198e-02 5.03215967e-04 9.99841270e-01 5.96688287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.71, Y:7.60, Z:5.97 [[ 9.99207709e-01 3.55847070e-02 1.78236854e-02 2.69705340e+02] [-3.55699540e-02 9.99366534e-01 -1.14415611e-03 7.59664544e+00] [-1.78531092e-02 5.09261933e-04 9.99840491e-01 5.96572498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.73, Y:7.59, Z:5.97 [[ 9.99243426e-01 3.43285739e-02 1.82790973e-02 2.69734191e+02] [-3.43128715e-02 9.99410453e-01 -1.17206918e-03 7.59392362e+00] [-1.83085563e-02 5.43974102e-04 9.99832236e-01 5.96510358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.76, Y:7.59, Z:5.96 [[ 9.99258052e-01 3.37194699e-02 1.86103062e-02 2.69762884e+02] [-3.37031135e-02 9.99431178e-01 -1.19192260e-03 7.59194231e+00] [-1.86399113e-02 5.63812988e-04 9.99826103e-01 5.96458760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.79, Y:7.59, Z:5.96 [[ 9.99265913e-01 3.33001754e-02 1.89402378e-02 2.69790870e+02] [-3.32831838e-02 9.99445227e-01 -1.21172602e-03 7.58980203e+00] [-1.89700809e-02 5.80445090e-04 9.99819883e-01 5.96359143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.82, Y:7.59, Z:5.96 [[ 9.99280419e-01 3.28322339e-02 1.89918164e-02 2.69820042e+02] [-3.28150987e-02 9.99460703e-01 -1.21325962e-03 7.58776700e+00] [-1.90214082e-02 5.89168252e-04 9.99818903e-01 5.96286405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.85, Y:7.59, Z:5.96 [[ 9.99296083e-01 3.20534444e-02 1.94914134e-02 2.69848900e+02] [-3.20352755e-02 9.99485965e-01 -1.24375262e-03 7.58591641e+00] [-1.95212607e-02 6.18464320e-04 9.99809251e-01 5.96235281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.88, Y:7.58, Z:5.96 [[ 9.99300204e-01 3.19411944e-02 1.94643875e-02 2.69877735e+02] [-3.19230831e-02 9.99489559e-01 -1.24056541e-03 7.58420285e+00] [-1.94940772e-02 6.18334004e-04 9.99809781e-01 5.96179988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.91, Y:7.58, Z:5.96 [[ 9.99291716e-01 3.20076790e-02 1.97882566e-02 2.69906897e+02] [-3.19889954e-02 9.99487427e-01 -1.26007119e-03 7.58222697e+00] [-1.98184456e-02 6.26172254e-04 9.99803399e-01 5.96100803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.94, Y:7.58, Z:5.96 [[ 9.99289541e-01 3.20652928e-02 1.98048251e-02 2.69936581e+02] [-3.20466033e-02 9.99485581e-01 -1.26041857e-03 7.58033888e+00] [-1.98350528e-02 6.24845723e-04 9.99803071e-01 5.96040191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.97, Y:7.58, Z:5.96 [[ 9.99292560e-01 3.22032007e-02 1.94250531e-02 2.69965292e+02] [-3.21852592e-02 9.99481157e-01 -1.23562971e-03 7.57795729e+00] [-1.94547658e-02 6.09555203e-04 9.99810552e-01 5.95944946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.99, Y:7.58, Z:5.96 [[ 9.99301588e-01 3.19878757e-02 1.93160875e-02 2.69994384e+02] [-3.19701156e-02 9.99488071e-01 -1.22762570e-03 7.57582544e+00] [-1.93454682e-02 6.09230762e-04 9.99812673e-01 5.95836634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.02, Y:7.57, Z:5.96 [[ 9.99340653e-01 3.09938142e-02 1.89114563e-02 2.70023612e+02] [-3.09766252e-02 9.99519387e-01 -1.20124640e-03 7.57338961e+00] [-1.89395984e-02 6.14641264e-04 9.99820441e-01 5.95682232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.05, Y:7.57, Z:5.96 [[ 9.99367737e-01 3.00408527e-02 1.90177287e-02 2.70052434e+02] [-3.00233095e-02 9.99548470e-01 -1.20737538e-03 7.57117948e+00] [-1.90454123e-02 6.35636845e-04 9.99818418e-01 5.95613001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.08, Y:7.57, Z:5.96 [[ 9.99391472e-01 2.89820278e-02 1.94094753e-02 2.70081510e+02] [-2.89635765e-02 9.99579709e-01 -1.23112934e-03 7.56905836e+00] [-1.94369983e-02 6.68212342e-04 9.99810860e-01 5.95536434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.11, Y:7.57, Z:5.95 [[ 9.99463413e-01 2.64643043e-02 1.93009309e-02 2.70110888e+02] [-2.64456070e-02 9.99649505e-01 -1.22336655e-03 7.56614705e+00] [-1.93265415e-02 7.12285272e-04 9.99812971e-01 5.95446253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.14, Y:7.56, Z:5.95 [[ 9.99492660e-01 2.52639386e-02 1.93947491e-02 2.70141621e+02] [-2.52448251e-02 9.99680542e-01 -1.22973808e-03 7.56339521e+00] [-1.94196214e-02 7.39497137e-04 9.99811148e-01 5.95327095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.17, Y:7.56, Z:5.95 [[ 9.99542009e-01 2.37613467e-02 1.87395592e-02 2.70171818e+02] [-2.37432406e-02 9.99717384e-01 -1.18812505e-03 7.56075069e+00] [-1.87624945e-02 7.42643037e-04 9.99823693e-01 5.95249467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.20, Y:7.56, Z:5.95 [[ 9.99630923e-01 2.04672893e-02 1.78635724e-02 2.70203124e+02] [-2.04503078e-02 9.99790229e-01 -1.13279607e-03 7.55766786e+00] [-1.78830104e-02 7.67062429e-04 9.99839792e-01 5.95116225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.17509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.23, Y:7.56, Z:5.95 [[ 9.99668333e-01 1.88050952e-02 1.75952653e-02 2.70233852e+02] [-1.87883698e-02 9.99822861e-01 -1.11540018e-03 7.55527339e+00] [-1.76131237e-02 7.84443890e-04 9.99844569e-01 5.95053352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.27, Y:7.55, Z:5.95 [[ 9.99730925e-01 1.49932909e-02 1.76996736e-02 2.70266304e+02] [-1.49756973e-02 9.99887224e-01 -1.12614050e-03 7.55163753e+00] [-1.77145620e-02 8.60772533e-04 9.99842714e-01 5.94994155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.23509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.30, Y:7.55, Z:5.95 [[ 9.99757639e-01 1.34084971e-02 1.74606604e-02 2.70298776e+02] [-1.33910610e-02 9.99909714e-01 -1.11513458e-03 7.54861781e+00] [-1.74740362e-02 8.81047543e-04 9.99846929e-01 5.94960530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.33, Y:7.54, Z:5.95 [[ 9.99787627e-01 1.07142017e-02 1.76041501e-02 2.70332164e+02] [-1.06959803e-02 9.99942159e-01 -1.12889260e-03 7.54477511e+00] [-1.76152271e-02 9.40359206e-04 9.99844398e-01 5.94854572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.36, Y:7.54, Z:5.95 [[ 9.99790557e-01 1.01466786e-02 1.77732041e-02 2.70364620e+02] [-1.01279199e-02 9.99948056e-01 -1.14514092e-03 7.54221675e+00] [-1.77839003e-02 9.64895488e-04 9.99841388e-01 5.94817501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.40, Y:7.54, Z:5.95 [[ 9.99775669e-01 9.92176850e-03 1.87128605e-02 2.70397345e+02] [-9.90083296e-03 9.99950252e-01 -1.21109306e-03 7.53981190e+00] [-1.87239458e-02 1.02554847e-03 9.99824166e-01 5.94757048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.43, Y:7.54, Z:5.95 [[ 9.99771469e-01 1.00876021e-02 1.88480997e-02 2.70430888e+02] [-1.00662896e-02 9.99948583e-01 -1.22528604e-03 7.53766580e+00] [-1.88594908e-02 1.03527560e-03 9.99821608e-01 5.94748447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.46, Y:7.54, Z:5.95 [[ 9.99758079e-01 1.06443977e-02 1.92478467e-02 2.70463878e+02] [-1.06221646e-02 9.99942793e-01 -1.25696561e-03 7.53572221e+00] [-1.92601252e-02 1.05220773e-03 9.99813953e-01 5.94697667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.50, Y:7.53, Z:5.95 [[ 9.99737142e-01 1.21936255e-02 1.94155111e-02 2.70496349e+02] [-1.21711814e-02 9.99925117e-01 -1.27373722e-03 7.53390913e+00] [-1.94295887e-02 1.03709270e-03 9.99810690e-01 5.94701521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.53, Y:7.53, Z:5.95 [[ 9.99713921e-01 1.32660446e-02 1.99019568e-02 2.70529856e+02] [-1.32425635e-02 9.99911454e-01 -1.31117241e-03 7.53132135e+00] [-1.99175886e-02 1.04724438e-03 9.99801077e-01 5.94635342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.56, Y:7.53, Z:5.95 [[ 9.99698855e-01 1.40349887e-02 2.01300177e-02 2.70561781e+02] [-1.40109952e-02 9.99900953e-01 -1.33247784e-03 7.52898224e+00] [-2.01467252e-02 1.05003499e-03 9.99796483e-01 5.94594240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.59, Y:7.53, Z:5.95 [[ 9.99683327e-01 1.49037217e-02 2.02762124e-02 2.70594388e+02] [-1.48794859e-02 9.99888389e-01 -1.34563351e-03 7.52669698e+00] [-2.02940043e-02 1.04350777e-03 9.99793511e-01 5.94558352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.63, Y:7.52, Z:5.95 [[ 9.99683918e-01 1.57430049e-02 1.96015852e-02 2.70626627e+02] [-1.57204069e-02 9.99875573e-01 -1.30642973e-03 7.52483558e+00] [-1.96197133e-02 9.97871900e-04 9.99807017e-01 5.94522595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.66, Y:7.52, Z:5.94 [[ 9.99696122e-01 1.63009881e-02 1.84916511e-02 2.70659918e+02] [-1.62808875e-02 9.99866692e-01 -1.23704506e-03 7.52267820e+00] [-1.85093511e-02 9.35608655e-04 9.99828250e-01 5.94433836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.69, Y:7.52, Z:5.94 [[ 9.99709873e-01 1.70168907e-02 1.70468410e-02 2.70691766e+02] [-1.69998343e-02 9.99854837e-01 -1.14497812e-03 7.52067286e+00] [-1.70638504e-02 8.54852457e-04 9.99854036e-01 5.94285703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.72, Y:7.52, Z:5.94 [[ 9.99706072e-01 1.77221188e-02 1.65437766e-02 2.70724107e+02] [-1.77060770e-02 9.99842613e-01 -1.11564024e-03 7.51845766e+00] [-1.65609443e-02 8.22386945e-04 9.99862520e-01 5.94216497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.76, Y:7.52, Z:5.94 [[ 9.99695429e-01 1.93690495e-02 1.52934281e-02 2.70755035e+02] [-1.93554788e-02 9.99812130e-01 -1.03489153e-03 7.51677984e+00] [-1.53105998e-02 7.38564708e-04 9.99882513e-01 5.94168627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.79, Y:7.52, Z:5.94 [[ 9.99671831e-01 2.12064272e-02 1.43707581e-02 2.70786314e+02] [-2.11945671e-02 9.99774892e-01 -9.77106050e-04 7.51577553e+00] [-1.43882440e-02 6.72203397e-04 9.99896258e-01 5.94132054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.82, Y:7.51, Z:5.94 [[ 9.99672206e-01 2.11887728e-02 1.43706936e-02 2.70816399e+02] [-2.11768973e-02 9.99775266e-01 -9.78053508e-04 7.51376038e+00] [-1.43881878e-02 6.73406205e-04 9.99896258e-01 5.94063551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.85, Y:7.51, Z:5.94 [[ 9.99651055e-01 2.23541118e-02 1.40734825e-02 2.70846711e+02] [-2.23428433e-02 9.99749909e-01 -9.57431202e-04 7.51234029e+00] [-1.40913654e-02 6.42655497e-04 9.99900505e-01 5.93996102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.88, Y:7.51, Z:5.94 [[ 9.99627794e-01 2.35014029e-02 1.38549065e-02 2.70876431e+02] [-2.34905874e-02 9.99723613e-01 -9.42872036e-04 7.51131686e+00] [-1.38732360e-02 6.17061201e-04 9.99903572e-01 5.93950565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.91, Y:7.51, Z:5.94 [[ 9.99602678e-01 2.45747177e-02 1.38046571e-02 2.70905175e+02] [-2.45640872e-02 9.99697816e-01 -9.39121216e-04 7.51037974e+00] [-1.38235642e-02 5.99649282e-04 9.99904270e-01 5.93916134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.93, Y:7.51, Z:5.94 [[ 9.99528228e-01 2.69588972e-02 1.47152788e-02 2.70934412e+02] [-2.69470863e-02 9.99636361e-01 -1.00035425e-03 7.51040543e+00] [-1.47368962e-02 6.03348420e-04 9.99891224e-01 5.93938407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.96, Y:7.51, Z:5.94 [[ 9.99496638e-01 2.79627381e-02 1.49851690e-02 2.70962658e+02] [-2.79506167e-02 9.99608787e-01 -1.01776093e-03 7.50939769e+00] [-1.50077660e-02 5.98403916e-04 9.99887198e-01 5.93917081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.99, Y:7.51, Z:5.94 [[ 9.99424113e-01 3.02532668e-02 1.53682061e-02 2.70991157e+02] [-3.02408107e-02 9.99542099e-01 -1.04230426e-03 7.50856617e+00] [-1.53927020e-02 5.76957003e-04 9.99881359e-01 5.93861034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.92509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.02, Y:7.51, Z:5.94 [[ 9.99370576e-01 3.15470846e-02 1.62244495e-02 2.71019524e+02] [-3.15333926e-02 9.99502095e-01 -1.09910563e-03 7.50755225e+00] [-1.62510448e-02 5.86801894e-04 9.99867771e-01 5.93805639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.05, Y:7.51, Z:5.94 [[ 9.99310763e-01 3.31823133e-02 1.66413264e-02 2.71048412e+02] [-3.31681557e-02 9.99449151e-01 -1.12610704e-03 7.50772545e+00] [-1.66695263e-02 5.73368778e-04 9.99860889e-01 5.93833133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.98509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.08, Y:7.51, Z:5.94 [[ 9.99294844e-01 3.36141517e-02 1.67303190e-02 2.71075984e+02] [-3.35999213e-02 9.99434723e-01 -1.13101748e-03 7.50676743e+00] [-1.67588799e-02 5.68082530e-04 9.99859399e-01 5.93797656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.11, Y:7.50, Z:5.94 [[ 9.99296623e-01 3.35611681e-02 1.67304340e-02 2.71105225e+02] [-3.35469588e-02 9.99436504e-01 -1.12931314e-03 7.50485392e+00] [-1.67589076e-02 5.67263623e-04 9.99859399e-01 5.93730981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.13, Y:7.50, Z:5.94 [[ 9.99306923e-01 3.31805516e-02 1.68737714e-02 2.71134014e+02] [-3.31660571e-02 9.99449207e-01 -1.13818260e-03 7.50402357e+00] [-1.69022430e-02 5.77757290e-04 9.99856980e-01 5.93695861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.16, Y:7.50, Z:5.94 [[ 9.99326297e-01 3.28342691e-02 1.63970224e-02 2.71162130e+02] [-3.28205516e-02 9.99460650e-01 -1.10505626e-03 7.50251734e+00] [-1.64244623e-02 5.66152460e-04 9.99864949e-01 5.93644216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.19, Y:7.50, Z:5.94 [[ 9.99349263e-01 3.21697056e-02 1.63144361e-02 2.71190920e+02] [-3.21560650e-02 9.99482257e-01 -1.09780641e-03 7.50083142e+00] [-1.63413055e-02 5.72483962e-04 9.99866308e-01 5.93553614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.22, Y:7.50, Z:5.93 [[ 9.99393350e-01 3.12003925e-02 1.54747601e-02 2.71219094e+02] [-3.11880180e-02 9.99512994e-01 -1.04040395e-03 7.49890813e+00] [-1.54996848e-02 5.57145687e-04 9.99879717e-01 5.93477933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.25, Y:7.50, Z:5.93 [[ 9.99401471e-01 3.09800577e-02 1.53927044e-02 2.71247480e+02] [-3.09678107e-02 9.99519848e-01 -1.03341345e-03 7.49738960e+00] [-1.54173288e-02 5.56116567e-04 9.99880991e-01 5.93416187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.28, Y:7.50, Z:5.93 [[ 9.99414747e-01 3.08663784e-02 1.47455332e-02 2.71276331e+02] [-3.08551422e-02 9.99523378e-01 -9.88958440e-04 7.49623645e+00] [-1.47690307e-02 5.33404125e-04 9.99890790e-01 5.93389942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.30, Y:7.50, Z:5.93 [[ 9.99385994e-01 3.21264920e-02 1.39829645e-02 2.71303966e+02] [-3.21165220e-02 9.99483692e-01 -9.37036354e-04 7.49650014e+00] [-1.40058487e-02 4.87376820e-04 9.99901795e-01 5.93354751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.33, Y:7.50, Z:5.93 [[ 9.99366530e-01 3.29024787e-02 1.35633595e-02 2.71331328e+02] [-3.28931854e-02 9.99458461e-01 -9.07744768e-04 7.49555171e+00] [-1.35858814e-02 4.61027641e-04 9.99907601e-01 5.93325787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.36, Y:7.49, Z:5.93 [[ 9.99312518e-01 3.42784201e-02 1.41237954e-02 2.71360240e+02] [-3.42685010e-02 9.99412217e-01 -9.43779530e-04 7.49411215e+00] [-1.41478450e-02 4.59129401e-04 9.99899809e-01 5.93269466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.39, Y:7.49, Z:5.93 [[ 9.99255833e-01 3.57241707e-02 1.45452692e-02 2.71389015e+02] [-3.57138200e-02 9.99361586e-01 -9.70831385e-04 7.49298976e+00] [-1.45706654e-02 4.50641799e-04 9.99893741e-01 5.93220096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.42, Y:7.49, Z:5.93 [[ 9.99140876e-01 3.84311295e-02 1.55099215e-02 2.71417604e+02] [-3.84197052e-02 9.99261156e-01 -1.03398606e-03 7.49233542e+00] [-1.55381994e-02 4.37211129e-04 9.99879179e-01 5.93187937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.45, Y:7.49, Z:5.93 [[ 9.99084799e-01 3.97982507e-02 1.56736369e-02 2.71445882e+02] [-3.97867656e-02 9.99207648e-01 -1.04403053e-03 7.49113309e+00] [-1.57027684e-02 4.19471719e-04 9.99876616e-01 5.93127812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.47, Y:7.49, Z:5.93 [[ 9.98981089e-01 4.23158266e-02 1.56893396e-02 2.71473113e+02] [-4.23046509e-02 9.99104212e-01 -1.04366465e-03 7.49113752e+00] [-1.57194489e-02 3.78869207e-04 9.99876370e-01 5.93077190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.50, Y:7.49, Z:5.93 [[ 9.98948626e-01 4.32440512e-02 1.52182258e-02 2.71500850e+02] [-4.32336837e-02 9.99064477e-01 -1.00973883e-03 7.49026978e+00] [-1.52476540e-02 3.50737257e-04 9.99883686e-01 5.93001397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.53, Y:7.49, Z:5.93 [[ 9.98903694e-01 4.43376456e-02 1.50194477e-02 2.71528238e+02] [-4.43276928e-02 9.99016549e-01 -9.95087915e-04 7.48896225e+00] [-1.50487967e-02 3.28219531e-04 9.99886707e-01 5.92932088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.56, Y:7.49, Z:5.93 [[ 9.98807250e-01 4.61700816e-02 1.58871584e-02 2.71555841e+02] [-4.61592131e-02 9.98933543e-01 -1.05031425e-03 7.48779230e+00] [-1.59187085e-02 3.15722756e-04 9.99873239e-01 5.92844854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.58, Y:7.49, Z:5.93 [[ 9.98758386e-01 4.71035795e-02 1.62154006e-02 2.71582744e+02] [-4.70924078e-02 9.98889964e-01 -1.07031879e-03 7.48610509e+00] [-1.62478167e-02 3.05367605e-04 9.99867949e-01 5.92790776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.61, Y:7.48, Z:5.93 [[ 9.98630652e-01 4.93412076e-02 1.73857928e-02 2.71610461e+02] [-4.93287467e-02 9.98781940e-01 -1.14510356e-03 7.48423223e+00] [-1.74211167e-02 2.85916142e-04 9.99848200e-01 5.92698152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.64, Y:7.48, Z:5.93 [[ 9.98584413e-01 5.02580968e-02 1.74153283e-02 2.71637439e+02] [-5.02457601e-02 9.98736227e-01 -1.14549502e-03 7.48256672e+00] [-1.74508897e-02 2.68827062e-04 9.99847685e-01 5.92642445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.67, Y:7.48, Z:5.93 [[ 9.98536992e-01 5.11590602e-02 1.75107371e-02 2.71665456e+02] [-5.11467864e-02 9.98690486e-01 -1.14835325e-03 7.48111153e+00] [-1.75465553e-02 2.51055265e-04 9.99846016e-01 5.92594400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.69, Y:7.48, Z:5.93 [[ 9.98485970e-01 5.20672147e-02 1.77418581e-02 2.71693070e+02] [-5.20547917e-02 9.98643555e-01 -1.16161522e-03 7.47968182e+00] [-1.77782743e-02 2.36307779e-04 9.99841926e-01 5.92513538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.67509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.72, Y:7.48, Z:5.92 [[ 9.98448110e-01 5.28870186e-02 1.74451856e-02 2.71720611e+02] [-5.28751637e-02 9.98600479e-01 -1.14042068e-03 7.47793686e+00] [-1.74810841e-02 2.16233833e-04 9.99847171e-01 5.92345258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.75, Y:7.48, Z:5.92 [[ 9.98459731e-01 5.28308160e-02 1.69431689e-02 2.71748762e+02] [-5.28196551e-02 9.98603455e-01 -1.10586435e-03 7.47560852e+00] [-1.69779307e-02 2.09228685e-04 9.99855843e-01 5.92245402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.73509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.78, Y:7.47, Z:5.92 [[ 9.98500564e-01 5.23259874e-02 1.60815020e-02 2.71776418e+02] [-5.23158929e-02 9.98630036e-01 -1.04804068e-03 7.47327509e+00] [-1.61143106e-02 2.05151075e-04 9.99870135e-01 5.92141516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.80, Y:7.47, Z:5.92 [[ 9.98587937e-01 5.04243504e-02 1.67187571e-02 2.71802777e+02] [-5.04132036e-02 9.98727854e-01 -1.08777337e-03 7.47060483e+00] [-1.67523387e-02 2.43391261e-04 9.99859640e-01 5.92003815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.83, Y:7.47, Z:5.92 [[ 9.98725014e-01 4.78257091e-02 1.61569596e-02 2.71830761e+02] [-4.78149919e-02 9.98855658e-01 -1.04919035e-03 7.46810633e+00] [-1.61886488e-02 2.75307754e-04 9.99868917e-01 5.91932133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.86, Y:7.47, Z:5.92 [[ 9.98805401e-01 4.62157702e-02 1.58704943e-02 2.71857590e+02] [-4.62052512e-02 9.98931437e-01 -1.02903725e-03 7.46582060e+00] [-1.59010935e-02 2.94507784e-04 9.99873526e-01 5.91824330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.89, Y:7.46, Z:5.92 [[ 9.98963986e-01 4.25483510e-02 1.61428547e-02 2.71885198e+02] [-4.25370242e-02 9.99094345e-01 -1.04452614e-03 7.46277347e+00] [-1.61726777e-02 3.56774994e-04 9.99869150e-01 5.91700259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.91, Y:7.46, Z:5.92 [[ 9.98967786e-01 4.24590057e-02 1.61429741e-02 2.71913601e+02] [-4.24476971e-02 9.99098146e-01 -1.04267693e-03 7.46102693e+00] [-1.61726865e-02 3.56368586e-04 9.99869150e-01 5.91635496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.94, Y:7.46, Z:5.92 [[ 9.99117028e-01 3.85105564e-02 1.67958537e-02 2.71940764e+02] [-3.84977837e-02 9.99258098e-01 -1.08325210e-03 7.45775560e+00] [-1.68251095e-02 4.35692477e-04 9.99858353e-01 5.91572630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.97, Y:7.46, Z:5.91 [[ 9.99189043e-01 3.64380674e-02 1.71325435e-02 2.71969067e+02] [-3.64245016e-02 9.99335799e-01 -1.10329472e-03 7.45521897e+00] [-1.71613660e-02 4.78355633e-04 9.99852618e-01 5.91499750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.00, Y:7.45, Z:5.91 [[ 9.99255299e-01 3.44458506e-02 1.73876569e-02 2.71997471e+02] [-3.44315980e-02 9.99406431e-01 -1.11848570e-03 7.45232123e+00] [-1.74158633e-02 5.18967948e-04 9.99848198e-01 5.91426621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.03, Y:7.45, Z:5.91 [[ 9.99371569e-01 3.04305505e-02 1.81782249e-02 2.72026350e+02] [-3.04143335e-02 9.99536695e-01 -1.16797120e-03 7.44845796e+00] [-1.82053449e-02 6.14358611e-04 9.99834080e-01 5.91330211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.06, Y:7.44, Z:5.91 [[ 9.99461885e-01 2.66479959e-02 1.91265621e-02 2.72056164e+02] [-2.66293807e-02 9.99644622e-01 -1.22733836e-03 7.44477503e+00] [-1.91524711e-02 7.17349404e-04 9.99816317e-01 5.91275852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.09, Y:7.44, Z:5.91 [[ 9.99487930e-01 2.53854882e-02 1.94796232e-02 2.72086656e+02] [-2.53659558e-02 9.99677452e-01 -1.24917766e-03 7.44200287e+00] [-1.95050511e-02 7.54418732e-04 9.99809474e-01 5.91181061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.12, Y:7.44, Z:5.91 [[ 9.99510227e-01 2.43414967e-02 1.96671677e-02 2.72116473e+02] [-2.43213856e-02 9.99703396e-01 -1.26115006e-03 7.43911232e+00] [-1.96920326e-02 7.82199612e-04 9.99805787e-01 5.91082920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.15, Y:7.44, Z:5.91 [[ 9.99537266e-01 2.32544273e-02 1.96083110e-02 2.72147740e+02] [-2.32342217e-02 9.99729258e-01 -1.25767367e-03 7.43612497e+00] [-1.96322487e-02 8.01507858e-04 9.99806948e-01 5.91014881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.18, Y:7.43, Z:5.91 [[ 9.99581921e-01 2.17849181e-02 1.90105400e-02 2.72179231e+02] [-2.17656481e-02 9.99762356e-01 -1.21999160e-03 7.43226783e+00] [-1.90325997e-02 8.05704824e-04 9.99818539e-01 5.90881403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.21, Y:7.43, Z:5.91 [[ 9.99605323e-01 2.12408199e-02 1.83854904e-02 2.72210868e+02] [-2.12227084e-02 9.99774077e-01 -1.17967051e-03 7.42951250e+00] [-1.84063938e-02 7.89015023e-04 9.99830277e-01 5.90783515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.24, Y:7.43, Z:5.91 [[ 9.99650108e-01 2.00816393e-02 1.72159699e-02 2.72242014e+02] [-2.00655047e-02 9.99798052e-01 -1.10942751e-03 7.42632079e+00] [-1.72347723e-02 7.63592201e-04 9.99851179e-01 5.90647899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.27, Y:7.42, Z:5.91 [[ 9.99667149e-01 1.94524788e-02 1.69467711e-02 2.72272994e+02] [-1.94367448e-02 9.99810492e-01 -1.09266679e-03 7.42336354e+00] [-1.69648147e-02 7.62913025e-04 9.99855796e-01 5.90524879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.30, Y:7.42, Z:5.90 [[ 9.99680735e-01 1.91113957e-02 1.65282428e-02 2.72304530e+02] [-1.90963930e-02 9.99817080e-01 -1.06506525e-03 7.42036789e+00] [-1.65455744e-02 7.49095393e-04 9.99862832e-01 5.90426482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.34, Y:7.42, Z:5.90 [[ 9.99714230e-01 1.84137397e-02 1.52444422e-02 2.72335831e+02] [-1.84008280e-02 9.99830203e-01 -9.86818930e-04 7.41700274e+00] [-1.52600248e-02 7.06026568e-04 9.99883310e-01 5.90278748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.37, Y:7.41, Z:5.90 [[ 9.99714885e-01 1.86002356e-02 1.49726126e-02 2.72366877e+02] [-1.85878158e-02 9.99826763e-01 -9.68249882e-04 7.41454277e+00] [-1.49880285e-02 6.89665654e-04 9.99887435e-01 5.90171091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.40, Y:7.41, Z:5.90 [[ 9.99737387e-01 1.89251036e-02 1.29227272e-02 2.72397569e+02] [-1.88627709e-02 9.99809935e-01 -4.92847761e-03 7.41441611e+00] [-1.30135430e-02 4.68342489e-03 9.99904352e-01 5.90275529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.43, Y:7.41, Z:5.90 [[ 9.99664433e-01 2.03549580e-02 1.60217828e-02 2.72427843e+02] [-2.04061265e-02 9.99787162e-01 3.03669484e-03 7.40913780e+00] [-1.59565610e-02 -3.36261836e-03 9.99867032e-01 5.89958103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.42509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.46, Y:7.41, Z:5.90 [[ 9.99639852e-01 2.14679007e-02 1.61026731e-02 2.72458683e+02] [-2.14537575e-02 9.99769290e-01 -1.05056523e-03 7.40971903e+00] [-1.61215115e-02 7.04724028e-04 9.99869792e-01 5.90069642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.49, Y:7.41, Z:5.90 [[ 9.99605767e-01 2.26847949e-02 1.65442177e-02 2.72488906e+02] [-2.26700267e-02 9.99742419e-01 -1.07966790e-03 7.40822420e+00] [-1.65644483e-02 7.04184399e-04 9.99862552e-01 5.90040035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.48509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.52, Y:7.41, Z:5.90 [[ 9.99527209e-01 2.51397590e-02 1.77016950e-02 2.72518975e+02] [-2.51232288e-02 9.99683694e-01 -1.15561682e-03 7.40754792e+00] [-1.77251478e-02 7.10346721e-04 9.99842645e-01 5.90040991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.55, Y:7.41, Z:5.90 [[ 9.99487686e-01 2.62950589e-02 1.82465100e-02 2.72549147e+02] [-2.62776876e-02 9.99653972e-01 -1.19118388e-03 7.40608416e+00] [-1.82715184e-02 7.11097536e-04 9.99832809e-01 5.89923999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.58, Y:7.40, Z:5.90 [[ 9.99427763e-01 2.82182972e-02 1.86514098e-02 2.72578972e+02] [-2.82004822e-02 9.99601546e-01 -1.21753515e-03 7.40445678e+00] [-1.86783348e-02 6.90859685e-04 9.99825306e-01 5.89912835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.61, Y:7.40, Z:5.90 [[ 9.99405815e-01 2.86787931e-02 1.91191746e-02 2.72608979e+02] [-2.86601457e-02 9.99588434e-01 -1.24866964e-03 7.40289249e+00] [-1.91471161e-02 6.99969371e-04 9.99816432e-01 5.89864427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.64, Y:7.40, Z:5.90 [[ 9.99383442e-01 2.90588256e-02 1.97058378e-02 2.72638563e+02] [-2.90391054e-02 9.99577449e-01 -1.28619784e-03 7.40100800e+00] [-1.97348865e-02 7.13164926e-04 9.99804994e-01 5.89792349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.67, Y:7.40, Z:5.90 [[ 9.99381742e-01 2.91073380e-02 1.97204879e-02 2.72668083e+02] [-2.90876049e-02 9.99576038e-01 -1.28680198e-03 7.39901970e+00] [-1.97495825e-02 7.12384641e-04 9.99804704e-01 5.89733563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.70, Y:7.40, Z:5.90 [[ 9.99382236e-01 2.90903565e-02 1.97205105e-02 2.72698173e+02] [-2.90706269e-02 9.99576532e-01 -1.28645619e-03 7.39708908e+00] [-1.97495829e-02 7.12373859e-04 9.99804704e-01 5.89664996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.73, Y:7.39, Z:5.90 [[ 9.99399111e-01 2.85972744e-02 1.95860327e-02 2.72727653e+02] [-2.85777238e-02 9.99590757e-01 -1.27740857e-03 7.39469668e+00] [-1.96145476e-02 7.16916761e-04 9.99807359e-01 5.89557739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.76, Y:7.39, Z:5.90 [[ 9.99430473e-01 2.80432602e-02 1.87697783e-02 2.72756699e+02] [-2.80252211e-02 9.99606468e-01 -1.22347318e-03 7.39250272e+00] [-1.87967020e-02 6.96749196e-04 9.99823084e-01 5.89501860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.79, Y:7.39, Z:5.89 [[ 9.99459224e-01 2.74294865e-02 1.81351117e-02 2.72786428e+02] [-2.74125499e-02 9.99623507e-01 -1.18188207e-03 7.39053638e+00] [-1.81607023e-02 6.84113282e-04 9.99834847e-01 5.89409720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.82, Y:7.39, Z:5.89 [[ 9.99512781e-01 2.63029293e-02 1.68034512e-02 2.72815637e+02] [-2.62882392e-02 9.99653805e-01 -1.09455589e-03 7.38854790e+00] [-1.68264240e-02 6.52289460e-04 9.99858213e-01 5.89319996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.85, Y:7.39, Z:5.89 [[ 9.99533892e-01 2.58768348e-02 1.61984240e-02 2.72845538e+02] [-2.58631367e-02 9.99664937e-01 -1.05459778e-03 7.38647994e+00] [-1.62202861e-02 6.35164172e-04 9.99868241e-01 5.89228617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.88, Y:7.38, Z:5.89 [[ 9.99555011e-01 2.50444955e-02 1.62034988e-02 2.72875345e+02] [-2.50306887e-02 9.99686127e-01 -1.05436193e-03 7.38434719e+00] [-1.62248189e-02 6.48308015e-04 9.99868159e-01 5.89133762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.91, Y:7.38, Z:5.89 [[ 9.99562225e-01 2.46451757e-02 1.63698750e-02 2.72905318e+02] [-2.46310403e-02 9.99696043e-01 -1.06458377e-03 7.38201471e+00] [-1.63911362e-02 6.60910668e-04 9.99865438e-01 5.89052725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.93, Y:7.38, Z:5.89 [[ 9.99592410e-01 2.33748058e-02 1.63899965e-02 2.72934552e+02] [-2.33604769e-02 9.99726539e-01 -1.06518255e-03 7.37964069e+00] [-1.64104129e-02 6.81870263e-04 9.99865108e-01 5.88983152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.96, Y:7.38, Z:5.89 [[ 9.99579634e-01 2.29346726e-02 1.77357269e-02 2.72964800e+02] [-2.29178324e-02 9.99736688e-01 -1.15220047e-03 7.37783012e+00] [-1.77574822e-02 7.45251708e-04 9.99842046e-01 5.88909279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.00, Y:7.38, Z:5.89 [[ 9.99614319e-01 2.37058828e-02 1.44652915e-02 2.72995839e+02] [-2.35238903e-02 9.99643562e-01 -1.26243939e-02 7.38158383e+00] [-1.47594079e-02 1.22792450e-02 9.99815673e-01 5.89316519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.02, Y:7.37, Z:5.88 [[ 9.99558705e-01 2.22605618e-02 1.96688129e-02 2.73024254e+02] [-2.24662471e-02 9.99694552e-01 1.02990731e-02 7.36834138e+00] [-1.94335419e-02 -1.07364126e-02 9.99753503e-01 5.88465756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.06, Y:7.37, Z:5.89 [[ 9.99562207e-01 2.22089320e-02 1.95488607e-02 2.73055945e+02] [-2.21883439e-02 9.99753002e-01 -1.26945699e-03 7.37150524e+00] [-1.95722255e-02 8.35144391e-04 9.99808097e-01 5.88763433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.09, Y:7.37, Z:5.89 [[ 9.99568509e-01 2.19207547e-02 1.95519018e-02 2.73088203e+02] [-2.19000172e-02 9.99759354e-01 -1.27414861e-03 7.36899853e+00] [-1.95751271e-02 8.45411838e-04 9.99808031e-01 5.88702723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.12, Y:7.37, Z:5.89 [[ 9.99582216e-01 2.09555409e-02 1.99062514e-02 2.73120056e+02] [-2.09337530e-02 9.99780017e-01 -1.30229921e-03 7.36609255e+00] [-1.99291628e-02 8.85042575e-04 9.99801003e-01 5.88621645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.15, Y:7.37, Z:5.89 [[ 9.99634217e-01 2.13983730e-02 1.65390753e-02 2.73151483e+02] [-2.12136583e-02 9.99711507e-01 -1.12642962e-02 7.36836950e+00] [-1.67753415e-02 1.09093217e-02 9.99799767e-01 5.88930348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.18, Y:7.36, Z:5.88 [[ 9.99596909e-01 1.99080985e-02 2.02407520e-02 2.73182103e+02] [-2.00886621e-02 9.99759852e-01 8.75693211e-03 7.35609216e+00] [-2.00615573e-02 -9.16001189e-03 9.99756784e-01 5.88142015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.17509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.22, Y:7.36, Z:5.88 [[ 9.99609260e-01 1.97605254e-02 1.97698796e-02 2.73215331e+02] [-1.97385694e-02 9.99804324e-01 -1.30511649e-03 7.35869286e+00] [-1.97918009e-02 9.14377391e-04 9.99803705e-01 5.88416164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.25, Y:7.36, Z:5.88 [[ 9.99593619e-01 1.95988615e-02 2.06997971e-02 2.73248449e+02] [-1.95746266e-02 9.99807456e-01 -1.37276635e-03 7.35598116e+00] [-2.07227162e-02 9.67017682e-04 9.99784794e-01 5.88386154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.23509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.28, Y:7.35, Z:5.88 [[ 9.99583715e-01 2.01332887e-02 2.06651179e-02 2.73280233e+02] [-2.01091229e-02 9.99796844e-01 -1.37655797e-03 7.35332198e+00] [-2.06886342e-02 9.60427536e-04 9.99785506e-01 5.88316636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.31, Y:7.35, Z:5.88 [[ 9.99585382e-01 2.06457730e-02 2.00702793e-02 2.73313499e+02] [-2.06229760e-02 9.99786423e-01 -1.34219104e-03 7.35071319e+00] [-2.00937034e-02 9.27725654e-04 9.99797671e-01 5.88231652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.35, Y:7.35, Z:5.88 [[ 9.99567094e-01 2.21428634e-02 1.93731462e-02 2.73345823e+02] [-2.21217974e-02 9.99754437e-01 -1.30103538e-03 7.34852387e+00] [-1.93971975e-02 8.71903338e-04 9.99811476e-01 5.88100948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.38, Y:7.35, Z:5.88 [[ 9.99549256e-01 2.31324517e-02 1.91357032e-02 2.73376858e+02] [-2.31119739e-02 9.99732050e-01 -1.29062716e-03 7.34663315e+00] [-1.91604311e-02 8.47781544e-04 9.99816063e-01 5.88035427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.41, Y:7.34, Z:5.88 [[ 9.99527847e-01 2.39665939e-02 1.92271891e-02 2.73408195e+02] [-2.39460174e-02 9.99712408e-01 -1.29972978e-03 7.34448479e+00] [-1.92528096e-02 8.38701501e-04 9.99814296e-01 5.87951112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.44, Y:7.34, Z:5.88 [[ 9.99458801e-01 2.65123631e-02 1.94730603e-02 2.73438262e+02] [-2.64917278e-02 9.99648165e-01 -1.31692500e-03 7.34253796e+00] [-1.95011238e-02 8.00337264e-04 9.99809515e-01 5.87898024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.47, Y:7.34, Z:5.88 [[ 9.99415528e-01 2.78675092e-02 1.97991190e-02 2.73468697e+02] [-2.78464046e-02 9.99611314e-01 -1.34088507e-03 7.34041437e+00] [-1.98287905e-02 7.88767086e-04 9.99803079e-01 5.87798179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.50, Y:7.34, Z:5.88 [[ 9.99322110e-01 3.08204341e-02 2.01350745e-02 2.73498148e+02] [-3.07992047e-02 9.99524662e-01 -1.36367849e-03 7.33795785e+00] [-2.01675327e-02 7.42609784e-04 9.99796339e-01 5.87704141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.53, Y:7.34, Z:5.88 [[ 9.99278026e-01 3.20586838e-02 2.03879429e-02 2.73527987e+02] [-3.20371818e-02 9.99485724e-01 -1.38047113e-03 7.33599806e+00] [-2.04217140e-02 7.26302228e-04 9.99791191e-01 5.87633456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.56, Y:7.33, Z:5.88 [[ 9.99212753e-01 3.43076183e-02 1.99213641e-02 2.73556516e+02] [-3.42875486e-02 9.99411100e-01 -1.34823313e-03 7.33489842e+00] [-1.99558871e-02 6.64116998e-04 9.99800641e-01 5.87599129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.59, Y:7.33, Z:5.88 [[ 9.99188805e-01 3.50860360e-02 1.97661743e-02 2.73585732e+02] [-3.50664514e-02 9.99384089e-01 -1.33664635e-03 7.33340798e+00] [-1.98008977e-02 6.42432480e-04 9.99803737e-01 5.87536295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.61, Y:7.33, Z:5.88 [[ 9.99187200e-01 3.52998076e-02 1.94643943e-02 2.73614421e+02] [-3.52808682e-02 9.99376570e-01 -1.31567108e-03 7.33193231e+00] [-1.94987026e-02 6.27880976e-04 9.99809685e-01 5.87516367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.64, Y:7.33, Z:5.87 [[ 9.99185566e-01 3.57247027e-02 1.87603189e-02 2.73642972e+02] [-3.57072078e-02 9.99361491e-01 -1.26679793e-03 7.33027685e+00] [-1.87935962e-02 5.95887601e-04 9.99823207e-01 5.87412743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.67, Y:7.33, Z:5.87 [[ 9.99190243e-01 3.60273459e-02 1.79133899e-02 2.73671814e+02] [-3.60114659e-02 9.99350646e-01 -1.20837058e-03 7.32847647e+00] [-1.79452921e-02 5.62304668e-04 9.99838812e-01 5.87299697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.70, Y:7.33, Z:5.87 [[ 9.99179399e-01 3.68331866e-02 1.68477090e-02 2.73700159e+02] [-3.68192737e-02 9.99321296e-01 -1.13535144e-03 7.32701981e+00] [-1.68780930e-02 5.14099355e-04 9.99857423e-01 5.87178774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.73, Y:7.33, Z:5.87 [[ 9.99126758e-01 3.82290244e-02 1.68601340e-02 2.73728754e+02] [-3.82153103e-02 9.99268884e-01 -1.13495484e-03 7.32661050e+00] [-1.68911955e-02 4.89648497e-04 9.99857214e-01 5.87193700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.76, Y:7.33, Z:5.87 [[ 9.99099646e-01 3.88278676e-02 1.70966273e-02 2.73756466e+02] [-3.88138728e-02 9.99245796e-01 -1.14975028e-03 7.32561880e+00] [-1.71283753e-02 4.85128783e-04 9.99853181e-01 5.87117283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.78, Y:7.33, Z:5.87 [[ 9.99065072e-01 4.09111986e-02 1.39733986e-02 2.73783939e+02] [-4.07752852e-02 9.99119524e-01 -9.87691135e-03 7.32912953e+00] [-1.43651717e-02 9.29790783e-03 9.99853585e-01 5.87363955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.81, Y:7.32, Z:5.87 [[ 9.99024928e-01 4.03536996e-02 1.79100999e-02 2.73814314e+02] [-4.04977752e-02 9.99149527e-01 7.75579393e-03 7.32033296e+00] [-1.75818929e-02 -8.47355067e-03 9.99809520e-01 5.86779758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.84, Y:7.32, Z:5.87 [[ 9.99022711e-01 4.06017534e-02 1.74676841e-02 2.73843497e+02] [-4.05874860e-02 9.99175303e-01 -1.17067385e-03 7.32381810e+00] [-1.75008099e-02 4.60560386e-04 9.99846743e-01 5.87022842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.87, Y:7.32, Z:5.87 [[ 9.99044186e-01 4.02980251e-02 1.69347104e-02 2.73872555e+02] [-4.02845909e-02 9.99187603e-01 -1.13381634e-03 7.32249750e+00] [-1.69666433e-02 4.50524745e-04 9.99855955e-01 5.86918958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.90, Y:7.32, Z:5.87 [[ 9.99091362e-01 3.93385043e-02 1.63991445e-02 2.73901604e+02] [-3.93257955e-02 9.99225840e-01 -1.09684992e-03 7.32138724e+00] [-1.64295974e-02 4.50943882e-04 9.99864923e-01 5.86862774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.93, Y:7.32, Z:5.87 [[ 9.99118353e-01 3.85895812e-02 1.65336238e-02 2.73929210e+02] [-3.85765788e-02 9.99255036e-01 -1.10474804e-03 7.32017275e+00] [-1.65639386e-02 4.65963397e-04 9.99862700e-01 5.86830352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.92509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.96, Y:7.32, Z:5.87 [[ 9.99162455e-01 3.71698637e-02 1.71111280e-02 2.73958071e+02] [-3.71557578e-02 9.99308834e-01 -1.14165679e-03 7.31877970e+00] [-1.71417366e-02 5.04923670e-04 9.99852942e-01 5.86789225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.99, Y:7.32, Z:5.87 [[ 9.99240147e-01 3.46018550e-02 1.79398807e-02 2.73987113e+02] [-3.45859604e-02 9.99401012e-01 -1.19558748e-03 7.31741548e+00] [-1.79705044e-02 5.74211012e-04 9.99838353e-01 5.86799499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.98509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.02, Y:7.32, Z:5.87 [[ 9.99348334e-01 3.19734192e-02 1.67513745e-02 2.74015567e+02] [-3.19592109e-02 9.99488552e-01 -1.11527072e-03 7.31593412e+00] [-1.67784661e-02 5.79183227e-04 9.99859064e-01 5.86788054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.04, Y:7.31, Z:5.87 [[ 9.99396795e-01 3.05547120e-02 1.65062157e-02 2.74043357e+02] [-3.05407402e-02 9.99532920e-01 -1.09792507e-03 7.31453103e+00] [-1.65320527e-02 5.93150750e-04 9.99863160e-01 5.86754202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.07, Y:7.31, Z:5.87 [[ 9.99447604e-01 2.91020591e-02 1.60485906e-02 2.74071898e+02] [-2.90886907e-02 9.99576266e-01 -1.06585181e-03 7.31296506e+00] [-1.60728087e-02 5.98430548e-04 9.99870645e-01 5.86715811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.10, Y:7.31, Z:5.87 [[ 9.99501364e-01 2.74893201e-02 1.55358066e-02 2.74100606e+02] [-2.74766168e-02 9.99621915e-01 -1.03057529e-03 7.31133335e+00] [-1.55582626e-02 6.03190002e-04 9.99878781e-01 5.86670221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.13, Y:7.31, Z:5.87 [[ 9.99590193e-01 2.47493172e-02 1.43846088e-02 2.74129134e+02] [-2.47381538e-02 9.99693510e-01 -9.53503881e-04 7.30931247e+00] [-1.44037986e-02 5.97264464e-04 9.99896082e-01 5.86631699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.16, Y:7.31, Z:5.87 [[ 9.99620043e-01 2.38090577e-02 1.38887936e-02 2.74157263e+02] [-2.37985719e-02 9.99716351e-01 -9.19793415e-04 7.30728725e+00] [-1.39067534e-02 5.88910481e-04 9.99903123e-01 5.86605843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.19, Y:7.31, Z:5.87 [[ 9.99643325e-01 2.29151731e-02 1.37156074e-02 2.74185755e+02] [-2.29048659e-02 9.99737237e-01 -9.08122246e-04 7.30528207e+00] [-1.37328133e-02 5.93644191e-04 9.99905524e-01 5.86582821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.21, Y:7.30, Z:5.87 [[ 9.99641472e-01 2.32251577e-02 1.33236160e-02 2.74214742e+02] [-2.32154733e-02 9.99730096e-01 -8.81086008e-04 7.30357968e+00] [-1.33404833e-02 5.71456063e-04 9.99910848e-01 5.86535354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.24, Y:7.30, Z:5.87 [[ 9.99571305e-01 2.59931510e-02 1.34745151e-02 2.74242567e+02] [-2.59835028e-02 9.99661975e-01 -8.90635497e-04 7.30336886e+00] [-1.34931108e-02 5.40138585e-04 9.99908818e-01 5.86597554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.27, Y:7.30, Z:5.87 [[ 9.99510941e-01 2.79865850e-02 1.39510095e-02 2.74271682e+02] [-2.79764566e-02 9.99608158e-01 -9.20670141e-04 7.30262755e+00] [-1.39713093e-02 5.29920068e-04 9.99902256e-01 5.86638768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.30, Y:7.30, Z:5.87 [[ 9.99451496e-01 2.96804654e-02 1.46893505e-02 2.74300336e+02] [-2.96694350e-02 9.99559296e-01 -9.68313315e-04 7.30170658e+00] [-1.47116169e-02 5.31957461e-04 9.99891637e-01 5.86626136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.33, Y:7.30, Z:5.87 [[ 9.99385279e-01 3.18601172e-02 1.46286520e-02 2.74328917e+02] [-3.18494261e-02 9.99492214e-01 -9.63275826e-04 7.30036143e+00] [-1.46519139e-02 4.96769508e-04 9.99892532e-01 5.86566189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.36, Y:7.30, Z:5.86 [[ 9.99246464e-01 3.63282527e-02 1.36660791e-02 2.74356838e+02] [-3.63193498e-02 9.99339830e-01 -8.99155176e-04 7.29912971e+00] [-1.36897219e-02 4.02134523e-04 9.99906211e-01 5.86420894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.38, Y:7.30, Z:5.86 [[ 9.99186799e-01 3.82352236e-02 1.27987383e-02 2.74384532e+02] [-3.82275826e-02 9.99268705e-01 -8.41213225e-04 7.29773812e+00] [-1.28215427e-02 3.51264322e-04 9.99917739e-01 5.86358868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.41, Y:7.30, Z:5.86 [[ 9.99137494e-01 3.95672143e-02 1.25977838e-02 2.74412743e+02] [-3.95599332e-02 9.99216857e-01 -8.26735204e-04 7.29636364e+00] [-1.26206296e-02 3.27654652e-04 9.99920303e-01 5.86299350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.44, Y:7.30, Z:5.86 [[ 9.99030520e-01 4.21478738e-02 1.27112588e-02 2.74439298e+02] [-4.21406856e-02 9.99111340e-01 -8.32930064e-04 7.29565344e+00] [-1.27350691e-02 2.96461393e-04 9.99918862e-01 5.86286157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.47, Y:7.29, Z:5.86 [[ 9.98991282e-01 4.29534499e-02 1.30927598e-02 2.74467157e+02] [-4.29459183e-02 9.99077032e-01 -8.55991179e-04 7.29449918e+00] [-1.31174433e-02 2.92847135e-04 9.99913920e-01 5.86252690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.50, Y:7.29, Z:5.86 [[ 9.98978397e-01 4.31031135e-02 1.35751492e-02 2.74495031e+02] [-4.30950514e-02 9.99070584e-01 -8.85993583e-04 7.29335607e+00] [-1.36007213e-02 3.00066696e-04 9.99907461e-01 5.86251420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.52, Y:7.29, Z:5.86 [[ 9.98982224e-01 4.30142938e-02 1.35752538e-02 2.74523433e+02] [-4.30062453e-02 9.99074412e-01 -8.84387080e-04 7.29159499e+00] [-1.36007300e-02 2.99666276e-04 9.99907461e-01 5.86187397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.55, Y:7.29, Z:5.86 [[ 9.98954842e-01 4.37207528e-02 1.33311721e-02 2.74549853e+02] [-4.37130652e-02 9.99043750e-01 -8.67647634e-04 7.29009390e+00] [-1.33563584e-02 2.83994411e-04 9.99910760e-01 5.86152984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.58, Y:7.29, Z:5.86 [[ 9.98969731e-01 4.35228423e-02 1.28545181e-02 2.74577518e+02] [-4.35156993e-02 9.99052394e-01 -8.34987097e-04 7.28813148e+00] [-1.28786781e-02 2.74753492e-04 9.99917029e-01 5.86083813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.60, Y:7.29, Z:5.86 [[ 9.98977111e-01 4.30456587e-02 1.38493169e-02 2.74604370e+02] [-4.30373430e-02 9.99073061e-01 -8.98053306e-04 7.28695836e+00] [-1.38751368e-02 3.01096893e-04 9.99903690e-01 5.86053410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.63, Y:7.29, Z:5.86 [[ 9.99003544e-01 4.23593334e-02 1.40572513e-02 2.74632221e+02] [-4.23507260e-02 9.99102392e-01 -9.09562139e-04 7.28558033e+00] [-1.40831618e-02 3.13321004e-04 9.99900778e-01 5.86071627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.67509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.66, Y:7.28, Z:5.86 [[ 9.99023089e-01 4.16734466e-02 1.47034282e-02 2.74659133e+02] [-4.16639783e-02 9.99131228e-01 -9.49812877e-04 7.28414001e+00] [-1.47302362e-02 3.36281681e-04 9.99891448e-01 5.86061954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.69, Y:7.28, Z:5.86 [[ 9.99094194e-01 3.97450911e-02 1.52025822e-02 2.74687005e+02] [-3.97347802e-02 9.99209781e-01 -9.79800585e-04 7.28181290e+00] [-1.52295111e-02 3.74841815e-04 9.99883954e-01 5.85942588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.73509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.72, Y:7.28, Z:5.86 [[ 9.99209144e-01 3.70338725e-02 1.44768260e-02 2.74715153e+02] [-3.70242530e-02 9.99313933e-01 -9.32014395e-04 7.27895370e+00] [-1.45014101e-02 3.95283636e-04 9.99894771e-01 5.85844601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.74, Y:7.28, Z:5.86 [[ 9.99353058e-01 3.27958455e-02 1.47613838e-02 2.74743128e+02] [-3.27854088e-02 9.99461964e-01 -9.48529923e-04 7.27615170e+00] [-1.47845495e-02 4.63958276e-04 9.99890595e-01 5.85725301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.77, Y:7.27, Z:5.86 [[ 9.99438686e-01 3.01788027e-02 1.45448256e-02 2.74771627e+02] [-3.01684141e-02 9.99544394e-01 -9.33176591e-04 7.27392357e+00] [-1.45663611e-02 4.93858463e-04 9.99893783e-01 5.85653827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.80, Y:7.27, Z:5.86 [[ 9.99520767e-01 2.76478140e-02 1.39224429e-02 2.74798914e+02] [-2.76380611e-02 9.99617597e-01 -8.92472249e-04 7.27163480e+00] [-1.39417938e-02 5.07255220e-04 9.99902680e-01 5.85582155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.83, Y:7.27, Z:5.86 [[ 9.99593625e-01 2.50051181e-02 1.36868341e-02 2.74827733e+02] [-2.49954632e-02 9.99687181e-01 -8.76050103e-04 7.26952734e+00] [-1.37044583e-02 5.33585341e-04 9.99905947e-01 5.85510407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.86, Y:7.27, Z:5.85 [[ 9.99655631e-01 2.25775345e-02 1.33743948e-02 2.74856570e+02] [-2.25681106e-02 9.99744942e-01 -8.55146232e-04 7.26767561e+00] [-1.33902907e-02 5.53016924e-04 9.99910193e-01 5.85439931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.89, Y:7.27, Z:5.85 [[ 9.99746683e-01 1.83798919e-02 1.29903632e-02 2.74885483e+02] [-1.83706614e-02 9.99830901e-01 -8.29544722e-04 7.26518854e+00] [-1.30034135e-02 5.90693020e-04 9.99915278e-01 5.85360891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.92, Y:7.26, Z:5.85 [[ 9.99769650e-01 1.63943428e-02 1.38517799e-02 2.74915993e+02] [-1.63836747e-02 9.99865388e-01 -8.83290549e-04 7.26272015e+00] [-1.38643963e-02 6.56144027e-04 9.99903669e-01 5.85237782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.95, Y:7.26, Z:5.85 [[ 9.99789843e-01 1.47766876e-02 1.42098583e-02 2.74946133e+02] [-1.47653000e-02 9.99890577e-01 -9.05976017e-04 7.26027615e+00] [-1.42216907e-02 6.95972799e-04 9.99898624e-01 5.85202105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.98, Y:7.26, Z:5.85 [[ 9.99804254e-01 1.32619642e-02 1.46824522e-02 2.74978291e+02] [-1.32496654e-02 9.99911783e-01 -9.34613809e-04 7.25761561e+00] [-1.46935518e-02 7.39893283e-04 9.99891770e-01 5.85150632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.01, Y:7.25, Z:5.85 [[ 9.99800020e-01 1.35054388e-02 1.47486627e-02 2.75010803e+02] [-1.34930011e-02 9.99908521e-01 -9.42496271e-04 7.25499404e+00] [-1.47600423e-02 7.43304068e-04 9.99890788e-01 5.85062627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.04, Y:7.25, Z:5.85 [[ 9.99796462e-01 1.40271173e-02 1.45008802e-02 2.75042712e+02] [-1.40150985e-02 9.99901351e-01 -9.30125309e-04 7.25288965e+00] [-1.45124967e-02 7.26704729e-04 9.99894424e-01 5.85003232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.07, Y:7.25, Z:5.85 [[ 9.99802483e-01 1.46814610e-02 1.33958885e-02 2.75074361e+02] [-1.46712210e-02 9.99892000e-01 -8.62369260e-04 7.25126639e+00] [-1.34071026e-02 6.65664887e-04 9.99909899e-01 5.84923429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.11, Y:7.25, Z:5.85 [[ 9.99800817e-01 1.48247666e-02 1.33623462e-02 2.75105442e+02] [-1.48145257e-02 9.99889885e-01 -8.65062446e-04 7.24942830e+00] [-1.33736992e-02 6.66933318e-04 9.99910346e-01 5.84830154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.14, Y:7.25, Z:5.85 [[ 9.99818537e-01 1.43339638e-02 1.25471397e-02 2.75137279e+02] [-1.43248908e-02 9.99897063e-01 -8.12691817e-04 7.24829135e+00] [-1.25574972e-02 6.32807937e-04 9.99920951e-01 5.84809704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.17, Y:7.25, Z:5.85 [[ 9.99834652e-01 1.36335162e-02 1.20331260e-02 2.75168768e+02] [-1.36251159e-02 9.99906870e-01 -7.79803212e-04 7.24609706e+00] [-1.20426369e-02 6.15721536e-04 9.99927295e-01 5.84696478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.20, Y:7.24, Z:5.85 [[ 9.99834408e-01 1.36514236e-02 1.20330860e-02 2.75199703e+02] [-1.36430172e-02 9.99906625e-01 -7.80419900e-04 7.24409280e+00] [-1.20426163e-02 6.16123069e-04 9.99927295e-01 5.84626855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.23, Y:7.24, Z:5.85 [[ 9.99843612e-01 1.32975294e-02 1.16588278e-02 2.75231079e+02] [-1.32896138e-02 9.99911403e-01 -7.56152757e-04 7.24181379e+00] [-1.16678499e-02 6.01093184e-04 9.99931748e-01 5.84564741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.26, Y:7.24, Z:5.84 [[ 9.99855550e-01 1.24683920e-02 1.15506713e-02 2.75262594e+02] [-1.24605627e-02 9.99922083e-01 -7.49546390e-04 7.23945453e+00] [-1.15591169e-02 6.05510254e-04 9.99933008e-01 5.84460604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.29, Y:7.24, Z:5.84 [[ 9.99849690e-01 1.25371321e-02 1.19757180e-02 2.75293603e+02] [-1.25287155e-02 9.99921210e-01 -7.77575157e-04 7.23742306e+00] [-1.19845230e-02 6.27417916e-04 9.99927986e-01 5.84376165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.33, Y:7.24, Z:5.84 [[ 9.99820141e-01 1.35955650e-02 1.32229386e-02 2.75325129e+02] [-1.35854127e-02 9.99907347e-01 -8.57302528e-04 7.23554986e+00] [-1.32333689e-02 6.77509256e-04 9.99912206e-01 5.84277771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.36, Y:7.23, Z:5.84 [[ 9.99796940e-01 1.47094102e-02 1.37735710e-02 2.75355966e+02] [-1.46984414e-02 9.99891569e-01 -8.97262354e-04 7.23382500e+00] [-1.37852757e-02 6.94630130e-04 9.99904737e-01 5.84221140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.39, Y:7.23, Z:5.84 [[ 9.99772314e-01 1.58600820e-02 1.42750728e-02 2.75386844e+02] [-1.58483748e-02 9.99873971e-01 -9.32875706e-04 7.23208735e+00] [-1.42880692e-02 7.06426600e-04 9.99897671e-01 5.84161576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.42509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.42, Y:7.23, Z:5.84 [[ 9.99750712e-01 1.70858113e-02 1.43731899e-02 2.75417895e+02] [-1.70740613e-02 9.99853786e-01 -9.39811820e-04 7.23040360e+00] [-1.43871458e-02 6.94168811e-04 9.99896259e-01 5.84088857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.45, Y:7.23, Z:5.84 [[ 9.99712624e-01 1.92725774e-02 1.42561432e-02 2.75448103e+02] [-1.92612306e-02 9.99814050e-01 -9.32810571e-04 7.22838076e+00] [-1.42714699e-02 6.57951642e-04 9.99897941e-01 5.83966565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.48509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.48, Y:7.23, Z:5.84 [[ 9.99695402e-01 1.99740034e-02 1.44962778e-02 2.75478113e+02] [-1.99623388e-02 9.99800282e-01 -9.48928703e-04 7.22641225e+00] [-1.45123365e-02 6.59260053e-04 9.99894473e-01 5.83858298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.51, Y:7.22, Z:5.84 [[ 9.99670389e-01 2.03589268e-02 1.56405395e-02 2.75508161e+02] [-2.03453948e-02 9.99792487e-01 -1.02383226e-03 7.22442600e+00] [-1.56581380e-02 7.05281844e-04 9.99877155e-01 5.83764297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.54, Y:7.22, Z:5.84 [[ 9.99667159e-01 2.02060781e-02 1.60401128e-02 2.75538623e+02] [-2.01918261e-02 9.99795573e-01 -1.04998840e-03 7.22233197e+00] [-1.60580499e-02 7.25759747e-04 9.99870798e-01 5.83708714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.57, Y:7.22, Z:5.84 [[ 9.99680101e-01 1.96828436e-02 1.58833818e-02 2.75569190e+02] [-1.96688030e-02 9.99806010e-01 -1.03972876e-03 7.22047422e+00] [-1.59007654e-02 7.26989042e-04 9.99873311e-01 5.83642511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.60, Y:7.22, Z:5.84 [[ 9.99684686e-01 1.94860772e-02 1.58373513e-02 2.75599339e+02] [-1.94720931e-02 9.99809863e-01 -1.03671559e-03 7.21868553e+00] [-1.58545415e-02 7.28002322e-04 9.99874044e-01 5.83563987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.63, Y:7.22, Z:5.83 [[ 9.99683936e-01 1.94936020e-02 1.58753898e-02 2.75630114e+02] [-1.94795554e-02 9.99809716e-01 -1.03896612e-03 7.21619651e+00] [-1.58926221e-02 7.29392200e-04 9.99873438e-01 5.83411022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.66, Y:7.21, Z:5.83 [[ 9.99660779e-01 2.00362247e-02 1.66395985e-02 2.75661210e+02] [-2.00208573e-02 9.99798969e-01 -1.08962861e-03 7.21389295e+00] [-1.66580855e-02 7.56119960e-04 9.99860959e-01 5.83241890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.69, Y:7.21, Z:5.83 [[ 9.99654043e-01 2.02349947e-02 1.68029408e-02 2.75691953e+02] [-2.02193399e-02 9.99794962e-01 -1.10105240e-03 7.21189249e+00] [-1.68217754e-02 7.60927110e-04 9.99858214e-01 5.83189233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.72, Y:7.21, Z:5.83 [[ 9.99614782e-01 2.13239108e-02 1.77645100e-02 2.75722734e+02] [-2.13065796e-02 9.99772311e-01 -1.16432474e-03 7.20985684e+00] [-1.77852931e-02 7.85375278e-04 9.99841521e-01 5.83067786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.755099893 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:275.75, Y:7.21, Z:5.84 [[ 9.99659756e-01 2.23369005e-02 1.34697536e-02 2.75754222e+02] [-2.21327897e-02 9.99640750e-01 -1.51165938e-02 7.21451381e+00] [-1.38025724e-02 1.48133272e-02 9.99795006e-01 5.83563330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.78, Y:7.20, Z:5.82 [[ 9.99526229e-01 2.27504999e-02 2.07299843e-02 2.75781990e+02] [-2.30177966e-02 9.99653773e-01 1.27481253e-02 7.19874726e+00] [-2.04327808e-02 -1.32192442e-02 9.99703833e-01 5.82424110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.81, Y:7.20, Z:5.83 [[ 9.99491540e-01 2.40414511e-02 2.09444594e-02 2.75814219e+02] [-2.40179521e-02 9.99710585e-01 -1.37283032e-03 7.20349838e+00] [-2.09714026e-02 8.69089270e-04 9.99779698e-01 5.82871705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.85, Y:7.20, Z:5.83 [[ 9.99452787e-01 2.46523317e-02 2.20542243e-02 2.75845431e+02] [-2.46263047e-02 9.99695674e-01 -1.45098971e-03 7.20141583e+00] [-2.20832829e-02 9.07081661e-04 9.99755723e-01 5.82828318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.88, Y:7.20, Z:5.83 [[ 9.99422607e-01 2.55024305e-02 2.24517022e-02 2.75876652e+02] [-2.54756517e-02 9.99674350e-01 -1.47799191e-03 7.19929385e+00] [-2.24820831e-02 9.05166787e-04 9.99746836e-01 5.82761646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.91, Y:7.20, Z:5.83 [[ 9.99377979e-01 2.70798340e-02 2.25906673e-02 2.75908900e+02] [-2.70530049e-02 9.99632886e-01 -1.49244195e-03 7.19723568e+00] [-2.26227891e-02 8.80368182e-04 9.99743684e-01 5.82665948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.94, Y:7.20, Z:5.83 [[ 9.99365750e-01 2.76420637e-02 2.24502430e-02 2.75939947e+02] [-2.76155845e-02 9.99617508e-01 -1.48869265e-03 7.19516962e+00] [-2.24828065e-02 8.67771862e-04 9.99746853e-01 5.82570990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.97, Y:7.19, Z:5.82 [[ 9.99370316e-01 2.80399709e-02 2.17423974e-02 2.75971347e+02] [-2.80152133e-02 9.99606456e-01 -1.44249996e-03 7.19280986e+00] [-2.17742885e-02 8.32473743e-04 9.99762565e-01 5.82467913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.00, Y:7.19, Z:5.82 [[ 9.99385069e-01 2.84652022e-02 2.04747758e-02 2.76001396e+02] [-2.84433216e-02 9.99594483e-01 -1.35914233e-03 7.19009610e+00] [-2.05051612e-02 7.75935921e-04 9.99789446e-01 5.82278404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.03, Y:7.19, Z:5.82 [[ 9.99381789e-01 2.83760781e-02 2.07566456e-02 2.76030345e+02] [-2.83535711e-02 9.99597007e-01 -1.37788110e-03 7.18793381e+00] [-2.07873796e-02 7.88504253e-04 9.99783608e-01 5.82198142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.06, Y:7.19, Z:5.82 [[ 9.99357500e-01 2.87335957e-02 2.14235415e-02 2.76060527e+02] [-2.87097097e-02 9.99586780e-01 -1.42174127e-03 7.18579674e+00] [-2.14555406e-02 8.05764142e-04 9.99769479e-01 5.82144287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.09, Y:7.18, Z:5.82 [[ 9.99346313e-01 2.87559315e-02 2.19098953e-02 2.76089500e+02] [-2.87309539e-02 9.99586123e-01 -1.45401053e-03 7.18365047e+00] [-2.19426388e-02 8.23567872e-04 9.99758892e-01 5.82092398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.12, Y:7.18, Z:5.82 [[ 9.99338087e-01 2.88973988e-02 2.20981468e-02 2.76119256e+02] [-2.88720164e-02 9.99582040e-01 -1.46687427e-03 7.18141907e+00] [-2.21312995e-02 8.27885273e-04 9.99754730e-01 5.82034847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.15, Y:7.18, Z:5.82 [[ 9.99326643e-01 2.93005841e-02 2.20847675e-02 2.76149283e+02] [-2.92753220e-02 9.99570310e-01 -1.46638215e-03 7.17897428e+00] [-2.21182438e-02 8.18856076e-04 9.99755026e-01 5.81917894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.17509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.18, Y:7.18, Z:5.82 [[ 9.99327772e-01 2.89435763e-02 2.25005242e-02 2.76179453e+02] [-2.89172635e-02 9.99580692e-01 -1.49398753e-03 7.17573016e+00] [-2.25343309e-02 8.42329639e-04 9.99745715e-01 5.81779813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.21, Y:7.17, Z:5.82 [[ 9.99344285e-01 2.87231349e-02 2.20450112e-02 2.76209816e+02] [-2.86978234e-02 9.99587061e-01 -1.46374242e-03 7.17273432e+00] [-2.20779512e-02 8.30138780e-04 9.99755908e-01 5.81703466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.23509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.24, Y:7.17, Z:5.82 [[ 9.99389687e-01 2.70969207e-02 2.20456319e-02 2.76240023e+02] [-2.70712128e-02 9.99632436e-01 -1.46377877e-03 7.16921418e+00] [-2.20771926e-02 8.66083414e-04 9.99755894e-01 5.81577083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.27, Y:7.17, Z:5.81 [[ 9.99416285e-01 2.59408451e-02 2.22297497e-02 2.76271628e+02] [-2.59144117e-02 9.99663075e-01 -1.47639474e-03 7.16636270e+00] [-2.22605589e-02 8.99462057e-04 9.99751798e-01 5.81452372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.30, Y:7.16, Z:5.81 [[ 9.99496395e-01 2.39162673e-02 2.08558900e-02 2.76303875e+02] [-2.38925533e-02 9.99713572e-01 -1.38551251e-03 7.16197239e+00] [-2.08830525e-02 8.86514297e-04 9.99781532e-01 5.81328788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.34, Y:7.16, Z:5.81 [[ 9.99495124e-01 2.39696480e-02 2.08555246e-02 2.76335650e+02] [-2.39458315e-02 9.99712290e-01 -1.39099020e-03 7.15982864e+00] [-2.08828658e-02 8.90885039e-04 9.99781532e-01 5.81257716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.37, Y:7.16, Z:5.81 [[ 9.99549532e-01 2.15843974e-02 2.08530017e-02 2.76366396e+02] [-2.15600508e-02 9.99766586e-01 -1.39167834e-03 7.15558836e+00] [-2.08781728e-02 9.41459656e-04 9.99781584e-01 5.81187475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.40, Y:7.15, Z:5.81 [[ 9.99570066e-01 2.06941255e-02 2.07710484e-02 2.76399270e+02] [-2.06696809e-02 9.99785392e-01 -1.39088116e-03 7.15264016e+00] [-2.07953739e-02 9.60952232e-04 9.99783291e-01 5.81157364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.43, Y:7.15, Z:5.81 [[ 9.99596645e-01 1.92388544e-02 2.08905207e-02 2.76432659e+02] [-1.92136834e-02 9.99814413e-01 -1.40496713e-03 7.14930307e+00] [-2.09136737e-02 1.00301658e-03 9.99780782e-01 5.81139755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.46, Y:7.15, Z:5.81 [[ 9.99605144e-01 1.84266685e-02 2.12135137e-02 2.76464828e+02] [-1.84003971e-02 9.99829671e-01 -1.43297105e-03 7.14647929e+00] [-2.12363053e-02 1.04206816e-03 9.99773941e-01 5.81202831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.50, Y:7.14, Z:5.81 [[ 9.99602842e-01 1.85516174e-02 2.12131159e-02 2.76498287e+02] [-1.85252499e-02 9.99827358e-01 -1.43883478e-03 7.14412581e+00] [-2.12361463e-02 1.04528506e-03 9.99773941e-01 5.81127979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.53, Y:7.14, Z:5.81 [[ 9.99600520e-01 1.86764941e-02 2.12129359e-02 2.76531746e+02] [-1.86500985e-02 9.99825033e-01 -1.44148424e-03 7.14176659e+00] [-2.12361462e-02 1.04528505e-03 9.99773941e-01 5.81053017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.56, Y:7.14, Z:5.81 [[ 9.99602791e-01 1.89710419e-02 2.08413008e-02 2.76563976e+02] [-1.89455780e-02 9.99819510e-01 -1.41858880e-03 7.13852488e+00] [-2.08644512e-02 1.02317483e-03 9.99781790e-01 5.81004048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.60, Y:7.14, Z:5.81 [[ 9.99599555e-01 1.96231126e-02 2.03878308e-02 2.76596676e+02] [-1.95987730e-02 9.99806955e-01 -1.39297028e-03 7.13561066e+00] [-2.04112294e-02 9.92836000e-04 9.99791176e-01 5.80841892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.63, Y:7.13, Z:5.81 [[ 9.99556569e-01 2.09214614e-02 2.11886442e-02 2.76629884e+02] [-2.08953275e-02 9.99780611e-01 -1.45406084e-03 7.13193824e+00] [-2.12144168e-02 1.01067240e-03 9.99774438e-01 5.80758742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.66, Y:7.13, Z:5.81 [[ 9.99523956e-01 2.20322888e-02 2.15972173e-02 2.76661916e+02] [-2.20052551e-02 9.99756747e-01 -1.48860498e-03 7.12922667e+00] [-2.16247611e-02 1.01264406e-03 9.99765645e-01 5.80715622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.70, Y:7.13, Z:5.81 [[ 9.99496151e-01 2.34246126e-02 2.14180003e-02 2.76695331e+02] [-2.33982643e-02 9.99725128e-01 -1.48000286e-03 7.12698019e+00] [-2.14467815e-02 9.78113131e-04 9.99769513e-01 5.80659685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.73, Y:7.12, Z:5.81 [[ 9.99496027e-01 2.43855633e-02 2.03233122e-02 2.76726941e+02] [-2.43619240e-02 9.99702210e-01 -1.40996913e-03 7.12483561e+00] [-2.03516430e-02 9.14143555e-04 9.99792466e-01 5.80619899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.76, Y:7.12, Z:5.80 [[ 9.99507779e-01 2.53421110e-02 1.84926153e-02 2.76758024e+02] [-2.53226172e-02 9.99678502e-01 -1.28757485e-03 7.12212776e+00] [-1.85192998e-02 8.18659660e-04 9.99828168e-01 5.80466369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.79, Y:7.12, Z:5.80 [[ 9.99517736e-01 2.55915934e-02 1.75887891e-02 2.76788635e+02] [-2.55739113e-02 9.99672178e-01 -1.22953285e-03 7.11993677e+00] [-1.76144888e-02 7.79125755e-04 9.99844549e-01 5.80382241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.82, Y:7.12, Z:5.80 [[ 9.99522772e-01 2.57329493e-02 1.70892602e-02 2.76817986e+02] [-2.57162765e-02 9.99668568e-01 -1.19470564e-03 7.11808660e+00] [-1.71143396e-02 7.54663350e-04 9.99853254e-01 5.80310408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.85, Y:7.12, Z:5.80 [[ 9.99534725e-01 2.61773382e-02 1.56550502e-02 2.76847522e+02] [-2.61634031e-02 9.99657081e-01 -1.09431633e-03 7.11570369e+00] [-1.56783281e-02 6.84217786e-04 9.99876853e-01 5.80255839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.88, Y:7.11, Z:5.80 [[ 9.99527362e-01 2.67515978e-02 1.51461235e-02 2.76877424e+02] [-2.67386276e-02 9.99641899e-01 -1.05823597e-03 7.11344516e+00] [-1.51690092e-02 6.52749252e-04 9.99884731e-01 5.80194147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.91, Y:7.11, Z:5.80 [[ 9.99479085e-01 2.86861038e-02 1.47873426e-02 2.76906457e+02] [-2.86739558e-02 9.99588284e-01 -1.03292452e-03 7.11144460e+00] [-1.48108850e-02 6.08374842e-04 9.99890128e-01 5.80159865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.93, Y:7.11, Z:5.80 [[ 9.99434279e-01 3.04063319e-02 1.43727924e-02 2.76934074e+02] [-3.03950454e-02 9.99537461e-01 -1.00311435e-03 7.10966637e+00] [-1.43966455e-02 5.65685190e-04 9.99896203e-01 5.80100816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.92509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.96, Y:7.11, Z:5.80 [[ 9.99259649e-01 3.53119439e-02 1.52715331e-02 2.76961898e+02] [-3.52997964e-02 9.99376201e-01 -1.06434049e-03 7.10882638e+00] [-1.52995907e-02 5.24470495e-04 9.99882817e-01 5.80095009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.99, Y:7.11, Z:5.80 [[ 9.99033282e-01 4.05249592e-02 1.70360986e-02 2.76990670e+02] [-4.05106299e-02 9.99178404e-01 -1.18551442e-03 7.10833433e+00] [-1.70701447e-02 4.94225279e-04 9.99854172e-01 5.80111489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.98509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.02, Y:7.11, Z:5.80 [[ 9.99040066e-01 4.03573562e-02 1.70361464e-02 2.77019034e+02] [-4.03430142e-02 9.99185187e-01 -1.18482708e-03 7.10644378e+00] [-1.70700816e-02 4.96400230e-04 9.99854172e-01 5.80047823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.05, Y:7.10, Z:5.80 [[ 9.98855088e-01 4.47836581e-02 1.68207256e-02 2.77046830e+02] [-4.47703560e-02 9.98996624e-01 -1.16673359e-03 7.10477160e+00] [-1.68560987e-02 4.12327913e-04 9.99857841e-01 5.80057013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.07, Y:7.10, Z:5.80 [[ 9.98808847e-01 4.58046459e-02 1.68172709e-02 2.77073847e+02] [-4.57915234e-02 9.98950339e-01 -1.16474277e-03 7.10293809e+00] [-1.68529691e-02 3.93266933e-04 9.99857901e-01 5.80025844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.10, Y:7.10, Z:5.80 [[ 9.98819482e-01 4.59297180e-02 1.58146892e-02 2.77101821e+02] [-4.59181603e-02 9.98944607e-01 -1.09334809e-03 7.10063503e+00] [-1.58482157e-02 3.65875935e-04 9.99874342e-01 5.80012383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.13, Y:7.10, Z:5.80 [[ 9.98848443e-01 4.53821341e-02 1.55643640e-02 2.77130149e+02] [-4.53708991e-02 9.98969633e-01 -1.07437468e-03 7.09810980e+00] [-1.55970844e-02 3.66968287e-04 9.99878291e-01 5.79966427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.16, Y:7.10, Z:5.80 [[ 9.98899026e-01 4.43158894e-02 1.53895208e-02 2.77157842e+02] [-4.43048063e-02 9.99017497e-01 -1.06052937e-03 7.09562504e+00] [-1.54213989e-02 3.77532014e-04 9.99881012e-01 5.79907739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.19, Y:7.09, Z:5.80 [[ 9.98958504e-01 4.29878861e-02 1.52953954e-02 2.77185760e+02] [-4.29768013e-02 9.99075516e-01 -1.05282235e-03 7.09332852e+00] [-1.53265136e-02 3.94378669e-04 9.99882464e-01 5.79864571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.21, Y:7.09, Z:5.80 [[ 9.99099548e-01 3.98137965e-02 1.46613358e-02 2.77213325e+02] [-3.98032924e-02 9.99207027e-01 -1.00766669e-03 7.09033145e+00] [-1.46898288e-02 4.23189896e-04 9.99892009e-01 5.79782446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.24, Y:7.09, Z:5.80 [[ 9.99248928e-01 3.62411414e-02 1.37171435e-02 2.77241393e+02] [-3.62316288e-02 9.99342976e-01 -9.41437643e-04 7.08733459e+00] [-1.37422498e-02 4.43736102e-04 9.99905472e-01 5.79675405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.27, Y:7.09, Z:5.80 [[ 9.99318719e-01 3.44880901e-02 1.31403886e-02 2.77270270e+02] [-3.44792312e-02 9.99405009e-01 -9.00186455e-04 7.08511636e+00] [-1.31636159e-02 4.46502679e-04 9.99913256e-01 5.79614527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.30, Y:7.08, Z:5.80 [[ 9.99439883e-01 3.09281639e-02 1.27816147e-02 2.77298004e+02] [-3.09195006e-02 9.99521495e-01 -8.74897011e-04 7.08312116e+00] [-1.28025576e-02 4.79205822e-04 9.99917929e-01 5.79533755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.33, Y:7.08, Z:5.80 [[ 9.99498830e-01 2.89145173e-02 1.28856176e-02 2.77326542e+02] [-2.89055628e-02 9.99581759e-01 -8.80662701e-04 7.08110439e+00] [-1.29056922e-02 5.07755312e-04 9.99916589e-01 5.79515019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.36, Y:7.08, Z:5.80 [[ 9.99575728e-01 2.57646672e-02 1.35847531e-02 2.77355556e+02] [-2.57544378e-02 9.99667869e-01 -9.27437925e-04 7.07888497e+00] [-1.36041363e-02 5.77176759e-04 9.99907293e-01 5.79526538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.38, Y:7.08, Z:5.79 [[ 9.99586287e-01 2.50406618e-02 1.41498906e-02 2.77384659e+02] [-2.50295067e-02 9.99686247e-01 -9.64928173e-04 7.07699654e+00] [-1.41696135e-02 6.10364188e-04 9.99899420e-01 5.79473404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.41, Y:7.08, Z:5.79 [[ 9.99610389e-01 2.43152352e-02 1.37054782e-02 2.77413131e+02] [-2.43047187e-02 9.99704161e-01 -9.33385934e-04 7.07587168e+00] [-1.37241191e-02 5.99914483e-04 9.99905640e-01 5.79456574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.44, Y:7.08, Z:5.79 [[ 9.99545376e-01 2.60664723e-02 1.51519253e-02 2.77442949e+02] [-2.57409337e-02 9.99441766e-01 -2.12969594e-02 7.08454231e+00] [-1.56986036e-02 2.08972525e-02 9.99658371e-01 5.79221218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.47, Y:7.06, Z:5.79 [[ 9.99619148e-01 2.41955844e-02 1.32715282e-02 2.77471212e+02] [-2.44525257e-02 9.99509769e-01 1.95523830e-02 7.06383380e+00] [-1.27919407e-02 -1.98694588e-02 9.99720746e-01 5.78601073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.50, Y:7.07, Z:5.79 [[ 9.99613486e-01 2.49593364e-02 1.22438157e-02 2.77500962e+02] [-2.49509861e-02 9.99688328e-01 -8.34307192e-04 7.07250769e+00] [-1.22608234e-02 5.28489444e-04 9.99924694e-01 5.79250592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.53, Y:7.07, Z:5.79 [[ 9.99616302e-01 2.48463043e-02 1.22438024e-02 2.77530180e+02] [-2.48379431e-02 9.99691142e-01 -8.34503497e-04 7.07057375e+00] [-1.22607552e-02 5.30072431e-04 9.99924694e-01 5.79185457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.56, Y:7.08, Z:5.79 [[ 9.99502119e-01 2.67873230e-02 1.66719134e-02 2.77558982e+02] [-2.63692204e-02 9.99344295e-01 -2.48121944e-02 7.08079848e+00] [-1.73256338e-02 2.43602155e-02 9.99553101e-01 5.79048428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.59, Y:7.06, Z:5.78 [[ 9.99600116e-01 2.48717562e-02 1.34537602e-02 2.77586890e+02] [-2.51760612e-02 9.99419723e-01 2.29430232e-02 7.05679005e+00] [-1.28753200e-02 -2.32725614e-02 9.99646244e-01 5.78374691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.62, Y:7.07, Z:5.79 [[ 9.99608119e-01 2.53630580e-02 1.18458468e-02 2.77617098e+02] [-2.53552877e-02 9.99678178e-01 -8.05697072e-04 7.06645839e+00] [-1.18624695e-02 5.05026479e-04 9.99929511e-01 5.79111580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.65, Y:7.07, Z:5.79 [[ 9.99623034e-01 2.50584846e-02 1.12188060e-02 2.77646070e+02] [-2.50514999e-02 9.99685871e-01 -7.62702518e-04 7.06617980e+00] [-1.12343940e-02 4.81367088e-04 9.99936776e-01 5.79132847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.67509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.67, Y:7.07, Z:5.79 [[ 9.99631655e-01 2.47551335e-02 1.11237418e-02 2.77674615e+02] [-2.47482566e-02 9.99693430e-01 -7.55467845e-04 7.06545256e+00] [-1.11390333e-02 4.79896354e-04 9.99937844e-01 5.79151148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.70, Y:7.07, Z:5.79 [[ 9.99651909e-01 2.40124530e-02 1.09298867e-02 2.77702336e+02] [-2.40057754e-02 9.99711545e-01 -7.41749088e-04 7.06526015e+00] [-1.09445451e-02 4.79110487e-04 9.99939992e-01 5.79151534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.73509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.73, Y:7.07, Z:5.80 [[ 9.99662975e-01 2.52509681e-02 6.02703250e-03 2.77730856e+02] [-2.51881434e-02 9.99629855e-01 -1.02815482e-02 7.06866702e+00] [-6.28442067e-03 1.01262733e-02 9.99928980e-01 5.79534856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.76, Y:7.06, Z:5.79 [[ 9.99673152e-01 2.35960828e-02 9.83943814e-03 2.77760242e+02] [-2.36841492e-02 9.99679589e-01 8.93198657e-03 7.05792873e+00] [-9.62552558e-03 -9.16210589e-03 9.99911699e-01 5.78734897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.79, Y:7.06, Z:5.79 [[ 9.99666886e-01 2.37202089e-02 1.01719323e-02 2.77789590e+02] [-2.37144209e-02 9.99718536e-01 -6.89274984e-04 7.06243009e+00] [-1.01854190e-02 4.47823892e-04 9.99948027e-01 5.79099468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.82, Y:7.06, Z:5.79 [[ 9.99654466e-01 2.36818168e-02 1.14070349e-02 2.77817950e+02] [-2.36745447e-02 9.99719421e-01 -7.72144316e-04 7.06265931e+00] [-1.14221201e-02 5.01821156e-04 9.99934640e-01 5.79204583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.85, Y:7.06, Z:5.79 [[ 9.99652640e-01 2.32775965e-02 1.23592926e-02 2.77847130e+02] [-2.32690462e-02 9.99728890e-01 -8.35180495e-04 7.06142956e+00] [-1.23753828e-02 5.47301437e-04 9.99923272e-01 5.79188148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.88, Y:7.06, Z:5.79 [[ 9.99653876e-01 2.32244207e-02 1.23593632e-02 2.77876373e+02] [-2.32158792e-02 9.99730127e-01 -8.34133816e-04 7.05951734e+00] [-1.23754000e-02 5.46911620e-04 9.99923272e-01 5.79124048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.91, Y:7.07, Z:5.79 [[ 9.99499703e-01 2.64499993e-02 1.73419035e-02 2.77906561e+02] [-2.58733181e-02 9.99131088e-01 -3.26747760e-02 7.07244279e+00] [-1.81910827e-02 3.22097363e-02 9.99315574e-01 5.78853380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.93, Y:7.06, Z:5.78 [[ 9.99516330e-01 2.48429512e-02 1.87065111e-02 2.77934003e+02] [-2.48124136e-02 9.99690389e-01 -1.86282248e-03 7.05716678e+00] [-1.87469973e-02 1.39776780e-03 9.99823283e-01 5.77685709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.97, Y:7.05, Z:5.78 [[ 9.99465377e-01 2.69442452e-02 1.85194037e-02 2.77968314e+02] [-2.68881304e-02 9.99633092e-01 -3.27245004e-03 7.05455772e+00] [-1.86007825e-02 2.77274837e-03 9.99823146e-01 5.77558265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.00, Y:7.04, Z:5.78 [[ 9.99617151e-01 2.41540113e-02 1.34957546e-02 2.77995947e+02] [-2.45877478e-02 9.99154357e-01 3.29547205e-02 7.03889953e+00] [-1.26883533e-02 -3.32739340e-02 9.99365724e-01 5.77725657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.03, Y:7.05, Z:5.79 [[ 9.99609387e-01 2.54871271e-02 1.14664844e-02 2.78025885e+02] [-2.54799300e-02 9.99675035e-01 -7.73339142e-04 7.05449188e+00] [-1.14824684e-02 4.80871846e-04 9.99933959e-01 5.78889187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.05, Y:7.07, Z:5.79 [[ 9.99504130e-01 2.79055328e-02 1.45867899e-02 2.78054730e+02] [-2.74384101e-02 9.99133392e-01 -3.12985530e-02 7.06777532e+00] [-1.54475516e-02 3.08827947e-02 9.99403635e-01 5.79001143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.08, Y:7.04, Z:5.78 [[ 9.99537047e-01 2.72068394e-02 1.36190597e-02 2.78082266e+02] [-2.75973177e-02 9.99187992e-01 2.93554890e-02 7.03851699e+00] [-1.28093308e-02 -2.97177483e-02 9.99476251e-01 5.77734638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.11, Y:7.05, Z:5.79 [[ 9.99533577e-01 2.85105189e-02 1.09443928e-02 2.78111506e+02] [-2.85041733e-02 9.99593403e-01 -7.35388856e-04 7.05168047e+00] [-1.09609091e-02 4.23084985e-04 9.99939838e-01 5.78674897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.14, Y:7.06, Z:5.79 [[ 9.99414453e-01 3.14015715e-02 1.35901576e-02 2.78140761e+02] [-3.09944207e-02 9.99092974e-01 -2.91988850e-02 7.06443894e+00] [-1.44947218e-02 2.87605686e-02 9.99481232e-01 5.78712508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.17, Y:7.04, Z:5.78 [[ 9.99479249e-01 2.91770827e-02 1.37814971e-02 2.78168091e+02] [-2.95457186e-02 9.99189221e-01 2.73486989e-02 7.03779167e+00] [-1.29723681e-02 -2.77416413e-02 9.99530949e-01 5.77648609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.20, Y:7.05, Z:5.79 [[ 9.99496785e-01 2.92334103e-02 1.23119273e-02 2.78198413e+02] [-2.92254736e-02 9.99572505e-01 -8.24097956e-04 7.05003054e+00] [-1.23307552e-02 4.63861352e-04 9.99923866e-01 5.78731852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.23, Y:7.05, Z:5.79 [[ 9.99498850e-01 2.86419123e-02 1.34791992e-02 2.78227225e+02] [-2.86323604e-02 9.99589604e-01 -9.01130292e-04 7.04765286e+00] [-1.34994774e-02 5.14737403e-04 9.99908745e-01 5.78643049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.25, Y:7.05, Z:5.79 [[ 9.99506693e-01 2.77416531e-02 1.47231278e-02 2.78254756e+02] [-2.77301756e-02 9.99614961e-01 -9.83171111e-04 7.04527671e+00] [-1.47447336e-02 5.74411188e-04 9.99891126e-01 5.78669481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.28, Y:7.04, Z:5.79 [[ 9.99512446e-01 2.71884255e-02 1.53512185e-02 2.78283909e+02] [-2.71759063e-02 9.99630143e-01 -1.02357619e-03 7.04316562e+00] [-1.53733701e-02 6.05893872e-04 9.99881639e-01 5.78621112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.31, Y:7.04, Z:5.79 [[ 9.99513899e-01 2.71349194e-02 1.53512964e-02 2.78313154e+02] [-2.71224117e-02 9.99631597e-01 -1.02240646e-03 7.04127786e+00] [-1.53733838e-02 6.05545283e-04 9.99881639e-01 5.78563859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.34, Y:7.04, Z:5.78 [[ 9.99458160e-01 2.75641429e-02 1.79889884e-02 2.78342637e+02] [-2.73460137e-02 9.99550829e-01 -1.22611326e-02 7.04339615e+00] [-1.83188758e-02 1.17625619e-02 9.99763002e-01 5.78242233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.37, Y:7.04, Z:5.78 [[ 9.99455100e-01 2.73017721e-02 1.85503485e-02 2.78371543e+02] [-2.72829228e-02 9.99626947e-01 -1.26847917e-03 7.03621439e+00] [-1.85780600e-02 7.61680252e-04 9.99827123e-01 5.77793883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.42509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.40, Y:7.03, Z:5.78 [[ 9.99573710e-01 2.49129224e-02 1.52231627e-02 2.78399655e+02] [-2.50691770e-02 9.99634077e-01 1.01611016e-02 7.02935249e+00] [-1.49644494e-02 -1.05384022e-02 9.99832490e-01 5.77958496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.43, Y:7.03, Z:5.78 [[ 9.99613704e-01 2.42297499e-02 1.36147628e-02 2.78429854e+02] [-2.42196520e-02 9.99706251e-01 -9.06103958e-04 7.03210932e+00] [-1.36327182e-02 5.76009116e-04 9.99906904e-01 5.78221689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.48509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.46, Y:7.03, Z:5.78 [[ 9.99615010e-01 2.41757895e-02 1.36147886e-02 2.78459100e+02] [-2.41656918e-02 9.99707557e-01 -9.05716224e-04 7.03022428e+00] [-1.36327035e-02 5.76356746e-04 9.99906904e-01 5.78165218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.49, Y:7.03, Z:5.78 [[ 9.99693186e-01 2.16708896e-02 1.19961284e-02 2.78488514e+02] [-2.16628782e-02 9.99765014e-01 -7.97377651e-04 7.02685739e+00] [-1.20105894e-02 5.37262334e-04 9.99927726e-01 5.78008400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.52, Y:7.03, Z:5.78 [[ 9.99673129e-01 2.18599762e-02 1.32580478e-02 2.78517853e+02] [-2.17618903e-02 9.99735066e-01 -7.49791587e-03 7.02668813e+00] [-1.34184395e-02 7.20694484e-03 9.99883996e-01 5.77691826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.55, Y:7.02, Z:5.78 [[ 9.99760682e-01 1.78066718e-02 1.27083162e-02 2.78545516e+02] [-1.78819260e-02 9.99823092e-01 5.83277913e-03 7.01815494e+00] [-1.26022057e-02 -6.05863241e-03 9.99902234e-01 5.77688689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.57, Y:7.02, Z:5.78 [[ 9.99770720e-01 1.68552805e-02 1.32063193e-02 2.78574847e+02] [-1.68451817e-02 9.99857727e-01 -8.75566293e-04 7.01860996e+00] [-1.32191983e-02 6.52902694e-04 9.99912409e-01 5.77881076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.61, Y:7.02, Z:5.78 [[ 9.99780167e-01 1.58044769e-02 1.37781356e-02 2.78605011e+02] [-1.57933950e-02 9.99874860e-01 -9.12751725e-04 7.01597833e+00] [-1.37908369e-02 6.94947534e-04 9.99904660e-01 5.77860403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.64, Y:7.01, Z:5.78 [[ 9.99797554e-01 1.37470179e-02 1.46925558e-02 2.78636623e+02] [-1.37341969e-02 9.99905208e-01 -9.73166593e-04 7.01262366e+00] [-1.47045412e-02 7.71179124e-04 9.99891585e-01 5.77782333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.67, Y:7.01, Z:5.78 [[ 9.99805305e-01 1.34787852e-02 1.44109471e-02 2.78669110e+02] [-1.34664309e-02 9.99908868e-01 -9.53979601e-04 7.00963087e+00] [-1.44224923e-02 7.59729843e-04 9.99895702e-01 5.77696905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.70, Y:7.01, Z:5.78 [[ 9.99825010e-01 1.30149647e-02 1.34372364e-02 2.78701341e+02] [-1.30041342e-02 9.99915044e-01 -8.93064897e-04 7.00612065e+00] [-1.34477180e-02 7.18168995e-04 9.99909317e-01 5.77574873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.73, Y:7.00, Z:5.77 [[ 9.99821941e-01 1.31139308e-02 1.35687691e-02 2.78732883e+02] [-1.31028661e-02 9.99913745e-01 -9.04034676e-04 7.00325694e+00] [-1.35794542e-02 7.26083939e-04 9.99907531e-01 5.77489201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.76, Y:7.00, Z:5.77 [[ 9.99814504e-01 1.33689901e-02 1.38645964e-02 2.78764708e+02] [-1.33574173e-02 9.99910356e-01 -9.26966829e-04 7.00046062e+00] [-1.38757462e-02 7.41599680e-04 9.99903452e-01 5.77395308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.80, Y:7.00, Z:5.77 [[ 9.99796674e-01 1.38151842e-02 1.46884796e-02 2.78796107e+02] [-1.38021838e-02 9.99904259e-01 -9.86088618e-04 6.99696903e+00] [-1.47006963e-02 7.83155027e-04 9.99891632e-01 5.77358736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.83, Y:6.99, Z:5.77 [[ 9.99776723e-01 1.46214948e-02 1.52550540e-02 2.78827820e+02] [-1.46075103e-02 9.99892776e-01 -1.02774417e-03 6.99427574e+00] [-1.52684455e-02 8.04676343e-04 9.99883107e-01 5.77301767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.86, Y:6.99, Z:5.77 [[ 9.99759317e-01 1.57443135e-02 1.52782325e-02 2.78859565e+02] [-1.57303597e-02 9.99875737e-01 -1.03306137e-03 6.99192031e+00] [-1.52925988e-02 7.92480636e-04 9.99882747e-01 5.77202919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.89, Y:6.99, Z:5.77 [[ 9.99739562e-01 1.69862742e-02 1.52405601e-02 2.78891339e+02] [-1.69724773e-02 9.99855422e-01 -1.03416971e-03 6.98943442e+00] [-1.52559233e-02 7.75230309e-04 9.99883321e-01 5.77129845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.92, Y:6.99, Z:5.77 [[ 9.99729637e-01 1.79248940e-02 1.48104998e-02 2.78922667e+02] [-1.79119008e-02 9.99839059e-01 -1.00949481e-03 6.98716017e+00] [-1.48262113e-02 7.43937681e-04 9.99889809e-01 5.77034165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.95, Y:6.98, Z:5.77 [[ 9.99679308e-01 2.04777710e-02 1.48977089e-02 2.78954092e+02] [-2.04648989e-02 9.99790056e-01 -1.01598190e-03 6.98420273e+00] [-1.49153863e-02 7.10775976e-04 9.99888507e-01 5.76915550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.98, Y:6.98, Z:5.77 [[ 9.99613435e-01 2.37238329e-02 1.44969020e-02 2.78983298e+02] [-2.37119762e-02 9.99718342e-01 -9.89235542e-04 6.98199912e+00] [-1.45162873e-02 6.45102944e-04 9.99894425e-01 5.76794327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.01, Y:6.98, Z:5.77 [[ 9.99514400e-01 2.73304620e-02 1.49669542e-02 2.79012442e+02] [-2.73182191e-02 9.99626266e-01 -1.02186702e-03 6.98077129e+00] [-1.49892886e-02 6.12500270e-04 9.99887467e-01 5.76707191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.04, Y:6.98, Z:5.77 [[ 9.99464309e-01 2.89501858e-02 1.52637133e-02 2.79040075e+02] [-2.89376468e-02 9.99580676e-01 -1.04176314e-03 6.97942224e+00] [-1.52874721e-02 5.99509137e-04 9.99882960e-01 5.76650565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.07, Y:6.98, Z:5.77 [[ 9.99411786e-01 3.05819790e-02 1.55185200e-02 2.79068096e+02] [-3.05692368e-02 9.99532092e-01 -1.05769957e-03 6.97808417e+00] [-1.55436053e-02 5.82688106e-04 9.99879021e-01 5.76559732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.10, Y:6.98, Z:5.77 [[ 9.99413410e-01 3.05288063e-02 1.55186237e-02 2.79097338e+02] [-3.05160813e-02 9.99533718e-01 -1.05617552e-03 6.97615420e+00] [-1.55436314e-02 5.81988394e-04 9.99879021e-01 5.76503406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.13, Y:6.97, Z:5.76 [[ 9.99352662e-01 3.23707109e-02 1.56969561e-02 2.79126402e+02] [-3.23579310e-02 9.99475775e-01 -1.06752716e-03 6.97433454e+00] [-1.57232840e-02 5.58915089e-04 9.99876225e-01 5.76429968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.17509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.15, Y:6.97, Z:5.76 [[ 9.99244920e-01 3.53981068e-02 1.60176394e-02 2.79154211e+02] [-3.53852059e-02 9.99373155e-01 -1.08820476e-03 6.97221617e+00] [-1.60461192e-02 5.20595608e-04 9.99871117e-01 5.76343798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.18, Y:6.97, Z:5.76 [[ 9.99191296e-01 3.69670152e-02 1.58175141e-02 2.79182751e+02] [-3.69546541e-02 9.99316367e-01 -1.07315421e-03 6.97017676e+00] [-1.58463721e-02 4.87755582e-04 9.99874319e-01 5.76253125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.23509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.21, Y:6.97, Z:5.76 [[ 9.99152773e-01 3.80750617e-02 1.56213322e-02 2.79210662e+02] [-3.80631569e-02 9.99274775e-01 -1.05880509e-03 6.96865433e+00] [-1.56503173e-02 4.63310825e-04 9.99877419e-01 5.76182259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.24, Y:6.97, Z:5.76 [[ 9.99013165e-01 4.09605697e-02 1.71734538e-02 2.79239210e+02] [-4.09466369e-02 9.99160659e-01 -1.16228341e-03 6.96733606e+00] [-1.72066472e-02 4.57941255e-04 9.99851850e-01 5.76157503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.27, Y:6.97, Z:5.76 [[ 9.98960524e-01 4.25327427e-02 1.63962867e-02 2.79267160e+02] [-4.25202708e-02 9.99094989e-01 -1.10866906e-03 6.96596878e+00] [-1.64286026e-02 4.10342075e-04 9.99864957e-01 5.76087324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.29, Y:6.96, Z:5.76 [[ 9.98919836e-01 4.36484130e-02 1.59366829e-02 2.79293642e+02] [-4.36367966e-02 9.99046882e-01 -1.07608305e-03 6.96443994e+00] [-1.59684627e-02 3.79494917e-04 9.99872424e-01 5.75947747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.32, Y:6.96, Z:5.76 [[ 9.98843136e-01 4.54550731e-02 1.56915737e-02 2.79321644e+02] [-4.54440741e-02 9.98966325e-01 -1.05698414e-03 6.96250818e+00] [-1.57233990e-02 3.42672315e-04 9.99876321e-01 5.75844041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.35, Y:6.97, Z:5.76 [[ 9.98719962e-01 4.85957001e-02 1.40319331e-02 2.79349841e+02] [-4.84437962e-02 9.98765667e-01 -1.09700160e-02 6.96552997e+00] [-1.45477086e-02 1.02762139e-02 9.99841369e-01 5.76227480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.38, Y:6.95, Z:5.75 [[ 9.98513674e-01 5.14672616e-02 1.79321803e-02 2.79376438e+02] [-5.16279969e-02 9.98629195e-01 8.61863276e-03 6.95442951e+00] [-1.74640214e-02 -9.53162522e-03 9.99802058e-01 5.75394558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.40, Y:6.96, Z:5.76 [[ 9.98455902e-01 5.30178238e-02 1.65807995e-02 2.79404648e+02] [-5.30066817e-02 9.98593540e-01 -1.11105588e-03 6.95756679e+00] [-1.66163851e-02 2.30447142e-04 9.99861912e-01 5.75673828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.43, Y:6.96, Z:5.76 [[ 9.98368385e-01 5.48671391e-02 1.58166274e-02 2.79431042e+02] [-5.48572573e-02 9.98493646e-01 -1.05828187e-03 6.95579361e+00] [-1.58508668e-02 1.88898363e-04 9.99874349e-01 5.75570935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.46, Y:6.95, Z:5.76 [[ 9.98355110e-01 5.51546188e-02 1.56538399e-02 2.79458771e+02] [-5.51450060e-02 9.98477809e-01 -1.04539060e-03 6.95374108e+00] [-1.56876699e-02 1.80439948e-04 9.99876925e-01 5.75527239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.49, Y:6.95, Z:5.75 [[ 9.98360074e-01 5.50646477e-02 1.56539569e-02 2.79487173e+02] [-5.50550514e-02 9.98482775e-01 -1.04363498e-03 6.95193375e+00] [-1.56876737e-02 1.80094091e-04 9.99876925e-01 5.75472868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.51, Y:6.95, Z:5.75 [[ 9.98336107e-01 5.54655266e-02 1.57668278e-02 2.79514274e+02] [-5.54558624e-02 9.98460588e-01 -1.04983577e-03 6.94882288e+00] [-1.58007858e-02 1.73725927e-04 9.99875145e-01 5.75340991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.54, Y:6.95, Z:5.75 [[ 9.98362172e-01 5.50427487e-02 1.55971057e-02 2.79541555e+02] [-5.50332668e-02 9.98483983e-01 -1.03680665e-03 6.94638307e+00] [-1.56305289e-02 1.76748861e-04 9.99877820e-01 5.75280054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.57, Y:6.94, Z:5.75 [[ 9.98377416e-01 5.44555814e-02 1.66470935e-02 2.79568981e+02] [-5.44447569e-02 9.98516175e-01 -1.10308514e-03 6.94353874e+00] [-1.66824613e-02 1.94948329e-04 9.99860819e-01 5.75271215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.60, Y:6.94, Z:5.75 [[ 9.98389387e-01 5.39849789e-02 1.74428615e-02 2.79595949e+02] [-5.39730574e-02 9.98541726e-01 -1.15384076e-03 6.94098985e+00] [-1.74797151e-02 2.10537807e-04 9.99847196e-01 5.75210103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.62, Y:6.94, Z:5.75 [[ 9.98421740e-01 5.31536926e-02 1.81304482e-02 2.79623234e+02] [-5.31407188e-02 9.98586316e-01 -1.19694144e-03 6.93834948e+00] [-1.81684394e-02 2.31587304e-04 9.99834913e-01 5.75166047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.65, Y:6.93, Z:5.75 [[ 9.98518166e-01 5.08101030e-02 1.94885927e-02 2.79650722e+02] [-5.07947170e-02 9.98708290e-01 -1.28400591e-03 6.93490719e+00] [-1.95286596e-02 2.92185675e-04 9.99809255e-01 5.75176376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.68, Y:6.93, Z:5.75 [[ 9.98550154e-01 4.94969530e-02 2.11575432e-02 2.79677664e+02] [-4.94785774e-02 9.98774216e-01 -1.39143540e-03 6.93196846e+00] [-2.12004804e-02 3.42572894e-04 9.99775186e-01 5.75109241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.71, Y:6.93, Z:5.75 [[ 9.98632994e-01 4.75889273e-02 2.16202997e-02 2.79705275e+02] [-4.75693617e-02 9.98866930e-01 -1.41864866e-03 6.92902353e+00] [-2.16633143e-02 3.88245505e-04 9.99765247e-01 5.75127116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.73, Y:6.92, Z:5.75 [[ 9.98865156e-01 4.32189404e-02 2.00130619e-02 2.79733527e+02] [-4.32013392e-02 9.99065526e-01 -1.31119431e-03 6.92431360e+00] [-2.00510287e-02 4.45115229e-04 9.99798859e-01 5.74977260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.76, Y:6.92, Z:5.75 [[ 9.98995026e-01 4.08237158e-02 1.85030500e-02 2.79762437e+02] [-4.08082831e-02 9.99166261e-01 -1.21102803e-03 6.92104570e+00] [-1.85370620e-02 4.54733272e-04 9.99828070e-01 5.74876009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.79, Y:6.92, Z:5.75 [[ 9.99206702e-01 3.58297183e-02 1.73838529e-02 2.79790269e+02] [-3.58153610e-02 9.99357778e-01 -1.13662834e-03 6.91638991e+00] [-1.74134136e-02 5.13117694e-04 9.99848243e-01 5.74708359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.82, Y:6.91, Z:5.75 [[ 9.99306563e-01 3.31934145e-02 1.68698129e-02 2.79818894e+02] [-3.31795440e-02 9.99448800e-01 -1.10151063e-03 6.91320732e+00] [-1.68970771e-02 5.41014101e-04 9.99857088e-01 5.74626911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.92509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.85, Y:6.91, Z:5.75 [[ 9.99383374e-01 3.09420113e-02 1.65970910e-02 2.79847743e+02] [-3.09282947e-02 9.99521020e-01 -1.08254727e-03 6.90994836e+00] [-1.66226376e-02 5.68560023e-04 9.99861673e-01 5.74524707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.88, Y:6.91, Z:5.74 [[ 9.99487774e-01 2.73710364e-02 1.65836346e-02 2.79875792e+02] [-2.73568720e-02 9.99625147e-01 -1.08041673e-03 6.90606214e+00] [-1.66069903e-02 6.26186941e-04 9.99861898e-01 5.74459607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.98509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.90, Y:6.90, Z:5.74 [[ 9.99515302e-01 2.62304931e-02 1.67667025e-02 2.79904937e+02] [-2.62158701e-02 9.99655709e-01 -1.09138082e-03 6.90325438e+00] [-1.67895573e-02 6.51298132e-04 9.99858833e-01 5.74381774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.93, Y:6.90, Z:5.74 [[ 9.99555139e-01 2.44047886e-02 1.71443984e-02 2.79934100e+02] [-2.43892425e-02 9.99701916e-01 -1.11530230e-03 6.90033262e+00] [-1.71665066e-02 6.96667253e-04 9.99852402e-01 5.74284045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.96, Y:6.90, Z:5.74 [[ 9.99563948e-01 2.36925395e-02 1.76231958e-02 2.79964188e+02] [-2.36760085e-02 9.99719027e-01 -1.14610180e-03 6.89821654e+00] [-1.76453982e-02 7.28355108e-04 9.99844043e-01 5.74220128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.00, Y:6.90, Z:5.74 [[ 9.99565938e-01 2.31802110e-02 1.81827531e-02 2.79995437e+02] [-2.31625294e-02 9.99731013e-01 -1.18246143e-03 6.89596704e+00] [-1.82052719e-02 7.60789619e-04 9.99833981e-01 5.74179888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.03, Y:6.89, Z:5.74 [[ 9.99586551e-01 2.08773828e-02 1.97702503e-02 2.80026895e+02] [-2.08560137e-02 9.99781662e-01 -1.28646451e-03 6.89355555e+00] [-1.97927918e-02 8.73604012e-04 9.99803722e-01 5.74246998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.06, Y:6.89, Z:5.74 [[ 9.99674191e-01 1.90830722e-02 1.69513485e-02 2.80060255e+02] [-1.90671059e-02 9.99817598e-01 -1.10302128e-03 6.89043764e+00] [-1.69693055e-02 7.79448755e-04 9.99855707e-01 5.74038883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.09, Y:6.89, Z:5.74 [[ 9.99720886e-01 1.75396898e-02 1.58274717e-02 2.80091476e+02] [-1.75255043e-02 9.99845881e-01 -1.03452682e-03 6.88763886e+00] [-1.58431777e-02 7.56853645e-04 9.99874203e-01 5.73830508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.12, Y:6.89, Z:5.74 [[ 9.99747547e-01 1.48904594e-02 1.68260447e-02 2.80123812e+02] [-1.48740149e-02 9.99888768e-01 -1.10205226e-03 6.88538846e+00] [-1.68405831e-02 8.51503210e-04 9.99857825e-01 5.73883676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.16, Y:6.88, Z:5.74 [[ 9.99792635e-01 1.21690482e-02 1.63279243e-02 2.80155793e+02] [-1.21531375e-02 9.99925572e-01 -1.07332193e-03 6.88315851e+00] [-1.63397703e-02 8.74663851e-04 9.99866114e-01 5.73862271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.19, Y:6.88, Z:5.74 [[ 9.99829433e-01 1.11115063e-02 1.47526224e-02 2.80188324e+02] [-1.10983530e-02 9.99937938e-01 -9.73163847e-04 6.88098478e+00] [-1.47625202e-02 8.09268046e-04 9.99890701e-01 5.73768202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.22, Y:6.88, Z:5.74 [[ 9.99828080e-01 1.12329836e-02 1.47523071e-02 2.80221785e+02] [-1.12197736e-02 9.99936578e-01 -9.77918952e-04 6.87867636e+00] [-1.47623564e-02 8.12233283e-04 9.99890701e-01 5.73704380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.26, Y:6.88, Z:5.74 [[ 9.99826710e-01 1.13544043e-02 1.47521881e-02 2.80255246e+02] [-1.13411811e-02 9.99935207e-01 -9.79710286e-04 6.87636244e+00] [-1.47623563e-02 8.12233276e-04 9.99890701e-01 5.73640460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.29, Y:6.87, Z:5.74 [[ 9.99858438e-01 1.02610401e-02 1.33347279e-02 2.80287803e+02] [-1.02501322e-02 9.99947073e-01 -8.86100499e-04 6.87413453e+00] [-1.33431145e-02 7.49292337e-04 9.99910696e-01 5.73548367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.32, Y:6.87, Z:5.73 [[ 9.99886848e-01 8.75928742e-03 1.22297604e-02 2.80320707e+02] [-8.74996443e-03 9.99961386e-01 -8.15620416e-04 6.87197913e+00] [-1.22364324e-02 7.08518159e-04 9.99924881e-01 5.73396523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.35, Y:6.87, Z:5.73 [[ 9.99892374e-01 8.48556114e-03 1.19681088e-02 2.80354145e+02] [-8.47657506e-03 9.99963752e-01 -8.01362602e-04 6.86992088e+00] [-1.19744750e-02 6.99827782e-04 9.99928059e-01 5.73316694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.39, Y:6.87, Z:5.73 [[ 9.99885179e-01 8.67529972e-03 1.24244975e-02 2.80387687e+02] [-8.66558569e-03 9.99962104e-01 -8.35467814e-04 6.86835440e+00] [-1.24312746e-02 7.27706337e-04 9.99922464e-01 5.73276077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.42, Y:6.87, Z:5.73 [[ 9.99884105e-01 8.79862734e-03 1.24241910e-02 2.80421146e+02] [-8.78886671e-03 9.99961024e-01 -8.39997118e-04 6.86600319e+00] [-1.24310976e-02 7.30705208e-04 9.99922464e-01 5.73212256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.45, Y:6.87, Z:5.73 [[ 9.99842925e-01 1.14210094e-02 1.35530748e-02 2.80453337e+02] [-1.14096153e-02 9.99934487e-01 -9.17735223e-04 6.86579158e+00] [-1.35626684e-02 7.62955701e-04 9.99907732e-01 5.73238975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.49, Y:6.86, Z:5.73 [[ 9.99802878e-01 1.38621616e-02 1.42143044e-02 2.80486489e+02] [-1.38498339e-02 9.99903620e-01 -9.65348724e-04 6.86457588e+00] [-1.42263163e-02 7.68292676e-04 9.99898506e-01 5.73227099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.52, Y:6.86, Z:5.73 [[ 9.99745758e-01 1.65683180e-02 1.52941254e-02 2.80518185e+02] [-1.65542824e-02 9.99862424e-01 -1.04386515e-03 6.86324597e+00] [-1.53093163e-02 7.90416483e-04 9.99882493e-01 5.73156131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.55, Y:6.86, Z:5.73 [[ 9.99679106e-01 1.96209124e-02 1.60220070e-02 2.80550629e+02] [-1.96058556e-02 9.99807186e-01 -1.09631116e-03 6.86202910e+00] [-1.60404284e-02 7.81834207e-04 9.99871038e-01 5.73096950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.58, Y:6.87, Z:5.74 [[ 9.99559061e-01 2.78203884e-02 1.03783318e-02 2.80581074e+02] [-2.75979436e-02 9.99398621e-01 -2.09940500e-02 6.87188409e+00] [-1.09561531e-02 2.06983723e-02 9.99725732e-01 5.73811962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.61, Y:6.85, Z:5.72 [[ 9.99459463e-01 2.77665552e-02 1.76011677e-02 2.80610771e+02] [-2.80878034e-02 9.99438394e-01 1.82748986e-02 6.85231515e+00] [-1.70838518e-02 -1.87593984e-02 9.99678062e-01 5.72397547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.67509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.64, Y:6.86, Z:5.73 [[ 9.99458549e-01 3.00945544e-02 1.33014068e-02 2.80639480e+02] [-3.02171813e-02 9.99501784e-01 9.11628408e-03 6.85989171e+00] [-1.30204293e-02 -9.51327907e-03 9.99869975e-01 5.73026075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.67, Y:6.87, Z:5.73 [[ 9.99331964e-01 3.38018674e-02 1.38945688e-02 2.80668947e+02] [-3.36493878e-02 9.99372443e-01 -1.10651848e-02 6.86563551e+00] [-1.42598731e-02 1.05902491e-02 9.99842239e-01 5.73220406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.73509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.70, Y:6.86, Z:5.73 [[ 9.99277892e-01 3.56095101e-02 1.32535703e-02 2.80696594e+02] [-3.56004793e-02 9.99365682e-01 -9.16760513e-04 6.85960970e+00] [-1.32778087e-02 4.44265058e-04 9.99911747e-01 5.72824264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.73, Y:6.86, Z:5.73 [[ 9.99204037e-01 3.77061632e-02 1.30206881e-02 2.80725505e+02] [-3.76976410e-02 9.99288787e-01 -8.99413160e-04 6.85859742e+00] [-1.30453410e-02 4.07848034e-04 9.99914823e-01 5.72762384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.75, Y:6.86, Z:5.73 [[ 9.99112100e-01 4.03276591e-02 1.21939141e-02 2.80753937e+02] [-4.03203867e-02 9.99186448e-01 -8.41752068e-04 6.85840054e+00] [-1.22179396e-02 3.49341343e-04 9.99925297e-01 5.72806547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.78, Y:6.86, Z:5.73 [[ 9.99115734e-01 4.02375017e-02 1.21940128e-02 2.80782335e+02] [-4.02302400e-02 9.99190083e-01 -8.40319245e-04 6.85653134e+00] [-1.22179490e-02 3.49008116e-04 9.99925297e-01 5.72754083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.81, Y:6.86, Z:5.73 [[ 9.99057303e-01 4.15948266e-02 1.24248143e-02 2.80809069e+02] [-4.15874041e-02 9.99134504e-01 -8.55276104e-04 6.85583430e+00] [-1.24496357e-02 3.37754065e-04 9.99922443e-01 5.72707855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.84, Y:6.85, Z:5.73 [[ 9.98988143e-01 4.32005440e-02 1.25061238e-02 2.80836976e+02] [-4.31931712e-02 9.99066370e-01 -8.59169281e-04 6.85490959e+00] [-1.25315643e-02 3.18120779e-04 9.99921426e-01 5.72692850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.87, Y:6.85, Z:5.73 [[ 9.98869185e-01 4.60719885e-02 1.17355285e-02 2.80865371e+02] [-4.60657076e-02 9.98938087e-01 -8.05096486e-04 6.85450090e+00] [-1.17601588e-02 2.63580646e-04 9.99930812e-01 5.72613209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.89, Y:6.84, Z:5.73 [[ 9.99146428e-01 4.12170844e-02 2.75082603e-03 2.80885917e+02] [-4.12998016e-02 9.98100130e-01 4.57215180e-02 6.83873816e+00] [-8.61092149e-04 -4.57961000e-02 9.98950437e-01 5.72685111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.92, Y:6.87, Z:5.74 [[ 9.98730367e-01 4.98085301e-02 7.53415994e-03 2.80924042e+02] [-4.94073476e-02 9.97701354e-01 -4.63780320e-02 6.87431834e+00] [-9.82686318e-03 4.59469061e-02 9.98895547e-01 5.74155349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.95, Y:6.85, Z:5.72 [[ 9.98719791e-01 4.94490442e-02 1.06570008e-02 2.80950149e+02] [-4.94440660e-02 9.98776627e-01 -7.30256199e-04 6.85140295e+00] [-1.06800738e-02 2.02395869e-04 9.99942946e-01 5.72481949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.97, Y:6.84, Z:5.72 [[ 9.99030157e-01 4.36655912e-02 5.66228014e-03 2.80971771e+02] [-4.38403922e-02 9.98400634e-01 3.56958636e-02 6.83904894e+00] [-4.09454309e-03 -3.59094808e-02 9.99346659e-01 5.72319471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.01, Y:6.87, Z:5.74 [[ 9.98943056e-01 4.55126151e-02 6.43214116e-03 2.81009120e+02] [-4.52507950e-02 9.98318103e-01 -3.62398964e-02 6.86540379e+00] [-8.07069542e-03 3.59105333e-02 9.99322419e-01 5.73691893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.04, Y:6.85, Z:5.72 [[ 9.99106960e-01 4.15013741e-02 7.93206116e-03 2.81035456e+02] [-4.14984051e-02 9.99138425e-01 -5.38597454e-04 6.84638929e+00] [-7.94757963e-03 2.08948578e-04 9.99968396e-01 5.72412496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.06, Y:6.84, Z:5.72 [[ 9.99110647e-01 4.14125207e-02 7.93213134e-03 2.81063857e+02] [-4.14095571e-02 9.99142112e-01 -5.37560637e-04 6.84455604e+00] [-7.94758820e-03 2.08616510e-04 9.99968396e-01 5.72359119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.09, Y:6.84, Z:5.72 [[ 9.99179909e-01 3.96351051e-02 8.28055980e-03 2.81091389e+02] [-3.96318195e-02 9.99214194e-01 -5.60551645e-04 6.84279729e+00] [-8.29627041e-03 2.31918290e-04 9.99965558e-01 5.72356283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.12, Y:6.84, Z:5.72 [[ 9.99183447e-01 3.95457971e-02 8.28063223e-03 2.81119789e+02] [-3.95425174e-02 9.99217732e-01 -5.59478455e-04 6.84096927e+00] [-8.29627958e-03 2.31584567e-04 9.99965558e-01 5.72302905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.15, Y:6.84, Z:5.72 [[ 9.99244241e-01 3.80019719e-02 8.17297280e-03 2.81147841e+02] [-3.79987296e-02 9.99277635e-01 -5.51687603e-04 6.83916688e+00] [-8.18803415e-03 2.40708076e-04 9.99966449e-01 5.72300371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.18, Y:6.84, Z:5.72 [[ 9.99247651e-01 3.79121678e-02 8.17304484e-03 2.81176242e+02] [-3.79089312e-02 9.99281046e-01 -5.50617131e-04 6.83734387e+00] [-8.18804389e-03 2.40371480e-04 9.99966449e-01 5.72246994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.20, Y:6.84, Z:5.72 [[ 9.99335508e-01 3.54516563e-02 8.46887889e-03 2.81203169e+02] [-3.54480969e-02 9.99371356e-01 -5.70080995e-04 6.83523858e+00] [-8.48376530e-03 2.69496542e-04 9.99963976e-01 5.72214037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.23, Y:6.82, Z:5.72 [[ 9.99575291e-01 2.90323737e-02 2.52153770e-03 2.81226167e+02] [-2.90928041e-02 9.99165297e-01 2.86760996e-02 6.82464045e+00] [-1.68689772e-03 -2.87372792e-02 9.99585576e-01 5.72361035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.26, Y:6.84, Z:5.73 [[ 9.99454443e-01 3.23878275e-02 6.46873808e-03 2.81260931e+02] [-3.21849507e-02 9.99051541e-01 -2.93282782e-02 6.84492701e+00] [-7.41248196e-03 2.91040819e-02 9.99548902e-01 5.73164660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.29, Y:6.83, Z:5.72 [[ 9.99491090e-01 3.08031652e-02 8.29016101e-03 2.81288208e+02] [-3.07996155e-02 9.99525425e-01 -5.55540261e-04 6.82921875e+00] [-8.30333911e-03 2.99923769e-04 9.99965482e-01 5.72134557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.31, Y:6.82, Z:5.72 [[ 9.99651315e-01 2.62136436e-02 3.17684662e-03 2.81311686e+02] [-2.62766450e-02 9.99418091e-01 2.17489800e-02 6.82102654e+00] [-2.60487797e-03 -2.18248733e-02 9.99758416e-01 5.72191329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.42509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.35, Y:6.84, Z:5.73 [[ 9.99628468e-01 2.68632931e-02 4.61408826e-03 2.81345205e+02] [-2.67540636e-02 9.99393380e-01 -2.22955706e-02 6.83549237e+00] [-5.21022171e-03 2.21638415e-02 9.99740775e-01 5.72835148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.37, Y:6.82, Z:5.72 [[ 9.99765566e-01 2.15594621e-02 2.00080882e-03 2.81368414e+02] [-2.15929186e-02 9.99594547e-01 1.85603642e-02 6.81827372e+00] [-1.59984612e-03 -1.85992164e-02 9.99825740e-01 5.72002135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.48509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.40, Y:6.83, Z:5.73 [[ 9.99718762e-01 2.35209632e-02 3.02687929e-03 2.81401517e+02] [-2.34601211e-02 9.99548515e-01 -1.87720112e-02 6.82944300e+00] [-3.46704848e-03 1.86957208e-02 9.99819208e-01 5.72645509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.43, Y:6.82, Z:5.72 [[ 9.99750973e-01 2.19498113e-02 4.02474934e-03 2.81427378e+02] [-2.19489056e-02 9.99759058e-01 -2.69055014e-04 6.81843014e+00] [-4.02968531e-03 1.80649168e-04 9.99991864e-01 5.71968779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.46, Y:6.82, Z:5.72 [[ 9.99800833e-01 1.98244837e-02 2.29857023e-03 2.81456222e+02] [-1.98241830e-02 9.99803470e-01 -1.53500303e-04 6.81629032e+00] [-2.30116155e-03 1.07902454e-04 9.99997347e-01 5.71950528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.48, Y:6.81, Z:5.72 [[ 9.99805488e-01 1.96492870e-02 1.70023746e-03 2.81484407e+02] [-1.96491208e-02 9.99806931e-01 -1.14393972e-04 6.81459896e+00] [-1.70215695e-03 8.09635495e-05 9.99998548e-01 5.71921548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.51, Y:6.81, Z:5.72 [[ 9.99792649e-01 2.03345987e-02 1.07816602e-03 2.81512341e+02] [-2.03345319e-02 9.99793229e-01 -7.28406569e-05 6.81359655e+00] [-1.07942427e-03 5.09015520e-05 9.99999416e-01 5.71946538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.54, Y:6.81, Z:5.72 [[ 9.99768418e-01 2.14811484e-02 1.29258573e-03 2.81540447e+02] [-2.14810540e-02 9.99769252e-01 -8.68579642e-05 6.81246422e+00] [-1.29415328e-03 5.90717455e-05 9.99999161e-01 5.71901125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.57, Y:6.81, Z:5.72 [[ 9.99742975e-01 2.26473009e-02 1.04139570e-03 2.81568338e+02] [-2.26472397e-02 9.99743516e-01 -7.05314140e-05 6.81129993e+00] [-1.04272594e-03 4.69285476e-05 9.99999455e-01 5.71908414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.60, Y:6.81, Z:5.72 [[ 9.99654164e-01 2.62589315e-02 1.42140724e-03 2.81596616e+02] [-2.62588223e-02 9.99655173e-01 -9.54341433e-05 6.81099349e+00] [-1.42342310e-03 5.80766588e-05 9.99998985e-01 5.71935101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.62, Y:6.81, Z:5.72 [[ 9.99596167e-01 2.83584534e-02 1.81683945e-03 2.81623581e+02] [-2.83582793e-02 9.99597816e-01 -1.21498541e-04 6.80975706e+00] [-1.81955425e-03 6.99270351e-05 9.99998342e-01 5.71922482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.65, Y:6.81, Z:5.72 [[ 9.99532056e-01 3.05083786e-02 2.21523962e-03 2.81651379e+02] [-3.05081276e-02 9.99534508e-01 -1.47032080e-04 6.80881669e+00] [-2.21869416e-03 7.93804645e-05 9.99997536e-01 5.71911165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.68, Y:6.81, Z:5.72 [[ 9.99398888e-01 3.46292984e-02 1.63530793e-03 2.81679772e+02] [-3.46291666e-02 9.99400225e-01 -1.08883217e-04 6.80894471e+00] [-1.63809766e-03 5.21884156e-05 9.99998657e-01 5.72015522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.71, Y:6.81, Z:5.72 [[ 9.99332531e-01 3.64905933e-02 1.71167311e-03 2.81707259e+02] [-3.64904520e-02 9.99333995e-01 -1.13700848e-04 6.80797049e+00] [-1.71468214e-03 5.11652310e-05 9.99998529e-01 5.71995313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.73, Y:6.81, Z:5.72 [[ 9.99276099e-01 3.80178494e-02 1.38597262e-03 2.81734873e+02] [-3.80177579e-02 9.99277059e-01 -9.23067453e-05 6.80664420e+00] [-1.38847995e-03 3.95483529e-05 9.99999035e-01 5.71977227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.76, Y:6.81, Z:5.72 [[ 9.99213328e-01 3.96548651e-02 4.65963723e-04 2.81762240e+02] [-3.96548542e-02 9.99213436e-01 -3.26415970e-05 6.80506978e+00] [-4.66891611e-04 1.41381952e-05 9.99999891e-01 5.71838613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.79, Y:6.80, Z:5.72 [[ 9.99196281e-01 4.00815710e-02 -5.09780400e-04 2.81789702e+02] [-4.00815604e-02 9.99196411e-01 3.10190847e-05 6.80343064e+00] [ 5.10614040e-04 -1.05613602e-05 9.99999870e-01 5.71792599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.82, Y:6.80, Z:5.72 [[ 9.99128711e-01 4.17324877e-02 -4.66340849e-04 2.81817679e+02] [-4.17324791e-02 9.99128820e-01 2.81689285e-05 6.80252868e+00] [ 4.67110142e-04 -8.68282555e-06 9.99999891e-01 5.71772642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.84, Y:6.80, Z:5.72 [[ 9.99091366e-01 4.26195177e-02 -1.35488908e-04 2.81844930e+02] [-4.26195172e-02 9.99091376e-01 6.38412667e-06 6.80160413e+00] [ 1.35637888e-04 -6.03853972e-07 9.99999991e-01 5.71755322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.87, Y:6.80, Z:5.72 [[ 9.99040194e-01 4.38022849e-02 -2.26031326e-04 2.81873385e+02] [-4.38022832e-02 9.99040219e-01 1.25640664e-05 6.80059447e+00] [ 2.26364720e-04 -2.65131914e-06 9.99999974e-01 5.71773521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.90, Y:6.80, Z:5.72 [[ 9.98940285e-01 4.60250408e-02 -4.15493124e-05 2.81900492e+02] [-4.60250408e-02 9.98940286e-01 3.28017843e-07 6.80011187e+00] [ 4.15203789e-05 1.58463856e-06 9.99999999e-01 5.71784082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.93, Y:6.80, Z:5.72 [[ 9.98896888e-01 4.69573126e-02 1.36993257e-04 2.81928817e+02] [-4.69573116e-02 9.98896897e-01 -1.07791513e-05 6.79865370e+00] [-1.37348299e-04 4.33442560e-06 9.99999991e-01 5.71734647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.96, Y:6.80, Z:5.72 [[ 9.98842577e-01 4.80527467e-02 2.10708393e-03 2.81957000e+02] [-4.80525637e-02 9.98844799e-01 -1.37406108e-04 6.79678461e+00] [-2.11125257e-03 3.59962867e-05 9.99997771e-01 5.71600617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.98, Y:6.79, Z:5.72 [[ 9.98839253e-01 4.81047650e-02 2.46560554e-03 2.81984560e+02] [-4.81045162e-02 9.98842295e-01 -1.60182765e-04 6.79492734e+00] [-2.47045665e-03 4.13900720e-05 9.99996948e-01 5.71562552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.01, Y:6.79, Z:5.72 [[ 9.98852297e-01 4.78331538e-02 2.46544956e-03 2.82012887e+02] [-4.78328980e-02 9.98855339e-01 -1.62624840e-04 6.79316805e+00] [-2.47040632e-03 4.45085972e-05 9.99996948e-01 5.71508280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.17509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.04, Y:6.79, Z:5.71 [[ 9.98855707e-01 4.76980971e-02 3.48823133e-03 2.82040166e+02] [-4.76976032e-02 9.98861796e-01 -2.24692370e-04 6.79132263e+00] [-3.49497841e-03 5.80549822e-05 9.99993891e-01 5.71434198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.07, Y:6.79, Z:5.71 [[ 9.98869876e-01 4.73413549e-02 4.21519827e-03 2.82067974e+02] [-4.73406361e-02 9.98878767e-01 -2.70197109e-04 6.78956705e+00] [-4.22326354e-03 7.03415854e-05 9.99991080e-01 5.71367632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.10, Y:6.79, Z:5.71 [[ 9.98901204e-01 4.66881420e-02 4.07452707e-03 2.82095543e+02] [-4.66874663e-02 9.98909512e-01 -2.60846145e-04 6.78790790e+00] [-4.08226227e-03 7.03301829e-05 9.99991665e-01 5.71315755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.12, Y:6.79, Z:5.71 [[ 9.99007397e-01 4.43827437e-02 3.79372685e-03 2.82122079e+02] [-4.43821372e-02 9.99014598e-01 -2.43947790e-04 6.78602508e+00] [-3.80081558e-03 7.53319415e-05 9.99992774e-01 5.71215386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.15, Y:6.78, Z:5.71 [[ 9.99066822e-01 4.29831029e-02 4.23543831e-03 2.82150394e+02] [-4.29823454e-02 9.99075796e-01 -2.69749644e-04 6.78369883e+00] [-4.24311857e-03 8.74488474e-05 9.99990994e-01 5.71149343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.18, Y:6.78, Z:5.71 [[ 9.99146748e-01 4.10433419e-02 4.60654443e-03 2.82177725e+02] [-4.10424272e-02 9.99157362e-01 -2.92954722e-04 6.78131510e+00] [-4.61468662e-03 1.03640993e-04 9.99989347e-01 5.71097226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.21, Y:6.78, Z:5.71 [[ 9.99233438e-01 3.89154736e-02 4.25693492e-03 2.82205423e+02] [-3.89146758e-02 9.99242501e-01 -2.70112523e-04 6.77899914e+00] [-4.26422185e-03 1.04248223e-04 9.99990903e-01 5.71002951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.23, Y:6.78, Z:5.71 [[ 9.99382117e-01 3.49203638e-02 3.99395291e-03 2.82232430e+02] [-3.49196298e-02 9.99390092e-01 -2.53381750e-04 6.77600599e+00] [-4.00036514e-03 1.13757833e-04 9.99991992e-01 5.70936328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.26, Y:6.77, Z:5.71 [[ 9.99443749e-01 3.29916173e-02 4.87301171e-03 2.82260382e+02] [-3.29905085e-02 9.99455618e-01 -3.07768507e-04 6.77388997e+00] [-4.88051271e-03 1.46834176e-04 9.99988079e-01 5.70877854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.29, Y:6.77, Z:5.71 [[ 9.99498664e-01 3.12323757e-02 5.19226309e-03 2.82288244e+02] [-3.12310967e-02 9.99512137e-01 -3.27240927e-04 6.77148537e+00] [-5.19995049e-03 1.64916799e-04 9.99986467e-01 5.70816695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.32, Y:6.77, Z:5.71 [[ 9.99579232e-01 2.82359390e-02 6.64008489e-03 2.82315973e+02] [-2.82337911e-02 9.99601260e-01 -4.16998200e-04 6.76826738e+00] [-6.64921156e-03 2.29347970e-04 9.99977867e-01 5.70734322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.34, Y:6.77, Z:5.71 [[ 9.99615951e-01 2.68149452e-02 6.99349646e-03 2.82344274e+02] [-2.68125315e-02 9.99640383e-01 -4.38686483e-04 6.76592716e+00] [-7.00274483e-03 2.51004662e-04 9.99975449e-01 5.70658033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.37, Y:6.76, Z:5.71 [[ 9.99666233e-01 2.45287357e-02 8.10946270e-03 2.82372458e+02] [-2.45254273e-02 9.99699078e-01 -5.07180437e-04 6.76320894e+00] [-8.11946288e-03 3.08123119e-04 9.99966989e-01 5.70561994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.40, Y:6.76, Z:5.70 [[ 9.99689311e-01 2.34378231e-02 8.48238894e-03 2.82401321e+02] [-2.34341697e-02 9.99725242e-01 -5.29846890e-04 6.76111931e+00] [-8.49247679e-03 3.30904530e-04 9.99963884e-01 5.70488608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.43, Y:6.76, Z:5.70 [[ 9.99710526e-01 2.21861336e-02 9.30804431e-03 2.82429397e+02] [-2.21816862e-02 9.99753787e-01 -5.80778623e-04 6.75931974e+00] [-9.31863779e-03 3.74142385e-04 9.99956511e-01 5.70418928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.46, Y:6.76, Z:5.70 [[ 9.99770139e-01 1.92004838e-02 9.53995321e-03 2.82458077e+02] [-1.91956866e-02 9.99815569e-01 -5.94172789e-04 6.75674406e+00] [-9.54960216e-03 4.10910260e-04 9.99954317e-01 5.70411343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.49, Y:6.75, Z:5.70 [[ 9.99793857e-01 1.77591576e-02 9.84152818e-03 2.82486453e+02] [-1.77539900e-02 9.99842198e-01 -6.12203444e-04 6.75455537e+00] [-9.85084739e-03 4.37350850e-04 9.99951384e-01 5.70308966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.52, Y:6.75, Z:5.70 [[ 9.99813933e-01 1.63964796e-02 1.01614848e-02 2.82515043e+02] [-1.63909112e-02 9.99865461e-01 -6.31032777e-04 6.75205555e+00] [-1.01704644e-02 4.64359366e-04 9.99948172e-01 5.70197962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.54, Y:6.75, Z:5.70 [[ 9.99833351e-01 1.51240837e-02 1.02240923e-02 2.82544724e+02] [-1.51183844e-02 9.99885509e-01 -6.34502049e-04 6.74947265e+00] [-1.02325180e-02 4.79824553e-04 9.99947531e-01 5.70109138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.58, Y:6.75, Z:5.70 [[ 9.99850978e-01 1.31742840e-02 1.11561480e-02 2.82575463e+02] [-1.31673853e-02 9.99913067e-01 -6.91607857e-04 6.74678021e+00] [-1.11642896e-02 5.44607493e-04 9.99937529e-01 5.70019108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.61, Y:6.74, Z:5.70 [[ 9.99853207e-01 1.25558379e-02 1.16582608e-02 2.82606636e+02] [-1.25482653e-02 9.99921006e-01 -7.22471549e-04 6.74476395e+00] [-1.16664111e-02 5.76074545e-04 9.99931779e-01 5.69987138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.64, Y:6.74, Z:5.70 [[ 9.99849179e-01 1.21160069e-02 1.24427444e-02 2.82638320e+02] [-1.21073407e-02 9.99926406e-01 -7.71578030e-04 6.74281933e+00] [-1.24511771e-02 6.20813115e-04 9.99922288e-01 5.69929127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.67, Y:6.74, Z:5.70 [[ 9.99831516e-01 1.30349286e-02 1.29240512e-02 2.82670318e+02] [-1.30256660e-02 9.99914842e-01 -8.00613444e-04 6.74023678e+00] [-1.29333865e-02 6.32134179e-04 9.99916160e-01 5.69891962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.70, Y:6.74, Z:5.70 [[ 9.99797929e-01 1.48342338e-02 1.35663611e-02 2.82702012e+02] [-1.48241444e-02 9.99889760e-01 -8.43967170e-04 6.73739437e+00] [-1.35773852e-02 6.42686933e-04 9.99907617e-01 5.69798160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.73, Y:6.74, Z:5.70 [[ 9.99778557e-01 1.58328674e-02 1.38621116e-02 2.82733204e+02] [-1.58223782e-02 9.99874443e-01 -8.66030638e-04 6.73529248e+00] [-1.38740829e-02 6.46507288e-04 9.99903541e-01 5.69759829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.92509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.76, Y:6.73, Z:5.70 [[ 9.99756640e-01 1.68168029e-02 1.42778399e-02 2.82764587e+02] [-1.68057132e-02 9.99858372e-01 -8.96345820e-04 6.73305903e+00] [-1.42908915e-02 6.56178402e-04 9.99897665e-01 5.69700422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.80, Y:6.73, Z:5.70 [[ 9.99739126e-01 1.75065028e-02 1.46697842e-02 2.82796366e+02] [-1.74948622e-02 9.99846529e-01 -9.21476095e-04 6.73123043e+00] [-1.46836646e-02 6.64589853e-04 9.99891968e-01 5.69606690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.83, Y:6.73, Z:5.70 [[ 9.99728285e-01 1.83663638e-02 1.43538327e-02 2.82827161e+02] [-1.83553003e-02 9.99831120e-01 -9.02140061e-04 6.72925141e+00] [-1.43679777e-02 6.38426026e-04 9.99896571e-01 5.69577500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.86, Y:6.73, Z:5.69 [[ 9.99700547e-01 2.02868328e-02 1.36843521e-02 2.82857763e+02] [-2.02769492e-02 9.99794031e-01 -8.60630185e-04 6.72698345e+00] [-1.36989930e-02 5.82895556e-04 9.99905994e-01 5.69487914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.89, Y:6.72, Z:5.69 [[ 9.99678044e-01 2.14410915e-02 1.35678659e-02 2.82886994e+02] [-2.14314742e-02 9.99769955e-01 -8.53847775e-04 6.72473843e+00] [-1.35830522e-02 5.62793505e-04 9.99907588e-01 5.69435367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.92, Y:6.72, Z:5.69 [[ 9.99652612e-01 2.27508834e-02 1.33061018e-02 2.82916708e+02] [-2.27417572e-02 9.99741023e-01 -8.36793717e-04 6.72246802e+00] [-1.33216936e-02 5.33898888e-04 9.99911120e-01 5.69372325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.95, Y:6.72, Z:5.69 [[ 9.99575688e-01 2.61974476e-02 1.27333574e-02 2.82945387e+02] [-2.61893678e-02 9.99656679e-01 -8.00903094e-04 6.72057146e+00] [-1.27499674e-02 4.67084680e-04 9.99918607e-01 5.69306500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.97, Y:6.72, Z:5.69 [[ 9.99528403e-01 2.82342928e-02 1.20746253e-02 2.82974529e+02] [-2.82271856e-02 9.99601246e-01 -7.58659571e-04 6.71915323e+00] [-1.20912307e-02 4.17469099e-04 9.99926811e-01 5.69262421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.00, Y:6.72, Z:5.69 [[ 9.99397496e-01 3.29186621e-02 1.10003014e-02 2.83003562e+02] [-3.29130543e-02 9.99457980e-01 -6.90482980e-04 6.71863415e+00] [-1.10170688e-02 3.28013443e-04 9.99939256e-01 5.69229362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.03, Y:6.72, Z:5.69 [[ 9.99315775e-01 3.54594390e-02 1.05171254e-02 2.83032324e+02] [-3.54544609e-02 9.99371075e-01 -6.59460976e-04 6.71770811e+00] [-1.05338950e-02 2.86130746e-04 9.99944476e-01 5.69184927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.06, Y:6.72, Z:5.69 [[ 9.99096934e-01 4.12870869e-02 1.00346355e-02 2.83059845e+02] [-4.12828520e-02 9.99147302e-01 -6.28877673e-04 6.71682139e+00] [-1.00520436e-02 2.14051380e-04 9.99949454e-01 5.69177653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.09, Y:6.72, Z:5.69 [[ 9.98810329e-01 4.76820193e-02 1.02152344e-02 2.83087515e+02] [-4.76779764e-02 9.98862554e-01 -6.39073366e-04 6.71561512e+00] [-1.02340875e-02 1.51271374e-04 9.99947619e-01 5.69176653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.11, Y:6.71, Z:5.69 [[ 9.98667741e-01 5.05766658e-02 1.02344247e-02 2.83114600e+02] [-5.05727695e-02 9.98720174e-01 -6.39316040e-04 6.71445713e+00] [-1.02536608e-02 1.20881107e-04 9.99947423e-01 5.69196670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.14, Y:6.71, Z:5.69 [[ 9.98406113e-01 5.55256886e-02 1.01060222e-02 2.83141759e+02] [-5.55221492e-02 9.98457257e-01 -6.30672167e-04 6.71383020e+00] [-1.01254497e-02 6.85588744e-05 9.99948734e-01 5.69271031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.17, Y:6.71, Z:5.69 [[ 9.98410966e-01 5.54383322e-02 1.01062003e-02 2.83170170e+02] [-5.54348174e-02 9.98462111e-01 -6.27801289e-04 6.71215593e+00] [-1.01254624e-02 6.65683207e-05 9.99948734e-01 5.69216557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.20, Y:6.71, Z:5.69 [[ 9.98246202e-01 5.83300971e-02 1.01054512e-02 2.83197884e+02] [-5.83267383e-02 9.98297350e-01 -6.27025436e-04 6.71094760e+00] [-1.01248196e-02 3.65077516e-05 9.99948742e-01 5.69172800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.22, Y:6.71, Z:5.69 [[ 9.98070896e-01 6.13136807e-02 9.75291845e-03 2.83224669e+02] [-6.13107024e-02 9.98118546e-01 -6.04346297e-04 6.70955585e+00] [-9.77162348e-03 5.22216908e-06 9.99952257e-01 5.69148167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.25, Y:6.71, Z:5.69 [[ 9.97693541e-01 6.73131512e-02 8.74862072e-03 2.83252741e+02] [-6.73109941e-02 9.97731896e-01 -5.41113530e-04 6.70742204e+00] [-8.76520200e-03 -4.90128840e-05 9.99961584e-01 5.69137394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.28, Y:6.71, Z:5.69 [[ 9.97519441e-01 6.99013390e-02 8.29261832e-03 2.83280560e+02] [-6.98994963e-02 9.97553907e-01 -5.12181931e-04 6.70546550e+00] [-8.30813601e-03 -6.87384097e-05 9.99965484e-01 5.69132378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.31, Y:6.70, Z:5.69 [[ 9.97389827e-01 7.17702761e-02 7.90948688e-03 2.83307181e+02] [-7.17686630e-02 9.97421185e-01 -4.87947747e-04 6.70361719e+00] [-7.92410992e-03 -8.09791791e-05 9.99968600e-01 5.69119580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.33, Y:6.70, Z:5.69 [[ 9.97280465e-01 7.33343103e-02 7.33159500e-03 2.83334483e+02] [-7.33329583e-02 9.97307411e-01 -4.53423181e-04 6.70113585e+00] [-7.34510551e-03 -8.54574698e-05 9.99973021e-01 5.69090307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.36, Y:6.70, Z:5.69 [[ 9.97280227e-01 7.33398843e-02 7.30821116e-03 2.83360658e+02] [-7.33223562e-02 9.97304803e-01 -2.63850796e-03 6.70057839e+00] [-7.48202196e-03 2.09547656e-03 9.99969814e-01 5.69079246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.39, Y:6.70, Z:5.69 [[ 9.97363558e-01 7.22420212e-02 6.85731897e-03 2.83389017e+02] [-7.22204477e-02 9.97383090e-01 -3.34352029e-03 6.69635582e+00] [-7.08091665e-03 2.83946665e-03 9.99970899e-01 5.68949587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.42, Y:6.69, Z:5.69 [[ 9.97407390e-01 7.17181030e-02 5.91709609e-03 2.83418722e+02] [-7.17467858e-02 9.97411394e-01 4.78634373e-03 6.68717987e+00] [-5.55851156e-03 -5.19846723e-03 9.99971039e-01 5.68795497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.45, Y:6.69, Z:5.69 [[ 9.97577598e-01 6.93603789e-02 5.29852745e-03 2.83446763e+02] [-6.93596149e-02 9.97591668e-01 -3.28032429e-04 6.68606605e+00] [-5.30851929e-03 -4.02660211e-05 9.99985909e-01 5.68915119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.67509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.47, Y:6.68, Z:5.69 [[ 9.97779169e-01 6.64142583e-02 5.08677737e-03 2.83474283e+02] [-6.64135220e-02 9.97792136e-01 -3.13707952e-04 6.68216635e+00] [-5.09638114e-03 -2.48195414e-05 9.99987013e-01 5.68873961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.50, Y:6.68, Z:5.69 [[ 9.98009276e-01 6.28730560e-02 4.94607067e-03 2.83501570e+02] [-6.28723227e-02 9.98021532e-01 -3.03769446e-04 6.67820485e+00] [-4.95538395e-03 -7.80622636e-06 9.99987722e-01 5.68848032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.53, Y:6.67, Z:5.69 [[ 9.98438530e-01 5.55572006e-02 5.82234196e-03 2.83529319e+02] [-5.55560887e-02 9.98455506e-01 -3.52658105e-04 6.67083878e+00] [-5.83294208e-03 2.86408938e-05 9.99982988e-01 5.68807908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.56, Y:6.67, Z:5.69 [[ 9.98661278e-01 5.13226545e-02 6.45273149e-03 2.83556847e+02] [-5.13212063e-02 9.98682122e-01 -3.89924326e-04 6.66659871e+00] [-6.46423953e-03 5.82403619e-05 9.99979105e-01 5.68771414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.58, Y:6.66, Z:5.69 [[ 9.99027858e-01 4.34605138e-02 7.38393427e-03 2.83584152e+02] [-4.34584107e-02 9.99055138e-01 -4.45105874e-04 6.66004653e+00] [-7.39630200e-03 1.23779120e-04 9.99972639e-01 5.68786112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.61, Y:6.66, Z:5.69 [[ 9.99175064e-01 3.98672309e-02 7.73278885e-03 2.83611629e+02] [-3.98648240e-02 9.99204974e-01 -4.65213991e-04 6.65582042e+00] [-7.74518787e-03 1.56563953e-04 9.99969993e-01 5.68750941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.64, Y:6.65, Z:5.69 [[ 9.99298861e-01 3.64861290e-02 8.39930221e-03 2.83638341e+02] [-3.64831775e-02 9.99334140e-01 -5.04397491e-04 6.65183603e+00] [-8.41211296e-03 1.97610605e-04 9.99964598e-01 5.68698996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.67, Y:6.65, Z:5.69 [[ 9.99411243e-01 3.32191607e-02 8.58219286e-03 2.83665686e+02] [-3.32159703e-02 9.99448065e-01 -5.14053411e-04 6.64751088e+00] [-8.59453247e-03 2.28684895e-04 9.99963040e-01 5.68647942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.69, Y:6.64, Z:5.69 [[ 9.99580917e-01 2.73555614e-02 9.46906846e-03 2.83693422e+02] [-2.73514279e-02 9.99625720e-01 -5.65781817e-04 6.64065689e+00] [-9.48100165e-03 3.06552164e-04 9.99955007e-01 5.68540953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.72, Y:6.64, Z:5.68 [[ 9.99652933e-01 2.46409961e-02 9.31854948e-03 2.83721703e+02] [-2.46368842e-02 9.99696311e-01 -5.55816122e-04 6.63657497e+00] [-9.32941541e-03 3.26043192e-04 9.99956427e-01 5.68464613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.75, Y:6.63, Z:5.68 [[ 9.99760662e-01 1.99114459e-02 9.06385106e-03 2.83749854e+02] [-1.99073669e-02 9.99801683e-01 -5.40034337e-04 6.63106868e+00] [-9.07280640e-03 3.59467678e-04 9.99958777e-01 5.68370036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.78, Y:6.63, Z:5.68 [[ 9.99801965e-01 1.78642377e-02 8.76926532e-03 2.83778757e+02] [-1.78603460e-02 9.99840355e-01 -5.21901191e-04 6.62780622e+00] [-8.77718871e-03 3.65175723e-04 9.99961413e-01 5.68291852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.81, Y:6.62, Z:5.68 [[ 9.99840220e-01 1.58900760e-02 8.18782024e-03 2.83807674e+02] [-1.58866229e-02 9.99873681e-01 -4.86604923e-04 6.62446759e+00] [-8.19451816e-03 3.56450360e-04 9.99966361e-01 5.68209208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.84, Y:6.62, Z:5.68 [[ 9.99872818e-01 1.40632034e-02 7.52161172e-03 2.83837322e+02] [-1.40602418e-02 9.99901050e-01 -4.46484169e-04 6.62118370e+00] [-7.52714645e-03 3.40671705e-04 9.99971613e-01 5.68104536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.87, Y:6.62, Z:5.68 [[ 9.99873062e-01 1.40458358e-02 7.52163882e-03 2.83867426e+02] [-1.40428771e-02 9.99901294e-01 -4.46027027e-04 6.61943099e+00] [-7.52716121e-03 3.40344960e-04 9.99971613e-01 5.68047675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.90, Y:6.62, Z:5.68 [[ 9.99896291e-01 1.24215217e-02 7.28783404e-03 2.83897016e+02] [-1.24187019e-02 9.99922792e-01 -4.32044363e-04 6.61634704e+00] [-7.29263801e-03 3.41494118e-04 9.99973350e-01 5.67970404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.93, Y:6.61, Z:5.68 [[ 9.99936358e-01 9.12656772e-03 6.63213353e-03 2.83927428e+02] [-9.12416219e-03 9.99958297e-01 -3.92876335e-04 6.61234524e+00] [-6.63544256e-03 3.32338670e-04 9.99977930e-01 5.67854706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.96, Y:6.61, Z:5.68 [[ 9.99947693e-01 8.12049403e-03 6.21849043e-03 2.83958065e+02] [-8.11836629e-03 9.99966978e-01 -3.67328808e-04 6.60986714e+00] [-6.22126798e-03 3.16825611e-04 9.99980598e-01 5.67779901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.99, Y:6.61, Z:5.68 [[ 9.99959799e-01 6.62412062e-03 6.04325072e-03 2.83989561e+02] [-6.62207750e-03 9.99978010e-01 -3.58031018e-04 6.60781400e+00] [-6.04548947e-03 3.17997751e-04 9.99981675e-01 5.67716376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.02, Y:6.61, Z:5.68 [[ 9.99967345e-01 5.77168731e-03 5.65662540e-03 2.84020234e+02] [-5.76988138e-03 9.99983298e-01 -3.35526104e-04 6.60581681e+00] [-5.65846748e-03 3.02877089e-04 9.99983945e-01 5.67649446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.05, Y:6.60, Z:5.68 [[ 9.99973957e-01 4.66204843e-03 5.50908917e-03 2.84051790e+02] [-4.66031949e-03 9.99989087e-01 -3.26630481e-04 6.60350789e+00] [-5.51055182e-03 3.00947859e-04 9.99984772e-01 5.67510332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.08, Y:6.60, Z:5.67 [[ 9.99972302e-01 4.77594232e-03 5.70845288e-03 2.84083023e+02] [-4.77408652e-03 9.99988547e-01 -3.38679982e-04 6.60139459e+00] [-5.71000502e-03 3.11417953e-04 9.99983649e-01 5.67437557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.11, Y:6.60, Z:5.67 [[ 9.99965220e-01 5.10225083e-03 6.59743210e-03 2.84114651e+02] [-5.09977688e-03 9.99986919e-01 -3.91755422e-04 6.59954248e+00] [-6.59934464e-03 3.58096365e-04 9.99978160e-01 5.67356676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.15, Y:6.60, Z:5.67 [[ 9.99953574e-01 6.08455639e-03 7.47184470e-03 2.84146587e+02] [-6.08142630e-03 9.99981410e-01 -4.41565801e-04 6.59852455e+00] [-7.47439253e-03 3.96105828e-04 9.99971988e-01 5.67326002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.18, Y:6.60, Z:5.67 [[ 9.99945138e-01 7.03638933e-03 7.75955793e-03 2.84178626e+02] [-7.03302567e-03 9.99975162e-01 -4.60688295e-04 6.59715708e+00] [-7.76260678e-03 4.06089851e-04 9.99969788e-01 5.67271216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.42509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.21, Y:6.60, Z:5.67 [[ 9.99933835e-01 8.65618756e-03 7.57602647e-03 2.84210235e+02] [-8.65301193e-03 9.99962460e-01 -4.51846147e-04 6.59626305e+00] [-7.57965333e-03 3.86260803e-04 9.99971199e-01 5.67217037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.24, Y:6.59, Z:5.67 [[ 9.99922532e-01 9.25375485e-03 8.32450397e-03 2.84241080e+02] [-9.24990380e-03 9.99957093e-01 -5.00999191e-04 6.59443466e+00] [-8.32878291e-03 4.23959519e-04 9.99965225e-01 5.67116218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.27, Y:6.59, Z:5.67 [[ 9.99910690e-01 9.91305411e-03 8.96349673e-03 2.84272286e+02] [-9.90861216e-03 9.99950763e-01 -5.39834686e-04 6.59250048e+00] [-8.96840681e-03 4.50970660e-04 9.99959681e-01 5.67029774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.30, Y:6.59, Z:5.67 [[ 9.99885799e-01 1.14416502e-02 9.87307663e-03 2.84303157e+02] [-1.14363403e-02 9.99934426e-01 -5.94111639e-04 6.59076016e+00] [-9.87922684e-03 4.81131927e-04 9.99951083e-01 5.66928417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.33, Y:6.59, Z:5.67 [[ 9.99871516e-01 1.24904062e-02 1.00469862e-02 2.84334751e+02] [-1.24849367e-02 9.99921876e-01 -6.06934214e-04 6.58936965e+00] [-1.00537822e-02 4.81420245e-04 9.99949344e-01 5.66879291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.37, Y:6.59, Z:5.67 [[ 9.99846717e-01 1.41889049e-02 1.02575887e-02 2.84366010e+02] [-1.41832889e-02 9.99899220e-01 -6.20040866e-04 6.58828526e+00] [-1.02653526e-02 4.74459481e-04 9.99947197e-01 5.66826510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.40, Y:6.59, Z:5.67 [[ 9.99814428e-01 1.60769135e-02 1.06133140e-02 2.84397002e+02] [-1.60710031e-02 9.99870647e-01 -6.41947051e-04 6.58740558e+00] [-1.06222617e-02 4.71261321e-04 9.99943471e-01 5.66781828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.43, Y:6.59, Z:5.67 [[ 9.99698051e-01 2.16082911e-02 1.16999623e-02 2.84426957e+02] [-2.16014793e-02 9.99766410e-01 -7.08285285e-04 6.58715558e+00] [-1.17125342e-02 4.55334925e-04 9.99931302e-01 5.66651740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.46, Y:6.59, Z:5.67 [[ 9.99618716e-01 2.47845232e-02 1.21717249e-02 2.84456109e+02] [-2.47773789e-02 9.99692722e-01 -7.37433692e-04 6.58640215e+00] [-1.21862617e-02 4.35569080e-04 9.99925650e-01 5.66569914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.48, Y:6.59, Z:5.66 [[ 9.99512816e-01 2.84271167e-02 1.28852696e-02 2.84484392e+02] [-2.84194176e-02 9.99595782e-01 -7.80256812e-04 6.58572765e+00] [-1.29022416e-02 4.13684825e-04 9.99916677e-01 5.66476012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.51, Y:6.59, Z:5.66 [[ 9.99240060e-01 3.65017835e-02 1.36719754e-02 2.84512703e+02] [-3.64938654e-02 9.99333534e-01 -8.28261618e-04 6.58697554e+00] [-1.36930965e-02 3.28688958e-04 9.99906191e-01 5.66422478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.54, Y:6.59, Z:5.66 [[ 9.99080321e-01 4.07014330e-02 1.34872637e-02 2.84541208e+02] [-4.06941759e-02 9.99171319e-01 -8.12190980e-04 6.58702973e+00] [-1.35091444e-02 2.62590943e-04 9.99908713e-01 5.66382788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.57, Y:6.59, Z:5.66 [[ 9.98906282e-01 4.48139326e-02 1.33398588e-02 2.84569732e+02] [-4.48072123e-02 9.98995330e-01 -8.02370890e-04 6.58697813e+00] [-1.33624140e-02 2.03771437e-04 9.99910698e-01 5.66318619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.60, Y:6.59, Z:5.66 [[ 9.98531788e-01 5.24206401e-02 1.36508443e-02 2.84596507e+02] [-5.24143234e-02 9.98625088e-01 -8.20338403e-04 6.58809180e+00] [-1.36750782e-02 1.03634207e-04 9.99906486e-01 5.66265632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.62, Y:6.59, Z:5.66 [[ 9.98343059e-01 5.57574442e-02 1.42212254e-02 2.84623587e+02] [-5.57509535e-02 9.98444342e-01 -8.52749579e-04 6.58769171e+00] [-1.42466491e-02 5.84897497e-05 9.99898510e-01 5.66230859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.65, Y:6.59, Z:5.66 [[ 9.98132615e-01 5.92092169e-02 1.50183891e-02 2.84652028e+02] [-5.92023996e-02 9.98245595e-01 -8.98505972e-04 6.58699828e+00] [-1.50452406e-02 7.70344342e-06 9.99886814e-01 5.66171927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.68, Y:6.59, Z:5.66 [[ 9.97950014e-01 6.22544165e-02 1.48377169e-02 2.84679826e+02] [-6.22481212e-02 9.98060312e-01 -8.86179920e-04 6.58635625e+00] [-1.48641049e-02 -3.92567353e-05 9.99889522e-01 5.66132424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.71, Y:6.59, Z:5.66 [[ 9.97617590e-01 6.73284412e-02 1.50341040e-02 2.84706470e+02] [-6.73225775e-02 9.97730859e-01 -8.96356462e-04 6.58644465e+00] [-1.50603398e-02 -1.17913657e-04 9.99886580e-01 5.66071321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.72, Y:6.57, Z:5.67 [[ 9.98130619e-01 6.10437237e-02 2.98854886e-03 2.84724894e+02] [-6.11162682e-02 9.96716568e-01 5.31119999e-02 6.56961120e+00] [ 2.63418085e-04 -5.31953623e-02 9.98584090e-01 5.66521929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.76, Y:6.61, Z:5.68 [[ 9.97389423e-01 7.09376606e-02 1.34976865e-02 2.84764974e+02] [-7.01137536e-02 9.96077166e-01 -5.39846400e-02 6.60859802e+00] [-1.72742814e-02 5.28973355e-02 9.98450535e-01 5.67588989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.78, Y:6.56, Z:5.66 [[ 9.98098737e-01 6.14930561e-02 4.18502344e-03 2.84780357e+02] [-6.16306824e-02 9.96551900e-01 5.55514967e-02 6.56478886e+00] [-7.54561760e-04 -5.57038045e-02 9.98447053e-01 5.66349879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.81, Y:6.59, Z:5.68 [[ 9.98044013e-01 6.24357570e-02 3.15029801e-03 2.84812214e+02] [-6.24287167e-02 9.98046808e-01 -2.28582259e-03 6.58839360e+00] [-3.28686194e-03 2.08468249e-03 9.99992425e-01 5.67822764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.84, Y:6.58, Z:5.68 [[ 9.98209282e-01 5.96155009e-02 4.92146889e-03 2.84840357e+02] [-5.96048031e-02 9.98219420e-01 -2.29262253e-03 6.58435726e+00] [-5.04938167e-03 1.99517390e-03 9.99985261e-01 5.67517956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.87, Y:6.58, Z:5.67 [[ 9.98303633e-01 5.78394425e-02 6.66740576e-03 2.84870523e+02] [-5.77948897e-02 9.98306050e-01 -6.69181236e-03 6.58316790e+00] [-7.04316221e-03 6.29511861e-03 9.99955382e-01 5.67344618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.90, Y:6.58, Z:5.67 [[ 9.98479632e-01 5.47350237e-02 6.51925888e-03 2.84898560e+02] [-5.47327814e-02 9.98500901e-01 -5.21993385e-04 6.57788851e+00] [-6.53805719e-03 1.64382592e-04 9.99978613e-01 5.67139798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.17509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.94, Y:6.59, Z:5.66 [[ 9.98280738e-01 5.57082522e-02 1.82252443e-02 2.84936003e+02] [-5.48445713e-02 9.97485854e-01 -4.48781065e-02 6.58567482e+00] [-2.06795043e-02 4.38013936e-02 9.98826209e-01 5.66464158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.96, Y:6.55, Z:5.65 [[ 9.98932577e-01 4.48083379e-02 1.12213417e-02 2.84956088e+02] [-4.52444351e-02 9.98083740e-01 4.22112418e-02 6.54917568e+00] [-9.30842313e-03 -4.26738878e-02 9.99045691e-01 5.65450362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.99, Y:6.57, Z:5.67 [[ 9.98991862e-01 4.34900742e-02 1.11298266e-02 2.84987728e+02] [-4.34313726e-02 9.99041477e-01 -5.46281807e-03 6.56679728e+00] [-1.13567368e-02 4.97392715e-03 9.99923139e-01 5.66532456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.02, Y:6.56, Z:5.66 [[ 9.99170319e-01 3.81546821e-02 1.42440636e-02 2.85015760e+02] [-3.80732247e-02 9.99257257e-01 -5.94682218e-03 6.56080088e+00] [-1.44603830e-02 5.39957079e-03 9.99880864e-01 5.66216610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.04, Y:6.55, Z:5.66 [[ 9.99255344e-01 3.52544543e-02 1.56806232e-02 2.85043364e+02] [-3.52735188e-02 9.99377253e-01 9.40805544e-04 6.55408026e+00] [-1.56376906e-02 -1.49321573e-03 9.99876609e-01 5.65963828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.08, Y:6.56, Z:5.66 [[ 9.98994117e-01 3.87227507e-02 2.26119940e-02 2.85078268e+02] [-3.79573715e-02 9.98722707e-01 -3.33495384e-02 6.56076137e+00] [-2.38744978e-02 3.24577008e-02 9.99187923e-01 5.65568850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.10, Y:6.54, Z:5.65 [[ 9.99381970e-01 3.13608391e-02 1.58800509e-02 2.85103456e+02] [-3.17608972e-02 9.99167588e-01 2.56003035e-02 6.53547106e+00] [-1.50639852e-02 -2.60888464e-02 9.99546121e-01 5.64776252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.14, Y:6.55, Z:5.65 [[ 9.99144512e-01 3.64910747e-02 1.94588214e-02 2.85139183e+02] [-3.59478475e-02 9.98973250e-01 -2.75717037e-02 6.55071731e+00] [-2.04449631e-02 2.68486137e-02 9.99430415e-01 5.65005683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.17, Y:6.54, Z:5.64 [[ 9.99115444e-01 3.70572251e-02 1.98768939e-02 2.85168553e+02] [-3.69311000e-02 9.99295518e-01 -6.67541904e-03 6.53816215e+00] [-2.01102635e-02 5.93543870e-03 9.99780150e-01 5.64359316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.20, Y:6.53, Z:5.64 [[ 9.99128372e-01 3.60472507e-02 2.10497567e-02 2.85196592e+02] [-3.62145110e-02 9.99314992e-01 7.61944318e-03 6.53091301e+00] [-2.07606775e-02 -8.37510851e-03 9.99749395e-01 5.64176804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.23, Y:6.53, Z:5.64 [[ 9.99040252e-01 3.90761120e-02 1.97897142e-02 2.85225930e+02] [-3.91722728e-02 9.99222362e-01 4.49488004e-03 6.52997123e+00] [-1.95986825e-02 -5.26577417e-03 9.99794060e-01 5.64425950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.26, Y:6.53, Z:5.64 [[ 9.98795156e-01 4.39629380e-02 2.18058756e-02 2.85256992e+02] [-4.37436000e-02 9.98988283e-01 -1.04359108e-02 6.53170304e+00] [-2.22426075e-02 9.46946964e-03 9.99707755e-01 5.64299885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.28, Y:6.53, Z:5.64 [[ 9.98697746e-01 4.58593119e-02 2.23547896e-02 2.85284873e+02] [-4.58392564e-02 9.98947835e-01 -1.40902249e-03 6.52569283e+00] [-2.23958855e-02 3.82460650e-04 9.99749108e-01 5.63955399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.31, Y:6.53, Z:5.64 [[ 9.98516087e-01 5.01182186e-02 2.13022858e-02 2.85313456e+02] [-5.01010153e-02 9.98743256e-01 -1.34084292e-03 6.52542775e+00] [-2.13427149e-02 2.71587083e-04 9.99772181e-01 5.63925286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.34, Y:6.52, Z:5.64 [[ 9.98288022e-01 5.48603736e-02 2.02821315e-02 2.85340264e+02] [-5.47960169e-02 9.98490656e-01 -3.71573665e-03 6.52302712e+00] [-2.04553655e-02 2.59799536e-03 9.99787392e-01 5.63823196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.37, Y:6.52, Z:5.64 [[ 9.98007866e-01 5.99306222e-02 1.97134312e-02 2.85369428e+02] [-5.99679681e-02 9.98199445e-01 1.30825276e-03 6.51862649e+00] [-1.95995317e-02 -2.48782097e-03 9.99804816e-01 5.63590438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.40, Y:6.52, Z:5.64 [[ 9.97792755e-01 6.39289931e-02 1.79639189e-02 2.85396077e+02] [-6.38799907e-02 9.97952167e-01 -3.28910785e-03 6.51849007e+00] [-1.81374012e-02 2.13431301e-03 9.99833226e-01 5.63620984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.42, Y:6.51, Z:5.63 [[ 9.97462880e-01 6.89475468e-02 1.77211190e-02 2.85424685e+02] [-6.89768373e-02 9.97617713e-01 1.04625900e-03 6.51366184e+00] [-1.76067652e-02 -2.26595126e-03 9.99842421e-01 5.63376119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.45, Y:6.51, Z:5.63 [[ 9.97273358e-01 7.16832829e-02 1.75315614e-02 2.85452524e+02] [-7.16750875e-02 9.97427431e-01 -1.09616103e-03 6.51260162e+00] [-1.75650367e-02 -1.63404008e-04 9.99845709e-01 5.63359629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.48, Y:6.51, Z:5.63 [[ 9.97070441e-01 7.43575812e-02 1.79300218e-02 2.85480606e+02] [-7.43494774e-02 9.97231619e-01 -1.11906628e-03 6.51047450e+00] [-1.79635957e-02 -2.17299844e-04 9.99838618e-01 5.63313473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.51, Y:6.51, Z:5.63 [[ 9.96899870e-01 7.64554713e-02 1.85798179e-02 2.85507401e+02] [-7.64471710e-02 9.97072961e-01 -1.15761985e-03 6.50827611e+00] [-1.86139404e-02 -2.66343432e-04 9.99826710e-01 5.63290935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.54, Y:6.51, Z:5.63 [[ 9.96764825e-01 7.79634041e-02 1.95343522e-02 2.85535298e+02] [-7.79545719e-02 9.96956173e-01 -1.21435492e-03 6.50548213e+00] [-1.95695682e-02 -3.12365794e-04 9.99808449e-01 5.63237754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.56, Y:6.50, Z:5.63 [[ 9.96680678e-01 7.88880617e-02 2.01071975e-02 2.85563159e+02] [-7.88789371e-02 9.96883422e-01 -1.24773141e-03 6.50250496e+00] [-2.01429630e-02 -3.42444576e-04 9.99797051e-01 5.63172674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.59, Y:6.50, Z:5.63 [[ 9.96660994e-01 7.94506702e-02 1.88269743e-02 2.85590337e+02] [-7.93786167e-02 9.96834177e-01 -4.54520113e-03 6.49881743e+00] [-1.91284907e-02 3.03556549e-03 9.99812425e-01 5.63159201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.62, Y:6.49, Z:5.63 [[ 9.96852887e-01 7.67711906e-02 1.97612013e-02 2.85618473e+02] [-7.68298097e-02 9.97041743e-01 2.22334593e-03 6.49172520e+00] [-1.95320537e-02 -3.73459815e-03 9.99802256e-01 5.62875449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.92509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.65, Y:6.49, Z:5.63 [[ 9.97060813e-01 7.41082952e-02 1.94343898e-02 2.85646329e+02] [-7.40990081e-02 9.97250169e-01 -1.19852917e-03 6.48983612e+00] [-1.94697694e-02 -2.45062539e-04 9.99810416e-01 5.62903042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.67, Y:6.48, Z:5.63 [[ 9.97545521e-01 6.69872420e-02 2.03873068e-02 2.85673346e+02] [-6.69755800e-02 9.97753826e-01 -1.25504940e-03 6.48382377e+00] [-2.04255856e-02 -1.13482787e-04 9.99791370e-01 5.62826423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.70, Y:6.48, Z:5.63 [[ 9.97557313e-01 6.68113651e-02 2.03874460e-02 2.85701730e+02] [-6.67997127e-02 9.97765618e-01 -1.25278358e-03 6.48215543e+00] [-2.04255928e-02 -1.12152112e-04 9.99791370e-01 5.62752965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.73, Y:6.48, Z:5.63 [[ 9.97823293e-01 6.23931073e-02 2.13489210e-02 2.85729856e+02] [-6.23794106e-02 9.98051652e-01 -1.30755739e-03 6.47775469e+00] [-2.13889085e-02 -2.70218921e-05 9.99771231e-01 5.62683262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.76, Y:6.47, Z:5.63 [[ 9.98348771e-01 5.29306746e-02 2.23176016e-02 2.85758125e+02] [-5.29133993e-02 9.98598173e-01 -1.36429567e-03 6.47118561e+00] [-2.23585292e-02 1.81142743e-04 9.99750000e-01 5.62676936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.79, Y:6.47, Z:5.63 [[ 9.98593018e-01 4.79441564e-02 2.26570419e-02 2.85785873e+02] [-4.79251044e-02 9.98849974e-01 -1.38344112e-03 6.46725798e+00] [-2.26973136e-02 2.95653543e-04 9.99742339e-01 5.62623502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.82, Y:6.46, Z:5.63 [[ 9.98810186e-01 4.29829146e-02 2.30365071e-02 2.85815361e+02] [-4.29619514e-02 9.99075722e-01 -1.40436823e-03 6.46305266e+00] [-2.30755788e-02 4.13003996e-04 9.99733638e-01 5.62533573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.85, Y:6.46, Z:5.62 [[ 9.99020054e-01 3.80530212e-02 2.26030865e-02 2.85845034e+02] [-3.80315979e-02 9.99275588e-01 -1.37707696e-03 6.45913236e+00] [-2.26391145e-02 5.16095999e-04 9.99743569e-01 5.62458432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.88, Y:6.45, Z:5.62 [[ 9.99331927e-01 2.85464716e-02 2.28209934e-02 2.85875751e+02] [-2.85221690e-02 9.99592194e-01 -1.38977368e-03 6.45356136e+00] [-2.28513600e-02 7.37940977e-04 9.99738601e-01 5.62314390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.91, Y:6.45, Z:5.62 [[ 9.99539298e-01 2.01951164e-02 2.26571857e-02 2.85909013e+02] [-2.01690181e-02 9.99795633e-01 -1.37982424e-03 6.44803944e+00] [-2.26804211e-02 9.22215364e-04 9.99742341e-01 5.62151704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.94, Y:6.44, Z:5.62 [[ 9.99670494e-01 1.32502699e-02 2.19848432e-02 2.85941720e+02] [-1.32238861e-02 9.99911656e-01 -1.34504447e-03 6.44369979e+00] [-2.20007232e-02 1.05387620e-03 9.99757399e-01 5.62010200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.97, Y:6.43, Z:5.62 [[ 9.99883329e-01 4.02882696e-03 1.47342386e-02 2.85969317e+02] [-4.56316610e-03 9.99326402e-01 3.64131855e-02 6.42795733e+00] [-1.45776112e-02 -3.64761719e-02 9.99228193e-01 5.62308480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.01, Y:6.45, Z:5.63 [[ 9.99841790e-01 5.64992898e-03 1.68663411e-02 2.86006014e+02] [-5.24759028e-03 9.99702867e-01 -2.38042228e-02 6.45244746e+00] [-1.69958217e-02 2.37119491e-02 9.99574352e-01 5.62929646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.04, Y:6.45, Z:5.62 [[ 9.99757663e-01 5.77518853e-03 2.12429528e-02 2.86037059e+02] [-5.43940391e-03 9.99859889e-01 -1.58308321e-02 6.44571072e+00] [-2.13314025e-02 1.57114467e-02 9.99648999e-01 5.62055651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.07, Y:6.44, Z:5.62 [[ 9.99744859e-01 5.49648876e-03 2.19090418e-02 2.86068748e+02] [-5.46798948e-03 9.99984125e-01 -1.36049481e-03 6.43727322e+00] [-2.19161719e-02 1.24034928e-03 9.99759042e-01 5.61580352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.10, Y:6.44, Z:5.61 [[ 9.99744173e-01 5.62149566e-03 2.19086349e-02 2.86102204e+02] [-5.59288389e-03 9.99983425e-01 -1.36701398e-03 6.43510061e+00] [-2.19159564e-02 1.24413181e-03 9.99759042e-01 5.61492717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.13, Y:6.43, Z:5.61 [[ 9.99748908e-01 5.91199820e-03 2.16141146e-02 2.86133938e+02] [-5.88417441e-03 9.99981776e-01 -1.35066947e-03 6.43368656e+00] [-2.16217058e-02 1.22314911e-03 9.99765475e-01 5.61337277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.17, Y:6.43, Z:5.61 [[ 9.99760109e-01 6.25330131e-03 2.09909724e-02 2.86166620e+02] [-6.22702358e-03 9.99979745e-01 -1.31698879e-03 6.43231801e+00] [-2.09987827e-02 1.18596157e-03 9.99778798e-01 5.61206100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.20, Y:6.43, Z:5.61 [[ 9.99765933e-01 7.07353510e-03 2.04461290e-02 2.86198214e+02] [-7.04865589e-03 9.99974328e-01 -1.28862866e-03 6.43118347e+00] [-2.04547193e-02 1.14420931e-03 9.99790126e-01 5.61089962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.23, Y:6.43, Z:5.61 [[ 9.99751084e-01 8.10679018e-03 2.07858301e-02 2.86231405e+02] [-8.08118341e-03 9.99966481e-01 -1.31563539e-03 6.43018065e+00] [-2.07957989e-02 1.14733380e-03 9.99783086e-01 5.60958892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.26, Y:6.43, Z:5.61 [[ 9.99746110e-01 9.53350794e-03 2.04163828e-02 2.86264943e+02] [-9.50898282e-03 9.99953946e-01 -1.29799229e-03 6.42935500e+00] [-2.04278170e-02 1.10352371e-03 9.99790721e-01 5.60858140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.30, Y:6.43, Z:5.61 [[ 9.99703751e-01 1.29968136e-02 2.05789489e-02 2.86297409e+02] [-1.29725016e-02 9.99914990e-01 -1.31445959e-03 6.43109664e+00] [-2.05942832e-02 1.04710974e-03 9.99787367e-01 5.60764286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.33, Y:6.43, Z:5.61 [[ 9.99665990e-01 1.51250902e-02 2.09556862e-02 2.86330389e+02] [-1.51002276e-02 9.99885082e-01 -1.34417743e-03 6.43100776e+00] [-2.09736088e-02 1.02729283e-03 9.99779502e-01 5.60685434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.36, Y:6.43, Z:5.61 [[ 9.99599587e-01 1.94449189e-02 2.05562802e-02 2.86364137e+02] [-1.94217651e-02 9.99810501e-01 -1.32542380e-03 6.43360739e+00] [-2.05781576e-02 9.25653842e-04 9.99787819e-01 5.60632708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.40, Y:6.43, Z:5.61 [[ 9.99536881e-01 2.22280003e-02 2.07831532e-02 2.86396124e+02] [-2.22048925e-02 9.99752540e-01 -1.34198816e-03 6.43370666e+00] [-2.08078400e-02 8.79878972e-04 9.99783106e-01 5.60522691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.67509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.43, Y:6.43, Z:5.60 [[ 9.99468255e-01 2.48874555e-02 2.10670894e-02 2.86429469e+02] [-2.48642312e-02 9.99689907e-01 -1.36365940e-03 6.43386243e+00] [-2.10944947e-02 8.39117295e-04 9.99777134e-01 5.60476329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.46, Y:6.44, Z:5.60 [[ 9.99262647e-01 3.13628230e-02 2.21480326e-02 2.86462977e+02] [-3.13385919e-02 9.99507788e-01 -1.44037666e-03 6.43632328e+00] [-2.21823054e-02 7.45226435e-04 9.99753665e-01 5.60403042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.50, Y:6.44, Z:5.60 [[ 9.99136030e-01 3.49792774e-02 2.24420123e-02 2.86495196e+02] [-3.49551589e-02 9.99387806e-01 -1.46620611e-03 6.43657289e+00] [-2.24795603e-02 6.80475248e-04 9.99747071e-01 5.60347726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.53, Y:6.44, Z:5.60 [[ 9.98802224e-01 4.28160421e-02 2.36833943e-02 2.86527050e+02] [-4.27912190e-02 9.99082827e-01 -1.55415587e-03 6.43950397e+00] [-2.37282154e-02 5.38853024e-04 9.99718301e-01 5.60274137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.56, Y:6.44, Z:5.60 [[ 9.98802994e-01 4.27981169e-02 2.36833297e-02 2.86557137e+02] [-4.27732654e-02 9.99083595e-01 -1.55514041e-03 6.43755972e+00] [-2.37281832e-02 5.40265554e-04 9.99718301e-01 5.60195196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.59, Y:6.44, Z:5.60 [[ 9.98415659e-01 5.07069745e-02 2.43920923e-02 2.86586269e+02] [-5.06829808e-02 9.98713508e-01 -1.60128793e-03 6.44044322e+00] [-2.44419085e-02 3.62486997e-04 9.99701186e-01 5.60092998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.62, Y:6.44, Z:5.60 [[ 9.98043216e-01 5.75677266e-02 2.44068831e-02 2.86615350e+02] [-5.75457853e-02 9.98341585e-01 -1.60097548e-03 6.44226598e+00] [-2.44585709e-02 1.93329466e-04 9.99700826e-01 5.59961666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.64, Y:6.44, Z:5.60 [[ 9.97887289e-01 6.03145626e-02 2.41477303e-02 2.86643122e+02] [-6.02939290e-02 9.98179412e-01 -1.58231399e-03 6.44226112e+00] [-2.41992038e-02 1.23009483e-04 9.99707149e-01 5.59857683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.67, Y:6.44, Z:5.60 [[ 9.97785939e-01 6.21500191e-02 2.36768841e-02 2.86670931e+02] [-6.21307465e-02 9.98066816e-01 -1.54946629e-03 6.44230760e+00] [-2.37274117e-02 7.49731930e-05 9.99718463e-01 5.59758130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.70, Y:6.44, Z:5.60 [[ 9.97707592e-01 6.35293045e-02 2.33149942e-02 2.86698567e+02] [-6.35110507e-02 9.97979973e-01 -1.52331757e-03 6.44213142e+00] [-2.33646726e-02 3.90657257e-05 9.99727008e-01 5.59678053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.73, Y:6.44, Z:5.60 [[ 9.97670318e-01 6.40350693e-02 2.35254609e-02 2.86726576e+02] [-6.40166764e-02 9.97947649e-01 -1.53488933e-03 6.44168063e+00] [-2.35754652e-02 2.52917051e-05 9.99722060e-01 5.59579348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.76, Y:6.44, Z:5.60 [[ 9.97687940e-01 6.34330280e-02 2.43931589e-02 2.86755062e+02] [-6.34131372e-02 9.97986097e-01 -1.58887870e-03 6.44124916e+00] [-2.44448209e-02 3.83583872e-05 9.99701180e-01 5.59521679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.78, Y:6.44, Z:5.59 [[ 9.97759707e-01 6.19762325e-02 2.51895675e-02 2.86783387e+02] [-6.19546262e-02 9.98077623e-01 -1.63802530e-03 6.43983822e+00] [-2.52426622e-02 7.37454097e-05 9.99681351e-01 5.59415948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.81, Y:6.44, Z:5.59 [[ 9.97868992e-01 6.00294573e-02 2.55722421e-02 2.86811101e+02] [-6.00065982e-02 9.98196598e-01 -1.66103490e-03 6.43798921e+00] [-2.56258361e-02 1.22991965e-04 9.99671597e-01 5.59341479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.84, Y:6.44, Z:5.59 [[ 9.98118733e-01 5.47457195e-02 2.76025600e-02 2.86840040e+02] [-5.47171458e-02 9.98500290e-01 -1.79000056e-03 6.43592127e+00] [-2.76591591e-02 2.76299788e-04 9.99617374e-01 5.59290865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.87, Y:6.43, Z:5.59 [[ 9.98168134e-01 5.30061055e-02 2.91672512e-02 2.86870980e+02] [-5.29387530e-02 9.98593020e-01 -3.07710519e-03 6.43257418e+00] [-2.92893189e-02 1.52739044e-03 9.99569809e-01 5.59120917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.90, Y:6.43, Z:5.59 [[ 9.98641789e-01 4.33530996e-02 2.88978515e-02 2.86899235e+02] [-4.33474321e-02 9.99059719e-01 -8.22842918e-04 6.43004454e+00] [-2.89063522e-02 -4.30922331e-04 9.99582031e-01 5.59124719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.93, Y:6.43, Z:5.59 [[ 9.98828234e-01 3.91420971e-02 2.84614791e-02 2.86929978e+02] [-3.91055171e-02 9.99233391e-01 -1.84093948e-03 6.42740582e+00] [-2.85117185e-02 7.25781470e-04 9.99593195e-01 5.59048461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.96, Y:6.42, Z:5.59 [[ 9.99263770e-01 3.08548172e-02 2.28012860e-02 2.86960621e+02] [-3.11825696e-02 9.99413381e-01 1.41612541e-02 6.41599911e+00] [-2.23509674e-02 -1.48618308e-02 9.99639715e-01 5.58840308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.99, Y:6.43, Z:5.59 [[ 9.99295483e-01 2.81423511e-02 2.48303510e-02 2.86993649e+02] [-2.77147557e-02 9.99464423e-01 -1.74000136e-02 6.42769761e+00] [-2.53067297e-02 1.66995879e-02 9.99540241e-01 5.59124279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.03, Y:6.42, Z:5.59 [[ 9.99343485e-01 2.50178390e-02 2.62050724e-02 2.87025215e+02] [-2.49817410e-02 9.99686455e-01 -1.70404577e-03 6.41697579e+00] [-2.62394874e-02 1.04827870e-03 9.99655136e-01 5.58595695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.06, Y:6.41, Z:5.59 [[ 9.99392630e-01 2.00395365e-02 2.85094217e-02 2.87057794e+02] [-1.99945536e-02 9.99798355e-01 -1.86205326e-03 6.41417599e+00] [-2.85409876e-02 1.29088915e-03 9.99591789e-01 5.58591492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.09, Y:6.41, Z:5.58 [[ 9.99399017e-01 1.88759311e-02 2.90741246e-02 2.87089107e+02] [-1.88245035e-02 9.99820719e-01 -2.04156562e-03 6.41182234e+00] [-2.91074486e-02 1.49303271e-03 9.99575173e-01 5.58489230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.12, Y:6.40, Z:5.58 [[ 9.99499653e-01 1.70548771e-02 2.66378458e-02 2.87121022e+02] [-1.73017493e-02 9.99809220e-01 9.06488812e-03 6.40407041e+00] [-2.64781633e-02 -9.52123386e-03 9.99604048e-01 5.58427269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.15, Y:6.41, Z:5.59 [[ 9.99436756e-01 1.69881235e-02 2.89408643e-02 2.87153832e+02] [-1.66160728e-02 9.99776804e-01 -1.30479169e-02 6.41181870e+00] [-2.91560644e-02 1.25596843e-02 9.99495962e-01 5.58545677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.42509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.19, Y:6.40, Z:5.58 [[ 9.99435558e-01 1.58699700e-02 2.96092736e-02 2.87186248e+02] [-1.58186023e-02 9.99872941e-01 -1.96829910e-03 6.40447492e+00] [-2.96367483e-02 1.49881078e-03 9.99559611e-01 5.58060948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.22, Y:6.40, Z:5.58 [[ 9.99431837e-01 1.60661432e-02 2.96290801e-02 2.87218445e+02] [-1.60145348e-02 9.99869802e-01 -1.97831166e-03 6.40264885e+00] [-2.96570063e-02 1.50269172e-03 9.99559005e-01 5.57948308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.25, Y:6.40, Z:5.58 [[ 9.99428875e-01 1.61628535e-02 2.96763620e-02 2.87251511e+02] [-1.61108789e-02 9.99868232e-01 -1.98967066e-03 6.40093747e+00] [-2.97046104e-02 1.51042203e-03 9.99557580e-01 5.57850500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.28, Y:6.40, Z:5.58 [[ 9.99429284e-01 1.64682686e-02 2.94941168e-02 2.87284368e+02] [-1.64168138e-02 9.99863263e-01 -1.98589893e-03 6.39932600e+00] [-2.95227881e-02 1.50056613e-03 9.99562981e-01 5.57787946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.32, Y:6.40, Z:5.58 [[ 9.99428480e-01 1.68143593e-02 2.93255860e-02 2.87316487e+02] [-1.67633899e-02 9.99857518e-01 -1.98305338e-03 6.39832601e+00] [-2.93547514e-02 1.49032380e-03 9.99567945e-01 5.57768999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.35, Y:6.40, Z:5.58 [[ 9.99426365e-01 1.72337982e-02 2.91536688e-02 2.87349913e+02] [-1.71833710e-02 9.99850396e-01 -1.97936944e-03 6.39651958e+00] [-2.91834194e-02 1.47727570e-03 9.99572982e-01 5.57699329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.38, Y:6.40, Z:5.58 [[ 9.99418544e-01 1.82724972e-02 2.87869555e-02 2.87381977e+02] [-1.82235232e-02 9.99832011e-01 -1.96271469e-03 6.39582050e+00] [-2.88179834e-02 1.43697371e-03 9.99583643e-01 5.57623315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.41, Y:6.39, Z:5.58 [[ 9.99414587e-01 1.91018818e-02 2.83831277e-02 2.87414974e+02] [-1.90543897e-02 9.99816561e-01 -1.94279897e-03 6.39430669e+00] [-2.84150322e-02 1.40083845e-03 9.99595230e-01 5.57532102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.45, Y:6.39, Z:5.57 [[ 9.99395736e-01 2.04556057e-02 2.81021566e-02 2.87448214e+02] [-2.04093549e-02 9.99789841e-01 -1.93168649e-03 6.39279735e+00] [-2.81357646e-02 1.35697235e-03 9.99603190e-01 5.57463343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.48, Y:6.39, Z:5.57 [[ 9.99375666e-01 2.18414568e-02 2.77710003e-02 2.87481683e+02] [-2.17966020e-02 9.99760588e-01 -1.91689370e-03 6.39135868e+00] [-2.78062193e-02 1.31038348e-03 9.99612473e-01 5.57365583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.51, Y:6.39, Z:5.57 [[ 9.99342187e-01 2.50009413e-02 2.62706464e-02 2.87513369e+02] [-2.49617036e-02 9.99686750e-01 -1.82052410e-03 6.39058007e+00] [-2.63079320e-02 1.16356645e-03 9.99653209e-01 5.57302640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.55, Y:6.39, Z:5.57 [[ 9.99305367e-01 2.71588191e-02 2.55182687e-02 2.87546821e+02] [-2.71223297e-02 9.99630546e-01 -1.77502465e-03 6.38887449e+00] [-2.55570484e-02 1.08167676e-03 9.99672780e-01 5.57238369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.58, Y:6.39, Z:5.57 [[ 9.99245688e-01 2.96349546e-02 2.50963030e-02 2.87580339e+02] [-2.96002659e-02 9.99560280e-01 -1.75266585e-03 6.38736715e+00] [-2.51372078e-02 1.00848655e-03 9.99683502e-01 5.57175906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.61, Y:6.39, Z:5.57 [[ 9.99161103e-01 3.24700650e-02 2.49556604e-02 2.87613494e+02] [-3.24364719e-02 9.99472267e-01 -1.74984369e-03 6.38612843e+00] [-2.49993080e-02 9.38902178e-04 9.99687028e-01 5.57136200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.65, Y:6.39, Z:5.57 [[ 9.98917121e-01 3.90264551e-02 2.53282741e-02 2.87645456e+02] [-3.89937707e-02 9.99237863e-01 -1.78324124e-03 6.38644768e+00] [-2.53785641e-02 7.93665292e-04 9.99677597e-01 5.57188440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.68, Y:6.39, Z:5.57 [[ 9.98780251e-01 4.25390250e-02 2.50687483e-02 2.87676011e+02] [-4.25079422e-02 9.99094558e-01 -1.77173585e-03 6.38586506e+00] [-2.51214180e-02 7.03953873e-04 9.99684160e-01 5.57177815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.71, Y:6.38, Z:5.57 [[ 9.98781019e-01 4.25209933e-02 2.50687460e-02 2.87706087e+02] [-4.24899040e-02 9.99095325e-01 -1.77176829e-03 6.38377027e+00] [-2.51214043e-02 7.04439926e-04 9.99684160e-01 5.57096587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.74, Y:6.38, Z:5.57 [[ 9.98641181e-01 4.59575146e-02 2.45702640e-02 2.87735907e+02] [-4.59286986e-02 9.98943212e-01 -1.73614224e-03 6.38304525e+00] [-2.46240872e-02 6.05302887e-04 9.99696598e-01 5.57081650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.76, Y:6.38, Z:5.57 [[ 9.98489209e-01 4.93495991e-02 2.41643754e-02 2.87764503e+02] [-4.93227383e-02 9.98781435e-01 -1.70670375e-03 6.38213373e+00] [-2.42191547e-02 5.12272108e-04 9.99706542e-01 5.57068445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.79, Y:6.38, Z:5.57 [[ 9.98195320e-01 5.48498179e-02 2.44458883e-02 2.87793017e+02] [-5.48240194e-02 9.98494543e-01 -1.72480107e-03 6.38110888e+00] [-2.45036911e-02 3.81466497e-04 9.99699667e-01 5.57021504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.82, Y:6.38, Z:5.57 [[ 9.98077167e-01 5.68473956e-02 2.47050926e-02 2.87820454e+02] [-5.68217028e-02 9.98382823e-01 -1.74130543e-03 6.37939850e+00] [-2.47641288e-02 3.34171763e-04 9.99693266e-01 5.56963318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.85, Y:6.38, Z:5.57 [[ 9.97955744e-01 5.88288024e-02 2.49700943e-02 2.87848788e+02] [-5.88032334e-02 9.98268045e-01 -1.75766458e-03 6.37749761e+00] [-2.50302486e-02 2.85749180e-04 9.99686653e-01 5.56898403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.88, Y:6.38, Z:5.57 [[ 9.97745568e-01 6.22731977e-02 2.50166049e-02 2.87876658e+02] [-6.22486581e-02 9.98059121e-01 -1.75924204e-03 6.37573093e+00] [-2.50776043e-02 1.98025867e-04 9.99685488e-01 5.56840916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.90, Y:6.37, Z:5.57 [[ 9.97676859e-01 6.34942051e-02 2.46854589e-02 2.87904257e+02] [-6.34707510e-02 9.97982194e-01 -1.73327315e-03 6.37384851e+00] [-2.47457012e-02 1.62441898e-04 9.99693765e-01 5.56765766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.93, Y:6.37, Z:5.57 [[ 9.97637290e-01 6.44092032e-02 2.39017136e-02 2.87932335e+02] [-6.43875259e-02 9.97923563e-01 -1.67622550e-03 6.37194158e+00] [-2.39600475e-02 1.33292859e-04 9.99712908e-01 5.56668064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.17509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.96, Y:6.37, Z:5.57 [[ 9.97617849e-01 6.52267922e-02 2.24520037e-02 2.87959823e+02] [-6.52079222e-02 9.97870460e-01 -1.57233355e-03 6.36919972e+00] [-2.25067496e-02 1.04539505e-04 9.99746686e-01 5.56547067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.99, Y:6.37, Z:5.56 [[ 9.97632948e-01 6.52037560e-02 2.18396696e-02 2.87987286e+02] [-6.51859443e-02 9.97871966e-01 -1.52724027e-03 6.36620665e+00] [-2.18927758e-02 9.99857308e-05 9.99760319e-01 5.56467182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.01, Y:6.36, Z:5.56 [[ 9.97715439e-01 6.39751162e-02 2.17045454e-02 2.88014185e+02] [-6.39572834e-02 9.97951486e-01 -1.51549929e-03 6.36176713e+00] [-2.17570376e-02 1.23873274e-04 9.99763280e-01 5.56396827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.04, Y:6.36, Z:5.56 [[ 9.97797220e-01 6.27374407e-02 2.15573783e-02 2.88042079e+02] [-6.27196213e-02 9.98030056e-01 -1.50239140e-03 6.35880476e+00] [-2.16091676e-02 1.47011365e-04 9.99766484e-01 5.56366043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.07, Y:6.36, Z:5.56 [[ 9.97879514e-01 6.13611331e-02 2.17091474e-02 2.88069576e+02] [-6.13427883e-02 9.98115615e-01 -1.51057681e-03 6.35566444e+00] [-2.17609297e-02 1.75674021e-04 9.99763187e-01 5.56344179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.10, Y:6.35, Z:5.56 [[ 9.97989969e-01 5.94705482e-02 2.18923789e-02 2.88096949e+02] [-5.94514925e-02 9.98230037e-01 -1.52082122e-03 6.35241403e+00] [-2.19440743e-02 2.16229721e-04 9.99759176e-01 5.56271356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.13, Y:6.35, Z:5.56 [[ 9.98114745e-01 5.74135257e-02 2.16942872e-02 2.88125501e+02] [-5.73943717e-02 9.98350450e-01 -1.50502844e-03 6.34860738e+00] [-2.17449104e-02 2.57061088e-04 9.99763518e-01 5.56257824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.15, Y:6.34, Z:5.56 [[ 9.98373982e-01 5.26378380e-02 2.18780776e-02 2.88154179e+02] [-5.26172460e-02 9.98613602e-01 -1.51620433e-03 6.34321072e+00] [-2.19275556e-02 3.62574757e-04 9.99759497e-01 5.56231942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.18, Y:6.34, Z:5.56 [[ 9.98516485e-01 4.98692655e-02 2.18606166e-02 2.88182841e+02] [-4.98480769e-02 9.98755665e-01 -1.51344661e-03 6.33915297e+00] [-2.19088892e-02 4.21491685e-04 9.99759883e-01 5.56171699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.21, Y:6.33, Z:5.56 [[ 9.98651170e-01 4.69326230e-02 2.22074234e-02 2.88210572e+02] [-4.69100651e-02 9.98897936e-01 -1.53592267e-03 6.33491204e+00] [-2.22550343e-02 4.92099291e-04 9.99752205e-01 5.56075991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.24, Y:6.33, Z:5.56 [[ 9.98789448e-01 4.38839911e-02 2.22223649e-02 2.88238793e+02] [-4.38607006e-02 9.99036478e-01 -1.53462017e-03 6.33095033e+00] [-2.22682984e-02 5.58073933e-04 9.99751875e-01 5.56018303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.27, Y:6.33, Z:5.56 [[ 9.99021828e-01 3.80194815e-02 2.25811130e-02 2.88267867e+02] [-3.79939772e-02 9.99276754e-01 -1.55756616e-03 6.32544627e+00] [-2.26239992e-02 6.98096303e-04 9.99743801e-01 5.55972587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.30, Y:6.32, Z:5.56 [[ 9.99118506e-01 3.54757382e-02 2.24428801e-02 2.88297777e+02] [-3.54499260e-02 9.99370256e-01 -1.54706057e-03 6.32177523e+00] [-2.24836299e-02 7.50098404e-04 9.99746930e-01 5.55888085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.33, Y:6.32, Z:5.56 [[ 9.99200766e-01 3.32022291e-02 2.22585265e-02 2.88328610e+02] [-3.31762796e-02 9.99448338e-01 -1.53418434e-03 6.31813490e+00] [-2.22971856e-02 7.94503066e-04 9.99751071e-01 5.55820383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.36, Y:6.31, Z:5.56 [[ 9.99256344e-01 3.16569890e-02 2.20134797e-02 2.88359299e+02] [-3.16312373e-02 9.99498456e-01 -1.51712060e-03 6.31450248e+00] [-2.20504664e-02 8.19678781e-04 9.99756523e-01 5.55719766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.39, Y:6.31, Z:5.56 [[ 9.99329976e-01 2.90338297e-02 2.22853056e-02 2.88391185e+02] [-2.90066689e-02 9.99578030e-01 -1.54112777e-03 6.30947827e+00] [-2.23206467e-02 8.93672694e-04 9.99750464e-01 5.55581978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.42, Y:6.31, Z:5.55 [[ 9.99353004e-01 2.84267066e-02 2.20339520e-02 2.88424381e+02] [-2.83998938e-02 9.99595472e-01 -1.52891194e-03 6.30587038e+00] [-2.20685006e-02 9.02160841e-04 9.99756054e-01 5.55483291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.46, Y:6.30, Z:5.55 [[ 9.99353706e-01 2.83806325e-02 2.20614960e-02 2.88456633e+02] [-2.83535991e-02 9.99596774e-01 -1.53726665e-03 6.30168128e+00] [-2.20962288e-02 9.10750308e-04 9.99755434e-01 5.55325163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.49, Y:6.30, Z:5.55 [[ 9.99319388e-01 2.98656495e-02 2.16518699e-02 2.88489820e+02] [-2.98398379e-02 9.99553546e-01 -1.51429297e-03 6.29869517e+00] [-2.16874287e-02 8.67174031e-04 9.99764424e-01 5.55218756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.52, Y:6.30, Z:5.55 [[ 9.99256092e-01 3.20459795e-02 2.14550208e-02 2.88522286e+02] [-3.20210031e-02 9.99486060e-01 -1.50675282e-03 6.29621301e+00] [-2.14922796e-02 8.18620651e-04 9.99768679e-01 5.55108207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.55, Y:6.29, Z:5.55 [[ 9.99037735e-01 3.83642799e-02 2.12552734e-02 2.88553396e+02] [-3.83410783e-02 9.99263587e-01 -1.49816726e-03 6.29418637e+00] [-2.12970968e-02 6.81775530e-04 9.99772959e-01 5.55022717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.58, Y:6.29, Z:5.55 [[ 9.98869724e-01 4.23214872e-02 2.16371713e-02 2.88582674e+02] [-4.22982288e-02 9.99103855e-01 -1.53166611e-03 6.29257702e+00] [-2.16826037e-02 6.14720884e-04 9.99764716e-01 5.54932604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.61, Y:6.29, Z:5.55 [[ 9.98685306e-01 4.65171866e-02 2.15362788e-02 2.88611198e+02] [-4.64951313e-02 9.98917354e-01 -1.52396426e-03 6.29121669e+00] [-2.15838531e-02 5.20628607e-04 9.99766906e-01 5.54875526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.64, Y:6.29, Z:5.55 [[ 9.98244214e-01 5.50542707e-02 2.18521582e-02 2.88638842e+02] [-5.50336410e-02 9.98483306e-01 -1.54477106e-03 6.29014713e+00] [-2.19040614e-02 3.39454941e-04 9.99760020e-01 5.54789435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.67, Y:6.29, Z:5.55 [[ 9.98027724e-01 5.87003638e-02 2.22469920e-02 2.88667344e+02] [-5.86799349e-02 9.98275613e-01 -1.57053783e-03 6.28861550e+00] [-2.23008207e-02 2.61988256e-04 9.99751271e-01 5.54708129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.92509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.69, Y:6.29, Z:5.55 [[ 9.97830247e-01 6.19051240e-02 2.24177173e-02 2.88694632e+02] [-6.18852243e-02 9.98082020e-01 -1.58101032e-03 6.28683754e+00] [-2.24725932e-02 1.90254459e-04 9.99747441e-01 5.54638658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.72, Y:6.28, Z:5.55 [[ 9.97674923e-01 6.42601809e-02 2.27019161e-02 2.88722270e+02] [-6.42404306e-02 9.97933169e-01 -1.59895335e-03 6.28498394e+00] [-2.27577441e-02 1.36854794e-04 9.99741000e-01 5.54547937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.75, Y:6.28, Z:5.54 [[ 9.97573427e-01 6.62054511e-02 2.15428816e-02 2.88750557e+02] [-6.61881605e-02 9.97806009e-01 -1.51543415e-03 6.28265764e+00] [-2.15959467e-02 8.58731354e-05 9.99766777e-01 5.54430306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.78, Y:6.28, Z:5.54 [[ 9.97597302e-01 6.58817599e-02 2.14293419e-02 2.88778501e+02] [-6.58646040e-02 9.97827433e-01 -1.50616354e-03 6.27981669e+00] [-2.14820139e-02 9.11095623e-05 9.99769231e-01 5.54287890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.81, Y:6.28, Z:5.54 [[ 9.97683928e-01 6.47090611e-02 2.09646842e-02 2.88806387e+02] [-6.46924287e-02 9.97904166e-01 -1.47129978e-03 6.27688430e+00] [-2.10159521e-02 1.11635804e-04 9.99779134e-01 5.54194252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.84, Y:6.27, Z:5.54 [[ 9.97815634e-01 6.27621037e-02 2.06125753e-02 2.88835275e+02] [-6.27456600e-02 9.98028505e-01 -1.44416679e-03 6.27414557e+00] [-2.06625766e-02 1.47662560e-04 9.99786495e-01 5.54107295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.86, Y:6.27, Z:5.54 [[ 9.98107002e-01 5.78850847e-02 2.07780878e-02 2.88863621e+02] [-5.78673507e-02 9.98323222e-01 -1.45424038e-03 6.27030799e+00] [-2.08274264e-02 2.49114610e-04 9.99783055e-01 5.54031801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.89, Y:6.27, Z:5.54 [[ 9.98258424e-01 5.51258437e-02 2.10062105e-02 2.88891831e+02] [-5.51071395e-02 9.98479367e-01 -1.46867481e-03 6.26747163e+00] [-2.10552297e-02 3.08524826e-04 9.99778266e-01 5.53987644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.92, Y:6.26, Z:5.54 [[ 9.98523846e-01 4.98243260e-02 2.16255985e-02 2.88919595e+02] [-4.98032928e-02 9.98757904e-01 -1.51043118e-03 6.26376214e+00] [-2.16739936e-02 4.31175541e-04 9.99764998e-01 5.53940904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.95, Y:6.26, Z:5.54 [[ 9.98631794e-01 4.74297188e-02 2.20218526e-02 2.88947829e+02] [-4.74073726e-02 9.98874457e-01 -1.53597788e-03 6.26062786e+00] [-2.20699171e-02 4.89878172e-04 9.99756310e-01 5.53880241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.98, Y:6.26, Z:5.54 [[ 9.98751039e-01 4.48634358e-02 2.19916678e-02 2.88976567e+02] [-4.48405668e-02 9.98992981e-01 -1.53215997e-03 6.25778091e+00] [-2.20382597e-02 5.44127518e-04 9.99756980e-01 5.53858916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.01, Y:6.25, Z:5.54 [[ 9.98833679e-01 4.27401437e-02 2.24624347e-02 2.89006147e+02] [-4.27157787e-02 9.99086041e-01 -1.56360941e-03 6.25490018e+00] [-2.25087338e-02 6.02285347e-04 9.99746465e-01 5.53763247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.04, Y:6.25, Z:5.54 [[ 9.99006518e-01 3.82203096e-02 2.29168963e-02 2.89035822e+02] [-3.81937794e-02 9.99269079e-01 -1.59441329e-03 6.25172866e+00] [-2.29610848e-02 7.17546385e-04 9.99736102e-01 5.53690583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.07, Y:6.25, Z:5.54 [[ 9.99070377e-01 3.60716976e-02 2.36053697e-02 2.89066654e+02] [-3.60429767e-02 9.99348893e-01 -1.64118182e-03 6.24898719e+00] [-2.36492003e-02 7.88848352e-04 9.99720007e-01 5.53594649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.10, Y:6.25, Z:5.54 [[ 9.99137282e-01 3.38414434e-02 2.40717175e-02 2.89097428e+02] [-3.38109215e-02 9.99426845e-01 -1.67394955e-03 6.24622624e+00] [-2.41145695e-02 8.58618457e-04 9.99708833e-01 5.53528196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.13, Y:6.24, Z:5.53 [[ 9.99211657e-01 3.15365190e-02 2.41145565e-02 2.89130891e+02] [-3.15050833e-02 9.99502176e-01 -1.68250471e-03 6.24334132e+00] [-2.41556121e-02 9.21447207e-04 9.99707786e-01 5.53445768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.16, Y:6.24, Z:5.53 [[ 9.99290175e-01 2.89993583e-02 2.40454380e-02 2.89163766e+02] [-2.89672005e-02 9.99578943e-01 -1.68468850e-03 6.24032519e+00] [-2.40841684e-02 9.86963647e-04 9.99709447e-01 5.53325207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.20, Y:6.24, Z:5.53 [[ 9.99478120e-01 2.24970686e-02 2.31812499e-02 2.89195837e+02] [-2.24652735e-02 9.99746293e-01 -1.63112935e-03 6.23734000e+00] [-2.32120643e-02 1.10950497e-03 9.99729948e-01 5.53250055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.23, Y:6.23, Z:5.53 [[ 9.99556756e-01 1.91678856e-02 2.27790016e-02 2.89229204e+02] [-1.91362388e-02 9.99815595e-01 -1.60648857e-03 6.23480555e+00] [-2.28055940e-02 1.16987209e-03 9.99739234e-01 5.53207524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.26, Y:6.23, Z:5.53 [[ 9.99611389e-01 1.58764819e-02 2.29130463e-02 2.89260949e+02] [-1.58434422e-02 9.99873168e-01 -1.62278634e-03 6.23255525e+00] [-2.29359043e-02 1.25913418e-03 9.99736145e-01 5.53157526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.29, Y:6.23, Z:5.53 [[ 9.99691851e-01 1.01664231e-02 2.26461138e-02 2.89293600e+02] [-1.01325527e-02 9.99947368e-01 -1.60988713e-03 6.23048733e+00] [-2.26612887e-02 1.37992810e-03 9.99742248e-01 5.53120245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.33, Y:6.23, Z:5.53 [[ 9.99715139e-01 8.37843755e-03 2.23482012e-02 2.89327062e+02] [-8.34486544e-03 9.99963909e-01 -1.59506555e-03 6.22835712e+00] [-2.23607588e-02 1.40811845e-03 9.99748975e-01 5.53040293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.37, Y:6.23, Z:5.53 [[ 9.99669344e-01 9.84489513e-03 2.37545920e-02 2.89365239e+02] [-9.43470653e-03 9.99805509e-01 -1.73184828e-02 6.23117910e+00] [-2.39204706e-02 1.70886387e-02 9.99567801e-01 5.52879827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.39, Y:6.22, Z:5.52 [[ 9.99754673e-01 5.31758280e-03 2.15015477e-02 2.89390647e+02] [-5.62087063e-03 9.99885219e-01 1.40696490e-02 6.21866135e+00] [-2.14242632e-02 -1.41870548e-02 9.99669810e-01 5.52448326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.42, Y:6.23, Z:5.53 [[ 9.99774919e-01 6.29837901e-03 2.02593458e-02 2.89423037e+02] [-6.27018982e-03 9.99979284e-01 -1.45463790e-03 6.22530945e+00] [-2.02680880e-02 1.32728055e-03 9.99793700e-01 5.52769653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.67509989300004 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:289.46, Y:6.23, Z:5.53 [[ 9.99836890e-01 7.94607246e-03 1.62188917e-02 2.89455420e+02] [-7.74352161e-03 9.99891720e-01 -1.25134009e-02 6.22978886e+00] [-1.63165679e-02 1.23857685e-02 9.99790159e-01 5.53051485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.49, Y:6.22, Z:5.52 [[ 9.99758733e-01 7.72332611e-03 2.05627346e-02 2.89487950e+02] [-7.92886038e-03 9.99919233e-01 9.93277798e-03 6.21808901e+00] [-2.04843597e-02 -1.00934206e-02 9.99739223e-01 5.52309438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.52, Y:6.22, Z:5.53 [[ 9.99760057e-01 1.10405371e-02 1.89191817e-02 2.89521320e+02] [-1.10166247e-02 9.99938380e-01 -1.36768347e-03 6.22497370e+00] [-1.89331159e-02 1.15892978e-03 9.99820081e-01 5.52555899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.55, Y:6.22, Z:5.53 [[ 9.99744065e-01 1.26631866e-02 1.87469485e-02 2.89553321e+02] [-1.26398894e-02 9.99919188e-01 -1.36069565e-03 6.22475009e+00] [-1.87626642e-02 1.12338805e-03 9.99823335e-01 5.52531563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.59, Y:6.22, Z:5.52 [[ 9.99742497e-01 1.27870729e-02 1.87465046e-02 2.89586755e+02] [-1.27636837e-02 9.99917607e-01 -1.36677993e-03 6.22222440e+00] [-1.87624372e-02 1.12715353e-03 9.99823335e-01 5.52442345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.62, Y:6.22, Z:5.52 [[ 9.99715159e-01 1.43272775e-02 1.90874430e-02 2.89619956e+02] [-1.43032863e-02 9.99896733e-01 -1.39284355e-03 6.22182088e+00] [-1.91054275e-02 1.11943365e-03 9.99816848e-01 5.52359215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.65, Y:6.22, Z:5.52 [[ 9.99683779e-01 1.57711881e-02 1.95860217e-02 2.89652878e+02] [-1.57460884e-02 9.99874993e-01 -1.43507653e-03 6.22153420e+00] [-1.96062061e-02 1.12621950e-03 9.99807146e-01 5.52338265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.68, Y:6.22, Z:5.52 [[ 9.99641008e-01 1.82111964e-02 1.96521761e-02 2.89684917e+02] [-1.81862821e-02 9.99833571e-01 -1.44575259e-03 6.22356081e+00] [-1.96752343e-02 1.08783356e-03 9.99805832e-01 5.52348160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.72, Y:6.22, Z:5.52 [[ 9.99612846e-01 1.94412208e-02 1.99047103e-02 2.89718480e+02] [-1.94157987e-02 9.99810415e-01 -1.46966349e-03 6.22314941e+00] [-1.99295087e-02 1.08262866e-03 9.99800801e-01 5.52255597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.75, Y:6.22, Z:5.52 [[ 9.99582519e-01 2.11988424e-02 1.96315234e-02 2.89752093e+02] [-2.11743442e-02 9.99774740e-01 -1.45494741e-03 6.22217994e+00] [-1.96579444e-02 1.03865537e-03 9.99806224e-01 5.52209663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.79, Y:6.22, Z:5.52 [[ 9.99514676e-01 2.44090769e-02 1.93548259e-02 2.89785282e+02] [-2.43857616e-02 9.99701586e-01 -1.43975998e-03 6.22290700e+00] [-1.93841933e-02 9.67079064e-04 9.99811641e-01 5.52120905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:6.22, Z:5.52 [[ 9.99459678e-01 2.66055062e-02 1.93002236e-02 2.89816094e+02] [-2.65826043e-02 9.99645580e-01 -1.44224217e-03 6.22231541e+00] [-1.93317548e-02 9.28412690e-04 9.99812693e-01 5.52029753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:6.23, Z:5.52 [[ 9.99293214e-01 3.04478606e-02 2.20454015e-02 2.89848928e+02] [-3.00863585e-02 9.99410310e-01 -1.65482083e-02 6.22753574e+00] [-2.25362591e-02 1.58732464e-02 9.99620006e-01 5.51971505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.88, Y:6.22, Z:5.52 [[ 9.99073994e-01 3.60947968e-02 2.34162179e-02 2.89879549e+02] [-3.59430071e-02 9.99330219e-01 -6.87119938e-03 6.22395522e+00] [-2.36485487e-02 6.02318732e-03 9.99702189e-01 5.51552709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.91, Y:6.21, Z:5.51 [[ 9.99106725e-01 3.72183252e-02 2.00137004e-02 2.89907754e+02] [-3.75962609e-02 9.99115184e-01 1.88512470e-02 6.21352325e+00] [-1.92943802e-02 -1.95868479e-02 9.99621970e-01 5.51351822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.94, Y:6.22, Z:5.52 [[ 9.99006029e-01 4.09318827e-02 1.76503408e-02 2.89937654e+02] [-4.09148239e-02 9.99161757e-01 -1.32666155e-03 6.22295422e+00] [-1.76898483e-02 6.03182296e-04 9.99843340e-01 5.51918529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.97, Y:6.22, Z:5.52 [[ 9.98854967e-01 4.45270475e-02 1.74956254e-02 2.89965923e+02] [-4.45108571e-02 9.99008037e-01 -1.31390958e-03 6.22236210e+00] [-1.75367749e-02 5.33659826e-04 9.99846077e-01 5.51828779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.00, Y:6.22, Z:5.52 [[ 9.98691085e-01 4.81710568e-02 1.71949299e-02 2.89995111e+02] [-4.81559877e-02 9.98838995e-01 -1.28958436e-03 6.22170115e+00] [-1.72370871e-02 4.59857573e-04 9.99851325e-01 5.51765240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.02, Y:6.22, Z:5.52 [[ 9.98292960e-01 5.59349206e-02 1.68062564e-02 2.90023636e+02] [-5.59216370e-02 9.98434366e-01 -1.25967178e-03 6.22253747e+00] [-1.68504036e-02 3.17688101e-04 9.99857971e-01 5.51741616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.05, Y:6.22, Z:5.52 [[ 9.98078020e-01 5.96670690e-02 1.67363681e-02 2.90051264e+02] [-5.96544497e-02 9.98218302e-01 -1.25267358e-03 6.22189461e+00] [-1.67812923e-02 2.51867138e-04 9.99859152e-01 5.51682998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.08, Y:6.22, Z:5.52 [[ 9.97628433e-01 6.69677619e-02 1.59005863e-02 2.90079740e+02] [-6.69573239e-02 9.97755132e-01 -1.18850956e-03 6.22186587e+00] [-1.59444834e-02 1.21030216e-04 9.99872871e-01 5.51593781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.11, Y:6.23, Z:5.51 [[ 9.97006596e-01 7.35735833e-02 2.37649914e-02 2.90113063e+02] [-7.26758734e-02 9.96681780e-01 -3.66557977e-02 6.23314183e+00] [-2.63830323e-02 3.48189306e-02 9.99045333e-01 5.51192851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.13, Y:6.20, Z:5.50 [[ 9.97329492e-01 7.05399842e-02 1.89207703e-02 2.90134760e+02] [-7.11447951e-02 9.96904478e-01 3.34646124e-02 6.20257318e+00] [-1.65016075e-02 -3.47213592e-02 9.99260789e-01 5.50387231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.16, Y:6.22, Z:5.51 [[ 9.97186460e-01 7.30896325e-02 1.66454066e-02 2.90163956e+02] [-7.30791757e-02 9.97325376e-01 -1.23641813e-03 6.21761522e+00] [-1.66912558e-02 1.65068200e-05 9.99860691e-01 5.51367157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.19, Y:6.22, Z:5.51 [[ 9.97103467e-01 7.40545969e-02 1.73376119e-02 2.90192136e+02] [-7.40434320e-02 9.97254189e-01 -1.28588438e-03 6.21569305e+00] [-1.73852317e-02 -1.57651412e-06 9.99848865e-01 5.51274273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.42509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.22, Y:6.21, Z:5.51 [[ 9.97151382e-01 7.33996799e-02 1.73668664e-02 2.90218910e+02] [-7.33883970e-02 9.97302605e-01 -1.28695923e-03 6.21353974e+00] [-1.74144835e-02 8.76668714e-06 9.99848356e-01 5.51213453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.25, Y:6.21, Z:5.51 [[ 9.97362764e-01 7.04899548e-02 1.72824706e-02 2.90246671e+02] [-7.04784153e-02 9.97512488e-01 -1.27661945e-03 6.21062093e+00] [-1.73294691e-02 5.52115588e-05 9.99849832e-01 5.51078996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.28, Y:6.21, Z:5.51 [[ 9.97369009e-01 7.04015022e-02 1.72826179e-02 2.90275059e+02] [-7.03899840e-02 9.97518734e-01 -1.27462220e-03 6.20861525e+00] [-1.73294704e-02 5.47454879e-05 9.99849832e-01 5.51004104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.30, Y:6.20, Z:5.51 [[ 9.97734044e-01 6.51277507e-02 1.68864621e-02 2.90302459e+02] [-6.51160209e-02 9.97876924e-01 -1.24411539e-03 6.20485713e+00] [-1.69316373e-02 1.41717067e-04 9.99856640e-01 5.50873751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.33, Y:6.20, Z:5.51 [[ 9.97940896e-01 6.16552645e-02 1.76803750e-02 2.90330365e+02] [-6.16418963e-02 9.98097483e-01 -1.30060110e-03 6.20180295e+00] [-1.77269267e-02 2.08071188e-04 9.99842844e-01 5.50753984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.36, Y:6.20, Z:5.51 [[ 9.98151911e-01 5.79533739e-02 1.82803045e-02 2.90358121e+02] [-5.79384997e-02 9.98319251e-01 -1.34268046e-03 6.19858291e+00] [-1.83273927e-02 2.81065655e-04 9.99832000e-01 5.50676840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.39, Y:6.19, Z:5.51 [[ 9.98513302e-01 5.08499704e-02 1.96333083e-02 2.90385903e+02] [-5.08314859e-02 9.98706207e-01 -1.43970779e-03 6.19365684e+00] [-1.96811160e-02 4.39577142e-04 9.99806211e-01 5.50586863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.41, Y:6.19, Z:5.50 [[ 9.98668678e-01 4.75504096e-02 1.99957655e-02 2.90414329e+02] [-4.75306240e-02 9.98868709e-01 -1.46385042e-03 6.19000265e+00] [-2.00427511e-02 5.11490353e-04 9.99798993e-01 5.50479375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.44, Y:6.19, Z:5.50 [[ 9.98792674e-01 4.45360410e-02 2.07300746e-02 2.90442298e+02] [-4.45141570e-02 9.99007603e-01 -1.51614095e-03 6.18656686e+00] [-2.07770250e-02 5.91528678e-04 9.99783959e-01 5.50391759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.47, Y:6.19, Z:5.50 [[ 9.98645439e-01 4.50652683e-02 2.60078768e-02 2.90474995e+02] [-4.42524269e-02 9.98538487e-01 -3.10260045e-02 6.19448086e+00] [-2.73680612e-02 2.98330662e-02 9.99180153e-01 5.50208477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.50, Y:6.17, Z:5.49 [[ 9.99076495e-01 3.64163401e-02 2.28036495e-02 2.90499781e+02] [-3.70423541e-02 9.98930833e-01 2.76596254e-02 6.16532857e+00] [-2.17720062e-02 -2.84787824e-02 9.99357263e-01 5.49324887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.53, Y:6.18, Z:5.50 [[ 9.99172630e-01 3.52161703e-02 2.03439789e-02 2.90530655e+02] [-3.51932001e-02 9.99379423e-01 -1.48612091e-03 6.17664256e+00] [-2.03836893e-02 7.68921622e-04 9.99791935e-01 5.50123878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.56, Y:6.17, Z:5.50 [[ 9.99248589e-01 3.32391906e-02 1.99352398e-02 2.90560344e+02] [-3.32167280e-02 9.99447110e-01 -1.45693613e-03 6.17399355e+00] [-1.99726452e-02 7.93657928e-04 9.99800212e-01 5.50041709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.59, Y:6.17, Z:5.50 [[ 9.99311857e-01 3.12924152e-02 1.99147640e-02 2.90590895e+02] [-3.12696320e-02 9.99509927e-01 -1.45448365e-03 6.17114545e+00] [-1.99505187e-02 8.30755413e-04 9.99800623e-01 5.49924900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.62, Y:6.17, Z:5.50 [[ 9.99414371e-01 2.74677028e-02 2.04068897e-02 2.90620651e+02] [-2.74429857e-02 9.99622259e-01 -1.49032507e-03 6.16748165e+00] [-2.04401170e-02 9.29426308e-04 9.99790647e-01 5.49755750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.65, Y:6.16, Z:5.50 [[ 9.99473745e-01 2.55147025e-02 2.00307806e-02 2.90653110e+02] [-2.54905175e-02 9.99673995e-01 -1.46183188e-03 6.16475153e+00] [-2.00615486e-02 9.50467619e-04 9.99798295e-01 5.49674744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.68, Y:6.16, Z:5.50 [[ 9.99566010e-01 2.28293348e-02 1.86175235e-02 2.90684758e+02] [-2.27347159e-02 9.99727600e-01 -5.27818903e-03 6.16441863e+00] [-1.87329496e-02 4.85263424e-03 9.99812747e-01 5.49669748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.72, Y:6.16, Z:5.49 [[ 9.99613431e-01 1.96549924e-02 1.96639287e-02 2.90715164e+02] [-1.97067914e-02 9.99802815e-01 2.44389814e-03 6.15874085e+00] [-1.96120164e-02 -2.83046635e-03 9.99803659e-01 5.49281861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.75, Y:6.16, Z:5.49 [[ 9.99657509e-01 1.82775825e-02 1.87294948e-02 2.90748647e+02] [-1.82549879e-02 9.99832416e-01 -1.37663885e-03 6.15882449e+00] [-1.87515177e-02 1.03426066e-03 9.99823640e-01 5.49269328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.78, Y:6.16, Z:5.49 [[ 9.99686436e-01 1.70931561e-02 1.82990219e-02 2.90780223e+02] [-1.70712944e-02 9.99853363e-01 -1.35024452e-03 6.15709218e+00] [-1.83194185e-02 1.03743314e-03 9.99831647e-01 5.49174769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.81, Y:6.16, Z:5.49 [[ 9.99726324e-01 1.53686884e-02 1.76374784e-02 2.90813207e+02] [-1.53480345e-02 9.99881359e-01 -1.30579623e-03 6.15650893e+00] [-1.76554542e-02 1.03473824e-03 9.99843595e-01 5.49017088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.85, Y:6.15, Z:5.49 [[ 9.99734868e-01 1.51757315e-02 1.73173645e-02 2.90845850e+02] [-1.51557101e-02 9.99884318e-01 -1.28681118e-03 6.15492071e+00] [-1.73348895e-02 1.02401305e-03 9.99849215e-01 5.48907006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.88, Y:6.15, Z:5.49 [[ 9.99734685e-01 1.55019228e-02 1.70367246e-02 2.90879200e+02] [-1.54825147e-02 9.99879332e-01 -1.27050764e-03 6.15340905e+00] [-1.70543641e-02 1.00639922e-03 9.99854057e-01 5.48828762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.91, Y:6.15, Z:5.49 [[ 9.99720421e-01 1.60646321e-02 1.73495682e-02 2.90911315e+02] [-1.60444957e-02 9.99870435e-01 -1.29920613e-03 6.15241771e+00] [-1.73681916e-02 1.02047782e-03 9.99848641e-01 5.48748859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.94, Y:6.15, Z:5.49 [[ 9.99679886e-01 1.79719166e-02 1.78082797e-02 2.90944080e+02] [-1.79509158e-02 9.99837973e-01 -1.33843449e-03 6.15315301e+00] [-1.78294485e-02 1.01833111e-03 9.99840524e-01 5.48679320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.17509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.98, Y:6.15, Z:5.49 [[ 9.99649291e-01 1.93581302e-02 1.80709353e-02 2.90977364e+02] [-1.93366350e-02 9.99812100e-01 -1.36347951e-03 6.15232590e+00] [-1.80939341e-02 1.01357025e-03 9.99835778e-01 5.48625486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.01, Y:6.15, Z:5.49 [[ 9.99603144e-01 2.12251606e-02 1.85215225e-02 2.91010073e+02] [-2.12027967e-02 9.99774211e-01 -1.40301669e-03 6.15178635e+00] [-1.85471198e-02 1.00975182e-03 9.99827477e-01 5.48562307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.04, Y:6.15, Z:5.49 [[ 9.99548099e-01 2.32150790e-02 1.90960125e-02 2.91042224e+02] [-2.31915525e-02 9.99729985e-01 -1.45257190e-03 6.15142759e+00] [-1.91245779e-02 1.00904931e-03 9.99816599e-01 5.48537653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.07, Y:6.15, Z:5.48 [[ 9.99373453e-01 2.91670997e-02 2.00494585e-02 2.91074845e+02] [-2.91422382e-02 9.99574102e-01 -1.53112685e-03 6.15301552e+00] [-2.00855780e-02 9.45881437e-04 9.99797817e-01 5.48491564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.11, Y:6.15, Z:5.48 [[ 9.99269156e-01 3.23837329e-02 2.03087960e-02 2.91105557e+02] [-3.23587532e-02 9.99475105e-01 -1.55749411e-03 6.15288797e+00] [-2.03485735e-02 8.99188509e-04 9.99792542e-01 5.48390025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.14, Y:6.15, Z:5.48 [[ 9.99144592e-01 3.58897035e-02 2.05429833e-02 2.91135777e+02] [-3.58648799e-02 9.99355406e-01 -1.57564733e-03 6.15286093e+00] [-2.05862909e-02 8.37527885e-04 9.99787729e-01 5.48322986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.16, Y:6.16, Z:5.48 [[ 9.98829574e-01 4.33723044e-02 2.14085531e-02 2.91164403e+02] [-4.33470723e-02 9.99058725e-01 -1.64146783e-03 6.15612090e+00] [-2.14595960e-02 7.11548516e-04 9.99769463e-01 5.48304087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.19, Y:6.16, Z:5.48 [[ 9.98649524e-01 4.70289870e-02 2.20771990e-02 2.91193356e+02] [-4.70030927e-02 9.98893313e-01 -1.69063376e-03 6.15650252e+00] [-2.21322753e-02 6.50653962e-04 9.99754839e-01 5.48260520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.22, Y:6.16, Z:5.48 [[ 9.98476059e-01 5.06643904e-02 2.18787278e-02 2.91222491e+02] [-5.06398659e-02 9.98715576e-01 -1.67386576e-03 6.15643520e+00] [-2.19354316e-02 5.63379044e-04 9.99759231e-01 5.48232693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.25, Y:6.16, Z:5.48 [[ 9.98100448e-01 5.75466124e-02 2.19973490e-02 2.91250306e+02] [-5.75235230e-02 9.98342735e-01 -1.68149147e-03 6.15750824e+00] [-2.20576577e-02 4.12932379e-04 9.99756615e-01 5.48128943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.28, Y:6.16, Z:5.48 [[ 9.97919200e-01 6.06176020e-02 2.19721763e-02 2.91278336e+02] [-6.05953610e-02 9.98161004e-01 -1.67722529e-03 6.15735470e+00] [-2.20334389e-02 3.42323366e-04 9.99757176e-01 5.48064912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.31, Y:6.16, Z:5.48 [[ 9.97742432e-01 6.34018233e-02 2.21415596e-02 2.91305833e+02] [-6.33799763e-02 9.97988041e-01 -1.68776471e-03 6.15709148e+00] [-2.22040190e-02 2.80622949e-04 9.99753421e-01 5.48003798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.33, Y:6.16, Z:5.48 [[ 9.97568232e-01 6.61616313e-02 2.19148510e-02 2.91334218e+02] [-6.61409572e-02 9.97808896e-01 -1.66766219e-03 6.15635968e+00] [-2.19771685e-02 2.14137601e-04 9.99758450e-01 5.47943316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.36, Y:6.16, Z:5.48 [[ 9.97407628e-01 6.86148551e-02 2.16800477e-02 2.91360827e+02] [-6.85952502e-02 9.97643211e-01 -1.64753564e-03 6.15566452e+00] [-2.17419978e-02 1.56116322e-04 9.99763603e-01 5.47855696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.39, Y:6.16, Z:5.48 [[ 9.97106168e-01 7.31445086e-02 2.07164130e-02 2.91388414e+02] [-7.31276383e-02 9.97321351e-01 -1.57174826e-03 6.15570996e+00] [-2.07758858e-02 5.22575295e-05 9.99784157e-01 5.47772591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.42, Y:6.15, Z:5.48 [[ 9.96943920e-01 7.54905209e-02 2.00998033e-02 2.91415672e+02] [-7.54751570e-02 9.97146519e-01 -1.52296509e-03 6.15418649e+00] [-2.01574183e-02 1.27497943e-06 9.99796819e-01 5.47689029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.44, Y:6.15, Z:5.48 [[ 9.96789795e-01 7.76150488e-02 1.96471301e-02 2.91443330e+02] [-7.76008310e-02 9.96983401e-01 -1.48616742e-03 6.15241986e+00] [-1.97032116e-02 -4.32371016e-05 9.99805872e-01 5.47561511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.47, Y:6.15, Z:5.48 [[ 9.96527186e-01 8.10114595e-02 1.92538405e-02 2.91469930e+02] [-8.09984764e-02 9.96713164e-01 -1.45448316e-03 6.15133378e+00] [-1.93083861e-02 -1.10099738e-04 9.99813570e-01 5.47509103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.50, Y:6.15, Z:5.47 [[ 9.96541625e-01 8.08336104e-02 1.92539968e-02 2.91498275e+02] [-8.08206341e-02 9.96727604e-01 -1.45241135e-03 6.14926900e+00] [-1.93083937e-02 -1.08731862e-04 9.99813570e-01 5.47435079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.53, Y:6.15, Z:5.47 [[ 9.96452395e-01 8.19213791e-02 1.92746447e-02 2.91526265e+02] [-8.19086544e-02 9.96638786e-01 -1.45003631e-03 6.14790493e+00] [-1.93286474e-02 -1.33868055e-04 9.99813175e-01 5.47404233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.55, Y:6.15, Z:5.47 [[ 9.96463935e-01 8.18563750e-02 1.89515466e-02 2.91553281e+02] [-8.18440883e-02 9.96644127e-01 -1.42432916e-03 6.14647374e+00] [-1.90045381e-02 -1.31779416e-04 9.99819389e-01 5.47409512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.58, Y:6.14, Z:5.47 [[ 9.96528896e-01 8.11103840e-02 1.87420596e-02 2.91581354e+02] [-8.10983163e-02 9.96705117e-01 -1.40428828e-03 6.14410070e+00] [-1.87942091e-02 -1.20535628e-04 9.99823366e-01 5.47382416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.61, Y:6.14, Z:5.47 [[ 9.96687319e-01 7.90779619e-02 1.90016694e-02 2.91609183e+02] [-7.90652278e-02 9.96868431e-01 -1.42165666e-03 6.14174492e+00] [-1.90545861e-02 -8.54241478e-05 9.99818441e-01 5.47346504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.64, Y:6.14, Z:5.47 [[ 9.96877158e-01 7.64577123e-02 1.97522227e-02 2.91635741e+02] [-7.64434809e-02 9.97072824e-01 -1.47564269e-03 6.13924361e+00] [-1.98072287e-02 -3.88941633e-05 9.99803817e-01 5.47309975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.66, Y:6.14, Z:5.47 [[ 9.97129170e-01 7.30485207e-02 1.99332110e-02 2.91663151e+02] [-7.30333992e-02 9.97328388e-01 -1.48649823e-03 6.13613422e+00] [-1.99885437e-02 2.64405866e-05 9.99800209e-01 5.47277534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.92509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.69, Y:6.13, Z:5.47 [[ 9.97672671e-01 6.49718984e-02 2.06856152e-02 2.91689655e+02] [-6.49539241e-02 9.97887075e-01 -1.54033728e-03 6.13154112e+00] [-2.07419867e-02 1.93140525e-04 9.99784843e-01 5.47243561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.72, Y:6.13, Z:5.47 [[ 9.97922661e-01 6.08322250e-02 2.12085489e-02 2.91717005e+02] [-6.08124557e-02 9.98147965e-01 -1.57643672e-03 6.12822475e+00] [-2.12651681e-02 2.83417985e-04 9.99773831e-01 5.47193924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.74, Y:6.12, Z:5.47 [[ 9.98150900e-01 5.69990689e-02 2.11160481e-02 2.91744782e+02] [-5.69786617e-02 9.98374166e-01 -1.56731355e-03 6.12494774e+00] [-2.11710523e-02 3.61251271e-04 9.99775803e-01 5.47136645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.77, Y:6.12, Z:5.47 [[ 9.98488189e-01 5.08500181e-02 2.08713208e-02 2.91771453e+02] [-5.08287823e-02 9.98706184e-01 -1.54703716e-03 6.12003235e+00] [-2.09229840e-02 4.83834513e-04 9.99780973e-01 5.47043469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.80, Y:6.12, Z:5.47 [[ 9.98609106e-01 4.85679953e-02 2.05183688e-02 2.91799877e+02] [-4.85470474e-02 9.98819743e-01 -1.51810307e-03 6.11623017e+00] [-2.05678831e-02 5.19885327e-04 9.99788324e-01 5.46975017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.83, Y:6.11, Z:5.47 [[ 9.98696265e-01 4.66937655e-02 2.06267508e-02 2.91827679e+02] [-4.66722225e-02 9.98909094e-01 -1.52484811e-03 6.11296218e+00] [-2.06754498e-02 5.60163812e-04 9.99786083e-01 5.46859438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.86, Y:6.11, Z:5.47 [[ 9.98737995e-01 4.56777618e-02 2.08796538e-02 2.91856076e+02] [-4.56555172e-02 9.98956055e-01 -1.54106673e-03 6.10934577e+00] [-2.09282490e-02 5.85850506e-04 9.99780809e-01 5.46757942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.88, Y:6.11, Z:5.47 [[ 9.98722743e-01 4.59454739e-02 2.10213286e-02 2.91884891e+02] [-4.59230175e-02 9.98943779e-01 -1.55001218e-03 6.10516192e+00] [-2.10703415e-02 5.82669578e-04 9.99777826e-01 5.46731650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.91, Y:6.10, Z:5.47 [[ 9.98681097e-01 4.68964951e-02 2.08994194e-02 2.91912915e+02] [-4.68745363e-02 9.98899598e-01 -1.53960422e-03 6.10245171e+00] [-2.09486236e-02 5.57923044e-04 9.99780398e-01 5.46673651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.94, Y:6.10, Z:5.47 [[ 9.98598999e-01 4.85031805e-02 2.11537260e-02 2.91941901e+02] [-4.84810873e-02 9.98822888e-01 -1.55630170e-03 6.09960381e+00] [-2.12043113e-02 5.28565684e-04 9.99775024e-01 5.46609402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.97, Y:6.10, Z:5.47 [[ 9.98494537e-01 5.04826869e-02 2.14512770e-02 2.91970979e+02] [-5.04604562e-02 9.98724815e-01 -1.57670189e-03 6.09733792e+00] [-2.15035188e-02 4.91886999e-04 9.99768652e-01 5.46542383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.00, Y:6.10, Z:5.46 [[ 9.98209749e-01 5.58037955e-02 2.15228653e-02 2.91998418e+02] [-5.57826815e-02 9.98441683e-01 -1.58059669e-03 6.09501705e+00] [-2.15775292e-02 3.77163887e-04 9.99767107e-01 5.46495739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.03, Y:6.09, Z:5.46 [[ 9.98061670e-01 5.84974836e-02 2.12355143e-02 2.92026105e+02] [-5.84775894e-02 9.98287507e-01 -1.55713161e-03 6.09290806e+00] [-2.12902369e-02 3.12311692e-04 9.99773288e-01 5.46401449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.05, Y:6.09, Z:5.46 [[ 9.97917623e-01 6.10312306e-02 2.08711847e-02 2.92054197e+02] [-6.10126040e-02 9.98135825e-01 -1.52866130e-03 6.09087370e+00] [-2.09255732e-02 2.52072727e-04 9.99781004e-01 5.46313488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.08, Y:6.09, Z:5.46 [[ 9.97723914e-01 6.43456634e-02 2.01649756e-02 2.92080786e+02] [-6.43289876e-02 9.97927655e-01 -1.47521660e-03 6.08934626e+00] [-2.02181106e-02 1.74666415e-04 9.99795578e-01 5.46219832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.11, Y:6.09, Z:5.46 [[ 9.97700154e-01 6.47910773e-02 1.99127607e-02 2.92108564e+02] [-6.47749779e-02 9.97898838e-01 -1.45310494e-03 6.08760690e+00] [-1.99650690e-02 1.59914388e-04 9.99800665e-01 5.46128689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.14, Y:6.09, Z:5.46 [[ 9.97720892e-01 6.46946672e-02 1.91734544e-02 2.92136724e+02] [-6.46797603e-02 9.97905094e-01 -1.39723483e-03 6.08528455e+00] [-1.92236814e-02 1.53915954e-04 9.99815196e-01 5.46048179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.16, Y:6.08, Z:5.46 [[ 9.97796772e-01 6.36793026e-02 1.86158159e-02 2.92164324e+02] [-6.36651085e-02 9.97970400e-01 -1.35472736e-03 6.08289843e+00] [-1.86643013e-02 1.66564647e-04 9.99825793e-01 5.45963960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.19, Y:6.08, Z:5.46 [[ 9.98040819e-01 5.99561578e-02 1.78824715e-02 2.92191498e+02] [-5.99424931e-02 9.98200986e-01 -1.29965158e-03 6.07979323e+00] [-1.79282228e-02 2.25185408e-04 9.99839251e-01 5.45875865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.22, Y:6.08, Z:5.46 [[ 9.98209321e-01 5.72993801e-02 1.71735812e-02 2.92219831e+02] [-5.72864221e-02 9.98357007e-01 -1.24593025e-03 6.07716567e+00] [-1.72167561e-02 2.59886171e-04 9.99851747e-01 5.45807885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.25, Y:6.07, Z:5.46 [[ 9.98378239e-01 5.43949621e-02 1.67952488e-02 2.92246421e+02] [-5.43821849e-02 9.98519453e-01 -1.21687559e-03 6.07461578e+00] [-1.68365745e-02 3.01539785e-04 9.99858209e-01 5.45752099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.27, Y:6.07, Z:5.46 [[ 9.98524416e-01 5.15902833e-02 1.69538618e-02 2.92274492e+02] [-5.15768987e-02 9.98668273e-01 -1.22605836e-03 6.07220752e+00] [-1.69945366e-02 3.49821595e-04 9.99855521e-01 5.45727280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.30, Y:6.07, Z:5.46 [[ 9.98776629e-01 4.62013811e-02 1.76260297e-02 2.92302664e+02] [-4.61861116e-02 9.98932042e-01 -1.27261094e-03 6.07002781e+00] [-1.76660022e-02 4.56976288e-04 9.99843840e-01 5.45751549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.33, Y:6.07, Z:5.46 [[ 9.98895518e-01 4.34464163e-02 1.78927994e-02 2.92330745e+02] [-4.34302778e-02 9.99055628e-01 -1.28972530e-03 6.06778719e+00] [-1.79319359e-02 5.11211566e-04 9.99839079e-01 5.45710579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.36, Y:6.07, Z:5.46 [[ 9.99004300e-01 4.08339772e-02 1.79720822e-02 2.92358484e+02] [-4.08173029e-02 9.99165789e-01 -1.29378236e-03 6.06527397e+00] [-1.80099199e-02 5.58922216e-04 9.99837652e-01 5.45644085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.67509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.39, Y:6.06, Z:5.46 [[ 9.99109361e-01 3.81156406e-02 1.81020006e-02 2.92386700e+02] [-3.80983100e-02 9.99273148e-01 -1.30140540e-03 6.06297919e+00] [-1.81384471e-02 6.10590682e-04 9.99835298e-01 5.45572998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.42, Y:6.06, Z:5.46 [[ 9.99284524e-01 3.29102198e-02 1.86375240e-02 2.92415345e+02] [-3.28909699e-02 9.99458049e-01 -1.33852998e-03 6.06021386e+00] [-1.86714747e-02 7.24566056e-04 9.99825410e-01 5.45500292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.44, Y:6.06, Z:5.45 [[ 9.99363924e-01 3.01809131e-02 1.89963038e-02 2.92444361e+02] [-3.01604522e-02 9.99544141e-01 -1.36274118e-03 6.05767183e+00] [-1.90287730e-02 7.88937256e-04 9.99818625e-01 5.45425894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.47, Y:6.06, Z:5.45 [[ 9.99425435e-01 2.76190964e-02 1.96464901e-02 2.92473573e+02] [-2.75967409e-02 9.99618146e-01 -1.40814469e-03 6.05539330e+00] [-1.96778797e-02 8.65156522e-04 9.99805997e-01 5.45347194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.50, Y:6.05, Z:5.45 [[ 9.99529535e-01 2.33963944e-02 1.98322086e-02 2.92504205e+02] [-2.33728054e-02 9.99725810e-01 -1.42041831e-03 6.05295513e+00] [-1.98600035e-02 9.56215697e-04 9.99802313e-01 5.45276736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.54, Y:6.05, Z:5.45 [[ 9.99546127e-01 2.19801388e-02 2.06013132e-02 2.92536033e+02] [-2.19544028e-02 9.99757886e-01 -1.47460869e-03 6.05069477e+00] [-2.06287374e-02 1.02164988e-03 9.99786683e-01 5.45175099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.57, Y:6.05, Z:5.45 [[ 9.99556975e-01 2.10689776e-02 2.10226719e-02 2.92568717e+02] [-2.10418643e-02 9.99777455e-01 -1.51011396e-03 6.04848570e+00] [-2.10498099e-02 1.06708873e-03 9.99777859e-01 5.45084301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.60, Y:6.05, Z:5.45 [[ 9.99567625e-01 2.04150179e-02 2.11610389e-02 2.92600373e+02] [-2.03872554e-02 9.99790992e-01 -1.52689241e-03 6.04669177e+00] [-2.11877876e-02 1.09481671e-03 9.99774914e-01 5.44981509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.63, Y:6.04, Z:5.45 [[ 9.99566991e-01 2.04747261e-02 2.11332867e-02 2.92632963e+02] [-2.04469785e-02 9.99789771e-01 -1.52824700e-03 6.04491226e+00] [-2.11601343e-02 1.09547339e-03 9.99775499e-01 5.44857357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.67, Y:6.04, Z:5.45 [[ 9.99537357e-01 2.24178624e-02 2.05551064e-02 2.92666044e+02] [-2.23919033e-02 9.99748156e-01 -1.49222356e-03 6.04437063e+00] [-2.05833822e-02 1.03126524e-03 9.99787608e-01 5.44734051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.70, Y:6.04, Z:5.45 [[ 9.99505006e-01 2.43272516e-02 1.99481459e-02 2.92698156e+02] [-2.43030669e-02 9.99703580e-01 -1.45394658e-03 6.04330863e+00] [-1.99776034e-02 9.68425755e-04 9.99799959e-01 5.44630785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.73, Y:6.04, Z:5.45 [[ 9.99449833e-01 2.67380732e-02 1.96241256e-02 2.92729209e+02] [-2.67150312e-02 9.99642059e-01 -1.43543006e-03 6.04238544e+00] [-1.96554820e-02 9.10381208e-04 9.99806398e-01 5.44537059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.76, Y:6.04, Z:5.44 [[ 9.99300746e-01 3.24832027e-02 1.85164860e-02 2.92759343e+02] [-3.24635649e-02 9.99471994e-01 -1.36023583e-03 6.04326659e+00] [-1.85508940e-02 7.58173534e-04 9.99827630e-01 5.44436631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.79, Y:6.04, Z:5.44 [[ 9.99200845e-01 3.55718480e-02 1.82295328e-02 2.92788135e+02] [-3.55533172e-02 9.99366883e-01 -1.33970923e-03 6.04301283e+00] [-1.82656473e-02 6.90518237e-04 9.99832931e-01 5.44366228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.82, Y:6.04, Z:5.44 [[ 9.99098620e-01 3.86189156e-02 1.76217768e-02 2.92816720e+02] [-3.86020945e-02 9.99253824e-01 -1.29384058e-03 6.04319497e+00] [-1.76585945e-02 6.12436851e-04 9.99843887e-01 5.44294564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.85, Y:6.05, Z:5.44 [[ 9.98860609e-01 4.46434453e-02 1.68655469e-02 2.92845757e+02] [-4.46289138e-02 9.99002868e-01 -1.23718720e-03 6.04544702e+00] [-1.69039620e-02 4.83086520e-04 9.99857001e-01 5.44257174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.87, Y:6.05, Z:5.44 [[ 9.98724832e-01 4.76065845e-02 1.68024750e-02 2.92873615e+02] [-4.75925953e-02 9.98866071e-01 -1.23168303e-03 6.04544111e+00] [-1.68420584e-02 4.30439039e-04 9.99858070e-01 5.44174304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.90, Y:6.05, Z:5.44 [[ 9.98614011e-01 5.01086325e-02 1.60991133e-02 2.92900473e+02] [-5.00961386e-02 9.98743705e-01 -1.17866029e-03 6.04536562e+00] [-1.61379491e-02 3.70523272e-04 9.99869706e-01 5.44132794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.93, Y:6.05, Z:5.44 [[ 9.98503484e-01 5.21663428e-02 1.64153682e-02 2.92928849e+02] [-5.21536689e-02 9.98638351e-01 -1.19951171e-03 6.04500381e+00] [-1.64555904e-02 3.41594939e-04 9.99864539e-01 5.44017460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.96, Y:6.04, Z:5.44 [[ 9.98401404e-01 5.40592848e-02 1.64994226e-02 2.92957082e+02] [-5.40467680e-02 9.98537680e-01 -1.20390307e-03 6.04425005e+00] [-1.65403773e-02 3.10238052e-04 9.99863150e-01 5.43952092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.98, Y:6.04, Z:5.44 [[ 9.98222294e-01 5.70161314e-02 1.73612541e-02 2.92984729e+02] [-5.70027546e-02 9.98373220e-01 -1.26478816e-03 6.04450781e+00] [-1.74051245e-02 2.72900433e-04 9.99848482e-01 5.43909220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.01, Y:6.04, Z:5.44 [[ 9.98154574e-01 5.79675030e-02 1.80891034e-02 2.93012453e+02] [-5.79531751e-02 9.98318435e-01 -1.31572022e-03 6.04375924e+00] [-1.81349544e-02 2.64971176e-04 9.99835513e-01 5.43867113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.04, Y:6.04, Z:5.44 [[ 9.98091383e-01 5.88837567e-02 1.86089919e-02 2.93040187e+02] [-5.88687914e-02 9.98264814e-01 -1.35144439e-03 6.04289111e+00] [-1.86562800e-02 2.53376136e-04 9.99825924e-01 5.43855054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.07, Y:6.04, Z:5.44 [[ 9.97970683e-01 6.04743282e-02 1.99341890e-02 2.93067099e+02] [-6.04575173e-02 9.98169725e-01 -1.44544253e-03 6.04273747e+00] [-1.99851161e-02 2.37337696e-04 9.99800249e-01 5.43848248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.09, Y:6.04, Z:5.44 [[ 9.97951096e-01 6.08672614e-02 1.97176541e-02 2.93094260e+02] [-6.08509384e-02 9.98145844e-01 -1.42731521e-03 6.04135927e+00] [-1.97679712e-02 2.24553028e-04 9.99804569e-01 5.43804036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.42509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.12, Y:6.04, Z:5.44 [[ 9.97942737e-01 6.09620671e-02 1.98473954e-02 2.93121896e+02] [-6.09455987e-02 9.98140059e-01 -1.43412365e-03 6.03984572e+00] [-1.98979075e-02 2.21561885e-04 9.99801992e-01 5.43717215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.15, Y:6.04, Z:5.44 [[ 9.97965156e-01 6.05695532e-02 1.99217801e-02 2.93148573e+02] [-6.05529231e-02 9.98163953e-01 -1.43749056e-03 6.03837848e+00] [-1.99722710e-02 2.28243469e-04 9.99800508e-01 5.43651024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.18, Y:6.04, Z:5.44 [[ 9.97999889e-01 5.97398968e-02 2.06728623e-02 2.93175980e+02] [-5.97218676e-02 9.98213946e-01 -1.48894990e-03 6.03652252e+00] [-2.07248892e-02 2.51349889e-04 9.99785185e-01 5.43536377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.20, Y:6.03, Z:5.43 [[ 9.98031172e-01 5.92434950e-02 2.05909622e-02 2.93204141e+02] [-5.92255461e-02 9.98243528e-01 -1.48095485e-03 6.03440282e+00] [-2.06425317e-02 2.58528126e-04 9.99786887e-01 5.43478973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.23, Y:6.03, Z:5.43 [[ 9.98046046e-01 5.89604825e-02 2.06821561e-02 2.93232416e+02] [-5.89423592e-02 9.98260283e-01 -1.48530862e-03 6.03258653e+00] [-2.07337496e-02 2.63351324e-04 9.99784998e-01 5.43343701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.26, Y:6.03, Z:5.43 [[ 9.98028741e-01 5.93245545e-02 2.04750988e-02 2.93259705e+02] [-5.93069123e-02 9.98238716e-01 -1.46832674e-03 6.03057313e+00] [-2.05261442e-02 2.51117402e-04 9.99789285e-01 5.43242171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.29, Y:6.03, Z:5.43 [[ 9.98033976e-01 5.92363467e-02 2.04752975e-02 2.93288094e+02] [-5.92187428e-02 9.98243954e-01 -1.46555003e-03 6.02862953e+00] [-2.05261558e-02 2.50147348e-04 9.99789285e-01 5.43168053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.32, Y:6.03, Z:5.43 [[ 9.98000406e-01 5.97640564e-02 2.05778322e-02 2.93316306e+02] [-5.97464237e-02 9.98212503e-01 -1.47115983e-03 6.02682075e+00] [-2.06289719e-02 2.38766222e-04 9.99787172e-01 5.43062114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.34, Y:6.02, Z:5.43 [[ 9.97935211e-01 6.09444509e-02 2.02753409e-02 2.93344659e+02] [-6.09276205e-02 9.98141137e-01 -1.44735905e-03 6.02480450e+00] [-2.03258603e-02 2.09042286e-04 9.99793387e-01 5.43001874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.37, Y:6.02, Z:5.43 [[ 9.97755754e-01 6.37226247e-02 2.05641025e-02 2.93372034e+02] [-6.37059484e-02 9.97967637e-01 -1.46569204e-03 6.02280028e+00] [-2.06157065e-02 1.52347011e-04 9.99787462e-01 5.42878606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.40, Y:6.02, Z:5.43 [[ 9.97672637e-01 6.50221105e-02 2.05288550e-02 2.93399253e+02] [-6.50058032e-02 9.97883816e-01 -1.46138702e-03 6.02064113e+00] [-2.05804346e-02 1.23491135e-04 9.99788193e-01 5.42789356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.43, Y:6.02, Z:5.43 [[ 9.97595432e-01 6.63690933e-02 1.99624257e-02 2.93427420e+02] [-6.63540245e-02 9.97795137e-01 -1.41699986e-03 6.01817823e+00] [-2.00124562e-02 8.90053093e-05 9.99799727e-01 5.42718363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.46, Y:6.01, Z:5.43 [[ 9.97442025e-01 6.86326791e-02 1.99740121e-02 2.93455191e+02] [-6.86180905e-02 9.97641997e-01 -1.41563318e-03 6.01473135e+00] [-2.00240720e-02 4.14334574e-05 9.99799497e-01 5.42586825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.48, Y:6.01, Z:5.42 [[ 9.97370806e-01 6.96495110e-02 2.00105240e-02 2.93482398e+02] [-6.96351152e-02 9.97571524e-01 -1.41614859e-03 6.01168349e+00] [-2.00605630e-02 1.89901193e-05 9.99798766e-01 5.42499011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.51, Y:6.01, Z:5.42 [[ 9.97326735e-01 7.01683113e-02 2.03909504e-02 2.93510189e+02] [-7.01535268e-02 9.97535166e-01 -1.44035753e-03 6.00840597e+00] [-2.04417575e-02 6.00999409e-06 9.99791045e-01 5.42408206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.54, Y:6.00, Z:5.42 [[ 9.97249721e-01 7.11023580e-02 2.09152585e-02 2.93536669e+02] [-7.10870559e-02 9.97469024e-01 -1.47514408e-03 6.00358137e+00] [-2.09672087e-02 -1.57171296e-05 9.99780164e-01 5.42335775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.905099893 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:293.56, Y:6.00, Z:5.42 [[ 9.97233397e-01 7.15642284e-02 2.01025449e-02 2.93564152e+02] [-7.15050857e-02 9.97433570e-01 -3.64651660e-03 6.00123828e+00] [-2.03119133e-02 2.19899394e-03 9.99791274e-01 5.42347791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.59, Y:6.00, Z:5.42 [[ 9.97300119e-01 7.04641347e-02 2.06707194e-02 2.93592416e+02] [-7.04943590e-02 9.97511906e-01 7.36271362e-04 5.99567113e+00] [-2.05674080e-02 -2.19145263e-03 9.99786067e-01 5.42123507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.62, Y:5.99, Z:5.42 [[ 9.97481963e-01 6.79663522e-02 2.02560766e-02 2.93618809e+02] [-6.79514556e-02 9.97687613e-01 -1.42358997e-03 5.99124720e+00] [-2.03059929e-02 4.35754313e-05 9.99793811e-01 5.42146927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.65, Y:5.99, Z:5.42 [[ 9.97623344e-01 6.59344848e-02 2.00076860e-02 2.93646356e+02] [-6.59195957e-02 9.97823951e-01 -1.40349110e-03 5.98746012e+00] [-2.00566867e-02 8.12569193e-05 9.99798841e-01 5.42072383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.67, Y:5.98, Z:5.42 [[ 9.97795339e-01 6.33797659e-02 1.96841775e-02 2.93673939e+02] [-6.33648969e-02 9.97989473e-01 -1.37879305e-03 5.98347190e+00] [-1.97319895e-02 1.28467397e-04 9.99805297e-01 5.42019453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.70, Y:5.98, Z:5.42 [[ 9.97981560e-01 6.04629486e-02 1.94174560e-02 2.93700258e+02] [-6.04479658e-02 9.98170426e-01 -1.35815431e-03 5.97935164e+00] [-1.94640483e-02 1.81667238e-04 9.99810541e-01 5.41931053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.73, Y:5.97, Z:5.42 [[ 9.98385461e-01 5.38074757e-02 1.81996436e-02 2.93727636e+02] [-5.37932481e-02 9.98551286e-01 -1.27075103e-03 5.97310423e+00] [-1.82416534e-02 2.89681413e-04 9.99833565e-01 5.41864630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.76, Y:5.97, Z:5.42 [[ 9.98605501e-01 4.99212270e-02 1.71733462e-02 2.93755890e+02] [-4.99080132e-02 9.98753101e-01 -1.19742437e-03 5.96939203e+00] [-1.72117097e-02 3.38666978e-04 9.99851810e-01 5.41790915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.78, Y:5.97, Z:5.42 [[ 9.98791210e-01 4.63297516e-02 1.64217131e-02 2.93784507e+02] [-4.63172167e-02 9.98926128e-01 -1.14302634e-03 5.96555831e+00] [-1.64570344e-02 3.81036613e-04 9.99864501e-01 5.41713263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.17509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.81, Y:5.96, Z:5.42 [[ 9.98972216e-01 4.25074650e-02 1.57361445e-02 2.93811844e+02] [-4.24954949e-02 9.99096059e-01 -1.09442402e-03 5.96168354e+00] [-1.57684411e-02 4.24583945e-04 9.99875580e-01 5.41616471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.84, Y:5.96, Z:5.42 [[ 9.99268039e-01 3.52660719e-02 1.48219663e-02 2.93840647e+02] [-3.52546770e-02 9.99377830e-01 -1.02944939e-03 5.95602008e+00] [-1.48490491e-02 5.06152235e-04 9.99889619e-01 5.41561421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.87, Y:5.95, Z:5.41 [[ 9.99374398e-01 3.19123350e-02 1.52451955e-02 2.93869626e+02] [-3.18999079e-02 9.99490509e-01 -1.05769038e-03 5.95240525e+00] [-1.52711816e-02 5.70708355e-04 9.99883226e-01 5.41498827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.90, Y:5.95, Z:5.42 [[ 9.99526911e-01 2.61328411e-02 1.62181517e-02 2.93898076e+02] [-2.61180381e-02 9.99658234e-01 -1.12391706e-03 5.94775135e+00] [-1.62419800e-02 6.99799047e-04 9.99867845e-01 5.41504238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.93, Y:5.94, Z:5.41 [[ 9.99571332e-01 2.38121857e-02 1.70332807e-02 2.93928306e+02] [-2.37955542e-02 9.99716151e-01 -1.17845192e-03 5.94414911e+00] [-1.70565073e-02 7.72630401e-04 9.99854229e-01 5.41436953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.96, Y:5.94, Z:5.41 [[ 9.99606270e-01 2.18925180e-02 1.75505916e-02 2.93958412e+02] [-2.18745777e-02 9.99759986e-01 -1.21354570e-03 5.94075316e+00] [-1.75729468e-02 8.29156110e-04 9.99845240e-01 5.41361610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.99, Y:5.94, Z:5.41 [[ 9.99623921e-01 2.04119568e-02 1.83130523e-02 2.93988969e+02] [-2.03921535e-02 9.99791255e-01 -1.26748220e-03 5.93738774e+00] [-1.83351013e-02 8.93562957e-04 9.99831499e-01 5.41278711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.02, Y:5.93, Z:5.41 [[ 9.99668289e-01 1.76888328e-02 1.87194406e-02 2.94021466e+02] [-1.76676294e-02 9.99843073e-01 -1.29747866e-03 5.93293755e+00] [-1.87394540e-02 9.66320133e-04 9.99823934e-01 5.41200967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.05, Y:5.93, Z:5.41 [[ 9.99694170e-01 1.67275858e-02 1.82141479e-02 2.94054026e+02] [-1.67072784e-02 9.99859622e-01 -1.26653338e-03 5.92946334e+00] [-1.82327771e-02 9.61837192e-04 9.99833306e-01 5.41106566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.09, Y:5.93, Z:5.41 [[ 9.99727554e-01 1.56314762e-02 1.73342196e-02 2.94086989e+02] [-1.56128396e-02 9.99877380e-01 -1.20995169e-03 5.92626308e+00] [-1.73510074e-02 9.38985655e-04 9.99849019e-01 5.41016471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.12, Y:5.92, Z:5.41 [[ 9.99753191e-01 1.44277226e-02 1.68937044e-02 2.94118677e+02] [-1.44097695e-02 9.99895473e-01 -1.18396137e-03 5.92309351e+00] [-1.69090204e-02 9.40234775e-04 9.99856590e-01 5.40919522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.15, Y:5.92, Z:5.41 [[ 9.99811653e-01 1.24335178e-02 1.49019097e-02 2.94151344e+02] [-1.24192843e-02 9.99922329e-01 -1.04730793e-03 5.91930929e+00] [-1.49137740e-02 8.62039620e-04 9.99888412e-01 5.40846687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.18, Y:5.92, Z:5.41 [[ 9.99835538e-01 1.18996781e-02 1.36855974e-02 2.94184558e+02] [-1.18875790e-02 9.99928875e-01 -9.65085622e-04 5.91642001e+00] [-1.36961082e-02 8.02238282e-04 9.99905882e-01 5.40776264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.22, Y:5.91, Z:5.41 [[ 9.99844411e-01 1.17910248e-02 1.31196550e-02 2.94217364e+02] [-1.17798540e-02 9.99930184e-01 -9.28405025e-04 5.91397869e+00] [-1.31296859e-02 7.73712954e-04 9.99913503e-01 5.40688723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.25, Y:5.91, Z:5.41 [[ 9.99838884e-01 1.36132127e-02 1.16998709e-02 2.94249464e+02] [-1.36044200e-02 9.99907110e-01 -8.30780281e-04 5.91306367e+00] [-1.17100937e-02 6.71476470e-04 9.99931209e-01 5.40686335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.28, Y:5.91, Z:5.41 [[ 9.99810937e-01 1.59090909e-02 1.11799604e-02 2.94280643e+02] [-1.59011376e-02 9.99873249e-01 -7.99923580e-04 5.91196345e+00] [-1.11912694e-02 6.21998255e-04 9.99937182e-01 5.40683327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.31, Y:5.91, Z:5.41 [[ 9.99754847e-01 1.90251038e-02 1.13265903e-02 2.94310745e+02] [-1.90171320e-02 9.99818829e-01 -8.11112351e-04 5.91115043e+00] [-1.13399698e-02 5.95514241e-04 9.99935523e-01 5.40653109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.34, Y:5.91, Z:5.41 [[ 9.99663593e-01 2.30219190e-02 1.19453553e-02 2.94340323e+02] [-2.30133343e-02 9.99734792e-01 -8.55639289e-04 5.91092631e+00] [-1.19618857e-02 5.80448992e-04 9.99928286e-01 5.40639288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.37, Y:5.91, Z:5.41 [[ 9.99373869e-01 3.28494302e-02 1.31447828e-02 2.94369191e+02] [-3.28398343e-02 9.99460180e-01 -9.45255492e-04 5.91282576e+00] [-1.31687381e-02 5.12991149e-04 9.99913157e-01 5.40702213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.40, Y:5.91, Z:5.41 [[ 9.99164458e-01 3.86354548e-02 1.33299426e-02 2.94396827e+02] [-3.86261712e-02 9.99253276e-01 -9.53298892e-04 5.91261493e+00] [-1.33568200e-02 4.37617725e-04 9.99910698e-01 5.40695137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.42, Y:5.91, Z:5.41 [[ 9.98598753e-01 5.10176810e-02 1.40615000e-02 2.94424714e+02] [-5.10085638e-02 9.98697709e-01 -1.00650072e-03 5.91461661e+00] [-1.40945372e-02 2.87833443e-04 9.99900626e-01 5.40701171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.45, Y:5.91, Z:5.41 [[ 9.98285593e-01 5.68305255e-02 1.40059577e-02 2.94452094e+02] [-5.68221263e-02 9.98383820e-01 -9.97228609e-04 5.91471573e+00] [-1.40399945e-02 1.99670659e-04 9.99901414e-01 5.40671627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.48, Y:5.91, Z:5.41 [[ 9.97940371e-01 6.25847712e-02 1.40770039e-02 2.94479979e+02] [-6.25769093e-02 9.98039645e-01 -9.98702460e-04 5.91436479e+00] [-1.41119115e-02 1.15750109e-04 9.99900415e-01 5.40584202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.51, Y:5.91, Z:5.41 [[ 9.97613055e-01 6.77215706e-02 1.34900413e-02 2.94507527e+02] [-6.77148382e-02 9.97704258e-01 -9.55720652e-04 5.91369073e+00] [-1.35237945e-02 3.99634381e-05 9.99908549e-01 5.40517760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.53, Y:5.91, Z:5.40 [[ 9.97280087e-01 7.24364650e-02 1.36157098e-02 2.94534824e+02] [-7.24300634e-02 9.97373028e-01 -9.63342314e-04 5.91263372e+00] [-1.36497228e-02 -2.54646145e-05 9.99906838e-01 5.40423387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.92509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.56, Y:5.91, Z:5.40 [[ 9.96697666e-01 8.01413521e-02 1.30814967e-02 2.94563156e+02] [-8.01361287e-02 9.96783501e-01 -9.23821715e-04 5.91144689e+00] [-1.31134564e-02 -1.27529555e-04 9.99914007e-01 5.40334883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.59, Y:5.91, Z:5.40 [[ 9.96515741e-01 8.24243672e-02 1.27515684e-02 2.94590890e+02] [-8.24195779e-02 9.96597311e-01 -9.01540049e-04 5.90953318e+00] [-1.27824877e-02 -1.52580039e-04 9.99918289e-01 5.40265587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.62, Y:5.91, Z:5.40 [[ 9.96353992e-01 8.43886896e-02 1.25407689e-02 2.94618035e+02] [-8.43842828e-02 9.96432896e-01 -8.81070223e-04 5.90712859e+00] [-1.25703871e-02 -1.80385957e-04 9.99920973e-01 5.40168399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.65, Y:5.90, Z:5.40 [[ 9.96288710e-01 8.51857763e-02 1.23365257e-02 2.94645642e+02] [-8.51815649e-02 9.96365068e-01 -8.67377170e-04 5.90468845e+00] [-1.23655715e-02 -1.86686485e-04 9.99923526e-01 5.40083731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.67, Y:5.90, Z:5.40 [[ 9.96252770e-01 8.56522144e-02 1.20048519e-02 2.94672022e+02] [-8.56483245e-02 9.96325078e-01 -8.38718433e-04 5.90149238e+00] [-1.20325731e-02 -1.92619890e-04 9.99927587e-01 5.40000212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.70, Y:5.90, Z:5.40 [[ 9.96328114e-01 8.47090968e-02 1.24361502e-02 2.94699606e+02] [-8.47048416e-02 9.96405707e-01 -8.69438518e-04 5.89893346e+00] [-1.24651004e-02 -1.87156090e-04 9.99922290e-01 5.39898338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.73, Y:5.90, Z:5.40 [[ 9.96421584e-01 8.36128117e-02 1.23662440e-02 2.94727443e+02] [-8.36085621e-02 9.96498302e-01 -8.61140337e-04 5.89603484e+00] [-1.23949435e-02 -1.75865062e-04 9.99923164e-01 5.39854498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.76, Y:5.89, Z:5.40 [[ 9.96665821e-01 8.05537112e-02 1.29746452e-02 2.94755309e+02] [-8.05488277e-02 9.96750258e-01 -8.99372826e-04 5.89195196e+00] [-1.30049288e-02 -1.48718304e-04 9.99915421e-01 5.39847158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.78, Y:5.89, Z:5.40 [[ 9.96794011e-01 7.88601637e-02 1.35193684e-02 2.94782636e+02] [-7.88547927e-02 9.96885678e-01 -9.30710232e-04 5.88899693e+00] [-1.35506607e-02 -1.38340609e-04 9.99908176e-01 5.39805385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.81, Y:5.89, Z:5.40 [[ 9.96919140e-01 7.70919074e-02 1.44591349e-02 2.94810119e+02] [-7.70856031e-02 9.97023983e-01 -9.93657448e-04 5.88575747e+00] [-1.44927072e-02 -1.23995004e-04 9.99894968e-01 5.39759451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.84, Y:5.88, Z:5.40 [[ 9.97204757e-01 7.30132352e-02 1.58663162e-02 2.94836859e+02] [-7.30051453e-02 9.97330969e-01 -1.08925702e-03 5.88111808e+00] [-1.59034987e-02 -7.21104396e-05 9.99873529e-01 5.39771538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.86, Y:5.88, Z:5.40 [[ 9.97357002e-01 7.06642606e-02 1.68989136e-02 2.94864905e+02] [-7.06548214e-02 9.97500156e-01 -1.15570261e-03 5.87743691e+00] [-1.69383358e-02 -4.13416285e-05 9.99856535e-01 5.39699829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.89, Y:5.87, Z:5.40 [[ 9.97742887e-01 6.47701753e-02 1.77187741e-02 2.94890992e+02] [-6.47589019e-02 9.97900206e-01 -1.20987421e-03 5.87132998e+00] [-1.77599321e-02 5.96950370e-05 9.99842278e-01 5.39602371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.92, Y:5.87, Z:5.39 [[ 9.97963940e-01 6.13186734e-02 1.75497837e-02 2.94919034e+02] [-6.13071209e-02 9.98118233e-01 -1.19602502e-03 5.86717912e+00] [-1.75900977e-02 1.17663131e-04 9.99845275e-01 5.39483959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.95, Y:5.86, Z:5.39 [[ 9.98179321e-01 5.76036193e-02 1.78848092e-02 2.94946750e+02] [-5.75910596e-02 9.98339516e-01 -1.21693137e-03 5.86283711e+00] [-1.79252114e-02 1.84710616e-04 9.99839313e-01 5.39325232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.97, Y:5.86, Z:5.39 [[ 9.98390698e-01 5.39099394e-02 1.75992121e-02 2.94974881e+02] [-5.38972357e-02 9.98545772e-01 -1.19569158e-03 5.85846727e+00] [-1.76380785e-02 2.45218469e-04 9.99844407e-01 5.39193147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.00, Y:5.85, Z:5.39 [[ 9.98747124e-01 4.69033042e-02 1.74431042e-02 2.95002899e+02] [-4.68897942e-02 9.98899368e-01 -1.18292291e-03 5.85152281e+00] [-1.74793888e-02 3.63537288e-04 9.99847158e-01 5.38998247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.03, Y:5.85, Z:5.39 [[ 9.98881371e-01 4.39579307e-02 1.74272160e-02 2.95031730e+02] [-4.39440196e-02 9.99033297e-01 -1.18056526e-03 5.84708529e+00] [-1.74622642e-02 4.13422725e-04 9.99847438e-01 5.38864476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.06, Y:5.84, Z:5.39 [[ 9.99011066e-01 4.10904123e-02 1.69843275e-02 2.95059498e+02] [-4.10768028e-02 9.99155331e-01 -1.14952743e-03 5.84290051e+00] [-1.70172159e-02 4.50728758e-04 9.99855095e-01 5.38762841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.09, Y:5.84, Z:5.39 [[ 9.99186704e-01 3.66681409e-02 1.67743365e-02 2.95088109e+02] [-3.66542709e-02 9.99327363e-01 -1.13366329e-03 5.83702149e+00] [-1.68046228e-02 5.17890211e-04 9.99858658e-01 5.38607726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.12, Y:5.84, Z:5.39 [[ 9.99191195e-01 3.65455276e-02 1.67743879e-02 2.95117328e+02] [-3.65316531e-02 9.99331854e-01 -1.13290273e-03 5.83509826e+00] [-1.68045827e-02 5.19190309e-04 9.99858658e-01 5.38531694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.15, Y:5.83, Z:5.38 [[ 9.99270541e-01 3.46570892e-02 1.60396839e-02 2.95146042e+02] [-3.46442028e-02 9.99399125e-01 -1.08065318e-03 5.83163183e+00] [-1.60674984e-02 5.24182830e-04 9.99870772e-01 5.38455309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.18, Y:5.83, Z:5.38 [[ 9.99338382e-01 3.26976896e-02 1.59267030e-02 2.95175906e+02] [-3.26847474e-02 9.99465136e-01 -1.07229868e-03 5.82836137e+00] [-1.59532460e-02 5.51028965e-04 9.99872587e-01 5.38353464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.21, Y:5.83, Z:5.38 [[ 9.99395268e-01 3.10819266e-02 1.55888320e-02 2.95205596e+02] [-3.10693397e-02 9.99516681e-01 -1.04902087e-03 5.82513155e+00] [-1.56139032e-02 5.64051780e-04 9.99877936e-01 5.38291062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.23, Y:5.82, Z:5.38 [[ 9.99479968e-01 2.85304970e-02 1.50268090e-02 2.95233991e+02] [-2.85185184e-02 9.99592753e-01 -1.01087491e-03 5.82080287e+00] [-1.50495301e-02 5.81806898e-04 9.99886580e-01 5.38214358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.67509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.26, Y:5.82, Z:5.38 [[ 9.99502151e-01 2.77429447e-02 1.50259694e-02 2.95263422e+02] [-2.77309028e-02 9.99614915e-01 -1.00920573e-03 5.81771719e+00] [-1.50481814e-02 5.92019603e-04 9.99886594e-01 5.38113454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.29, Y:5.81, Z:5.38 [[ 9.99521041e-01 2.71341440e-02 1.48804401e-02 2.95292688e+02] [-2.71222543e-02 9.99631624e-01 -1.00027628e-03 5.81491500e+00] [-1.49021001e-02 5.96206110e-04 9.99888780e-01 5.38046562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.32, Y:5.81, Z:5.38 [[ 9.99529267e-01 2.69212701e-02 1.47136059e-02 2.95321929e+02] [-2.69096334e-02 9.99637382e-01 -9.88325582e-04 5.81228173e+00] [-1.47348775e-02 5.91922603e-04 9.99891261e-01 5.37990248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.35, Y:5.81, Z:5.38 [[ 9.99506369e-01 2.74314701e-02 1.53144913e-02 2.95351963e+02] [-2.74189307e-02 9.99623502e-01 -1.02819759e-03 5.81004470e+00] [-1.53369304e-02 6.07783068e-04 9.99882198e-01 5.37883041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.38, Y:5.81, Z:5.38 [[ 9.99486450e-01 2.80877240e-02 1.54245132e-02 2.95381969e+02] [-2.80750818e-02 9.99605281e-01 -1.03558434e-03 5.80824227e+00] [-1.54475121e-02 6.02008048e-04 9.99880499e-01 5.37806246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.41, Y:5.81, Z:5.38 [[ 9.99417465e-01 3.04176701e-02 1.54756383e-02 2.95411349e+02] [-3.04052261e-02 9.99537114e-01 -1.03880466e-03 5.80709745e+00] [-1.55000729e-02 5.67659236e-04 9.99879706e-01 5.37764977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.44, Y:5.81, Z:5.38 [[ 9.99380984e-01 3.16772690e-02 1.53036038e-02 2.95440368e+02] [-3.16652309e-02 9.99498002e-01 -1.02835030e-03 5.80567228e+00] [-1.53284968e-02 5.43121583e-04 9.99882364e-01 5.37703276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.47, Y:5.80, Z:5.38 [[ 9.99331758e-01 3.30659775e-02 1.55781175e-02 2.95469223e+02] [-3.30536827e-02 9.99453030e-01 -1.04612027e-03 5.80422525e+00] [-1.56041877e-02 5.30507057e-04 9.99878107e-01 5.37646001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.50, Y:5.80, Z:5.38 [[ 9.99265641e-01 3.47644926e-02 1.61123612e-02 2.95497708e+02] [-3.47515803e-02 9.99395397e-01 -1.08076522e-03 5.80252590e+00] [-1.61401919e-02 5.20041539e-04 9.99869603e-01 5.37550039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.53, Y:5.80, Z:5.37 [[ 9.99113454e-01 3.86187863e-02 1.67599378e-02 2.95525456e+02] [-3.86053759e-02 9.99253904e-01 -1.12306461e-03 5.80181844e+00] [-1.67908046e-02 4.75045268e-04 9.99858912e-01 5.37484446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.55, Y:5.80, Z:5.37 [[ 9.99031112e-01 4.06391764e-02 1.68906532e-02 2.95554658e+02] [-4.06258734e-02 9.99173789e-01 -1.13011724e-03 5.80046007e+00] [-1.69226250e-02 4.42824748e-04 9.99856704e-01 5.37408902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.58, Y:5.80, Z:5.37 [[ 9.98938049e-01 4.28340604e-02 1.69710873e-02 2.95583164e+02] [-4.28209675e-02 9.99082118e-01 -1.13428347e-03 5.79899480e+00] [-1.70040958e-02 4.06360535e-04 9.99855337e-01 5.37334100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.61, Y:5.80, Z:5.37 [[ 9.98847951e-01 4.49581478e-02 1.67790006e-02 2.95610874e+02] [-4.49456666e-02 9.98988805e-01 -1.12041087e-03 5.79768284e+00] [-1.68124054e-02 3.64976735e-04 9.99858595e-01 5.37270294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.64, Y:5.80, Z:5.37 [[ 9.98632925e-01 4.92995433e-02 1.73734276e-02 2.95639399e+02] [-4.92868500e-02 9.98783993e-01 -1.15829628e-03 5.79674720e+00] [-1.74094049e-02 3.00431282e-04 9.99848400e-01 5.37199371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.67, Y:5.80, Z:5.37 [[ 9.98528201e-01 5.13713093e-02 1.73902426e-02 2.95668239e+02] [-5.13589267e-02 9.98679588e-01 -1.15819578e-03 5.79529284e+00] [-1.74267784e-02 2.63346953e-04 9.99848107e-01 5.37126903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.70, Y:5.79, Z:5.37 [[ 9.98435457e-01 5.33343453e-02 1.67954086e-02 2.95695777e+02] [-5.33230884e-02 9.98576687e-01 -1.11767102e-03 5.79388592e+00] [-1.68311138e-02 2.20339320e-04 9.99858322e-01 5.37040771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.72, Y:5.79, Z:5.37 [[ 9.98212611e-01 5.71591719e-02 1.74474354e-02 2.95723508e+02] [-5.71476363e-02 9.98365065e-01 -1.15943540e-03 5.79281710e+00] [-1.74851824e-02 1.60283346e-04 9.99847110e-01 5.36995642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.75, Y:5.79, Z:5.37 [[ 9.98101782e-01 5.86815693e-02 1.86897552e-02 2.95751203e+02] [-5.86686441e-02 9.98276742e-01 -1.23959080e-03 5.79112762e+00] [-1.87302891e-02 1.40735191e-04 9.99824563e-01 5.36943005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.78, Y:5.79, Z:5.37 [[ 9.98017358e-01 6.00880421e-02 1.87291278e-02 2.95779266e+02] [-6.00753424e-02 9.98193075e-01 -1.24047089e-03 5.78950025e+00] [-1.87698231e-02 1.12852714e-04 9.99823825e-01 5.36950602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.81, Y:5.79, Z:5.37 [[ 9.97967687e-01 6.10458255e-02 1.82730149e-02 2.95807036e+02] [-6.10339227e-02 9.98134960e-01 -1.20888492e-03 5.78780032e+00] [-1.83127324e-02 9.11543096e-05 9.99832304e-01 5.36849068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.83, Y:5.79, Z:5.37 [[ 9.97871447e-01 6.32552433e-02 1.58539921e-02 2.95834197e+02] [-6.32465814e-02 9.97997381e-01 -1.04764450e-03 5.78584695e+00] [-1.58885116e-02 4.27037324e-05 9.99873769e-01 5.36709112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.86, Y:5.78, Z:5.37 [[ 9.97779493e-01 6.45936021e-02 1.62403514e-02 2.95862080e+02] [-6.45847284e-02 9.97911652e-01 -1.07082832e-03 5.78374828e+00] [-1.62756045e-02 1.95718555e-05 9.99867543e-01 5.36612709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.89, Y:5.78, Z:5.37 [[ 9.97553892e-01 6.73579978e-02 1.86850726e-02 2.95889134e+02] [-6.73467804e-02 9.97728871e-01 -1.22965227e-03 5.78085880e+00] [-1.87254633e-02 -3.17350789e-05 9.99824663e-01 5.36579808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.92, Y:5.78, Z:5.36 [[ 9.97422469e-01 6.89496954e-02 1.98584700e-02 2.95916640e+02] [-6.89373972e-02 9.97620136e-01 -1.30400538e-03 5.77828389e+00] [-1.99011204e-02 -6.83469726e-05 9.99801951e-01 5.36497945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.94, Y:5.78, Z:5.36 [[ 9.97341842e-01 7.01555397e-02 1.96837766e-02 2.95944805e+02] [-7.01437333e-02 9.97536060e-01 -1.29042851e-03 5.77557917e+00] [-1.97258077e-02 -9.36952336e-05 9.99805423e-01 5.36470973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.42509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.97, Y:5.77, Z:5.36 [[ 9.97196277e-01 7.23909376e-02 1.89509180e-02 2.95971832e+02] [-7.23804329e-02 9.97376325e-01 -1.24052694e-03 5.77198882e+00] [-1.89909999e-02 -1.34626799e-04 9.99819646e-01 5.36371839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.00, Y:5.77, Z:5.36 [[ 9.97148559e-01 7.29907434e-02 1.91599447e-02 2.95999866e+02] [-7.29801662e-02 9.97332607e-01 -1.25161572e-03 5.76905068e+00] [-1.92001939e-02 -1.50249138e-04 9.99815648e-01 5.36254680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.03, Y:5.77, Z:5.36 [[ 9.97117062e-01 7.34719135e-02 1.89589582e-02 2.96027526e+02] [-7.34616828e-02 9.97297274e-01 -1.23644542e-03 5.76575381e+00] [-1.89985613e-02 -1.59876153e-04 9.99819498e-01 5.36128600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.05, Y:5.76, Z:5.36 [[ 9.97128187e-01 7.33633471e-02 1.87935591e-02 2.96054879e+02] [-7.33533127e-02 9.97305266e-01 -1.22365087e-03 5.76235379e+00] [-1.88326866e-02 -1.58433048e-04 9.99822637e-01 5.36059429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.08, Y:5.76, Z:5.36 [[ 9.97194818e-01 7.23564359e-02 1.91583162e-02 2.96081403e+02] [-7.23458614e-02 9.97378827e-01 -1.24536456e-03 5.75666805e+00] [-1.91982091e-02 -1.44153804e-04 9.99815687e-01 5.35986449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.11, Y:5.75, Z:5.36 [[ 9.97289276e-01 7.10965834e-02 1.89572049e-02 2.96108899e+02] [-7.10860492e-02 9.97469429e-01 -1.22981179e-03 5.75278722e+00] [-1.89966678e-02 -1.21114697e-04 9.99819540e-01 5.35915856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.14, Y:5.75, Z:5.36 [[ 9.97511670e-01 6.78608410e-02 1.91147965e-02 2.96136695e+02] [-6.78495775e-02 9.97694794e-01 -1.23791841e-03 5.74633576e+00] [-1.91547392e-02 -6.20928107e-05 9.99816529e-01 5.35768087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.16, Y:5.74, Z:5.36 [[ 9.97648779e-01 6.56767004e-02 1.95827524e-02 2.96164158e+02] [-6.56645007e-02 9.97840955e-01 -1.26603634e-03 5.74259340e+00] [-1.96236214e-02 -2.28320504e-05 9.99807438e-01 5.35707320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.19, Y:5.74, Z:5.36 [[ 9.97787611e-01 6.34572922e-02 1.98256315e-02 2.96192764e+02] [-6.34443981e-02 9.97984555e-01 -1.27931279e-03 5.73905382e+00] [-1.98668558e-02 1.86571906e-05 9.99802634e-01 5.35643201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.22, Y:5.74, Z:5.36 [[ 9.97930729e-01 6.10104230e-02 2.02974832e-02 2.96221770e+02] [-6.09964325e-02 9.98137127e-01 -1.30823634e-03 5.73532664e+00] [-2.03394876e-02 6.74551828e-05 9.99793129e-01 5.35553342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.25, Y:5.73, Z:5.35 [[ 9.98208360e-01 5.62770671e-02 2.03214649e-02 2.96250223e+02] [-5.62620927e-02 9.98415177e-01 -1.30830390e-03 5.72871249e+00] [-2.03628865e-02 1.62631744e-04 9.99792642e-01 5.35406978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.28, Y:5.72, Z:5.35 [[ 9.98350828e-01 5.37806115e-02 2.00815875e-02 2.96278125e+02] [-5.37655096e-02 9.98552754e-01 -1.29156617e-03 5.72452125e+00] [-2.01219857e-02 2.09739370e-04 9.99797510e-01 5.35296785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.31, Y:5.72, Z:5.35 [[ 9.98503561e-01 5.10471147e-02 1.96171034e-02 2.96305614e+02] [-5.10322135e-02 9.98696213e-01 -1.25978018e-03 5.72060308e+00] [-1.96558350e-02 2.56790791e-04 9.99806772e-01 5.35198517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.33, Y:5.72, Z:5.35 [[ 9.98645472e-01 4.83607414e-02 1.91953233e-02 2.96333449e+02] [-4.83460103e-02 9.98829889e-01 -1.23101552e-03 5.71653945e+00] [-1.92323955e-02 3.01330780e-04 9.99814995e-01 5.35122004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.36, Y:5.71, Z:5.35 [[ 9.98843251e-01 4.37238928e-02 2.00095159e-02 2.96362235e+02] [-4.37069944e-02 9.99043571e-01 -1.28127210e-03 5.71020985e+00] [-2.00464004e-02 4.05234187e-04 9.99798969e-01 5.35024813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.39, Y:5.71, Z:5.35 [[ 9.98915228e-01 4.19784826e-02 2.01537571e-02 2.96390610e+02] [-4.19610164e-02 9.99118417e-01 -1.28893352e-03 5.70631182e+00] [-2.01900974e-02 4.41863192e-04 9.99796062e-01 5.34984592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.42, Y:5.70, Z:5.35 [[ 9.98961268e-01 4.03497221e-02 2.11727440e-02 2.96420454e+02] [-4.03301102e-02 9.99185495e-01 -1.35263966e-03 5.70235933e+00] [-2.12100773e-02 4.97335534e-04 9.99774917e-01 5.34944432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.45, Y:5.70, Z:5.35 [[ 9.99015561e-01 3.84341056e-02 2.21523700e-02 2.96451624e+02] [-3.84121688e-02 9.99260978e-01 -1.41508987e-03 5.69628431e+00] [-2.21903866e-02 5.62776225e-04 9.99753605e-01 5.34888406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.48, Y:5.69, Z:5.35 [[ 9.99033832e-01 3.78396306e-02 2.23509637e-02 2.96482854e+02] [-3.78171473e-02 9.99283656e-01 -1.42789479e-03 5.69236188e+00] [-2.23889838e-02 5.81265515e-04 9.99749166e-01 5.34816278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.51, Y:5.69, Z:5.35 [[ 9.99049781e-01 3.72793230e-02 2.25784638e-02 2.96514615e+02] [-3.72561180e-02 9.99304701e-01 -1.44767021e-03 5.68653755e+00] [-2.26167332e-02 6.05108694e-04 9.99744026e-01 5.34711583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.55, Y:5.68, Z:5.35 [[ 9.99058425e-01 3.71793304e-02 2.23598223e-02 2.96546611e+02] [-3.71564262e-02 9.99308425e-01 -1.43908003e-03 5.68280682e+00] [-2.23978628e-02 6.06913938e-04 9.99748952e-01 5.34625708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.58, Y:5.68, Z:5.35 [[ 9.99078097e-01 3.66735725e-02 2.23160148e-02 2.96578237e+02] [-3.66504989e-02 9.99327104e-01 -1.44220434e-03 5.67796337e+00] [-2.23538893e-02 6.22981694e-04 9.99749926e-01 5.34501478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.61, Y:5.67, Z:5.34 [[ 9.99109048e-01 3.62690769e-02 2.15792513e-02 2.96610456e+02] [-3.62472974e-02 9.99341871e-01 -1.39969269e-03 5.67334549e+00] [-2.16158149e-02 6.16256094e-04 9.99766161e-01 5.34421783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.64, Y:5.67, Z:5.34 [[ 9.99141185e-01 3.51917536e-02 2.18731213e-02 2.96642083e+02] [-3.51689882e-02 9.99380364e-01 -1.42471271e-03 5.66933514e+00] [-2.19097060e-02 6.54233600e-04 9.99759740e-01 5.34357900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.68, Y:5.66, Z:5.34 [[ 9.99245465e-01 3.24112325e-02 2.14012232e-02 2.96675037e+02] [-3.23886934e-02 9.99474369e-01 -1.39904109e-03 5.66455350e+00] [-2.14353187e-02 7.04827804e-04 9.99769989e-01 5.34247037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.17509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.71, Y:5.66, Z:5.34 [[ 9.99288706e-01 3.12768192e-02 2.10675943e-02 2.96708431e+02] [-3.12545964e-02 9.99510498e-01 -1.38335316e-03 5.66160210e+00] [-2.11005486e-02 7.23910029e-04 9.99777097e-01 5.34202860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.74, Y:5.66, Z:5.34 [[ 9.99284682e-01 3.14054002e-02 2.10671353e-02 2.96741876e+02] [-3.13830596e-02 9.99506464e-01 -1.39030704e-03 5.65931639e+00] [-2.11004010e-02 7.28161364e-04 9.99777097e-01 5.34116038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.77, Y:5.66, Z:5.34 [[ 9.99325815e-01 2.97432933e-02 2.15232995e-02 2.96774085e+02] [-2.97195416e-02 9.99557264e-01 -1.42263264e-03 5.65657751e+00] [-2.15560842e-02 7.82010924e-04 9.99767335e-01 5.34049307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.81, Y:5.65, Z:5.34 [[ 9.99383074e-01 2.79251458e-02 2.12992319e-02 2.96806700e+02] [-2.79013529e-02 9.99609682e-01 -1.41349531e-03 5.65376741e+00] [-2.13303905e-02 8.18345901e-04 9.99772146e-01 5.33969882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.84, Y:5.65, Z:5.34 [[ 9.99379519e-01 2.80524356e-02 2.12987707e-02 2.96840143e+02] [-2.80285243e-02 9.99606115e-01 -1.42040865e-03 5.65145681e+00] [-2.13302274e-02 8.22554205e-04 9.99772146e-01 5.33883058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.87, Y:5.65, Z:5.34 [[ 9.99438339e-01 2.60438236e-02 2.10885026e-02 2.96872993e+02] [-2.60198964e-02 9.99660433e-01 -1.40825176e-03 5.64860112e+00] [-2.11180179e-02 8.58740148e-04 9.99776621e-01 5.33807324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.90, Y:5.65, Z:5.34 [[ 9.99487521e-01 2.43448375e-02 2.07852027e-02 2.96904843e+02] [-2.43210999e-02 9.99703226e-01 -1.39410371e-03 5.64591000e+00] [-2.08129734e-02 8.87870273e-04 9.99782992e-01 5.33719531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.94, Y:5.64, Z:5.34 [[ 9.99535600e-01 2.24686354e-02 2.05850733e-02 2.96936337e+02] [-2.24448305e-02 9.99747121e-01 -1.38675364e-03 5.64356333e+00] [-2.06110263e-02 9.24081154e-04 9.99787143e-01 5.33644629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.97, Y:5.64, Z:5.34 [[ 9.99532800e-01 2.25931057e-02 2.05848070e-02 2.96969777e+02] [-2.25692462e-02 9.99744315e-01 -1.39069417e-03 5.64121767e+00] [-2.06109639e-02 9.25460857e-04 9.99787143e-01 5.33557747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.00, Y:5.64, Z:5.33 [[ 9.99612004e-01 1.96549436e-02 1.97363780e-02 2.97002855e+02] [-1.96324129e-02 9.99806375e-01 -1.33470725e-03 5.63911697e+00] [-1.97587902e-02 9.46716670e-04 9.99804328e-01 5.33480243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.04, Y:5.64, Z:5.33 [[ 9.99641542e-01 1.83982187e-02 1.94497491e-02 2.97035112e+02] [-1.83759909e-02 9.99830275e-01 -1.32094833e-03 5.63729579e+00] [-1.94707511e-02 9.63066415e-04 9.99809963e-01 5.33413997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.07, Y:5.64, Z:5.33 [[ 9.99659897e-01 1.74805877e-02 1.93524932e-02 2.97068562e+02] [-1.74583132e-02 9.99846722e-01 -1.31935280e-03 5.63527722e+00] [-1.93725900e-02 9.81042199e-04 9.99811852e-01 5.33333823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.10, Y:5.63, Z:5.33 [[ 9.99702307e-01 1.55078235e-02 1.88362796e-02 2.97101332e+02] [-1.54862730e-02 9.99879249e-01 -1.28943363e-03 5.63379275e+00] [-1.88540014e-02 9.97346011e-04 9.99821750e-01 5.33289194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.13, Y:5.63, Z:5.33 [[ 9.99715456e-01 1.46534285e-02 1.88224323e-02 2.97133485e+02] [-1.46316524e-02 9.99892114e-01 -1.29412514e-03 5.63198102e+00] [-1.88393650e-02 1.01835362e-03 9.99822005e-01 5.33248791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.17, Y:5.63, Z:5.33 [[ 9.99717689e-01 1.43116132e-02 1.89663049e-02 2.97166797e+02] [-1.42893446e-02 9.99897045e-01 -1.30912450e-03 5.63007306e+00] [-1.89830879e-02 1.03773886e-03 9.99819266e-01 5.33162404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.20, Y:5.63, Z:5.33 [[ 9.99722352e-01 1.42244375e-02 1.87852333e-02 2.97200343e+02] [-1.42024759e-02 9.99898292e-01 -1.30198583e-03 5.62849121e+00] [-1.88018427e-02 1.03482751e-03 9.99822694e-01 5.33106879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.23, Y:5.62, Z:5.34 [[ 9.99871610e-01 1.03573196e-02 1.22265959e-02 2.97228516e+02] [-1.07749449e-02 9.99343140e-01 3.46004087e-02 5.61605554e+00] [-1.18601973e-02 -3.47277073e-02 9.99326434e-01 5.33571797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.26, Y:5.65, Z:5.34 [[ 9.99754522e-01 1.56278346e-02 1.57056264e-02 2.97263824e+02] [-1.50481045e-02 9.99224864e-01 -3.63761605e-02 5.64522493e+00] [-1.62619330e-02 3.61308910e-02 9.99214746e-01 5.33817993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.29, Y:5.63, Z:5.33 [[ 9.99715614e-01 1.55655577e-02 1.80666795e-02 2.97294744e+02] [-1.55453005e-02 9.99878369e-01 -1.26115377e-03 5.62835915e+00] [-1.80841126e-02 9.79943156e-04 9.99835989e-01 5.33021441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.33, Y:5.63, Z:5.33 [[ 9.99688961e-01 1.70532040e-02 1.81980756e-02 2.97327395e+02] [-1.70328924e-02 9.99854122e-01 -1.27056463e-03 5.62789669e+00] [-1.82170881e-02 9.60203571e-04 9.99833594e-01 5.32968248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.36, Y:5.63, Z:5.33 [[ 9.99640996e-01 1.98576701e-02 1.79875442e-02 2.97360801e+02] [-1.98381905e-02 9.99802409e-01 -1.26075710e-03 5.62947415e+00] [-1.80090257e-02 9.03464156e-04 9.99837416e-01 5.32969206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.39, Y:5.63, Z:5.33 [[ 9.99601944e-01 2.16087902e-02 1.81387245e-02 2.97393935e+02] [-2.15891755e-02 9.99766112e-01 -1.27651305e-03 5.62904145e+00] [-1.81620659e-02 8.84404824e-04 9.99834665e-01 5.32884018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.43, Y:5.63, Z:5.33 [[ 9.99539452e-01 2.47864461e-02 1.75075840e-02 2.97427464e+02] [-2.47685776e-02 9.99692447e-01 -1.23674609e-03 5.63167449e+00] [-1.75328540e-02 8.02538552e-04 9.99845966e-01 5.32874199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.46, Y:5.63, Z:5.33 [[ 9.99496991e-01 2.68344306e-02 1.69020078e-02 2.97459802e+02] [-2.68179841e-02 9.99639614e-01 -1.19899488e-03 5.63222546e+00] [-1.69280909e-02 7.45113998e-04 9.99856432e-01 5.32817250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.49, Y:5.63, Z:5.33 [[ 9.99448176e-01 2.88540115e-02 1.64556551e-02 2.97491167e+02] [-2.88385950e-02 9.99583392e-01 -1.17343072e-03 5.63274877e+00] [-1.64826577e-02 6.98225216e-04 9.99863908e-01 5.32768805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.92509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.52, Y:5.64, Z:5.33 [[ 9.99317282e-01 3.33110184e-02 1.59795794e-02 2.97522879e+02] [-3.32970410e-02 9.99444850e-01 -1.14003429e-03 5.63620674e+00] [-1.60086840e-02 6.07183259e-04 9.99871668e-01 5.32729363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.55, Y:5.64, Z:5.33 [[ 9.99237871e-01 3.56590804e-02 1.58778518e-02 2.97552103e+02] [-3.56455587e-02 9.99363852e-01 -1.13389437e-03 5.63696159e+00] [-1.59081848e-02 5.67055298e-04 9.99873296e-01 5.32695777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.58, Y:5.64, Z:5.33 [[ 9.99140662e-01 3.82898415e-02 1.58689869e-02 2.97581042e+02] [-3.82766623e-02 9.99266537e-01 -1.13351066e-03 5.63764694e+00] [-1.59007495e-02 5.25124740e-04 9.99873437e-01 5.32614306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.61, Y:5.64, Z:5.33 [[ 9.98955473e-01 4.29798179e-02 1.55144367e-02 2.97610539e+02] [-4.29678023e-02 9.99075844e-01 -1.10713247e-03 5.64089777e+00] [-1.55476833e-02 4.39354796e-04 9.99879031e-01 5.32544732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.64, Y:5.64, Z:5.32 [[ 9.98864607e-01 4.50451877e-02 1.55057155e-02 2.97639417e+02] [-4.50334518e-02 9.98984868e-01 -1.10537879e-03 5.64162440e+00] [-1.55397672e-02 4.05847862e-04 9.99879168e-01 5.32476268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.67, Y:5.64, Z:5.32 [[ 9.98790165e-01 4.66540806e-02 1.55435752e-02 2.97668769e+02] [-4.66424997e-02 9.98911033e-01 -1.10694300e-03 5.64239965e+00] [-1.55782922e-02 3.80612582e-04 9.99878579e-01 5.32393782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.70, Y:5.65, Z:5.32 [[ 9.98687836e-01 4.89850799e-02 1.49354388e-02 2.97697816e+02] [-4.89746633e-02 9.98799456e-01 -1.06262070e-03 5.64519756e+00] [-1.49695607e-02 3.29768283e-04 9.99887895e-01 5.32343124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.73, Y:5.64, Z:5.32 [[ 9.98663492e-01 4.94810312e-02 1.49283831e-02 2.97727007e+02] [-4.94706958e-02 9.98775012e-01 -1.06104685e-03 5.64498521e+00] [-1.49625977e-02 3.21111256e-04 9.99888003e-01 5.32248866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.75, Y:5.64, Z:5.32 [[ 9.98657997e-01 4.95434597e-02 1.50881288e-02 2.97754886e+02] [-4.95329231e-02 9.98771917e-01 -1.07146411e-03 5.64466789e+00] [-1.51226833e-02 3.22667081e-04 9.99885594e-01 5.32209947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.78, Y:5.64, Z:5.32 [[ 9.98660754e-01 4.93682878e-02 1.54748379e-02 2.97782621e+02] [-4.93572032e-02 9.98780587e-01 -1.09763811e-03 5.64431846e+00] [-1.55101562e-02 3.32373383e-04 9.99879655e-01 5.32141212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.81, Y:5.65, Z:5.32 [[ 9.98738403e-01 4.77480027e-02 1.55476790e-02 2.97810403e+02] [-4.77366437e-02 9.98859350e-01 -1.10110441e-03 5.64593761e+00] [-1.55825200e-02 3.57521249e-04 9.99878521e-01 5.32117353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.84, Y:5.65, Z:5.32 [[ 9.98795323e-01 4.66705102e-02 1.51580498e-02 2.97839060e+02] [-4.66596191e-02 9.98910272e-01 -1.07155792e-03 5.64559152e+00] [-1.51915418e-02 3.62998208e-04 9.99884536e-01 5.32084207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.87, Y:5.65, Z:5.32 [[ 9.98859829e-01 4.52811191e-02 1.51215850e-02 2.97867459e+02] [-4.52701374e-02 9.98974211e-01 -1.06790805e-03 5.64508472e+00] [-1.51544295e-02 3.82134225e-04 9.99885092e-01 5.32017817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.90, Y:5.65, Z:5.32 [[ 9.98999909e-01 4.21876951e-02 1.48114894e-02 2.97895402e+02] [-4.21768319e-02 9.99109615e-01 -1.04516757e-03 5.64531875e+00] [-1.48423947e-02 4.19420609e-04 9.99889758e-01 5.31934937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.92, Y:5.64, Z:5.32 [[ 9.99075447e-01 4.04472359e-02 1.45695601e-02 2.97923902e+02] [-4.04365625e-02 9.99181580e-01 -1.02654802e-03 5.64440683e+00] [-1.45991572e-02 4.36455997e-04 9.99893331e-01 5.31862153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.95, Y:5.64, Z:5.32 [[ 9.99192028e-01 3.75655648e-02 1.42870421e-02 2.97952104e+02] [-3.75550164e-02 9.99294055e-01 -1.00598189e-03 5.64499153e+00] [-1.43147465e-02 4.68618985e-04 9.99897429e-01 5.31782501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.98, Y:5.64, Z:5.32 [[ 9.99196608e-01 3.74435160e-02 1.42871288e-02 2.97981318e+02] [-3.74329728e-02 9.99298636e-01 -1.00474788e-03 5.64298931e+00] [-1.43147297e-02 4.69130968e-04 9.99897429e-01 5.31706371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.01, Y:5.64, Z:5.32 [[ 9.99276629e-01 3.51347477e-02 1.45522820e-02 2.98008753e+02] [-3.51235966e-02 9.99382454e-01 -1.02122473e-03 5.64324537e+00] [-1.45791758e-02 5.09357523e-04 9.99893588e-01 5.31616400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.04, Y:5.64, Z:5.32 [[ 9.99303202e-01 3.41862920e-02 1.49802537e-02 2.98038014e+02] [-3.41743950e-02 9.99415334e-01 -1.04951756e-03 5.64225168e+00] [-1.50073744e-02 5.36845154e-04 9.99887239e-01 5.31518354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.07, Y:5.64, Z:5.31 [[ 9.99324839e-01 3.30551661e-02 1.60381453e-02 2.98067289e+02] [-3.30414038e-02 9.99453354e-01 -1.12238854e-03 5.64120499e+00] [-1.60664788e-02 5.91707907e-04 9.99870751e-01 5.31374692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.10, Y:5.64, Z:5.31 [[ 9.99354341e-01 3.20893724e-02 1.61608332e-02 2.98096924e+02] [-3.20752973e-02 9.99484817e-01 -1.12945488e-03 5.63995630e+00] [-1.61887509e-02 6.10362111e-04 9.99868767e-01 5.31281616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.13, Y:5.64, Z:5.31 [[ 9.99395605e-01 2.99530117e-02 1.76420232e-02 2.98126927e+02] [-2.99359182e-02 9.99551060e-01 -1.23225697e-03 5.63951313e+00] [-1.76710128e-02 7.03382039e-04 9.99843608e-01 5.31151038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.16, Y:5.64, Z:5.31 [[ 9.99421536e-01 2.86120974e-02 1.83831604e-02 2.98157320e+02] [-2.85933290e-02 9.99590304e-01 -1.28303797e-03 5.63816030e+00] [-1.84123393e-02 7.56660029e-04 9.99830192e-01 5.31051591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.19, Y:5.64, Z:5.31 [[ 9.99498982e-01 2.55498909e-02 1.86812477e-02 2.98188097e+02] [-2.55299774e-02 9.99673207e-01 -1.30371212e-03 5.63730080e+00] [-1.87084525e-02 8.26127110e-04 9.99824640e-01 5.30943030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.22, Y:5.64, Z:5.31 [[ 9.99539500e-01 2.39386288e-02 1.86475183e-02 2.98219781e+02] [-2.39185034e-02 9.99713064e-01 -1.30156399e-03 5.63553416e+00] [-1.86733253e-02 8.54943887e-04 9.99825273e-01 5.30839171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.67509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.25, Y:5.63, Z:5.31 [[ 9.99571566e-01 2.24890654e-02 1.87330052e-02 2.98251702e+02] [-2.24685180e-02 9.99746697e-01 -1.30662969e-03 5.63376950e+00] [-1.87576450e-02 8.85167018e-04 9.99823668e-01 5.30730775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.28, Y:5.63, Z:5.31 [[ 9.99598752e-01 2.11276636e-02 1.88668374e-02 2.98283855e+02] [-2.11064773e-02 9.99776360e-01 -1.32137934e-03 5.63192229e+00] [-1.88905356e-02 9.22636661e-04 9.99821132e-01 5.30611742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.32, Y:5.63, Z:5.31 [[ 9.99651153e-01 1.87973735e-02 1.85534837e-02 2.98316627e+02] [-1.87764376e-02 9.99822859e-01 -1.30197557e-03 5.63050603e+00] [-1.85746708e-02 9.53153049e-04 9.99827022e-01 5.30502752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.35, Y:5.63, Z:5.30 [[ 9.99665715e-01 1.80586864e-02 1.85024718e-02 2.98348481e+02] [-1.80376383e-02 9.99836458e-01 -1.30384815e-03 5.62867152e+00] [-1.85229917e-02 9.69671397e-04 9.99827964e-01 5.30382283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.38, Y:5.63, Z:5.30 [[ 9.99677351e-01 1.76176625e-02 1.82978824e-02 2.98381667e+02] [-1.75969181e-02 9.99844325e-01 -1.29410560e-03 5.62679361e+00] [-1.83178330e-02 9.71701718e-04 9.99831742e-01 5.30298228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.41, Y:5.63, Z:5.30 [[ 9.99688236e-01 1.76093038e-02 1.77014900e-02 2.98414325e+02] [-1.75898030e-02 9.99844498e-01 -1.25675256e-03 5.62568136e+00] [-1.77208679e-02 9.44995032e-04 9.99842527e-01 5.30189118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.45, Y:5.62, Z:5.30 [[ 9.99689184e-01 1.81953922e-02 1.70429968e-02 2.98447873e+02] [-1.81773220e-02 9.99834041e-01 -1.21459604e-03 5.62419283e+00] [-1.70622684e-02 9.04422484e-04 9.99854020e-01 5.30094310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.48, Y:5.62, Z:5.30 [[ 9.99620470e-01 2.16951153e-02 1.69775539e-02 2.98479787e+02] [-2.16775994e-02 9.99764275e-01 -1.21507855e-03 5.62378212e+00] [-1.69999131e-02 8.46584783e-04 9.99855133e-01 5.30048534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.51, Y:5.62, Z:5.30 [[ 9.99563121e-01 2.39406653e-02 1.73323862e-02 2.98510961e+02] [-2.39226263e-02 9.99713035e-01 -1.24738689e-03 5.62281397e+00] [-1.73572756e-02 8.32205733e-04 9.99849005e-01 5.30014090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.54, Y:5.62, Z:5.30 [[ 9.99466521e-01 2.68946104e-02 1.85298089e-02 2.98541194e+02] [-2.68744826e-02 9.99637925e-01 -1.33444062e-03 5.62187749e+00] [-1.85589890e-02 8.35749702e-04 9.99827418e-01 5.29952699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.57, Y:5.62, Z:5.30 [[ 9.99357823e-01 3.02776904e-02 1.91625499e-02 2.98571617e+02] [-3.02567756e-02 9.99541206e-01 -1.38049230e-03 5.62118357e+00] [-1.91955563e-02 7.99808803e-04 9.99815428e-01 5.29954235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.60, Y:5.62, Z:5.30 [[ 9.99214946e-01 3.41069133e-02 2.01546786e-02 2.98602563e+02] [-3.40845539e-02 9.99417898e-01 -1.45196640e-03 5.62055789e+00] [-2.01924686e-02 7.63863295e-04 9.99795820e-01 5.29936430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.63, Y:5.62, Z:5.30 [[ 9.98885905e-01 4.21225401e-02 2.12753573e-02 2.98632610e+02] [-4.20994362e-02 9.99112250e-01 -1.53287141e-03 5.62190421e+00] [-2.13210385e-02 6.35483099e-04 9.99772479e-01 5.29920373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.66, Y:5.62, Z:5.30 [[ 9.98729575e-01 4.58219375e-02 2.09663217e-02 2.98660715e+02] [-4.58003246e-02 9.98949473e-01 -1.51011549e-03 5.62145456e+00] [-2.10134924e-02 5.47932662e-04 9.99779042e-01 5.29866138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.69, Y:5.62, Z:5.30 [[ 9.98542942e-01 4.96301420e-02 2.11858770e-02 2.98689686e+02] [-4.96089736e-02 9.98767554e-01 -1.52389436e-03 5.62055572e+00] [-2.12353976e-02 4.70664341e-04 9.99774393e-01 5.29755574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.72, Y:5.62, Z:5.30 [[ 9.98376454e-01 5.29373738e-02 2.10259664e-02 2.98717360e+02] [-5.29172873e-02 9.98597756e-01 -1.51094315e-03 5.61968527e+00] [-2.10764683e-02 3.95852958e-04 9.99777788e-01 5.29650294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.74, Y:5.62, Z:5.30 [[ 9.98224875e-01 5.58570943e-02 2.06660102e-02 2.98744970e+02] [-5.58383514e-02 9.98438720e-01 -1.48332518e-03 5.61869834e+00] [-2.07165991e-02 3.26736153e-04 9.99785335e-01 5.29553617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.77, Y:5.62, Z:5.29 [[ 9.97912941e-01 6.12137923e-02 2.05580602e-02 2.98771548e+02] [-6.11964248e-02 9.98124655e-01 -1.47344398e-03 5.61794097e+00] [-2.06097018e-02 2.12289037e-04 9.99787575e-01 5.29463373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.80, Y:5.62, Z:5.29 [[ 9.97759637e-01 6.34575327e-02 2.11860415e-02 2.98799221e+02] [-6.34396540e-02 9.97984526e-01 -1.51559726e-03 5.61663104e+00] [-2.12395176e-02 1.68166626e-04 9.99774402e-01 5.29365371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.83, Y:5.62, Z:5.29 [[ 9.97652165e-01 6.52201286e-02 2.08924184e-02 2.98826071e+02] [-6.52031684e-02 9.97870893e-01 -1.49268864e-03 5.61532434e+00] [-2.09452895e-02 1.26932180e-04 9.99780615e-01 5.29330342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.85, Y:5.61, Z:5.29 [[ 9.97555397e-01 6.68445817e-02 2.03723356e-02 2.98854270e+02] [-6.68288686e-02 9.97763396e-01 -1.45188714e-03 5.61390077e+00] [-2.04238215e-02 8.68777146e-05 9.99791408e-01 5.29219334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.88, Y:5.61, Z:5.29 [[ 9.97436571e-01 6.89984540e-02 1.89604665e-02 2.98881987e+02] [-6.89852677e-02 9.97616766e-01 -1.34942178e-03 5.61203025e+00] [-1.90083873e-02 3.79697722e-05 9.99819324e-01 5.29074378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.91, Y:5.61, Z:5.29 [[ 9.97442750e-01 6.89090334e-02 1.89606200e-02 2.98910380e+02] [-6.88958719e-02 9.97622947e-01 -1.34726151e-03 5.61009959e+00] [-1.90083881e-02 3.75077837e-05 9.99819324e-01 5.29000378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.94, Y:5.61, Z:5.29 [[ 9.97443127e-01 6.90198962e-02 1.85327438e-02 2.98938458e+02] [-6.90073689e-02 9.97615283e-01 -1.31537496e-03 5.60800869e+00] [-1.85793355e-02 3.31158242e-05 9.99827389e-01 5.28911659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.96, Y:5.61, Z:5.29 [[ 9.97450335e-01 6.88543547e-02 1.87591750e-02 2.98964839e+02] [-6.88415266e-02 9.97626722e-01 -1.32950318e-03 5.60601953e+00] [-1.88061964e-02 3.47031433e-05 9.99823147e-01 5.28840703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.42509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.99, Y:5.60, Z:5.29 [[ 9.97561735e-01 6.69640289e-02 1.96571411e-02 2.98991331e+02] [-6.69496279e-02 9.97755388e-01 -1.39051618e-03 5.60304848e+00] [-1.97061330e-02 7.10874483e-05 9.99805813e-01 5.28790512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.02, Y:5.60, Z:5.29 [[ 9.97657452e-01 6.55333159e-02 1.96212441e-02 2.99019354e+02] [-6.55187401e-02 9.97850377e-01 -1.38547179e-03 5.60017711e+00] [-1.96698604e-02 9.66670675e-05 9.99806525e-01 5.28722869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.05, Y:5.60, Z:5.29 [[ 9.97779810e-01 6.35831449e-02 1.98150036e-02 2.99047153e+02] [-6.35679369e-02 9.97976536e-01 -1.39705316e-03 5.59737105e+00] [-1.98637377e-02 1.34352538e-04 9.99802687e-01 5.28646454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.07, Y:5.59, Z:5.29 [[ 9.98038400e-01 5.91597733e-02 2.04810719e-02 2.99074743e+02] [-5.91426409e-02 9.98248501e-01 -1.44173719e-03 5.59357670e+00] [-2.05304921e-02 2.27604401e-04 9.99789201e-01 5.28564776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.10, Y:5.59, Z:5.29 [[ 9.98187792e-01 5.66200322e-02 2.03790217e-02 2.99101865e+02] [-5.66025832e-02 9.98395761e-01 -1.43247885e-03 5.59025705e+00] [-2.04274359e-02 2.76377624e-04 9.99791300e-01 5.28513296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.13, Y:5.59, Z:5.28 [[ 9.98338581e-01 5.37592125e-02 2.07370440e-02 2.99129962e+02] [-5.37405865e-02 9.98553871e-01 -1.45482600e-03 5.58686168e+00] [-2.07852658e-02 3.37988017e-04 9.99783906e-01 5.28425247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.16, Y:5.58, Z:5.28 [[ 9.98477227e-01 5.07100820e-02 2.17190185e-02 2.99158413e+02] [-5.06889738e-02 9.98713329e-01 -1.52165077e-03 5.58344582e+00] [-2.17682363e-02 4.18418878e-04 9.99762956e-01 5.28342310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.19, Y:5.58, Z:5.28 [[ 9.98628410e-01 4.76030108e-02 2.18002763e-02 2.99186489e+02] [-4.75810367e-02 9.98866216e-01 -1.52586360e-03 5.57973861e+00] [-2.18481952e-02 4.86490994e-04 9.99761181e-01 5.28296394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.22, Y:5.57, Z:5.28 [[ 9.98915247e-01 4.12441596e-02 2.16159140e-02 2.99215235e+02] [-4.12211099e-02 9.99148906e-01 -1.51100409e-03 5.57457313e+00] [-2.16598369e-02 6.18333064e-04 9.99765207e-01 5.28170720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.24, Y:5.57, Z:5.28 [[ 9.99064615e-01 3.79337261e-02 2.07588172e-02 2.99244904e+02] [-3.79117870e-02 9.99280038e-01 -1.44952276e-03 5.57090069e+00] [-2.07988574e-02 6.61163039e-04 9.99783462e-01 5.28071918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.27, Y:5.57, Z:5.28 [[ 9.99288205e-01 3.17741593e-02 2.03343748e-02 2.99274562e+02] [-3.17518486e-02 9.99494775e-01 -1.41919583e-03 5.56621771e+00] [-2.03691952e-02 7.72531663e-04 9.99792228e-01 5.27921581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.31, Y:5.56, Z:5.28 [[ 9.99372336e-01 2.88652727e-02 2.05360732e-02 2.99305391e+02] [-2.88419232e-02 9.99582959e-01 -1.43233579e-03 5.56302071e+00] [-2.05688536e-02 8.39136915e-04 9.99788087e-01 5.27816776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.34, Y:5.56, Z:5.28 [[ 9.99433455e-01 2.64803130e-02 2.07740499e-02 2.99336090e+02] [-2.64559087e-02 9.99648931e-01 -1.44874915e-03 5.55980367e+00] [-2.08051201e-02 8.98331998e-04 9.99783146e-01 5.27738091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.37, Y:5.56, Z:5.28 [[ 9.99488660e-01 2.44962167e-02 2.05512372e-02 2.99368289e+02] [-2.44719252e-02 9.99699491e-01 -1.43269712e-03 5.55661517e+00] [-2.05801570e-02 9.29036185e-04 9.99787774e-01 5.27677161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.40, Y:5.55, Z:5.28 [[ 9.99593094e-01 2.08796298e-02 1.94341833e-02 2.99401282e+02] [-2.08571340e-02 9.99781542e-01 -1.35953090e-03 5.55372283e+00] [-1.94583242e-02 9.53636334e-04 9.99810214e-01 5.27597876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.43, Y:5.55, Z:5.27 [[ 9.99615329e-01 1.97210348e-02 1.95006179e-02 2.99434257e+02] [-1.96980552e-02 9.99805036e-01 -1.36980025e-03 5.55112648e+00] [-1.95238299e-02 9.85149082e-04 9.99808907e-01 5.27479020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.47, Y:5.55, Z:5.27 [[ 9.99650311e-01 1.83874615e-02 1.90041536e-02 2.99466648e+02] [-1.83652900e-02 9.99830445e-01 -1.34054347e-03 5.54902276e+00] [-1.90255805e-02 9.91057904e-04 9.99818506e-01 5.27412387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.50, Y:5.55, Z:5.27 [[ 9.99662497e-01 1.72651611e-02 1.94114865e-02 2.99499029e+02] [-1.72416980e-02 9.99850405e-01 -1.37544472e-03 5.54692570e+00] [-1.94323299e-02 1.04029352e-03 9.99810633e-01 5.27325056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.53, Y:5.54, Z:5.27 [[ 9.99691718e-01 1.48270040e-02 1.99155537e-02 2.99532028e+02] [-1.48017614e-02 9.99889448e-01 -1.41430019e-03 5.54497354e+00] [-1.99343219e-02 1.11907891e-03 9.99800665e-01 5.27246844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.57, Y:5.55, Z:5.27 [[ 9.99569745e-01 1.63876935e-02 2.43262930e-02 2.99567937e+02] [-1.56741343e-02 9.99449543e-01 -2.92392390e-02 5.55402541e+00] [-2.47920661e-02 2.88453651e-02 9.99276387e-01 5.27000758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.60, Y:5.53, Z:5.26 [[ 9.99680729e-01 1.20045451e-02 2.22335568e-02 2.99595934e+02] [-1.25858912e-02 9.99577631e-01 2.61945564e-02 5.52738071e+00] [-2.19097123e-02 -2.64660224e-02 9.99409583e-01 5.26271333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.63, Y:5.54, Z:5.27 [[ 9.99733788e-01 1.16861063e-02 1.98944367e-02 2.99630403e+02] [-1.16600780e-02 9.99931005e-01 -1.42382021e-03 5.53869255e+00] [-1.99097030e-02 1.19147049e-03 9.99801072e-01 5.26948579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.66, Y:5.54, Z:5.27 [[ 9.99745135e-01 1.07590184e-02 1.98471494e-02 2.99663356e+02] [-1.07328186e-02 9.99941385e-01 -1.42612753e-03 5.53680246e+00] [-1.98613298e-02 1.21274820e-03 9.99802009e-01 5.26845500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.70, Y:5.54, Z:5.27 [[ 9.99703642e-01 1.09610002e-02 2.17366933e-02 2.99697360e+02] [-1.05065107e-02 9.99726072e-01 -2.09139773e-02 5.54419832e+00] [-2.19599771e-02 2.06794025e-02 9.99544957e-01 5.26622443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.73, Y:5.52, Z:5.26 [[ 9.99772965e-01 8.13123019e-03 1.96952242e-02 2.99726755e+02] [-8.48970157e-03 9.99798573e-01 1.81862246e-02 5.52430848e+00] [-1.95433807e-02 -1.83493023e-02 9.99640615e-01 5.26089640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.17509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.76, Y:5.53, Z:5.27 [[ 9.99801568e-01 7.45352156e-03 1.84735059e-02 2.99760313e+02] [-7.42999180e-03 9.99971497e-01 -1.34201219e-03 5.53206250e+00] [-1.84829821e-02 1.20448790e-03 9.99828450e-01 5.26502898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.79, Y:5.53, Z:5.26 [[ 9.99800924e-01 6.84578652e-03 1.87416080e-02 2.99793776e+02] [-6.82135862e-03 9.99975800e-01 -1.36702280e-03 5.53016350e+00] [-1.87505128e-02 1.23890743e-03 9.99823426e-01 5.26437246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.83, Y:5.53, Z:5.26 [[ 9.99798264e-01 6.69444117e-03 1.89371280e-02 2.99826900e+02] [-6.66936734e-03 9.99976798e-01 -1.38690258e-03 5.52846083e+00] [-1.89459731e-02 1.26032413e-03 9.99819715e-01 5.26350736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.86, Y:5.53, Z:5.26 [[ 9.99797666e-01 6.88398671e-03 1.89007407e-02 2.99860406e+02] [-6.85893862e-03 9.99975511e-01 -1.38974990e-03 5.52680438e+00] [-1.89098448e-02 1.25982969e-03 9.99820399e-01 5.26275566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.89, Y:5.53, Z:5.26 [[ 9.99779419e-01 7.65626219e-03 1.95574926e-02 2.99893826e+02] [-7.62947407e-03 9.99969853e-01 -1.44395930e-03 5.52645027e+00] [-1.95679583e-02 1.29442741e-03 9.99807691e-01 5.26201340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.93, Y:5.53, Z:5.26 [[ 9.99755204e-01 9.41355027e-03 2.00229091e-02 2.99926545e+02] [-9.38570060e-03 9.99954852e-01 -1.48441195e-03 5.52694389e+00] [-2.00359787e-02 1.29611954e-03 9.99798419e-01 5.26083731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.96, Y:5.52, Z:5.26 [[ 9.99754001e-01 9.54152078e-03 2.00224091e-02 2.99959980e+02] [-9.51356282e-03 9.99953633e-01 -1.49112303e-03 5.52437089e+00] [-2.00357083e-02 1.30027177e-03 9.99798420e-01 5.25998207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.99, Y:5.52, Z:5.26 [[ 9.99736037e-01 1.09041822e-02 2.02226289e-02 2.99993106e+02] [-1.08759039e-02 9.99939719e-01 -1.50780787e-03 5.52327771e+00] [-2.02378513e-02 1.28747050e-03 9.99794365e-01 5.25938199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.02, Y:5.52, Z:5.26 [[ 9.99695282e-01 1.34122497e-02 2.07232887e-02 3.00024865e+02] [-1.33829589e-02 9.99909241e-01 -1.55146535e-03 5.52358028e+00] [-2.07422165e-02 1.27365367e-03 9.99784046e-01 5.25790332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.06, Y:5.52, Z:5.26 [[ 9.99666221e-01 1.48633527e-02 2.11311890e-02 3.00057881e+02] [-1.48330978e-02 9.99888723e-01 -1.58779470e-03 5.52229240e+00] [-2.11524376e-02 1.27382374e-03 9.99775451e-01 5.25651463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.09, Y:5.52, Z:5.26 [[ 9.99645027e-01 1.62916826e-02 2.10808233e-02 3.00089902e+02] [-1.62617593e-02 9.99866504e-01 -1.59011344e-03 5.52112610e+00] [-2.11039147e-02 1.24673771e-03 9.99776510e-01 5.25589539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.12, Y:5.52, Z:5.25 [[ 9.99604431e-01 1.76017469e-02 2.19353710e-02 3.00123017e+02] [-1.75695290e-02 9.99844265e-01 -1.66063605e-03 5.52014076e+00] [-2.19611850e-02 1.27458502e-03 9.99758012e-01 5.25482375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.16, Y:5.52, Z:5.25 [[ 9.99569434e-01 1.88166676e-02 2.25139795e-02 3.00155859e+02] [-1.87828885e-02 9.99822122e-01 -1.71090725e-03 5.51917083e+00] [-2.25421684e-02 1.28729303e-03 9.99745064e-01 5.25407831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.19, Y:5.52, Z:5.25 [[ 9.99511158e-01 2.11460107e-02 2.30280523e-02 3.00187678e+02] [-2.11111298e-02 9.99775592e-01 -1.75679457e-03 5.51950691e+00] [-2.30600338e-02 1.26978757e-03 9.99733276e-01 5.25332884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.22, Y:5.52, Z:5.25 [[ 9.99492683e-01 2.21834437e-02 2.28532707e-02 3.00220684e+02] [-2.21492229e-02 9.99753145e-01 -1.74947912e-03 5.51817071e+00] [-2.28864387e-02 1.24240939e-03 9.99737299e-01 5.25238282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.25, Y:5.52, Z:5.25 [[ 9.99460530e-01 2.36053345e-02 2.28349912e-02 3.00252280e+02] [-2.35713928e-02 9.99720617e-01 -1.75444796e-03 5.51665268e+00] [-2.28700258e-02 1.21524893e-03 9.99737708e-01 5.25106199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.29, Y:5.52, Z:5.25 [[ 9.99436381e-01 2.54319482e-02 2.19120122e-02 3.00285182e+02] [-2.54010178e-02 9.99675916e-01 -1.68878948e-03 5.51544530e+00] [-2.19478601e-02 1.13125023e-03 9.99758477e-01 5.24979303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.32, Y:5.51, Z:5.25 [[ 9.99409783e-01 2.63523209e-02 2.20372393e-02 3.00317678e+02] [-2.63211065e-02 9.99652085e-01 -1.70535004e-03 5.51375663e+00] [-2.20745121e-02 1.12429899e-03 9.99755696e-01 5.24900328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.35, Y:5.51, Z:5.25 [[ 9.99366248e-01 2.83391581e-02 2.15405392e-02 3.00350472e+02] [-2.83097193e-02 9.99597804e-01 -1.67044659e-03 5.51303637e+00] [-2.15792148e-02 1.05958132e-03 9.99766580e-01 5.24868482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.38, Y:5.51, Z:5.25 [[ 9.99333908e-01 2.95223397e-02 2.14516384e-02 3.00380304e+02] [-2.94932776e-02 9.99563584e-01 -1.66995661e-03 5.51134056e+00] [-2.14915776e-02 1.03616514e-03 9.99768492e-01 5.24765581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.41, Y:5.51, Z:5.25 [[ 9.99297672e-01 3.08748867e-02 2.12345030e-02 3.00411215e+02] [-3.08467050e-02 9.99522759e-01 -1.65350890e-03 5.50963187e+00] [-2.12754209e-02 9.97333140e-04 9.99773155e-01 5.24718570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.44, Y:5.51, Z:5.25 [[ 9.99252726e-01 3.22108523e-02 2.13647002e-02 3.00441302e+02] [-3.21826286e-02 9.99480620e-01 -1.66364722e-03 5.50816460e+00] [-2.14071913e-02 9.74831808e-04 9.99770365e-01 5.24694031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.47, Y:5.51, Z:5.25 [[ 9.99206828e-01 3.32764713e-02 2.18721550e-02 3.00471344e+02] [-3.32471426e-02 9.99445710e-01 -1.70329039e-03 5.50662214e+00] [-2.19167110e-02 9.74752732e-04 9.99759325e-01 5.24629951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.50, Y:5.51, Z:5.25 [[ 9.99213758e-01 3.35595254e-02 2.11097938e-02 3.00501016e+02] [-3.34225135e-02 9.99418109e-01 -6.81021020e-03 5.50901183e+00] [-2.13260576e-02 6.09931336e-03 9.99753969e-01 5.24651145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.53, Y:5.50, Z:5.24 [[ 9.99107714e-01 3.58657252e-02 2.23030457e-02 3.00531330e+02] [-3.59549279e-02 9.99346887e-01 3.61138945e-03 5.49989055e+00] [-2.21589542e-02 -4.41007145e-03 9.99744733e-01 5.24356408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.92509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.56, Y:5.50, Z:5.24 [[ 9.99092027e-01 3.67047098e-02 2.16306567e-02 3.00561387e+02] [-3.66768465e-02 9.99325760e-01 -1.68358479e-03 5.50038586e+00] [-2.16778679e-02 8.88711871e-04 9.99764612e-01 5.24474907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.59, Y:5.50, Z:5.24 [[ 9.99078115e-01 3.73972791e-02 2.10799216e-02 3.00591058e+02] [-3.73709861e-02 9.99300115e-01 -1.63999117e-03 5.49828658e+00] [-2.11264993e-02 8.50701825e-04 9.99776449e-01 5.24399266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.62, Y:5.50, Z:5.24 [[ 9.99048224e-01 3.90239193e-02 1.94879508e-02 3.00619220e+02] [-3.90017675e-02 9.99237992e-01 -1.51561177e-03 5.49703223e+00] [-1.95322459e-02 7.54104726e-04 9.99808943e-01 5.24308823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.65, Y:5.50, Z:5.24 [[ 9.99021680e-01 3.99099257e-02 1.90494518e-02 3.00647865e+02] [-3.98889372e-02 9.99203023e-01 -1.48063616e-03 5.49546780e+00] [-1.90933619e-02 7.19325232e-04 9.99817446e-01 5.24235069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.68, Y:5.49, Z:5.24 [[ 9.98989098e-01 4.07280381e-02 1.90265377e-02 3.00675517e+02] [-4.07072720e-02 9.99170023e-01 -1.47761153e-03 5.49384539e+00] [-1.90709263e-02 7.01599365e-04 9.99817887e-01 5.24148298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.70, Y:5.49, Z:5.24 [[ 9.98896530e-01 4.27542055e-02 1.94371010e-02 3.00704666e+02] [-4.27329526e-02 9.99085393e-01 -1.50763848e-03 5.49197700e+00] [-1.94837815e-02 6.75370130e-04 9.99809945e-01 5.24052047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.73, Y:5.49, Z:5.24 [[ 9.98856949e-01 4.33640816e-02 2.01085244e-02 3.00733644e+02] [-4.33414890e-02 9.99059101e-01 -1.55819072e-03 5.49004040e+00] [-2.01571738e-02 6.84876245e-04 9.99796589e-01 5.23990136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.76, Y:5.49, Z:5.24 [[ 9.98825282e-01 4.38016837e-02 2.07236113e-02 3.00761840e+02] [-4.37778120e-02 9.99040004e-01 -1.60439285e-03 5.48820972e+00] [-2.07739918e-02 6.95273779e-04 9.99783956e-01 5.23907035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.79, Y:5.49, Z:5.24 [[ 9.98807960e-01 4.40308651e-02 2.10699437e-02 3.00790344e+02] [-4.40062864e-02 9.99029926e-01 -1.62899364e-03 5.48641126e+00] [-2.11212303e-02 6.99841836e-04 9.99776677e-01 5.23842432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.82, Y:5.48, Z:5.24 [[ 9.98810618e-01 4.39613466e-02 2.10890714e-02 3.00818458e+02] [-4.39367380e-02 9.99032987e-01 -1.62903826e-03 5.48442755e+00] [-2.11402927e-02 7.00515709e-04 9.99776274e-01 5.23791893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.85, Y:5.48, Z:5.24 [[ 9.98812959e-01 4.39080388e-02 2.10892439e-02 3.00847679e+02] [-4.38834656e-02 9.99035332e-01 -1.62680167e-03 5.48223299e+00] [-2.11403295e-02 6.99401484e-04 9.99776274e-01 5.23716877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.88, Y:5.48, Z:5.24 [[ 9.98847828e-01 4.31598043e-02 2.09820946e-02 3.00876534e+02] [-4.31353371e-02 9.99067929e-01 -1.61749909e-03 5.48053114e+00] [-2.10323488e-02 7.10565725e-04 9.99778543e-01 5.23659707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.91, Y:5.48, Z:5.24 [[ 9.98912445e-01 4.14886522e-02 2.12748662e-02 3.00905194e+02] [-4.14631518e-02 9.99138690e-01 -1.63852264e-03 5.47824092e+00] [-2.13245220e-02 7.54617654e-04 9.99772322e-01 5.23563013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.93, Y:5.48, Z:5.23 [[ 9.98954021e-01 4.03030772e-02 2.15992060e-02 3.00933355e+02] [-4.02765494e-02 9.99187188e-01 -1.66197940e-03 5.47552140e+00] [-2.16486328e-02 7.90299517e-04 9.99765329e-01 5.23486125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.96, Y:5.47, Z:5.23 [[ 9.99014303e-01 3.87024854e-02 2.17379981e-02 3.00961221e+02] [-3.86752827e-02 9.99250435e-01 -1.67056841e-03 5.47308623e+00] [-2.17863592e-02 8.28198515e-04 9.99762306e-01 5.23417699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.99, Y:5.47, Z:5.23 [[ 9.99074739e-01 3.69818656e-02 2.19546651e-02 3.00990003e+02] [-3.69537479e-02 9.99315556e-01 -1.68517967e-03 5.47067583e+00] [-2.20019594e-02 8.72313279e-04 9.99757547e-01 5.23326473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.02, Y:5.47, Z:5.23 [[ 9.99223926e-01 3.31466059e-02 2.12802334e-02 3.01019162e+02] [-3.31193559e-02 9.99450072e-01 -1.63178583e-03 5.46807647e+00] [-2.13226190e-02 9.25731817e-04 9.99772219e-01 5.23287540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.05, Y:5.47, Z:5.23 [[ 9.99299312e-01 3.13214079e-02 2.04903425e-02 3.01048519e+02] [-3.12957809e-02 9.99508934e-01 -1.57023500e-03 5.46571604e+00] [-2.05294624e-02 9.27873484e-04 9.99788818e-01 5.23212479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.08, Y:5.46, Z:5.23 [[ 9.99418367e-01 2.77985659e-02 1.97526673e-02 3.01077753e+02] [-2.77740531e-02 9.99613080e-01 -1.51428994e-03 5.46307464e+00] [-1.97871197e-02 9.64797544e-04 9.99803750e-01 5.23082720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.11, Y:5.46, Z:5.23 [[ 9.99468328e-01 2.62176346e-02 1.93829044e-02 3.01108435e+02] [-2.61937432e-02 9.99655781e-01 -1.48550064e-03 5.46063777e+00] [-1.94151788e-02 9.77000025e-04 9.99811030e-01 5.23015199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.14, Y:5.46, Z:5.23 [[ 9.99494390e-01 2.55000454e-02 1.89924363e-02 3.01138385e+02] [-2.54769801e-02 9.99674350e-01 -1.45545599e-03 5.45812571e+00] [-1.90233656e-02 9.70850172e-04 9.99818568e-01 5.22957090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.17, Y:5.46, Z:5.23 [[ 9.99498133e-01 2.51455121e-02 1.92661849e-02 3.01169368e+02] [-2.51217064e-02 9.99683309e-01 -1.47668415e-03 5.45602649e+00] [-1.92972155e-02 9.91943605e-04 9.99813299e-01 5.22891637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.20, Y:5.45, Z:5.23 [[ 9.99487691e-01 2.56128756e-02 1.91920615e-02 3.01200919e+02] [-2.55893255e-02 9.99671456e-01 -1.47168778e-03 5.45424831e+00] [-1.92234502e-02 9.79821913e-04 9.99814732e-01 5.22847364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.23, Y:5.45, Z:5.23 [[ 9.99395187e-01 2.88724777e-02 1.93814395e-02 3.01231706e+02] [-2.88490555e-02 9.99582673e-01 -1.48704989e-03 5.45368030e+00] [-1.94162859e-02 9.27014281e-04 9.99811056e-01 5.22922250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.26, Y:5.45, Z:5.23 [[ 9.99311047e-01 3.19217582e-02 1.89323238e-02 3.01261497e+02] [-3.18999442e-02 9.99490011e-01 -1.45316524e-03 5.45260355e+00] [-1.89690561e-02 8.48224009e-04 9.99819711e-01 5.22923110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.67509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.29, Y:5.45, Z:5.23 [[ 9.99196763e-01 3.56052080e-02 1.83874320e-02 3.01290564e+02] [-3.55852529e-02 9.99365648e-01 -1.41141491e-03 5.45192403e+00] [-1.84260216e-02 7.55959795e-04 9.99829941e-01 5.22887355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.32, Y:5.45, Z:5.23 [[ 9.99044567e-01 3.97789594e-02 1.80993765e-02 3.01319014e+02] [-3.97603317e-02 9.99208281e-01 -1.38802052e-03 5.45120510e+00] [-1.81402609e-02 6.67057149e-04 9.99835229e-01 5.22852582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.35, Y:5.45, Z:5.23 [[ 9.98865473e-01 4.41324006e-02 1.78912596e-02 3.01347500e+02] [-4.41149194e-02 9.99025523e-01 -1.37076612e-03 5.45079349e+00] [-1.79343202e-02 5.79939479e-04 9.99838999e-01 5.22807264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.38, Y:5.45, Z:5.23 [[ 9.98442670e-01 5.29837235e-02 1.74631231e-02 3.01376111e+02] [-5.29684373e-02 9.98595292e-01 -1.33704016e-03 5.45178609e+00] [-1.75094339e-02 4.09963606e-04 9.99846614e-01 5.22862037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.40, Y:5.45, Z:5.23 [[ 9.98321394e-01 5.56827246e-02 1.59319932e-02 3.01402194e+02] [-5.59118677e-02 9.98333044e-01 1.43177207e-02 5.44543711e+00] [-1.51081856e-02 -1.51844743e-02 9.99770561e-01 5.22769878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.43, Y:5.46, Z:5.23 [[ 9.97982618e-01 6.11687578e-02 1.70022849e-02 3.01433687e+02] [-6.08848634e-02 9.98004378e-01 -1.67420257e-02 5.45704966e+00] [-1.79924437e-02 1.56730688e-02 9.99715273e-01 5.23274679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.46, Y:5.44, Z:5.23 [[ 9.97781650e-01 6.46888857e-02 1.57202619e-02 3.01459488e+02] [-6.49301166e-02 9.97771714e-01 1.53520686e-02 5.44296576e+00] [-1.46921245e-02 -1.63387308e-02 9.99758565e-01 5.22721152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.49, Y:5.45, Z:5.23 [[ 9.97614389e-01 6.73664592e-02 1.50761738e-02 3.01488492e+02] [-6.73170998e-02 9.97724552e-01 -3.75844380e-03 5.44954744e+00] [-1.52950618e-02 2.73459332e-03 9.99879284e-01 5.23175922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.52, Y:5.45, Z:5.23 [[ 9.97487439e-01 6.88236198e-02 1.67963737e-02 3.01516501e+02] [-6.85774760e-02 9.97535774e-01 -1.48158183e-02 5.45193891e+00] [-1.77746619e-02 1.36267398e-02 9.99749155e-01 5.23067373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.54, Y:5.44, Z:5.23 [[ 9.97488601e-01 6.86158663e-02 1.75599879e-02 3.01542563e+02] [-6.86030028e-02 9.97643146e-01 -1.33459694e-03 5.44380413e+00] [-1.76101761e-02 1.26577336e-04 9.99844921e-01 5.22559106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.57, Y:5.44, Z:5.23 [[ 9.97793515e-01 6.48321524e-02 1.43141179e-02 3.01568741e+02] [-6.50334421e-02 9.97783814e-01 1.40752214e-02 5.43608810e+00] [-1.33698683e-02 -1.49750610e-02 9.99798477e-01 5.22558583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.60, Y:5.45, Z:5.23 [[ 9.97760158e-01 6.52426496e-02 1.47669580e-02 3.01598640e+02] [-6.50018145e-02 9.97752976e-01 -1.62407924e-02 5.44582175e+00] [-1.57933686e-02 1.52445365e-02 9.99759058e-01 5.22952297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.63, Y:5.44, Z:5.22 [[ 9.97936352e-01 6.25094168e-02 1.46836733e-02 3.01625471e+02] [-6.24998516e-02 9.98044356e-01 -1.10985386e-03 5.43580741e+00] [-1.47243335e-02 1.89836112e-04 9.99891573e-01 5.22361423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.65, Y:5.43, Z:5.22 [[ 9.98129093e-01 5.94479818e-02 1.42916313e-02 3.01653134e+02] [-5.94386277e-02 9.98231379e-01 -1.07876094e-03 5.43302818e+00] [-1.43304850e-02 2.27267727e-04 9.99897287e-01 5.22309318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.68, Y:5.43, Z:5.22 [[ 9.98518652e-01 5.27364375e-02 1.33928942e-02 3.01680052e+02] [-5.27276234e-02 9.98608420e-01 -1.01062304e-03 5.42882964e+00] [-1.34275536e-02 3.02950476e-04 9.99909800e-01 5.22263937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.71, Y:5.43, Z:5.22 [[ 9.98690135e-01 4.93579249e-02 1.34836539e-02 3.01707717e+02] [-4.93487306e-02 9.98781094e-01 -1.01395465e-03 5.42594721e+00] [-1.35172653e-02 3.47225305e-04 9.99908577e-01 5.22233566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.73, Y:5.42, Z:5.22 [[ 9.99000784e-01 4.31764081e-02 1.15426159e-02 3.01733070e+02] [-4.33302559e-02 9.98970553e-01 1.34284400e-02 5.41952277e+00] [-1.09509416e-02 -1.39151666e-02 9.99843210e-01 5.22365738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.76, Y:5.43, Z:5.23 [[ 9.99083223e-01 4.09208670e-02 1.25775834e-02 3.01763971e+02] [-4.07286886e-02 9.99055020e-01 -1.51736687e-02 5.42643844e+00] [-1.31866175e-02 1.46474893e-02 9.99805763e-01 5.22744199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.79, Y:5.42, Z:5.22 [[ 9.99184638e-01 3.79020349e-02 1.39102147e-02 3.01790530e+02] [-3.78911989e-02 9.99281328e-01 -1.04181400e-03 5.41724988e+00] [-1.39397047e-02 5.13889829e-04 9.99902706e-01 5.22222047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.82, Y:5.41, Z:5.22 [[ 9.99266582e-01 3.56912201e-02 1.38720934e-02 3.01819167e+02] [-3.56802641e-02 9.99362719e-01 -1.03655757e-03 5.41430896e+00] [-1.39002490e-02 5.40837382e-04 9.99903241e-01 5.22182179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.85, Y:5.41, Z:5.22 [[ 9.99419426e-01 3.16545070e-02 1.26017446e-02 3.01845851e+02] [-3.17351597e-02 9.99476757e-01 6.25239950e-03 5.41077143e+00] [-1.23972342e-02 -6.64868789e-03 9.99901047e-01 5.22242567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.87, Y:5.41, Z:5.22 [[ 9.99439994e-01 3.07246206e-02 1.32550229e-02 3.01874229e+02] [-3.06432932e-02 9.99510556e-01 -6.29571991e-03 5.41254430e+00] [-1.34419689e-02 5.88601671e-03 9.99892328e-01 5.22403773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.90, Y:5.40, Z:5.22 [[ 9.99475484e-01 2.91622902e-02 1.40825452e-02 3.01902221e+02] [-2.91245476e-02 9.99571648e-01 -2.87783266e-03 5.40479481e+00] [-1.41604371e-02 2.46617543e-03 9.99896695e-01 5.22125772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.93, Y:5.40, Z:5.22 [[ 9.99500445e-01 2.83857941e-02 1.38963223e-02 3.01931162e+02] [-2.83741429e-02 9.99596837e-01 -1.03491729e-03 5.40111497e+00] [-1.39200968e-02 6.40104061e-04 9.99902906e-01 5.22028813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.96, Y:5.40, Z:5.22 [[ 9.99503957e-01 2.81898546e-02 1.40418171e-02 3.01960046e+02] [-2.81779530e-02 9.99602377e-01 -1.04474526e-03 5.39860123e+00] [-1.40656850e-02 6.48557363e-04 9.99900863e-01 5.21967793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.42509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.99, Y:5.40, Z:5.22 [[ 9.99471965e-01 2.92600948e-02 1.41293173e-02 3.01988593e+02] [-2.92481653e-02 9.99571629e-01 -1.05024949e-03 5.39573600e+00] [-1.41539951e-02 6.36438312e-04 9.99899625e-01 5.21949474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.02, Y:5.40, Z:5.22 [[ 9.99460981e-01 2.94949454e-02 1.44151164e-02 3.02016866e+02] [-2.94468141e-02 9.99560080e-01 -3.53991239e-03 5.39670221e+00] [-1.45131844e-02 3.11352506e-03 9.99889831e-01 5.21929769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.05, Y:5.39, Z:5.22 [[ 9.99385786e-01 3.21515499e-02 1.39401606e-02 3.02046877e+02] [-3.21748252e-02 9.99481207e-01 1.44855595e-03 5.39017726e+00] [-1.38863552e-02 -1.89618846e-03 9.99901782e-01 5.21763640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.07, Y:5.39, Z:5.22 [[ 9.99250763e-01 3.64417370e-02 1.30350764e-02 3.02074281e+02] [-3.64321890e-02 9.99335657e-01 -9.69276731e-04 5.38986737e+00] [-1.30617387e-02 4.93654147e-04 9.99914570e-01 5.21773850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.10, Y:5.39, Z:5.22 [[ 9.99163523e-01 3.90724806e-02 1.20662824e-02 3.02102348e+02] [-3.90645022e-02 9.99236289e-01 -8.96292126e-04 5.38816419e+00] [-1.20920876e-02 4.24179081e-04 9.99926798e-01 5.21732985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.13, Y:5.39, Z:5.22 [[ 9.99055791e-01 4.18764680e-02 1.15710010e-02 3.02130135e+02] [-4.18693256e-02 9.99122726e-01 -8.58931032e-04 5.38673346e+00] [-1.15968191e-02 3.73650013e-04 9.99932685e-01 5.21660404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.16, Y:5.39, Z:5.22 [[ 9.98945042e-01 4.46097062e-02 1.08985214e-02 3.02157916e+02] [-4.46035434e-02 9.99004440e-01 -8.07999590e-04 5.38554134e+00] [-1.09237159e-02 3.21034511e-04 9.99940283e-01 5.21627722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.18, Y:5.39, Z:5.22 [[ 9.98666983e-01 5.05453678e-02 1.04605191e-02 3.02184646e+02] [-5.05400132e-02 9.98721736e-01 -7.75772921e-04 5.38558517e+00] [-1.04863595e-02 2.46064032e-04 9.99944986e-01 5.21641011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.21, Y:5.38, Z:5.22 [[ 9.98519959e-01 5.33337360e-02 1.06491653e-02 3.02211219e+02] [-5.33283789e-02 9.98576720e-01 -7.86582538e-04 5.38444412e+00] [-1.06759599e-02 2.17515641e-04 9.99942987e-01 5.21605293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.24, Y:5.38, Z:5.22 [[ 9.98237316e-01 5.83813104e-02 1.06716328e-02 3.02239458e+02] [-5.83762348e-02 9.98294343e-01 -7.86758293e-04 5.38337739e+00] [-1.06993627e-02 1.62401743e-04 9.99942747e-01 5.21529565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.27, Y:5.38, Z:5.21 [[ 9.98099358e-01 6.06316648e-02 1.10214622e-02 3.02267457e+02] [-6.06264009e-02 9.98160198e-01 -8.11387384e-04 5.38143740e+00] [-1.10503807e-02 1.41653641e-04 9.99938933e-01 5.21423520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.29, Y:5.38, Z:5.21 [[ 9.98001899e-01 6.22383743e-02 1.08901278e-02 3.02294369e+02] [-6.22333401e-02 9.98061306e-01 -8.00867068e-04 5.37966664e+00] [-1.09188599e-02 1.21537826e-04 9.99940380e-01 5.21370017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.32, Y:5.38, Z:5.21 [[ 9.97931923e-01 6.32800423e-02 1.12921992e-02 3.02321786e+02] [-6.32747155e-02 9.97995803e-01 -8.28728442e-04 5.37795035e+00] [-1.13220094e-02 1.12503873e-04 9.99935898e-01 5.21297752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.35, Y:5.38, Z:5.21 [[ 9.97857763e-01 6.43913292e-02 1.15603851e-02 3.02349119e+02] [-6.43858331e-02 9.97924720e-01 -8.47359520e-04 5.37576303e+00] [-1.15909567e-02 1.01219247e-04 9.99932817e-01 5.21287252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.38, Y:5.37, Z:5.21 [[ 9.97869172e-01 6.41555624e-02 1.18819048e-02 3.02376709e+02] [-6.41497612e-02 9.97939904e-01 -8.69109078e-04 5.37349895e+00] [-1.19131851e-02 1.05035799e-04 9.99929030e-01 5.21230909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.40, Y:5.37, Z:5.21 [[ 9.97912310e-01 6.33606358e-02 1.25080284e-02 3.02404584e+02] [-6.33541631e-02 9.97990689e-01 -9.13431682e-04 5.37111297e+00] [-1.25407715e-02 1.19089047e-04 9.99921354e-01 5.21137222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.43, Y:5.37, Z:5.21 [[ 9.97994444e-01 6.20417292e-02 1.25663977e-02 3.02432024e+02] [-6.20351080e-02 9.98073547e-01 -9.16383812e-04 5.36828536e+00] [-1.25990431e-02 1.34988116e-04 9.99920620e-01 5.21102933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.46, Y:5.36, Z:5.21 [[ 9.98224964e-01 5.80745826e-02 1.32008836e-02 3.02459837e+02] [-5.80669500e-02 9.98312229e-01 -9.61059508e-04 5.36408668e+00] [-1.32344166e-02 1.92818547e-04 9.99912403e-01 5.20996534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.49, Y:5.36, Z:5.21 [[ 9.98371411e-01 5.55506148e-02 1.29867182e-02 3.02487656e+02] [-5.55430319e-02 9.98455848e-01 -9.44123772e-04 5.36077110e+00] [-1.30191114e-02 2.21264479e-04 9.99915223e-01 5.20907835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.51, Y:5.36, Z:5.21 [[ 9.98527414e-01 5.26772541e-02 1.29657374e-02 3.02514571e+02] [-5.26694689e-02 9.98611557e-01 -9.41416142e-04 5.35774572e+00] [-1.29973264e-02 2.57131325e-04 9.99915498e-01 5.20800672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.54, Y:5.35, Z:5.21 [[ 9.98791828e-01 4.75204186e-02 1.25177482e-02 3.02542671e+02] [-4.75127793e-02 9.98870218e-01 -9.07130513e-04 5.35354396e+00] [-1.25467131e-02 3.11281536e-04 9.99921238e-01 5.20708881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.57, Y:5.35, Z:5.21 [[ 9.98909109e-01 4.50078099e-02 1.24454634e-02 3.02569321e+02] [-4.50000771e-02 9.98986577e-01 -9.00817875e-04 5.35094457e+00] [-1.24733947e-02 3.39788367e-04 9.99922146e-01 5.20628535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.60, Y:5.35, Z:5.21 [[ 9.98983652e-01 4.31710985e-02 1.29583916e-02 3.02597038e+02] [-4.31625865e-02 9.99067623e-01 -9.35958129e-04 5.34816013e+00] [-1.29867158e-02 3.75689172e-04 9.99915598e-01 5.20552633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.62, Y:5.35, Z:5.20 [[ 9.99046839e-01 4.15344405e-02 1.34277300e-02 3.02623612e+02] [-4.15251654e-02 9.99136989e-01 -9.68934023e-04 5.34557705e+00] [-1.34563858e-02 4.10421765e-04 9.99909375e-01 5.20497851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.65, Y:5.34, Z:5.20 [[ 9.99050395e-01 4.14487534e-02 1.34279363e-02 3.02652004e+02] [-4.14395091e-02 9.99140548e-01 -9.66063449e-04 5.34362853e+00] [-1.34564377e-02 4.08698981e-04 9.99909375e-01 5.20421954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.17509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.68, Y:5.34, Z:5.20 [[ 9.99087882e-01 4.01613277e-02 1.45076255e-02 3.02679607e+02] [-4.01504187e-02 9.99193103e-01 -1.04254591e-03 5.34039108e+00] [-1.45377894e-02 4.59107744e-04 9.99894215e-01 5.20365965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.71, Y:5.34, Z:5.20 [[ 9.99088521e-01 4.00411001e-02 1.47931349e-02 3.02707606e+02] [-4.00297684e-02 9.99197924e-01 -1.06143652e-03 5.33814742e+00] [-1.48237708e-02 4.68303281e-04 9.99890012e-01 5.20273841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.73, Y:5.34, Z:5.20 [[ 9.99073081e-01 4.03910076e-02 1.48844308e-02 3.02734886e+02] [-4.03796013e-02 9.99183842e-01 -1.06618332e-03 5.33584280e+00] [-1.49153470e-02 4.64167676e-04 9.99888652e-01 5.20191801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.76, Y:5.33, Z:5.20 [[ 9.99019573e-01 4.12936274e-02 1.59602198e-02 3.02763929e+02] [-4.12806552e-02 9.99146938e-01 -1.14151362e-03 5.33358326e+00] [-1.59937420e-02 4.81546120e-04 9.99871976e-01 5.20065816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.79, Y:5.33, Z:5.20 [[ 9.98993698e-01 4.17721647e-02 1.63302507e-02 3.02791369e+02] [-4.17586637e-02 9.99127045e-01 -1.16701142e-03 5.33142946e+00] [-1.63647437e-02 4.83907603e-04 9.99865972e-01 5.19990426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.82, Y:5.33, Z:5.20 [[ 9.98963105e-01 4.23317353e-02 1.67552721e-02 3.02819916e+02] [-4.23176332e-02 9.99103493e-01 -1.19546590e-03 5.32905779e+00] [-1.67908570e-02 4.85182866e-04 9.99858906e-01 5.19881757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.85, Y:5.33, Z:5.20 [[ 9.98953454e-01 4.25337640e-02 1.68189174e-02 3.02848833e+02] [-4.25196035e-02 9.99094914e-01 -1.19880153e-03 5.32640688e+00] [-1.68546843e-02 4.82413232e-04 9.99857833e-01 5.19778328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.88, Y:5.32, Z:5.20 [[ 9.98947817e-01 4.25334886e-02 1.71511504e-02 3.02877156e+02] [-4.25187841e-02 9.99094921e-01 -1.22125585e-03 5.32357580e+00] [-1.71875715e-02 4.90724803e-04 9.99852162e-01 5.19648148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.90, Y:5.32, Z:5.20 [[ 9.98980606e-01 4.18888893e-02 1.68246687e-02 3.02904753e+02] [-4.18746640e-02 9.99122154e-01 -1.19706154e-03 5.32062865e+00] [-1.68600428e-02 4.91313911e-04 9.99857739e-01 5.19502607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.93, Y:5.32, Z:5.19 [[ 9.99002145e-01 4.14610792e-02 1.66039979e-02 3.02933423e+02] [-4.14471955e-02 9.99140000e-01 -1.17956203e-03 5.31823923e+00] [-1.66386244e-02 4.90195856e-04 9.99861448e-01 5.19391141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.96, Y:5.32, Z:5.19 [[ 9.99021908e-01 4.10926140e-02 1.63286319e-02 3.02961806e+02] [-4.10791562e-02 9.99155223e-01 -1.15888051e-03 5.31583913e+00] [-1.63624593e-02 4.86980598e-04 9.99866007e-01 5.19270336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.99, Y:5.31, Z:5.19 [[ 9.99056271e-01 4.05718278e-02 1.55078969e-02 3.02989538e+02] [-4.05596394e-02 9.99176514e-01 -1.09978801e-03 5.31364367e+00] [-1.55397467e-02 4.69755407e-04 9.99879140e-01 5.19177359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.02, Y:5.31, Z:5.19 [[ 9.99098026e-01 3.93247618e-02 1.60217682e-02 3.03018367e+02] [-3.93116202e-02 9.99226355e-01 -1.13447152e-03 5.31158800e+00] [-1.60539859e-02 5.03606587e-04 9.99871000e-01 5.19042158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.05, Y:5.31, Z:5.19 [[ 9.99112541e-01 3.88087139e-02 1.63711277e-02 3.03047089e+02] [-3.87949424e-02 9.99246522e-01 -1.15806335e-03 5.30964326e+00] [-1.64037353e-02 5.21918665e-04 9.99865313e-01 5.18924758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.07, Y:5.31, Z:5.19 [[ 9.99124908e-01 3.83454762e-02 1.67045711e-02 3.03074928e+02] [-3.83310913e-02 9.99264396e-01 -1.18057529e-03 5.30807211e+00] [-1.67375529e-02 5.39237735e-04 9.99859772e-01 5.18810741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.10, Y:5.31, Z:5.19 [[ 9.99072656e-01 3.91731420e-02 1.78687549e-02 3.03103431e+02] [-3.91568489e-02 9.99232281e-01 -1.26091823e-03 5.30665608e+00] [-1.79044309e-02 5.60064788e-04 9.99839546e-01 5.18690101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.13, Y:5.31, Z:5.19 [[ 9.99019954e-01 4.00209270e-02 1.89065168e-02 3.03131840e+02] [-4.00028649e-02 9.99198676e-01 -1.33271749e-03 5.30543925e+00] [-1.89447031e-02 5.75096533e-04 9.99820368e-01 5.18622487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.16, Y:5.30, Z:5.19 [[ 9.98967138e-01 4.09350323e-02 1.97225628e-02 3.03160498e+02] [-4.09155845e-02 9.99161642e-01 -1.38875242e-03 5.30440401e+00] [-1.97628768e-02 5.80357844e-04 9.99804527e-01 5.18602715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.19, Y:5.30, Z:5.19 [[ 9.98851684e-01 4.26704670e-02 2.17840430e-02 3.03189189e+02] [-4.26471914e-02 9.99089020e-01 -1.53213334e-03 5.30370486e+00] [-2.18295750e-02 6.01345714e-04 9.99761526e-01 5.18520046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.22, Y:5.30, Z:5.18 [[ 9.98824042e-01 4.30206003e-02 2.23553497e-02 3.03216464e+02] [-4.29962108e-02 9.99074001e-01 -1.57073042e-03 5.30225728e+00] [-2.24022224e-02 6.07687980e-04 9.99748854e-01 5.18433371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.24, Y:5.30, Z:5.18 [[ 9.98805762e-01 4.30493178e-02 2.31042500e-02 3.03244186e+02] [-4.30233291e-02 9.99072753e-01 -1.62097529e-03 5.30055340e+00] [-2.31526085e-02 6.25017711e-04 9.99731747e-01 5.18347564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.27, Y:5.30, Z:5.18 [[ 9.98813996e-01 4.26073584e-02 2.35629806e-02 3.03273283e+02] [-4.25802562e-02 9.99091686e-01 -1.65096707e-03 5.29863432e+00] [-2.36119214e-02 6.45691268e-04 9.99720991e-01 5.18227791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.30, Y:5.30, Z:5.18 [[ 9.98895433e-01 4.06779143e-02 2.35206535e-02 3.03301452e+02] [-4.06504130e-02 9.99172074e-01 -1.64638662e-03 5.29677258e+00] [-2.35681517e-02 6.88443804e-04 9.99721995e-01 5.18080498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.33, Y:5.29, Z:5.18 [[ 9.98958398e-01 3.96930375e-02 2.25073954e-02 3.03329790e+02] [-3.96676603e-02 9.99211690e-01 -1.57302643e-03 5.29454431e+00] [-2.25520908e-02 6.78572253e-04 9.99745439e-01 5.17980646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.36, Y:5.29, Z:5.18 [[ 9.99027772e-01 3.79798187e-02 2.23840083e-02 3.03358894e+02] [-3.79543100e-02 9.99278252e-01 -1.56348358e-03 5.29216153e+00] [-2.24272335e-02 7.12393927e-04 9.99748224e-01 5.17845403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.92509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.39, Y:5.29, Z:5.18 [[ 9.99094579e-01 3.58946638e-02 2.28384610e-02 3.03387810e+02] [-3.58675824e-02 9.99355279e-01 -1.59444162e-03 5.28971151e+00] [-2.28809686e-02 7.73837592e-04 9.99737897e-01 5.17718203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.42, Y:5.29, Z:5.18 [[ 9.99209099e-01 3.24217697e-02 2.30218435e-02 3.03417705e+02] [-3.23933616e-02 9.99473907e-01 -1.60591856e-03 5.28671018e+00] [-2.30617986e-02 8.58893539e-04 9.99733672e-01 5.17534227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.45, Y:5.28, Z:5.17 [[ 9.99267372e-01 3.05405661e-02 2.30649715e-02 3.03447695e+02] [-3.05115726e-02 9.99533120e-01 -1.60799218e-03 5.28446978e+00] [-2.31033119e-02 9.03065570e-04 9.99732675e-01 5.17424817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.48, Y:5.28, Z:5.17 [[ 9.99306968e-01 2.90810915e-02 2.32351657e-02 3.03478660e+02] [-2.90512774e-02 9.99576610e-01 -1.61974020e-03 5.28201185e+00] [-2.32724320e-02 9.43606431e-04 9.99728715e-01 5.17294900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.51, Y:5.28, Z:5.17 [[ 9.99360628e-01 2.73158782e-02 2.30689700e-02 3.03510731e+02] [-2.72860184e-02 9.99626374e-01 -1.60821260e-03 5.27973843e+00] [-2.31042806e-02 9.77724012e-04 9.99732582e-01 5.17143681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.54, Y:5.28, Z:5.17 [[ 9.99374522e-01 2.69428344e-02 2.29051889e-02 3.03542856e+02] [-2.69131699e-02 9.99636491e-01 -1.60243650e-03 5.27773151e+00] [-2.29400368e-02 9.84982974e-04 9.99736358e-01 5.17037818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.57, Y:5.28, Z:5.17 [[ 9.99358851e-01 2.71323685e-02 2.33606909e-02 3.03574877e+02] [-2.71014129e-02 9.99631343e-01 -1.64075144e-03 5.27547898e+00] [-2.33965963e-02 1.00659175e-03 9.99725755e-01 5.16905537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.61, Y:5.27, Z:5.17 [[ 9.99343837e-01 2.72237240e-02 2.38906788e-02 3.03606837e+02] [-2.71912276e-02 9.99628832e-01 -1.68407462e-03 5.27355906e+00] [-2.39276581e-02 1.03335271e-03 9.99713159e-01 5.16813607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.64, Y:5.27, Z:5.17 [[ 9.99298732e-01 2.83174154e-02 2.44983380e-02 3.03639374e+02] [-2.82834198e-02 9.99598442e-01 -1.73313162e-03 5.27137211e+00] [-2.45375783e-02 1.03901946e-03 9.99698368e-01 5.16704896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.67, Y:5.27, Z:5.17 [[ 9.99195995e-01 3.14801723e-02 2.48266326e-02 3.03671152e+02] [-3.14460689e-02 9.99503895e-01 -1.76297252e-03 5.27058256e+00] [-2.48698147e-02 9.80855085e-04 9.99690217e-01 5.16648507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.70, Y:5.27, Z:5.17 [[ 9.99116218e-01 3.40542259e-02 2.46392442e-02 3.03702570e+02] [-3.40213087e-02 9.99419568e-01 -1.75405054e-03 5.26933897e+00] [-2.46846756e-02 9.14241015e-04 9.99694869e-01 5.16557985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.73, Y:5.27, Z:5.16 [[ 9.99024585e-01 3.66703774e-02 2.46000364e-02 3.03733031e+02] [-3.66382082e-02 9.99327050e-01 -1.75728857e-03 5.26793514e+00] [-2.46479222e-02 8.54273227e-04 9.99695829e-01 5.16478011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.76, Y:5.27, Z:5.16 [[ 9.98827681e-01 4.15124229e-02 2.48994271e-02 3.03763125e+02] [-4.14809077e-02 9.99137709e-01 -1.78109310e-03 5.26739183e+00] [-2.49518941e-02 7.46154254e-04 9.99688375e-01 5.16413978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.79, Y:5.27, Z:5.16 [[ 9.98706558e-01 4.41281330e-02 2.52570620e-02 3.03790800e+02] [-4.40965633e-02 9.99025641e-01 -1.80580882e-03 5.26599017e+00] [-2.53121396e-02 6.89723478e-04 9.99679359e-01 5.16339842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.82, Y:5.26, Z:5.16 [[ 9.98622105e-01 4.61238264e-02 2.50296481e-02 3.03819385e+02] [-4.60935061e-02 9.98935531e-01 -1.78727519e-03 5.26425905e+00] [-2.50854408e-02 6.31108277e-04 9.99685112e-01 5.16270660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.85, Y:5.26, Z:5.16 [[ 9.98535958e-01 4.79244534e-02 2.50836128e-02 3.03848435e+02] [-4.78946157e-02 9.98850792e-01 -1.78930623e-03 5.26234253e+00] [-2.51405381e-02 5.85316617e-04 9.99683755e-01 5.16164802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.88, Y:5.26, Z:5.16 [[ 9.98419589e-01 5.03649335e-02 2.49338493e-02 3.03877056e+02] [-5.03362570e-02 9.98730747e-01 -1.77680507e-03 5.26060368e+00] [-2.49916906e-02 5.18920339e-04 9.99687524e-01 5.16060321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.91, Y:5.26, Z:5.16 [[ 9.98380972e-01 5.11426737e-02 2.48970190e-02 3.03906026e+02] [-5.11143687e-02 9.98691234e-01 -1.77237062e-03 5.25893293e+00] [-2.49550783e-02 4.96905698e-04 9.99688450e-01 5.15968590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.93, Y:5.26, Z:5.16 [[ 9.98349974e-01 5.18681318e-02 2.46379099e-02 3.03934715e+02] [-5.18406773e-02 9.98653831e-01 -1.75216619e-03 5.25699199e+00] [-2.46956247e-02 4.72029128e-04 9.99694905e-01 5.15879241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.96, Y:5.25, Z:5.16 [[ 9.98319410e-01 5.24729246e-02 2.45956939e-02 3.03963407e+02] [-5.24457912e-02 9.98622244e-01 -1.74739607e-03 5.25495291e+00] [-2.46534980e-02 4.54518790e-04 9.99695953e-01 5.15778567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.99, Y:5.25, Z:5.16 [[ 9.98300302e-01 5.27797961e-02 2.47143776e-02 3.03991648e+02] [-5.27525392e-02 9.98606075e-01 -1.75400765e-03 5.25293192e+00] [-2.47725038e-02 4.47280187e-04 9.99693014e-01 5.15673909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.02, Y:5.25, Z:5.16 [[ 9.98323430e-01 5.26299005e-02 2.40919688e-02 3.04019787e+02] [-5.26039959e-02 9.98613990e-01 -1.70817381e-03 5.25109590e+00] [-2.41484781e-02 4.37976104e-04 9.99708287e-01 5.15606220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.05, Y:5.25, Z:5.15 [[ 9.98340561e-01 5.22383111e-02 2.42339190e-02 3.04047075e+02] [-5.22120424e-02 9.98634547e-01 -1.71587667e-03 5.24922055e+00] [-2.42904632e-02 4.47726868e-04 9.99704843e-01 5.15479665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.07, Y:5.25, Z:5.15 [[ 9.98459018e-01 5.00366839e-02 2.39983456e-02 3.04074935e+02] [-5.00103393e-02 9.98747258e-01 -1.69706046e-03 5.24725236e+00] [-2.40531971e-02 4.94279910e-04 9.99710558e-01 5.15426018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.10, Y:5.24, Z:5.15 [[ 9.98518426e-01 4.85510816e-02 2.45712509e-02 3.04104039e+02] [-4.85230702e-02 9.98820555e-01 -1.73530096e-03 5.24489474e+00] [-2.46265212e-02 5.40457445e-04 9.99696575e-01 5.15325209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.67509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.13, Y:5.24, Z:5.15 [[ 9.98609494e-01 4.64151727e-02 2.49942177e-02 3.04132925e+02] [-4.63855659e-02 9.98922054e-01 -1.76333601e-03 5.24240626e+00] [-2.50491208e-02 6.01513149e-04 9.99686041e-01 5.15236403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.16, Y:5.24, Z:5.15 [[ 9.98718442e-01 4.40600856e-02 2.49034438e-02 3.04160794e+02] [-4.40300059e-02 9.99028667e-01 -1.75516561e-03 5.23998535e+00] [-2.49565870e-02 6.56417490e-04 9.99688320e-01 5.15153461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.19, Y:5.24, Z:5.15 [[ 9.98922822e-01 3.92987363e-02 2.46739852e-02 3.04188931e+02] [-3.92678131e-02 9.99227213e-01 -1.73673085e-03 5.23666763e+00] [-2.47231688e-02 7.65966646e-04 9.99694042e-01 5.15023752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.22, Y:5.23, Z:5.15 [[ 9.99019166e-01 3.68904207e-02 2.44908525e-02 3.04218694e+02] [-3.68592641e-02 9.99318982e-01 -1.72253593e-03 5.23388039e+00] [-2.45377188e-02 8.18131614e-04 9.99698570e-01 5.14901646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.25, Y:5.23, Z:5.15 [[ 9.99108262e-01 3.45334088e-02 2.42924771e-02 3.04247649e+02] [-3.45020810e-02 9.99403167e-01 -1.70768854e-03 5.23133616e+00] [-2.43369509e-02 8.68024713e-04 9.99703436e-01 5.14808751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.28, Y:5.23, Z:5.15 [[ 9.99259855e-01 2.97581307e-02 2.43761316e-02 3.04277678e+02] [-2.97251803e-02 9.99556641e-01 -1.71306159e-03 5.22817182e+00] [-2.44163018e-02 9.87208766e-04 9.99701390e-01 5.14734661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.31, Y:5.23, Z:5.15 [[ 9.99317715e-01 2.77570025e-02 2.43649824e-02 3.04309414e+02] [-2.77234902e-02 9.99614164e-01 -1.71220978e-03 5.22515461e+00] [-2.44031073e-02 1.03555921e-03 9.99701663e-01 5.14621076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.34, Y:5.22, Z:5.15 [[ 9.99372470e-01 2.59021358e-02 2.41608348e-02 3.04342029e+02] [-2.58685038e-02 9.99663903e-01 -1.70356853e-03 5.22187823e+00] [-2.41968404e-02 1.07749484e-03 9.99706633e-01 5.14532509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.37, Y:5.22, Z:5.14 [[ 9.99429738e-01 2.25383159e-02 2.51440662e-02 3.04374880e+02] [-2.25006337e-02 9.99745243e-01 -1.78060828e-03 5.21875275e+00] [-2.51777925e-02 1.21383544e-03 9.99682252e-01 5.14437946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.41, Y:5.22, Z:5.14 [[ 9.99425573e-01 2.18313467e-02 2.59213452e-02 3.04408073e+02] [-2.17908560e-02 9.99760851e-01 -1.84353907e-03 5.21635264e+00] [-2.59553930e-02 1.27763179e-03 9.99662286e-01 5.14385831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.44, Y:5.21, Z:5.14 [[ 9.99417811e-01 2.14008720e-02 2.65714536e-02 3.04439989e+02] [-2.13579593e-02 9.99770092e-01 -1.89778181e-03 5.21470367e+00] [-2.66059588e-02 1.32916492e-03 9.99645115e-01 5.14347456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.47, Y:5.21, Z:5.14 [[ 9.99396321e-01 2.16510183e-02 2.71703483e-02 3.04473353e+02] [-2.16060343e-02 9.99764664e-01 -1.94814883e-03 5.21281019e+00] [-2.72061336e-02 1.35992930e-03 9.99628920e-01 5.14258792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.51, Y:5.21, Z:5.14 [[ 9.99393712e-01 2.17717355e-02 2.71698179e-02 3.04506794e+02] [-2.17265961e-02 9.99762037e-01 -1.95551824e-03 5.21031454e+00] [-2.72059275e-02 1.36402497e-03 9.99628920e-01 5.14169742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.54, Y:5.21, Z:5.14 [[ 9.99385664e-01 2.21931667e-02 2.71248638e-02 3.04539824e+02] [-2.21482394e-02 9.99752785e-01 -1.95566971e-03 5.20848406e+00] [-2.71615607e-02 1.35370029e-03 9.99630140e-01 5.14134885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.57, Y:5.21, Z:5.14 [[ 9.99386658e-01 2.06665064e-02 2.82701710e-02 3.04572198e+02] [-2.06168464e-02 9.99785355e-01 -2.04700850e-03 5.20695865e+00] [-2.83064074e-02 1.46291121e-03 9.99598223e-01 5.14119469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.61, Y:5.20, Z:5.14 [[ 9.99459533e-01 1.87555873e-02 2.69975958e-02 3.04605031e+02] [-1.87094091e-02 9.99823039e-01 -1.96206406e-03 5.20497465e+00] [-2.70296179e-02 1.45589457e-03 9.99633573e-01 5.14058441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.64, Y:5.20, Z:5.14 [[ 9.99679692e-01 1.42907681e-02 2.08874840e-02 3.04637101e+02] [-1.42620649e-02 9.99897132e-01 -1.52250875e-03 5.20261587e+00] [-2.09070932e-02 1.22412242e-03 9.99780673e-01 5.13779365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.67, Y:5.20, Z:5.14 [[ 9.99748306e-01 1.39464238e-02 1.75733380e-02 3.04669750e+02] [-1.39259929e-02 9.99902204e-01 -1.28445233e-03 5.20050970e+00] [-1.75895329e-02 1.03940286e-03 9.99844752e-01 5.13542198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.70, Y:5.20, Z:5.13 [[ 9.99781299e-01 1.42072970e-02 1.53462537e-02 3.04703090e+02] [-1.41916943e-02 9.99898660e-01 -1.12514018e-03 5.19902975e+00] [-1.53606837e-02 9.07104769e-04 9.99881606e-01 5.13352791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.74, Y:5.20, Z:5.13 [[ 9.99791534e-01 1.50873789e-02 1.37571971e-02 3.04736080e+02] [-1.50748795e-02 9.99885856e-01 -1.01182871e-03 5.19807875e+00] [-1.37708926e-02 8.04229686e-04 9.99904853e-01 5.13236794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.77, Y:5.20, Z:5.13 [[ 9.99746536e-01 1.83556018e-02 1.30359248e-02 3.04768452e+02] [-1.83446057e-02 9.99831260e-01 -9.62613624e-04 5.19935259e+00] [-1.30513944e-02 7.23230737e-04 9.99914565e-01 5.13215798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.80, Y:5.20, Z:5.13 [[ 9.99690999e-01 2.12199153e-02 1.29468519e-02 3.04798792e+02] [-2.12092223e-02 9.99774596e-01 -9.62673999e-04 5.19921443e+00] [-1.29643614e-02 6.87783873e-04 9.99915723e-01 5.13233677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.83, Y:5.20, Z:5.13 [[ 9.99607043e-01 2.47248278e-02 1.32077044e-02 3.04828864e+02] [-2.47140015e-02 9.99694080e-01 -9.82309339e-04 5.19924516e+00] [-1.32279513e-02 6.55508108e-04 9.99912292e-01 5.13260379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.86, Y:5.20, Z:5.13 [[ 9.99498830e-01 2.83995534e-02 1.39840920e-02 3.04857687e+02] [-2.83877698e-02 9.99596445e-01 -1.04046047e-03 5.19928011e+00] [-1.40079973e-02 6.42961834e-04 9.99901676e-01 5.13269671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.89, Y:5.20, Z:5.13 [[ 9.99357568e-01 3.24521189e-02 1.52089108e-02 3.04885424e+02] [-3.24386653e-02 9.99473089e-01 -1.13051295e-03 5.19917483e+00] [-1.52375846e-02 6.36429906e-04 9.99883699e-01 5.13257269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.42509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.91, Y:5.20, Z:5.13 [[ 9.99010719e-01 4.03806031e-02 1.86276727e-02 3.04913099e+02] [-4.03618347e-02 9.99184173e-01 -1.38256623e-03 5.20047076e+00] [-1.86683046e-02 6.29351436e-04 9.99825534e-01 5.13338132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.94, Y:5.20, Z:5.13 [[ 9.98837490e-01 4.35234341e-02 2.07214863e-02 3.04942291e+02] [-4.35009416e-02 9.99052206e-01 -1.53519255e-03 5.19976682e+00] [-2.07686635e-02 6.32003709e-04 9.99784108e-01 5.13348709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.97, Y:5.20, Z:5.13 [[ 9.98516977e-01 4.92182374e-02 2.32682402e-02 3.04970016e+02] [-4.91914611e-02 9.98787883e-01 -1.72209393e-03 5.19902302e+00] [-2.33247948e-02 5.74941290e-04 9.99727775e-01 5.13388222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.00, Y:5.20, Z:5.13 [[ 9.98359840e-01 5.22199687e-02 2.34670988e-02 3.04999038e+02] [-5.21936230e-02 9.98635478e-01 -1.73418607e-03 5.19693292e+00] [-2.35256366e-02 5.06508824e-04 9.99723106e-01 5.13298584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.03, Y:5.19, Z:5.13 [[ 9.98203931e-01 5.52945401e-02 2.30526701e-02 3.05026459e+02] [-5.52699712e-02 9.98469996e-01 -1.70204640e-03 5.19457548e+00] [-2.31115133e-02 4.24868988e-04 9.99732803e-01 5.13182765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.05, Y:5.19, Z:5.13 [[ 9.98068439e-01 5.80248862e-02 2.21924388e-02 3.05053970e+02] [-5.80028426e-02 9.98315077e-01 -1.63624193e-03 5.19230999e+00] [-2.22499890e-02 3.45856895e-04 9.99752379e-01 5.13055650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.08, Y:5.19, Z:5.13 [[ 9.97793345e-01 6.29826477e-02 2.10149118e-02 3.05081885e+02] [-6.29640250e-02 9.98014598e-01 -1.54731865e-03 5.19005981e+00] [-2.10706429e-02 2.20720820e-04 9.99777965e-01 5.12945284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.11, Y:5.19, Z:5.13 [[ 9.97692757e-01 6.47838533e-02 2.03031019e-02 3.05109446e+02] [-6.47668871e-02 9.97899305e-01 -1.49278235e-03 5.18784026e+00] [-2.03571595e-02 1.74369428e-04 9.99792756e-01 5.12904707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.14, Y:5.19, Z:5.13 [[ 9.97613042e-01 6.60456368e-02 2.01542150e-02 3.05136951e+02] [-6.60292197e-02 9.97816593e-01 -1.47967122e-03 5.18519885e+00] [-2.02079360e-02 1.45372217e-04 9.99795788e-01 5.12796106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.16, Y:5.18, Z:5.13 [[ 9.97538407e-01 6.73557444e-02 1.95020550e-02 3.05164009e+02] [-6.73406514e-02 9.97729017e-01 -1.43033637e-03 5.18223581e+00] [-1.95541076e-02 1.13534374e-04 9.99808794e-01 5.12722948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.19, Y:5.18, Z:5.13 [[ 9.97318097e-01 7.06951942e-02 1.89420711e-02 3.05190352e+02] [-7.06816308e-02 9.97497964e-01 -1.38542355e-03 5.17831934e+00] [-1.89926201e-02 4.28515074e-05 9.99819623e-01 5.12627052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.22, Y:5.18, Z:5.13 [[ 9.97202650e-01 7.23342804e-02 1.88315593e-02 3.05217979e+02] [-7.23212131e-02 9.97380445e-01 -1.37489443e-03 5.17555612e+00] [-1.88816810e-02 9.12715268e-06 9.99821725e-01 5.12567516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.25, Y:5.17, Z:5.13 [[ 9.96931886e-01 7.56878599e-02 1.99539957e-02 3.05245422e+02] [-7.56739049e-02 9.97131558e-01 -1.45459287e-03 5.17231670e+00] [-2.00068538e-02 -5.98667571e-05 9.99799841e-01 5.12544785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.27, Y:5.17, Z:5.12 [[ 9.96792248e-01 7.73549011e-02 2.05288562e-02 3.05273611e+02] [-7.73405293e-02 9.97003616e-01 -1.49428670e-03 5.16969431e+00] [-2.05829343e-02 -9.82192059e-05 9.99788144e-01 5.12498415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.30, Y:5.17, Z:5.12 [[ 9.96562988e-01 7.96741104e-02 2.26770064e-02 3.05301327e+02] [-7.96572329e-02 9.96820951e-01 -1.64803799e-03 5.16527122e+00] [-2.27362211e-02 -1.64013917e-04 9.99741485e-01 5.12407697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.33, Y:5.15, Z:5.12 [[ 9.96893722e-01 7.54577203e-02 2.25618901e-02 3.05327018e+02] [-7.54399864e-02 9.97149000e-01 -1.63733866e-03 5.15380065e+00] [-2.26211160e-02 -6.98160465e-05 9.99744107e-01 5.12209935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.35, Y:5.12, Z:5.12 [[ 9.99300177e-01 3.34450681e-02 1.67506387e-02 3.05353363e+02] [-3.34294116e-02 9.99440344e-01 -1.21388673e-03 5.12125707e+00] [-1.67818626e-02 6.53073227e-04 9.99858961e-01 5.11537750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.38, Y:5.12, Z:5.11 [[ 9.99302010e-01 3.33901887e-02 1.67507392e-02 3.05382596e+02] [-3.33745478e-02 9.99442179e-01 -1.21249711e-03 5.11919973e+00] [-1.67818808e-02 6.52602455e-04 9.99858961e-01 5.11459672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.41, Y:5.12, Z:5.11 [[ 9.99354551e-01 3.19457257e-02 1.64301880e-02 3.05412391e+02] [-3.19305004e-02 9.99489385e-01 -1.18822891e-03 5.11582694e+00] [-1.64597574e-02 6.62837844e-04 9.99864309e-01 5.11354895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.44, Y:5.11, Z:5.11 [[ 9.99358234e-01 3.18303138e-02 1.64301738e-02 3.05441602e+02] [-3.18150697e-02 9.99493066e-01 -1.18842717e-03 5.11376553e+00] [-1.64596728e-02 6.64937355e-04 9.99864309e-01 5.11276901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.47, Y:5.11, Z:5.11 [[ 9.99361903e-01 3.17148456e-02 1.64303108e-02 3.05470813e+02] [-3.16996171e-02 9.99496737e-01 -1.18652903e-03 5.11170648e+00] [-1.64596726e-02 6.64937348e-04 9.99864309e-01 5.11198846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.50, Y:5.11, Z:5.11 [[ 9.99400090e-01 3.07131342e-02 1.60050842e-02 3.05499700e+02] [-3.06985976e-02 9.99528022e-01 -1.15320437e-03 5.10898302e+00] [-1.60329487e-02 6.61178915e-04 9.99871245e-01 5.11104201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.53, Y:5.11, Z:5.11 [[ 9.99403595e-01 3.05989068e-02 1.60050672e-02 3.05528912e+02] [-3.05843517e-02 9.99531524e-01 -1.15344174e-03 5.10693128e+00] [-1.60328633e-02 6.63249214e-04 9.99871245e-01 5.11026206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.56, Y:5.10, Z:5.11 [[ 9.99407085e-01 3.04846238e-02 1.60051988e-02 3.05558124e+02] [-3.04700833e-02 9.99535016e-01 -1.15161176e-03 5.10488188e+00] [-1.60328631e-02 6.63249207e-04 9.99871245e-01 5.10948152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.59, Y:5.10, Z:5.11 [[ 9.99423966e-01 3.01038895e-02 1.56681976e-02 3.05588062e+02] [-3.00899488e-02 9.99546562e-01 -1.12477873e-03 5.10214545e+00] [-1.56949533e-02 6.52675556e-04 9.99876614e-01 5.10868394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.17509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.62, Y:5.10, Z:5.11 [[ 9.99425621e-01 3.00488703e-02 1.56682246e-02 3.05617295e+02] [-3.00349287e-02 9.99548217e-01 -1.12440274e-03 5.10010674e+00] [-1.56949330e-02 6.53162901e-04 9.99876614e-01 5.10790345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.65, Y:5.10, Z:5.11 [[ 9.99427273e-01 2.99938380e-02 1.56682864e-02 3.05646529e+02] [-2.99799032e-02 9.99549870e-01 -1.12354009e-03 5.09806941e+00] [-1.56949329e-02 6.53162900e-04 9.99876614e-01 5.10712281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.68, Y:5.10, Z:5.11 [[ 9.99428922e-01 2.99388056e-02 1.56683482e-02 3.05675762e+02] [-2.99248776e-02 9.99551520e-01 -1.12267744e-03 5.09603369e+00] [-1.56949329e-02 6.53162898e-04 9.99876614e-01 5.10634218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.71, Y:5.09, Z:5.11 [[ 9.99443043e-01 2.96223017e-02 1.53663128e-02 3.05705400e+02] [-2.96088840e-02 9.99560956e-01 -1.10000777e-03 5.09268695e+00] [-1.53921510e-02 6.44415744e-04 9.99881326e-01 5.10504407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.74, Y:5.09, Z:5.10 [[ 9.99435363e-01 2.96882042e-02 1.57341933e-02 3.05735074e+02] [-2.96741540e-02 9.99558991e-01 -1.12573723e-03 5.09012180e+00] [-1.57606755e-02 6.58202719e-04 9.99875576e-01 5.10382098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.76, Y:5.09, Z:5.10 [[ 9.99436990e-01 2.96333675e-02 1.57342204e-02 3.05764308e+02] [-2.96193164e-02 9.99560618e-01 -1.12535878e-03 5.08809019e+00] [-1.57606552e-02 6.58688340e-04 9.99875576e-01 5.10304048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.79, Y:5.09, Z:5.10 [[ 9.99436287e-01 2.92464786e-02 1.64849221e-02 3.05792417e+02] [-2.92310183e-02 9.99571988e-01 -1.17806789e-03 5.08619431e+00] [-1.65123207e-02 6.95532742e-04 9.99863420e-01 5.10218078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.82, Y:5.08, Z:5.10 [[ 9.99433395e-01 2.88349708e-02 1.73618337e-02 3.05821996e+02] [-2.88177805e-02 9.99583913e-01 -1.23954323e-03 5.08458077e+00] [-1.73903519e-02 7.38511382e-04 9.99848504e-01 5.10167014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.85, Y:5.08, Z:5.10 [[ 9.99412510e-01 2.82272369e-02 1.94385728e-02 3.05852739e+02] [-2.82055941e-02 9.99601181e-01 -1.38671637e-03 5.08385974e+00] [-1.94699635e-02 8.37625197e-04 9.99810091e-01 5.10124263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.88, Y:5.08, Z:5.10 [[ 9.99388301e-01 2.81540526e-02 2.07454448e-02 3.05882712e+02] [-2.81293877e-02 9.99603195e-01 -1.47984127e-03 5.08240033e+00] [-2.07788765e-02 8.95379394e-04 9.99783695e-01 5.10036419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.92, Y:5.08, Z:5.10 [[ 9.99371441e-01 2.83508724e-02 2.12826299e-02 3.05915237e+02] [-2.83249763e-02 9.99597616e-01 -1.51729517e-03 5.08071990e+00] [-2.13170828e-02 9.13511468e-04 9.99772348e-01 5.09983162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.95, Y:5.08, Z:5.10 [[ 9.99346793e-01 2.87205399e-02 2.19344209e-02 3.05947567e+02] [-2.86929926e-02 9.99587039e-01 -1.56964546e-03 5.07915919e+00] [-2.19704439e-02 9.39255982e-04 9.99758179e-01 5.09864180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.98, Y:5.08, Z:5.10 [[ 9.99351393e-01 2.84051013e-02 2.21346854e-02 3.05979095e+02] [-2.83768332e-02 9.99596032e-01 -1.59021185e-03 5.07827032e+00] [-2.21709138e-02 9.61068155e-04 9.99753733e-01 5.09732749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.01, Y:5.08, Z:5.10 [[ 9.99382435e-01 2.78841202e-02 2.13828003e-02 3.06011664e+02] [-2.78575712e-02 9.99610719e-01 -1.53852883e-03 5.07672796e+00] [-2.14173769e-02 9.41905804e-04 9.99770178e-01 5.09601438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.04, Y:5.07, Z:5.09 [[ 9.99425073e-01 2.70416491e-02 2.04517126e-02 3.06043229e+02] [-2.70170825e-02 9.99633881e-01 -1.47659766e-03 5.07496303e+00] [-2.04841545e-02 9.23203121e-04 9.99789751e-01 5.09484636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.08, Y:5.07, Z:5.09 [[ 9.99460926e-01 2.62332236e-02 1.97401962e-02 3.06075573e+02] [-2.62100940e-02 9.99655434e-01 -1.42955964e-03 5.07303253e+00] [-1.97708964e-02 9.11396607e-04 9.99804121e-01 5.09348868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.11, Y:5.07, Z:5.09 [[ 9.99496072e-01 2.53726844e-02 1.90742818e-02 3.06107804e+02] [-2.53508471e-02 9.99677655e-01 -1.38581935e-03 5.07229477e+00] [-1.91032953e-02 9.01571792e-04 9.99817109e-01 5.09187468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.14, Y:5.07, Z:5.09 [[ 9.99483696e-01 2.60025696e-02 1.88734899e-02 3.06139959e+02] [-2.59812110e-02 9.99661484e-01 -1.37603185e-03 5.07126419e+00] [-1.89028813e-02 8.84965270e-04 9.99820933e-01 5.09131947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.17, Y:5.07, Z:5.09 [[ 9.99454517e-01 2.73167764e-02 1.85596985e-02 3.06171157e+02] [-2.72962591e-02 9.99626465e-01 -1.35795366e-03 5.07082164e+00] [-1.85898608e-02 8.50602577e-04 9.99826832e-01 5.09087563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.20, Y:5.07, Z:5.09 [[ 9.99283486e-01 3.17584837e-02 2.05891403e-02 3.06202148e+02] [-3.17340309e-02 9.99495203e-01 -1.51337714e-03 5.07299346e+00] [-2.06268095e-02 8.58916375e-04 9.99786876e-01 5.09062626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.23, Y:5.07, Z:5.09 [[ 9.99167392e-01 3.50403431e-02 2.08972999e-02 3.06231365e+02] [-3.50158670e-02 9.99385576e-01 -1.53613065e-03 5.07319321e+00] [-2.09382866e-02 8.03114577e-04 9.99780447e-01 5.09033516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.26, Y:5.07, Z:5.09 [[ 9.99019152e-01 3.86484880e-02 2.16108172e-02 3.06261458e+02] [-3.86231614e-02 9.99252585e-01 -1.58826091e-03 5.07361282e+00] [-2.16560488e-02 7.52024992e-04 9.99765197e-01 5.08974004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.29, Y:5.08, Z:5.09 [[ 9.98625750e-01 4.68286333e-02 2.35306379e-02 3.06290253e+02] [-4.68008931e-02 9.98902742e-01 -1.72852122e-03 5.07657159e+00] [-2.35857630e-02 6.24890928e-04 9.99721622e-01 5.08919476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.32, Y:5.07, Z:5.09 [[ 9.98628272e-01 4.67747562e-02 2.35307663e-02 3.06319482e+02] [-4.67470423e-02 9.98905267e-01 -1.72677176e-03 5.07448536e+00] [-2.35857757e-02 6.24409368e-04 9.99721622e-01 5.08841398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.35, Y:5.07, Z:5.09 [[ 9.98400945e-01 5.08806261e-02 2.46315890e-02 3.06347044e+02] [-5.08515392e-02 9.98704590e-01 -1.80621919e-03 5.07479149e+00] [-2.46915825e-02 5.50776737e-04 9.99694965e-01 5.08779601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.92509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.38, Y:5.08, Z:5.09 [[ 9.97915710e-01 5.88988784e-02 2.63658612e-02 3.06376214e+02] [-5.88684133e-02 9.98263884e-01 -1.93085714e-03 5.07721957e+00] [-2.64338123e-02 3.74716257e-04 9.99650496e-01 5.08767767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.41, Y:5.08, Z:5.09 [[ 9.97918831e-01 5.88459136e-02 2.63659981e-02 3.06405443e+02] [-5.88154794e-02 9.98267008e-01 -1.92898567e-03 5.07514030e+00] [-2.64338190e-02 3.74242300e-04 9.99650496e-01 5.08689688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.43, Y:5.08, Z:5.09 [[ 9.97697000e-01 6.22947250e-02 2.68339979e-02 3.06433458e+02] [-6.22644867e-02 9.98057756e-01 -1.96175917e-03 5.07532754e+00] [-2.69040870e-02 2.86436137e-04 9.99637978e-01 5.08650915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.46, Y:5.08, Z:5.09 [[ 9.97483852e-01 6.53464889e-02 2.74918331e-02 3.06461180e+02] [-6.53159770e-02 9.97862613e-01 -2.00735297e-03 5.07514545e+00] [-2.75642459e-02 2.06646237e-04 9.99620013e-01 5.08587253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.49, Y:5.08, Z:5.08 [[ 9.97170710e-01 7.00046447e-02 2.73847681e-02 3.06489430e+02] [-6.99762044e-02 9.97546663e-01 -1.99666620e-03 5.07509043e+00] [-2.74573599e-02 7.47349194e-05 9.99622973e-01 5.08499196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.52, Y:5.07, Z:5.08 [[ 9.97061921e-01 7.16699414e-02 2.70360112e-02 3.06517054e+02] [-7.16429105e-02 9.97428403e-01 -1.96838323e-03 5.07372365e+00] [-2.71075594e-02 2.56614311e-05 9.99632522e-01 5.08430430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.54, Y:5.07, Z:5.08 [[ 9.96998863e-01 7.24996803e-02 2.71489199e-02 3.06544208e+02] [-7.24728132e-02 9.97368436e-01 -1.97357652e-03 5.07213765e+00] [-2.72205594e-02 9.49433849e-08 9.99629452e-01 5.08343156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.57, Y:5.07, Z:5.08 [[ 9.96962445e-01 7.30455965e-02 2.70226657e-02 3.06570645e+02] [-7.30193033e-02 9.97328602e-01 -1.95981730e-03 5.07027210e+00] [-2.70936334e-02 -1.93119733e-05 9.99632900e-01 5.08259676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.60, Y:5.07, Z:5.08 [[ 9.97054850e-01 7.20576214e-02 2.62550070e-02 3.06597387e+02] [-7.20325430e-02 9.97400471e-01 -1.90093958e-03 5.06773574e+00] [-2.63237335e-02 4.12610674e-06 9.99653470e-01 5.08167673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.63, Y:5.07, Z:5.08 [[ 9.97119328e-01 7.11243387e-02 2.63509650e-02 3.06625145e+02] [-7.10988367e-02 9.97467457e-01 -1.90463677e-03 5.06512562e+00] [-2.64196960e-02 2.56271800e-05 9.99650939e-01 5.08070718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.65, Y:5.06, Z:5.08 [[ 9.97234137e-01 6.96145209e-02 2.60364063e-02 3.06651772e+02] [-6.95891817e-02 9.97573964e-01 -1.87913984e-03 5.06259101e+00] [-2.61040565e-02 6.20901916e-05 9.99659229e-01 5.08038990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.68, Y:5.06, Z:5.08 [[ 9.97330859e-01 6.82334587e-02 2.59875406e-02 3.06678967e+02] [-6.82078300e-02 9.97669377e-01 -1.87237882e-03 5.05969972e+00] [-2.60547324e-02 9.48274232e-05 9.99660513e-01 5.07974821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.71, Y:5.06, Z:5.08 [[ 9.97573827e-01 6.42167977e-02 2.68823766e-02 3.06707038e+02] [-6.41880072e-02 9.97935951e-01 -1.93342713e-03 5.05509196e+00] [-2.69510485e-02 2.03210126e-04 9.99636734e-01 5.07917716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.74, Y:5.05, Z:5.08 [[ 9.97705024e-01 6.19874144e-02 2.72441983e-02 3.06735822e+02] [-6.19570944e-02 9.98076896e-01 -1.95644596e-03 5.05165991e+00] [-2.73130799e-02 2.63984601e-04 9.99626893e-01 5.07853803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.76, Y:5.05, Z:5.08 [[ 9.97834474e-01 5.94501155e-02 2.81433010e-02 3.06763817e+02] [-5.94168122e-02 9.98231219e-01 -2.01886883e-03 5.04839333e+00] [-2.82135436e-02 3.42311694e-04 9.99601860e-01 5.07779717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.79, Y:5.04, Z:5.08 [[ 9.98099796e-01 5.42886489e-02 2.91468565e-02 3.06792467e+02] [-5.42508053e-02 9.98525157e-01 -2.08818063e-03 5.04359174e+00] [-2.92172339e-02 5.02972224e-04 9.99572959e-01 5.07734384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.82, Y:5.04, Z:5.08 [[ 9.98223662e-01 5.15221882e-02 2.99163039e-02 3.06819848e+02] [-5.14811467e-02 9.98671672e-01 -2.14100661e-03 5.04022858e+00] [-2.99868745e-02 5.97077831e-04 9.99550114e-01 5.07639049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.85, Y:5.04, Z:5.08 [[ 9.98358869e-01 4.86711678e-02 3.01775823e-02 3.06849578e+02] [-4.86281819e-02 9.98814621e-01 -2.15714379e-03 5.03663356e+00] [-3.02468011e-02 6.86122676e-04 9.99542225e-01 5.07555478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.88, Y:5.03, Z:5.07 [[ 9.98482828e-01 4.59987420e-02 3.02681055e-02 3.06879459e+02] [-4.59543035e-02 9.98941202e-01 -2.16253040e-03 5.03301940e+00] [-3.03355314e-02 7.68299766e-04 9.99539477e-01 5.07462353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.91, Y:5.03, Z:5.07 [[ 9.98691893e-01 4.14225945e-02 2.99778413e-02 3.06908321e+02] [-4.13769758e-02 9.99141313e-01 -2.14075356e-03 5.02791799e+00] [-3.00407753e-02 8.97560815e-04 9.99548271e-01 5.07340088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.94, Y:5.02, Z:5.07 [[ 9.98781078e-01 3.96703116e-02 2.93704780e-02 3.06939165e+02] [-3.96257775e-02 9.99212390e-01 -2.09700468e-03 5.02438236e+00] [-2.94305343e-02 9.30620569e-04 9.99566395e-01 5.07263306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.97, Y:5.02, Z:5.07 [[ 9.98837984e-01 3.83329800e-02 2.92106841e-02 3.06970887e+02] [-3.82883100e-02 9.99264554e-01 -2.08724081e-03 5.02048917e+00] [-2.92692113e-02 9.66387674e-04 9.99571098e-01 5.07138753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.00, Y:5.02, Z:5.07 [[ 9.98880267e-01 3.71685808e-02 2.92695751e-02 3.07002967e+02] [-3.71230108e-02 9.99308499e-01 -2.09896191e-03 5.01682406e+00] [-2.93273506e-02 1.01003688e-03 9.99569350e-01 5.06997054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.03, Y:5.01, Z:5.07 [[ 9.98941226e-01 3.57820797e-02 2.89148609e-02 3.07034366e+02] [-3.57368188e-02 9.99359070e-01 -2.08073763e-03 5.01205294e+00] [-2.89707817e-02 1.04520945e-03 9.99579712e-01 5.06866016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.07, Y:5.01, Z:5.07 [[ 9.98946604e-01 3.58203445e-02 2.86807612e-02 3.07067570e+02] [-3.57756728e-02 9.99357703e-01 -2.06934669e-03 5.00859394e+00] [-2.87364644e-02 1.04109332e-03 9.99586480e-01 5.06748246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.67509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.10, Y:5.00, Z:5.07 [[ 9.98955302e-01 3.63371074e-02 2.77113733e-02 3.07100481e+02] [-3.62953877e-02 9.99339090e-01 -2.00718382e-03 5.00457233e+00] [-2.77659938e-02 9.99291882e-04 9.99613951e-01 5.06597758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.13, Y:5.00, Z:5.07 [[ 9.98952054e-01 3.64267112e-02 2.77108129e-02 3.07133078e+02] [-3.63848125e-02 9.99335822e-01 -2.01489112e-03 5.00214997e+00] [-2.77658039e-02 1.00452689e-03 9.99613951e-01 5.06510958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.17, Y:5.00, Z:5.06 [[ 9.98963720e-01 3.69600024e-02 2.65602016e-02 3.07165007e+02] [-3.69216390e-02 9.99316293e-01 -1.93352250e-03 4.99891121e+00] [-2.66135052e-02 9.50872649e-04 9.99645346e-01 5.06353502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.20, Y:5.00, Z:5.06 [[ 9.98948357e-01 3.74499022e-02 2.64515605e-02 3.07196657e+02] [-3.74118365e-02 9.99298063e-01 -1.93267057e-03 4.99654244e+00] [-2.65053715e-02 9.41036639e-04 9.99648228e-01 5.06230930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.795099893 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:307.23, Y:5.00, Z:5.06 [[ 9.98981739e-01 3.86478030e-02 2.32772977e-02 3.07227328e+02] [-3.83587761e-02 9.99182841e-01 -1.27379363e-02 4.99959330e+00] [-2.37505697e-02 1.18320771e-02 9.99647894e-01 5.06489623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.26, Y:4.99, Z:5.06 [[ 9.98929498e-01 3.72247275e-02 2.74622959e-02 3.07257649e+02] [-3.74878486e-02 9.99255382e-01 9.12918490e-03 4.98674731e+00] [-2.71020155e-02 -1.01489145e-02 9.99581152e-01 5.05734119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.29, Y:4.99, Z:5.06 [[ 9.98939209e-01 3.71757863e-02 2.71738446e-02 3.07289052e+02] [-3.71351481e-02 9.99308254e-01 -1.99878387e-03 4.99001214e+00] [-2.72293535e-02 9.87558838e-04 9.99628725e-01 5.05963936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.32, Y:4.99, Z:5.06 [[ 9.98939509e-01 3.72289137e-02 2.70899581e-02 3.07321385e+02] [-3.71883728e-02 9.99306274e-01 -1.99897416e-03 4.98774971e+00] [-2.71455847e-02 9.89422803e-04 9.99631001e-01 5.05882607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.35, Y:4.99, Z:5.06 [[ 9.98950393e-01 3.68767012e-02 2.71702382e-02 3.07353951e+02] [-3.68356022e-02 9.99319314e-01 -2.01177946e-03 4.98548441e+00] [-2.72259315e-02 1.00883580e-03 9.99628797e-01 5.05786091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.39, Y:4.98, Z:5.06 [[ 9.98964125e-01 3.65530902e-02 2.71025704e-02 3.07386104e+02] [-3.65118884e-02 9.99331190e-01 -2.01370183e-03 4.98320111e+00] [-2.71580510e-02 1.02204986e-03 9.99630630e-01 5.05683240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.42, Y:4.98, Z:5.06 [[ 9.99041644e-01 3.46474468e-02 2.67459777e-02 3.07417170e+02] [-3.46064599e-02 9.99399028e-01 -1.99394675e-03 4.98083792e+00] [-2.67989893e-02 1.06645223e-03 9.99640274e-01 5.05577231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.45, Y:4.98, Z:5.06 [[ 9.99099625e-01 3.34058052e-02 2.61532177e-02 3.07449548e+02] [-3.33660331e-02 9.99441285e-01 -1.95577245e-03 4.97832064e+00] [-2.62039397e-02 1.08138239e-03 9.99656033e-01 5.05515161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.48, Y:4.98, Z:5.05 [[ 9.99153650e-01 3.20143884e-02 2.58275572e-02 3.07481421e+02] [-3.19749687e-02 9.99486791e-01 -1.93791754e-03 4.97568175e+00] [-2.58763435e-02 1.11044205e-03 9.99664535e-01 5.05426240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.51, Y:4.97, Z:5.05 [[ 9.99241052e-01 2.96060199e-02 2.53140796e-02 3.07513468e+02] [-2.95672682e-02 9.99560980e-01 -1.90384632e-03 4.97304997e+00] [-2.53593315e-02 1.15393322e-03 9.99677734e-01 5.05355129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.55, Y:4.97, Z:5.05 [[ 9.99263751e-01 2.89377305e-02 2.51905327e-02 3.07546659e+02] [-2.88990355e-02 9.99580532e-01 -1.89886406e-03 4.97074256e+00] [-2.52349149e-02 1.16948392e-03 9.99680865e-01 5.05291517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.58, Y:4.97, Z:5.05 [[ 9.99260568e-01 2.87880693e-02 2.54865390e-02 3.07578978e+02] [-2.87482209e-02 9.99584824e-01 -1.92861019e-03 4.96907488e+00] [-2.55314786e-02 1.19449146e-03 9.99673305e-01 5.05291457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.61, Y:4.97, Z:5.05 [[ 9.99217618e-01 2.95613971e-02 2.62731089e-02 3.07612252e+02] [-2.95191266e-02 9.99562224e-01 -1.99536867e-03 4.96684129e+00] [-2.63205931e-02 1.21824830e-03 9.99652811e-01 5.05201946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.65, Y:4.96, Z:5.05 [[ 9.99160601e-01 3.07346611e-02 2.70827403e-02 3.07645124e+02] [-3.06899636e-02 9.99526820e-01 -2.06462202e-03 4.96490513e+00] [-2.71333807e-02 1.23172066e-03 9.99631063e-01 5.05130034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.68, Y:4.96, Z:5.05 [[ 9.99094294e-01 3.24002481e-02 2.75828815e-02 3.07676933e+02] [-3.23542931e-02 9.99474234e-01 -2.11085974e-03 4.96343265e+00] [-2.76367718e-02 1.21652329e-03 9.99617291e-01 5.05046302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.71, Y:4.96, Z:5.05 [[ 9.99015249e-01 3.47623304e-02 2.75701485e-02 3.07709938e+02] [-3.47171097e-02 9.99394937e-01 -2.11732708e-03 4.96205874e+00] [-2.76270701e-02 1.15808617e-03 9.99617629e-01 5.05002110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.74, Y:4.96, Z:5.05 [[ 9.98797370e-01 4.04141947e-02 2.77580155e-02 3.07742292e+02] [-4.03703130e-02 9.99182496e-01 -2.13968566e-03 4.96237020e+00] [-2.78217968e-02 1.01651263e-03 9.99612382e-01 5.04916398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.77, Y:4.96, Z:5.05 [[ 9.98649549e-01 4.37261751e-02 2.80552993e-02 3.07772326e+02] [-4.36824635e-02 9.99043110e-01 -2.16934099e-03 4.96156379e+00] [-2.81233105e-02 9.40886812e-04 9.99604019e-01 5.04826671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.80, Y:4.96, Z:5.05 [[ 9.98496215e-01 4.71328549e-02 2.79964610e-02 3.07802366e+02] [-4.70906653e-02 9.98888274e-01 -2.16474000e-03 4.96099355e+00] [-2.80673670e-02 8.43112723e-04 9.99605678e-01 5.04781238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.83, Y:4.96, Z:5.05 [[ 9.98149874e-01 5.36059299e-02 2.86920512e-02 3.07831591e+02] [-5.35643207e-02 9.98561939e-01 -2.21738581e-03 4.96212726e+00] [-2.87696553e-02 6.76413130e-04 9.99585839e-01 5.04707915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.86, Y:4.96, Z:5.05 [[ 9.97992705e-01 5.63475851e-02 2.89051840e-02 3.07860725e+02] [-5.63065655e-02 9.98411033e-01 -2.23174575e-03 4.96137787e+00] [-2.89850081e-02 5.99714346e-04 9.99579666e-01 5.04652235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.42509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.89, Y:4.96, Z:5.05 [[ 9.97874080e-01 5.85181773e-02 2.86870042e-02 3.07889057e+02] [-5.84787318e-02 9.98286202e-01 -2.21279151e-03 4.96088084e+00] [-2.87673290e-02 5.30507668e-04 9.99585994e-01 5.04573215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.92, Y:4.96, Z:5.04 [[ 9.97715938e-01 6.17819243e-02 2.73111822e-02 3.07917797e+02] [-6.17474585e-02 9.98089587e-01 -2.10433211e-03 4.96125750e+00] [-2.73890163e-02 4.13129599e-04 9.99624765e-01 5.04476879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.95, Y:4.96, Z:5.04 [[ 9.97681605e-01 6.26572610e-02 2.65609266e-02 3.07945599e+02] [-6.26250230e-02 9.98035032e-01 -2.04466092e-03 4.96003179e+00] [-2.66368481e-02 3.76541950e-04 9.99645105e-01 5.04376968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.97, Y:4.96, Z:5.04 [[ 9.97666517e-01 6.30699238e-02 2.61477662e-02 3.07974313e+02] [-6.30388833e-02 9.98009047e-01 -2.01054824e-03 4.95887179e+00] [-2.62225123e-02 3.57530678e-04 9.99656067e-01 5.04266353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.00, Y:4.96, Z:5.04 [[ 9.97704984e-01 6.28891256e-02 2.50942881e-02 3.08002293e+02] [-6.28605221e-02 9.98020460e-01 -1.92784669e-03 4.95804604e+00] [-2.51658536e-02 3.45982196e-04 9.99683230e-01 5.04157040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.03, Y:4.96, Z:5.04 [[ 9.97724323e-01 6.27248242e-02 2.47340199e-02 3.08030649e+02] [-6.26970512e-02 9.98030801e-01 -1.89753083e-03 4.95608711e+00] [-2.48043360e-02 3.42462552e-04 9.99692266e-01 5.04070269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.06, Y:4.95, Z:5.04 [[ 9.97772922e-01 6.19303762e-02 2.47754942e-02 3.08057382e+02] [-6.19023303e-02 9.98080407e-01 -1.89809013e-03 4.95420954e+00] [-2.48454848e-02 3.60202103e-04 9.99691238e-01 5.03952428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.09, Y:4.95, Z:5.04 [[ 9.97827527e-01 6.10228913e-02 2.48280738e-02 3.08085384e+02] [-6.09945438e-02 9.98136295e-01 -1.89816632e-03 4.95213440e+00] [-2.48976331e-02 3.79665575e-04 9.99689934e-01 5.03901149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.11, Y:4.95, Z:5.04 [[ 9.97972854e-01 5.83704136e-02 2.53589555e-02 3.08112916e+02] [-5.83400575e-02 9.98294891e-01 -1.93588243e-03 4.95000308e+00] [-2.54287140e-02 4.52515190e-04 9.99676536e-01 5.03870301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.14, Y:4.95, Z:5.04 [[ 9.98067005e-01 5.64430126e-02 2.60084497e-02 3.08141806e+02] [-5.64104906e-02 9.98405691e-01 -1.98303005e-03 4.94768089e+00] [-2.60789124e-02 5.12047455e-04 9.99659756e-01 5.03788531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.17, Y:4.95, Z:5.04 [[ 9.98177388e-01 5.40931706e-02 2.67550151e-02 3.08170852e+02] [-5.40579627e-02 9.98535720e-01 -2.03800761e-03 4.94524131e+00] [-2.68260805e-02 5.87971506e-04 9.99639943e-01 5.03689892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.20, Y:4.94, Z:5.04 [[ 9.98309598e-01 5.13696351e-02 2.71865413e-02 3.08198269e+02] [-5.13323260e-02 9.98679484e-01 -2.06892620e-03 4.94257628e+00] [-2.72569210e-02 6.69880486e-04 9.99628237e-01 5.03627884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.23, Y:4.94, Z:5.03 [[ 9.98589705e-01 4.51360122e-02 2.79524889e-02 3.08227163e+02] [-4.50941995e-02 9.98980480e-01 -2.12473794e-03 4.93914392e+00] [-2.80198930e-02 8.61246319e-04 9.99606995e-01 5.03421704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.26, Y:4.94, Z:5.03 [[ 9.98732982e-01 4.19846854e-02 2.77437858e-02 3.08256790e+02] [-4.19423354e-02 9.99117812e-01 -2.10689783e-03 4.93624258e+00] [-2.78077680e-02 9.40589180e-04 9.99612847e-01 5.03301380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.29, Y:4.93, Z:5.03 [[ 9.98733745e-01 4.19664770e-02 2.77438609e-02 3.08286855e+02] [-4.19241474e-02 9.99118577e-01 -2.10590868e-03 4.93399069e+00] [-2.78077844e-02 9.40104351e-04 9.99612847e-01 5.03220959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.32, Y:4.93, Z:5.03 [[ 9.98870425e-01 3.88323082e-02 2.73847741e-02 3.08317658e+02] [-3.87899045e-02 9.99245227e-01 -2.07817153e-03 4.93115643e+00] [-2.74448050e-02 1.01357131e-03 9.99622807e-01 5.03119215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.35, Y:4.93, Z:5.03 [[ 9.99071757e-01 3.29677210e-02 2.77264214e-02 3.08349094e+02] [-3.29219963e-02 9.99455709e-01 -2.10414101e-03 4.92793546e+00] [-2.77806989e-02 1.18937871e-03 9.99613334e-01 5.02975567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.38, Y:4.93, Z:5.03 [[ 9.99141225e-01 3.07799350e-02 2.77382016e-02 3.08381220e+02] [-3.07332937e-02 9.99525401e-01 -2.10634331e-03 4.92527941e+00] [-2.77898702e-02 1.25204814e-03 9.99613003e-01 5.02908579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.41, Y:4.92, Z:5.03 [[ 9.99194577e-01 2.91840048e-02 2.75407148e-02 3.08414647e+02] [-2.91372109e-02 9.99573218e-01 -2.09894604e-03 4.92280635e+00] [-2.75902165e-02 1.29479589e-03 9.99618479e-01 5.02835401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.45, Y:4.92, Z:5.03 [[ 9.99216865e-01 2.81711038e-02 2.77857161e-02 3.08446666e+02] [-2.81228542e-02 9.99602214e-01 -2.12582381e-03 4.92040893e+00] [-2.78345501e-02 1.34274537e-03 9.99611642e-01 5.02738444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.48, Y:4.92, Z:5.03 [[ 9.99228581e-01 2.76638434e-02 2.78739143e-02 3.08478745e+02] [-2.76148769e-02 9.99616345e-01 -2.14020175e-03 4.91789661e+00] [-2.79224266e-02 1.36881605e-03 9.99609156e-01 5.02673373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.51, Y:4.92, Z:5.03 [[ 9.99224733e-01 2.75161419e-02 2.81566096e-02 3.08512008e+02] [-2.74659021e-02 9.99620387e-01 -2.16956935e-03 4.91580083e+00] [-2.82056192e-02 1.39454067e-03 9.99601170e-01 5.02601004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.54, Y:4.92, Z:5.02 [[ 9.99152864e-01 2.90099889e-02 2.91886008e-02 3.08542405e+02] [-2.86778495e-02 9.99519830e-01 -1.17341611e-02 4.91857358e+00] [-2.95149932e-02 1.08871543e-02 9.99505045e-01 5.02374988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.58, Y:4.91, Z:5.02 [[ 9.99168888e-01 2.94113334e-02 2.82224504e-02 3.08575649e+02] [-2.96324578e-02 9.99533106e-01 7.44898236e-03 4.90666688e+00] [-2.79901890e-02 -8.27909199e-03 9.99573912e-01 5.02096162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.61, Y:4.91, Z:5.02 [[ 9.99137169e-01 3.17119755e-02 2.68191583e-02 3.08608603e+02] [-3.16673133e-02 9.99496283e-01 -2.08850215e-03 4.90900016e+00] [-2.68718796e-02 1.23740944e-03 9.99638120e-01 5.02240121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.17509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.64, Y:4.91, Z:5.02 [[ 9.99079881e-01 3.41928576e-02 2.58889787e-02 3.08641422e+02] [-3.41518849e-02 9.99414606e-01 -2.02325935e-03 4.90686187e+00] [-2.59430045e-02 1.13724028e-03 9.99662777e-01 5.02123081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.67, Y:4.91, Z:5.02 [[ 9.98954765e-01 4.07148802e-02 2.07768133e-02 3.08671800e+02] [-4.04761096e-02 9.99110989e-01 -1.17862968e-02 4.91107560e+00] [-2.12382201e-02 1.09330128e-02 9.99714663e-01 5.02305680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.70, Y:4.90, Z:5.02 [[ 9.98817949e-01 4.20547726e-02 2.43741703e-02 3.08700501e+02] [-4.22652283e-02 9.99072904e-01 8.18427466e-03 4.90030358e+00] [-2.40073853e-02 -9.20478031e-03 9.99669404e-01 5.01554345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.73, Y:4.91, Z:5.02 [[ 9.98597217e-01 4.76133417e-02 2.31639171e-02 3.08729730e+02] [-4.75838632e-02 9.98865584e-01 -1.82244433e-03 4.90547151e+00] [-2.32244122e-02 7.17659172e-04 9.99730019e-01 5.01757965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.76, Y:4.90, Z:5.02 [[ 9.98488654e-01 5.01107082e-02 2.25682066e-02 3.08757712e+02] [-5.00833974e-02 9.98743464e-01 -1.77409598e-03 4.90425272e+00] [-2.26287500e-02 6.41122250e-04 9.99743731e-01 5.01670342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.79, Y:4.90, Z:5.02 [[ 9.98387216e-01 5.22630150e-02 2.21707779e-02 3.08786233e+02] [-5.22372318e-02 9.98633186e-01 -1.74088524e-03 4.90306775e+00] [-2.22314585e-02 5.79937510e-04 9.99752682e-01 5.01550690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.81, Y:4.90, Z:5.01 [[ 9.98258856e-01 5.48415727e-02 2.17177057e-02 3.08814367e+02] [-5.48174712e-02 9.98494938e-01 -1.70398630e-03 4.90193726e+00] [-2.17784685e-02 5.10509709e-04 9.99762691e-01 5.01460237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.84, Y:4.90, Z:5.01 [[ 9.97967297e-01 6.03454716e-02 2.04865572e-02 3.08841918e+02] [-6.03252232e-02 9.98177484e-01 -1.60549954e-03 4.90250822e+00] [-2.05461048e-02 3.66379902e-04 9.99788839e-01 5.01323827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.87, Y:4.90, Z:5.01 [[ 9.97782937e-01 6.34544376e-02 2.00685048e-02 3.08870087e+02] [-6.34356851e-02 9.97984693e-01 -1.57028308e-03 4.90206469e+00] [-2.01277021e-02 2.93742310e-04 9.99797374e-01 5.01288657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.90, Y:4.90, Z:5.01 [[ 9.97573356e-01 6.66066382e-02 2.02720153e-02 3.08898412e+02] [-6.65881983e-02 9.97779286e-01 -1.58402798e-03 4.90157617e+00] [-2.03325037e-02 2.30307131e-04 9.99793247e-01 5.01222677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.93, Y:4.90, Z:5.01 [[ 9.97348434e-01 6.99497008e-02 2.00783564e-02 3.08926646e+02] [-6.99323320e-02 9.97550507e-01 -1.56674793e-03 4.90094852e+00] [-2.01387682e-02 1.58467312e-04 9.99797182e-01 5.01160115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.95, Y:4.90, Z:5.01 [[ 9.96927250e-01 7.57648040e-02 1.98935553e-02 3.08954271e+02] [-7.57489530e-02 9.97125716e-01 -1.55020595e-03 4.90166127e+00] [-1.99538266e-02 3.85265711e-05 9.99800902e-01 5.01103148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.98, Y:4.90, Z:5.01 [[ 9.96713482e-01 7.84916790e-02 2.00322737e-02 3.08980834e+02] [-7.84761992e-02 9.96914769e-01 -1.55890031e-03 4.90091905e+00] [-2.00928302e-02 -1.82797421e-05 9.99798119e-01 5.01026494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.01, Y:4.90, Z:5.01 [[ 9.96525397e-01 8.06920182e-02 2.06381150e-02 3.09008521e+02] [-8.06761183e-02 9.96739080e-01 -1.60320986e-03 4.89996237e+00] [-2.07001820e-02 -6.73636569e-05 9.99785726e-01 5.00946992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.04, Y:4.90, Z:5.01 [[ 9.96301521e-01 8.33000877e-02 2.10801730e-02 3.09036727e+02] [-8.32841317e-02 9.96524500e-01 -1.63523497e-03 4.89963247e+00] [-2.11431240e-02 -1.26456817e-04 9.99776451e-01 5.00906594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.07, Y:4.90, Z:5.01 [[ 9.96255780e-01 8.36845110e-02 2.17099880e-02 3.09065125e+02] [-8.36677312e-02 9.96492289e-01 -1.68167650e-03 4.89792292e+00] [-2.17745659e-02 -1.41045504e-04 9.99762896e-01 5.00823168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.09, Y:4.90, Z:5.01 [[ 9.96286888e-01 8.32345407e-02 2.20102018e-02 3.09093471e+02] [-8.32172377e-02 9.96529976e-01 -1.70248913e-03 4.89579470e+00] [-2.20755317e-02 -1.35460595e-04 9.99756297e-01 5.00773757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.12, Y:4.89, Z:5.01 [[ 9.96407184e-01 8.16723687e-02 2.24131043e-02 3.09120742e+02] [-8.16540854e-02 9.96659226e-01 -1.73124226e-03 4.89373889e+00] [-2.24796218e-02 -1.05099305e-04 9.99747296e-01 5.00728043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.15, Y:4.89, Z:5.01 [[ 9.96787703e-01 7.66554992e-02 2.31993453e-02 3.09148123e+02] [-7.66346229e-02 9.97057638e-01 -1.78890067e-03 4.89025117e+00] [-2.32682135e-02 5.28111553e-06 9.99729258e-01 5.00681060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.18, Y:4.89, Z:5.00 [[ 9.96894262e-01 7.44922543e-02 2.55486505e-02 3.09176707e+02] [-7.42382680e-02 9.97182578e-01 -1.07510465e-02 4.89056904e+00] [-2.62775388e-02 8.82096902e-03 9.99615767e-01 5.00437085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.20, Y:4.88, Z:5.00 [[ 9.97354530e-01 6.85050104e-02 2.43105957e-02 3.09203051e+02] [-6.86914153e-02 9.97613981e-01 6.91624427e-03 4.87946985e+00] [-2.37787928e-02 -8.56787678e-03 9.99680529e-01 5.00264019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.23, Y:4.88, Z:5.00 [[ 9.97952536e-01 5.94785490e-02 2.35167701e-02 3.09231330e+02] [-5.94526038e-02 9.98229504e-01 -1.80150933e-03 4.87926929e+00] [-2.35822849e-02 3.99687592e-04 9.99721819e-01 5.00448813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.26, Y:4.88, Z:5.00 [[ 9.98129488e-01 5.57754070e-02 2.50325518e-02 3.09260026e+02] [-5.55557091e-02 9.98411450e-01 -9.38831210e-03 4.87917665e+00] [-2.55164233e-02 7.98004998e-03 9.99642552e-01 5.00230371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.29, Y:4.87, Z:5.00 [[ 9.98391937e-01 5.09626780e-02 2.48263165e-02 3.09287925e+02] [-5.09459345e-02 9.98700558e-01 -1.30686765e-03 4.87204999e+00] [-2.48606576e-02 3.99662313e-05 9.99690925e-01 4.99895523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.32, Y:4.87, Z:5.00 [[ 9.98689393e-01 4.55875179e-02 2.32653162e-02 3.09316120e+02] [-4.55799600e-02 9.98960327e-01 -8.55318352e-04 4.86983536e+00] [-2.32801198e-02 -2.06234817e-04 9.99728960e-01 4.99888139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.92509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.34, Y:4.86, Z:5.00 [[ 9.99146660e-01 3.58074872e-02 2.05858118e-02 3.09344781e+02] [-3.59014434e-02 9.99346456e-01 4.21269890e-03 4.86400699e+00] [-2.04215119e-02 -4.94816440e-03 9.99779214e-01 4.99830212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.37, Y:4.86, Z:5.00 [[ 9.99299491e-01 3.19913857e-02 1.94184893e-02 3.09374216e+02] [-3.19686883e-02 9.99487778e-01 -1.47823139e-03 4.86402246e+00] [-1.94558334e-02 8.56412247e-04 9.99810351e-01 4.99929704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.40, Y:4.86, Z:5.00 [[ 9.99415208e-01 2.84238686e-02 1.90085892e-02 3.09402472e+02] [-2.84014859e-02 9.99595550e-01 -1.44648145e-03 4.86141076e+00] [-1.90420158e-02 9.05763385e-04 9.99818274e-01 4.99819581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.43, Y:4.86, Z:5.00 [[ 9.99578916e-01 2.28694443e-02 1.78599828e-02 3.09432916e+02] [-2.28488243e-02 9.99738010e-01 -1.35776464e-03 4.85865425e+00] [-1.78863550e-02 9.49113299e-04 9.99839576e-01 4.99750967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.46, Y:4.86, Z:5.00 [[ 9.99613778e-01 2.09489646e-02 1.82602314e-02 3.09463854e+02] [-2.09271225e-02 9.99780042e-01 -1.38643983e-03 4.85670873e+00] [-1.82852594e-02 1.00377026e-03 9.99832307e-01 4.99681807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.50, Y:4.85, Z:5.00 [[ 9.99627361e-01 1.98279670e-02 1.87613955e-02 3.09496119e+02] [-1.98046299e-02 9.99802848e-01 -1.42888485e-03 4.85471035e+00] [-1.87860285e-02 1.05678989e-03 9.99822968e-01 4.99635141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.53, Y:4.85, Z:5.00 [[ 9.99619740e-01 1.94937986e-02 1.95029833e-02 3.09528700e+02] [-1.94684210e-02 9.99809362e-01 -1.49025415e-03 4.85435286e+00] [-1.95283160e-02 1.10999518e-03 9.99808688e-01 4.99623264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.56, Y:4.85, Z:5.00 [[ 9.99603005e-01 2.01798710e-02 1.96622938e-02 3.09561725e+02] [-2.01541179e-02 9.99795749e-01 -1.50707067e-03 4.85312511e+00] [-1.96886903e-02 1.11019618e-03 9.99805543e-01 4.99573339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.59, Y:4.85, Z:5.00 [[ 9.99568409e-01 2.14682757e-02 2.00526771e-02 3.09593674e+02] [-2.14416309e-02 9.99768911e-01 -1.54282415e-03 4.85193410e+00] [-2.00811649e-02 1.11219618e-03 9.99797734e-01 4.99504939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.63, Y:4.85, Z:4.99 [[ 9.99520125e-01 2.37120800e-02 1.99312937e-02 3.09625967e+02] [-2.36860989e-02 9.99718261e-01 -1.53862676e-03 4.85171180e+00] [-1.99621623e-02 1.06579382e-03 9.99800168e-01 4.99444722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.66, Y:4.85, Z:5.00 [[ 9.99495770e-01 2.68827406e-02 1.68974335e-02 3.09656013e+02] [-2.67255880e-02 9.99598060e-01 -9.45843101e-03 4.85418853e+00] [-1.71449103e-02 9.00206794e-03 9.99812490e-01 4.99669187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.69, Y:4.85, Z:4.99 [[ 9.99471854e-01 2.56367470e-02 1.99692555e-02 3.09686020e+02] [-2.57761925e-02 9.99644901e-01 6.75715842e-03 4.84525066e+00] [-1.97889329e-02 -7.26832103e-03 9.99777760e-01 4.99011583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.72, Y:4.85, Z:4.99 [[ 9.99455004e-01 2.72644225e-02 1.86104033e-02 3.09716710e+02] [-2.72421901e-02 9.99627815e-01 -1.44713850e-03 4.84909735e+00] [-1.86429322e-02 9.39361673e-04 9.99825764e-01 4.99166209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.75, Y:4.85, Z:4.99 [[ 9.99459678e-01 2.78574236e-02 1.74446412e-02 3.09746734e+02] [-2.78379798e-02 9.99611528e-01 -1.35648925e-03 4.84801838e+00] [-1.74756528e-02 8.70132737e-04 9.99846910e-01 4.99090932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.78, Y:4.85, Z:4.99 [[ 9.99463114e-01 2.85339931e-02 1.61026275e-02 3.09776198e+02] [-2.85175080e-02 9.99592508e-01 -1.25249354e-03 4.84687248e+00] [-1.61318045e-02 7.92614289e-04 9.99869560e-01 4.98986540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.81, Y:4.85, Z:4.99 [[ 9.99468807e-01 2.91547450e-02 1.45637984e-02 3.09805266e+02] [-2.91413266e-02 9.99574660e-01 -1.13276886e-03 4.84615883e+00] [-1.45906294e-02 7.07758740e-04 9.99893301e-01 4.98903890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.83, Y:4.85, Z:4.99 [[ 9.99427083e-01 3.12984000e-02 1.28808441e-02 3.09833945e+02] [-3.12880905e-02 9.99509906e-01 -1.00116246e-03 4.84680896e+00] [-1.29058661e-02 5.97571860e-04 9.99916537e-01 4.98762878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.86, Y:4.85, Z:4.99 [[ 9.99383534e-01 3.29633095e-02 1.20819235e-02 3.09861331e+02] [-3.29543653e-02 9.99456417e-01 -9.38686902e-04 4.84646914e+00] [-1.21062982e-02 5.39956111e-04 9.99926570e-01 4.98683582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.89, Y:4.85, Z:4.99 [[ 9.99328139e-01 3.49365748e-02 1.10773246e-02 3.09888952e+02] [-3.49291876e-02 9.99389420e-01 -8.59700775e-04 4.84645165e+00] [-1.11005960e-02 4.72201224e-04 9.99938275e-01 4.98641776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.92, Y:4.85, Z:4.99 [[ 9.99111213e-01 4.08568422e-02 1.03682980e-02 3.09917141e+02] [-4.08506963e-02 9.99164938e-01 -8.03943128e-04 4.84950023e+00] [-1.03924864e-02 3.79676402e-04 9.99945925e-01 4.98635772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.95, Y:4.85, Z:4.99 [[ 9.98957272e-01 4.44413877e-02 1.04562288e-02 3.09945122e+02] [-4.44353450e-02 9.99011934e-01 -8.09632777e-04 4.85023113e+00] [-1.04818786e-02 3.44162415e-04 9.99945004e-01 4.98619071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.97, Y:4.85, Z:4.99 [[ 9.98760209e-01 4.85811497e-02 1.08589193e-02 3.09972045e+02] [-4.85748881e-02 9.98819190e-01 -8.39791925e-04 4.85092068e+00] [-1.08868951e-02 3.11279969e-04 9.99940688e-01 4.98617285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.00, Y:4.85, Z:4.99 [[ 9.98263017e-01 5.77252063e-02 1.17791999e-02 3.10000475e+02] [-5.77184974e-02 9.98332484e-01 -9.08998980e-04 4.85415316e+00] [-1.18120301e-02 2.27542344e-04 9.99930210e-01 4.98701542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.03, Y:4.85, Z:4.99 [[ 9.97981129e-01 6.22740114e-02 1.24745457e-02 3.10028758e+02] [-6.22668310e-02 9.98059073e-01 -9.63549263e-04 4.85460781e+00] [-1.25103376e-02 1.84853551e-04 9.99921726e-01 4.98704237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.06, Y:4.85, Z:4.99 [[ 9.97692506e-01 6.65997409e-02 1.31961282e-02 3.10056781e+02] [-6.65921398e-02 9.97779764e-01 -1.01505798e-03 4.85467900e+00] [-1.32344323e-02 1.33957325e-04 9.99912412e-01 4.98681171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.67509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.08, Y:4.85, Z:4.99 [[ 9.97405788e-01 7.06214558e-02 1.39392879e-02 3.10084155e+02] [-7.06134581e-02 9.97503185e-01 -1.06571275e-03 4.85387188e+00] [-1.39797463e-02 7.86467391e-05 9.99902275e-01 4.98606897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.11, Y:4.85, Z:4.99 [[ 9.97247209e-01 7.26408360e-02 1.48765628e-02 3.10112255e+02] [-7.26319559e-02 9.97358163e-01 -1.13704990e-03 4.85154731e+00] [-1.49198576e-02 5.34059922e-05 9.99888691e-01 4.98559066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.14, Y:4.85, Z:4.98 [[ 9.97260176e-01 7.24625202e-02 1.48769781e-02 3.10140593e+02] [-7.24537019e-02 9.97371135e-01 -1.13158160e-03 4.84946606e+00] [-1.49198658e-02 5.05891295e-05 9.99888691e-01 4.98484826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.17, Y:4.85, Z:4.98 [[ 9.97024714e-01 7.54633843e-02 1.57161708e-02 3.10168054e+02] [-7.54539462e-02 9.97148574e-01 -1.19347583e-03 4.84698682e+00] [-1.57614210e-02 4.07778920e-06 9.99875781e-01 4.98479275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.19, Y:4.84, Z:4.98 [[ 9.96963165e-01 7.63673372e-02 1.52472249e-02 3.10194807e+02] [-7.63586397e-02 9.97079751e-01 -1.15263319e-03 4.84477073e+00] [-1.52907227e-02 -1.51245230e-05 9.99883090e-01 4.98430347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.22, Y:4.84, Z:4.98 [[ 9.96856662e-01 7.78730833e-02 1.45800865e-02 3.10222217e+02] [-7.78653159e-02 9.96963280e-01 -1.10051686e-03 4.84257205e+00] [-1.46215115e-02 -3.82254723e-05 9.99893099e-01 4.98418817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.25, Y:4.84, Z:4.98 [[ 9.96847562e-01 7.79509944e-02 1.47844930e-02 3.10250456e+02] [-7.79430799e-02 9.96957191e-01 -1.11165586e-03 4.84019147e+00] [-1.48261613e-02 -4.41974856e-05 9.99890085e-01 4.98344876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.28, Y:4.84, Z:4.98 [[ 9.96873988e-01 7.76656167e-02 1.45018944e-02 3.10277983e+02] [-7.76580305e-02 9.96979463e-01 -1.08636481e-03 4.83753015e+00] [-1.45424641e-02 -4.32197358e-05 9.99894252e-01 4.98287571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.31, Y:4.83, Z:4.98 [[ 9.96911017e-01 7.72708366e-02 1.40585139e-02 3.10305011e+02] [-7.72637492e-02 9.97010138e-01 -1.04737976e-03 4.83431825e+00] [-1.40974128e-02 -4.20690685e-05 9.99900626e-01 4.98163587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.33, Y:4.83, Z:4.98 [[ 9.96994727e-01 7.62022604e-02 1.39545675e-02 3.10332269e+02] [-7.61951686e-02 9.97092380e-01 -1.03994128e-03 4.82841063e+00] [-1.39932388e-02 -2.64546505e-05 9.99902089e-01 4.98002858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.36, Y:4.82, Z:4.98 [[ 9.97054106e-01 7.54692777e-02 1.36930085e-02 3.10359372e+02] [-7.54624616e-02 9.97148127e-01 -1.01451711e-03 4.82463715e+00] [-1.37305226e-02 -2.17796773e-05 9.99905732e-01 4.97932170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.39, Y:4.82, Z:4.98 [[ 9.97132543e-01 7.44154158e-02 1.37490638e-02 3.10387093e+02] [-7.44084424e-02 9.97227329e-01 -1.01875315e-03 4.82108773e+00] [-1.37867531e-02 -7.21450725e-06 9.99904958e-01 4.97843054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.42, Y:4.82, Z:4.98 [[ 9.97190349e-01 7.36459460e-02 1.36997503e-02 3.10415068e+02] [-7.36390007e-02 9.97284450e-01 -1.01140283e-03 4.81761562e+00] [-1.37370337e-02 -2.74782298e-07 9.99905643e-01 4.97778011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.44, Y:4.82, Z:4.98 [[ 9.97247142e-01 7.31952943e-02 1.18569036e-02 3.10442790e+02] [-7.31062767e-02 9.97293847e-01 -7.77530768e-03 4.81699157e+00] [-1.23939329e-02 6.88708928e-03 9.99899474e-01 4.98018603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.47, Y:4.81, Z:4.97 [[ 9.97229946e-01 7.27283630e-02 1.55891175e-02 3.10470311e+02] [-7.28226465e-02 9.97329367e-01 5.56745402e-03 4.80766713e+00] [-1.51425728e-02 -6.68727266e-03 9.99862982e-01 4.97460978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.50, Y:4.81, Z:4.98 [[ 9.97202253e-01 7.30469851e-02 1.58683559e-02 3.10498278e+02] [-7.30378247e-02 9.97328501e-01 -1.15681411e-03 4.80777030e+00] [-1.59104653e-02 -5.41255636e-06 9.99873421e-01 4.97614773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.52, Y:4.80, Z:4.98 [[ 9.97168184e-01 7.33472377e-02 1.66071204e-02 3.10524636e+02] [-7.33372756e-02 9.97306464e-01 -1.20889619e-03 4.80422226e+00] [-1.66510577e-02 -1.24481497e-05 9.99861361e-01 4.97539384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.55, Y:4.80, Z:4.97 [[ 9.97105412e-01 7.38209084e-02 1.82008708e-02 3.10551826e+02] [-7.38090712e-02 9.97271514e-01 -1.32217484e-03 4.79846789e+00] [-1.82488141e-02 -2.50416835e-05 9.99833476e-01 4.97394398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.58, Y:4.80, Z:4.97 [[ 9.97099859e-01 7.38214176e-02 1.85005387e-02 3.10578467e+02] [-7.38092229e-02 9.97271476e-01 -1.34204098e-03 4.79518041e+00] [-1.85491309e-02 -2.73615086e-05 9.99827950e-01 4.97334945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.61, Y:4.79, Z:4.97 [[ 9.97072861e-01 7.40402140e-02 1.90723995e-02 3.10605726e+02] [-7.40273427e-02 9.97255256e-01 -1.38095594e-03 4.79161849e+00] [-1.91222969e-02 -3.49653665e-05 9.99817152e-01 4.97235360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.63, Y:4.79, Z:4.97 [[ 9.97051412e-01 7.42187735e-02 1.94950248e-02 3.10632073e+02] [-7.42054001e-02 9.97241983e-01 -1.40948159e-03 4.78644884e+00] [-1.95458672e-02 -4.13105025e-05 9.99808960e-01 4.97164806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.66, Y:4.78, Z:4.97 [[ 9.97021329e-01 7.46040264e-02 1.95629560e-02 3.10659147e+02] [-7.45906825e-02 9.97213235e-01 -1.41190909e-03 4.78254237e+00] [-1.96137727e-02 -5.15107626e-05 9.99807630e-01 4.97083589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.69, Y:4.78, Z:4.97 [[ 9.97010250e-01 7.48459754e-02 1.92000523e-02 3.10685813e+02] [-7.48332120e-02 9.97195105e-01 -1.38337632e-03 4.77884851e+00] [-1.92497383e-02 -5.75612103e-05 9.99814705e-01 4.97014974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.71, Y:4.77, Z:4.97 [[ 9.96963001e-01 7.54018636e-02 1.94764673e-02 3.10712066e+02] [-7.53888841e-02 9.97153225e-01 -1.40082991e-03 4.77290451e+00] [-1.95266474e-02 -7.17335492e-05 9.99809334e-01 4.96886936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.74, Y:4.77, Z:4.97 [[ 9.96956514e-01 7.54515166e-02 1.96157552e-02 3.10740220e+02] [-7.54384096e-02 9.97149469e-01 -1.40834831e-03 4.76867981e+00] [-1.96661019e-02 -7.57193514e-05 9.99806601e-01 4.96788092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.42509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.77, Y:4.76, Z:4.97 [[ 9.96966361e-01 7.53829680e-02 1.93773718e-02 3.10768009e+02] [-7.53702052e-02 9.97154653e-01 -1.38914892e-03 4.76451348e+00] [-1.94269547e-02 -7.55417451e-05 9.99811276e-01 4.96709708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.80, Y:4.76, Z:4.97 [[ 9.96974178e-01 7.52814133e-02 1.93699965e-02 3.10795542e+02] [-7.52686821e-02 9.97162325e-01 -1.38650970e-03 4.76048656e+00] [-1.94194091e-02 -7.56397325e-05 9.99811423e-01 4.96614201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.82, Y:4.75, Z:4.97 [[ 9.97035608e-01 7.48477315e-02 1.78273171e-02 3.10822188e+02] [-7.48369065e-02 9.97194972e-01 -1.27450196e-03 4.75417148e+00] [-1.78727046e-02 -6.34174304e-05 9.99840268e-01 4.96545498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.85, Y:4.75, Z:4.96 [[ 9.97092602e-01 7.41961398e-02 1.73573283e-02 3.10849457e+02] [-7.41858188e-02 9.97243666e-01 -1.23863426e-03 4.75004743e+00] [-1.74013875e-02 -5.26345529e-05 9.99848583e-01 4.96441019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.88, Y:4.75, Z:4.96 [[ 9.97161584e-01 7.34137634e-02 1.67091250e-02 3.10875968e+02] [-7.34041151e-02 9.97301568e-01 -1.19083152e-03 4.74583025e+00] [-1.67514600e-02 -3.90670931e-05 9.99859684e-01 4.96359760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.90, Y:4.74, Z:4.96 [[ 9.97233663e-01 7.24912881e-02 1.64327196e-02 3.10903627e+02] [-7.24818668e-02 9.97369045e-01 -1.16896688e-03 4.74148380e+00] [-1.64742258e-02 -2.53410680e-05 9.99864290e-01 4.96262806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.93, Y:4.73, Z:4.96 [[ 9.97433834e-01 6.98203610e-02 1.58386844e-02 3.10930274e+02] [-6.98112944e-02 9.97559581e-01 -1.12528127e-03 4.73470223e+00] [-1.58785989e-02 1.66745517e-05 9.99873927e-01 4.96232918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.96, Y:4.73, Z:4.96 [[ 9.97555733e-01 6.80166073e-02 1.60093746e-02 3.10958142e+02] [-6.80071471e-02 9.97684188e-01 -1.13521557e-03 4.73024463e+00] [-1.60495134e-02 4.36889114e-05 9.99871197e-01 4.96186591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.99, Y:4.72, Z:4.96 [[ 9.97781308e-01 6.44017201e-02 1.68784107e-02 3.10985231e+02] [-6.43907199e-02 9.97924049e-01 -1.19493303e-03 4.72334116e+00] [-1.69203277e-02 1.05468821e-04 9.99856835e-01 4.96186341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.01, Y:4.72, Z:4.96 [[ 9.97897321e-01 6.24380772e-02 1.73903224e-02 3.11011499e+02] [-6.24261338e-02 9.98048830e-01 -1.22931262e-03 4.71908802e+00] [-1.74331468e-02 1.41117176e-04 9.99848021e-01 4.96122595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.04, Y:4.71, Z:4.96 [[ 9.98099009e-01 5.87029276e-02 1.87705918e-02 3.11037783e+02] [-5.86883983e-02 9.98275472e-01 -1.32443997e-03 4.71204513e+00] [-1.88159699e-02 2.20306248e-04 9.99822940e-01 4.96115051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.07, Y:4.71, Z:4.96 [[ 9.98180767e-01 5.69018565e-02 1.99332475e-02 3.11065127e+02] [-5.68851879e-02 9.98379741e-01 -1.40269396e-03 4.70757794e+00] [-1.99807664e-02 2.66235602e-04 9.99800329e-01 4.96029283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.09, Y:4.70, Z:4.96 [[ 9.98268450e-01 5.49584706e-02 2.09682657e-02 3.11093229e+02] [-5.49396509e-02 9.98488590e-01 -1.47297716e-03 4.70291419e+00] [-2.10175266e-02 3.18437427e-04 9.99779057e-01 4.95991249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.12, Y:4.70, Z:4.96 [[ 9.98475065e-01 5.06214613e-02 2.20229927e-02 3.11121590e+02] [-5.05996819e-02 9.98717820e-01 -1.54542196e-03 4.69544946e+00] [-2.20729868e-02 4.28708872e-04 9.99756270e-01 4.95895987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.15, Y:4.69, Z:4.96 [[ 9.98592302e-01 4.80590567e-02 2.24441763e-02 3.11149209e+02] [-4.80358251e-02 9.98844374e-01 -1.57338098e-03 4.69043461e+00] [-2.24938545e-02 4.93041609e-04 9.99746860e-01 4.95793581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.18, Y:4.69, Z:4.96 [[ 9.98745415e-01 4.48314880e-02 2.23099603e-02 3.11176407e+02] [-4.48077732e-02 9.98994406e-01 -1.56198102e-03 4.68575354e+00] [-2.23575515e-02 5.60361735e-04 9.99749882e-01 4.95708863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.21, Y:4.68, Z:4.96 [[ 9.98902974e-01 4.12649609e-02 2.21371220e-02 3.11205489e+02] [-4.12407842e-02 9.99148038e-01 -1.54775194e-03 4.68090047e+00] [-2.21821299e-02 6.33101747e-04 9.99753746e-01 4.95604483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.24, Y:4.68, Z:4.95 [[ 9.99071643e-01 3.73585860e-02 2.14519961e-02 3.11235178e+02] [-3.73349988e-02 9.99301681e-01 -1.49912509e-03 4.67612527e+00] [-2.14930209e-02 6.96823118e-04 9.99768756e-01 4.95497270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.27, Y:4.67, Z:4.95 [[ 9.99355794e-01 2.94849314e-02 2.04605952e-02 3.11265574e+02] [-2.94618463e-02 9.99564884e-01 -1.42885529e-03 4.66931634e+00] [-2.04938221e-02 8.25127900e-04 9.99789639e-01 4.95342446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.30, Y:4.67, Z:4.95 [[ 9.99470198e-01 2.59608249e-02 1.96305619e-02 3.11296628e+02] [-2.59389053e-02 9.99662591e-01 -1.37044796e-03 4.66551550e+00] [-1.96595163e-02 8.60526603e-04 9.99806363e-01 4.95287473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.33, Y:4.66, Z:4.95 [[ 9.99551455e-01 2.32085976e-02 1.89274747e-02 3.11328710e+02] [-2.31876943e-02 9.99730254e-01 -1.32313582e-03 4.66192041e+00] [-1.89530772e-02 8.83657837e-04 9.99819984e-01 4.95208043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.36, Y:4.66, Z:4.95 [[ 9.99649896e-01 1.93499990e-02 1.80461481e-02 3.11360321e+02] [-1.93302935e-02 9.99812351e-01 -1.26575853e-03 4.65810689e+00] [-1.80672542e-02 9.16478041e-04 9.99836354e-01 4.95132970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.39, Y:4.66, Z:4.95 [[ 9.99667687e-01 1.88328422e-02 1.76022766e-02 3.11392291e+02] [-1.88139316e-02 9.99822234e-01 -1.23932321e-03 4.65534974e+00] [-1.76224875e-02 9.07743335e-04 9.99844300e-01 4.95100070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.43, Y:4.65, Z:4.95 [[ 9.99669174e-01 1.86243954e-02 1.77390593e-02 3.11425053e+02] [-1.86050715e-02 9.99826125e-01 -1.25376230e-03 4.65304489e+00] [-1.77593255e-02 9.23311051e-04 9.99841864e-01 4.95051881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.46, Y:4.65, Z:4.95 [[ 9.99628398e-01 1.96971967e-02 1.88437503e-02 3.11457713e+02] [-1.96754736e-02 9.99805524e-01 -1.33752389e-03 4.65093694e+00] [-1.88664311e-02 9.66267153e-04 9.99821546e-01 4.94998812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.17509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.49, Y:4.65, Z:4.95 [[ 9.99597927e-01 2.09326315e-02 1.91261191e-02 3.11489714e+02] [-2.09103645e-02 9.99780425e-01 -1.36348829e-03 4.64833580e+00] [-1.91504609e-02 9.63005943e-04 9.99816149e-01 4.94886109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.52, Y:4.65, Z:4.95 [[ 9.99573435e-01 2.14358820e-02 1.98356058e-02 3.11521116e+02] [-2.12906374e-02 9.99745160e-01 -7.50487353e-03 4.65096534e+00] [-1.99914244e-02 7.07935952e-03 9.99775088e-01 4.94773406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.55, Y:4.64, Z:4.95 [[ 9.99564220e-01 2.29749263e-02 1.85343669e-02 3.11553306e+02] [-2.30691615e-02 9.99721929e-01 4.88664054e-03 4.64158824e+00] [-1.84169429e-02 -5.31208335e-03 9.99816282e-01 4.94505603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.59, Y:4.64, Z:4.95 [[ 9.99530994e-01 2.51085131e-02 1.75315092e-02 3.11585921e+02] [-2.50902589e-02 9.99684395e-01 -1.26043168e-03 4.64340489e+00] [-1.75576238e-02 8.19970424e-04 9.99845517e-01 4.94552276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.62, Y:4.64, Z:4.94 [[ 9.99513187e-01 2.59467874e-02 1.73249256e-02 3.11618175e+02] [-2.59290022e-02 9.99663005e-01 -1.25044340e-03 4.64166205e+00] [-1.73515321e-02 8.00616635e-04 9.99849130e-01 4.94455774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.65, Y:4.64, Z:4.94 [[ 9.99499918e-01 2.65355181e-02 1.71982429e-02 3.11649516e+02] [-2.65179716e-02 9.99647558e-01 -1.24753716e-03 4.63970095e+00] [-1.72252856e-02 7.90850770e-04 9.99851321e-01 4.94348579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.68, Y:4.64, Z:4.94 [[ 9.99474761e-01 2.77499960e-02 1.67373514e-02 3.11679828e+02] [-2.77335347e-02 9.99614613e-01 -1.21486070e-03 4.63833473e+00] [-1.67646135e-02 7.50036691e-04 9.99859183e-01 4.94282751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.71, Y:4.64, Z:4.94 [[ 9.99441799e-01 2.88444371e-02 1.68549303e-02 3.11710601e+02] [-2.88278910e-02 9.99583641e-01 -1.22386827e-03 4.63678482e+00] [-1.68832144e-02 7.37293010e-04 9.99857197e-01 4.94241823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.74, Y:4.64, Z:4.94 [[ 9.99381888e-01 3.03884406e-02 1.76743965e-02 3.11740683e+02] [-3.03704872e-02 9.99537886e-01 -1.28337126e-03 4.63555695e+00] [-1.77052286e-02 7.45797954e-04 9.99842972e-01 4.94164922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.77, Y:4.63, Z:4.94 [[ 9.99308172e-01 3.25136570e-02 1.80565649e-02 3.11770760e+02] [-3.24952651e-02 9.99471029e-01 -1.31112122e-03 4.63451082e+00] [-1.80896428e-02 7.23461287e-04 9.99836107e-01 4.94091671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.80, Y:4.63, Z:4.94 [[ 9.99112250e-01 3.78758291e-02 1.84427136e-02 3.11800591e+02] [-3.78575515e-02 9.99282248e-01 -1.33929350e-03 4.63496971e+00] [-1.84802032e-02 6.39908559e-04 9.99829022e-01 4.94019946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.83, Y:4.63, Z:4.94 [[ 9.98980500e-01 4.11127228e-02 1.86468556e-02 3.11829811e+02] [-4.10946004e-02 9.99154342e-01 -1.35417314e-03 4.63404629e+00] [-1.86867605e-02 5.86507486e-04 9.99825215e-01 4.93934476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.86, Y:4.63, Z:4.94 [[ 9.98830035e-01 4.46421238e-02 1.85914428e-02 3.11857130e+02] [-4.46247426e-02 9.99002909e-01 -1.34891698e-03 4.63303328e+00] [-1.86331239e-02 5.17700444e-04 9.99826254e-01 4.93857984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.89, Y:4.63, Z:4.94 [[ 9.98438995e-01 5.28137441e-02 1.81736383e-02 3.11885931e+02] [-5.27985194e-02 9.98604317e-01 -1.31686562e-03 4.63336419e+00] [-1.82178222e-02 3.55268791e-04 9.99833979e-01 4.93758271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.91, Y:4.63, Z:4.94 [[ 9.98225002e-01 5.69917453e-02 1.72854457e-02 3.11914227e+02] [-5.69786135e-02 9.98374615e-01 -1.25164138e-03 4.63281552e+00] [-1.73286835e-02 2.64518991e-04 9.99849812e-01 4.93713325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.94, Y:4.63, Z:4.94 [[ 9.97987431e-01 6.10789241e-02 1.70426510e-02 3.11941280e+02] [-6.10667827e-02 9.98132922e-01 -1.23239778e-03 4.63224357e+00] [-1.70861046e-02 1.89177628e-04 9.99854004e-01 4.93653287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.97, Y:4.63, Z:4.94 [[ 9.97998240e-01 6.09020278e-02 1.70427713e-02 3.11969642e+02] [-6.08898891e-02 9.98143730e-01 -1.23073120e-03 4.63027357e+00] [-1.70860894e-02 1.90535111e-04 9.99854004e-01 4.93579561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.00, Y:4.63, Z:4.93 [[ 9.97746305e-01 6.48767811e-02 1.71264115e-02 3.11998003e+02] [-6.48651716e-02 9.97893275e-01 -1.23308774e-03 4.62921817e+00] [-1.71703297e-02 1.19401112e-04 9.99852572e-01 4.93499877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.03, Y:4.63, Z:4.93 [[ 9.97275267e-01 7.16109124e-02 1.77177793e-02 3.12025517e+02] [-7.15995849e-02 9.97432643e-01 -1.27366269e-03 4.62883921e+00] [-1.77634996e-02 1.60665497e-06 9.99842217e-01 4.93456634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.05, Y:4.63, Z:4.93 [[ 9.97089016e-01 7.40423976e-02 1.81993749e-02 3.12052808e+02] [-7.40308861e-02 9.97255093e-01 -1.30634868e-03 4.62693844e+00] [-1.82461445e-02 -4.47699320e-05 9.99833524e-01 4.93388103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.08, Y:4.62, Z:4.93 [[ 9.96971133e-01 7.55013467e-02 1.86576391e-02 3.12080365e+02] [-7.54895515e-02 9.97145697e-01 -1.33667866e-03 4.62463701e+00] [-1.87053056e-02 -7.58267771e-05 9.99825038e-01 4.93299517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.11, Y:4.62, Z:4.93 [[ 9.96906314e-01 7.61110200e-02 1.96192094e-02 3.12108023e+02] [-7.60981404e-02 9.97099345e-01 -1.40329595e-03 4.62207882e+00] [-1.96691072e-02 -9.40307632e-05 9.99806540e-01 4.93209693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.14, Y:4.62, Z:4.93 [[ 9.96972565e-01 7.49328853e-02 2.07549261e-02 3.12135116e+02] [-7.49182585e-02 9.97188576e-01 -1.48248638e-03 4.61818382e+00] [-2.08076622e-02 -7.69246706e-05 9.99783494e-01 4.93058835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.16, Y:4.61, Z:4.93 [[ 9.97105532e-01 7.31028902e-02 2.08931894e-02 3.12163044e+02] [-7.30877557e-02 9.97324403e-01 -1.48808633e-03 4.61471057e+00] [-2.09460711e-02 -4.32572159e-05 9.99780606e-01 4.92934809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.19, Y:4.61, Z:4.93 [[ 9.97269036e-01 7.07534172e-02 2.11760255e-02 3.12189407e+02] [-7.07373849e-02 9.97493837e-01 -1.50613003e-03 4.61084447e+00] [-2.12295187e-02 4.08017229e-06 9.99774628e-01 4.92771725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.92509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.22, Y:4.60, Z:4.93 [[ 9.97630154e-01 6.51317034e-02 2.21796600e-02 3.12217381e+02] [-6.51128142e-02 9.97876668e-01 -1.57352712e-03 4.60494802e+00] [-2.22350517e-02 1.25618021e-04 9.99752763e-01 4.92525610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.25, Y:4.60, Z:4.92 [[ 9.97828676e-01 6.18039318e-02 2.27641901e-02 3.12245943e+02] [-6.17832275e-02 9.98088289e-01 -1.61238043e-03 4.60092172e+00] [-2.28203230e-02 2.02434287e-04 9.99739562e-01 4.92383147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.27, Y:4.60, Z:4.92 [[ 9.98060771e-01 5.78374858e-02 2.30113800e-02 3.12274021e+02] [-5.78153135e-02 9.98325968e-01 -1.62822512e-03 4.59703959e+00] [-2.30670306e-02 2.94657475e-04 9.99733877e-01 4.92227780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.30, Y:4.59, Z:4.92 [[ 9.98270497e-01 5.38989916e-02 2.34715354e-02 3.12301440e+02] [-5.38748741e-02 9.98546316e-01 -1.65912113e-03 4.59281154e+00] [-2.35268401e-02 3.91725664e-04 9.99723129e-01 4.92092147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.33, Y:4.59, Z:4.92 [[ 9.98662331e-01 4.56152630e-02 2.43474143e-02 3.12330804e+02] [-4.55869065e-02 9.98958898e-01 -1.71872808e-03 4.58621056e+00] [-2.44004664e-02 6.06505692e-04 9.99702080e-01 4.91916402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.36, Y:4.58, Z:4.92 [[ 9.98806687e-01 4.20032974e-02 2.49183736e-02 3.12360512e+02] [-4.19724957e-02 9.99117220e-01 -1.75807251e-03 4.58225706e+00] [-2.49702210e-02 7.10088249e-04 9.99687943e-01 4.91800009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.39, Y:4.58, Z:4.92 [[ 9.98904088e-01 3.89176577e-02 2.60007394e-02 3.12391797e+02] [-3.88830898e-02 9.99242084e-01 -1.83394838e-03 4.57821291e+00] [-2.60524059e-02 8.20949453e-04 9.99660241e-01 4.91677255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.42, Y:4.57, Z:4.92 [[ 9.98970474e-01 3.67115306e-02 2.66506079e-02 3.12423493e+02] [-3.66743964e-02 9.99325498e-01 -1.88098781e-03 4.57434628e+00] [-2.67016859e-02 9.01656323e-04 9.99643040e-01 4.91569506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.46, Y:4.57, Z:4.91 [[ 9.99023709e-01 3.40269190e-02 2.81744121e-02 3.12456469e+02] [-3.39841185e-02 9.99420378e-01 -1.99671080e-03 4.56969833e+00] [-2.82260235e-02 1.03727887e-03 9.99601028e-01 4.91428543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.49, Y:4.57, Z:4.91 [[ 9.99002624e-01 3.37945440e-02 2.91836541e-02 3.12489079e+02] [-3.37482659e-02 9.99428207e-01 -2.07699547e-03 4.56659968e+00] [-2.92371582e-02 1.09002621e-03 9.99571909e-01 4.91280885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.52, Y:4.56, Z:4.91 [[ 9.98946653e-01 3.48539279e-02 2.98460775e-02 3.12520552e+02] [-3.48057288e-02 9.99391821e-01 -2.13308220e-03 4.56280532e+00] [-2.99022720e-02 1.09202084e-03 9.99552231e-01 4.91064438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.55, Y:4.56, Z:4.91 [[ 9.98898809e-01 3.61018248e-02 2.99637826e-02 3.12553780e+02] [-3.60535549e-02 9.99347547e-01 -2.14982621e-03 4.55973880e+00] [-3.00218453e-02 1.06715796e-03 9.99548673e-01 4.90918919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.59, Y:4.56, Z:4.91 [[ 9.98849790e-01 3.77657738e-02 2.95439232e-02 3.12586257e+02] [-3.77193279e-02 9.99286107e-01 -2.12803068e-03 4.55675855e+00] [-2.96031988e-02 1.01120607e-03 9.99561218e-01 4.90767003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.62, Y:4.55, Z:4.91 [[ 9.98781445e-01 3.96360968e-02 2.94041824e-02 3.12618097e+02] [-3.95906505e-02 9.99213720e-01 -2.12638594e-03 4.55420254e+00] [-2.94653441e-02 9.59664107e-04 9.99565342e-01 4.90617768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.65, Y:4.55, Z:4.90 [[ 9.98657471e-01 4.31303246e-02 2.86885290e-02 3.12650283e+02] [-4.30882869e-02 9.99069099e-01 -2.08218927e-03 4.55148347e+00] [-2.87516283e-02 8.43254305e-04 9.99586231e-01 4.90395193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.68, Y:4.55, Z:4.90 [[ 9.98584803e-01 4.49264193e-02 2.84606576e-02 3.12683265e+02] [-4.48855596e-02 9.98989984e-01 -2.07321945e-03 4.54861849e+00] [-2.85250542e-02 7.92812890e-04 9.99592763e-01 4.90272528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.72, Y:4.55, Z:4.90 [[ 9.98495834e-01 4.69061836e-02 2.83879999e-02 3.12715766e+02] [-4.68661037e-02 9.98899023e-01 -2.07593687e-03 4.54599605e+00] [-2.84541196e-02 7.42379375e-04 9.99594824e-01 4.90138933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.75, Y:4.54, Z:4.90 [[ 9.98313856e-01 5.04891987e-02 2.86406172e-02 3.12746780e+02] [-5.04496659e-02 9.98724393e-01 -2.10169462e-03 4.54330376e+00] [-2.87101960e-02 6.53241292e-04 9.99587564e-01 4.89935097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.78, Y:4.54, Z:4.90 [[ 9.98235807e-01 5.25866700e-02 2.75665704e-02 3.12776607e+02] [-5.25506817e-02 9.98616197e-01 -2.02884527e-03 4.54111276e+00] [-2.76351139e-02 5.76623936e-04 9.99617911e-01 4.89850507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.81, Y:4.54, Z:4.90 [[ 9.97992855e-01 5.72576890e-02 2.70521603e-02 3.12807158e+02] [-5.72246891e-02 9.98359335e-01 -1.99309475e-03 4.53956737e+00] [-2.71218968e-02 4.41042855e-04 9.99632036e-01 4.89727962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.84, Y:4.54, Z:4.90 [[ 9.97860002e-01 5.97818022e-02 2.64868509e-02 3.12835757e+02] [-5.97510570e-02 9.98211402e-01 -1.95140925e-03 4.53806729e+00] [-2.65561353e-02 3.64615894e-04 9.99647257e-01 4.89655490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.86, Y:4.54, Z:4.90 [[ 9.97695116e-01 6.24481545e-02 2.65458795e-02 3.12864880e+02] [-6.24182539e-02 9.98048166e-01 -1.95431651e-03 4.53648703e+00] [-2.66161099e-02 2.92864583e-04 9.99645686e-01 4.89565006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.89, Y:4.53, Z:4.89 [[ 9.97520143e-01 6.51739105e-02 2.65692497e-02 3.12893997e+02] [-6.51449744e-02 9.97873897e-01 -1.95413247e-03 4.53481932e+00] [-2.66401192e-02 2.18433413e-04 9.99645065e-01 4.89497515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.92, Y:4.53, Z:4.89 [[ 9.97172739e-01 7.03394761e-02 2.64364729e-02 3.12922142e+02] [-7.03126934e-02 9.97523109e-01 -1.94245907e-03 4.53354352e+00] [-2.65076242e-02 7.81476162e-05 9.99648608e-01 4.89466573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.95, Y:4.53, Z:4.89 [[ 9.97020148e-01 7.25776960e-02 2.61400404e-02 3.12950414e+02] [-7.25523401e-02 9.97362761e-01 -1.91837527e-03 4.53177801e+00] [-2.62103341e-02 1.61377016e-05 9.99656450e-01 4.89449523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.67509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.98, Y:4.53, Z:4.89 [[ 9.96845442e-01 7.45969168e-02 2.71010043e-02 3.12979568e+02] [-7.45704630e-02 9.97213768e-01 -1.98687342e-03 4.53009695e+00] [-2.71737093e-02 -4.03287289e-05 9.99630726e-01 4.89380284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.01, Y:4.53, Z:4.89 [[ 9.96639046e-01 7.69983478e-02 2.79618911e-02 3.13007293e+02] [-7.69711903e-02 9.97031214e-01 -2.04787850e-03 4.52846282e+00] [-2.80365615e-02 -1.11264366e-04 9.99606892e-01 4.89312526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.04, Y:4.53, Z:4.89 [[ 9.96613807e-01 7.73193742e-02 2.79755931e-02 3.13035413e+02] [-7.72923870e-02 9.97006369e-01 -2.04637153e-03 4.52631295e+00] [-2.80500687e-02 -1.22858243e-04 9.99606512e-01 4.89299847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.06, Y:4.52, Z:4.89 [[ 9.96630883e-01 7.67936852e-02 2.88029906e-02 3.13064411e+02] [-7.67649376e-02 9.97046998e-01 -2.10414775e-03 4.52383900e+00] [-2.88795206e-02 -1.14001144e-04 9.99582893e-01 4.89229416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.09, Y:4.52, Z:4.89 [[ 9.96700523e-01 7.57435406e-02 2.91716112e-02 3.13093027e+02] [-7.57136634e-02 9.97127328e-01 -2.12899865e-03 4.52096789e+00] [-2.92490687e-02 -8.67154799e-05 9.99572151e-01 4.89145682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.12, Y:4.52, Z:4.89 [[ 9.96955836e-01 7.22164760e-02 2.93911984e-02 3.13121800e+02] [-7.21846757e-02 9.97388981e-01 -2.14294578e-03 4.51628844e+00] [-2.94692134e-02 1.48281746e-05 9.99565688e-01 4.89080201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.15, Y:4.51, Z:4.89 [[ 9.97137647e-01 6.95966589e-02 2.95434983e-02 3.13150808e+02] [-6.95634411e-02 9.97575209e-01 -2.15193245e-03 4.51312268e+00] [-2.96216288e-02 9.06254589e-05 9.99561179e-01 4.88979493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.18, Y:4.51, Z:4.89 [[ 9.97325256e-01 6.69014702e-02 2.94368393e-02 3.13179572e+02] [-6.68673787e-02 9.97759573e-01 -2.14210545e-03 4.51005472e+00] [-2.95141982e-02 1.68011584e-04 9.99564347e-01 4.88941823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.21, Y:4.51, Z:4.89 [[ 9.97509614e-01 6.40688923e-02 2.94914702e-02 3.13208644e+02] [-6.40334854e-02 9.97945447e-01 -2.14441829e-03 4.50699480e+00] [-2.95682689e-02 2.50636236e-04 9.99562732e-01 4.88879515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.24, Y:4.49, Z:4.89 [[ 9.98169515e-01 5.55656197e-02 2.38763899e-02 3.13235419e+02] [-5.60931313e-02 9.98182634e-01 2.20224666e-02 4.49348302e+00] [-2.26093058e-02 -2.33214562e-02 9.99472325e-01 4.89070585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.27, Y:4.50, Z:4.90 [[ 9.98341989e-01 5.32032871e-02 2.19700688e-02 3.13265523e+02] [-5.31285546e-02 9.98579782e-01 -3.97176430e-03 4.50288188e+00] [-2.21501774e-02 2.79794106e-03 9.99750740e-01 4.89540006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.30, Y:4.51, Z:4.89 [[ 9.98343488e-01 5.14798677e-02 2.56924849e-02 3.13295607e+02] [-5.08766589e-02 9.98425961e-01 -2.36043845e-02 4.50745561e+00] [-2.68671945e-02 2.22581358e-02 9.99391179e-01 4.89177069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.33, Y:4.49, Z:4.89 [[ 9.98652894e-01 4.45175378e-02 2.66568065e-02 3.13325280e+02] [-4.44817819e-02 9.99008325e-01 -1.93311354e-03 4.49285305e+00] [-2.67164290e-02 7.44767178e-04 9.99642775e-01 4.88560410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.36, Y:4.49, Z:4.88 [[ 9.98772016e-01 4.18765395e-02 2.64729081e-02 3.13357474e+02] [-4.18403319e-02 9.99122464e-01 -1.92040721e-03 4.48984536e+00] [-2.65300972e-02 8.10413723e-04 9.99647687e-01 4.88477102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.39, Y:4.49, Z:4.88 [[ 9.98873472e-01 3.99271633e-02 2.56438946e-02 3.13389631e+02] [-3.98923886e-02 9.99202239e-01 -1.86641857e-03 4.48697482e+00] [-2.56979577e-02 8.41319790e-04 9.99669399e-01 4.88423843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.42, Y:4.48, Z:4.88 [[ 9.99026752e-01 3.62670045e-02 2.51048590e-02 3.13422243e+02] [-3.62323599e-02 9.99341710e-01 -1.83364945e-03 4.48449820e+00] [-2.51548337e-02 9.22256567e-04 9.99683142e-01 4.88342146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.45, Y:4.48, Z:4.88 [[ 9.99057548e-01 3.56633609e-02 2.47414595e-02 3.13454150e+02] [-3.56293486e-02 9.99363426e-01 -1.81431805e-03 4.48229580e+00] [-2.47904144e-02 9.31086055e-04 9.99692237e-01 4.88258357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.49, Y:4.48, Z:4.88 [[ 9.99086995e-01 3.52502583e-02 2.41370284e-02 3.13487195e+02] [-3.52176119e-02 9.99378089e-01 -1.77642927e-03 4.48039127e+00] [-2.41846369e-02 9.24758881e-04 9.99707081e-01 4.88156084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.52, Y:4.48, Z:4.88 [[ 9.99098466e-01 3.53149908e-02 2.35606832e-02 3.13519324e+02] [-3.52837442e-02 9.99375819e-01 -1.74074513e-03 4.47864893e+00] [-2.36074514e-02 9.07866669e-04 9.99720893e-01 4.88050037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.55, Y:4.48, Z:4.88 [[ 9.99086797e-01 3.60315503e-02 2.29630214e-02 3.13552253e+02] [-3.60019200e-02 9.99350270e-01 -1.70259124e-03 4.47829434e+00] [-2.30094486e-02 8.74323569e-04 9.99734865e-01 4.87982240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.58, Y:4.48, Z:4.88 [[ 9.99087334e-01 3.61289313e-02 2.27859676e-02 3.13584846e+02] [-3.60996316e-02 9.99346757e-01 -1.69602830e-03 4.47718085e+00] [-2.28323585e-02 8.71915353e-04 9.99738928e-01 4.87935444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.62, Y:4.48, Z:4.88 [[ 9.99081399e-01 3.64109982e-02 2.25964213e-02 3.13617000e+02] [-3.63821202e-02 9.99336526e-01 -1.68791794e-03 4.47570543e+00] [-2.26428879e-02 8.64261701e-04 9.99743243e-01 4.87901207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.65, Y:4.48, Z:4.88 [[ 9.99045568e-01 3.74726301e-02 2.24444977e-02 3.13649555e+02] [-3.74443202e-02 9.99297303e-01 -1.68041419e-03 4.47505189e+00] [-2.24916955e-02 8.38391395e-04 9.99746678e-01 4.87849741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.68, Y:4.47, Z:4.88 [[ 9.99038574e-01 3.77527816e-02 2.22857652e-02 3.13681208e+02] [-3.77247991e-02 9.99286763e-01 -1.67485134e-03 4.47379306e+00] [-2.23331005e-02 8.32515079e-04 9.99750239e-01 4.87767957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.71, Y:4.47, Z:4.88 [[ 9.99034626e-01 3.79846586e-02 2.20676570e-02 3.13712038e+02] [-3.79572765e-02 9.99277987e-01 -1.65851733e-03 4.47242090e+00] [-2.21147220e-02 8.19288082e-04 9.99755104e-01 4.87729170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.42509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.74, Y:4.47, Z:4.88 [[ 9.99065560e-01 3.78191077e-02 2.09218165e-02 3.13743562e+02] [-3.77943439e-02 9.99284293e-01 -1.57791960e-03 4.47227302e+00] [-2.09665181e-02 7.85718799e-04 9.99779870e-01 4.87658238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.77, Y:4.47, Z:4.88 [[ 9.99079828e-01 3.77019099e-02 2.04466152e-02 3.13774474e+02] [-3.76782153e-02 9.99288733e-01 -1.54298663e-03 4.47129986e+00] [-2.04902458e-02 7.71174844e-04 9.99789755e-01 4.87573622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.81, Y:4.47, Z:4.88 [[ 9.99098256e-01 3.75654608e-02 1.97866366e-02 3.13805302e+02] [-3.75432547e-02 9.99293889e-01 -1.49268088e-03 4.47021161e+00] [-1.98287383e-02 7.48480125e-04 9.99803111e-01 4.87528333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.84, Y:4.47, Z:4.87 [[ 9.99081662e-01 3.85073424e-02 1.87887635e-02 3.13835631e+02] [-3.84874477e-02 9.99258076e-01 -1.41945013e-03 4.47010392e+00] [-1.88294829e-02 6.95015044e-04 9.99822468e-01 4.87469711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.87, Y:4.47, Z:4.87 [[ 9.99082360e-01 3.84892246e-02 1.87887539e-02 3.13865698e+02] [-3.84693243e-02 9.99258773e-01 -1.41957688e-03 4.46786330e+00] [-1.88294656e-02 6.95483556e-04 9.99822468e-01 4.87391748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.90, Y:4.47, Z:4.87 [[ 9.99046162e-01 3.96405337e-02 1.83137740e-02 3.13895026e+02] [-3.96218235e-02 9.99213789e-01 -1.38350695e-03 4.46722910e+00] [-1.83542185e-02 6.56562191e-04 9.99831332e-01 4.87330170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.92, Y:4.47, Z:4.87 [[ 9.98993886e-01 4.12690447e-02 1.75522506e-02 3.13924129e+02] [-4.12521174e-02 9.99147890e-01 -1.32551723e-03 4.46677081e+00] [-1.75919970e-02 6.00116107e-04 9.99845069e-01 4.87303160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.95, Y:4.47, Z:4.87 [[ 9.98810813e-01 4.55842994e-02 1.72925392e-02 3.13953207e+02] [-4.55685287e-02 9.98960362e-01 -1.30513298e-03 4.46820133e+00] [-1.73340548e-02 5.15585362e-04 9.99849621e-01 4.87349182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.98, Y:4.47, Z:4.87 [[ 9.98672443e-01 4.82600445e-02 1.80088536e-02 3.13982049e+02] [-4.82433999e-02 9.98834686e-01 -1.35779612e-03 4.46795346e+00] [-1.80533949e-02 4.87185247e-04 9.99836905e-01 4.87348054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.01, Y:4.47, Z:4.87 [[ 9.98545986e-01 5.06730642e-02 1.83889891e-02 3.14010444e+02] [-5.06561437e-02 9.98715193e-01 -1.38507558e-03 4.46784742e+00] [-1.84355488e-02 4.51546384e-04 9.99829949e-01 4.87328140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.04, Y:4.47, Z:4.87 [[ 9.98405194e-01 5.32249385e-02 1.88195285e-02 3.14037893e+02] [-5.32076941e-02 9.98582463e-01 -1.41619470e-03 4.46710886e+00] [-1.88682280e-02 4.12592436e-04 9.99821894e-01 4.87264267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.07, Y:4.47, Z:4.87 [[ 9.98188642e-01 5.71295121e-02 1.88587780e-02 3.14066227e+02] [-5.71129240e-02 9.98366719e-01 -1.41745652e-03 4.46735414e+00] [-1.89089550e-02 3.37809038e-04 9.99821153e-01 4.87197104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.09, Y:4.47, Z:4.87 [[ 9.98127511e-01 5.83632249e-02 1.83086316e-02 3.14093867e+02] [-5.83478279e-02 9.98295368e-01 -1.37448171e-03 4.46660931e+00] [-1.83576413e-02 3.03639121e-04 9.99831438e-01 4.87158202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.12, Y:4.47, Z:4.87 [[ 9.98070388e-01 5.94226545e-02 1.80124493e-02 3.14122043e+02] [-5.94079582e-02 9.98232874e-01 -1.35036062e-03 4.46511615e+00] [-1.80608611e-02 2.77672110e-04 9.99836851e-01 4.87064585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.15, Y:4.46, Z:4.87 [[ 9.98055492e-01 5.98956225e-02 1.72554302e-02 3.14149573e+02] [-5.98822359e-02 9.98204613e-01 -1.29189742e-03 4.46353108e+00] [-1.73018290e-02 2.56091571e-04 9.99850279e-01 4.87002038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.875099893 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:314.18, Y:4.46, Z:4.87 [[ 9.97982976e-01 6.16512106e-02 1.51363207e-02 3.14176210e+02] [-6.15878516e-02 9.98090986e-01 -4.61737840e-03 4.46379413e+00] [-1.53920923e-02 3.67585157e-03 9.99874778e-01 4.87030138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.20, Y:4.46, Z:4.87 [[ 9.98051833e-01 5.99682155e-02 1.72148767e-02 3.14204304e+02] [-6.00157803e-02 9.98194871e-01 2.25934873e-03 4.45862010e+00] [-1.70483125e-02 -3.28811140e-03 9.99849260e-01 4.86775464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.23, Y:4.46, Z:4.87 [[ 9.98123636e-01 5.87726899e-02 1.71749088e-02 3.14232096e+02] [-5.87593573e-02 9.98271355e-01 -1.28032586e-03 4.45836406e+00] [-1.72204676e-02 2.68736908e-04 9.99851681e-01 4.86837916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.26, Y:4.46, Z:4.87 [[ 9.98193464e-01 5.77919475e-02 1.64286116e-02 3.14259919e+02] [-5.77796421e-02 9.98328612e-01 -1.22308733e-03 4.45628429e+00] [-1.64718376e-02 2.71638481e-04 9.99864293e-01 4.86787010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.29, Y:4.45, Z:4.87 [[ 9.98251018e-01 5.68093059e-02 1.63586995e-02 3.14287555e+02] [-5.67970039e-02 9.98385007e-01 -1.21600094e-03 4.45432398e+00] [-1.64013605e-02 2.84749056e-04 9.99865448e-01 4.86733652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.32, Y:4.45, Z:4.87 [[ 9.98368220e-01 5.48892994e-02 1.57500003e-02 3.14316193e+02] [-5.48776823e-02 9.98492400e-01 -1.16916466e-03 4.45179663e+00] [-1.57904302e-02 3.02933326e-04 9.99875277e-01 4.86710209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.34, Y:4.45, Z:4.87 [[ 9.98407480e-01 5.41431242e-02 1.58438137e-02 3.14343367e+02] [-5.41312800e-02 9.98533135e-01 -1.17577371e-03 4.44939878e+00] [-1.58842330e-02 3.16255355e-04 9.99873788e-01 4.86629316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.37, Y:4.45, Z:4.87 [[ 9.98421100e-01 5.39119825e-02 1.57735832e-02 3.14372269e+02] [-5.39002650e-02 9.98545642e-01 -1.16735561e-03 4.44694058e+00] [-1.58135772e-02 3.15312152e-04 9.99874908e-01 4.86542099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.40, Y:4.44, Z:4.86 [[ 9.98441936e-01 5.35161564e-02 1.58025959e-02 3.14400329e+02] [-5.35043577e-02 9.98566932e-01 -1.16877511e-03 4.44447693e+00] [-1.58424980e-02 3.21446345e-04 9.99874448e-01 4.86481915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.43, Y:4.44, Z:4.86 [[ 9.98446549e-01 5.33783810e-02 1.59761377e-02 3.14428043e+02] [-5.33663350e-02 9.98574305e-01 -1.17967927e-03 4.44243013e+00] [-1.60163300e-02 3.25258777e-04 9.99871677e-01 4.86409454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.17509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.46, Y:4.44, Z:4.86 [[ 9.98456264e-01 5.30378924e-02 1.64945849e-02 3.14455628e+02] [-5.30250279e-02 9.98592443e-01 -1.21660001e-03 4.44042244e+00] [-1.65358937e-02 3.40096079e-04 9.99863215e-01 4.86331027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.48, Y:4.44, Z:4.86 [[ 9.98509030e-01 5.20375339e-02 1.64867140e-02 3.14483389e+02] [-5.20245747e-02 9.98645067e-01 -1.21424294e-03 4.43861927e+00] [-1.65275618e-02 3.54718255e-04 9.99863348e-01 4.86223343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.51, Y:4.44, Z:4.86 [[ 9.98545321e-01 5.14782290e-02 1.60385151e-02 3.14510978e+02] [-5.14659196e-02 9.98674055e-01 -1.17956771e-03 4.43657120e+00] [-1.60779709e-02 3.52414895e-04 9.99870679e-01 4.86149421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.54, Y:4.43, Z:4.86 [[ 9.98593097e-01 5.05354992e-02 1.60620757e-02 3.14538882e+02] [-5.05230597e-02 9.98722198e-01 -1.17956053e-03 4.43459892e+00] [-1.61011612e-02 3.66395791e-04 9.99870301e-01 4.86074415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.57, Y:4.43, Z:4.86 [[ 9.98627305e-01 4.97267813e-02 1.64545490e-02 3.14566975e+02] [-4.97136498e-02 9.98762783e-01 -1.20637313e-03 4.43210168e+00] [-1.64941803e-02 3.86701456e-04 9.99863887e-01 4.85992348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.325099893 meters Centerline goodness : 0.997850 Centerline is valid? [True, True] Translation: X:314.59, Y:4.43, Z:4.86 [[ 9.98611856e-01 5.05378199e-02 1.48421478e-02 3.14592402e+02] [-5.04857065e-02 9.98717304e-01 -3.86535032e-03 4.43108762e+00] [-1.50184562e-02 3.11066833e-03 9.99882378e-01 4.85983384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.62, Y:4.43, Z:4.86 [[ 9.98697797e-01 4.83270628e-02 1.63464141e-02 3.14622167e+02] [-4.83592349e-02 9.98828761e-01 1.57839553e-03 4.42633861e+00] [-1.62509894e-02 -2.36684022e-03 9.99865143e-01 4.85775416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.65, Y:4.43, Z:4.86 [[ 9.98705115e-01 4.81968247e-02 1.62837289e-02 3.14650971e+02] [-4.81837983e-02 9.98837775e-01 -1.19158155e-03 4.42580560e+00] [-1.63222340e-02 4.05426677e-04 9.99866701e-01 4.85834249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.68, Y:4.42, Z:4.86 [[ 9.98726745e-01 4.76161088e-02 1.66612063e-02 3.14678927e+02] [-4.76024082e-02 9.98865620e-01 -1.21814801e-03 4.42425675e+00] [-1.67003097e-02 4.23483454e-04 9.99860450e-01 4.85798510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.71, Y:4.42, Z:4.86 [[ 9.98780876e-01 4.65694322e-02 1.63722183e-02 3.14708005e+02] [-4.65560878e-02 9.98914962e-01 -1.19547125e-03 4.42207634e+00] [-1.64101263e-02 4.31787384e-04 9.99865252e-01 4.85742128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.74, Y:4.42, Z:4.86 [[ 9.98822118e-01 4.58274135e-02 1.59444323e-02 3.14736907e+02] [-4.58146798e-02 9.98949279e-01 -1.16317474e-03 4.41988251e+00] [-1.59809845e-02 4.31315590e-04 9.99872203e-01 4.85661848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.76, Y:4.41, Z:4.86 [[ 9.99098380e-01 4.12664267e-02 9.97542814e-03 3.14762026e+02] [-4.14331798e-02 9.98994396e-01 1.71314805e-02 4.41350632e+00] [-9.25844183e-03 -1.75293481e-02 9.99803482e-01 4.85976597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.79, Y:4.42, Z:4.86 [[ 9.98997222e-01 4.29243690e-02 1.27298358e-02 3.14794511e+02] [-4.26840608e-02 9.98915766e-01 -1.85839589e-02 4.42404714e+00] [-1.35137384e-02 1.80219622e-02 9.99746262e-01 4.86008649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.82, Y:4.41, Z:4.85 [[ 9.99067589e-01 4.11399880e-02 1.30940826e-02 3.14821094e+02] [-4.11310277e-02 9.99153307e-01 -9.52979510e-04 4.41355098e+00] [-1.31222015e-02 4.13517867e-04 9.99913815e-01 4.85499030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.85, Y:4.41, Z:4.85 [[ 9.99103606e-01 4.03453188e-02 1.28156315e-02 3.14849628e+02] [-4.03366877e-02 9.99185711e-01 -9.31354064e-04 4.41144554e+00] [-1.28427717e-02 4.13579077e-04 9.99917443e-01 4.85442879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.88, Y:4.41, Z:4.85 [[ 9.99131710e-01 3.97324635e-02 1.25362637e-02 3.14877060e+02] [-3.97241644e-02 9.99210269e-01 -9.10421209e-04 4.40954275e+00] [-1.25625367e-02 4.11638098e-04 9.99921003e-01 4.85404121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.91, Y:4.41, Z:4.85 [[ 9.99163692e-01 3.88405692e-02 1.27799029e-02 3.14906292e+02] [-3.88318891e-02 9.99245328e-01 -9.26735393e-04 4.40784723e+00] [-1.28062532e-02 4.29692586e-04 9.99917904e-01 4.85429833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.93, Y:4.41, Z:4.85 [[ 9.99163377e-01 3.85895852e-02 1.35421700e-02 3.14933561e+02] [-3.85798278e-02 9.99255040e-01 -9.81120889e-04 4.40620446e+00] [-1.35699427e-02 4.57845473e-04 9.99907819e-01 4.85381681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.96, Y:4.40, Z:4.85 [[ 9.99172262e-01 3.83900654e-02 1.34533890e-02 3.14962006e+02] [-3.83804366e-02 9.99262726e-01 -9.73270714e-04 4.40438765e+00] [-1.34808340e-02 4.56118159e-04 9.99909025e-01 4.85359599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.99, Y:4.40, Z:4.85 [[ 9.99188932e-01 3.78108606e-02 1.38498229e-02 3.14990031e+02] [-3.78006122e-02 9.99284800e-01 -1.00109541e-03 4.40257727e+00] [-1.38777698e-02 4.76751665e-04 9.99903585e-01 4.85383361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.02, Y:4.40, Z:4.85 [[ 9.99187097e-01 3.77733966e-02 1.40824749e-02 3.15017887e+02] [-3.77628148e-02 9.99286213e-01 -1.01666751e-03 4.40063916e+00] [-1.41108260e-02 4.84047170e-04 9.99900320e-01 4.85340334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.05, Y:4.40, Z:4.85 [[ 9.99204176e-01 3.74892924e-02 1.36223413e-02 3.15046696e+02] [-3.74793853e-02 9.99296919e-01 -9.81920710e-04 4.39923162e+00] [-1.36495752e-02 4.70582294e-04 9.99906729e-01 4.85301904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.07, Y:4.40, Z:4.85 [[ 9.99221727e-01 3.71845425e-02 1.31624685e-02 3.15074414e+02] [-3.71752754e-02 9.99308311e-01 -9.48113065e-04 4.39856661e+00] [-1.31886193e-02 4.58056785e-04 9.99912921e-01 4.85270860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.10, Y:4.40, Z:4.85 [[ 9.99245383e-01 3.67564098e-02 1.25551405e-02 3.15103162e+02] [-3.67479597e-02 9.99324158e-01 -9.03156660e-04 4.39719897e+00] [-1.25798520e-02 4.41099325e-04 9.99920773e-01 4.85236891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.13, Y:4.40, Z:4.85 [[ 9.99273001e-01 3.60965491e-02 1.22681978e-02 3.15131582e+02] [-3.60884414e-02 9.99348211e-01 -8.81676984e-04 4.39590143e+00] [-1.22920270e-02 4.38295870e-04 9.99924354e-01 4.85213088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.92509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.16, Y:4.39, Z:4.85 [[ 9.99304133e-01 3.51836465e-02 1.23838574e-02 3.15159127e+02] [-3.51753227e-02 9.99380761e-01 -8.89391199e-04 4.39454545e+00] [-1.24074808e-02 4.53166122e-04 9.99922922e-01 4.85173901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.19, Y:4.39, Z:4.85 [[ 9.99403457e-01 3.21951705e-02 1.24980301e-02 3.15188129e+02] [-3.21864791e-02 9.99481479e-01 -8.95994145e-04 4.39329861e+00] [-1.25203963e-02 4.93192060e-04 9.99921495e-01 4.85122115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.22, Y:4.39, Z:4.85 [[ 9.99472521e-01 3.00223304e-02 1.23829943e-02 3.15215986e+02] [-3.00136397e-02 9.99549096e-01 -8.87107329e-04 4.39155148e+00] [-1.24040438e-02 5.14980670e-04 9.99922934e-01 4.85093383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.24, Y:4.39, Z:4.85 [[ 9.99545355e-01 2.75513430e-02 1.22477320e-02 3.15244880e+02] [-2.75426716e-02 9.99620245e-01 -8.76146387e-04 4.39005709e+00] [-1.22672199e-02 5.38412790e-04 9.99924610e-01 4.85024241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.27, Y:4.39, Z:4.85 [[ 9.99682273e-01 2.24553358e-02 1.14504124e-02 3.15273733e+02] [-2.24474345e-02 9.99747690e-01 -8.18119753e-04 4.38964512e+00] [-1.14658945e-02 5.60827432e-04 9.99934107e-01 4.84982757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.30, Y:4.39, Z:4.85 [[ 9.99735230e-01 2.01827206e-02 1.10511170e-02 3.15302945e+02] [-2.01752343e-02 9.99796148e-01 -7.88494720e-04 4.38826331e+00] [-1.10647782e-02 5.65327075e-04 9.99938624e-01 4.84901881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.33, Y:4.39, Z:4.85 [[ 9.99786368e-01 1.79457081e-02 1.02552506e-02 3.15333485e+02] [-1.79391485e-02 9.99838813e-01 -7.31278214e-04 4.38692429e+00] [-1.02667209e-02 5.47151526e-04 9.99947146e-01 4.84865703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.36, Y:4.37, Z:4.85 [[ 9.99906234e-01 1.32684819e-02 3.38685499e-03 3.15362013e+02] [-1.33615757e-02 9.99486347e-01 2.91291940e-02 4.37424920e+00] [-2.99861514e-03 -2.91717164e-02 9.99569917e-01 4.85183251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.39, Y:4.40, Z:4.86 [[ 9.99861420e-01 1.48227942e-02 7.57796558e-03 3.15394271e+02] [-1.45889817e-02 9.99442508e-01 -3.00305810e-02 4.40018867e+00] [-8.01887804e-03 2.99158645e-02 9.99520254e-01 4.85705135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.42, Y:4.38, Z:4.85 [[ 9.99896512e-01 1.26425043e-02 6.86525681e-03 3.15424028e+02] [-1.27350945e-02 9.99826212e-01 1.36148421e-02 4.37881503e+00] [-6.69193801e-03 -1.37008628e-02 9.99883745e-01 4.85041933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.45, Y:4.39, Z:4.85 [[ 9.99861890e-01 1.37408004e-02 9.34830436e-03 3.15454796e+02] [-1.36034766e-02 9.99800902e-01 -1.45980331e-02 4.39070533e+00] [-9.54703179e-03 1.44688475e-02 9.99849742e-01 4.85171752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.49, Y:4.38, Z:4.85 [[ 9.99835167e-01 1.37663359e-02 1.18374823e-02 3.15485163e+02] [-1.37573005e-02 9.99905007e-01 -8.44381901e-04 4.38471003e+00] [-1.18479819e-02 6.81390918e-04 9.99929578e-01 4.84831520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.52, Y:4.38, Z:4.85 [[ 9.99823128e-01 1.45089066e-02 1.19668228e-02 3.15517281e+02] [-1.44997516e-02 9.99894511e-01 -8.51440409e-04 4.38392480e+00] [-1.19779139e-02 6.77773855e-04 9.99928033e-01 4.84785500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.55, Y:4.38, Z:4.85 [[ 9.99800974e-01 1.63544396e-02 1.14255862e-02 3.15548558e+02] [-1.63461472e-02 9.99866058e-01 -8.18790529e-04 4.38440923e+00] [-1.14374467e-02 6.31863255e-04 9.99934391e-01 4.84745734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.58, Y:4.38, Z:4.85 [[ 9.99780322e-01 1.75617463e-02 1.14408419e-02 3.15578878e+02] [-1.75535027e-02 9.99845589e-01 -8.20569644e-04 4.38365863e+00] [-1.14534859e-02 6.19562534e-04 9.99934215e-01 4.84663313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.61, Y:4.38, Z:4.85 [[ 9.99756829e-01 1.89882316e-02 1.12129156e-02 3.15609749e+02] [-1.89803974e-02 9.99819532e-01 -8.04683812e-04 4.38312024e+00] [-1.12261715e-02 5.91662543e-04 9.99936810e-01 4.84591790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.64, Y:4.38, Z:4.85 [[ 9.99681418e-01 2.27319112e-02 1.09691795e-02 3.15640177e+02] [-2.27246388e-02 9.99741452e-01 -7.87192337e-04 4.38475749e+00] [-1.09842379e-02 5.37670909e-04 9.99939527e-01 4.84568152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.67, Y:4.38, Z:4.85 [[ 9.99641685e-01 2.46960248e-02 1.03250886e-02 3.15668877e+02] [-2.47356449e-02 9.99687079e-01 3.72732533e-03 4.38288743e+00] [-1.02298075e-02 -3.98138750e-03 9.99939748e-01 4.84614187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.70, Y:4.38, Z:4.85 [[ 9.99642803e-01 2.47531185e-02 1.00772223e-02 3.15698262e+02] [-2.47471962e-02 9.99693488e-01 -7.11977357e-04 4.38297050e+00] [-1.00917571e-02 4.62340043e-04 9.99948970e-01 4.84667745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.73, Y:4.38, Z:4.85 [[ 9.99576626e-01 2.72479737e-02 1.02037984e-02 3.15726262e+02] [-2.72317825e-02 9.99627662e-01 -1.72239281e-03 4.38394945e+00] [-1.02469308e-02 1.44379597e-03 9.99946456e-01 4.84618493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.75, Y:4.39, Z:4.85 [[ 9.99488485e-01 3.03442192e-02 1.00993101e-02 3.15754028e+02] [-3.03022215e-02 9.99531594e-01 -4.28586512e-03 4.38504951e+00] [-1.02246308e-02 3.97764130e-03 9.99939816e-01 4.84509535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.78, Y:4.38, Z:4.84 [[ 9.99384813e-01 3.41142959e-02 8.13695087e-03 3.15780537e+02] [-3.41823319e-02 9.99380529e-01 8.37418444e-03 4.38398260e+00] [-7.84623086e-03 -8.64717271e-03 9.99931829e-01 4.84498366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.81, Y:4.39, Z:4.85 [[ 9.99165946e-01 3.98743313e-02 8.80056161e-03 3.15811329e+02] [-3.97901180e-02 9.99162466e-01 -9.54533030e-03 4.39007239e+00] [-9.17380451e-03 9.18719360e-03 9.99915715e-01 4.84572923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.84, Y:4.38, Z:4.84 [[ 9.99166202e-01 4.02247283e-02 6.99091495e-03 3.15835382e+02] [-4.02869925e-02 9.99147559e-01 9.00629077e-03 4.38453295e+00] [-6.62268001e-03 -9.28042427e-03 9.99935005e-01 4.84442233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.86, Y:4.39, Z:4.85 [[ 9.98931663e-01 4.58442331e-02 5.81707990e-03 3.15861913e+02] [-4.58869590e-02 9.98918953e-01 7.43721156e-03 4.38924854e+00] [-5.46983810e-03 -7.69619422e-03 9.99955424e-01 4.84689170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.67509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.89, Y:4.39, Z:4.85 [[ 9.98803886e-01 4.86649813e-02 4.74521168e-03 3.15890602e+02] [-4.86630521e-02 9.98815116e-01 -5.21230605e-04 4.39327361e+00] [-4.76495483e-03 2.89690670e-04 9.99988606e-01 4.84917333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.92, Y:4.39, Z:4.85 [[ 9.98702949e-01 5.07296303e-02 4.35028777e-03 3.15918655e+02] [-5.07333194e-02 9.98711960e-01 7.41829877e-04 4.39338776e+00] [-4.30705167e-03 -9.61572224e-04 9.99990262e-01 4.84906840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.95, Y:4.39, Z:4.85 [[ 9.98568889e-01 5.32050360e-02 5.42193712e-03 3.15946677e+02] [-5.31907329e-02 9.98580587e-01 -2.74902557e-03 4.39448968e+00] [-5.56050315e-03 2.45669460e-03 9.99981523e-01 4.84888771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.97, Y:4.39, Z:4.85 [[ 9.98461581e-01 5.51512582e-02 5.72794059e-03 3.15974177e+02] [-5.51776521e-02 9.98466155e-01 4.55679413e-03 4.39274202e+00] [-5.46784188e-03 -4.86583819e-03 9.99973213e-01 4.84877426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.00, Y:4.39, Z:4.85 [[ 9.98423957e-01 5.58108497e-02 5.89501849e-03 3.16002164e+02] [-5.58272712e-02 9.98436902e-01 2.65870428e-03 4.39284597e+00] [-5.73741945e-03 -2.98361684e-03 9.99979090e-01 4.84942338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.04, Y:4.40, Z:4.85 [[ 9.98084119e-01 6.09612853e-02 1.05741374e-02 3.16036200e+02] [-6.07073130e-02 9.97893499e-01 -2.28732864e-02 4.39717855e+00] [-1.19462479e-02 2.21875364e-02 9.99682450e-01 4.84807000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.06, Y:4.38, Z:4.85 [[ 9.98627224e-01 5.20498994e-02 5.87162999e-03 3.16056563e+02] [-5.21701302e-02 9.98381933e-01 2.26228632e-02 4.38316272e+00] [-4.68461154e-03 -2.28981307e-02 9.99726828e-01 4.84541587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.09, Y:4.40, Z:4.85 [[ 9.98366493e-01 5.62845829e-02 9.81787841e-03 3.16092605e+02] [-5.60404052e-02 9.98149829e-01 -2.35879757e-02 4.39534797e+00] [-1.11273530e-02 2.29992467e-02 9.99673555e-01 4.84925142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.12, Y:4.38, Z:4.84 [[ 9.98537188e-01 5.28893154e-02 1.12340386e-02 3.16119477e+02] [-5.28835727e-02 9.98600358e-01 -8.07834847e-04 4.38282034e+00] [-1.12610408e-02 2.12557040e-04 9.99936570e-01 4.84145780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.15, Y:4.38, Z:4.84 [[ 9.98832818e-01 4.70840282e-02 1.07747481e-02 3.16146598e+02] [-4.70784156e-02 9.98890897e-01 -7.74089081e-04 4.37980891e+00] [-1.07992450e-02 2.65927510e-04 9.99941651e-01 4.84127402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.17, Y:4.38, Z:4.84 [[ 9.98987731e-01 4.38713941e-02 9.94056236e-03 3.16174130e+02] [-4.38664704e-02 9.99037149e-01 -7.12912879e-04 4.37726631e+00] [-9.96226756e-03 2.76133836e-04 9.99950337e-01 4.84106755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.20, Y:4.37, Z:4.84 [[ 9.99129872e-01 4.06215360e-02 9.45465805e-03 3.16200685e+02] [-4.06169416e-02 9.99174562e-01 -6.77526286e-04 4.37466951e+00] [-9.47437598e-03 2.92917458e-04 9.99955074e-01 4.84068704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.23, Y:4.37, Z:4.84 [[ 9.99244360e-01 3.77456581e-02 9.27224698e-03 3.16227579e+02] [-3.77411263e-02 9.99287330e-01 -6.63305849e-04 4.37221917e+00] [-9.29067584e-03 3.12859584e-04 9.99956792e-01 4.84015600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.26, Y:4.37, Z:4.84 [[ 9.99426462e-01 3.29298900e-02 7.89742798e-03 3.16255665e+02] [-3.29264578e-02 9.99457618e-01 -5.64263959e-04 4.36887533e+00] [-7.91172571e-03 3.03906003e-04 9.99968656e-01 4.83990685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.28, Y:4.37, Z:4.84 [[ 9.99490172e-01 3.09237320e-02 7.94478594e-03 3.16283162e+02] [-3.09202023e-02 9.99521696e-01 -5.66748251e-04 4.36643474e+00] [-7.95851188e-03 3.20804918e-04 9.99968279e-01 4.83913442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.31, Y:4.36, Z:4.84 [[ 9.99534940e-01 2.95206255e-02 7.64433205e-03 3.16310626e+02] [-2.95173253e-02 9.99564121e-01 -5.44202797e-04 4.36415192e+00] [-7.65706525e-03 3.18309474e-04 9.99970634e-01 4.83865586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.34, Y:4.36, Z:4.84 [[ 9.99568924e-01 2.81382668e-02 8.37875766e-03 3.16339183e+02] [-2.81342654e-02 9.99603976e-01 -5.95081658e-04 4.36146703e+00] [-8.39218403e-03 3.59094941e-04 9.99964721e-01 4.83780121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.37, Y:4.36, Z:4.84 [[ 9.99554358e-01 2.84904132e-02 8.90961153e-03 3.16367985e+02] [-2.84859090e-02 9.99593994e-01 -6.32061956e-04 4.35908742e+00] [-8.92400188e-03 3.77981899e-04 9.99960109e-01 4.83698601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.40, Y:4.36, Z:4.84 [[ 9.99524649e-01 2.92264135e-02 9.81285708e-03 3.16396965e+02] [-2.92209943e-02 9.99572734e-01 -6.95209499e-04 4.35702242e+00] [-9.82898286e-03 4.08137590e-04 9.99951611e-01 4.83630557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.43, Y:4.36, Z:4.84 [[ 9.99490609e-01 3.01379065e-02 1.04989865e-02 3.16425173e+02] [-3.01317573e-02 9.99545659e-01 -7.43416641e-04 4.35517394e+00] [-1.05166214e-02 4.26685038e-04 9.99944608e-01 4.83608267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.45, Y:4.35, Z:4.84 [[ 9.99413329e-01 3.22246188e-02 1.16005130e-02 3.16454192e+02] [-3.22172746e-02 9.99480553e-01 -8.19460411e-04 4.35353214e+00] [-1.16208939e-02 4.45242746e-04 9.99932376e-01 4.83590536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.48, Y:4.35, Z:4.83 [[ 9.99380058e-01 3.30431247e-02 1.21512164e-02 3.16481905e+02] [-3.30351355e-02 9.99453823e-01 -8.57666026e-04 4.35174617e+00] [-1.21729196e-02 4.55717243e-04 9.99925803e-01 4.83495825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.51, Y:4.35, Z:4.83 [[ 9.99351391e-01 3.37967682e-02 1.24328318e-02 3.16510833e+02] [-3.37884810e-02 9.99428622e-01 -8.76063492e-04 4.34988863e+00] [-1.24553360e-02 4.55408770e-04 9.99922326e-01 4.83425219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.54, Y:4.35, Z:4.83 [[ 9.99313646e-01 3.49709271e-02 1.22176188e-02 3.16538433e+02] [-3.49630188e-02 9.99388236e-01 -8.60338802e-04 4.34843638e+00] [-1.22402313e-02 4.32583470e-04 9.99924992e-01 4.83336236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.57, Y:4.35, Z:4.83 [[ 9.99302904e-01 3.54105763e-02 1.18235915e-02 3.16565934e+02] [-3.54032124e-02 9.99372764e-01 -8.31599315e-04 4.34691159e+00] [-1.18456228e-02 4.12426487e-04 9.99929753e-01 4.83259014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.42509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.60, Y:4.35, Z:4.83 [[ 9.99310984e-01 3.53337295e-02 1.13615872e-02 3.16595172e+02] [-3.53269392e-02 9.99375490e-01 -7.97856914e-04 4.34544773e+00] [-1.13826830e-02 3.95937079e-04 9.99935137e-01 4.83187792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.62, Y:4.34, Z:4.83 [[ 9.99318652e-01 3.51874938e-02 1.11387617e-02 3.16622873e+02] [-3.51809596e-02 9.99380652e-01 -7.82075683e-04 4.34408710e+00] [-1.11593822e-02 3.89670492e-04 9.99937656e-01 4.83085153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.65, Y:4.34, Z:4.83 [[ 9.99346305e-01 3.44008813e-02 1.11149758e-02 3.16650697e+02] [-3.43943383e-02 9.99408036e-01 -7.79345775e-04 4.34317700e+00] [-1.11352063e-02 3.96544083e-04 9.99937923e-01 4.82946533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.68, Y:4.34, Z:4.83 [[ 9.99367503e-01 3.38336068e-02 1.09489773e-02 3.16679231e+02] [-3.38272432e-02 9.99427402e-01 -7.65927137e-04 4.34163777e+00] [-1.09686221e-02 3.95068972e-04 9.99939765e-01 4.82823962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.71, Y:4.34, Z:4.83 [[ 9.99383057e-01 3.33961238e-02 1.08722081e-02 3.16707765e+02] [-3.33898317e-02 9.99442115e-01 -7.59787926e-04 4.34020751e+00] [-1.08915166e-02 3.96297981e-04 9.99940607e-01 4.82684605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.74, Y:4.34, Z:4.83 [[ 9.99403014e-01 3.29220839e-02 1.04762903e-02 3.16735429e+02] [-3.29162195e-02 9.99457847e-01 -7.31754048e-04 4.33902087e+00] [-1.04947014e-02 3.86477330e-04 9.99944854e-01 4.82596937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.76, Y:4.34, Z:4.82 [[ 9.99388653e-01 3.30852341e-02 1.12998804e-02 3.16764142e+02] [-3.30784395e-02 9.99452448e-01 -7.87722749e-04 4.33900238e+00] [-1.13197551e-02 4.13458768e-04 9.99935844e-01 4.82440760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.79, Y:4.34, Z:4.82 [[ 9.99368867e-01 3.35448611e-02 1.16880145e-02 3.16793232e+02] [-3.35376334e-02 9.99437124e-01 -8.13895730e-04 4.33827462e+00] [-1.17087376e-02 4.21393707e-04 9.99931362e-01 4.82336511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.82, Y:4.34, Z:4.82 [[ 9.99334383e-01 3.42694315e-02 1.25058579e-02 3.16821597e+02] [-3.42612263e-02 9.99412533e-01 -8.69825975e-04 4.33769657e+00] [-1.25283195e-02 4.40780977e-04 9.99921420e-01 4.82242215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.85, Y:4.34, Z:4.82 [[ 9.99284008e-01 3.54377519e-02 1.32528400e-02 3.16849193e+02] [-3.54286483e-02 9.99371784e-01 -9.21136546e-04 4.33726901e+00] [-1.32771573e-02 4.50946813e-04 9.99911753e-01 4.82148787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.88, Y:4.34, Z:4.82 [[ 9.99131908e-01 3.85723917e-02 1.57353498e-02 3.16878434e+02] [-3.85599855e-02 9.99255691e-01 -1.09117626e-03 4.33764230e+00] [-1.57657271e-02 4.83474159e-04 9.99875596e-01 4.82065260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.91, Y:4.34, Z:4.82 [[ 9.99038664e-01 4.06054339e-02 1.65210897e-02 3.16906561e+02] [-4.05920511e-02 9.99175147e-01 -1.14471481e-03 4.33707712e+00] [-1.65539438e-02 4.72989437e-04 9.99862862e-01 4.81992286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.93, Y:4.34, Z:4.82 [[ 9.98927257e-01 4.27969887e-02 1.76848142e-02 3.16934495e+02] [-4.27820300e-02 9.99083681e-01 -1.22348537e-03 4.33654165e+00] [-1.77209707e-02 4.65580638e-04 9.99842863e-01 4.81920479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.96, Y:4.34, Z:4.82 [[ 9.98710834e-01 4.69058124e-02 1.94039841e-02 3.16962586e+02] [-4.68886251e-02 9.98899225e-01 -1.34002387e-03 4.33748993e+00] [-1.94454796e-02 4.28470226e-04 9.99810827e-01 4.81885446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.99, Y:4.34, Z:4.82 [[ 9.98606348e-01 4.86499065e-02 2.04584483e-02 3.16990734e+02] [-4.86312143e-02 9.98815807e-01 -1.41048171e-03 4.33666749e+00] [-2.05028414e-02 4.13596808e-04 9.99789709e-01 4.81799962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.02, Y:4.34, Z:4.82 [[ 9.98526003e-01 4.99109577e-02 2.13241175e-02 3.17018543e+02] [-4.98909921e-02 9.98753591e-01 -1.46759999e-03 4.33561050e+00] [-2.13707882e-02 4.01555374e-04 9.99771538e-01 4.81695463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.05, Y:4.33, Z:4.82 [[ 9.98491474e-01 5.04806556e-02 2.15981483e-02 3.17046546e+02] [-5.04603458e-02 9.98724962e-01 -1.48465204e-03 4.33452257e+00] [-2.16455560e-02 3.92562375e-04 9.99765630e-01 4.81599589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.07, Y:4.33, Z:4.81 [[ 9.98482589e-01 5.11022356e-02 2.05202793e-02 3.17074581e+02] [-5.10840766e-02 9.98693363e-01 -1.40848214e-03 4.33278921e+00] [-2.05654433e-02 3.58085379e-04 9.99788445e-01 4.81351937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.10, Y:4.33, Z:4.81 [[ 9.98509491e-01 5.08439553e-02 1.98415764e-02 3.17102016e+02] [-5.08269678e-02 9.98706549e-01 -1.35983986e-03 4.33083370e+00] [-1.98850519e-02 3.49325839e-04 9.99802212e-01 4.81197855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.13, Y:4.33, Z:4.81 [[ 9.98532743e-01 5.03923338e-02 1.98235498e-02 3.17129927e+02] [-5.03753300e-02 9.98729436e-01 -1.35649915e-03 4.32895649e+00] [-1.98667198e-02 3.55890959e-04 9.99802574e-01 4.81052989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.16, Y:4.33, Z:4.81 [[ 9.98623778e-01 4.89021223e-02 1.89508043e-02 3.17158114e+02] [-4.88863551e-02 9.98803508e-01 -1.29465123e-03 4.32738501e+00] [-1.89914410e-02 3.66433754e-04 9.99819579e-01 4.80887424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.19, Y:4.33, Z:4.81 [[ 9.98661403e-01 4.82265248e-02 1.86977352e-02 3.17186174e+02] [-4.82110889e-02 9.98836355e-01 -1.27569118e-03 4.32560365e+00] [-1.87374998e-02 3.72545368e-04 9.99824368e-01 4.80796444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.21, Y:4.32, Z:4.81 [[ 9.98688859e-01 4.73888692e-02 1.93612709e-02 3.17213806e+02] [-4.73721930e-02 9.98876436e-01 -1.31930390e-03 4.32379651e+00] [-1.94020376e-02 4.00388242e-04 9.99811683e-01 4.80688727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.24, Y:4.32, Z:4.81 [[ 9.98743661e-01 4.59122737e-02 2.00789106e-02 3.17241370e+02] [-4.58940886e-02 9.98945378e-01 -1.36578596e-03 4.32184538e+00] [-2.01204412e-02 4.42566769e-04 9.99797465e-01 4.80547087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.27, Y:4.32, Z:4.80 [[ 9.98779091e-01 4.51097810e-02 2.01354309e-02 3.17269000e+02] [-4.50913635e-02 9.98981931e-01 -1.36799115e-03 4.31962307e+00] [-2.01766414e-02 4.58386926e-04 9.99796326e-01 4.80461927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.17509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.30, Y:4.32, Z:4.80 [[ 9.98797682e-01 4.39456341e-02 2.17249061e-02 3.17297261e+02] [-4.39239731e-02 9.99033790e-01 -1.47346231e-03 4.31727114e+00] [-2.17686675e-02 5.17446543e-04 9.99762901e-01 4.80346628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.32, Y:4.31, Z:4.80 [[ 9.98824136e-01 4.27938715e-02 2.27822393e-02 3.17324707e+02] [-4.27698125e-02 9.99083762e-01 -1.54247968e-03 4.31482459e+00] [-2.28273741e-02 5.66273826e-04 9.99739261e-01 4.80279850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.35, Y:4.31, Z:4.80 [[ 9.98835011e-01 4.13242587e-02 2.49183858e-02 3.17353815e+02] [-4.12950811e-02 9.99145574e-01 -1.68459329e-03 4.31239780e+00] [-2.49667094e-02 6.53623993e-04 9.99688069e-01 4.80168247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.38, Y:4.31, Z:4.80 [[ 9.98909467e-01 3.82389649e-02 2.67891443e-02 3.17382357e+02] [-3.82041859e-02 9.99268316e-01 -1.80905636e-03 4.30931094e+00] [-2.68387195e-02 7.83626077e-04 9.99639470e-01 4.80071406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.41, Y:4.31, Z:4.80 [[ 9.98945488e-01 3.64381665e-02 2.79315455e-02 3.17411448e+02] [-3.63997117e-02 9.99335535e-01 -1.88413715e-03 4.30665359e+00] [-2.79816404e-02 8.65450109e-04 9.99608063e-01 4.79940940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.44, Y:4.30, Z:4.80 [[ 9.99024778e-01 3.44401779e-02 2.76291087e-02 3.17441214e+02] [-3.44018172e-02 9.99406346e-01 -1.86269402e-03 4.30394631e+00] [-2.76768581e-02 9.10385927e-04 9.99616508e-01 4.79836281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.47, Y:4.30, Z:4.80 [[ 9.99024189e-01 3.44572898e-02 2.76290757e-02 3.17472137e+02] [-3.44189221e-02 9.99405757e-01 -1.86318412e-03 4.30186246e+00] [-2.76768576e-02 9.10403005e-04 9.99616508e-01 4.79746803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.50, Y:4.30, Z:4.80 [[ 9.99172688e-01 2.92890169e-02 2.82151301e-02 3.17502688e+02] [-2.92469317e-02 9.99570405e-01 -1.90320094e-03 4.29810929e+00] [-2.82587519e-02 1.07642041e-03 9.99600062e-01 4.79540292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.54, Y:4.29, Z:4.79 [[ 9.99258789e-01 2.66701553e-02 2.77592320e-02 3.17535794e+02] [-2.66284057e-02 9.99643647e-01 -1.87263316e-03 4.29482543e+00] [-2.77992834e-02 1.13206105e-03 9.99612884e-01 4.79413933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.57, Y:4.29, Z:4.79 [[ 9.99328438e-01 2.35829018e-02 2.80449735e-02 3.17568825e+02] [-2.35388447e-02 9.99721117e-01 -1.90009233e-03 4.29148947e+00] [-2.80819619e-02 1.23867002e-03 9.99604856e-01 4.79254189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.60, Y:4.29, Z:4.79 [[ 9.99416857e-01 2.05366045e-02 2.72799147e-02 3.17601950e+02] [-2.04935784e-02 9.99788262e-01 -1.85588899e-03 4.28805746e+00] [-2.73122521e-02 1.29574367e-03 9.99626111e-01 4.79140728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.63, Y:4.28, Z:4.79 [[ 9.99538191e-01 1.47911608e-02 2.65448164e-02 3.17634292e+02] [-1.47482028e-02 9.99889595e-01 -1.81338106e-03 4.28415673e+00] [-2.65687078e-02 1.42105529e-03 9.99645980e-01 4.79025297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.67, Y:4.28, Z:4.79 [[ 9.99558846e-01 1.24751596e-02 2.69533523e-02 3.17666915e+02] [-1.24298311e-02 9.99921038e-01 -1.84863405e-03 4.28107625e+00] [-2.69742860e-02 1.51279290e-03 9.99634983e-01 4.78880122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.70, Y:4.28, Z:4.79 [[ 9.99571477e-01 1.03269742e-02 2.73900586e-02 3.17699755e+02] [-1.02791428e-02 9.99945389e-01 -1.88653302e-03 4.27818717e+00] [-2.74080450e-02 1.60417828e-03 9.99623042e-01 4.78772225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.73, Y:4.28, Z:4.79 [[ 9.99590446e-01 9.30025396e-03 2.70637363e-02 3.17732447e+02] [-9.25297175e-03 9.99955438e-01 -1.87178011e-03 4.27519311e+00] [-2.70799384e-02 1.62059353e-03 9.99631958e-01 4.78650596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.76, Y:4.27, Z:4.79 [[ 9.99625258e-01 8.14943046e-03 2.61329234e-02 3.17764673e+02] [-8.10476373e-03 9.99965509e-01 -1.81467801e-03 4.27214802e+00] [-2.61468106e-02 1.60219680e-03 9.99656830e-01 4.78504101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.80, Y:4.27, Z:4.78 [[ 9.99621746e-01 8.35348969e-03 2.62027401e-02 3.17797466e+02] [-8.30847078e-03 9.99963816e-01 -1.82650196e-03 4.26956660e+00] [-2.62170496e-02 1.60810637e-03 9.99654981e-01 4.78367223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.83, Y:4.27, Z:4.78 [[ 9.99610460e-01 9.67126426e-03 2.61800670e-02 3.17830883e+02] [-9.62657884e-03 9.99951985e-01 -1.83234812e-03 4.26729008e+00] [-2.61965311e-02 1.57960987e-03 9.99655564e-01 4.78273658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.86, Y:4.27, Z:4.78 [[ 9.99591644e-01 1.08875461e-02 2.64198254e-02 3.17863435e+02] [-1.08422626e-02 9.99939497e-01 -1.85664547e-03 4.26520512e+00] [-2.64384413e-02 1.56943661e-03 9.99649211e-01 4.78201645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.90, Y:4.26, Z:4.78 [[ 9.99580833e-01 1.23395145e-02 2.61895925e-02 3.17896977e+02] [-1.22953216e-02 9.99922702e-01 -1.84778827e-03 4.26352229e+00] [-2.62103689e-02 1.52500428e-03 9.99655286e-01 4.78139264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.93, Y:4.26, Z:4.78 [[ 9.99557226e-01 1.40484198e-02 2.62296382e-02 3.17930470e+02] [-1.40044820e-02 9.99900206e-01 -1.85807927e-03 4.26154540e+00] [-2.62531237e-02 1.48992406e-03 9.99654217e-01 4.78058567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.96, Y:4.26, Z:4.78 [[ 9.99512268e-01 1.74993467e-02 2.58649994e-02 3.17962258e+02] [-1.74575791e-02 9.99845912e-01 -1.83977359e-03 4.25979501e+00] [-2.58932088e-02 1.38733600e-03 9.99663752e-01 4.77944325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.99, Y:4.26, Z:4.78 [[ 9.99477509e-01 1.94427587e-02 2.58203028e-02 3.17994924e+02] [-1.94016731e-02 9.99810075e-01 -1.84080662e-03 4.25787178e+00] [-2.58511893e-02 1.33888774e-03 9.99664906e-01 4.77854713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.03, Y:4.26, Z:4.78 [[ 9.99446622e-01 2.13320864e-02 2.55223652e-02 3.18026813e+02] [-2.12923743e-02 9.99771623e-01 -1.82675420e-03 4.25625443e+00] [-2.55555050e-02 1.28231156e-03 9.99672582e-01 4.77776201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.06, Y:4.25, Z:4.78 [[ 9.99385378e-01 2.39266628e-02 2.56199478e-02 3.18060290e+02] [-2.38873241e-02 9.99712963e-01 -1.84045989e-03 4.25449897e+00] [-2.56566300e-02 1.22733670e-03 9.99670061e-01 4.77682285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.92509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.09, Y:4.25, Z:4.78 [[ 9.99244688e-01 2.96845364e-02 2.50775235e-02 3.18093840e+02] [-2.96484842e-02 9.99558751e-01 -1.80830475e-03 4.25346993e+00] [-2.51201367e-02 1.06342836e-03 9.99683874e-01 4.77583671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.13, Y:4.25, Z:4.77 [[ 9.99019778e-01 3.62950358e-02 2.53407565e-02 3.18125547e+02] [-3.62601443e-02 9.99340700e-01 -1.83518948e-03 4.25295287e+00] [-2.53906576e-02 9.14531104e-04 9.99677187e-01 4.77487977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.15, Y:4.25, Z:4.77 [[ 9.98887479e-01 3.98234841e-02 2.52565901e-02 3.18154753e+02] [-3.97899228e-02 9.99206391e-01 -1.83018484e-03 4.25193619e+00] [-2.53094306e-02 8.23190948e-04 9.99679326e-01 4.77413254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.18, Y:4.25, Z:4.77 [[ 9.98742441e-01 4.33233538e-02 2.52314090e-02 3.18183213e+02] [-4.32909813e-02 9.99060833e-01 -1.82810205e-03 4.25111642e+00] [-2.52869120e-02 7.33510648e-04 9.99679966e-01 4.77358248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.21, Y:4.25, Z:4.77 [[ 9.98588583e-01 4.68329328e-02 2.50503010e-02 3.18211989e+02] [-4.68021709e-02 9.98902532e-01 -1.81321746e-03 4.25027112e+00] [-2.51077274e-02 6.38249787e-04 9.99684548e-01 4.77295042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.24, Y:4.25, Z:4.77 [[ 9.98343704e-01 5.20864615e-02 2.44304997e-02 3.18239748e+02] [-5.20588140e-02 9.98642458e-01 -1.76675629e-03 4.24983158e+00] [-2.44893584e-02 4.92007182e-04 9.99699970e-01 4.77232912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.27, Y:4.25, Z:4.77 [[ 9.98244402e-01 5.40859841e-02 2.41416741e-02 3.18267714e+02] [-5.40596194e-02 9.98536187e-01 -1.74386780e-03 4.24809276e+00] [-2.42006540e-02 4.35716555e-04 9.99707026e-01 4.77138293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.30, Y:4.25, Z:4.77 [[ 9.98136728e-01 5.61652047e-02 2.38441242e-02 3.18295819e+02] [-5.61401374e-02 9.98421417e-01 -1.71993059e-03 4.24606407e+00] [-2.39030846e-02 3.78113477e-04 9.99714209e-01 4.77048869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.32, Y:4.24, Z:4.77 [[ 9.97901574e-01 6.04319242e-02 2.32471899e-02 3.18323875e+02] [-6.04093074e-02 9.98172285e-01 -1.67456384e-03 4.24364908e+00] [-2.33058978e-02 2.66703248e-04 9.99728345e-01 4.76894753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.35, Y:4.24, Z:4.77 [[ 9.97787019e-01 6.23287763e-02 2.31557534e-02 3.18352010e+02] [-6.23069045e-02 9.98055648e-01 -1.66553365e-03 4.24154243e+00] [-2.32145411e-02 2.19084540e-04 9.99730482e-01 4.76822372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.38, Y:4.24, Z:4.77 [[ 9.97652893e-01 6.44446906e-02 2.31427510e-02 3.18380089e+02] [-6.44234712e-02 9.97921266e-01 -1.66207091e-03 4.23945137e+00] [-2.32017550e-02 1.67233498e-04 9.99730789e-01 4.76766738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.41, Y:4.24, Z:4.77 [[ 9.97510756e-01 6.65008493e-02 2.34505769e-02 3.18407374e+02] [-6.64796811e-02 9.97786361e-01 -1.68198946e-03 4.23752935e+00] [-2.35105195e-02 1.18815705e-04 9.99723582e-01 4.76685033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.43, Y:4.24, Z:4.77 [[ 9.97362800e-01 6.87266404e-02 2.33258169e-02 3.18434906e+02] [-6.87064184e-02 9.97635527e-01 -1.66820717e-03 4.23548819e+00] [-2.33853139e-02 6.11744473e-05 9.99726524e-01 4.76642207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.46, Y:4.23, Z:4.77 [[ 9.97043864e-01 7.32314800e-02 2.32526219e-02 3.18462266e+02] [-7.32126680e-02 9.97314969e-01 -1.66045424e-03 4.23293656e+00] [-2.33117854e-02 -4.68407795e-05 9.99728242e-01 4.76560241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.49, Y:4.23, Z:4.76 [[ 9.96867594e-01 7.55554441e-02 2.33746715e-02 3.18489820e+02] [-7.55371328e-02 9.97141597e-01 -1.66660423e-03 4.23020267e+00] [-2.34337783e-02 -1.04271911e-04 9.99725386e-01 4.76482997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.52, Y:4.23, Z:4.76 [[ 9.96735118e-01 7.72739856e-02 2.34059099e-02 3.18516951e+02] [-7.72561564e-02 9.97009884e-01 -1.66638598e-03 4.22751500e+00] [-2.34646918e-02 -1.47305210e-04 9.99724655e-01 4.76365293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.54, Y:4.22, Z:4.76 [[ 9.96596004e-01 7.92464623e-02 2.27244892e-02 3.18544254e+02] [-7.92302338e-02 9.96855035e-01 -1.61502139e-03 4.22375336e+00] [-2.27810062e-02 -1.90942728e-04 9.99740461e-01 4.76272882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.57, Y:4.22, Z:4.76 [[ 9.96600359e-01 7.91359734e-02 2.29177475e-02 3.18571903e+02] [-7.91194962e-02 9.96863812e-01 -1.62624232e-03 4.22060446e+00] [-2.29745674e-02 -1.92526954e-04 9.99736031e-01 4.76152213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.60, Y:4.22, Z:4.76 [[ 9.96646866e-01 7.84630467e-02 2.32072168e-02 3.18600156e+02] [-7.84460270e-02 9.96917006e-01 -1.64426040e-03 4.21711660e+00] [-2.32646827e-02 -1.81766975e-04 9.99729324e-01 4.76031319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.63, Y:4.21, Z:4.76 [[ 9.96867104e-01 7.54909291e-02 2.36028954e-02 3.18626960e+02] [-7.54725517e-02 9.97146482e-01 -1.66972437e-03 4.21100660e+00] [-2.36615931e-02 -1.16877445e-04 9.99720018e-01 4.75866640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.65, Y:4.21, Z:4.76 [[ 9.96993896e-01 7.36912787e-02 2.39325443e-02 3.18654366e+02] [-7.36719429e-02 9.97281098e-01 -1.68983262e-03 4.20650101e+00] [-2.39920000e-02 -7.84042273e-05 9.99712147e-01 4.75739944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.68, Y:4.20, Z:4.76 [[ 9.97131101e-01 7.16242807e-02 2.44853121e-02 3.18682057e+02] [-7.16034837e-02 9.97431683e-01 -1.72618955e-03 4.20210080e+00] [-2.45460632e-02 -3.19963645e-05 9.99698699e-01 4.75602128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.71, Y:4.20, Z:4.75 [[ 9.97396580e-01 6.72936202e-02 2.59158590e-02 3.18708700e+02] [-6.72689363e-02 9.97733212e-01 -1.82408984e-03 4.19551792e+00] [-2.59798628e-02 7.60086990e-05 9.99662464e-01 4.75479283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.74, Y:4.19, Z:4.75 [[ 9.97552375e-01 6.47427657e-02 2.64127329e-02 3.18736520e+02] [-6.47163231e-02 9.97901976e-01 -1.85562150e-03 4.19138372e+00] [-2.64774564e-02 1.41744680e-04 9.99649401e-01 4.75395922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.76, Y:4.19, Z:4.75 [[ 9.97683572e-01 6.23763249e-02 2.71419134e-02 3.18764227e+02] [-6.23476067e-02 9.98052680e-01 -1.90389170e-03 4.18698961e+00] [-2.72078172e-02 2.07248133e-04 9.99629777e-01 4.75263711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.67509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.79, Y:4.18, Z:4.75 [[ 9.97831262e-01 5.97218408e-02 2.76780436e-02 3.18791986e+02] [-5.96910388e-02 9.98215018e-01 -1.93849479e-03 4.18235356e+00] [-2.77444093e-02 2.82159525e-04 9.99615010e-01 4.75125701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.82, Y:4.18, Z:4.75 [[ 9.98151488e-01 5.38454498e-02 2.81828908e-02 3.18819305e+02] [-5.38112423e-02 9.98549180e-01 -1.97134409e-03 4.17500366e+00] [-2.82481504e-02 4.51143672e-04 9.99600840e-01 4.74908645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.85, Y:4.17, Z:4.75 [[ 9.98320890e-01 5.06453466e-02 2.81149170e-02 3.18848299e+02] [-5.06101041e-02 9.98716556e-01 -1.96414862e-03 4.17011734e+00] [-2.81783081e-02 5.37951723e-04 9.99602768e-01 4.74748692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.88, Y:4.17, Z:4.75 [[ 9.98494252e-01 4.71010002e-02 2.81198097e-02 3.18876896e+02] [-4.70643952e-02 9.98889929e-01 -1.96255374e-03 4.16550053e+00] [-2.81810330e-02 6.36156792e-04 9.99602633e-01 4.74576730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.91, Y:4.16, Z:4.74 [[ 9.98648465e-01 4.39467826e-02 2.77474961e-02 3.18906568e+02] [-4.39099802e-02 9.99033619e-01 -1.93455095e-03 4.16070518e+00] [-2.78056988e-02 7.13544332e-04 9.99613092e-01 4.74411148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.94, Y:4.15, Z:4.74 [[ 9.98917437e-01 3.76562792e-02 2.73122507e-02 3.18936852e+02] [-3.76183010e-02 9.99290369e-01 -1.90318552e-03 4.15404939e+00] [-2.73645360e-02 8.73684730e-04 9.99625139e-01 4.74181658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.97, Y:4.15, Z:4.74 [[ 9.99047932e-01 3.48904599e-02 2.61894096e-02 3.18968738e+02] [-3.48546092e-02 9.99390729e-01 -1.82428282e-03 4.14986958e+00] [-2.62371032e-02 9.09724342e-04 9.99655334e-01 4.74025821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.00, Y:4.15, Z:4.74 [[ 9.99163865e-01 3.22809883e-02 2.50899937e-02 3.19000788e+02] [-3.22471128e-02 9.99478388e-01 -1.75369513e-03 4.14574597e+00] [-2.51335175e-02 9.43148947e-04 9.99683658e-01 4.73893455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.03, Y:4.14, Z:4.74 [[ 9.99350022e-01 2.67871422e-02 2.41243114e-02 3.19033251e+02] [-2.67540784e-02 9.99640613e-01 -1.69233167e-03 4.14095554e+00] [-2.41609741e-02 1.04580797e-03 9.99707534e-01 4.73717787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.06, Y:4.14, Z:4.74 [[ 9.99422975e-01 2.46252825e-02 2.33946903e-02 3.19064763e+02] [-2.45934432e-02 9.99696178e-01 -1.64775121e-03 4.13754581e+00] [-2.34281588e-02 1.07144443e-03 9.99724949e-01 4.73610573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.10, Y:4.13, Z:4.73 [[ 9.99463284e-01 2.26324967e-02 2.36836130e-02 3.19096526e+02] [-2.25991539e-02 9.99743204e-01 -1.67458614e-03 4.13425576e+00] [-2.37154312e-02 1.13845775e-03 9.99718101e-01 4.73476507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.13, Y:4.13, Z:4.73 [[ 9.99523254e-01 1.92549990e-02 2.41352358e-02 3.19129328e+02] [-1.92192356e-02 9.99813826e-01 -1.71290340e-03 4.13064585e+00] [-2.41637244e-02 1.24822600e-03 9.99707235e-01 4.73363128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.16, Y:4.13, Z:4.73 [[ 9.99534102e-01 1.80920033e-02 2.45816567e-02 3.19162174e+02] [-1.80543732e-02 9.99835472e-01 -1.75191420e-03 4.12807910e+00] [-2.46093079e-02 1.30729159e-03 9.99696290e-01 4.73285712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.19, Y:4.13, Z:4.73 [[ 9.99543235e-01 1.70685455e-02 2.49396622e-02 3.19194018e+02] [-1.70293063e-02 9.99853398e-01 -1.78492383e-03 4.12585249e+00] [-2.49664721e-02 1.35940339e-03 9.99687365e-01 4.73203902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.23, Y:4.12, Z:4.73 [[ 9.99567993e-01 1.53396331e-02 2.50703785e-02 3.19226494e+02] [-1.52992582e-02 9.99881337e-01 -1.80149037e-03 4.12423831e+00] [-2.50950377e-02 1.41715391e-03 9.99684065e-01 4.73152284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.26, Y:4.12, Z:4.73 [[ 9.99579600e-01 1.48426013e-02 2.49062331e-02 3.19259602e+02] [-1.48025000e-02 9.99888828e-01 -1.79369481e-03 4.12226944e+00] [-2.49300874e-02 1.42426622e-03 9.99688182e-01 4.73073130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.29, Y:4.12, Z:4.73 [[ 9.99589099e-01 1.45797508e-02 2.46792411e-02 3.19291089e+02] [-1.45401093e-02 9.99892694e-01 -1.78496317e-03 4.12010094e+00] [-2.47026171e-02 1.42539086e-03 9.99693828e-01 4.72992854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.32, Y:4.12, Z:4.73 [[ 9.99600436e-01 1.42576215e-02 2.44067139e-02 3.19324201e+02] [-1.42186591e-02 9.99897345e-01 -1.76918796e-03 4.11783567e+00] [-2.44294329e-02 1.42145031e-03 9.99700546e-01 4.72924200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.36, Y:4.12, Z:4.73 [[ 9.99600748e-01 1.41743721e-02 2.44424326e-02 3.19357457e+02] [-1.41351005e-02 9.99898512e-01 -1.77872998e-03 4.11542225e+00] [-2.44651643e-02 1.43252358e-03 9.99699657e-01 4.72820258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.39, Y:4.11, Z:4.73 [[ 9.99624257e-01 1.34762519e-02 2.38691274e-02 3.19390262e+02] [-1.34384413e-02 9.99908180e-01 -1.74378188e-03 4.11294678e+00] [-2.38904354e-02 1.42236280e-03 9.99713571e-01 4.72790345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.42, Y:4.11, Z:4.73 [[ 9.99622515e-01 1.36059002e-02 2.38685512e-02 3.19423698e+02] [-1.35679397e-02 9.99906417e-01 -1.75163168e-03 4.11041464e+00] [-2.38901500e-02 1.42712341e-03 9.99713571e-01 4.72693771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.46, Y:4.11, Z:4.73 [[ 9.99623741e-01 1.38154967e-02 2.36961843e-02 3.19455546e+02] [-1.37780863e-02 9.99903561e-01 -1.74129911e-03 4.10847346e+00] [-2.37179560e-02 1.41415586e-03 9.99717690e-01 4.72637473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.49, Y:4.11, Z:4.73 [[ 9.99634687e-01 1.40443175e-02 2.30922010e-02 3.19487435e+02] [-1.40087075e-02 9.99900423e-01 -1.70313144e-03 4.10677802e+00] [-2.31138209e-02 1.37901737e-03 9.99731889e-01 4.72545137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.52, Y:4.11, Z:4.72 [[ 9.99633621e-01 1.64504064e-02 2.14943624e-02 3.19520505e+02] [-1.64200003e-02 9.99863918e-01 -1.59034337e-03 4.10544691e+00] [-2.15175992e-02 1.23682326e-03 9.99767705e-01 4.72484875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.55, Y:4.10, Z:4.72 [[ 9.99603539e-01 1.87665938e-02 2.09899950e-02 3.19553194e+02] [-1.87379833e-02 9.99823213e-01 -1.55892055e-03 4.10393233e+00] [-2.10155399e-02 1.16499232e-03 9.99778470e-01 4.72415836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.42509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.59, Y:4.10, Z:4.72 [[ 9.99556422e-01 2.14707225e-02 2.06389782e-02 3.19585015e+02] [-2.14434933e-02 9.99768876e-01 -1.53974283e-03 4.10291446e+00] [-2.06672674e-02 1.09648804e-03 9.99785808e-01 4.72368134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.62, Y:4.10, Z:4.72 [[ 9.99469864e-01 2.53162548e-02 2.04714124e-02 3.19617101e+02] [-2.52902084e-02 9.99678980e-01 -1.53026267e-03 4.10199973e+00] [-2.05035812e-02 1.01172514e-03 9.99789268e-01 4.72339649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.65, Y:4.10, Z:4.72 [[ 9.99205390e-01 3.44552177e-02 2.00356545e-02 3.19649106e+02] [-3.44319615e-02 9.99405912e-01 -1.50465839e-03 4.10407914e+00] [-2.00755949e-02 8.13595888e-04 9.99798134e-01 4.72367635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.68, Y:4.10, Z:4.72 [[ 9.99023489e-01 3.96864790e-02 1.94178068e-02 3.19677487e+02] [-3.96655756e-02 9.99211944e-01 -1.46062664e-03 4.10466778e+00] [-1.94604717e-02 6.88981837e-04 9.99810390e-01 4.72386298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.71, Y:4.11, Z:4.72 [[ 9.98785489e-01 4.51636554e-02 1.96924170e-02 3.19706009e+02] [-4.51432306e-02 9.98979427e-01 -1.48072099e-03 4.10507115e+00] [-1.97391942e-02 5.89943320e-04 9.99804989e-01 4.72362232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.73, Y:4.11, Z:4.72 [[ 9.98216247e-01 5.61898411e-02 2.01748749e-02 3.19734623e+02] [-5.61706764e-02 9.98420031e-01 -1.51580334e-03 4.10716526e+00] [-2.02281720e-02 3.79863155e-04 9.99795317e-01 4.72336910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.76, Y:4.11, Z:4.72 [[ 9.97923778e-01 6.12880031e-02 1.97968280e-02 3.19761950e+02] [-6.12705908e-02 9.98120087e-01 -1.48546647e-03 4.10730513e+00] [-1.98506530e-02 2.69418960e-04 9.99802920e-01 4.72319523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.79, Y:4.11, Z:4.72 [[ 9.97633159e-01 6.59524203e-02 1.94514577e-02 3.19790120e+02] [-6.59365453e-02 9.97822754e-01 -1.45705049e-03 4.10741478e+00] [-1.95052031e-02 1.71039960e-04 9.99809741e-01 4.72294525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.82, Y:4.11, Z:4.72 [[ 9.97341168e-01 7.02739331e-02 1.92916908e-02 3.19817303e+02] [-7.02591633e-02 9.97527728e-01 -1.44314880e-03 4.10736538e+00] [-1.93454122e-02 8.38936516e-05 9.99812856e-01 4.72237819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.85, Y:4.11, Z:4.72 [[ 9.96869561e-01 7.69719387e-02 1.80664923e-02 3.19845802e+02] [-7.69601268e-02 9.97033259e-01 -1.34918452e-03 4.10857137e+00] [-1.81167430e-02 -4.54385628e-05 9.99835877e-01 4.72167814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.87, Y:4.11, Z:4.72 [[ 9.96681522e-01 7.94779141e-02 1.75842401e-02 3.19873721e+02] [-7.94671445e-02 9.96836623e-01 -1.31146185e-03 4.10797793e+00] [-1.76328468e-02 -9.02595618e-05 9.99844525e-01 4.72124086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.90, Y:4.11, Z:4.72 [[ 9.96473768e-01 8.18971135e-02 1.82453686e-02 3.19901497e+02] [-8.17460843e-02 9.96613660e-01 -8.87640986e-03 4.11044348e+00] [-1.89105359e-02 7.35362213e-03 9.99794137e-01 4.72033817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.93, Y:4.10, Z:4.72 [[ 9.96365940e-01 8.32522055e-02 1.79995315e-02 3.19928207e+02] [-8.33743559e-02 9.96499353e-01 6.14457974e-03 4.10246653e+00] [-1.74249717e-02 -7.62294932e-03 9.99819114e-01 4.71759488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.96, Y:4.10, Z:4.72 [[ 9.96336271e-01 8.37555828e-02 1.72927199e-02 3.19956546e+02] [-8.37459633e-02 9.96486313e-01 -1.28095364e-03 4.10407911e+00] [-1.73392457e-02 -1.71934905e-04 9.99849649e-01 4.71896363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.98, Y:4.10, Z:4.72 [[ 9.96417448e-01 8.28335628e-02 1.70549075e-02 3.19983424e+02] [-8.28240839e-02 9.96563383e-01 -1.26258510e-03 4.10239868e+00] [-1.71008808e-02 -1.54495267e-04 9.99853757e-01 4.71800056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.01, Y:4.10, Z:4.72 [[ 9.96512400e-01 8.16532094e-02 1.71985506e-02 3.20011528e+02] [-8.16434693e-02 9.96660792e-01 -1.26887415e-03 4.10038112e+00] [-1.72447287e-02 -1.39700510e-04 9.99851289e-01 4.71714994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.04, Y:4.10, Z:4.72 [[ 9.96823465e-01 7.76021497e-02 1.79132754e-02 3.20037979e+02] [-7.75909487e-02 9.96984404e-01 -1.32050286e-03 4.09781834e+00] [-1.79617301e-02 -7.35997959e-05 9.99838672e-01 4.71633654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.07, Y:4.10, Z:4.72 [[ 9.97040505e-01 7.46521332e-02 1.83654779e-02 3.20066094e+02] [-7.46399445e-02 9.97209636e-01 -1.34919737e-03 4.09513517e+00] [-1.84149520e-02 -2.55938213e-05 9.99830430e-01 4.71545569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.09, Y:4.09, Z:4.71 [[ 9.97262633e-01 7.15222075e-02 1.87566991e-02 3.20093701e+02] [-7.15089790e-02 9.97439007e-01 -1.37588000e-03 4.09209139e+00] [-1.88070693e-02 3.08413042e-05 9.99823131e-01 4.71471153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.12, Y:4.09, Z:4.71 [[ 9.97508152e-01 6.78880195e-02 1.92016620e-02 3.20120852e+02] [-6.78735213e-02 9.97692942e-01 -1.40649725e-03 4.08924558e+00] [-1.92528469e-02 9.97080585e-05 9.99814642e-01 4.71400888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.15, Y:4.08, Z:4.71 [[ 9.97925752e-01 6.12614383e-02 1.97795075e-02 3.20148330e+02] [-6.12448081e-02 9.98121727e-01 -1.44601372e-03 4.08471426e+00] [-1.98309411e-02 2.31622185e-04 9.99803321e-01 4.71361468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.18, Y:4.08, Z:4.71 [[ 9.98111400e-01 5.80700019e-02 2.00376572e-02 3.20176253e+02] [-5.80523353e-02 9.98312470e-01 -1.46271366e-03 4.08161930e+00] [-2.00887829e-02 2.96718383e-04 9.99798156e-01 4.71298902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.20, Y:4.08, Z:4.71 [[ 9.98415807e-01 5.25693155e-02 2.00585083e-02 3.20203395e+02] [-5.25505440e-02 9.98617195e-01 -1.46215541e-03 4.07711443e+00] [-2.01076358e-02 4.05753549e-04 9.99797739e-01 4.71317234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.23, Y:4.07, Z:4.71 [[ 9.98556763e-01 4.98787081e-02 1.99124514e-02 3.20230791e+02] [-4.98597281e-02 9.98755179e-01 -1.44881304e-03 4.07388296e+00] [-1.99599289e-02 4.53892644e-04 9.99800678e-01 4.71291575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.145099893 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:320.26, Y:4.07, Z:4.71 [[ 9.98666355e-01 4.74886979e-02 2.02567277e-02 3.20258263e+02] [-4.74686143e-02 9.98871646e-01 -1.47140190e-03 4.07059723e+00] [-2.03037459e-02 5.07880781e-04 9.99793729e-01 4.71230870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.17509989300004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:320.29, Y:4.07, Z:4.71 [[ 9.98772989e-01 4.51280610e-02 2.03954729e-02 3.20286915e+02] [-4.51072512e-02 9.98981054e-01 -1.47943852e-03 4.06698135e+00] [-2.04414552e-02 5.57639514e-04 9.99790896e-01 4.71182084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.31, Y:4.06, Z:4.71 [[ 9.98919693e-01 4.19654508e-02 1.99586299e-02 3.20314418e+02] [-4.19449175e-02 9.99118878e-01 -1.44648789e-03 4.06171375e+00] [-2.00017465e-02 6.07762154e-04 9.99799760e-01 4.71119817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.34, Y:4.06, Z:4.71 [[ 9.98984520e-01 4.09356127e-02 1.88203054e-02 3.20342013e+02] [-4.09172025e-02 9.99161612e-01 -1.36240642e-03 4.05816124e+00] [-1.88602977e-02 5.90948677e-04 9.99821954e-01 4.70989181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.37, Y:4.05, Z:4.71 [[ 9.99056679e-01 3.99475364e-02 1.70277903e-02 3.20370805e+02] [-3.99323484e-02 9.99201627e-01 -1.23115880e-03 4.05359929e+00] [-1.70633776e-02 5.50037769e-04 9.99854259e-01 4.70844780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.40, Y:4.05, Z:4.71 [[ 9.99056332e-01 3.99658142e-02 1.70052511e-02 3.20399523e+02] [-3.99506896e-02 9.99200898e-01 -1.22832724e-03 4.05089714e+00] [-1.70407533e-02 5.47796601e-04 9.99854646e-01 4.70763722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.43, Y:4.05, Z:4.71 [[ 9.99051123e-01 4.01307818e-02 1.69225838e-02 3.20428473e+02] [-4.01158475e-02 9.99194289e-01 -1.22117968e-03 4.04864042e+00] [-1.69579560e-02 5.41157138e-04 9.99856057e-01 4.70697662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.46, Y:4.05, Z:4.71 [[ 9.99034169e-01 4.06925163e-02 1.65785405e-02 3.20456454e+02] [-4.06782760e-02 9.99171581e-01 -1.19541626e-03 4.04641317e+00] [-1.66134511e-02 5.19875245e-04 9.99861852e-01 4.70615434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.48, Y:4.04, Z:4.71 [[ 9.98986545e-01 4.23879723e-02 1.51374690e-02 3.20484381e+02] [-4.23763120e-02 9.99101126e-01 -1.09036027e-03 4.04412285e+00] [-1.51700804e-02 4.47785128e-04 9.99884827e-01 4.70521332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.51, Y:4.04, Z:4.70 [[ 9.98970495e-01 4.28762872e-02 1.48180277e-02 3.20513082e+02] [-4.28651894e-02 9.99080297e-01 -1.06588140e-03 4.04234019e+00] [-1.48501006e-02 4.29606505e-04 9.99889639e-01 4.70442116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.54, Y:4.04, Z:4.70 [[ 9.98964339e-01 4.30354735e-02 1.47714945e-02 3.20541676e+02] [-4.30244778e-02 9.99073455e-01 -1.06151010e-03 4.04079048e+00] [-1.48034907e-02 4.24874894e-04 9.99890332e-01 4.70382163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.57, Y:4.04, Z:4.70 [[ 9.98971022e-01 4.27387872e-02 1.51753944e-02 3.20570497e+02] [-4.27271645e-02 9.99086184e-01 -1.08943045e-03 4.03930702e+00] [-1.52080879e-02 4.39907880e-04 9.99884254e-01 4.70336474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.60, Y:4.04, Z:4.70 [[ 9.98984360e-01 4.21610619e-02 1.58963176e-02 3.20599625e+02] [-4.21482553e-02 9.99110717e-01 -1.13994981e-03 4.03737095e+00] [-1.59302428e-02 4.68789980e-04 9.99872996e-01 4.70267721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.63, Y:4.04, Z:4.70 [[ 9.99046237e-01 4.03676424e-02 1.66454295e-02 3.20627440e+02] [-4.03533699e-02 9.99184759e-01 -1.19256294e-03 4.03580739e+00] [-1.66800004e-02 5.19726346e-04 9.99860744e-01 4.70235453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.66, Y:4.03, Z:4.70 [[ 9.99101155e-01 3.89871932e-02 1.66397638e-02 3.20656651e+02] [-3.89727683e-02 9.99239564e-01 -1.19040616e-03 4.03403098e+00] [-1.66735209e-02 5.40838506e-04 9.99860841e-01 4.70157837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.69, Y:4.03, Z:4.70 [[ 9.99154539e-01 3.74603818e-02 1.69389228e-02 3.20685149e+02] [-3.74452354e-02 9.99297948e-01 -1.21056678e-03 4.03221410e+00] [-1.69723791e-02 5.75261338e-04 9.99855793e-01 4.70085921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.71, Y:4.03, Z:4.70 [[ 9.99296624e-01 3.31921985e-02 1.74509651e-02 3.20713595e+02] [-3.31754951e-02 9.99448765e-01 -1.24586429e-03 4.03083238e+00] [-1.74826985e-02 6.66043575e-04 9.99846944e-01 4.70073674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.74, Y:4.03, Z:4.70 [[ 9.99377690e-01 3.07244827e-02 1.73273827e-02 3.20742794e+02] [-3.07076732e-02 9.99527645e-01 -1.23540545e-03 4.02941328e+00] [-1.73571552e-02 7.02553043e-04 9.99849106e-01 4.70097854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.77, Y:4.03, Z:4.70 [[ 9.99446434e-01 2.82222608e-02 1.76161658e-02 3.20771653e+02] [-2.82045084e-02 9.99601385e-01 -1.25542120e-03 4.02779005e+00] [-1.76445746e-02 7.57870944e-04 9.99844035e-01 4.70102893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.80, Y:4.03, Z:4.70 [[ 9.99580408e-01 2.30070671e-02 1.75978218e-02 3.20802516e+02] [-2.29885668e-02 9.99734943e-01 -1.25287945e-03 4.02641487e+00] [-1.76219825e-02 8.47805053e-04 9.99844361e-01 4.70104865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.83, Y:4.02, Z:4.70 [[ 9.99630509e-01 2.09265300e-02 1.73472088e-02 3.20833405e+02] [-2.09082475e-02 9.99780636e-01 -1.23463347e-03 4.02429740e+00] [-1.73692400e-02 8.71477553e-04 9.99848764e-01 4.70046674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.87, Y:4.02, Z:4.70 [[ 9.99673338e-01 1.88686060e-02 1.72392674e-02 3.20865869e+02] [-1.88502768e-02 9.99821567e-01 -1.22511719e-03 4.02274584e+00] [-1.72593076e-02 8.99752029e-04 9.99850642e-01 4.69961089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.90, Y:4.02, Z:4.70 [[ 9.99702405e-01 1.70285085e-02 1.74680079e-02 3.20898262e+02] [-1.70093359e-02 9.99854555e-01 -1.24557774e-03 4.02130487e+00] [-1.74866776e-02 9.48087852e-04 9.99846647e-01 4.69928624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.93, Y:4.02, Z:4.70 [[ 9.99714976e-01 1.42260477e-02 1.91725549e-02 3.20931174e+02] [-1.42023322e-02 9.99898200e-01 -1.37255287e-03 4.02089625e+00] [-1.91901291e-02 1.09986667e-03 9.99815248e-01 4.69869942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.96, Y:4.02, Z:4.70 [[ 9.99716392e-01 1.33411480e-02 1.97268499e-02 3.20963276e+02] [-1.33157453e-02 9.99910335e-01 -1.41851647e-03 4.01961896e+00] [-1.97440057e-02 1.15543646e-03 9.99804400e-01 4.69817662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.00, Y:4.02, Z:4.70 [[ 9.99698541e-01 1.27494623e-02 2.09827945e-02 3.20995115e+02] [-1.27204569e-02 9.99917944e-01 -1.51523888e-03 4.01837389e+00] [-2.10003913e-02 1.24787137e-03 9.99778689e-01 4.69727872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.92509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.03, Y:4.02, Z:4.70 [[ 9.99683815e-01 1.13841981e-02 2.24203221e-02 3.21028019e+02] [-1.13506011e-02 9.99934259e-01 -1.62519962e-03 4.01809987e+00] [-2.24373497e-02 1.37020162e-03 9.99747312e-01 4.69650126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.06, Y:4.02, Z:4.70 [[ 9.99687730e-01 1.09929726e-02 2.24409587e-02 3.21060785e+02] [-1.09590680e-02 9.99938614e-01 -1.63325999e-03 4.01665647e+00] [-2.24575355e-02 1.38681798e-03 9.99746836e-01 4.69552573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.09, Y:4.02, Z:4.69 [[ 9.99688881e-01 1.06418247e-02 2.25586689e-02 3.21094361e+02] [-1.06073225e-02 9.99942382e-01 -1.64855434e-03 4.01528358e+00] [-2.25749127e-02 1.40875437e-03 9.99744162e-01 4.69429428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.13, Y:4.02, Z:4.69 [[ 9.99744357e-01 9.74553415e-03 2.04020660e-02 3.21126151e+02] [-9.71701888e-03 9.99951669e-01 -1.49633590e-03 4.01517601e+00] [-2.04156626e-02 1.29770611e-03 9.99790736e-01 4.69252027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.16, Y:4.01, Z:4.69 [[ 9.99758808e-01 9.23493501e-03 1.99259011e-02 3.21159422e+02] [-9.20753235e-03 9.99956534e-01 -1.46653548e-03 4.01326783e+00] [-1.99385784e-02 1.28271338e-03 9.99800384e-01 4.69069600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.19, Y:4.01, Z:4.69 [[ 9.99789468e-01 8.04060123e-03 1.88777431e-02 3.21192135e+02] [-8.01569847e-03 9.99966901e-01 -1.39445667e-03 4.01209643e+00] [-1.88883306e-02 1.24284480e-03 9.99820827e-01 4.68888447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.23, Y:4.01, Z:4.69 [[ 9.99794003e-01 7.91125573e-03 1.86912727e-02 3.21225042e+02] [-7.88671997e-03 9.99967939e-01 -1.38603512e-03 4.01050462e+00] [-1.87016387e-02 1.23833677e-03 9.99824342e-01 4.68773614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.26, Y:4.01, Z:4.69 [[ 9.99794990e-01 7.73421689e-03 1.87125584e-02 3.21257343e+02] [-7.70946882e-03 9.99969310e-01 -1.39431612e-03 4.00920531e+00] [-1.87227680e-02 1.24976639e-03 9.99823933e-01 4.68702635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.29, Y:4.01, Z:4.69 [[ 9.99794023e-01 7.85895922e-03 1.87122574e-02 3.21290776e+02] [-7.83415789e-03 9.99968335e-01 -1.39834182e-03 4.00661864e+00] [-1.87226544e-02 1.25145902e-03 9.99823933e-01 4.68605937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.32, Y:4.01, Z:4.69 [[ 9.99782283e-01 8.88768862e-03 1.88784583e-02 3.21323618e+02] [-8.86261200e-03 9.99959730e-01 -1.41156936e-03 4.00666682e+00] [-1.88902436e-02 1.24394959e-03 9.99820790e-01 4.68546692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.36, Y:4.01, Z:4.68 [[ 9.99761886e-01 1.00470217e-02 1.93708186e-02 3.21356687e+02] [-1.00207248e-02 9.99948734e-01 -1.45414498e-03 4.00547065e+00] [-1.93844354e-02 1.25968908e-03 9.99811311e-01 4.68475596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.39, Y:4.01, Z:4.68 [[ 9.99710565e-01 1.18873616e-02 2.09159268e-02 3.21390302e+02] [-1.18569651e-02 9.99928461e-01 -1.57669011e-03 4.00568364e+00] [-2.09331732e-02 1.32823435e-03 9.99779995e-01 4.68366466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.42, Y:4.00, Z:4.68 [[ 9.99708156e-01 1.20891793e-02 2.09154109e-02 3.21423764e+02] [-1.20586849e-02 9.99926038e-01 -1.58349928e-03 4.00307745e+00] [-2.09330072e-02 1.33082480e-03 9.99779995e-01 4.68269787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.46, Y:4.00, Z:4.68 [[ 9.99680084e-01 1.32320619e-02 2.15555757e-02 3.21455657e+02] [-1.31998349e-02 9.99911539e-01 -1.63667036e-03 4.00203951e+00] [-2.15753254e-02 1.35161673e-03 9.99766312e-01 4.68211605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.49, Y:4.00, Z:4.68 [[ 9.99638554e-01 1.43519065e-02 2.27328850e-02 3.21488703e+02] [-1.43162647e-02 9.99896021e-01 -1.72982938e-03 4.00068558e+00] [-2.27553476e-02 1.40375414e-03 9.99740078e-01 4.68144896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.52, Y:4.00, Z:4.68 [[ 9.99603582e-01 1.56545015e-02 2.34011935e-02 3.21522301e+02] [-1.56169237e-02 9.99876450e-01 -1.78770834e-03 3.99929992e+00] [-2.34262880e-02 1.42154501e-03 9.99724556e-01 4.68085643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.55, Y:4.00, Z:4.68 [[ 9.99557049e-01 1.72808723e-02 2.42296859e-02 3.21554573e+02] [-1.72408809e-02 9.99849638e-01 -1.85846056e-03 3.99926774e+00] [-2.42581585e-02 1.43989622e-03 9.99704691e-01 4.68017632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.59, Y:4.00, Z:4.68 [[ 9.99546030e-01 1.81788650e-02 2.40262952e-02 3.21587828e+02] [-1.81396477e-02 9.99833753e-01 -1.84922495e-03 3.99744901e+00] [-2.40559177e-02 1.41255693e-03 9.99709617e-01 4.67932299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.62, Y:4.00, Z:4.68 [[ 9.99514147e-01 1.89221630e-02 2.47673427e-02 3.21621038e+02] [-1.88805314e-02 9.99819915e-01 -1.91369915e-03 3.99628315e+00] [-2.47990938e-02 1.44514878e-03 9.99691411e-01 4.67831094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.65, Y:3.99, Z:4.68 [[ 9.99502072e-01 1.93048635e-02 2.49585733e-02 3.21653415e+02] [-1.92625202e-02 9.99812586e-01 -1.93587538e-03 3.99413408e+00] [-2.49912675e-02 1.45414644e-03 9.99686612e-01 4.67684771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.69, Y:3.99, Z:4.68 [[ 9.99503911e-01 1.95919746e-02 2.46594054e-02 3.21686625e+02] [-1.95505662e-02 9.99807027e-01 -1.91920679e-03 3.99188903e+00] [-2.46922478e-02 1.43614936e-03 9.99694068e-01 4.67551456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.72, Y:3.99, Z:4.67 [[ 9.99520240e-01 1.99771914e-02 2.36685899e-02 3.21719645e+02] [-1.99390005e-02 9.99799490e-01 -1.84849579e-03 3.98966363e+00] [-2.37007719e-02 1.37568093e-03 9.99718151e-01 4.67386482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.75, Y:3.99, Z:4.67 [[ 9.99544594e-01 2.17873064e-02 2.08786456e-02 3.21752004e+02] [-2.17578771e-02 9.99761931e-01 -1.63569206e-03 3.98859016e+00] [-2.09093123e-02 1.18067216e-03 9.99780679e-01 4.67191283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.78, Y:3.99, Z:4.67 [[ 9.99533130e-01 2.32986035e-02 1.97660690e-02 3.21783903e+02] [-2.32724237e-02 9.99727953e-01 -1.55350627e-03 3.98733237e+00] [-1.97968862e-02 1.09277665e-03 9.99803425e-01 4.67093798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.81, Y:3.99, Z:4.68 [[ 9.99498573e-01 2.79435411e-02 1.48916370e-02 3.21814937e+02] [-2.77278326e-02 9.99510338e-01 -1.45000302e-02 3.99190419e+00] [-1.52895274e-02 1.40798467e-02 9.99783971e-01 4.67504826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.67509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.84, Y:3.98, Z:4.67 [[ 9.99274456e-01 3.11899103e-02 2.18575221e-02 3.21844757e+02] [-3.14507448e-02 9.99436904e-01 1.16929340e-02 3.98018884e+00] [-2.14805126e-02 -1.23718856e-02 9.99692715e-01 4.66564592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.87, Y:3.99, Z:4.67 [[ 9.99175580e-01 3.62448948e-02 1.82884462e-02 3.21874788e+02] [-3.60474108e-02 9.99289375e-01 -1.10149194e-02 3.99035797e+00] [-1.86746846e-02 1.03465873e-02 9.99772076e-01 4.67397688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.90, Y:3.98, Z:4.67 [[ 9.98776319e-01 4.31570257e-02 2.41523314e-02 3.21903940e+02] [-4.33439939e-02 9.99033743e-01 7.27175245e-03 3.98224089e+00] [-2.38151668e-02 -8.30971265e-03 9.99681843e-01 4.66783348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.93, Y:3.99, Z:4.67 [[ 9.98567889e-01 4.75716821e-02 2.44766579e-02 3.21932307e+02] [-4.75384185e-02 9.98867527e-01 -1.93940842e-03 3.98577365e+00] [-2.45411997e-02 7.73049365e-04 9.99698521e-01 4.67042669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.96, Y:3.98, Z:4.67 [[ 9.98353830e-01 5.16943467e-02 2.48460004e-02 3.21961358e+02] [-5.16614096e-02 9.98662722e-01 -1.96614779e-03 3.98483539e+00] [-2.49144131e-02 6.79331774e-04 9.99689357e-01 4.66980480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.99, Y:3.98, Z:4.67 [[ 9.98141665e-01 5.57203430e-02 2.46669656e-02 3.21989250e+02] [-5.56891468e-02 9.98446250e-01 -1.95037291e-03 3.98392845e+00] [-2.47373148e-02 5.73066195e-04 9.99693822e-01 4.66941464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.02, Y:3.98, Z:4.67 [[ 9.97738113e-01 6.27978071e-02 2.39811041e-02 3.22017010e+02] [-6.27704239e-02 9.98026196e-01 -1.89366770e-03 3.98306706e+00] [-2.40526883e-02 3.84080367e-04 9.99710618e-01 4.66841414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.04, Y:3.98, Z:4.67 [[ 9.97562947e-01 6.57215219e-02 2.34275115e-02 3.22044434e+02] [-6.56962513e-02 9.97837957e-01 -1.84753230e-03 3.98110600e+00] [-2.34982829e-02 3.03930079e-04 9.99723831e-01 4.66755972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.07, Y:3.98, Z:4.67 [[ 9.97409711e-01 6.82167238e-02 2.28111357e-02 3.22071869e+02] [-6.81934717e-02 9.97670498e-01 -1.79657432e-03 3.97895473e+00] [-2.28805536e-02 2.36350134e-04 9.99738178e-01 4.66658305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.10, Y:3.98, Z:4.67 [[ 9.97110411e-01 7.28964193e-02 2.13761631e-02 3.22098669e+02] [-7.28771182e-02 9.97339510e-01 -1.68158650e-03 3.97667438e+00] [-2.14418736e-02 1.18894244e-04 9.99770090e-01 4.66593756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.13, Y:3.97, Z:4.67 [[ 9.96925993e-01 7.55297467e-02 2.08283828e-02 3.22126196e+02] [-7.55120510e-02 9.97143547e-01 -1.63589692e-03 3.97445885e+00] [-2.08924464e-02 5.80742569e-05 9.99781727e-01 4.66536205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.15, Y:3.97, Z:4.66 [[ 9.96756953e-01 7.78274027e-02 2.04565784e-02 3.22153867e+02] [-7.78108614e-02 9.96966848e-01 -1.60452974e-03 3.97245322e+00] [-2.05194069e-02 7.58219148e-06 9.99789455e-01 4.66478340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.18, Y:3.97, Z:4.66 [[ 9.96345252e-01 8.31852488e-02 1.93998462e-02 3.22181780e+02] [-8.31714255e-02 9.96534096e-01 -1.51969705e-03 3.97000326e+00] [-1.94590246e-02 -9.93699258e-05 9.99810650e-01 4.66440829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.21, Y:3.97, Z:4.66 [[ 9.96172528e-01 8.53699909e-02 1.87685808e-02 3.22209036e+02] [-8.53574607e-02 9.96349309e-01 -1.46915974e-03 3.96735794e+00] [-1.88254847e-02 -1.38501825e-04 9.99822775e-01 4.66393215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.24, Y:3.96, Z:4.66 [[ 9.95975246e-01 8.76103983e-02 1.89136653e-02 3.22236990e+02] [-8.75981320e-02 9.96154799e-01 -1.47764509e-03 3.96426113e+00] [-1.89703956e-02 -1.85103817e-04 9.99820029e-01 4.66295665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.26, Y:3.95, Z:4.66 [[ 9.96214299e-01 8.55964757e-02 1.51761070e-02 3.22258079e+02] [-8.59822713e-02 9.95933163e-01 2.69106760e-02 3.95307232e+00] [-1.28109292e-02 -2.81136764e-02 9.99522637e-01 4.66254294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.29, Y:3.96, Z:4.67 [[ 9.95772336e-01 9.03192945e-02 1.67296222e-02 3.22290113e+02] [-9.01687819e-02 9.95880766e-01 -9.54412998e-03 3.96377414e+00] [-1.75227281e-02 7.99529095e-03 9.99814497e-01 4.67070067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.32, Y:3.96, Z:4.67 [[ 9.95251295e-01 9.49085005e-02 2.16156452e-02 3.22321829e+02] [-9.44589417e-02 9.95308309e-01 -2.09494166e-02 3.96073701e+00] [-2.35025090e-02 1.88081430e-02 9.99546840e-01 4.66637370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.35, Y:3.95, Z:4.66 [[ 9.95231564e-01 9.45235979e-02 2.40712105e-02 3.22347716e+02] [-9.45054074e-02 9.95522545e-01 -1.89472580e-03 3.94659387e+00] [-2.41425291e-02 -3.89168632e-04 9.99708451e-01 4.65917512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.37, Y:3.94, Z:4.66 [[ 9.95341448e-01 9.34949147e-02 2.35393833e-02 3.22374915e+02] [-9.34773183e-02 9.95619692e-01 -1.84919039e-03 3.94240933e+00] [-2.36091634e-02 -3.59822582e-04 9.99721200e-01 4.65851960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.40, Y:3.94, Z:4.66 [[ 9.95915128e-01 8.80764200e-02 1.98897633e-02 3.22398582e+02] [-8.83567781e-02 9.95994882e-01 1.36848503e-02 3.93518468e+00] [-1.86047898e-02 -1.53863448e-02 9.99708519e-01 4.65826790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.43, Y:3.94, Z:4.66 [[ 9.95776367e-01 8.94510330e-02 2.06866834e-02 3.22431184e+02] [-8.91172177e-02 9.95883910e-01 -1.65335923e-02 3.93991217e+00] [-2.20804820e-02 1.46202209e-02 9.99649289e-01 4.66116842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.46, Y:3.92, Z:4.65 [[ 9.96395765e-01 8.21323094e-02 2.12076139e-02 3.22457520e+02] [-8.21157332e-02 9.96621430e-01 -1.65274897e-03 3.92421691e+00] [-2.12717066e-02 -9.46866860e-05 9.99773727e-01 4.65403727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.48, Y:3.92, Z:4.65 [[ 9.96741237e-01 7.78924746e-02 2.09683048e-02 3.22484277e+02] [-7.78754919e-02 9.96961766e-01 -1.62649859e-03 3.91861793e+00] [-2.10312902e-02 -1.17188433e-05 9.99778818e-01 4.65272360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.51, Y:3.91, Z:4.65 [[ 9.97091216e-01 7.34275012e-02 2.04330436e-02 3.22511454e+02] [-7.34104914e-02 9.97300555e-01 -1.58231643e-03 3.91293074e+00] [-2.04940713e-02 7.77140380e-05 9.99789971e-01 4.65184688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.42509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.54, Y:3.90, Z:4.65 [[ 9.97729374e-01 6.43555678e-02 1.98609435e-02 3.22537310e+02] [-6.43377366e-02 9.97926999e-01 -1.53613087e-03 3.90409434e+00] [-1.99186303e-02 2.54834738e-04 9.99801572e-01 4.65055483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.56, Y:3.90, Z:4.65 [[ 9.97993543e-01 6.01953191e-02 1.96319138e-02 3.22563924e+02] [-6.01771399e-02 9.98186563e-01 -1.51598328e-03 3.89884121e+00] [-1.96875677e-02 3.31549099e-04 9.99806126e-01 4.64943600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.59, Y:3.89, Z:4.65 [[ 9.98201308e-01 5.66275243e-02 1.96842947e-02 3.22591428e+02] [-5.66086067e-02 9.98395294e-01 -1.51737555e-03 3.89371638e+00] [-1.97386324e-02 4.00345768e-04 9.99805094e-01 4.64806037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.62, Y:3.89, Z:4.65 [[ 9.98511639e-01 5.11153059e-02 1.90192684e-02 3.22618928e+02] [-5.10966845e-02 9.98692638e-01 -1.46406949e-03 3.88662013e+00] [-1.90692397e-02 4.90068873e-04 9.99818045e-01 4.64675134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.65, Y:3.88, Z:4.65 [[ 9.98612822e-01 4.90427117e-02 1.91636399e-02 3.22647932e+02] [-4.90234673e-02 9.98796541e-01 -1.47298607e-03 3.88250240e+00] [-1.92128165e-02 5.31474697e-04 9.99815276e-01 4.64578097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.68, Y:3.88, Z:4.64 [[ 9.98795016e-01 4.51464415e-02 1.92435586e-02 3.22676233e+02] [-4.51263399e-02 9.98980195e-01 -1.47776683e-03 3.87706041e+00] [-1.92906499e-02 6.07594778e-04 9.99813733e-01 4.64483317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.71, Y:3.87, Z:4.64 [[ 9.98797409e-01 4.50934287e-02 1.92436780e-02 3.22705452e+02] [-4.50733472e-02 9.98982590e-01 -1.47621007e-03 3.87487997e+00] [-1.92906667e-02 6.07057811e-04 9.99813733e-01 4.64393264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.73, Y:3.87, Z:4.64 [[ 9.98958461e-01 4.11424620e-02 1.97304633e-02 3.22733621e+02] [-4.11205992e-02 9.99153045e-01 -1.51266678e-03 3.86965031e+00] [-1.97759874e-02 6.99762799e-04 9.99804191e-01 4.64317124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.76, Y:3.87, Z:4.64 [[ 9.99046403e-01 3.87578722e-02 2.01025323e-02 3.22760983e+02] [-3.87347215e-02 9.99248343e-01 -1.53987418e-03 3.86624035e+00] [-2.01471043e-02 7.59739766e-04 9.99796738e-01 4.64227460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.79, Y:3.86, Z:4.64 [[ 9.99124395e-01 3.63944308e-02 2.06370557e-02 3.22790671e+02] [-3.63695802e-02 9.99337162e-01 -1.57834460e-03 3.86263750e+00] [-2.06808197e-02 8.26401543e-04 9.99785787e-01 4.64120445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.82, Y:3.86, Z:4.64 [[ 9.99291343e-01 3.19803273e-02 1.98512029e-02 3.22819626e+02] [-3.18219920e-02 9.99459573e-01 -8.24147040e-03 3.86133272e+00] [-2.01040397e-02 7.60392520e-03 9.99768977e-01 4.64198391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.85, Y:3.85, Z:4.64 [[ 9.99328114e-01 2.90139741e-02 2.23943986e-02 3.22848958e+02] [-2.91310387e-02 9.99563498e-01 4.91893031e-03 3.85185860e+00] [-2.22419057e-02 -5.56799744e-03 9.99737113e-01 4.63714534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.88, Y:3.85, Z:4.64 [[ 9.99451970e-01 2.51829053e-02 2.14844155e-02 3.22880278e+02] [-2.51533753e-02 9.99682253e-01 -1.64365833e-03 3.85095804e+00] [-2.15189810e-02 1.10235199e-03 9.99767832e-01 4.63750117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.91, Y:3.85, Z:4.64 [[ 9.99495051e-01 2.39163525e-02 2.09201016e-02 3.22912768e+02] [-2.38879922e-02 9.99713354e-01 -1.60453144e-03 3.84770271e+00] [-2.09524795e-02 1.10398200e-03 9.99779863e-01 4.63602863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.95, Y:3.84, Z:4.63 [[ 9.99543654e-01 2.26047740e-02 2.00376816e-02 3.22945427e+02] [-2.25783863e-02 9.99743886e-01 -1.54218512e-03 3.84481117e+00] [-2.00674104e-02 1.08906283e-03 9.99798036e-01 4.63481899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.98, Y:3.84, Z:4.63 [[ 9.99567534e-01 2.20228103e-02 1.94869242e-02 3.22977700e+02] [-2.19976339e-02 9.99756889e-01 -1.50539780e-03 3.84175028e+00] [-1.95153398e-02 1.07608054e-03 9.99808979e-01 4.63332444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.01, Y:3.84, Z:4.63 [[ 9.99581730e-01 2.14544157e-02 1.93926065e-02 3.23011150e+02] [-2.14292787e-02 9.99769237e-01 -1.50311605e-03 3.83894007e+00] [-1.94203799e-02 1.08691777e-03 9.99810816e-01 4.63213116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.04, Y:3.84, Z:4.63 [[ 9.99565203e-01 2.19082221e-02 1.97341167e-02 3.23043788e+02] [-2.18821678e-02 9.99759378e-01 -1.53525898e-03 3.83666748e+00] [-1.97630030e-02 1.10276620e-03 9.99804085e-01 4.63104450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.08, Y:3.83, Z:4.63 [[ 9.99540089e-01 2.29131902e-02 1.98644400e-02 3.23076837e+02] [-2.28868733e-02 9.99736858e-01 -1.55118218e-03 3.83440715e+00] [-1.98947554e-02 1.09583385e-03 9.99801479e-01 4.63022091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.11, Y:3.83, Z:4.63 [[ 9.99447774e-01 2.62975208e-02 2.03122447e-02 3.23110259e+02] [-2.62705779e-02 9.99653601e-01 -1.59217927e-03 3.83342947e+00] [-2.03470789e-02 1.05768562e-03 9.99792417e-01 4.62905795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.14, Y:3.83, Z:4.63 [[ 9.99369344e-01 2.91273708e-02 2.03103501e-02 3.23141920e+02] [-2.91008828e-02 9.99575201e-01 -1.59856239e-03 3.83214010e+00] [-2.03482842e-02 1.00650513e-03 9.99792446e-01 4.62797001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.17, Y:3.83, Z:4.63 [[ 9.99269354e-01 3.22156965e-02 2.05647102e-02 3.23172341e+02] [-3.21890468e-02 9.99480476e-01 -1.62567972e-03 3.83118480e+00] [-2.06063987e-02 9.62533501e-04 9.99787202e-01 4.62695666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.20, Y:3.83, Z:4.63 [[ 9.99269901e-01 3.21987677e-02 2.05646538e-02 3.23202397e+02] [-3.21720999e-02 9.99481021e-01 -1.62639175e-03 3.82884085e+00] [-2.06063490e-02 9.63596225e-04 9.99787202e-01 4.62603452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.23, Y:3.83, Z:4.63 [[ 9.98954766e-01 4.01150074e-02 2.19126125e-02 3.23232634e+02] [-4.00866406e-02 9.99194706e-01 -1.73244278e-03 3.83034456e+00] [-2.19644633e-02 8.52228950e-04 9.99758389e-01 4.62517994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.26, Y:3.83, Z:4.63 [[ 9.98506634e-01 4.96870322e-02 2.27090367e-02 3.23261685e+02] [-4.96590239e-02 9.98764615e-01 -1.79596746e-03 3.83248128e+00] [-2.27702186e-02 6.65576821e-04 9.99740503e-01 4.62503597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.17509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.29, Y:3.83, Z:4.62 [[ 9.98241027e-01 5.45477759e-02 2.32248168e-02 3.23290005e+02] [-5.45198306e-02 9.98511001e-01 -1.83521736e-03 3.83269796e+00] [-2.32903421e-02 5.65776185e-04 9.99728583e-01 4.62449394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.32, Y:3.83, Z:4.62 [[ 9.97946818e-01 5.93972617e-02 2.39606616e-02 3.23317836e+02] [-5.93689695e-02 9.98234316e-01 -1.89104640e-03 3.83257384e+00] [-2.40306776e-02 4.64643953e-04 9.99711114e-01 4.62354749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.35, Y:3.83, Z:4.62 [[ 9.97348783e-01 6.82411112e-02 2.52696511e-02 3.23346143e+02] [-6.82125521e-02 9.97668824e-01 -1.99145142e-03 3.83392870e+00] [-2.53466420e-02 2.62464257e-04 9.99678688e-01 4.62246046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.37, Y:3.83, Z:4.62 [[ 9.97067962e-01 7.19509497e-02 2.60488003e-02 3.23373946e+02] [-7.19219443e-02 9.97408157e-01 -2.04991185e-03 3.83333189e+00] [-2.61287790e-02 1.70421067e-04 9.99658571e-01 4.62159828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.40, Y:3.83, Z:4.62 [[ 9.96588386e-01 7.81818727e-02 2.64420819e-02 3.23401351e+02] [-7.81542516e-02 9.96939113e-01 -2.07802422e-03 3.83386266e+00] [-2.65236095e-02 4.37367768e-06 9.99648187e-01 4.62109224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.43, Y:3.83, Z:4.62 [[ 9.96414936e-01 8.04809672e-02 2.60785384e-02 3.23429102e+02] [-8.04549738e-02 9.96756144e-01 -2.04616563e-03 3.83259155e+00] [-2.61586207e-02 -5.93181286e-05 9.99657803e-01 4.61997559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.46, Y:3.83, Z:4.62 [[ 9.96429030e-01 8.03062149e-02 2.60787295e-02 3.23457443e+02] [-8.02802254e-02 9.96770239e-01 -2.04372647e-03 3.83044770e+00] [-2.61586254e-02 -5.71779033e-05 9.99657803e-01 4.61910505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.49, Y:3.83, Z:4.62 [[ 9.96308890e-01 8.19655691e-02 2.54998285e-02 3.23485401e+02] [-8.19413853e-02 9.96635156e-01 -1.99362579e-03 3.82886157e+00] [-2.55774343e-02 -1.03224177e-04 9.99672839e-01 4.61760608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.51, Y:3.83, Z:4.62 [[ 9.96145186e-01 8.40590795e-02 2.50766915e-02 3.23513161e+02] [-8.40364197e-02 9.96460760e-01 -1.95796801e-03 3.82730297e+00] [-2.51525241e-02 -1.56934965e-04 9.99683613e-01 4.61611914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.54, Y:3.83, Z:4.61 [[ 9.96126731e-01 8.42017900e-02 2.53297021e-02 3.23539537e+02] [-8.41787854e-02 9.96448710e-01 -1.97501774e-03 3.82509186e+00] [-2.54060490e-02 -1.64855592e-04 9.99677201e-01 4.61486778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.57, Y:3.82, Z:4.61 [[ 9.96170207e-01 8.33820926e-02 2.63124608e-02 3.23567723e+02] [-8.33570754e-02 9.96517638e-01 -2.04811733e-03 3.82202691e+00] [-2.63916076e-02 -1.53056310e-04 9.99651669e-01 4.61408495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.59, Y:3.82, Z:4.61 [[ 9.96218357e-01 8.24363549e-02 2.74450991e-02 3.23594962e+02] [-8.24088637e-02 9.96596322e-01 -2.13317839e-03 3.81953895e+00] [-2.75275362e-02 -1.36607954e-04 9.99621036e-01 4.61309331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.62, Y:3.82, Z:4.61 [[ 9.96326639e-01 8.10040495e-02 2.77771848e-02 3.23622433e+02] [-8.09754334e-02 9.96713767e-01 -2.15536333e-03 3.81688854e+00] [-2.78604957e-02 -1.01823678e-04 9.99611816e-01 4.61272018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.65, Y:3.81, Z:4.61 [[ 9.96481561e-01 7.88855218e-02 2.83120601e-02 3.23649212e+02] [-7.88550211e-02 9.96883680e-01 -2.19393321e-03 3.81416783e+00] [-2.83969002e-02 -4.63341081e-05 9.99596726e-01 4.61165141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.68, Y:3.81, Z:4.61 [[ 9.96893414e-01 7.34901248e-02 2.83323765e-02 3.23676563e+02] [-7.34575473e-02 9.97295940e-01 -2.19035616e-03 3.80966274e+00] [-2.84167336e-02 1.02324744e-04 9.99596158e-01 4.61019761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.70, Y:3.81, Z:4.61 [[ 9.97131044e-01 7.02350035e-02 2.82263078e-02 3.23704259e+02] [-7.02014503e-02 9.97530455e-01 -2.17915557e-03 3.80592801e+00] [-2.83096546e-02 1.91375932e-04 9.99599183e-01 4.60912140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.73, Y:3.80, Z:4.61 [[ 9.97610618e-01 6.27251597e-02 2.89587333e-02 3.23731331e+02] [-6.26867711e-02 9.98030753e-01 -2.23248301e-03 3.79998784e+00] [-2.90417393e-02 4.11819272e-04 9.99578115e-01 4.60779676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.76, Y:3.80, Z:4.61 [[ 9.97852490e-01 5.88638699e-02 2.87306961e-02 3.23759689e+02] [-5.88245636e-02 9.98265885e-01 -2.21212439e-03 3.79583546e+00] [-2.88110880e-02 5.17303163e-04 9.99584741e-01 4.60701001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.79, Y:3.79, Z:4.61 [[ 9.98072389e-01 5.50501870e-02 2.86528047e-02 3.23788613e+02] [-5.50095818e-02 9.98483394e-01 -2.20406961e-03 3.79150883e+00] [-2.87306841e-02 6.23642219e-04 9.99586994e-01 4.60608608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.82, Y:3.79, Z:4.61 [[ 9.98270951e-01 5.12794309e-02 2.87320009e-02 3.23815936e+02] [-5.12370991e-02 9.98684076e-01 -2.20810692e-03 3.78724293e+00] [-2.88074222e-02 7.32144621e-04 9.99584712e-01 4.60514213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.85, Y:3.78, Z:4.60 [[ 9.98620485e-01 4.42937530e-02 2.81991381e-02 3.23845607e+02] [-4.42502678e-02 9.99018132e-01 -2.16455414e-03 3.78099167e+00] [-2.82673265e-02 9.13748690e-04 9.99599982e-01 4.60454015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.88, Y:3.78, Z:4.60 [[ 9.98750013e-01 4.14702489e-02 2.79039556e-02 3.23876175e+02] [-4.14265998e-02 9.99139256e-01 -2.14079237e-03 3.77647266e+00] [-2.79687166e-02 9.82150403e-04 9.99608316e-01 4.60334246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.91, Y:3.77, Z:4.60 [[ 9.98854618e-01 3.89906054e-02 2.77341685e-02 3.23907246e+02] [-3.89465344e-02 9.99239031e-01 -2.12766612e-03 3.77190426e+00] [-2.77960226e-02 1.04507938e-03 9.99613070e-01 4.60170877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.94, Y:3.77, Z:4.60 [[ 9.99035680e-01 3.51483099e-02 2.63116992e-02 3.23938847e+02] [-3.51073148e-02 9.99381510e-01 -2.01852695e-03 3.76563271e+00] [-2.63663735e-02 1.09284734e-03 9.99651749e-01 4.60082154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.97, Y:3.76, Z:4.60 [[ 9.99082839e-01 3.38769098e-02 2.61884833e-02 3.23971084e+02] [-3.38356795e-02 9.99425376e-01 -2.01602460e-03 3.76165567e+00] [-2.62417314e-02 1.12807045e-03 9.99654990e-01 4.59963508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.92509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.00, Y:3.76, Z:4.60 [[ 9.99124867e-01 3.26460438e-02 2.61483286e-02 3.24004071e+02] [-3.26044075e-02 9.99466299e-01 -2.01719442e-03 3.75774884e+00] [-2.62002266e-02 1.16287835e-03 9.99656039e-01 4.59865541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.04, Y:3.75, Z:4.60 [[ 9.99202551e-01 3.05608361e-02 2.56962637e-02 3.24036262e+02] [-3.05197503e-02 9.99532184e-01 -1.98966153e-03 3.75305587e+00] [-2.57450482e-02 1.20383132e-03 9.99667816e-01 4.59869141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.07, Y:3.75, Z:4.60 [[ 9.99236372e-01 3.03940939e-02 2.45534631e-02 3.24069489e+02] [-3.03563821e-02 9.99537319e-01 -1.90726817e-03 3.74950082e+00] [-2.46000724e-02 1.16045742e-03 9.99696699e-01 4.59735034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.10, Y:3.75, Z:4.60 [[ 9.99275397e-01 3.00609622e-02 2.33456329e-02 3.24101989e+02] [-3.00266312e-02 9.99547443e-01 -1.81978470e-03 3.74620341e+00] [-2.33897721e-02 1.11747537e-03 9.99725797e-01 4.59614161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.13, Y:3.74, Z:4.60 [[ 9.99297861e-01 2.99645585e-02 2.24924487e-02 3.24134360e+02] [-2.99325227e-02 9.99550373e-01 -1.75968867e-03 3.74331151e+00] [-2.25350638e-02 1.08519739e-03 9.99745464e-01 4.59570831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.17, Y:3.74, Z:4.59 [[ 9.99305996e-01 2.98181060e-02 2.23250355e-02 3.24166185e+02] [-2.97863712e-02 9.99554751e-01 -1.75274711e-03 3.74109457e+00] [-2.23673589e-02 1.08654890e-03 9.99749229e-01 4.59482878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.20, Y:3.74, Z:4.59 [[ 9.99320713e-01 2.98426927e-02 2.16223452e-02 3.24197925e+02] [-2.98128166e-02 9.99554049e-01 -1.70283019e-03 3.73878284e+00] [-2.16635197e-02 1.05705046e-03 9.99764760e-01 4.59423899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.23, Y:3.74, Z:4.59 [[ 9.99342866e-01 2.98414701e-02 2.05748157e-02 3.24229430e+02] [-2.98143153e-02 9.99554133e-01 -1.62535814e-03 3.73643613e+00] [-2.06141452e-02 1.01086601e-03 9.99786995e-01 4.59313822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.26, Y:3.73, Z:4.59 [[ 9.99416065e-01 2.85561049e-02 1.87637541e-02 3.24260266e+02] [-2.85332038e-02 9.99591739e-01 -1.48713454e-03 3.73419956e+00] [-1.87985604e-02 9.50876132e-04 9.99822839e-01 4.59193812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.29, Y:3.73, Z:4.59 [[ 9.99447031e-01 2.78689255e-02 1.81371098e-02 3.24291650e+02] [-2.78473500e-02 9.99611149e-01 -1.44109889e-03 3.73199247e+00] [-1.81702190e-02 9.35231561e-04 9.99834471e-01 4.59146488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.32, Y:3.73, Z:4.59 [[ 9.99470806e-01 2.70798444e-02 1.80219276e-02 3.24322766e+02] [-2.70584025e-02 9.99632828e-01 -1.43259143e-03 3.73014193e+00] [-1.80541048e-02 9.44188745e-04 9.99836566e-01 4.59094935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.35, Y:3.73, Z:4.59 [[ 9.99475184e-01 2.61011933e-02 1.91855486e-02 3.24354239e+02] [-2.60766981e-02 9.99658781e-01 -1.52585522e-03 3.72930752e+00] [-1.92188287e-02 1.02475867e-03 9.99814776e-01 4.59112667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.39, Y:3.73, Z:4.59 [[ 9.99462393e-01 2.60899332e-02 1.98555120e-02 3.24386634e+02] [-2.60637259e-02 9.99659039e-01 -1.57758300e-03 3.72785166e+00] [-1.98899011e-02 1.05922626e-03 9.99801615e-01 4.59112937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.42, Y:3.73, Z:4.59 [[ 9.99419870e-01 2.72247425e-02 2.04630367e-02 3.24418429e+02] [-2.71970277e-02 9.99628761e-01 -1.63150881e-03 3.72790809e+00] [-2.04998574e-02 1.07402855e-03 9.99789279e-01 4.59127613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.45, Y:3.73, Z:4.59 [[ 9.99368362e-01 2.86673290e-02 2.10014664e-02 3.24450026e+02] [-2.86383460e-02 9.99588427e-01 -1.67956798e-03 3.72646549e+00] [-2.10409715e-02 1.07705984e-03 9.99778034e-01 4.59046974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.48, Y:3.73, Z:4.59 [[ 9.99311933e-01 3.02211993e-02 2.15020659e-02 3.24481736e+02] [-3.01910271e-02 9.99542656e-01 -1.72653970e-03 3.72508808e+00] [-2.15444101e-02 1.07618228e-03 9.99767313e-01 4.59005849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.51, Y:3.72, Z:4.59 [[ 9.99226383e-01 3.23314532e-02 2.23900079e-02 3.24513089e+02] [-3.22992823e-02 9.99476626e-01 -1.79708664e-03 3.72376044e+00] [-2.24363920e-02 1.07251519e-03 9.99747697e-01 4.58914183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.54, Y:3.72, Z:4.59 [[ 9.99133252e-01 3.43822585e-02 2.34649623e-02 3.24544096e+02] [-3.43473153e-02 9.99408168e-01 -1.89069702e-03 3.72274427e+00] [-2.35160814e-02 1.08309980e-03 9.99722872e-01 4.58867665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.58, Y:3.72, Z:4.59 [[ 9.98953058e-01 3.92354964e-02 2.35236717e-02 3.24575339e+02] [-3.92017008e-02 9.99229519e-01 -1.89627157e-03 3.72319714e+00] [-2.35799484e-02 9.72118338e-04 9.99721482e-01 4.58835689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.60, Y:3.72, Z:4.59 [[ 9.98836866e-01 4.19774788e-02 2.37235256e-02 3.24604791e+02] [-4.19438487e-02 9.99118137e-01 -1.91363063e-03 3.72213379e+00] [-2.37829341e-02 9.16348848e-04 9.99716726e-01 4.58742012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.63, Y:3.72, Z:4.59 [[ 9.98736671e-01 4.45616944e-02 2.32232122e-02 3.24634301e+02] [-4.45301721e-02 9.99006284e-01 -1.87299302e-03 3.72113713e+00] [-2.32835987e-02 8.36493175e-04 9.99728550e-01 4.58670558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.66, Y:3.72, Z:4.59 [[ 9.98450903e-01 5.08508342e-02 2.25828875e-02 3.24661053e+02] [-5.07737204e-02 9.98702271e-01 -3.97542269e-03 3.72270701e+00] [-2.27557346e-02 2.82264716e-03 9.99737070e-01 4.58623986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.69, Y:3.72, Z:4.58 [[ 9.98376672e-01 5.20183989e-02 2.31971444e-02 3.24691018e+02] [-5.20394336e-02 9.98644985e-01 3.03630627e-04 3.71920778e+00] [-2.31499175e-02 -1.51030399e-03 9.99730864e-01 4.58399483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.72, Y:3.72, Z:4.58 [[ 9.98133464e-01 5.65016721e-02 2.31764822e-02 3.24718676e+02] [-5.64734512e-02 9.98402348e-01 -1.87088793e-03 3.71998288e+00] [-2.32451626e-02 5.58539914e-04 9.99729639e-01 4.58376558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.75, Y:3.72, Z:4.58 [[ 9.97998697e-01 5.88197322e-02 2.32129200e-02 3.24746922e+02] [-5.87920956e-02 9.98268494e-01 -1.87183007e-03 3.71875349e+00] [-2.32828272e-02 5.03347755e-04 9.99728792e-01 4.58284196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.67509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.77, Y:3.72, Z:4.58 [[ 9.97870252e-01 6.07855148e-02 2.36660189e-02 3.24774698e+02] [-6.07574027e-02 9.98150743e-01 -1.90576935e-03 3.71757262e+00] [-2.37380975e-02 4.63824700e-04 9.99718104e-01 4.58200209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.80, Y:3.72, Z:4.58 [[ 9.97727934e-01 6.27771929e-02 2.44539074e-02 3.24802063e+02] [-6.27478459e-02 9.98027475e-01 -1.96633837e-03 3.71618058e+00] [-2.45291127e-02 4.27440707e-04 9.99699025e-01 4.58089541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.83, Y:3.72, Z:4.58 [[ 9.97472693e-01 6.63084498e-02 2.55228502e-02 3.24829395e+02] [-6.62776934e-02 9.97799110e-01 -2.05004048e-03 3.71554623e+00] [-2.56026123e-02 3.53263753e-04 9.99672137e-01 4.57985672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.86, Y:3.71, Z:4.58 [[ 9.97358267e-01 6.77775998e-02 2.61282423e-02 3.24857413e+02] [-6.77459573e-02 9.97700403e-01 -2.09536036e-03 3.71389174e+00] [-2.62101764e-02 3.19742190e-04 9.99656403e-01 4.57890892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.88, Y:3.71, Z:4.58 [[ 9.97236990e-01 6.91741463e-02 2.70799510e-02 3.24884716e+02] [-6.91407502e-02 9.97604557e-01 -2.16876262e-03 3.71211849e+00] [-2.71651048e-02 2.90442183e-04 9.99630918e-01 4.57740639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.91, Y:3.71, Z:4.58 [[ 9.97238196e-01 6.87998225e-02 2.79743552e-02 3.24911464e+02] [-6.87641677e-02 9.97630438e-01 -2.23570882e-03 3.70988157e+00] [-2.80618846e-02 3.05900981e-04 9.99606141e-01 4.57585316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.94, Y:3.71, Z:4.57 [[ 9.97295239e-01 6.78420297e-02 2.82783668e-02 3.24939291e+02] [-6.78053329e-02 9.97696020e-01 -2.25569668e-03 3.70739536e+00] [-2.83662451e-02 3.32171480e-04 9.99597542e-01 4.57458433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.97, Y:3.70, Z:4.57 [[ 9.97527720e-01 6.39928713e-02 2.90406783e-02 3.24967758e+02] [-6.39526323e-02 9.97950254e-01 -2.31326489e-03 3.70389753e+00] [-2.91291848e-02 4.50318024e-04 9.99575554e-01 4.57208075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.00, Y:3.70, Z:4.57 [[ 9.97871884e-01 5.81800489e-02 2.94412050e-02 3.24996543e+02] [-5.81362250e-02 9.98305910e-01 -2.34305284e-03 3.70003831e+00] [-2.95276479e-02 6.26466029e-04 9.99563768e-01 4.56995802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.02, Y:3.70, Z:4.57 [[ 9.98078643e-01 5.46685679e-02 2.91610913e-02 3.25024487e+02] [-5.46241371e-02 9.98504295e-01 -2.31867747e-03 3.69701782e+00] [-2.92442337e-02 7.21323008e-04 9.99572036e-01 4.56830622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.05, Y:3.69, Z:4.57 [[ 9.98081555e-01 5.46152700e-02 2.91613034e-02 3.25053700e+02] [-5.45708945e-02 9.98507213e-01 -2.31600681e-03 3.69475653e+00] [-2.92442611e-02 7.20205261e-04 9.99572036e-01 4.56741122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.08, Y:3.69, Z:4.56 [[ 9.98413855e-01 4.84635239e-02 2.86541590e-02 3.25083465e+02] [-4.84181913e-02 9.98824563e-01 -2.27418768e-03 3.69029117e+00] [-2.87306929e-02 8.83197937e-04 9.99586798e-01 4.56478994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.11, Y:3.69, Z:4.56 [[ 9.98416629e-01 4.84062886e-02 2.86542364e-02 3.25113505e+02] [-4.83609606e-02 9.98827337e-01 -2.27321211e-03 3.68793433e+00] [-2.87306724e-02 8.83866381e-04 9.99586798e-01 4.56387007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.14, Y:3.68, Z:4.56 [[ 9.98547355e-01 4.56120927e-02 2.86830521e-02 3.25142742e+02] [-4.55655705e-02 9.98958762e-01 -2.27380614e-03 3.68454204e+00] [-2.87568993e-02 9.63543471e-04 9.99585970e-01 4.56215138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.17, Y:3.68, Z:4.56 [[ 9.98666184e-01 4.29063863e-02 2.87209861e-02 3.25171854e+02] [-4.28586569e-02 9.99078554e-01 -2.27565284e-03 3.68131987e+00] [-2.87921613e-02 1.04167465e-03 9.99584877e-01 4.56093944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.20, Y:3.68, Z:4.56 [[ 9.98823246e-01 3.80104908e-02 3.01218666e-02 3.25202054e+02] [-3.79557475e-02 9.99276569e-01 -2.38729934e-03 3.67764124e+00] [-3.01908180e-02 1.24119211e-03 9.99543383e-01 4.55902198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.23, Y:3.67, Z:4.56 [[ 9.98868603e-01 3.63583994e-02 3.06525728e-02 3.25233494e+02] [-3.63009140e-02 9.99337950e-01 -2.42997502e-03 3.67453018e+00] [-3.07206292e-02 1.31450934e-03 9.99527146e-01 4.55756533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.27, Y:3.67, Z:4.56 [[ 9.98915367e-01 3.50964298e-02 3.05995127e-02 3.25266460e+02] [-3.50383044e-02 9.99383006e-01 -2.43385749e-03 3.67132061e+00] [-3.06660527e-02 1.35906261e-03 9.99528762e-01 4.55609660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.30, Y:3.67, Z:4.55 [[ 9.98947208e-01 3.42914970e-02 3.04724154e-02 3.25298595e+02] [-3.42332093e-02 9.99410911e-01 -2.43260793e-03 3.66813184e+00] [-3.05378822e-02 1.38687833e-03 9.99532648e-01 4.55427753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.33, Y:3.67, Z:4.55 [[ 9.98972946e-01 3.34277535e-02 3.05882083e-02 3.25331208e+02] [-3.33684462e-02 9.99440122e-01 -2.44744718e-03 3.66512993e+00] [-3.06528953e-02 1.42425253e-03 9.99529075e-01 4.55204760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.36, Y:3.66, Z:4.55 [[ 9.98972633e-01 3.35155265e-02 3.05022462e-02 3.25363753e+02] [-3.34563241e-02 9.99437179e-01 -2.44936261e-03 3.66203666e+00] [-3.05671706e-02 1.42635318e-03 9.99531697e-01 4.55054933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.40, Y:3.66, Z:4.55 [[ 9.98971465e-01 3.35198377e-02 3.05357628e-02 3.25395354e+02] [-3.34602326e-02 9.99437020e-01 -2.46101784e-03 3.65918087e+00] [-3.06010647e-02 1.43675287e-03 9.99530645e-01 4.54883875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.43, Y:3.66, Z:4.55 [[ 9.98984291e-01 3.35165788e-02 3.01168649e-02 3.25428487e+02] [-3.34584345e-02 9.99437149e-01 -2.43264301e-03 3.65646029e+00] [-3.01814474e-02 1.42250900e-03 9.99543424e-01 4.54694381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.46, Y:3.65, Z:4.55 [[ 9.98991890e-01 3.37237292e-02 2.96296263e-02 3.25461774e+02] [-3.36672925e-02 9.99430210e-01 -2.40170337e-03 3.65325640e+00] [-2.96937381e-02 1.40173289e-03 9.99558061e-01 4.54537625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.49, Y:3.65, Z:4.54 [[ 9.99054303e-01 3.27519270e-02 2.85973929e-02 3.25493911e+02] [-3.26987307e-02 9.99462547e-01 -2.32597362e-03 3.64936384e+00] [-2.86582032e-02 1.38867551e-03 9.99588305e-01 4.54344315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.42509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.53, Y:3.65, Z:4.54 [[ 9.99096651e-01 3.25239358e-02 2.73509646e-02 3.25526764e+02] [-3.24750026e-02 9.99470057e-01 -2.23149799e-03 3.64603941e+00] [-2.74090472e-02 1.34125953e-03 9.99623402e-01 4.54221735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.56, Y:3.64, Z:4.54 [[ 9.99118233e-01 3.27373417e-02 2.62873008e-02 3.25559584e+02] [-3.26920306e-02 9.99463157e-01 -2.15172435e-03 3.64298979e+00] [-2.63436304e-02 1.29044178e-03 9.99652113e-01 4.54068913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.59, Y:3.64, Z:4.54 [[ 9.99067524e-01 3.38390299e-02 2.68142242e-02 3.25592152e+02] [-3.37920654e-02 9.99426458e-01 -2.20281048e-03 3.64022374e+00] [-2.68733860e-02 1.29464839e-03 9.99638007e-01 4.53948441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.62, Y:3.64, Z:4.54 [[ 9.98999843e-01 3.58124076e-02 2.67728340e-02 3.25624077e+02] [-3.57660815e-02 9.99357751e-01 -2.20736068e-03 3.63787239e+00] [-2.68346901e-02 1.24759361e-03 9.99639106e-01 4.53854602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.66, Y:3.64, Z:4.54 [[ 9.98894355e-01 3.85875357e-02 2.68527366e-02 3.25656497e+02] [-3.85417333e-02 9.99254522e-01 -2.22136347e-03 3.63558060e+00] [-2.69184354e-02 1.18395642e-03 9.99636932e-01 4.53776997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.69, Y:3.63, Z:4.54 [[ 9.98537304e-01 4.60843529e-02 2.82751485e-02 3.25688059e+02] [-4.60363274e-02 9.98937008e-01 -2.34748194e-03 3.63458998e+00] [-2.83532744e-02 1.04236430e-03 9.99597422e-01 4.53657273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.72, Y:3.63, Z:4.54 [[ 9.98299284e-01 5.08249666e-02 2.85545427e-02 3.25718131e+02] [-5.07778900e-02 9.98707154e-01 -2.37182863e-03 3.63289175e+00] [-2.86381742e-02 9.17855391e-04 9.99589422e-01 4.53561093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.75, Y:3.63, Z:4.53 [[ 9.98016967e-01 5.58283881e-02 2.90744593e-02 3.25747757e+02] [-5.57817317e-02 9.98440069e-01 -2.41397047e-03 3.63157781e+00] [-2.91638732e-02 7.87359795e-04 9.99574334e-01 4.53452963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.78, Y:3.63, Z:4.53 [[ 9.97721287e-01 6.09528730e-02 2.89306242e-02 3.25775714e+02] [-6.09088567e-02 9.98140444e-01 -2.40108423e-03 3.63081933e+00] [-2.90231790e-02 6.33481604e-04 9.99578538e-01 4.53395391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.80, Y:3.63, Z:4.53 [[ 9.97053530e-01 7.09421844e-02 2.91798688e-02 3.25803421e+02] [-7.09017622e-02 9.97480370e-01 -2.41892925e-03 3.63172387e+00] [-2.92779504e-02 3.42897834e-04 9.99571250e-01 4.53362366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.83, Y:3.63, Z:4.53 [[ 9.96752079e-01 7.51419138e-02 2.89652543e-02 3.25831005e+02] [-7.51039295e-02 9.97172827e-01 -2.39862299e-03 3.63047387e+00] [-2.90636016e-02 2.15428036e-04 9.99577541e-01 4.53223705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.86, Y:3.63, Z:4.53 [[ 9.96470316e-01 7.89627838e-02 2.84918985e-02 3.25858528e+02] [-7.89276641e-02 9.96877560e-01 -2.35691015e-03 3.62853064e+00] [-2.85890424e-02 9.97920105e-05 9.99591245e-01 4.53145447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.89, Y:3.63, Z:4.53 [[ 9.96063377e-01 8.37735385e-02 2.89783104e-02 3.25886790e+02] [-8.37393326e-02 9.96484818e-01 -2.39409428e-03 3.62705498e+00] [-2.90770081e-02 -4.19547366e-05 9.99577174e-01 4.53080922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.91, Y:3.63, Z:4.53 [[ 9.95968552e-01 8.49312326e-02 2.88674289e-02 3.25913632e+02] [-8.48978644e-02 9.96386812e-01 -2.38181991e-03 3.62511038e+00] [-2.89654163e-02 -7.85653289e-05 9.99580411e-01 4.53029861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.94, Y:3.62, Z:4.53 [[ 9.95977529e-01 8.48538796e-02 2.87850809e-02 3.25941892e+02] [-8.48207747e-02 9.96393403e-01 -2.37137659e-03 3.62268521e+00] [-2.88824852e-02 -7.97350643e-05 9.99582811e-01 4.53005830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.97, Y:3.62, Z:4.53 [[ 9.96076589e-01 8.37317319e-02 2.86430755e-02 3.25968821e+02] [-8.36985739e-02 9.96488331e-01 -2.35672296e-03 3.62018196e+00] [-2.87398230e-02 -4.99079989e-05 9.99586925e-01 4.52945864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.00, Y:3.62, Z:4.53 [[ 9.96220358e-01 8.21691872e-02 2.81642033e-02 3.25996582e+02] [-8.21366502e-02 9.96618395e-01 -2.31216762e-03 3.61745013e+00] [-2.82589520e-02 -9.88486245e-06 9.99600636e-01 4.52906940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.02, Y:3.61, Z:4.53 [[ 9.96610040e-01 7.74164069e-02 2.78411309e-02 3.26024391e+02] [-7.73828394e-02 9.96998839e-01 -2.28270541e-03 3.61379788e+00] [-2.79342940e-02 1.20541368e-04 9.99609754e-01 4.52809418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.05, Y:3.61, Z:4.53 [[ 9.96861433e-01 7.42293229e-02 2.75189213e-02 3.26051200e+02] [-7.41953919e-02 9.97241177e-01 -2.25345680e-03 3.61078106e+00] [-2.76102740e-02 2.04607022e-04 9.99618743e-01 4.52735184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.08, Y:3.60, Z:4.53 [[ 9.97507607e-01 6.74364756e-02 2.07580428e-02 3.26075919e+02] [-6.80080883e-02 9.97286529e-01 2.81865047e-02 3.59709899e+00] [-1.88009179e-02 -2.95279677e-02 9.99387124e-01 4.53080204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.025099893 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:326.11, Y:3.62, Z:4.54 [[ 9.97785238e-01 6.34532851e-02 1.99574312e-02 3.26109170e+02] [-6.28254912e-02 9.97553746e-01 -3.06509645e-02 3.61890710e+00] [-2.18535147e-02 2.93292445e-02 9.99330886e-01 4.53935223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.14, Y:3.60, Z:4.53 [[ 9.98045358e-01 5.81716946e-02 2.28367418e-02 3.26137423e+02] [-5.82130000e-02 9.98303526e-01 1.14756211e-03 3.60051801e+00] [-2.27312443e-02 -2.47471428e-03 9.99738549e-01 4.52935370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.17, Y:3.60, Z:4.53 [[ 9.98254880e-01 5.44061869e-02 2.29599995e-02 3.26165404e+02] [-5.43781901e-02 9.98518712e-01 -1.84242269e-03 3.59885236e+00] [-2.30262283e-02 5.90684226e-04 9.99734687e-01 4.52953730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.19, Y:3.60, Z:4.53 [[ 9.98448371e-01 5.12015211e-02 2.18918694e-02 3.26193242e+02] [-5.11230523e-02 9.98683824e-01 -4.12950546e-03 3.59681705e+00] [-2.20744929e-02 3.00391882e-03 9.99751816e-01 4.52977344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.22, Y:3.59, Z:4.53 [[ 9.98802780e-01 4.34926323e-02 2.23919152e-02 3.26222994e+02] [-4.35156811e-02 9.99052597e-01 5.42875872e-04 3.58954772e+00] [-2.23470899e-02 -1.51662537e-03 9.99749122e-01 4.52809848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.17509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.25, Y:3.59, Z:4.53 [[ 9.98966974e-01 4.01099162e-02 2.13583443e-02 3.26252798e+02] [-4.00824672e-02 9.99194909e-01 -1.71188716e-03 3.58723422e+00] [-2.14098126e-02 8.54023603e-04 9.99770419e-01 4.52804394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.28, Y:3.58, Z:4.53 [[ 9.99087691e-01 3.70919268e-02 2.11654206e-02 3.26280816e+02] [-3.70643114e-02 9.99311444e-01 -1.69567218e-03 3.58416091e+00] [-2.12137428e-02 9.09643462e-04 9.99774549e-01 4.52715923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.31, Y:3.58, Z:4.53 [[ 9.99208041e-01 3.40837839e-02 2.05325671e-02 3.26310680e+02] [-3.40571785e-02 9.99418534e-01 -1.64415289e-03 3.58119150e+00] [-2.05766671e-02 9.43569487e-04 9.99787833e-01 4.52674158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.34, Y:3.58, Z:4.53 [[ 9.99374664e-01 2.92833002e-02 1.98184031e-02 3.26339965e+02] [-2.92575938e-02 9.99570647e-01 -1.58586562e-03 3.57839060e+00] [-1.98563334e-02 1.00503514e-03 9.99802338e-01 4.52717400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.37, Y:3.58, Z:4.53 [[ 9.99425438e-01 2.75494032e-02 1.97439908e-02 3.26370840e+02] [-2.75235466e-02 9.99619906e-01 -1.58019016e-03 3.57595794e+00] [-1.97800196e-02 1.03585759e-03 9.99803820e-01 4.52690782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.40, Y:3.57, Z:4.53 [[ 9.99479527e-01 2.62287532e-02 1.87810390e-02 3.26402399e+02] [-2.62051440e-02 9.99655458e-01 -1.50211781e-03 3.57353515e+00] [-1.88139668e-02 1.00917616e-03 9.99822492e-01 4.52706312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.43, Y:3.57, Z:4.53 [[ 9.99528849e-01 2.49613527e-02 1.78608562e-02 3.26434055e+02] [-2.49397268e-02 9.99687930e-01 -1.43254884e-03 3.57149952e+00] [-1.78910407e-02 9.86429022e-04 9.99839456e-01 4.52720717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.47, Y:3.57, Z:4.53 [[ 9.99537597e-01 2.48505203e-02 1.75226414e-02 3.26465460e+02] [-2.48295888e-02 9.99690702e-01 -1.41112211e-03 3.56973672e+00] [-1.75522888e-02 9.75389627e-04 9.99845471e-01 4.52690470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.50, Y:3.57, Z:4.53 [[ 9.99542900e-01 2.48860093e-02 1.71661573e-02 3.26496435e+02] [-2.48659156e-02 9.99689839e-01 -1.38302422e-03 3.56914037e+00] [-1.71952510e-02 9.55539823e-04 9.99851694e-01 4.52772954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.53, Y:3.57, Z:4.53 [[ 9.99549024e-01 2.51551435e-02 1.64002249e-02 3.26527814e+02] [-2.51368300e-02 9.99683146e-01 -1.32187368e-03 3.56757899e+00] [-1.64282803e-02 9.09027884e-04 9.99864633e-01 4.52754890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.56, Y:3.57, Z:4.53 [[ 9.99544755e-01 2.57663316e-02 1.56964936e-02 3.26557831e+02] [-2.57496198e-02 9.99667622e-01 -1.26588770e-03 3.56581371e+00] [-1.57238937e-02 8.61132667e-04 9.99876001e-01 4.52687244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.59, Y:3.56, Z:4.53 [[ 9.99551476e-01 2.66003510e-02 1.37574511e-02 3.26588180e+02] [-2.65875863e-02 9.99645871e-01 -1.10993480e-03 3.56498811e+00] [-1.37821039e-02 7.43659549e-04 9.99904746e-01 4.52627703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.62, Y:3.56, Z:4.53 [[ 9.99552613e-01 2.70359710e-02 1.27917670e-02 3.26617488e+02] [-2.70249644e-02 9.99634226e-01 -1.03254999e-03 3.56348640e+00] [-1.28150041e-02 6.86390992e-04 9.99917649e-01 4.52559417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.65, Y:3.56, Z:4.53 [[ 9.99556651e-01 2.75395101e-02 1.13171180e-02 3.26645366e+02] [-2.75309210e-02 9.99620534e-01 -9.14068375e-04 3.56336130e+00] [-1.13379965e-02 6.02092443e-04 9.99935542e-01 4.52583830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.67, Y:3.56, Z:4.53 [[ 9.99542800e-01 2.81492569e-02 1.10368152e-02 3.26673244e+02] [-2.81411359e-02 9.99603563e-01 -8.90454511e-04 3.56221469e+00] [-1.10575054e-02 5.79458879e-04 9.99938696e-01 4.52529839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.70, Y:3.56, Z:4.52 [[ 9.99526032e-01 2.89500059e-02 1.04693929e-02 3.26701404e+02] [-2.89427511e-02 9.99580715e-01 -8.43833907e-04 3.56113381e+00] [-1.04894322e-02 5.40420926e-04 9.99944838e-01 4.52467602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.73, Y:3.56, Z:4.52 [[ 9.99456355e-01 3.16029571e-02 9.39405318e-03 3.26730068e+02] [-3.15972415e-02 9.99500396e-01 -7.56262325e-04 3.56180910e+00] [-9.41326000e-03 4.59025019e-04 9.99955589e-01 4.52454834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.76, Y:3.56, Z:4.52 [[ 9.99398776e-01 3.34922389e-02 8.96412694e-03 3.26759267e+02] [-3.34871154e-02 9.99438889e-01 -7.21091342e-04 3.56105392e+00] [-8.98324803e-03 4.20475052e-04 9.99959561e-01 4.52418219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.79, Y:3.56, Z:4.52 [[ 9.99214103e-01 3.82700952e-02 1.03235417e-02 3.26787009e+02] [-3.82635583e-02 9.99267337e-01 -8.30050369e-04 3.56160174e+00] [-1.03477441e-02 4.34382595e-04 9.99946366e-01 4.52408181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.82, Y:3.56, Z:4.52 [[ 9.99217557e-01 3.81797813e-02 1.03236554e-02 3.26815383e+02] [-3.81732542e-02 9.99270792e-01 -8.28632217e-04 3.55941606e+00] [-1.03477643e-02 4.33896338e-04 9.99946366e-01 4.52331059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.84, Y:3.56, Z:4.52 [[ 9.98987567e-01 4.35238028e-02 1.13806835e-02 3.26842639e+02] [-4.35162251e-02 9.99052303e-01 -9.12740820e-04 3.56024728e+00] [-1.14096240e-02 4.16572348e-04 9.99934821e-01 4.52338758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.87, Y:3.56, Z:4.52 [[ 9.98855748e-01 4.64129584e-02 1.15339292e-02 3.26870963e+02] [-4.64053890e-02 9.98922263e-01 -9.23177823e-04 3.55920907e+00] [-1.15643461e-02 3.86885004e-04 9.99933056e-01 4.52299489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.90, Y:3.56, Z:4.52 [[ 9.98707699e-01 4.94203122e-02 1.18559772e-02 3.26898774e+02] [-4.94125403e-02 9.98778005e-01 -9.47741863e-04 3.55836764e+00] [-1.18883269e-02 3.60683146e-04 9.99929266e-01 4.52264737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.93, Y:3.56, Z:4.52 [[ 9.98396800e-01 5.52106858e-02 1.24743407e-02 3.26927284e+02] [-5.52025526e-02 9.98474680e-01 -9.95636725e-04 3.55836303e+00] [-1.25102831e-02 3.05425074e-04 9.99921697e-01 4.52250771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.96, Y:3.56, Z:4.52 [[ 9.98401785e-01 5.51204433e-02 1.24744693e-02 3.26955658e+02] [-5.51123233e-02 9.98479666e-01 -9.94020437e-04 3.55619118e+00] [-1.25102948e-02 3.04934791e-04 9.99921697e-01 4.52173649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.92509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.98, Y:3.56, Z:4.52 [[ 9.98245631e-01 5.79021981e-02 1.23691791e-02 3.26982232e+02] [-5.78944353e-02 9.98322225e-01 -9.85043278e-04 3.55520779e+00] [-1.24054626e-02 2.67208507e-04 9.99923014e-01 4.52158511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.01, Y:3.55, Z:4.52 [[ 9.97932341e-01 6.29006648e-02 1.32117226e-02 3.27008768e+02] [-6.28922593e-02 9.98019769e-01 -1.05114620e-03 3.55429683e+00] [-1.32516782e-02 2.18057698e-04 9.99912169e-01 4.52143715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.04, Y:3.55, Z:4.52 [[ 9.97796007e-01 6.51410487e-02 1.26401072e-02 3.27036246e+02] [-6.51335779e-02 9.97876051e-01 -1.00224860e-03 3.55261943e+00] [-1.26785478e-02 1.76744246e-04 9.99919608e-01 4.52107668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.06, Y:3.55, Z:4.52 [[ 9.97682569e-01 6.68868367e-02 1.24757035e-02 3.27063217e+02] [-6.68796958e-02 9.97760556e-01 -9.89177763e-04 3.55084272e+00] [-1.25139278e-02 1.52514158e-04 9.99921686e-01 4.52046001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.09, Y:3.55, Z:4.52 [[ 9.97482272e-01 6.98229134e-02 1.24047670e-02 3.27091378e+02] [-6.98161261e-02 9.97559396e-01 -9.79879438e-04 3.54920827e+00] [-1.24429099e-02 1.11359593e-04 9.99922578e-01 4.52013326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.12, Y:3.55, Z:4.52 [[ 9.97411212e-01 7.08171799e-02 1.24820656e-02 3.27118839e+02] [-7.08104024e-02 9.97489307e-01 -9.84647761e-04 3.54690377e+00] [-1.25204569e-02 9.82386306e-05 9.99921611e-01 4.51946714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.15, Y:3.54, Z:4.52 [[ 9.97354371e-01 7.15329138e-02 1.29345020e-02 3.27146926e+02] [-7.15257157e-02 9.97438236e-01 -1.01883397e-03 3.54440669e+00] [-1.29742470e-02 9.09889984e-05 9.99915827e-01 4.51814189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.17, Y:3.54, Z:4.52 [[ 9.97242137e-01 7.29365848e-02 1.37249412e-02 3.27173779e+02] [-7.29286328e-02 9.97336578e-01 -1.07966276e-03 3.54099520e+00] [-1.37671328e-02 7.57439962e-05 9.99905226e-01 4.51701679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.20, Y:3.54, Z:4.52 [[ 9.97196575e-01 7.34763567e-02 1.41497832e-02 3.27201383e+02] [-7.34679887e-02 9.97296957e-01 -1.11098955e-03 3.53802223e+00] [-1.41931672e-02 6.83188625e-05 9.99899270e-01 4.51598241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.23, Y:3.53, Z:4.51 [[ 9.97134043e-01 7.43682966e-02 1.38945115e-02 3.27229081e+02] [-7.43603343e-02 9.97230843e-01 -1.08951566e-03 3.53437601e+00] [-1.39370608e-02 5.31926389e-05 9.99902873e-01 4.51472173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.26, Y:3.53, Z:4.51 [[ 9.97147442e-01 7.41884051e-02 1.38945558e-02 3.27257424e+02] [-7.41804332e-02 9.97244242e-01 -1.08895161e-03 3.53223004e+00] [-1.39370533e-02 5.51411478e-05 9.99902873e-01 4.51395142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.28, Y:3.53, Z:4.51 [[ 9.97109782e-01 7.45722477e-02 1.45280079e-02 3.27284346e+02] [-7.45636119e-02 9.97215612e-01 -1.13593765e-03 3.52859713e+00] [-1.45722657e-02 4.93937977e-05 9.99893818e-01 4.51267185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.31, Y:3.53, Z:4.51 [[ 9.97120783e-01 7.44620609e-02 1.43368807e-02 3.27311936e+02] [-7.44536956e-02 9.97223846e-01 -1.11708360e-03 3.52523031e+00] [-1.43802596e-02 4.64335262e-05 9.99896598e-01 4.51190021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.34, Y:3.52, Z:4.51 [[ 9.97158810e-01 7.38623615e-02 1.47871357e-02 3.27340147e+02] [-7.38534211e-02 9.97268444e-01 -1.15051075e-03 3.52163671e+00] [-1.48317233e-02 5.51613707e-05 9.99890002e-01 4.51082527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.37, Y:3.52, Z:4.51 [[ 9.97264777e-01 7.22224800e-02 1.57123537e-02 3.27366407e+02] [-7.22122090e-02 9.97388543e-01 -1.22079839e-03 3.51606583e+00] [-1.57594906e-02 8.28354683e-05 9.99875808e-01 4.50937575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.39, Y:3.51, Z:4.51 [[ 9.97312508e-01 7.13856746e-02 1.64878012e-02 3.27394612e+02] [-7.13742909e-02 9.97448784e-01 -1.27859419e-03 3.51211599e+00] [-1.65370106e-02 9.83528498e-05 9.99863249e-01 4.50832360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.42, Y:3.51, Z:4.51 [[ 9.97348570e-01 7.07663763e-02 1.69690978e-02 3.27422849e+02] [-7.07542606e-02 9.97492911e-01 -1.31404354e-03 3.50831887e+00] [-1.70195448e-02 1.09923482e-04 9.99855151e-01 4.50765979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.45, Y:3.50, Z:4.51 [[ 9.97373515e-01 7.03875014e-02 1.70783644e-02 3.27450472e+02] [-7.03752044e-02 9.97519717e-01 -1.32070400e-03 3.50315802e+00] [-1.71289663e-02 1.15341798e-04 9.99853282e-01 4.50666530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.48, Y:3.50, Z:4.51 [[ 9.97345823e-01 7.06680314e-02 1.75310600e-02 3.27477949e+02] [-7.06551503e-02 9.97499883e-01 -1.35383079e-03 3.49957165e+00] [-1.75829029e-02 1.11577802e-04 9.99845403e-01 4.50554130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.50, Y:3.49, Z:4.50 [[ 9.97230349e-01 7.21920369e-02 1.78868994e-02 3.27504698e+02] [-7.21789059e-02 9.97390747e-01 -1.37945444e-03 3.49443124e+00] [-1.79398136e-02 8.45770002e-05 9.99839065e-01 4.50409671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.53, Y:3.49, Z:4.50 [[ 9.97160178e-01 7.31596887e-02 1.78672629e-02 3.27531063e+02] [-7.31467827e-02 9.97320237e-01 -1.37565758e-03 3.49092912e+00] [-1.79200255e-02 6.48181626e-05 9.99839421e-01 4.50347979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.56, Y:3.49, Z:4.50 [[ 9.97057585e-01 7.45065170e-02 1.80263777e-02 3.27558967e+02] [-7.44936439e-02 9.97220526e-01 -1.38549027e-03 3.48741412e+00] [-1.80795019e-02 3.85630193e-05 9.99836552e-01 4.50240189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.59, Y:3.48, Z:4.50 [[ 9.96959324e-01 7.59302548e-02 1.75129267e-02 3.27586622e+02] [-7.59183554e-02 9.97113131e-01 -1.34425277e-03 3.48369419e+00] [-1.75644386e-02 1.06127387e-05 9.99845733e-01 4.50128508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.61, Y:3.48, Z:4.50 [[ 9.96700151e-01 7.91670805e-02 1.79271445e-02 3.27614431e+02] [-7.91551698e-02 9.96861360e-01 -1.37410804e-03 3.47844666e+00] [-1.79796618e-02 -4.94524776e-05 9.99838352e-01 4.50048060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.64, Y:3.47, Z:4.50 [[ 9.96589665e-01 8.04483025e-02 1.83605449e-02 3.27641706e+02] [-8.04360635e-02 9.96758780e-01 -1.40530462e-03 3.47488877e+00] [-1.84140887e-02 -7.63378965e-05 9.99830443e-01 4.49962703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.67509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.67, Y:3.47, Z:4.50 [[ 9.96459383e-01 8.18653920e-02 1.91508463e-02 3.27669883e+02] [-8.18523796e-02 9.96643389e-01 -1.46364633e-03 3.47114823e+00] [-1.92063864e-02 -1.09078220e-04 9.99815534e-01 4.49888149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.70, Y:3.47, Z:4.50 [[ 9.96338955e-01 8.31381371e-02 1.99182367e-02 3.27697416e+02] [-8.31243598e-02 9.96538022e-01 -1.52005837e-03 3.46725835e+00] [-1.99756550e-02 -1.41197303e-04 9.99800457e-01 4.49777595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.72, Y:3.46, Z:4.50 [[ 9.96206017e-01 8.48322256e-02 1.94181504e-02 3.27724339e+02] [-8.48194907e-02 9.96395235e-01 -1.47997100e-03 3.46148669e+00] [-1.94737017e-02 -1.72681613e-04 9.99810355e-01 4.49692950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.75, Y:3.46, Z:4.50 [[ 9.96177138e-01 8.52254554e-02 1.91763118e-02 3.27751833e+02] [-8.52131571e-02 9.96361676e-01 -1.45901630e-03 3.45762517e+00] [-1.92308875e-02 -1.80635388e-04 9.99815053e-01 4.49598911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.78, Y:3.45, Z:4.49 [[ 9.96152448e-01 8.55781742e-02 1.88858889e-02 3.27779583e+02] [-8.55663473e-02 9.96331441e-01 -1.43489935e-03 3.45141443e+00] [-1.89394010e-02 -1.86618030e-04 9.99820616e-01 4.49465518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.81, Y:3.45, Z:4.49 [[ 9.96200414e-01 8.51102613e-02 1.84656159e-02 3.27805830e+02] [-8.50989080e-02 9.96371523e-01 -1.40116329e-03 3.44745912e+00] [-1.85178672e-02 -1.75564296e-04 9.99828514e-01 4.49406836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.83, Y:3.44, Z:4.49 [[ 9.96268954e-01 8.42553526e-02 1.86870751e-02 3.27833763e+02] [-8.42436225e-02 9.96444182e-01 -1.41543180e-03 3.44321411e+00] [-1.87398849e-02 -1.64116139e-04 9.99824379e-01 4.49358089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.86, Y:3.44, Z:4.49 [[ 9.96355920e-01 8.31468400e-02 1.90127321e-02 3.27861276e+02] [-8.31345363e-02 9.96537295e-01 -1.43796508e-03 3.43908792e+00] [-1.90664589e-02 -1.47889641e-04 9.99818208e-01 4.49301371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.89, Y:3.43, Z:4.49 [[ 9.96615513e-01 7.99367751e-02 1.91737094e-02 3.27888301e+02] [-7.99236978e-02 9.96799932e-01 -1.44859354e-03 3.43264047e+00] [-1.92281481e-02 -8.87429673e-05 9.99815118e-01 4.49307729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.92, Y:3.43, Z:4.49 [[ 9.96974579e-01 7.52900556e-02 1.93157005e-02 3.27915422e+02] [-7.52759918e-02 9.97161676e-01 -1.45518167e-03 3.42605070e+00] [-1.93704370e-02 -3.22937660e-06 9.99812375e-01 4.49228315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.94, Y:3.42, Z:4.49 [[ 9.97171561e-01 7.24883433e-02 1.98574576e-02 3.27943458e+02] [-7.24729679e-02 9.97369258e-01 -1.49377904e-03 3.42177019e+00] [-1.99134993e-02 5.04250880e-05 9.99801705e-01 4.49108862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.97, Y:3.42, Z:4.49 [[ 9.97369677e-01 6.97542007e-02 1.96997265e-02 3.27970012e+02] [-6.97385749e-02 9.97564204e-01 -1.47990706e-03 3.41763780e+00] [-1.97549717e-02 1.02183573e-04 9.99804846e-01 4.49048680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.00, Y:3.41, Z:4.49 [[ 9.97560559e-01 6.68893397e-02 1.99686846e-02 3.27997998e+02] [-6.68727643e-02 9.97760388e-01 -1.49741292e-03 3.41328369e+00] [-2.00241235e-02 1.58398925e-04 9.99799485e-01 4.48911161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.03, Y:3.41, Z:4.49 [[ 9.97748768e-01 6.40444233e-02 1.98924013e-02 3.28026391e+02] [-6.40274571e-02 9.97947026e-01 -1.48927786e-03 3.40884894e+00] [-1.99469427e-02 2.12265276e-04 9.99801017e-01 4.48819058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.05, Y:3.40, Z:4.49 [[ 9.98054275e-01 5.87841674e-02 2.07866546e-02 3.28053854e+02] [-5.87645313e-02 9.98270661e-01 -1.55474501e-03 3.40226497e+00] [-2.08421018e-02 3.30201894e-04 9.99782725e-01 4.48712249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.08, Y:3.40, Z:4.49 [[ 9.98183380e-01 5.62870923e-02 2.14872987e-02 3.28082191e+02] [-5.62655770e-02 9.98414548e-01 -1.60503948e-03 3.39794714e+00] [-2.15435746e-02 3.93128472e-04 9.99767833e-01 4.48612687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.11, Y:3.39, Z:4.49 [[ 9.98420269e-01 5.14035002e-02 2.26858154e-02 3.28110175e+02] [-5.13782965e-02 9.98677828e-01 -1.69283205e-03 3.39208289e+00] [-2.27428383e-02 5.24599282e-04 9.99741211e-01 4.48577544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.14, Y:3.39, Z:4.48 [[ 9.98533571e-01 4.90166248e-02 2.29799575e-02 3.28140102e+02] [-4.89901731e-02 9.98797792e-01 -1.71297652e-03 3.38807945e+00] [-2.30362952e-02 5.84672461e-04 9.99734458e-01 4.48483608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.17, Y:3.38, Z:4.48 [[ 9.98638996e-01 4.67553832e-02 2.31103976e-02 3.28169321e+02] [-4.67280443e-02 9.98906164e-01 -1.72187368e-03 3.38395426e+00] [-2.31656255e-02 6.39626518e-04 9.99731436e-01 4.48368776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.20, Y:3.38, Z:4.48 [[ 9.98837130e-01 4.18806650e-02 2.38830106e-02 3.28199071e+02] [-4.18500987e-02 9.99122318e-01 -1.77844746e-03 3.37887564e+00] [-2.39365315e-02 7.76873009e-04 9.99713178e-01 4.48314402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.23, Y:3.37, Z:4.48 [[ 9.98904527e-01 4.00743102e-02 2.41618528e-02 3.28230007e+02] [-4.00425140e-02 9.99196358e-01 -1.79855113e-03 3.37477223e+00] [-2.42145111e-02 8.29079534e-04 9.99706442e-01 4.48241058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.26, Y:3.37, Z:4.48 [[ 9.98979648e-01 3.82509563e-02 2.40109838e-02 3.28262279e+02] [-3.82188970e-02 9.99267783e-01 -1.79284997e-03 3.37071275e+00] [-2.40619807e-02 8.73347314e-04 9.99710087e-01 4.48159844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.29, Y:3.37, Z:4.48 [[ 9.99147252e-01 3.44055993e-02 2.28259286e-02 3.28294657e+02] [-3.43755018e-02 9.99407525e-01 -1.70975275e-03 3.36618015e+00] [-2.28712298e-02 9.23642012e-04 9.99737993e-01 4.48036588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.33, Y:3.36, Z:4.48 [[ 9.99206899e-01 3.31602812e-02 2.20446901e-02 3.28327307e+02] [-3.31317941e-02 9.99449619e-01 -1.65632493e-03 3.36325775e+00] [-2.20874813e-02 9.24631166e-04 9.99755614e-01 4.47942915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.36, Y:3.36, Z:4.48 [[ 9.99256718e-01 3.20507902e-02 2.14186635e-02 3.28360505e+02] [-3.20235152e-02 9.99485810e-01 -1.61529355e-03 3.36049135e+00] [-2.14594217e-02 9.28192039e-04 9.99769289e-01 4.47873697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.42509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.39, Y:3.36, Z:4.48 [[ 9.99323330e-01 3.06864565e-02 2.02786529e-02 3.28392734e+02] [-3.06616129e-02 9.99528644e-01 -1.53497134e-03 3.35787813e+00] [-2.03161973e-02 9.12156461e-04 9.99793189e-01 4.47756142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.43, Y:3.36, Z:4.48 [[ 9.99339628e-01 3.05209253e-02 1.97175510e-02 3.28425326e+02] [-3.04973060e-02 9.99533727e-01 -1.49753972e-03 3.35553274e+00] [-1.97540635e-02 8.95218600e-04 9.99804469e-01 4.47651245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.46, Y:3.35, Z:4.48 [[ 9.99345416e-01 3.05626431e-02 1.93562385e-02 3.28457520e+02] [-3.05397785e-02 9.99532463e-01 -1.47581203e-03 3.35362031e+00] [-1.93922935e-02 8.83710752e-04 9.99811561e-01 4.47555640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.49, Y:3.35, Z:4.47 [[ 9.99317006e-01 3.16677204e-02 1.90440807e-02 3.28489061e+02] [-3.16457000e-02 9.99498088e-01 -1.45660937e-03 3.35186737e+00] [-1.90806497e-02 8.52951252e-04 9.99817584e-01 4.47435536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.52, Y:3.35, Z:4.47 [[ 9.99271838e-01 3.28430680e-02 1.94197491e-02 3.28521414e+02] [-3.28202841e-02 9.99460157e-01 -1.49087069e-03 3.35012109e+00] [-1.94582302e-02 8.52423418e-04 9.99810307e-01 4.47385712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.55, Y:3.35, Z:4.47 [[ 9.99154561e-01 3.52933973e-02 2.10840971e-02 3.28552954e+02] [-3.52669317e-02 9.99376606e-01 -1.62586383e-03 3.35021508e+00] [-2.11283356e-02 8.80917849e-04 9.99776384e-01 4.47321062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.58, Y:3.35, Z:4.47 [[ 9.99152669e-01 3.53469462e-02 2.10840470e-02 3.28584695e+02] [-3.53204789e-02 9.99374714e-01 -1.62651263e-03 3.34773948e+00] [-2.11283557e-02 8.80435799e-04 9.99776384e-01 4.47234907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.62, Y:3.35, Z:4.47 [[ 9.99016086e-01 3.85913936e-02 2.18532446e-02 3.28615522e+02] [-3.85637273e-02 9.99254720e-01 -1.68617064e-03 3.34704837e+00] [-2.19020295e-02 8.41769027e-04 9.99759767e-01 4.47133997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.65, Y:3.35, Z:4.47 [[ 9.98941202e-01 4.00492377e-02 2.26391840e-02 3.28646892e+02] [-4.00197753e-02 9.99197350e-01 -1.75314185e-03 3.34565915e+00] [-2.26912246e-02 8.45270570e-04 9.99742164e-01 4.47028527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.68, Y:3.35, Z:4.47 [[ 9.98814397e-01 4.25302004e-02 2.36850578e-02 3.28676872e+02] [-4.24986315e-02 9.99094840e-01 -1.83486261e-03 3.34582975e+00] [-2.37416562e-02 8.26104644e-04 9.99717786e-01 4.46952740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.71, Y:3.34, Z:4.47 [[ 9.98749711e-01 4.38003593e-02 2.40944787e-02 3.28708053e+02] [-4.37680066e-02 9.99039974e-01 -1.86872365e-03 3.34489715e+00] [-2.41531981e-02 8.11819900e-04 9.99707939e-01 4.46889169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.74, Y:3.34, Z:4.47 [[ 9.98680550e-01 4.54649154e-02 2.38767626e-02 3.28738526e+02] [-4.54335979e-02 9.98965643e-01 -1.85275695e-03 3.34406517e+00] [-2.39363009e-02 7.65505099e-04 9.99713193e-01 4.46804637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.77, Y:3.34, Z:4.47 [[ 9.98681327e-01 4.54478643e-02 2.38767209e-02 3.28768588e+02] [-4.54165291e-02 9.98966418e-01 -1.85329395e-03 3.34176429e+00] [-2.39362706e-02 7.66452271e-04 9.99713193e-01 4.46723035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.80, Y:3.34, Z:4.47 [[ 9.98551013e-01 4.86202380e-02 2.30639922e-02 3.28799514e+02] [-4.85918558e-02 9.98817115e-01 -1.78976238e-03 3.34232420e+00] [-2.31237288e-02 6.66446855e-04 9.99732389e-01 4.46638141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.83, Y:3.34, Z:4.47 [[ 9.98483516e-01 4.99783698e-02 2.30831497e-02 3.28829000e+02] [-4.99502996e-02 9.98750098e-01 -1.79138972e-03 3.34144075e+00] [-2.31438288e-02 6.35662862e-04 9.99731944e-01 4.46545329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.86, Y:3.34, Z:4.46 [[ 9.98391452e-01 5.13738737e-02 2.39840319e-02 3.28858214e+02] [-5.13439933e-02 9.98679295e-01 -1.86039959e-03 3.34040319e+00] [-2.40479320e-02 6.25971073e-04 9.99710611e-01 4.46472657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.89, Y:3.34, Z:4.46 [[ 9.98237617e-01 5.43271024e-02 2.38794102e-02 3.28888166e+02] [-5.42983472e-02 9.98523040e-01 -1.85141893e-03 3.34095036e+00] [-2.39447234e-02 5.51543521e-04 9.99713132e-01 4.46433620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.92, Y:3.34, Z:4.46 [[ 9.98161807e-01 5.59489495e-02 2.32963919e-02 3.28916792e+02] [-5.59220389e-02 9.98433506e-01 -1.80552989e-03 3.33991273e+00] [-2.33609157e-02 4.99429243e-04 9.99726972e-01 4.46335326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.94, Y:3.34, Z:4.46 [[ 9.98019893e-01 5.84276428e-02 2.32917285e-02 3.28944568e+02] [-5.84014551e-02 9.98291549e-01 -1.80355928e-03 3.34009481e+00] [-2.33573135e-02 4.39717200e-04 9.99727084e-01 4.46227528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.97, Y:3.34, Z:4.46 [[ 9.97977496e-01 5.92596180e-02 2.30046886e-02 3.28972669e+02] [-5.92343397e-02 9.98242519e-01 -1.77930600e-03 3.33908965e+00] [-2.30696993e-02 4.13039800e-04 9.99733774e-01 4.46152297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.00, Y:3.34, Z:4.46 [[ 9.97928059e-01 6.00947439e-02 2.29828173e-02 3.29001408e+02] [-6.00697827e-02 9.98192601e-01 -1.77554385e-03 3.33767308e+00] [-2.30479790e-02 3.91292185e-04 9.99734283e-01 4.46069230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.03, Y:3.34, Z:4.46 [[ 9.97900967e-01 6.06925843e-02 2.25847254e-02 3.29030420e+02] [-6.06686697e-02 9.98156438e-01 -1.74319436e-03 3.33609565e+00] [-2.26488880e-02 3.69350086e-04 9.99743413e-01 4.45947744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.06, Y:3.33, Z:4.46 [[ 9.97923137e-01 6.06934287e-02 2.15805710e-02 3.29058751e+02] [-6.06716253e-02 9.98156393e-01 -1.66423545e-03 3.33445460e+00] [-2.16417930e-02 3.51450744e-04 9.99765727e-01 4.45784507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.09, Y:3.33, Z:4.46 [[ 9.97981014e-01 5.97703656e-02 2.14801898e-02 3.29086448e+02] [-5.97485825e-02 9.98212086e-01 -1.65502847e-03 3.33254677e+00] [-2.15407067e-02 3.68276104e-04 9.99767904e-01 4.45645245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.11, Y:3.33, Z:4.46 [[ 9.98180748e-01 5.63780890e-02 2.13706785e-02 3.29114342e+02] [-5.63557917e-02 9.98409395e-01 -1.64465459e-03 3.33082591e+00] [-2.14294086e-02 4.37301048e-04 9.99770268e-01 4.45526941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.17509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.14, Y:3.33, Z:4.45 [[ 9.98298984e-01 5.40823219e-02 2.17770885e-02 3.29142866e+02] [-5.40586679e-02 9.98536358e-01 -1.67384844e-03 3.32854637e+00] [-2.18357403e-02 4.93760803e-04 9.99761450e-01 4.45486316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.17, Y:3.33, Z:4.45 [[ 9.98443274e-01 5.09378377e-02 2.27236597e-02 3.29171350e+02] [-5.09113067e-02 9.98701654e-01 -1.74492257e-03 3.32579606e+00] [-2.27830391e-02 5.85314997e-04 9.99740262e-01 4.45420699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.20, Y:3.32, Z:4.45 [[ 9.98751243e-01 4.50968588e-02 2.14994985e-02 3.29201028e+02] [-4.50717923e-02 9.98982389e-01 -1.64930311e-03 3.32260582e+00] [-2.15519988e-02 6.78222597e-04 9.99767499e-01 4.45229365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.23, Y:3.32, Z:4.45 [[ 9.98908537e-01 4.19870590e-02 2.04651369e-02 3.29229180e+02] [-4.19637069e-02 9.99117903e-01 -1.56936409e-03 3.32018095e+00] [-2.05129776e-02 7.08858182e-04 9.99789335e-01 4.45114459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.26, Y:3.32, Z:4.45 [[ 9.99117905e-01 3.66146179e-02 2.05616774e-02 3.29258333e+02] [-3.65899344e-02 9.99329122e-01 -1.57552130e-03 3.31779524e+00] [-2.06055701e-02 8.21781110e-04 9.99787345e-01 4.44998892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.29, Y:3.32, Z:4.45 [[ 9.99202152e-01 3.40624700e-02 2.08520376e-02 3.29288781e+02] [-3.40365508e-02 9.99419313e-01 -1.59675781e-03 3.31576578e+00] [-2.08943186e-02 8.85752399e-04 9.99781298e-01 4.44928176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.32, Y:3.31, Z:4.45 [[ 9.99235008e-01 3.25483185e-02 2.16796009e-02 3.29320110e+02] [-3.25199723e-02 9.99469709e-01 -1.65887136e-03 3.31400436e+00] [-2.17220979e-02 9.52582319e-04 9.99763594e-01 4.44857429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.35, Y:3.31, Z:4.45 [[ 9.99250654e-01 3.18389218e-02 2.20094177e-02 3.29352182e+02] [-3.18094195e-02 9.99492525e-01 -1.68932859e-03 3.31312130e+00] [-2.20520348e-02 9.87955902e-04 9.99756336e-01 4.44765063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.38, Y:3.31, Z:4.45 [[ 9.99240942e-01 3.26085834e-02 2.13124502e-02 3.29384163e+02] [-3.25809846e-02 9.99467752e-01 -1.64100290e-03 3.31170950e+00] [-2.13546175e-02 9.45376669e-04 9.99771517e-01 4.44713261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.42, Y:3.31, Z:4.45 [[ 9.99154424e-01 3.52351340e-02 2.11877739e-02 3.29416600e+02] [-3.52083216e-02 9.99378654e-01 -1.63728921e-03 3.31134718e+00] [-2.12322991e-02 8.89918796e-04 9.99774173e-01 4.44597447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.45, Y:3.31, Z:4.45 [[ 9.99075161e-01 3.70162962e-02 2.18772842e-02 3.29448251e+02] [-3.69879850e-02 9.99314269e-01 -1.69746255e-03 3.30999406e+00] [-2.19251161e-02 8.86696008e-04 9.99759223e-01 4.44509900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.48, Y:3.31, Z:4.44 [[ 9.98984681e-01 3.89806071e-02 2.25858339e-02 3.29478921e+02] [-3.89509105e-02 9.99239587e-01 -1.75344054e-03 3.30873883e+00] [-2.26370095e-02 8.71921441e-04 9.99743370e-01 4.44453892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.51, Y:3.31, Z:4.44 [[ 9.98785688e-01 4.31806681e-02 2.37187715e-02 3.29509132e+02] [-4.31490991e-02 9.99066947e-01 -1.84139561e-03 3.30922082e+00] [-2.37761533e-02 8.15715962e-04 9.99716975e-01 4.44434746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.54, Y:3.31, Z:4.44 [[ 9.98696090e-01 4.51484041e-02 2.38273323e-02 3.29538213e+02] [-4.51171033e-02 9.98979992e-01 -1.84988168e-03 3.30860474e+00] [-2.38865474e-02 7.72449389e-04 9.99714377e-01 4.44390287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.57, Y:3.31, Z:4.44 [[ 9.98604915e-01 4.72596327e-02 2.35531473e-02 3.29568251e+02] [-4.72296434e-02 9.98882385e-01 -1.82822870e-03 3.30754757e+00] [-2.36132253e-02 7.13271424e-04 9.99720914e-01 4.44318102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.60, Y:3.31, Z:4.44 [[ 9.98477384e-01 5.01062506e-02 2.30711508e-02 3.29596673e+02] [-5.00782529e-02 9.98743693e-01 -1.79006307e-03 3.30710308e+00] [-2.31318597e-02 6.31974569e-04 9.99732223e-01 4.44202080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.63, Y:3.30, Z:4.44 [[ 9.98480052e-01 5.00530065e-02 2.30712473e-02 3.29625896e+02] [-5.00250233e-02 9.98746363e-01 -1.78881770e-03 3.30489736e+00] [-2.31318601e-02 6.31959107e-04 9.99732223e-01 4.44122714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.65, Y:3.30, Z:4.44 [[ 9.98423758e-01 5.15402347e-02 2.22172051e-02 3.29654716e+02] [-5.15146767e-02 9.98670754e-01 -1.72154622e-03 3.30428973e+00] [-2.22764019e-02 5.74320506e-04 9.99751685e-01 4.44018631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.68, Y:3.30, Z:4.44 [[ 9.98470475e-01 5.11330569e-02 2.10266705e-02 3.29682963e+02] [-5.11101010e-02 9.98691698e-01 -1.62805501e-03 3.30315014e+00] [-2.10824087e-02 5.50889610e-04 9.99777590e-01 4.43932930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.71, Y:3.30, Z:4.44 [[ 9.98519186e-01 5.02314818e-02 2.08861879e-02 3.29711193e+02] [-5.02086782e-02 9.98737443e-01 -1.61509561e-03 3.30156594e+00] [-2.09409466e-02 5.64036066e-04 9.99780555e-01 4.43859670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.74, Y:3.30, Z:4.44 [[ 9.98579454e-01 4.93387353e-02 2.01187249e-02 3.29740318e+02] [-4.93174319e-02 9.98781946e-01 -1.55397119e-03 3.30024115e+00] [-2.01708902e-02 5.59559857e-04 9.99796390e-01 4.43817398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.77, Y:3.30, Z:4.44 [[ 9.98668486e-01 4.78359763e-02 1.93125439e-02 3.29768239e+02] [-4.78160885e-02 9.98855045e-01 -1.49051083e-03 3.29931756e+00] [-1.93617319e-02 5.65075887e-04 9.99812384e-01 4.43730238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.80, Y:3.30, Z:4.44 [[ 9.98696356e-01 4.73286767e-02 1.91202599e-02 3.29796575e+02] [-4.73091253e-02 9.98879209e-01 -1.47383602e-03 3.29752244e+00] [-1.91685848e-02 5.67351889e-04 9.99816105e-01 4.43676369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.83, Y:3.30, Z:4.44 [[ 9.98684252e-01 4.72560224e-02 1.99156373e-02 3.29825574e+02] [-4.72348261e-02 9.98882635e-01 -1.53362751e-03 3.29701428e+00] [-1.99658574e-02 5.90897973e-04 9.99800488e-01 4.43679451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.85, Y:3.30, Z:4.44 [[ 9.98641946e-01 4.78546868e-02 2.05959293e-02 3.29853806e+02] [-4.78321750e-02 9.98854130e-01 -1.58454785e-03 3.29608722e+00] [-2.06481571e-02 5.97247855e-04 9.99786626e-01 4.43653706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.92509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.88, Y:3.30, Z:4.44 [[ 9.98591058e-01 4.88602653e-02 2.07020008e-02 3.29882868e+02] [-4.88377786e-02 9.98805457e-01 -1.59069689e-03 3.29527756e+00] [-2.07549932e-02 5.77415964e-04 9.99784425e-01 4.43623506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.91, Y:3.29, Z:4.44 [[ 9.98518123e-01 5.02426972e-02 2.09100178e-02 3.29912046e+02] [-5.02200913e-02 9.98736885e-01 -1.60514486e-03 3.29454086e+00] [-2.09642529e-02 5.52663229e-04 9.99780073e-01 4.43605196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.94, Y:3.30, Z:4.44 [[ 9.98307019e-01 5.36974518e-02 2.23535189e-02 3.29940552e+02] [-5.36725208e-02 9.98557120e-01 -1.71420836e-03 3.29521686e+00] [-2.24133141e-02 5.11536532e-04 9.99748659e-01 4.43631954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.97, Y:3.29, Z:4.44 [[ 9.98087093e-01 5.73466920e-02 2.30978636e-02 3.29968781e+02] [-5.73210877e-02 9.98354226e-01 -1.76962105e-03 3.29459902e+00] [-2.31613316e-02 4.42241269e-04 9.99731643e-01 4.43560435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.00, Y:3.29, Z:4.44 [[ 9.97990323e-01 5.89012142e-02 2.33658180e-02 3.29997913e+02] [-5.88754949e-02 9.98263733e-01 -1.78772792e-03 3.29289668e+00] [-2.34305480e-02 4.08461071e-04 9.99725384e-01 4.43520043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.03, Y:3.29, Z:4.44 [[ 9.97828939e-01 6.12341079e-02 2.42444268e-02 3.30025557e+02] [-6.12071492e-02 9.98123364e-01 -1.85317283e-03 3.29205188e+00] [-2.43124063e-02 3.65217228e-04 9.99704343e-01 4.43574799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.05, Y:3.29, Z:4.44 [[ 9.97779500e-01 6.19417882e-02 2.44802842e-02 3.30053632e+02] [-6.19145683e-02 9.98079703e-01 -1.86903456e-03 3.29023843e+00] [-2.45490461e-02 3.49198143e-04 9.99698566e-01 4.43530046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.08, Y:3.29, Z:4.43 [[ 9.97797894e-01 6.19400504e-02 2.37232644e-02 3.30081295e+02] [-6.19145485e-02 9.98079815e-01 -1.80868558e-03 3.28790693e+00] [-2.37897414e-02 3.35887458e-04 9.99716928e-01 4.43431828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.11, Y:3.28, Z:4.43 [[ 9.97921945e-01 6.05921778e-02 2.19175466e-02 3.30109541e+02] [-6.05701271e-02 9.98162549e-01 -1.66914792e-03 3.28461529e+00] [-2.19784115e-02 3.38130757e-04 9.99758388e-01 4.43309710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.14, Y:3.28, Z:4.43 [[ 9.97999001e-01 5.97218513e-02 2.07676133e-02 3.30138692e+02] [-5.97018951e-02 9.98215000e-01 -1.58015855e-03 3.28176796e+00] [-2.08249131e-02 3.37130783e-04 9.99783081e-01 4.43218408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.17, Y:3.28, Z:4.43 [[ 9.98004483e-01 5.96301396e-02 2.07677209e-02 3.30167076e+02] [-5.96101930e-02 9.98220483e-01 -1.57874315e-03 3.27969499e+00] [-2.08249050e-02 3.37624894e-04 9.99783081e-01 4.43141316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.19, Y:3.28, Z:4.43 [[ 9.98085700e-01 5.85318344e-02 1.99739969e-02 3.30194596e+02] [-5.85131989e-02 9.98285483e-01 -1.51664926e-03 3.27687376e+00] [-2.00285234e-02 3.45003487e-04 9.99799349e-01 4.43016527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.22, Y:3.27, Z:4.43 [[ 9.98181625e-01 5.72606889e-02 1.88323633e-02 3.30223594e+02] [-5.72439297e-02 9.98359200e-01 -1.42822431e-03 3.27396045e+00] [-1.88832442e-02 3.47588779e-04 9.99821635e-01 4.42909537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.25, Y:3.27, Z:4.43 [[ 9.98335721e-01 5.49042527e-02 1.76439993e-02 3.30252643e+02] [-5.48891946e-02 9.98491557e-01 -1.33694864e-03 3.27014972e+00] [-1.76907885e-02 3.66258671e-04 9.99843439e-01 4.42794874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.28, Y:3.27, Z:4.43 [[ 9.98416103e-01 5.35724758e-02 1.71835836e-02 3.30279966e+02] [-5.35580142e-02 9.98563892e-01 -1.30101875e-03 3.26769288e+00] [-1.72286049e-02 3.78639458e-04 9.99851505e-01 4.42711574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.31, Y:3.27, Z:4.43 [[ 9.98466284e-01 5.26778628e-02 1.70330034e-02 3.30307938e+02] [-5.26635468e-02 9.98611482e-01 -1.28824955e-03 3.26517146e+00] [-1.70772150e-02 3.89255365e-04 9.99854098e-01 4.42644521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.34, Y:3.26, Z:4.43 [[ 9.98548258e-01 5.08785003e-02 1.76848494e-02 3.30336821e+02] [-5.08628274e-02 9.98704756e-01 -1.33518391e-03 3.26220574e+00] [-1.77298754e-02 4.33744121e-04 9.99842719e-01 4.42653310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.37, Y:3.26, Z:4.43 [[ 9.98587840e-01 4.98519904e-02 1.83604197e-02 3.30365041e+02] [-4.98349493e-02 9.98756507e-01 -1.38479571e-03 3.25968646e+00] [-1.84066234e-02 4.67849576e-04 9.99830474e-01 4.42593190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.39, Y:3.26, Z:4.43 [[ 9.98632313e-01 4.88118649e-02 1.87324683e-02 3.30392481e+02] [-4.87939672e-02 9.98807868e-01 -1.41157961e-03 3.25757969e+00] [-1.87790386e-02 4.95617572e-04 9.99823535e-01 4.42582543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.42, Y:3.26, Z:4.43 [[ 9.98768821e-01 4.54215448e-02 1.99430321e-02 3.30421283e+02] [-4.54006257e-02 9.98967733e-01 -1.50068675e-03 3.25504946e+00] [-1.99906090e-02 5.93413003e-04 9.99799992e-01 4.42577232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.45, Y:3.25, Z:4.43 [[ 9.98862262e-01 4.31556686e-02 2.02921049e-02 3.30449677e+02] [-4.31335745e-02 9.99068150e-01 -1.52543166e-03 3.25238917e+00] [-2.03390267e-02 6.48425099e-04 9.99792930e-01 4.42516152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.48, Y:3.25, Z:4.42 [[ 9.98974700e-01 4.04332252e-02 2.03642489e-02 3.30478369e+02] [-4.04104417e-02 9.99181994e-01 -1.52923676e-03 3.24983180e+00] [-2.04094228e-02 7.04740545e-04 9.99791458e-01 4.42463468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.51, Y:3.25, Z:4.42 [[ 9.99179891e-01 3.44767400e-02 2.12344216e-02 3.30508076e+02] [-3.44506544e-02 9.99405130e-01 -1.59315499e-03 3.24653626e+00] [-2.12767166e-02 8.60308714e-04 9.99773255e-01 4.42423929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.54, Y:3.24, Z:4.42 [[ 9.99297905e-01 3.11045315e-02 2.08855308e-02 3.30538382e+02] [-3.10785709e-02 9.99515717e-01 -1.56650462e-03 3.24365064e+00] [-2.09241416e-02 9.16312334e-04 9.99780646e-01 4.42376779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.57, Y:3.24, Z:4.42 [[ 9.99477599e-01 2.51425876e-02 2.03071422e-02 3.30569580e+02] [-2.51168222e-02 9.99683363e-01 -1.52287862e-03 3.24021211e+00] [-2.03390014e-02 1.01203218e-03 9.99792629e-01 4.42299581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.67509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.60, Y:3.24, Z:4.42 [[ 9.99548645e-01 2.26819762e-02 1.96985778e-02 3.30601514e+02] [-2.26572760e-02 9.99742201e-01 -1.47620981e-03 3.23774745e+00] [-1.97269829e-02 1.02922740e-03 9.99804874e-01 4.42233202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.63, Y:3.24, Z:4.42 [[ 9.99546606e-01 2.27721030e-02 1.96980753e-02 3.30634101e+02] [-2.27472892e-02 9.99740147e-01 -1.48288232e-03 3.23524066e+00] [-1.97267250e-02 1.03413218e-03 9.99804874e-01 4.42144930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.67, Y:3.23, Z:4.42 [[ 9.99596128e-01 2.11582622e-02 1.89712802e-02 3.30667285e+02] [-2.11349555e-02 9.99775612e-01 -1.42820619e-03 3.23293753e+00] [-1.89972416e-02 1.02667222e-03 9.99819009e-01 4.42091470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.70, Y:3.23, Z:4.42 [[ 9.99646484e-01 1.94918351e-02 1.80824875e-02 3.30700723e+02] [-1.94703013e-02 9.99809502e-01 -1.36616718e-03 3.23137195e+00] [-1.81056720e-02 1.01361274e-03 9.99835565e-01 4.42047056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.73, Y:3.23, Z:4.42 [[ 9.99650036e-01 1.96319370e-02 1.77311226e-02 3.30734162e+02] [-1.96111662e-02 9.99806778e-01 -1.34456667e-03 3.22946927e+00] [-1.77540930e-02 9.96368125e-04 9.99841887e-01 4.41975825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.77, Y:3.23, Z:4.42 [[ 9.99630232e-01 2.04361032e-02 1.79377855e-02 3.30767543e+02] [-2.04148807e-02 9.99790662e-01 -1.36545868e-03 3.22785128e+00] [-1.79619351e-02 9.98756027e-04 9.99838173e-01 4.41872869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.80, Y:3.23, Z:4.42 [[ 9.99608081e-01 2.17389441e-02 1.76380817e-02 3.30799845e+02] [-2.17185344e-02 9.99763216e-01 -1.34789276e-03 3.22632644e+00] [-1.76632071e-02 9.64291213e-04 9.99843528e-01 4.41790736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.83, Y:3.23, Z:4.42 [[ 9.99539750e-01 2.55925798e-02 1.62882680e-02 3.30832205e+02] [-2.55756178e-02 9.99672110e-01 -1.24884899e-03 3.22667612e+00] [-1.63148885e-02 8.31691694e-04 9.99866557e-01 4.41641941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.86, Y:3.23, Z:4.42 [[ 9.99491115e-01 2.79198726e-02 1.54269932e-02 3.30862943e+02] [-2.79048341e-02 9.99609877e-01 -1.18925516e-03 3.22627511e+00] [-1.54541786e-02 7.58162277e-04 9.99880290e-01 4.41550839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.89, Y:3.23, Z:4.41 [[ 9.99302240e-01 3.43071659e-02 1.47665746e-02 3.30892395e+02] [-3.42940767e-02 9.99411136e-01 -1.13878817e-03 3.22854156e+00] [-1.47969477e-02 6.31587523e-04 9.99890320e-01 4.41487119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.92, Y:3.23, Z:4.41 [[ 9.99175545e-01 3.78046614e-02 1.47999535e-02 3.30921586e+02] [-3.77918974e-02 9.99284979e-01 -1.14125790e-03 3.22845304e+00] [-1.48325161e-02 5.80998656e-04 9.99889823e-01 4.41438205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.95, Y:3.23, Z:4.41 [[ 9.98864233e-01 4.50853453e-02 1.54128386e-02 3.30950584e+02] [-4.50723859e-02 9.98983018e-01 -1.18733469e-03 3.23010603e+00] [-1.54506954e-02 4.91292751e-04 9.99880510e-01 4.41390909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.98, Y:3.23, Z:4.41 [[ 9.98686561e-01 4.87412936e-02 1.57936211e-02 3.30978696e+02] [-4.87281565e-02 9.98811338e-01 -1.21578493e-03 3.22998657e+00] [-1.58341068e-02 4.44594029e-04 9.99874534e-01 4.41336665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.01, Y:3.23, Z:4.41 [[ 9.98506846e-01 5.22600222e-02 1.59050058e-02 3.31006925e+02] [-5.22471696e-02 9.98633435e-01 -1.22282342e-03 3.22973517e+00] [-1.59471753e-02 3.90006024e-04 9.99872760e-01 4.41308344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.03, Y:3.23, Z:4.41 [[ 9.98092310e-01 5.94369653e-02 1.67029290e-02 3.31034129e+02] [-5.94238174e-02 9.98232019e-01 -1.28281622e-03 3.23146122e+00] [-1.67496452e-02 2.87817209e-04 9.99859673e-01 4.41277107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.06, Y:3.23, Z:4.41 [[ 9.97879769e-01 6.28488565e-02 1.69111558e-02 3.31061054e+02] [-6.28359266e-02 9.98023030e-01 -1.29537337e-03 3.23093471e+00] [-1.69591357e-02 2.29998731e-04 9.99856157e-01 4.41179521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.09, Y:3.23, Z:4.41 [[ 9.97711351e-01 6.54626939e-02 1.69321123e-02 3.31088625e+02] [-6.54501471e-02 9.97855001e-01 -1.29468332e-03 3.23036603e+00] [-1.69805464e-02 1.83511005e-04 9.99855803e-01 4.41124651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.12, Y:3.23, Z:4.41 [[ 9.97535496e-01 6.80740833e-02 1.69957029e-02 3.31115537e+02] [-6.80618392e-02 9.97680259e-01 -1.29847738e-03 3.22915843e+00] [-1.70446700e-02 1.38518475e-04 9.99854719e-01 4.41057375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.14, Y:3.23, Z:4.41 [[ 9.97284522e-01 7.16434379e-02 1.70528750e-02 3.31143761e+02] [-7.16317019e-02 9.97430305e-01 -1.29881616e-03 3.22812869e+00] [-1.71021060e-02 7.37627993e-05 9.99853746e-01 4.41007143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.17, Y:3.23, Z:4.41 [[ 9.97238746e-01 7.24839156e-02 1.61544427e-02 3.31171195e+02] [-7.24735192e-02 9.97369580e-01 -1.22882941e-03 3.22599083e+00] [-1.62010201e-02 5.46669885e-05 9.99868753e-01 4.40925762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.20, Y:3.22, Z:4.41 [[ 9.97278130e-01 7.21880942e-02 1.50070209e-02 3.31198017e+02] [-7.21790944e-02 9.97391035e-01 -1.14117887e-03 3.22382866e+00] [-1.50502476e-02 5.48795496e-05 9.99886737e-01 4.40772700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.22, Y:3.22, Z:4.41 [[ 9.97332205e-01 7.14634124e-02 1.48813135e-02 3.31224951e+02] [-7.14545384e-02 9.97443220e-01 -1.12784420e-03 3.22172416e+00] [-1.49238648e-02 6.14979617e-05 9.99888631e-01 4.40707181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.25, Y:3.22, Z:4.41 [[ 9.97414430e-01 7.01466838e-02 1.56171966e-02 3.31252776e+02] [-7.01367847e-02 9.97536684e-01 -1.18134115e-03 3.21935340e+00] [-1.56615937e-02 8.29467558e-05 9.99877346e-01 4.40615459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.28, Y:3.22, Z:4.41 [[ 9.97610325e-01 6.69528136e-02 1.70575830e-02 3.31279736e+02] [-6.69405701e-02 9.97756133e-01 -1.28837057e-03 3.21582669e+00] [-1.71055681e-02 1.43447451e-04 9.99853679e-01 4.40520206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.31, Y:3.21, Z:4.40 [[ 9.97735611e-01 6.49884486e-02 1.73248982e-02 3.31307860e+02] [-6.49755636e-02 9.97886001e-01 -1.30617632e-03 3.21302546e+00] [-1.73731598e-02 1.77523603e-04 9.99849060e-01 4.40466631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.42509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.33, Y:3.21, Z:4.40 [[ 9.97936625e-01 6.15092329e-02 1.84148289e-02 3.31334776e+02] [-6.14941199e-02 9.98106483e-01 -1.38636309e-03 3.20904083e+00] [-1.84652343e-02 2.51098801e-04 9.99829471e-01 4.40326872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.36, Y:3.21, Z:4.40 [[ 9.98055256e-01 5.95549868e-02 1.84095140e-02 3.31362731e+02] [-5.95395947e-02 9.98224986e-01 -1.38354858e-03 3.20639633e+00] [-1.84592341e-02 2.84762927e-04 9.99829573e-01 4.40243149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.39, Y:3.20, Z:4.40 [[ 9.98164583e-01 5.75854482e-02 1.87451707e-02 3.31390380e+02] [-5.75691795e-02 9.98340528e-01 -1.40680068e-03 3.20375149e+00] [-1.87950748e-02 3.25074517e-04 9.99823304e-01 4.40142664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.42, Y:3.20, Z:4.40 [[ 9.98322240e-01 5.42202120e-02 2.03192799e-02 3.31418413e+02] [-5.42004486e-02 9.98528915e-01 -1.52250167e-03 3.20063636e+00] [-2.03719388e-02 4.18633195e-04 9.99792383e-01 4.40105180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.45, Y:3.20, Z:4.40 [[ 9.98376893e-01 5.29484116e-02 2.09772710e-02 3.31447242e+02] [-5.29271212e-02 9.98597145e-01 -1.56921081e-03 3.19777306e+00] [-2.10309301e-02 4.56397252e-04 9.99778721e-01 4.40055915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.48, Y:3.19, Z:4.40 [[ 9.98424028e-01 5.18324037e-02 2.15142555e-02 3.31475556e+02] [-5.18097849e-02 9.98655677e-01 -1.60777381e-03 3.19494231e+00] [-2.15686682e-02 4.90591054e-04 9.99767249e-01 4.39977115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.50, Y:3.19, Z:4.40 [[ 9.98495959e-01 5.02511400e-02 2.19235697e-02 3.31502787e+02] [-5.02273048e-02 9.98736471e-01 -1.63684187e-03 3.19107926e+00] [-2.19781218e-02 5.33218178e-04 9.99758310e-01 4.39910459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.53, Y:3.19, Z:4.40 [[ 9.98495865e-01 5.00565290e-02 2.23685442e-02 3.31531689e+02] [-5.00317147e-02 9.98746237e-01 -1.66795425e-03 3.18786911e+00] [-2.24239913e-02 5.46308800e-04 9.99748401e-01 4.39799258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.56, Y:3.18, Z:4.40 [[ 9.98476841e-01 5.04256669e-02 2.23886249e-02 3.31559015e+02] [-5.04009353e-02 9.98727672e-01 -1.66791242e-03 3.18449812e+00] [-2.24442449e-02 5.36964287e-04 9.99747952e-01 4.39701099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.59, Y:3.18, Z:4.40 [[ 9.98445789e-01 5.11869464e-02 2.20432140e-02 3.31587069e+02] [-5.11632039e-02 9.98688959e-01 -1.64008694e-03 3.18200217e+00] [-2.20982655e-02 5.09736445e-04 9.99755674e-01 4.39611349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.62, Y:3.18, Z:4.40 [[ 9.98409851e-01 5.21317538e-02 2.14487708e-02 3.31615275e+02] [-5.21095348e-02 9.98640103e-01 -1.59389535e-03 3.17934131e+00] [-2.15026953e-02 4.73675346e-04 9.99768678e-01 4.39519940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.64, Y:3.18, Z:4.39 [[ 9.98260725e-01 5.52718154e-02 2.05073313e-02 3.31643935e+02] [-5.52521954e-02 9.98471270e-01 -1.52253053e-03 3.17653423e+00] [-2.05601341e-02 3.86807360e-04 9.99788543e-01 4.39410438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.67, Y:3.17, Z:4.39 [[ 9.98141269e-01 5.76233503e-02 1.98382483e-02 3.31672118e+02] [-5.76054788e-02 9.98338341e-01 -1.47161339e-03 3.17426494e+00] [-1.98900832e-02 3.26086270e-04 9.99802120e-01 4.39320011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.70, Y:3.17, Z:4.39 [[ 9.97990252e-01 6.01864452e-02 1.98254602e-02 3.31700091e+02] [-6.01691347e-02 9.98187115e-01 -1.46903075e-03 3.17209256e+00] [-1.98779347e-02 2.73197576e-04 9.99802377e-01 4.39206236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.73, Y:3.17, Z:4.39 [[ 9.97595658e-01 6.64082821e-02 1.98202736e-02 3.31726461e+02] [-6.63922480e-02 9.97792523e-01 -1.46663217e-03 3.16988176e+00] [-1.98739173e-02 1.47193365e-04 9.99802483e-01 4.39120950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.75, Y:3.17, Z:4.39 [[ 9.97375948e-01 6.95982202e-02 1.99325427e-02 3.31754206e+02] [-6.95826930e-02 9.97575100e-01 -1.47232235e-03 3.16800356e+00] [-1.99866793e-02 8.14988974e-05 9.99800243e-01 4.39054418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.78, Y:3.17, Z:4.39 [[ 9.96967618e-01 7.52937649e-02 1.96574890e-02 3.31782226e+02] [-7.52798111e-02 9.97161395e-01 -1.44991310e-03 3.16564266e+00] [-1.97108586e-02 -3.42956529e-05 9.99805722e-01 4.38985521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.81, Y:3.16, Z:4.39 [[ 9.96833088e-01 7.69892038e-02 1.99112478e-02 3.31809444e+02] [-7.69752668e-02 9.97031924e-01 -1.46656547e-03 3.16321334e+00] [-1.99650594e-02 -7.07526185e-05 9.99800676e-01 4.38864729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.84, Y:3.16, Z:4.39 [[ 9.96765729e-01 7.79047220e-02 1.97214523e-02 3.31837612e+02] [-7.78912789e-02 9.96960805e-01 -1.45004216e-03 3.16049643e+00] [-1.97744801e-02 -9.07768109e-05 9.99804462e-01 4.38786157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.86, Y:3.16, Z:4.39 [[ 9.96742610e-01 7.82104377e-02 1.96798438e-02 3.31864307e+02] [-7.81971417e-02 9.96936868e-01 -1.44541978e-03 3.15749954e+00] [-1.97326088e-02 -9.81960527e-05 9.99805288e-01 4.38673336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.89, Y:3.15, Z:4.39 [[ 9.96890617e-01 7.65304679e-02 1.87665971e-02 3.31892150e+02] [-7.65181531e-02 9.97067241e-01 -1.37444021e-03 3.15267988e+00] [-1.88167457e-02 -6.58187951e-05 9.99822947e-01 4.38514174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.92, Y:3.15, Z:4.38 [[ 9.97270051e-01 7.17739529e-02 1.73477477e-02 3.31919783e+02] [-7.17627387e-02 9.97420924e-01 -1.26888432e-03 3.14732454e+00] [-1.73940794e-02 2.04984495e-05 9.99848711e-01 4.38384229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.95, Y:3.14, Z:4.38 [[ 9.97485489e-01 6.87412135e-02 1.72436743e-02 3.31947849e+02] [-6.87297127e-02 9.97634523e-01 -1.25939646e-03 3.14361213e+00] [-1.72894572e-02 7.10769129e-05 9.99850524e-01 4.38327253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.98, Y:3.14, Z:4.38 [[ 9.97718379e-01 6.51427446e-02 1.77329851e-02 3.31975794e+02] [-6.51300498e-02 9.97875946e-01 -1.29308534e-03 3.13993126e+00] [-1.77795544e-02 1.35184812e-04 9.99841922e-01 4.38286325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.00, Y:3.14, Z:4.38 [[ 9.97939840e-01 6.15306103e-02 1.81675606e-02 3.32002504e+02] [-6.15167158e-02 9.98105176e-01 -1.32318879e-03 3.13595505e+00] [-1.82145528e-02 2.02854148e-04 9.99834081e-01 4.38256414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.17509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.03, Y:3.13, Z:4.38 [[ 9.98374454e-01 5.38175139e-02 1.87649784e-02 3.32030492e+02] [-5.38013981e-02 9.98550726e-01 -1.36297210e-03 3.13007512e+00] [-1.88111346e-02 3.51174457e-04 9.99822993e-01 4.38297506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.06, Y:3.12, Z:4.38 [[ 9.98756812e-01 4.58910728e-02 1.94637866e-02 3.32057534e+02] [-4.58722762e-02 9.98946316e-01 -1.41132447e-03 3.12405829e+00] [-1.95080451e-02 5.16721734e-04 9.99809566e-01 4.38311210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.09, Y:3.12, Z:4.38 [[ 9.98919551e-01 4.19924630e-02 1.99088976e-02 3.32085241e+02] [-4.19720606e-02 9.99117745e-01 -1.44171837e-03 3.12030482e+00] [-1.99518742e-02 6.04543203e-04 9.99800759e-01 4.38255283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.11, Y:3.12, Z:4.38 [[ 9.99064240e-01 3.83775165e-02 1.99451997e-02 3.32114921e+02] [-3.83563637e-02 9.99263083e-01 -1.44215862e-03 3.11650631e+00] [-1.99858482e-02 6.75783777e-04 9.99800035e-01 4.38220718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.14, Y:3.11, Z:4.38 [[ 9.99192584e-01 3.46785189e-02 2.02874274e-02 3.32144734e+02] [-3.46558875e-02 9.99398229e-01 -1.46615411e-03 3.11260827e+00] [-2.03260631e-02 7.61891513e-04 9.99793114e-01 4.38130420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.18, Y:3.11, Z:4.38 [[ 9.99296817e-01 3.13967091e-02 2.04967895e-02 3.32175416e+02] [-3.13729390e-02 9.99506652e-01 -1.48030181e-03 3.10892093e+00] [-2.05331541e-02 8.36216360e-04 9.99788823e-01 4.38057067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.21, Y:3.10, Z:4.38 [[ 9.99446584e-01 2.57465885e-02 2.10627159e-02 3.32206240e+02] [-2.57202397e-02 9.99668023e-01 -1.52095644e-03 3.10476258e+00] [-2.10948830e-02 9.78376616e-04 9.99776999e-01 4.37986843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.24, Y:3.10, Z:4.38 [[ 9.99482437e-01 2.38516287e-02 2.15860741e-02 3.32239525e+02] [-2.38235254e-02 9.99714965e-01 -1.55817992e-03 3.10182285e+00] [-2.16170864e-02 1.04311708e-03 9.99765779e-01 4.37895488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.27, Y:3.10, Z:4.38 [[ 9.99543189e-01 2.06422077e-02 2.20751729e-02 3.32272731e+02] [-2.06118884e-02 9.99786272e-01 -1.60013412e-03 3.09841865e+00] [-2.21034851e-02 1.14439216e-03 9.99755033e-01 4.37760767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.30, Y:3.10, Z:4.38 [[ 9.99562259e-01 1.95634435e-02 2.21937297e-02 3.32304966e+02] [-1.95323850e-02 9.99807920e-01 -1.61536155e-03 3.09596885e+00] [-2.22210687e-02 1.18115796e-03 9.99752384e-01 4.37655626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.34, Y:3.09, Z:4.38 [[ 9.99600180e-01 1.79782217e-02 2.18234842e-02 3.32338251e+02] [-1.79476897e-02 9.99837656e-01 -1.59412130e-03 3.09378397e+00] [-2.18486007e-02 1.20180281e-03 9.99760568e-01 4.37591982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.37, Y:3.09, Z:4.37 [[ 9.99618597e-01 1.73144416e-02 2.15144148e-02 3.32370490e+02] [-1.72844790e-02 9.99849367e-01 -1.57786290e-03 3.09157405e+00] [-2.15384938e-02 1.20539565e-03 9.99767293e-01 4.37459278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.40, Y:3.09, Z:4.37 [[ 9.99672028e-01 1.60837341e-02 1.99286378e-02 3.32403007e+02] [-1.60576872e-02 9.99869992e-01 -1.46634601e-03 3.08966847e+00] [-1.99496312e-02 1.14585725e-03 9.99800330e-01 4.37262536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.44, Y:3.09, Z:4.37 [[ 9.99677318e-01 1.62815312e-02 1.94979706e-02 3.32436038e+02] [-1.62565285e-02 9.99866817e-01 -1.44014664e-03 3.08796304e+00] [-1.95188215e-02 1.12271262e-03 9.99808859e-01 4.37156903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.47, Y:3.09, Z:4.37 [[ 9.99674063e-01 1.64807609e-02 1.94975070e-02 3.32469490e+02] [-1.64556746e-02 9.99863550e-01 -1.44639079e-03 3.08540361e+00] [-1.95186842e-02 1.12507473e-03 9.99808859e-01 4.37066287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.50, Y:3.08, Z:4.37 [[ 9.99654238e-01 1.72907843e-02 1.98099501e-02 3.32502243e+02] [-1.72649786e-02 9.99849864e-01 -1.47296126e-03 3.08386600e+00] [-1.98324445e-02 1.13043360e-03 9.99802679e-01 4.36909389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.54, Y:3.08, Z:4.37 [[ 9.99590807e-01 2.06454369e-02 1.97985821e-02 3.32535506e+02] [-2.06202018e-02 9.99786289e-01 -1.47791558e-03 3.08439709e+00] [-1.98248631e-02 1.06906007e-03 9.99802897e-01 4.36860029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.57, Y:3.09, Z:4.37 [[ 9.99449398e-01 2.62139150e-02 2.03403675e-02 3.32568967e+02] [-2.61883044e-02 9.99655865e-01 -1.52449287e-03 3.08606294e+00] [-2.03733306e-02 9.90973743e-04 9.99791951e-01 4.36817946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.60, Y:3.09, Z:4.37 [[ 9.99349140e-01 2.98857887e-02 2.02023636e-02 3.32601236e+02] [-2.98611502e-02 9.99552900e-01 -1.52021737e-03 3.08595594e+00] [-2.02387641e-02 9.15962104e-04 9.99794756e-01 4.36761314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.63, Y:3.09, Z:4.37 [[ 9.99247260e-01 3.33715518e-02 1.97801091e-02 3.32632818e+02] [-3.33484854e-02 9.99442667e-01 -1.49494307e-03 3.08632902e+00] [-1.98189735e-02 8.34181090e-04 9.99803237e-01 4.36734883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.66, Y:3.09, Z:4.37 [[ 9.98962060e-01 4.10897266e-02 1.96580029e-02 3.32663715e+02] [-4.10684160e-02 9.99155231e-01 -1.48671196e-03 3.08915431e+00] [-1.97024850e-02 6.77845797e-04 9.99805657e-01 4.36664835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.69, Y:3.09, Z:4.37 [[ 9.98799496e-01 4.49632246e-02 1.94389958e-02 3.32692589e+02] [-4.49431081e-02 9.98988465e-01 -1.47070554e-03 3.08937737e+00] [-1.94854603e-02 5.95291061e-04 9.99809963e-01 4.36589991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.72, Y:3.09, Z:4.36 [[ 9.98418496e-01 5.25629039e-02 1.99411245e-02 3.32721422e+02] [-5.25432790e-02 9.98617511e-01 -1.50716969e-03 3.09110313e+00] [-1.99927773e-02 4.57014027e-04 9.99800020e-01 4.36485997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.75, Y:3.09, Z:4.36 [[ 9.98227609e-01 5.59722179e-02 2.02176156e-02 3.32749517e+02] [-5.59527720e-02 9.98432249e-01 -1.52667023e-03 3.09052588e+00] [-2.02713705e-02 3.92732741e-04 9.99794438e-01 4.36383958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.78, Y:3.09, Z:4.36 [[ 9.98027083e-01 5.93275632e-02 2.05470606e-02 3.32777139e+02] [-5.93082257e-02 9.98238515e-01 -1.54976409e-03 3.08988653e+00] [-2.06028110e-02 3.28096823e-04 9.99787686e-01 4.36284043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.92509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.81, Y:3.09, Z:4.36 [[ 9.97652387e-01 6.53705280e-02 2.04061200e-02 3.32805534e+02] [-6.53527641e-02 9.97861040e-01 -1.53689157e-03 3.09014176e+00] [-2.04629395e-02 1.99687195e-04 9.99790592e-01 4.36191960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.83, Y:3.09, Z:4.36 [[ 9.97471878e-01 6.80414506e-02 2.04991267e-02 3.32832162e+02] [-6.80241324e-02 9.97682485e-01 -1.54174406e-03 3.08917247e+00] [-2.05565222e-02 1.43411032e-04 9.99788682e-01 4.36085312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.86, Y:3.09, Z:4.36 [[ 9.97194068e-01 7.20253576e-02 2.04043555e-02 3.32860478e+02] [-7.20090879e-02 9.97402800e-01 -1.53192731e-03 3.08818415e+00] [-2.04616989e-02 5.83297994e-05 9.99790636e-01 4.35904384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.89, Y:3.09, Z:4.36 [[ 9.97086215e-01 7.34175829e-02 2.07108491e-02 3.32888364e+02] [-7.34011685e-02 9.97301287e-01 -1.55265353e-03 3.08630573e+00] [-2.07689485e-02 2.79289075e-05 9.99784302e-01 4.35795705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.92, Y:3.08, Z:4.36 [[ 9.97023588e-01 7.41641479e-02 2.10628484e-02 3.32915304e+02] [-7.41473851e-02 9.97246047e-01 -1.57677693e-03 3.08425639e+00] [-2.11217826e-02 1.03286618e-05 9.99776910e-01 4.35648655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.94, Y:3.08, Z:4.36 [[ 9.96983351e-01 7.46337023e-02 2.13074640e-02 3.32942833e+02] [-7.46167164e-02 9.97211016e-01 -1.59221971e-03 3.08204900e+00] [-2.13668711e-02 -2.47646197e-06 9.99771702e-01 4.35552052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.97, Y:3.08, Z:4.35 [[ 9.97005361e-01 7.41350974e-02 2.20067643e-02 3.32970396e+02] [-7.41169106e-02 9.97248207e-01 -1.64202830e-03 3.07859674e+00] [-2.20679381e-02 6.03763569e-06 9.99756473e-01 4.35380218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.00, Y:3.08, Z:4.35 [[ 9.97053193e-01 7.33601789e-02 2.24324279e-02 3.32997727e+02] [-7.33411412e-02 9.97305512e-01 -1.67132032e-03 3.07545987e+00] [-2.24945923e-02 2.11754024e-05 9.99746964e-01 4.35278633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.03, Y:3.07, Z:4.35 [[ 9.97229401e-01 7.05099661e-02 2.37037307e-02 3.33025082e+02] [-7.04879678e-02 9.97511071e-01 -1.76335137e-03 3.07091617e+00] [-2.37690676e-02 8.76380280e-05 9.99717472e-01 4.35194486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.05, Y:3.07, Z:4.35 [[ 9.97341810e-01 6.84908901e-02 2.48658619e-02 3.33052052e+02] [-6.84661233e-02 9.97651732e-01 -1.84702067e-03 3.06720851e+00] [-2.49339743e-02 1.39641773e-04 9.99689090e-01 4.35100700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.08, Y:3.06, Z:4.35 [[ 9.97593659e-01 6.39288369e-02 2.68327165e-02 3.33080602e+02] [-6.38984634e-02 9.97954423e-01 -1.98875432e-03 3.06090742e+00] [-2.69049669e-02 2.69399352e-04 9.99637960e-01 4.35012201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.11, Y:3.06, Z:4.35 [[ 9.97726132e-01 6.15059877e-02 2.75604505e-02 3.33108799e+02] [-6.14730760e-02 9.98106656e-01 -2.04065344e-03 3.05653307e+00] [-2.76337815e-02 3.41787593e-04 9.99618056e-01 4.34907630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.14, Y:3.05, Z:4.35 [[ 9.97912612e-01 5.84501430e-02 2.74590709e-02 3.33136726e+02] [-5.84163710e-02 9.98290239e-01 -2.03116270e-03 3.05217975e+00] [-2.75308442e-02 4.22863604e-04 9.99620865e-01 4.34791395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.17, Y:3.04, Z:4.35 [[ 9.98221165e-01 5.25727446e-02 2.81178315e-02 3.33165221e+02] [-5.25350727e-02 9.98616919e-01 -2.07735714e-03 3.04461256e+00] [-2.81881546e-02 5.96489546e-04 9.99602457e-01 4.34544423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.20, Y:3.04, Z:4.34 [[ 9.98361518e-01 4.96017602e-02 2.85297350e-02 3.33195687e+02] [-4.95618050e-02 9.98768838e-01 -2.10634631e-03 3.03968671e+00] [-2.85990887e-02 6.88909938e-04 9.99590725e-01 4.34423675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.23, Y:3.03, Z:4.34 [[ 9.98613249e-01 4.40121046e-02 2.88879565e-02 3.33226050e+02] [-4.39688013e-02 9.99030628e-01 -2.13282683e-03 3.03261857e+00] [-2.89538236e-02 8.59700305e-04 9.99580380e-01 4.34296346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.26, Y:3.03, Z:4.34 [[ 9.98715498e-01 4.14643971e-02 2.91214242e-02 3.33257696e+02] [-4.14192800e-02 9.99139538e-01 -2.15105171e-03 3.02808413e+00] [-2.91855584e-02 9.42100259e-04 9.99573567e-01 4.34179130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.29, Y:3.02, Z:4.34 [[ 9.98906753e-01 3.67130395e-02 2.89387598e-02 3.33290524e+02] [-3.66662923e-02 9.99325264e-01 -2.14456136e-03 3.02088891e+00] [-2.89979671e-02 1.08113980e-03 9.99578886e-01 4.33994838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.32, Y:3.02, Z:4.34 [[ 9.98987536e-01 3.50152559e-02 2.82459584e-02 3.33323429e+02] [-3.49698275e-02 9.99386160e-01 -2.10084434e-03 3.01618666e+00] [-2.83021815e-02 1.11096102e-03 9.99598796e-01 4.33818730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.36, Y:3.01, Z:4.34 [[ 9.99066083e-01 3.35216775e-02 2.72627610e-02 3.33355464e+02] [-3.34785901e-02 9.99437362e-01 -2.03548959e-03 3.01205688e+00] [-2.73156549e-02 1.12086982e-03 9.99626229e-01 4.33670997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.39, Y:3.01, Z:4.34 [[ 9.99115078e-01 3.23918645e-02 2.68296149e-02 3.33388590e+02] [-3.23495989e-02 9.99474598e-01 -2.00799681e-03 3.00822336e+00] [-2.68805613e-02 1.13829261e-03 9.99638004e-01 4.33521619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.42, Y:3.00, Z:4.33 [[ 9.99148280e-01 3.12790126e-02 2.69135324e-02 3.33421386e+02] [-3.12358635e-02 9.99509996e-01 -2.02227256e-03 3.00463254e+00] [-2.69635994e-02 1.17988272e-03 9.99635720e-01 4.33376502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.45, Y:3.00, Z:4.33 [[ 9.99217518e-01 2.93234603e-02 2.65421602e-02 3.33453299e+02] [-2.92806008e-02 9.99569226e-01 -2.00207283e-03 3.00029558e+00] [-2.65894342e-02 1.22333585e-03 9.99645690e-01 4.33257387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.49, Y:3.00, Z:4.33 [[ 9.99234861e-01 2.89069984e-02 2.63453639e-02 3.33486424e+02] [-2.88644393e-02 9.99581346e-01 -1.99436907e-03 2.99677525e+00] [-2.63919855e-02 1.23239895e-03 9.99650911e-01 4.33126072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.52, Y:2.99, Z:4.33 [[ 9.99260338e-01 2.84617287e-02 2.58593685e-02 3.33517968e+02] [-2.84203834e-02 9.99594128e-01 -1.96505037e-03 2.99369547e+00] [-2.59048016e-02 1.22866373e-03 9.99663659e-01 4.32992880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.67509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.55, Y:2.99, Z:4.33 [[ 9.99303265e-01 2.73632056e-02 2.53818652e-02 3.33550438e+02] [-2.73228480e-02 9.99624787e-01 -1.93553100e-03 2.99103272e+00] [-2.54253039e-02 1.24067761e-03 9.99675955e-01 4.32802506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.58, Y:2.99, Z:4.33 [[ 9.99319582e-01 2.68958339e-02 2.52386204e-02 3.33582327e+02] [-2.68555912e-02 9.99637456e-01 -1.93215067e-03 2.98908538e+00] [-2.52814371e-02 1.25303793e-03 9.99679588e-01 4.32715380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.62, Y:2.99, Z:4.33 [[ 9.99347152e-01 2.63801633e-02 2.46851398e-02 3.33615788e+02] [-2.63414076e-02 9.99651211e-01 -1.89391307e-03 2.98799769e+00] [-2.47264916e-02 1.24243531e-03 9.99693482e-01 4.32617979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.65, Y:2.99, Z:4.33 [[ 9.99367234e-01 2.62808249e-02 2.39676653e-02 3.33648681e+02] [-2.62440994e-02 9.99653861e-01 -1.84561377e-03 2.98613793e+00] [-2.40078734e-02 1.21543614e-03 9.99711031e-01 4.32511482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.68, Y:2.98, Z:4.32 [[ 9.99375797e-01 2.62276398e-02 2.36670129e-02 3.33682185e+02] [-2.61916535e-02 9.99655266e-01 -1.82928220e-03 2.98405776e+00] [-2.37068319e-02 1.20826215e-03 9.99718223e-01 4.32372720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.72, Y:2.98, Z:4.32 [[ 9.99428422e-01 2.56087810e-02 2.20685429e-02 3.33715561e+02] [-2.55772099e-02 9.99671384e-01 -1.71171134e-03 2.98237652e+00] [-2.21051257e-02 1.14628121e-03 9.99754995e-01 4.32230853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.75, Y:2.98, Z:4.32 [[ 9.99447140e-01 2.51098122e-02 2.17924529e-02 3.33747329e+02] [-2.50787673e-02 9.99684038e-01 -1.69674240e-03 2.98062343e+00] [-2.18281722e-02 1.14927648e-03 9.99761076e-01 4.32146280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.78, Y:2.98, Z:4.32 [[ 9.99462952e-01 2.45634084e-02 2.16897716e-02 3.33779245e+02] [-2.45323972e-02 9.99697599e-01 -1.69472672e-03 2.97886532e+00] [-2.17248409e-02 1.16171448e-03 9.99763313e-01 4.32061626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.81, Y:2.98, Z:4.32 [[ 9.99493528e-01 2.35641449e-02 2.13873455e-02 3.33812036e+02] [-2.35336464e-02 9.99721639e-01 -1.67661391e-03 2.97817254e+00] [-2.14209001e-02 1.17244252e-03 9.99769859e-01 4.32058911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.84, Y:2.98, Z:4.32 [[ 9.99491983e-01 2.32826356e-02 2.17645414e-02 3.33844629e+02] [-2.32508491e-02 9.99728196e-01 -1.71242020e-03 2.97652041e+00] [-2.17984954e-02 1.20550619e-03 9.99761658e-01 4.31974223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.88, Y:2.97, Z:4.32 [[ 9.99493790e-01 2.34539744e-02 2.14959083e-02 3.33877211e+02] [-2.34228778e-02 9.99724206e-01 -1.69730313e-03 2.97483515e+00] [-2.15297884e-02 1.19294790e-03 9.99767496e-01 4.31926404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.91, Y:2.97, Z:4.32 [[ 9.99455368e-01 2.45468831e-02 2.20548872e-02 3.33910447e+02] [-2.45142689e-02 9.99697952e-01 -1.74796065e-03 2.97473652e+00] [-2.20911325e-02 1.20634922e-03 9.99755233e-01 4.31897359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.94, Y:2.97, Z:4.32 [[ 9.99413998e-01 2.59706965e-02 2.22975929e-02 3.33942452e+02] [-2.59375572e-02 9.99661991e-01 -1.77420293e-03 2.97374651e+00] [-2.23361334e-02 1.19481815e-03 9.99749803e-01 4.31833116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.98, Y:2.97, Z:4.32 [[ 9.99351454e-01 2.79553064e-02 2.26973870e-02 3.33976042e+02] [-2.79213939e-02 9.99608484e-01 -1.80971777e-03 2.97280451e+00] [-2.27390918e-02 1.17480140e-03 9.99740743e-01 4.31767163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.01, Y:2.97, Z:4.32 [[ 9.99184490e-01 3.25308080e-02 2.39186321e-02 3.34009446e+02] [-3.24942850e-02 9.99470088e-01 -1.91415331e-03 2.97409778e+00] [-2.39682263e-02 1.13537345e-03 9.99712076e-01 4.31793437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.04, Y:2.97, Z:4.32 [[ 9.99065115e-01 3.54759801e-02 2.47052824e-02 3.34041674e+02] [-3.54377298e-02 9.99369916e-01 -1.98450262e-03 2.97325946e+00] [-2.47601182e-02 1.10714821e-03 9.99692808e-01 4.31744148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.07, Y:2.97, Z:4.32 [[ 9.98822607e-01 4.15293001e-02 2.50742152e-02 3.34073943e+02] [-4.14916300e-02 9.99136808e-01 -2.02097093e-03 2.97428069e+00] [-2.51365008e-02 9.78221395e-04 9.99683550e-01 4.31702372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.10, Y:2.97, Z:4.32 [[ 9.98690527e-01 4.46990892e-02 2.48841692e-02 3.34104156e+02] [-4.46628055e-02 9.99000092e-01 -2.01226077e-03 2.97342481e+00] [-2.49492336e-02 8.98228962e-04 9.99688316e-01 4.31598768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.13, Y:2.97, Z:4.32 [[ 9.98539582e-01 4.79473436e-02 2.48948698e-02 3.34134017e+02] [-4.79120348e-02 9.98849530e-01 -2.01320291e-03 2.97264399e+00] [-2.49627567e-02 8.17498926e-04 9.99688048e-01 4.31515805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.16, Y:2.97, Z:4.31 [[ 9.98211012e-01 5.43934677e-02 2.48219069e-02 3.34162729e+02] [-5.43603784e-02 9.98519366e-01 -2.00639440e-03 2.97431233e+00] [-2.48942895e-02 6.53476733e-04 9.99689876e-01 4.31465973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.19, Y:2.97, Z:4.31 [[ 9.98056209e-01 5.74124087e-02 2.42408567e-02 3.34192057e+02] [-5.73817616e-02 9.98350388e-01 -1.95855554e-03 2.97391115e+00] [-2.43133141e-02 5.63765457e-04 9.99704229e-01 4.31396993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.22, Y:2.97, Z:4.31 [[ 9.97814302e-01 6.21294237e-02 2.25067432e-02 3.34221336e+02] [-6.21042380e-02 9.98068015e-01 -1.81695346e-03 2.97444071e+00] [-2.25761468e-02 4.15218005e-04 9.99745040e-01 4.31248543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.25, Y:2.97, Z:4.31 [[ 9.97736437e-01 6.35991667e-02 2.18437351e-02 3.34249456e+02] [-6.35758271e-02 9.97975455e-01 -1.76197901e-03 2.97327997e+00] [-2.19115719e-02 3.69257128e-04 9.99759844e-01 4.31149314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.28, Y:2.97, Z:4.31 [[ 9.97677827e-01 6.46382489e-02 2.14674153e-02 3.34278026e+02] [-6.46159903e-02 9.97908704e-01 -1.72961770e-03 2.97187297e+00] [-2.15343200e-02 3.38462928e-04 9.99768052e-01 4.31050790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.31, Y:2.97, Z:4.31 [[ 9.97676209e-01 6.48188206e-02 2.09929043e-02 3.34305921e+02] [-6.47976016e-02 9.97896996e-01 -1.69013235e-03 2.97155599e+00] [-2.10583085e-02 3.25914984e-04 9.99778196e-01 4.30938474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.42509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.33, Y:2.97, Z:4.31 [[ 9.97729958e-01 6.40159907e-02 2.09017578e-02 3.34333047e+02] [-6.39948250e-02 9.97948815e-01 -1.68062467e-03 2.97064236e+00] [-2.09664713e-02 3.39205248e-04 9.99780122e-01 4.30866425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.36, Y:2.97, Z:4.31 [[ 9.97767002e-01 6.34659389e-02 2.08106874e-02 3.34360929e+02] [-6.34448948e-02 9.97983945e-01 -1.67056636e-03 2.96915221e+00] [-2.08747559e-02 3.46504123e-04 9.99782038e-01 4.30809369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.39, Y:2.97, Z:4.31 [[ 9.97772724e-01 6.33758560e-02 2.08108769e-02 3.34389304e+02] [-6.33548416e-02 9.97989670e-01 -1.66820129e-03 2.96696387e+00] [-2.08747639e-02 3.46015939e-04 9.99782038e-01 4.30732250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.42, Y:2.97, Z:4.31 [[ 9.97828559e-01 6.25682616e-02 2.05761844e-02 3.34416940e+02] [-6.25475823e-02 9.98040623e-01 -1.64767105e-03 2.96530920e+00] [-2.06389599e-02 3.57102641e-04 9.99786930e-01 4.30669416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.44, Y:2.96, Z:4.31 [[ 9.97867229e-01 6.19633092e-02 2.05314847e-02 3.34444936e+02] [-6.19426383e-02 9.98078361e-01 -1.64183079e-03 2.96363244e+00] [-2.05937639e-02 3.66554812e-04 9.99787859e-01 4.30588933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.47, Y:2.96, Z:4.31 [[ 9.97945467e-01 6.07460744e-02 2.03656252e-02 3.34472218e+02] [-6.07255305e-02 9.98153177e-01 -1.62623508e-03 2.96217444e+00] [-2.04268009e-02 3.86180533e-04 9.99791277e-01 4.30542528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.50, Y:2.96, Z:4.30 [[ 9.97968559e-01 6.04713278e-02 2.00492765e-02 3.34500254e+02] [-6.04513977e-02 9.98169861e-01 -1.59918773e-03 2.96034144e+00] [-2.01092886e-02 3.83932290e-04 9.99797714e-01 4.30464550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.53, Y:2.96, Z:4.30 [[ 9.98046303e-01 5.94304536e-02 1.92768718e-02 3.34527936e+02] [-5.94118646e-02 9.98232373e-01 -1.53608750e-03 2.95998040e+00] [-1.93340878e-02 3.87811558e-04 9.99813004e-01 4.30383987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.56, Y:2.96, Z:4.30 [[ 9.98058385e-01 5.92233944e-02 1.92885993e-02 3.34555804e+02] [-5.92047863e-02 9.98244678e-01 -1.53484212e-03 2.95856479e+00] [-1.93456402e-02 3.89884645e-04 9.99812780e-01 4.30322080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.58, Y:2.96, Z:4.30 [[ 9.98097249e-01 5.85751395e-02 1.92570491e-02 3.34583312e+02] [-5.85565045e-02 9.98282922e-01 -1.53062487e-03 2.95713565e+00] [-1.93136398e-02 4.00086992e-04 9.99813394e-01 4.30245469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.61, Y:2.96, Z:4.30 [[ 9.98103783e-01 5.84284499e-02 1.93637222e-02 3.34611088e+02] [-5.84096201e-02 9.98291517e-01 -1.53705403e-03 2.95625333e+00] [-1.94204473e-02 4.03111790e-04 9.99811324e-01 4.30219194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.64, Y:2.96, Z:4.30 [[ 9.98098319e-01 5.83638574e-02 1.98344779e-02 3.34638845e+02] [-5.83441331e-02 9.98295292e-01 -1.57215774e-03 2.95506776e+00] [-1.98924231e-02 4.11942573e-04 9.99802041e-01 4.30131697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.67, Y:2.96, Z:4.30 [[ 9.98055158e-01 5.90657116e-02 1.99284800e-02 3.34666318e+02] [-5.90459864e-02 9.98254018e-01 -1.57726841e-03 2.95502114e+00] [-1.99868477e-02 3.97504109e-04 9.99800164e-01 4.30116945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.69, Y:2.95, Z:4.30 [[ 9.98025376e-01 5.97334224e-02 1.94233791e-02 3.34694481e+02] [-5.97148445e-02 9.98214295e-01 -1.53557270e-03 2.95393655e+00] [-1.94804197e-02 3.72676457e-04 9.99810169e-01 4.30038137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.72, Y:2.95, Z:4.30 [[ 9.97990162e-01 6.04369658e-02 1.90528130e-02 3.34722006e+02] [-6.04192465e-02 9.98171954e-01 -1.50479921e-03 2.95318637e+00] [-1.91089291e-02 3.50618195e-04 9.99817346e-01 4.29975633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.75, Y:2.95, Z:4.30 [[ 9.97797166e-01 6.34124471e-02 1.94852886e-02 3.34749098e+02] [-6.33945170e-02 9.97987361e-01 -1.53712296e-03 2.95372605e+00] [-1.95435445e-02 2.98476474e-04 9.99808962e-01 4.29937122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.78, Y:2.95, Z:4.30 [[ 9.97679631e-01 6.51948892e-02 1.96209328e-02 3.34777459e+02] [-6.51771249e-02 9.97872516e-01 -1.54417486e-03 2.95305253e+00] [-1.96798619e-02 2.61755816e-04 9.99806299e-01 4.29892025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.80, Y:2.95, Z:4.30 [[ 9.97538135e-01 6.72792513e-02 1.97780731e-02 3.34804437e+02] [-6.72616513e-02 9.97734160e-01 -1.55450497e-03 2.95216779e+00] [-1.98378451e-02 2.20372134e-04 9.99803186e-01 4.29863621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.83, Y:2.95, Z:4.30 [[ 9.97207055e-01 7.19272414e-02 2.01137224e-02 3.34831621e+02] [-7.19100361e-02 9.97409873e-01 -1.57829681e-03 2.95221124e+00] [-2.01751479e-02 1.27510211e-04 9.99796453e-01 4.29859225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.86, Y:2.95, Z:4.30 [[ 9.97043026e-01 7.41857048e-02 2.00421022e-02 3.34859894e+02] [-7.41691298e-02 9.97244441e-01 -1.57010391e-03 2.95098803e+00] [-2.01033543e-02 7.89558720e-05 9.99797904e-01 4.29834295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.89, Y:2.95, Z:4.30 [[ 9.96898234e-01 7.61468565e-02 1.98888911e-02 3.34888187e+02] [-7.61309667e-02 9.97096613e-01 -1.55596815e-03 2.94989935e+00] [-1.99496280e-02 3.69814006e-05 9.99800986e-01 4.29787764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.92, Y:2.95, Z:4.30 [[ 9.96670954e-01 7.90604205e-02 1.99112932e-02 3.34915417e+02] [-7.90451165e-02 9.96869826e-01 -1.55569854e-03 2.94946444e+00] [-1.99719616e-02 -2.33709494e-05 9.99800540e-01 4.29797275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.94, Y:2.95, Z:4.30 [[ 9.96601768e-01 7.99195828e-02 1.99443151e-02 3.34943413e+02] [-7.99044517e-02 9.96801313e-01 -1.55569087e-03 2.94763031e+00] [-2.00048496e-02 -4.32352910e-05 9.99799882e-01 4.29747078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.97, Y:2.95, Z:4.30 [[ 9.96570392e-01 8.03349729e-02 1.98430229e-02 3.34971238e+02] [-8.03201203e-02 9.96767921e-01 -1.54563966e-03 2.94511901e+00] [-1.99030576e-02 -5.34552684e-05 9.99801913e-01 4.29648147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.00, Y:2.94, Z:4.30 [[ 9.96640729e-01 7.94736936e-02 1.97785250e-02 3.34998013e+02] [-7.94588086e-02 9.96836963e-01 -1.53855976e-03 2.94262173e+00] [-1.98382398e-02 -3.81867078e-05 9.99803202e-01 4.29585237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.17509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.03, Y:2.94, Z:4.30 [[ 9.96750354e-01 7.81943856e-02 1.93486257e-02 3.35026184e+02] [-7.81799493e-02 9.96938131e-01 -1.50256028e-03 2.94003688e+00] [-1.94068745e-02 -1.49970859e-05 9.99811669e-01 4.29551004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.05, Y:2.94, Z:4.29 [[ 9.96994010e-01 7.50450944e-02 1.92659982e-02 3.35053425e+02] [-7.50302309e-02 9.97180140e-01 -1.49418917e-03 2.93674564e+00] [-1.93238023e-02 4.41653577e-05 9.99813277e-01 4.29485941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.08, Y:2.93, Z:4.29 [[ 9.97167529e-01 7.28238382e-02 1.88044573e-02 3.35081497e+02] [-7.28093294e-02 9.97344816e-01 -1.45595391e-03 2.93369451e+00] [-1.88605562e-02 8.26900380e-05 9.99822120e-01 4.29403042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.11, Y:2.93, Z:4.29 [[ 9.97361815e-01 7.01898668e-02 1.85146661e-02 3.35108126e+02] [-7.01753725e-02 9.97533642e-01 -1.43219426e-03 2.93061545e+00] [-1.85695278e-02 1.29142276e-04 9.99827563e-01 4.29349482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.14, Y:2.93, Z:4.29 [[ 9.97767680e-01 6.39270155e-02 1.93130165e-02 3.35135906e+02] [-6.39101536e-02 9.97954545e-01 -1.48966394e-03 2.92573586e+00] [-1.93687424e-02 2.52040681e-04 9.99812377e-01 4.29284437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.16, Y:2.92, Z:4.29 [[ 9.97967211e-01 6.05889996e-02 1.97590432e-02 3.35163373e+02] [-6.05707390e-02 9.98162747e-01 -1.52187982e-03 2.92199389e+00] [-1.98149500e-02 3.21966312e-04 9.99803613e-01 4.29211495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.19, Y:2.92, Z:4.29 [[ 9.98164490e-01 5.70221543e-02 2.03991360e-02 3.35191198e+02] [-5.70019933e-02 9.98372832e-01 -1.56889714e-03 2.91820022e+00] [-2.04554051e-02 4.03226001e-04 9.99790685e-01 4.29169739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.22, Y:2.91, Z:4.29 [[ 9.98506609e-01 4.99875892e-02 2.20407175e-02 3.35218212e+02] [-4.99623974e-02 9.98749665e-01 -1.69250003e-03 2.91261810e+00] [-2.20977633e-02 5.88765374e-04 9.99755641e-01 4.29150444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.25, Y:2.91, Z:4.29 [[ 9.98659545e-01 4.64586608e-02 2.28189847e-02 3.35246703e+02] [-4.64307920e-02 9.98919976e-01 -1.74989222e-03 2.90876959e+00] [-2.28756373e-02 6.88043042e-04 9.99738082e-01 4.29054826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.27, Y:2.90, Z:4.29 [[ 9.98940674e-01 3.93023689e-02 2.39343765e-02 3.35274965e+02] [-3.92697005e-02 9.99226966e-01 -1.83358680e-03 2.90356015e+00] [-2.39879387e-02 8.91748633e-04 9.99711850e-01 4.29024976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.30, Y:2.90, Z:4.29 [[ 9.99064119e-01 3.57510975e-02 2.43463481e-02 3.35303953e+02] [-3.57162899e-02 9.99360233e-01 -1.86317385e-03 2.89995945e+00] [-2.43973826e-02 9.91868913e-04 9.99701848e-01 4.28956415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.34, Y:2.90, Z:4.29 [[ 9.99164515e-01 3.24358144e-02 2.48634234e-02 3.35335239e+02] [-3.23985020e-02 9.99473221e-01 -1.90216489e-03 2.89603270e+00] [-2.49120241e-02 1.09503799e-03 9.99689048e-01 4.28855643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.37, Y:2.89, Z:4.29 [[ 9.99303571e-01 2.74146245e-02 2.53142425e-02 3.35366944e+02] [-2.73743245e-02 9.99623376e-01 -1.93721914e-03 2.89150913e+00] [-2.53578167e-02 1.24290972e-03 9.99677666e-01 4.28753568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.40, Y:2.89, Z:4.29 [[ 9.99358022e-01 2.57113348e-02 2.49493635e-02 3.35399023e+02] [-2.56714983e-02 9.99668597e-01 -1.91573031e-03 2.88861659e+00] [-2.49903512e-02 1.27401291e-03 9.99686881e-01 4.28678575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.43, Y:2.89, Z:4.29 [[ 9.99402406e-01 2.39043701e-02 2.49682122e-02 3.35430619e+02] [-2.38638015e-02 9.99713372e-01 -1.92155435e-03 2.88549291e+00] [-2.50069892e-02 1.32456958e-03 9.99686399e-01 4.28597297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.46, Y:2.88, Z:4.28 [[ 9.99408991e-01 2.38773258e-02 2.47293735e-02 3.35463167e+02] [-2.38373590e-02 9.99714026e-01 -1.90973716e-03 2.88279139e+00] [-2.47679010e-02 1.31912553e-03 9.99692358e-01 4.28489528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.49, Y:2.88, Z:4.28 [[ 9.99407218e-01 2.43582867e-02 2.43287171e-02 3.35494722e+02] [-2.43195734e-02 9.99702457e-01 -1.88591500e-03 2.88015734e+00] [-2.43674159e-02 1.29313304e-03 9.99702234e-01 4.28372950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.53, Y:2.88, Z:4.28 [[ 9.99395448e-01 2.50307524e-02 2.41288334e-02 3.35528158e+02] [-2.49927107e-02 9.99685871e-01 -1.87693384e-03 2.87747106e+00] [-2.41682349e-02 1.27275418e-03 9.99707095e-01 4.28243519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.56, Y:2.88, Z:4.28 [[ 9.99381709e-01 2.65709366e-02 2.30257636e-02 3.35560290e+02] [-2.65365508e-02 9.99646227e-01 -1.79768446e-03 2.87546102e+00] [-2.30653838e-02 1.18554862e-03 9.99733256e-01 4.28116241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.59, Y:2.87, Z:4.28 [[ 9.99364971e-01 2.75154840e-02 2.26396134e-02 3.35593416e+02] [-2.74823459e-02 9.99620716e-01 -1.77361542e-03 2.87356041e+00] [-2.26798284e-02 1.15029944e-03 9.99742118e-01 4.28007438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.63, Y:2.87, Z:4.28 [[ 9.99343612e-01 2.90231248e-02 2.16795662e-02 3.35625498e+02] [-2.89929592e-02 9.99578163e-01 -1.70451510e-03 2.87322679e+00] [-2.17198913e-02 1.07484149e-03 9.99763518e-01 4.27869675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.66, Y:2.87, Z:4.28 [[ 9.99340163e-01 2.96266310e-02 2.10119204e-02 3.35656731e+02] [-2.95983078e-02 9.99560499e-01 -1.65774017e-03 2.87201816e+00] [-2.10517989e-02 1.03472904e-03 9.99777851e-01 4.27788750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.69, Y:2.87, Z:4.28 [[ 9.99326648e-01 3.00053183e-02 2.11170938e-02 3.35687908e+02] [-2.99766665e-02 9.99549200e-01 -1.67212019e-03 2.87077378e+00] [-2.11577467e-02 1.03797418e-03 9.99775611e-01 4.27698416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.72, Y:2.87, Z:4.28 [[ 9.99305542e-01 3.05003946e-02 2.14046717e-02 3.35719089e+02] [-3.04710532e-02 9.99534211e-01 -1.69568453e-03 2.87103951e+00] [-2.14464206e-02 1.04228406e-03 9.99769456e-01 4.27621327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.75, Y:2.87, Z:4.28 [[ 9.99272681e-01 3.12569302e-02 2.18429433e-02 3.35750779e+02] [-3.12265489e-02 9.99510834e-01 -1.73067995e-03 2.86989549e+00] [-2.18863543e-02 1.04734146e-03 9.99759916e-01 4.27554546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.92509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.78, Y:2.87, Z:4.28 [[ 9.99168146e-01 3.33491441e-02 2.34701925e-02 3.35782111e+02] [-3.33145484e-02 9.99443179e-01 -1.86359941e-03 2.87057191e+00] [-2.35192732e-02 1.08015030e-03 9.99722800e-01 4.27521724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.81, Y:2.87, Z:4.27 [[ 9.99091538e-01 3.48353113e-02 2.45479134e-02 3.35813521e+02] [-3.47978894e-02 9.99392467e-01 -1.95010053e-03 2.86979764e+00] [-2.46009322e-02 1.09411336e-03 9.99696753e-01 4.27467601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.84, Y:2.87, Z:4.27 [[ 9.98904229e-01 3.86620124e-02 2.63740592e-02 3.35844237e+02] [-3.86201185e-02 9.99251766e-01 -2.09616804e-03 2.87054416e+00] [-2.64353673e-02 1.07530182e-03 9.99649946e-01 4.27434340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.88, Y:2.87, Z:4.27 [[ 9.98838225e-01 4.05270036e-02 2.60722376e-02 3.35875123e+02] [-4.04866387e-02 9.99177927e-01 -2.07442931e-03 2.86965626e+00] [-2.61348747e-02 1.01644203e-03 9.99657909e-01 4.27326244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.90, Y:2.87, Z:4.27 [[ 9.98746508e-01 4.28034828e-02 2.59475413e-02 3.35904160e+02] [-4.27642697e-02 9.99083057e-01 -2.06452647e-03 2.86848811e+00] [-2.60121178e-02 9.52310952e-04 9.99661174e-01 4.27240727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.93, Y:2.87, Z:4.27 [[ 9.98586485e-01 4.70856056e-02 2.46571986e-02 3.35933825e+02] [-4.70515093e-02 9.98890539e-01 -1.96147994e-03 2.86878116e+00] [-2.47221999e-02 7.98548943e-04 9.99694041e-01 4.27136605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.96, Y:2.87, Z:4.27 [[ 9.98496114e-01 4.93906483e-02 2.37923266e-02 3.35963022e+02] [-4.93595731e-02 9.98779281e-01 -1.89196602e-03 2.86754878e+00] [-2.38567283e-02 7.14741637e-04 9.99715132e-01 4.27046549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.99, Y:2.87, Z:4.27 [[ 9.98394465e-01 5.17009280e-02 2.31410034e-02 3.35990812e+02] [-5.16721874e-02 9.98662408e-01 -1.83861194e-03 2.86661263e+00] [-2.32051082e-02 6.39913715e-04 9.99730520e-01 4.26968166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.02, Y:2.87, Z:4.27 [[ 9.98270704e-01 5.43374654e-02 2.24285629e-02 3.36018263e+02] [-5.43111811e-02 9.98522472e-01 -1.77983825e-03 2.86543152e+00] [-2.24921360e-02 5.58638637e-04 9.99746864e-01 4.26909119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.05, Y:2.87, Z:4.27 [[ 9.97932337e-01 6.02509181e-02 2.23803141e-02 3.36046272e+02] [-6.02262758e-02 9.98183174e-01 -1.77408305e-03 2.86546598e+00] [-2.24465431e-02 4.22531871e-04 9.99747955e-01 4.26823888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.07, Y:2.87, Z:4.27 [[ 9.97559024e-01 6.58939957e-02 2.31079125e-02 3.36073673e+02] [-6.58692951e-02 9.97826583e-01 -1.82928093e-03 2.86506421e+00] [-2.31782280e-02 3.02713794e-04 9.99731303e-01 4.26732153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.10, Y:2.86, Z:4.27 [[ 9.97377126e-01 6.83519106e-02 2.38093607e-02 3.36100093e+02] [-6.83264881e-02 9.97661242e-01 -1.88059330e-03 2.86368240e+00] [-2.38822186e-02 2.48850736e-04 9.99714748e-01 4.26669126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.13, Y:2.86, Z:4.27 [[ 9.97196234e-01 7.04052287e-02 2.53529955e-02 3.36128468e+02] [-7.03771543e-02 9.97518451e-01 -1.99903081e-03 2.86169686e+00] [-2.54308230e-02 2.09154318e-04 9.99676562e-01 4.26585764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.16, Y:2.86, Z:4.27 [[ 9.97088194e-01 7.16902614e-02 2.59930908e-02 3.36156222e+02] [-7.16612613e-02 9.97426927e-01 -2.04668292e-03 2.86004925e+00] [-2.60729359e-02 1.78025712e-04 9.99660027e-01 4.26566933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.18, Y:2.86, Z:4.27 [[ 9.97002183e-01 7.25406165e-02 2.69166371e-02 3.36182992e+02] [-7.25099103e-02 9.97365447e-01 -2.11636590e-03 2.85809135e+00] [-2.69992463e-02 1.58298482e-04 9.99635441e-01 4.26528680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.21, Y:2.86, Z:4.26 [[ 9.97170716e-01 7.04897702e-02 2.61104624e-02 3.36211269e+02] [-7.04602570e-02 9.97512481e-01 -2.04977806e-03 2.85557334e+00] [-2.61900005e-02 2.04228765e-04 9.99656962e-01 4.26397975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.24, Y:2.85, Z:4.26 [[ 9.97176970e-01 7.04011579e-02 2.61106818e-02 3.36239646e+02] [-7.03716877e-02 9.97518739e-01 -2.04697941e-03 2.85343558e+00] [-2.61900041e-02 2.03747985e-04 9.99656962e-01 4.26320854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.27, Y:2.85, Z:4.26 [[ 9.97183216e-01 7.03125581e-02 2.61108634e-02 3.36268023e+02] [-7.02831182e-02 9.97524988e-01 -2.04466025e-03 2.85130057e+00] [-2.61900040e-02 2.03747984e-04 9.99656962e-01 4.26243749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.30, Y:2.85, Z:4.26 [[ 9.97482540e-01 6.59830784e-02 2.59772044e-02 3.36295542e+02] [-6.59525307e-02 9.97820693e-01 -2.03190449e-03 2.84821195e+00] [-2.60546634e-02 3.13526885e-04 9.99660470e-01 4.26118430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.32, Y:2.85, Z:4.26 [[ 9.97712038e-01 6.25664675e-02 2.56149648e-02 3.36323648e+02] [-6.25357108e-02 9.98040721e-01 -2.00081608e-03 2.84535624e+00] [-2.56899620e-02 3.94388255e-04 9.99669881e-01 4.26029623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.35, Y:2.84, Z:4.26 [[ 9.97925653e-01 5.89618575e-02 2.58435731e-02 3.36352654e+02] [-5.89294154e-02 9.98260117e-01 -2.01579710e-03 2.84166839e+00] [-2.59174634e-02 4.88668979e-04 9.99663967e-01 4.25903363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.38, Y:2.84, Z:4.26 [[ 9.98164580e-01 5.48220564e-02 2.57296397e-02 3.36381056e+02] [-5.47885727e-02 9.98495965e-01 -2.00505834e-03 2.83796358e+00] [-2.58008628e-02 5.91687980e-04 9.99666927e-01 4.25801432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.41, Y:2.84, Z:4.25 [[ 9.98373422e-01 4.86982561e-02 2.96477755e-02 3.36412224e+02] [-4.81320675e-02 9.98650211e-01 -1.95207511e-02 2.83827234e+00] [-3.05583838e-02 1.80619904e-02 9.99369776e-01 4.25450133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.44, Y:2.82, Z:4.25 [[ 9.98929912e-01 3.81312846e-02 2.61731917e-02 3.36439985e+02] [-3.85376234e-02 9.99141536e-01 1.52000752e-02 2.81858896e+00] [-2.55711246e-02 -1.61924624e-02 9.99541856e-01 4.24882093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.47, Y:2.82, Z:4.25 [[ 9.99041824e-01 3.59709753e-02 2.49303680e-02 3.36471201e+02] [-3.59337709e-02 9.99352293e-01 -1.93886164e-03 2.82351220e+00] [-2.49839632e-02 1.04116173e-03 9.99687310e-01 4.25244679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.67509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.50, Y:2.82, Z:4.25 [[ 9.99124412e-01 3.37346607e-02 2.47463707e-02 3.36501414e+02] [-3.36973234e-02 9.99430231e-01 -1.92437497e-03 2.82059320e+00] [-2.47971891e-02 1.08880355e-03 9.99691909e-01 4.25126445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.53, Y:2.82, Z:4.25 [[ 9.99224081e-01 3.30329392e-02 2.14490467e-02 3.36533462e+02] [-3.27926498e-02 9.99396478e-01 -1.14596121e-02 2.82226198e+00] [-2.18146464e-02 1.07473493e-02 9.99704264e-01 4.25357745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.56, Y:2.81, Z:4.25 [[ 9.99177795e-01 3.10732021e-02 2.60420904e-02 3.36563475e+02] [-3.12714098e-02 9.99484718e-01 7.23857309e-03 2.81045252e+00] [-2.58037457e-02 -8.04699437e-03 9.99634640e-01 4.24649077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.60, Y:2.81, Z:4.25 [[ 9.99144940e-01 3.25463121e-02 2.54975713e-02 3.36596611e+02] [-3.25060208e-02 9.99469552e-01 -1.99320083e-03 2.81261059e+00] [-2.55489175e-02 1.16267194e-03 9.99672897e-01 4.24851520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.63, Y:2.81, Z:4.25 [[ 9.99113666e-01 3.35014688e-02 2.54859441e-02 3.36628440e+02] [-3.34613289e-02 9.99438012e-01 -1.99994280e-03 2.81038274e+00] [-2.55386223e-02 1.14537663e-03 9.99673180e-01 4.24758433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.66, Y:2.81, Z:4.25 [[ 9.99065778e-01 3.48280612e-02 2.55846964e-02 3.36660245e+02] [-3.47879233e-02 9.99392691e-01 -2.01237879e-03 2.80828830e+00] [-2.56392459e-02 1.12046033e-03 9.99670633e-01 4.24662659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.69, Y:2.81, Z:4.24 [[ 9.98870211e-01 3.83623864e-02 2.80469179e-02 3.36693016e+02] [-3.80914276e-02 9.99222887e-01 -1.01323862e-02 2.81090978e+00] [-2.84138248e-02 9.05259161e-03 9.99555254e-01 4.24409445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.72, Y:2.80, Z:4.24 [[ 9.98815375e-01 4.08753550e-02 2.64017388e-02 3.36723842e+02] [-4.10456690e-02 9.99139607e-01 5.94124247e-03 2.80228117e+00] [-2.61361726e-02 -7.01788135e-03 9.99633758e-01 4.24139184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.75, Y:2.80, Z:4.24 [[ 9.98767881e-01 4.28874835e-02 2.49676505e-02 3.36754090e+02] [-4.28514113e-02 9.99079498e-01 -1.97824922e-03 2.80455213e+00] [-2.50295099e-02 9.05912723e-04 9.99686302e-01 4.24268786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.78, Y:2.80, Z:4.24 [[ 9.98693757e-01 4.50388126e-02 2.41305659e-02 3.36783447e+02] [-4.50057668e-02 9.98984899e-01 -1.91107420e-03 2.80298921e+00] [-2.41921435e-02 8.22563254e-04 9.99706989e-01 4.24142161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.81, Y:2.80, Z:4.24 [[ 9.98491689e-01 4.99531077e-02 2.27823153e-02 3.36811600e+02] [-4.99249432e-02 9.98751344e-01 -1.80370488e-03 2.80251165e+00] [-2.28439687e-02 6.63578540e-04 9.99738822e-01 4.23921670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.84, Y:2.80, Z:4.24 [[ 9.98374618e-01 5.26219159e-02 2.18873442e-02 3.36839012e+02] [-5.25966028e-02 9.98614341e-01 -1.73098461e-03 2.80170187e+00] [-2.19481035e-02 5.76971154e-04 9.99758945e-01 4.23829839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.87, Y:2.80, Z:4.24 [[ 9.98246111e-01 5.52533331e-02 2.12548887e-02 3.36866641e+02] [-5.52300986e-02 9.98472241e-01 -1.67905771e-03 2.80111165e+00] [-2.13151899e-02 5.02203229e-04 9.99772679e-01 4.23733145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.89, Y:2.80, Z:4.24 [[ 9.98088549e-01 5.81154971e-02 2.10199228e-02 3.36894937e+02] [-5.80934540e-02 9.98309772e-01 -1.65830801e-03 2.80036711e+00] [-2.10807678e-02 4.34018319e-04 9.99777682e-01 4.23634788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.92, Y:2.80, Z:4.24 [[ 9.97744845e-01 6.36843059e-02 2.12022114e-02 3.36923151e+02] [-6.36631829e-02 9.97970044e-01 -1.67043896e-03 2.80100185e+00] [-2.12655526e-02 3.16871605e-04 9.99773812e-01 4.23528888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.95, Y:2.80, Z:4.23 [[ 9.97571521e-01 6.61672338e-02 2.17475945e-02 3.36950437e+02] [-6.61456505e-02 9.97808511e-01 -1.71108220e-03 2.80034807e+00] [-2.18131524e-02 2.68418089e-04 9.99762029e-01 4.23438821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.98, Y:2.80, Z:4.23 [[ 9.97401385e-01 6.86794002e-02 2.17627511e-02 3.36977239e+02] [-6.86584397e-02 9.97638760e-01 -1.70974716e-03 2.79954769e+00] [-2.18287884e-02 2.11107647e-04 9.99761701e-01 4.23344815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.01, Y:2.80, Z:4.23 [[ 9.97075330e-01 7.32424585e-02 2.18249723e-02 3.37005724e+02] [-7.32225534e-02 9.97314158e-01 -1.71085245e-03 2.79957071e+00] [-2.18916609e-02 1.07768575e-04 9.99760343e-01 4.23164014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.03, Y:2.80, Z:4.23 [[ 9.96897031e-01 7.54577578e-02 2.24150745e-02 3.37033233e+02] [-7.54373776e-02 9.97148998e-01 -1.75461559e-03 2.79860539e+00] [-2.24835684e-02 5.82366343e-05 9.99747211e-01 4.23080749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.06, Y:2.80, Z:4.23 [[ 9.96732479e-01 7.73279206e-02 2.33400670e-02 3.37060328e+02] [-7.73063960e-02 9.97005713e-01 -1.82445527e-03 2.79772560e+00] [-2.34112615e-02 1.41573599e-05 9.99725919e-01 4.22976005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.09, Y:2.80, Z:4.23 [[ 9.96492513e-01 8.00639001e-02 2.43401653e-02 3.37087605e+02] [-8.00413841e-02 9.96789732e-01 -1.89947434e-03 2.79787640e+00] [-2.44141061e-02 -5.54085581e-05 9.99701930e-01 4.22910851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.12, Y:2.80, Z:4.23 [[ 9.96449717e-01 8.04118604e-02 2.49377894e-02 3.37115307e+02] [-8.03884124e-02 9.96761721e-01 -1.94297553e-03 2.79736469e+00] [-2.50132722e-02 -6.86318825e-05 9.99687117e-01 4.22814047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.14, Y:2.80, Z:4.23 [[ 9.96530429e-01 7.94260171e-02 2.48719136e-02 3.37142011e+02] [-7.94024515e-02 9.96840762e-01 -1.93520904e-03 2.79580603e+00] [-2.49470433e-02 -4.63962212e-05 9.99688773e-01 4.22722565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.17, Y:2.79, Z:4.23 [[ 9.96816037e-01 7.56440107e-02 2.52145231e-02 3.37170202e+02] [-7.56186621e-02 9.97134886e-01 -1.95866837e-03 2.79438271e+00] [-2.52904421e-02 4.57435447e-05 9.99680145e-01 4.22594601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.20, Y:2.79, Z:4.23 [[ 9.96822692e-01 7.55561861e-02 2.52147312e-02 3.37198580e+02] [-7.55308773e-02 9.97141545e-01 -1.95598582e-03 2.79226877e+00] [-2.52904428e-02 4.52802811e-05 9.99680145e-01 4.22519611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.42509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.23, Y:2.79, Z:4.22 [[ 9.97220478e-01 6.98062014e-02 2.60463429e-02 3.37226416e+02] [-6.97772958e-02 9.97560553e-01 -2.01811621e-03 2.79021579e+00] [-2.61236812e-02 1.95063439e-04 9.99658699e-01 4.22470147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.25, Y:2.79, Z:4.22 [[ 9.97444032e-01 6.64057039e-02 2.63758554e-02 3.37253024e+02] [-6.63749505e-02 9.97792665e-01 -2.04072837e-03 2.78774501e+00] [-2.64531510e-02 2.84816239e-04 9.99650014e-01 4.22405941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.28, Y:2.79, Z:4.22 [[ 9.97659001e-01 6.29305276e-02 2.67631668e-02 3.37281132e+02] [-6.28977059e-02 9.98017838e-01 -2.06726901e-03 2.78507980e+00] [-2.68402122e-02 3.79087746e-04 9.99639665e-01 4.22328083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.31, Y:2.78, Z:4.22 [[ 9.98021519e-01 5.66073128e-02 2.73616633e-02 3.37309054e+02] [-5.65707137e-02 9.98396364e-01 -2.11046003e-03 2.78191452e+00] [-2.74372527e-02 5.58415696e-04 9.99623372e-01 4.22229950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.34, Y:2.78, Z:4.22 [[ 9.98157755e-01 5.40013643e-02 2.76577010e-02 3.37337256e+02] [-5.39630434e-02 9.98540660e-01 -2.13060768e-03 2.77924889e+00] [-2.77323948e-02 6.34188859e-04 9.99615182e-01 4.22131892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.37, Y:2.78, Z:4.22 [[ 9.98259085e-01 5.19390323e-02 2.79488238e-02 3.37365713e+02] [-5.18991489e-02 9.98650015e-01 -2.15102117e-03 2.77687481e+00] [-2.80228152e-02 6.96756260e-04 9.99607041e-01 4.22033482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.39, Y:2.77, Z:4.22 [[ 9.98404641e-01 4.86072340e-02 2.87316892e-02 3.37394064e+02] [-4.85637664e-02 9.98817641e-01 -2.20916511e-03 2.77408177e+00] [-2.88050994e-02 8.10321654e-04 9.99584719e-01 4.21919520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.42, Y:2.77, Z:4.22 [[ 9.98441722e-01 4.74356357e-02 2.93936665e-02 3.37423549e+02] [-4.73896949e-02 9.98873925e-01 -2.25800645e-03 2.77142823e+00] [-2.94676770e-02 8.61530961e-04 9.99565362e-01 4.21809404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.45, Y:2.77, Z:4.22 [[ 9.98525306e-01 4.64342829e-02 2.81259858e-02 3.37451958e+02] [-4.63918520e-02 9.98920984e-01 -2.15961792e-03 2.76876222e+00] [-2.81959177e-02 8.51616579e-04 9.99602053e-01 4.21617050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.48, Y:2.77, Z:4.21 [[ 9.98538021e-01 4.64455030e-02 2.76520368e-02 3.37481117e+02] [-4.64045345e-02 9.98920476e-01 -2.12179280e-03 2.76645637e+00] [-2.77207335e-02 8.35510888e-04 9.99615357e-01 4.21457570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.51, Y:2.76, Z:4.21 [[ 9.98510955e-01 4.71049908e-02 2.75134805e-02 3.37511084e+02] [-4.70647089e-02 9.98889614e-01 -2.11018987e-03 2.76468049e+00] [-2.75823304e-02 8.12133751e-04 9.99619205e-01 4.21290040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.54, Y:2.76, Z:4.21 [[ 9.98496866e-01 4.76037902e-02 2.71640972e-02 3.37539843e+02] [-4.75647358e-02 9.98865987e-01 -2.08242629e-03 2.76264640e+00] [-2.72324241e-02 7.87243017e-04 9.99628819e-01 4.21223117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.57, Y:2.76, Z:4.21 [[ 9.98456049e-01 4.85053125e-02 2.70694151e-02 3.37568286e+02] [-4.84668907e-02 9.98822636e-01 -2.07407279e-03 2.76056993e+00] [-2.71381481e-02 7.58900134e-04 9.99631405e-01 4.21115167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.60, Y:2.76, Z:4.21 [[ 9.98414863e-01 4.95684647e-02 2.66594891e-02 3.37596522e+02] [-4.95316276e-02 9.98770471e-01 -2.04076295e-03 2.75855411e+00] [-2.67278679e-02 7.17040181e-04 9.99642490e-01 4.21004269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.62, Y:2.76, Z:4.21 [[ 9.98355293e-01 5.10366830e-02 2.61144873e-02 3.37624584e+02] [-5.10018749e-02 9.98696560e-01 -1.99766351e-03 2.75671312e+00] [-2.61824027e-02 6.62490127e-04 9.99656963e-01 4.20920269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.65, Y:2.76, Z:4.21 [[ 9.98200589e-01 5.48290659e-02 2.42766969e-02 3.37653509e+02] [-5.48001559e-02 9.98495619e-01 -1.85503876e-03 2.75609606e+00] [-2.43418856e-02 5.21334007e-04 9.99703556e-01 4.20771528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.68, Y:2.76, Z:4.21 [[ 9.98101615e-01 5.68169585e-02 2.37697277e-02 3.37681835e+02] [-5.67898440e-02 9.98384505e-01 -1.81474595e-03 2.75522935e+00] [-2.38344362e-02 4.61421734e-04 9.99715813e-01 4.20696726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.71, Y:2.76, Z:4.21 [[ 9.97851946e-01 6.10058301e-02 2.38701277e-02 3.37709848e+02] [-6.09797454e-02 9.98137345e-01 -1.81983632e-03 2.75541182e+00] [-2.39366865e-02 3.60332902e-04 9.99713412e-01 4.20609147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.74, Y:2.75, Z:4.21 [[ 9.97748287e-01 6.25905166e-02 2.40994545e-02 3.37736818e+02] [-6.25644504e-02 9.98039239e-01 -1.83482717e-03 2.75433692e+00] [-2.41670440e-02 3.22926535e-04 9.99707882e-01 4.20525066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.76, Y:2.75, Z:4.20 [[ 9.97652805e-01 6.40732512e-02 2.41557305e-02 3.37764882e+02] [-6.40475918e-02 9.97945158e-01 -1.83522236e-03 2.75295929e+00] [-2.42236830e-02 2.83798371e-04 9.99706523e-01 4.20437172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.79, Y:2.75, Z:4.20 [[ 9.97565775e-01 6.56888467e-02 2.33987214e-02 3.37793128e+02] [-6.56652716e-02 9.97840128e-01 -1.77529646e-03 2.75213683e+00] [-2.34648003e-02 2.34491593e-04 9.99724636e-01 4.20335120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.82, Y:2.75, Z:4.20 [[ 9.97578271e-01 6.55354796e-02 2.32958007e-02 3.37821392e+02] [-6.55121269e-02 9.97850212e-01 -1.76503849e-03 2.75038765e+00] [-2.33613923e-02 2.34606590e-04 9.99727058e-01 4.20244135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.85, Y:2.75, Z:4.20 [[ 9.97733898e-01 6.31682661e-02 2.31697939e-02 3.37848207e+02] [-6.31445841e-02 9.98002850e-01 -1.75303925e-03 2.74913328e+00] [-2.32342568e-02 2.86019689e-04 9.99730007e-01 4.20179791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.88, Y:2.75, Z:4.20 [[ 9.97851567e-01 6.13162021e-02 2.30775632e-02 3.37876224e+02] [-6.12922813e-02 9.98118339e-01 -1.74311303e-03 2.74723528e+00] [-2.31410201e-02 3.24891569e-04 9.99732158e-01 4.20118365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.90, Y:2.75, Z:4.20 [[ 9.97993125e-01 5.89580442e-02 2.31013189e-02 3.37903323e+02] [-5.89334994e-02 9.98260390e-01 -1.74245357e-03 2.74523825e+00] [-2.31638632e-02 3.77515120e-04 9.99731610e-01 4.20031359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.17509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.93, Y:2.74, Z:4.20 [[ 9.98140696e-01 5.65128619e-02 2.28352166e-02 3.37931593e+02] [-5.64883060e-02 9.98401780e-01 -1.71948824e-03 2.74304603e+00] [-2.28958941e-02 4.26368492e-04 9.99737764e-01 4.19956534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.96, Y:2.74, Z:4.20 [[ 9.98441621e-01 5.13047327e-02 2.19579844e-02 3.37959052e+02] [-5.12808185e-02 9.98682908e-01 -1.65115721e-03 2.74080812e+00] [-2.20137759e-02 5.22560671e-04 9.99757531e-01 4.19874678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.99, Y:2.74, Z:4.20 [[ 9.98446103e-01 5.12173740e-02 2.19581464e-02 3.37987436e+02] [-5.11934861e-02 9.98687392e-01 -1.64899882e-03 2.73876678e+00] [-2.20137814e-02 5.22322376e-04 9.99757531e-01 4.19799695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.02, Y:2.74, Z:4.20 [[ 9.98682313e-01 4.64554839e-02 2.18065623e-02 3.38015938e+02] [-4.64308333e-02 9.98920168e-01 -1.63564505e-03 2.73713381e+00] [-2.18589996e-02 6.20992919e-04 9.99760871e-01 4.19712844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.05, Y:2.74, Z:4.20 [[ 9.98684828e-01 4.64013147e-02 2.18066863e-02 3.38045163e+02] [-4.63766873e-02 9.98922686e-01 -1.63399100e-03 2.73500257e+00] [-2.18590130e-02 6.20520153e-04 9.99760871e-01 4.19635656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.07, Y:2.73, Z:4.20 [[ 9.98789714e-01 4.40084935e-02 2.19626923e-02 3.38072473e+02] [-4.39829577e-02 9.99030928e-01 -1.64462545e-03 2.73372090e+00] [-2.20137864e-02 6.76650820e-04 9.99757438e-01 4.19624516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.10, Y:2.73, Z:4.20 [[ 9.98854991e-01 4.21440975e-02 2.26402643e-02 3.38101535e+02] [-4.21165324e-02 9.99111270e-01 -1.69318622e-03 2.73211683e+00] [-2.26915010e-02 7.37718081e-04 9.99742243e-01 4.19587299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.13, Y:2.73, Z:4.20 [[ 9.98959675e-01 3.94063213e-02 2.29501339e-02 3.38129618e+02] [-3.93773124e-02 9.99222942e-01 -1.71472415e-03 2.73097465e+00] [-2.29998713e-02 8.09225685e-04 9.99735140e-01 4.19557737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.16, Y:2.73, Z:4.19 [[ 9.98973882e-01 3.88207622e-02 2.33266359e-02 3.38159468e+02] [-3.87906877e-02 9.99245842e-01 -1.74055665e-03 2.72915471e+00] [-2.33766136e-02 8.33914384e-04 9.99726382e-01 4.19476691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.19, Y:2.73, Z:4.19 [[ 9.98969254e-01 3.87182140e-02 2.36924036e-02 3.38189585e+02] [-3.86871799e-02 9.99249809e-01 -1.76700828e-03 2.72773693e+00] [-2.37430451e-02 8.48594665e-04 9.99717734e-01 4.19424149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.22, Y:2.73, Z:4.19 [[ 9.98913308e-01 4.04192982e-02 2.32052669e-02 3.38218887e+02] [-4.03900014e-02 9.99182493e-01 -1.73000459e-03 2.72731526e+00] [-2.32562220e-02 7.90863846e-04 9.99729225e-01 4.19403888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.25, Y:2.73, Z:4.19 [[ 9.98856845e-01 4.18367124e-02 2.31234163e-02 3.38247447e+02] [-4.18080429e-02 9.99124177e-01 -1.72210833e-03 2.72639830e+00] [-2.31752117e-02 7.53394912e-04 9.99731135e-01 4.19371972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.28, Y:2.73, Z:4.19 [[ 9.98698940e-01 4.57213242e-02 2.25829081e-02 3.38275652e+02] [-4.56949853e-02 9.98954024e-01 -1.68124618e-03 2.72618370e+00] [-2.26361557e-02 6.47133125e-04 9.99743560e-01 4.19356483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.30, Y:2.73, Z:4.19 [[ 9.98610419e-01 4.77553556e-02 2.22858253e-02 3.38304178e+02] [-4.77302568e-02 9.98858887e-01 -1.65709415e-03 2.72502407e+00] [-2.23395297e-02 5.91083318e-04 9.99750267e-01 4.19309341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.33, Y:2.72, Z:4.19 [[ 9.98505289e-01 5.01044871e-02 2.18341177e-02 3.38332355e+02] [-5.00809886e-02 9.98743843e-01 -1.62205165e-03 2.72388955e+00] [-2.18879626e-02 5.26152959e-04 9.99760291e-01 4.19249129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.36, Y:2.72, Z:4.19 [[ 9.98338336e-01 5.38843623e-02 2.04216389e-02 3.38360177e+02] [-5.38646285e-02 9.98547097e-01 -1.51555232e-03 2.72357623e+00] [-2.04736328e-02 4.13029993e-04 9.99790308e-01 4.19180799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.39, Y:2.72, Z:4.19 [[ 9.98259858e-01 5.55677098e-02 1.97353656e-02 3.38387128e+02] [-5.55496469e-02 9.98454855e-01 -1.46270405e-03 2.72220675e+00] [-1.97861507e-02 3.63866152e-04 9.99804169e-01 4.19114949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.41, Y:2.72, Z:4.19 [[ 9.98191812e-01 5.74824146e-02 1.75749573e-02 3.38414536e+02] [-5.74684127e-02 9.98346477e-01 -1.30112132e-03 2.72183573e+00] [-1.76206883e-02 2.88763745e-04 9.99844702e-01 4.19036148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.44, Y:2.72, Z:4.19 [[ 9.98172141e-01 5.80908855e-02 1.66680876e-02 3.38442121e+02] [-5.80784287e-02 9.98311265e-01 -1.23084125e-03 2.72025066e+00] [-1.67114403e-02 2.60535104e-04 9.99860320e-01 4.18969202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.47, Y:2.72, Z:4.19 [[ 9.98167613e-01 5.83635458e-02 1.59722616e-02 3.38470255e+02] [-5.83521674e-02 9.98295366e-01 -1.17789877e-03 2.71842770e+00] [-1.60137811e-02 2.43724321e-04 9.99871741e-01 4.18882563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.50, Y:2.72, Z:4.19 [[ 9.98172151e-01 5.84704063e-02 1.52829415e-02 3.38498232e+02] [-5.84600241e-02 9.98289116e-01 -1.12558115e-03 2.71667975e+00] [-1.53226073e-02 2.30082634e-04 9.99882575e-01 4.18813937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.53, Y:2.72, Z:4.19 [[ 9.98190649e-01 5.82188087e-02 1.50332802e-02 3.38525968e+02] [-5.82087573e-02 9.98303821e-01 -1.10567686e-03 2.71500949e+00] [-1.50721523e-02 2.28607745e-04 9.99886383e-01 4.18734751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.55, Y:2.71, Z:4.19 [[ 9.98292896e-01 5.65493675e-02 1.46103817e-02 3.38553956e+02] [-5.65397147e-02 9.98399774e-01 -1.07322083e-03 2.71358184e+00] [-1.46476917e-02 2.45321916e-04 9.99892687e-01 4.18708833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.58, Y:2.71, Z:4.19 [[ 9.98389422e-01 5.48803578e-02 1.43773674e-02 3.38581259e+02] [-5.48708567e-02 9.98492903e-01 -1.05476906e-03 2.71185652e+00] [-1.44135855e-02 2.64171804e-04 9.99896084e-01 4.18660869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.61, Y:2.71, Z:4.19 [[ 9.98504363e-01 5.28315868e-02 1.40663026e-02 3.38607767e+02] [-5.28223138e-02 9.98603396e-01 -1.03020568e-03 2.71017430e+00] [-1.41010849e-02 2.85650212e-04 9.99900534e-01 4.18585625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.92509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.64, Y:2.71, Z:4.18 [[ 9.98641732e-01 5.01966026e-02 1.39639451e-02 3.38635898e+02] [-5.01872337e-02 9.98739305e-01 -1.02077242e-03 2.70835488e+00] [-1.39975801e-02 3.18574161e-04 9.99901978e-01 4.18482117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.66, Y:2.71, Z:4.18 [[ 9.98799018e-01 4.70952723e-02 1.35113443e-02 3.38662401e+02] [-4.70862332e-02 9.98890341e-01 -9.86511729e-04 2.70665157e+00] [-1.35428113e-02 3.49128638e-04 9.99908231e-01 4.18392633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.69, Y:2.70, Z:4.18 [[ 9.99107225e-01 3.99709345e-02 1.36776555e-02 3.38689898e+02] [-3.99610324e-02 9.99200742e-01 -9.96605922e-04 2.70455448e+00] [-1.37065588e-02 4.49142943e-04 9.99905960e-01 4.18291202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.72, Y:2.70, Z:4.18 [[ 9.99241526e-01 3.63194798e-02 1.40451946e-02 3.38717714e+02] [-3.63086995e-02 9.99340099e-01 -1.02185799e-03 2.70288085e+00] [-1.40730395e-02 5.11120189e-04 9.99900839e-01 4.18207506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.75, Y:2.70, Z:4.18 [[ 9.99429787e-01 3.01033632e-02 1.52934118e-02 3.38745631e+02] [-3.00898873e-02 9.99546580e-01 -1.11054788e-03 2.70183562e+00] [-1.53199087e-02 6.49737591e-04 9.99882432e-01 4.18217697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.77, Y:2.70, Z:4.18 [[ 9.99478331e-01 2.80118809e-02 1.60748171e-02 3.38773444e+02] [-2.79967480e-02 9.99607335e-01 -1.16571273e-03 2.70034762e+00] [-1.61011589e-02 7.15062015e-04 9.99870112e-01 4.18151067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.80, Y:2.70, Z:4.18 [[ 9.99519504e-01 2.60845485e-02 1.67438989e-02 3.38802602e+02] [-2.60678949e-02 9.99659440e-01 -1.21213077e-03 2.69864291e+00] [-1.67698144e-02 7.75070151e-04 9.99859076e-01 4.18092084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.83, Y:2.70, Z:4.18 [[ 9.99532314e-01 2.52276958e-02 1.72834144e-02 3.38831482e+02] [-2.52098323e-02 9.99681399e-01 -1.25069302e-03 2.69612226e+00] [-1.73094600e-02 8.14396106e-04 9.99849848e-01 4.17957958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.86, Y:2.69, Z:4.18 [[ 9.99532757e-01 2.52100921e-02 1.72835033e-02 3.38861554e+02] [-2.51922472e-02 9.99681844e-01 -1.24946268e-03 2.69397959e+00] [-1.73095036e-02 8.13468584e-04 9.99849848e-01 4.17878557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.89, Y:2.69, Z:4.18 [[ 9.99480304e-01 2.65392231e-02 1.82972905e-02 3.38891427e+02] [-2.65194542e-02 9.99647423e-01 -1.32226052e-03 2.69068264e+00] [-1.83259311e-02 8.36339187e-04 9.99831716e-01 4.17794177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.92, Y:2.69, Z:4.18 [[ 9.99465337e-01 2.71502430e-02 1.82182723e-02 3.38922031e+02] [-2.71307458e-02 9.99631027e-01 -1.31655024e-03 2.68837994e+00] [-1.82472949e-02 8.21571011e-04 9.99833167e-01 4.17722216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.95, Y:2.69, Z:4.18 [[ 9.99464913e-01 2.74653582e-02 1.77635123e-02 3.38951871e+02] [-2.74468665e-02 9.99622439e-01 -1.28399863e-03 2.68644384e+00] [-1.77920709e-02 7.95758831e-04 9.99841392e-01 4.17643090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.98, Y:2.68, Z:4.18 [[ 9.99461393e-01 2.78293800e-02 1.73910882e-02 3.38981063e+02] [-2.78117243e-02 9.99612390e-01 -1.25629543e-03 2.68413485e+00] [-1.74193091e-02 7.71942629e-04 9.99847974e-01 4.17559915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.01, Y:2.68, Z:4.17 [[ 9.99474333e-01 2.78030134e-02 1.66748634e-02 3.39009554e+02] [-2.77867776e-02 9.99613147e-01 -1.20460918e-03 2.68179746e+00] [-1.67019044e-02 7.40635235e-04 9.99860239e-01 4.17469299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.04, Y:2.68, Z:4.17 [[ 9.99453146e-01 2.93708316e-02 1.51908669e-02 3.39038037e+02] [-2.93575453e-02 9.99568372e-01 -1.09692923e-03 2.67891167e+00] [-1.52165278e-02 6.50362807e-04 9.99884010e-01 4.17300998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.07, Y:2.68, Z:4.17 [[ 9.99435883e-01 3.02384183e-02 1.46134724e-02 3.39065678e+02] [-3.02262270e-02 9.99542527e-01 -1.05444807e-03 2.67677227e+00] [-1.46386720e-02 6.12143104e-04 9.99892662e-01 4.17218576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.09, Y:2.68, Z:4.17 [[ 9.99376699e-01 3.23167091e-02 1.42072090e-02 3.39094452e+02] [-3.23054165e-02 9.99477520e-01 -1.02368941e-03 2.67540459e+00] [-1.42328683e-02 5.64081537e-04 9.99898548e-01 4.17157556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.12, Y:2.67, Z:4.17 [[ 9.99341161e-01 3.32186434e-02 1.46207196e-02 3.39123148e+02] [-3.32067961e-02 9.99447948e-01 -1.05239606e-03 2.67407772e+00] [-1.46476073e-02 5.66195448e-04 9.99892558e-01 4.17126758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.15, Y:2.67, Z:4.17 [[ 9.99310422e-01 3.39582501e-02 1.50172221e-02 3.39151756e+02] [-3.39458517e-02 9.99423090e-01 -1.07981382e-03 2.67277141e+00] [-1.50452271e-02 5.69296812e-04 9.99886652e-01 4.17086521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.18, Y:2.67, Z:4.17 [[ 9.99301417e-01 3.41586472e-02 1.51612844e-02 3.39179398e+02] [-3.41460468e-02 9.99416260e-01 -1.08925264e-03 2.67109654e+00] [-1.51896416e-02 5.70793781e-04 9.99884468e-01 4.17029915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.21, Y:2.67, Z:4.17 [[ 9.99311420e-01 3.39678888e-02 1.49287739e-02 3.39207687e+02] [-3.39556733e-02 9.99422766e-01 -1.07103597e-03 2.66840769e+00] [-1.49565373e-02 5.63381902e-04 9.99887986e-01 4.16907873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.24, Y:2.67, Z:4.17 [[ 9.99336001e-01 3.33323107e-02 1.47143994e-02 3.39235115e+02] [-3.33203869e-02 9.99444165e-01 -1.05483145e-03 2.66619088e+00] [-1.47413806e-02 5.63841557e-04 9.99891181e-01 4.16813217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.26, Y:2.66, Z:4.17 [[ 9.99365557e-01 3.24619904e-02 1.46527328e-02 3.39263705e+02] [-3.24500948e-02 9.99472807e-01 -1.04892571e-03 2.66407725e+00] [-1.46790582e-02 5.72777656e-04 9.99892093e-01 4.16730126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.29, Y:2.66, Z:4.17 [[ 9.99466012e-01 2.94507675e-02 1.41542508e-02 3.39292790e+02] [-2.94393789e-02 9.99566055e-01 -1.01233294e-03 2.66171384e+00] [-1.41779226e-02 5.95100011e-04 9.99899311e-01 4.16634549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.32, Y:2.66, Z:4.17 [[ 9.99516722e-01 2.77871486e-02 1.39354510e-02 3.39320346e+02] [-2.77759585e-02 9.99613678e-01 -9.95933374e-04 2.65979231e+00] [-1.39577416e-02 6.08381552e-04 9.99902401e-01 4.16585303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.67509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.35, Y:2.66, Z:4.17 [[ 9.99556805e-01 2.62991048e-02 1.39481094e-02 3.39349486e+02] [-2.62877701e-02 9.99653921e-01 -9.95387970e-04 2.65776564e+00] [-1.39694601e-02 6.28282126e-04 9.99902225e-01 4.16545881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.38, Y:2.66, Z:4.16 [[ 9.99581041e-01 2.53205041e-02 1.40219589e-02 3.39379068e+02] [-2.53089732e-02 9.99679177e-01 -9.99218170e-04 2.65568464e+00] [-1.40427611e-02 6.43918157e-04 9.99901188e-01 4.16495139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.41, Y:2.65, Z:4.16 [[ 9.99576355e-01 2.50808126e-02 1.47669823e-02 3.39406921e+02] [-2.50679971e-02 9.99685195e-01 -1.05233749e-03 2.65297979e+00] [-1.47887271e-02 6.81713000e-04 9.99890408e-01 4.16446906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.44, Y:2.66, Z:4.16 [[ 9.99502388e-01 2.61130995e-02 1.76941128e-02 3.39436164e+02] [-2.57691301e-02 9.99479726e-01 -1.93966489e-02 2.66064056e+00] [-1.81914136e-02 1.89310351e-02 9.99655285e-01 4.16466215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.46, Y:2.64, Z:4.16 [[ 9.99513327e-01 2.58757099e-02 1.74228532e-02 3.39464986e+02] [-2.61712162e-02 9.99513731e-01 1.69519899e-02 2.63909355e+00] [-1.69757362e-02 -1.73997171e-02 9.99704493e-01 4.15722551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.50, Y:2.66, Z:4.16 [[ 9.99395279e-01 2.83089047e-02 2.01911325e-02 3.39495446e+02] [-2.78166848e-02 9.99318709e-01 -2.42559281e-02 2.65734277e+00] [-2.08640352e-02 2.36796097e-02 9.99501860e-01 4.16438404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.53, Y:2.64, Z:4.16 [[ 9.99360294e-01 2.81151168e-02 2.21030242e-02 3.39525745e+02] [-2.80930982e-02 9.99604458e-01 -1.30612073e-03 2.64291220e+00] [-2.21310033e-02 6.84342763e-04 9.99754845e-01 4.15592085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.55, Y:2.63, Z:4.16 [[ 9.99459791e-01 2.63302496e-02 1.96683527e-02 3.39554919e+02] [-2.67800028e-02 9.99377535e-01 2.29646103e-02 2.62801061e+00] [-1.90514460e-02 -2.34789231e-02 9.99542787e-01 4.15517709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.59, Y:2.64, Z:4.16 [[ 9.99470326e-01 2.59403974e-02 1.96510137e-02 3.39585186e+02] [-2.59179457e-02 9.99663098e-01 -1.39638064e-03 2.63599284e+00] [-1.96806159e-02 8.86327103e-04 9.99805925e-01 4.16217219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.62, Y:2.63, Z:4.16 [[ 9.99482376e-01 2.51554748e-02 2.00544775e-02 3.39615987e+02] [-2.51319472e-02 9.99683128e-01 -1.42438802e-03 2.63258616e+00] [-2.00839540e-02 9.19642652e-04 9.99797874e-01 4.16128542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.65, Y:2.63, Z:4.16 [[ 9.99483191e-01 2.47051763e-02 2.05670952e-02 3.39647391e+02] [-2.46803195e-02 9.99694326e-01 -1.46156197e-03 2.62902513e+00] [-2.05969165e-02 9.53204135e-04 9.99787407e-01 4.16036393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.68, Y:2.63, Z:4.16 [[ 9.99484854e-01 2.44373911e-02 2.08048132e-02 3.39677957e+02] [-2.44119013e-02 9.99700892e-01 -1.47831736e-03 2.62528779e+00] [-2.08347165e-02 9.69670767e-04 9.99782464e-01 4.15915844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.71, Y:2.63, Z:4.16 [[ 9.99442625e-01 2.51072203e-02 2.20015106e-02 3.39709459e+02] [-2.46970951e-02 9.99519723e-01 -1.87183665e-02 2.63177582e+00] [-2.24609099e-02 1.81645599e-02 9.99582691e-01 4.15858775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.74, Y:2.61, Z:4.15 [[ 9.99468379e-01 2.40018074e-02 2.20651739e-02 3.39740385e+02] [-2.43530887e-02 9.99578686e-01 1.57917171e-02 2.61029022e+00] [-2.16768478e-02 -1.63206770e-02 9.99631807e-01 4.15167504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.77, Y:2.61, Z:4.16 [[ 9.99486118e-01 2.38817788e-02 2.13813162e-02 3.39773146e+02] [-2.38544395e-02 9.99714267e-01 -1.53282708e-03 2.61433486e+00] [-2.14118135e-02 1.02200007e-03 9.99770218e-01 4.15652827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.81, Y:2.61, Z:4.16 [[ 9.99492285e-01 2.37329327e-02 2.12584240e-02 3.39805438e+02] [-2.37057621e-02 9.99717809e-01 -1.52924008e-03 2.61059945e+00] [-2.12887184e-02 1.02451652e-03 9.99772845e-01 4.15555165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.84, Y:2.61, Z:4.15 [[ 9.99504269e-01 2.38450033e-02 2.05580155e-02 3.39837178e+02] [-2.38195153e-02 9.99715174e-01 -1.48382144e-03 2.60713793e+00] [-2.05875418e-02 9.93403902e-04 9.99787561e-01 4.15444708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.87, Y:2.60, Z:4.15 [[ 9.99508411e-01 2.48288185e-02 1.91432983e-02 3.39868708e+02] [-2.48068053e-02 9.99691302e-01 -1.38655929e-03 2.60299071e+00] [-1.91718154e-02 9.10993596e-04 9.99815789e-01 4.15290632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.90, Y:2.60, Z:4.15 [[ 9.99507047e-01 2.48840340e-02 1.91428486e-02 3.39900466e+02] [-2.48619129e-02 9.99689925e-01 -1.39273935e-03 2.60065774e+00] [-1.91715698e-02 9.16124964e-04 9.99815789e-01 4.15209887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.93, Y:2.60, Z:4.15 [[ 9.99493663e-01 2.59123782e-02 1.84652730e-02 3.39931499e+02] [-2.58919760e-02 9.99663844e-01 -1.34315564e-03 2.59784193e+00] [-1.84938702e-02 8.64373149e-04 9.99828600e-01 4.15102981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.96, Y:2.60, Z:4.15 [[ 9.99466934e-01 2.69360747e-02 1.84471016e-02 3.39961450e+02] [-2.69157750e-02 9.99636796e-01 -1.34787161e-03 2.59537177e+00] [-1.84767079e-02 8.50635072e-04 9.99828929e-01 4.15013569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.99, Y:2.59, Z:4.15 [[ 9.99434768e-01 2.83639532e-02 1.80452436e-02 3.39991840e+02] [-2.83447606e-02 9.99597337e-01 -1.31850911e-03 2.59321278e+00] [-1.80753756e-02 8.06275740e-04 9.99836302e-01 4.14933763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.02, Y:2.59, Z:4.15 [[ 9.99344491e-01 3.13722796e-02 1.80656654e-02 3.40020756e+02] [-3.13535317e-02 9.99507485e-01 -1.32013251e-03 2.59072570e+00] [-1.80981834e-02 7.52844738e-04 9.99835931e-01 4.14818111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.05, Y:2.59, Z:4.15 [[ 9.99287198e-01 3.32787214e-02 1.78219739e-02 3.40049367e+02] [-3.32607795e-02 9.99445859e-01 -1.30227538e-03 2.58860648e+00] [-1.78554361e-02 7.08574369e-04 9.99840328e-01 4.14743679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.08, Y:2.59, Z:4.15 [[ 9.99223591e-01 3.48108441e-02 1.84505031e-02 3.40077878e+02] [-3.47918918e-02 9.99393671e-01 -1.34729030e-03 2.58683803e+00] [-1.84862164e-02 7.04316346e-04 9.99828867e-01 4.14680100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.42509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.11, Y:2.59, Z:4.15 [[ 9.99116670e-01 3.72690395e-02 1.94138747e-02 3.40106301e+02] [-3.72485477e-02 9.99305029e-01 -1.41618780e-03 2.58515569e+00] [-1.94531626e-02 6.91798196e-04 9.99810530e-01 4.14561905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.13, Y:2.58, Z:4.14 [[ 9.99105994e-01 3.76173758e-02 1.92910588e-02 3.40134225e+02] [-3.75972320e-02 9.99291985e-01 -1.40595021e-03 2.58320369e+00] [-1.93302886e-02 6.79402874e-04 9.99812922e-01 4.14475295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.16, Y:2.58, Z:4.14 [[ 9.99115706e-01 3.74808332e-02 1.90523965e-02 3.40162532e+02] [-3.74611943e-02 9.99297121e-01 -1.38676389e-03 2.58110409e+00] [-1.90909820e-02 6.71812057e-04 9.99817525e-01 4.14359452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.19, Y:2.58, Z:4.14 [[ 9.99167041e-01 3.67420080e-02 1.77552550e-02 3.40190530e+02] [-3.67248541e-02 9.99324581e-01 -1.29133098e-03 2.57851802e+00] [-1.77907089e-02 6.38196203e-04 9.99841529e-01 4.14142965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.22, Y:2.58, Z:4.14 [[ 9.99195222e-01 3.60937583e-02 1.74971228e-02 3.40218835e+02] [-3.60770296e-02 9.99348204e-01 -1.27089067e-03 2.57594218e+00] [-1.75315894e-02 6.38623673e-04 9.99846106e-01 4.13992134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.25, Y:2.57, Z:4.14 [[ 9.99216106e-01 3.54601267e-02 1.75997945e-02 3.40247162e+02] [-3.54431250e-02 9.99370879e-01 -1.27709657e-03 2.57372751e+00] [-1.76340081e-02 6.52303746e-04 9.99844296e-01 4.13915295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.28, Y:2.57, Z:4.14 [[ 9.99216335e-01 3.52666616e-02 1.79716201e-02 3.40275853e+02] [-3.52489256e-02 9.99377714e-01 -1.30279750e-03 2.57223749e+00] [-1.80063820e-02 6.68296244e-04 9.99837649e-01 4.13891898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.30, Y:2.57, Z:4.14 [[ 9.99201402e-01 3.54732997e-02 1.83903148e-02 3.40303906e+02] [-3.54547858e-02 9.99370394e-01 -1.33188538e-03 2.57120491e+00] [-1.84259826e-02 6.78797066e-04 9.99829997e-01 4.13888421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.33, Y:2.57, Z:4.14 [[ 9.99157877e-01 3.65908994e-02 1.85645469e-02 3.40333067e+02] [-3.65722598e-02 9.99330109e-01 -1.34266794e-03 2.57055530e+00] [-1.86012401e-02 6.62589818e-04 9.99826762e-01 4.13964195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.36, Y:2.57, Z:4.14 [[ 9.99127597e-01 3.71908249e-02 1.89970629e-02 3.40362126e+02] [-3.71714410e-02 9.99307961e-01 -1.37257356e-03 2.56884995e+00] [-1.90349633e-02 6.65227917e-04 9.99818597e-01 4.13892403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.39, Y:2.57, Z:4.14 [[ 9.99088763e-01 3.78656420e-02 1.96935769e-02 3.40389453e+02] [-3.78449689e-02 9.99282612e-01 -1.42150154e-03 2.56697509e+00] [-1.97332750e-02 6.74903413e-04 9.99805052e-01 4.13856022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.42, Y:2.57, Z:4.14 [[ 9.99085139e-01 3.80837723e-02 1.94553474e-02 3.40418611e+02] [-3.80636734e-02 9.99274332e-01 -1.40247803e-03 2.56501606e+00] [-1.94946409e-02 6.60652965e-04 9.99809743e-01 4.13760791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.45, Y:2.56, Z:4.14 [[ 9.99102880e-01 3.80607354e-02 1.85692357e-02 3.40447014e+02] [-3.80424447e-02 9.99275229e-01 -1.33737376e-03 2.56327647e+00] [-1.86066787e-02 6.29754852e-04 9.99826682e-01 4.13707645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.48, Y:2.56, Z:4.14 [[ 9.99130441e-01 3.78681492e-02 1.74460492e-02 3.40475291e+02] [-3.78519934e-02 9.99282568e-01 -1.25544252e-03 2.56250301e+00] [-1.74810741e-02 5.93983096e-04 9.99847018e-01 4.13631451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.50, Y:2.56, Z:4.14 [[ 9.99155632e-01 3.75417761e-02 1.66924421e-02 3.40504142e+02] [-3.75269673e-02 9.99294895e-01 -1.19961442e-03 2.56096181e+00] [-1.67257078e-02 5.72184775e-04 9.99859952e-01 4.13556451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.53, Y:2.56, Z:4.13 [[ 9.99197752e-01 3.67094762e-02 1.60083040e-02 3.40531851e+02] [-3.66957637e-02 9.99325822e-01 -1.14958444e-03 2.55960939e+00] [-1.60397122e-02 5.61225244e-04 9.99871198e-01 4.13488707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.56, Y:2.56, Z:4.13 [[ 9.99245259e-01 3.56494989e-02 1.54280750e-02 3.40559945e+02] [-3.56366583e-02 9.99364200e-01 -1.10649105e-03 2.55831842e+00] [-1.54577117e-02 5.55850902e-04 9.99880368e-01 4.13448461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.59, Y:2.56, Z:4.13 [[ 9.99345585e-01 3.31849556e-02 1.43930979e-02 3.40588344e+02] [-3.31735467e-02 9.99449075e-01 -1.03075644e-03 2.55696185e+00] [-1.44193740e-02 5.52611795e-04 9.99895883e-01 4.13453284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.62, Y:2.56, Z:4.13 [[ 9.99398672e-01 3.18713021e-02 1.36570637e-02 3.40616871e+02] [-3.18609198e-02 9.99491834e-01 -9.77168647e-04 2.55535527e+00] [-1.36812673e-02 5.41454434e-04 9.99906260e-01 4.13355128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.65, Y:2.55, Z:4.13 [[ 9.99456614e-01 3.04545126e-02 1.26095254e-02 3.40645460e+02] [-3.04455592e-02 9.99536020e-01 -9.01449457e-04 2.55399950e+00] [-1.26311280e-02 5.17055570e-04 9.99920090e-01 4.13288147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.67, Y:2.55, Z:4.13 [[ 9.99498960e-01 2.91437062e-02 1.23480161e-02 3.40674486e+02] [-2.91350309e-02 9.99575096e-01 -8.81912450e-04 2.55274526e+00] [-1.23684716e-02 5.21710747e-04 9.99923371e-01 4.13189216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.70, Y:2.55, Z:4.13 [[ 9.99545947e-01 2.74940313e-02 1.23279119e-02 3.40702715e+02] [-2.74852672e-02 9.99621822e-01 -8.79805529e-04 2.55320073e+00] [-1.23474392e-02 5.40570097e-04 9.99923621e-01 4.13230515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.73, Y:2.55, Z:4.13 [[ 9.99550795e-01 2.72774683e-02 1.24156476e-02 3.40730612e+02] [-2.72685769e-02 9.99627752e-01 -8.84898981e-04 2.55246243e+00] [-1.24351637e-02 5.45944439e-04 9.99922531e-01 4.13208443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.76, Y:2.55, Z:4.13 [[ 9.99532260e-01 2.78350594e-02 1.26677081e-02 3.40759400e+02] [-2.78258656e-02 9.99612379e-01 -9.01474750e-04 2.55162089e+00] [-1.26878904e-02 5.48563151e-04 9.99919355e-01 4.13173107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.79, Y:2.55, Z:4.13 [[ 9.99519150e-01 2.83264371e-02 1.26127919e-02 3.40787688e+02] [-2.83173704e-02 9.99598580e-01 -8.96895408e-04 2.55104442e+00] [-1.26331348e-02 5.39303035e-04 9.99920053e-01 4.13155171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.17509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.82, Y:2.55, Z:4.13 [[ 9.99464704e-01 3.03941187e-02 1.21038048e-02 3.40816391e+02] [-3.03859352e-02 9.99537871e-01 -8.59477617e-04 2.55149127e+00] [-1.21243344e-02 4.91232114e-04 9.99926377e-01 4.13091185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.85, Y:2.55, Z:4.13 [[ 9.99440780e-01 3.13498833e-02 1.16323832e-02 3.40845283e+02] [-3.13423983e-02 9.99508366e-01 -8.25250603e-04 2.55079589e+00] [-1.16525359e-02 4.60202319e-04 9.99932001e-01 4.13029583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.87, Y:2.55, Z:4.13 [[ 9.99408471e-01 3.23029190e-02 1.17995560e-02 3.40873788e+02] [-3.22952933e-02 9.99478021e-01 -8.36289347e-04 2.54999993e+00] [-1.18204115e-02 4.54724534e-04 9.99930033e-01 4.12954316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.90, Y:2.55, Z:4.13 [[ 9.99374275e-01 3.31897157e-02 1.22270660e-02 3.40901850e+02] [-3.31816025e-02 9.99448964e-01 -8.65866683e-04 2.55100082e+00] [-1.22490663e-02 4.59611245e-04 9.99924872e-01 4.12966522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.93, Y:2.55, Z:4.13 [[ 9.99370662e-01 3.32511925e-02 1.23546681e-02 3.40930864e+02] [-3.32429305e-02 9.99446919e-01 -8.73546521e-04 2.55051621e+00] [-1.23768814e-02 4.62291393e-04 9.99923297e-01 4.12946033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.96, Y:2.55, Z:4.13 [[ 9.99351579e-01 3.37734702e-02 1.24809320e-02 3.40959830e+02] [-3.37650906e-02 9.99429408e-01 -8.81560219e-04 2.54953836e+00] [-1.25035838e-02 4.59568797e-04 9.99921722e-01 4.12909631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.99, Y:2.55, Z:4.13 [[ 9.99331804e-01 3.44087969e-02 1.23280455e-02 3.40988900e+02] [-3.44006801e-02 9.99407743e-01 -8.69913562e-04 2.54809321e+00] [-1.23506768e-02 4.45239139e-04 9.99923628e-01 4.12799139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.02, Y:2.55, Z:4.13 [[ 9.99270407e-01 3.61251905e-02 1.23944992e-02 3.41017058e+02] [-3.61171263e-02 9.99347182e-01 -8.73922093e-04 2.54624404e+00] [-1.24179785e-02 4.25630793e-04 9.99922803e-01 4.12701680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.05, Y:2.54, Z:4.13 [[ 9.99240254e-01 3.70013712e-02 1.22398056e-02 3.41045210e+02] [-3.69935829e-02 9.99315131e-01 -8.62184709e-04 2.54460831e+00] [-1.22633250e-02 4.08735403e-04 9.99924719e-01 4.12640850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.07, Y:2.54, Z:4.13 [[ 9.99189335e-01 3.84782926e-02 1.18361451e-02 3.41072525e+02] [-3.84711207e-02 9.99259365e-01 -8.33101280e-04 2.54322437e+00] [-1.18594352e-02 3.77076146e-04 9.99929603e-01 4.12576618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.10, Y:2.54, Z:4.13 [[ 9.99174008e-01 3.89693193e-02 1.15192699e-02 3.41100039e+02] [-3.89625837e-02 9.99240343e-01 -8.08652734e-04 2.54150627e+00] [-1.15420318e-02 3.59164277e-04 9.99933324e-01 4.12521836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.13, Y:2.54, Z:4.12 [[ 9.99171425e-01 3.91489331e-02 1.11276256e-02 3.41128433e+02] [-3.91426705e-02 9.99233328e-01 -7.80108358e-04 2.53971201e+00] [-1.11496347e-02 3.43896998e-04 9.99937782e-01 4.12468329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.16, Y:2.54, Z:4.12 [[ 9.99193389e-01 3.87260321e-02 1.06238741e-02 3.41155470e+02] [-3.87203083e-02 9.99249811e-01 -7.43999089e-04 2.53825311e+00] [-1.06447163e-02 3.32039290e-04 9.99943288e-01 4.12388547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.18, Y:2.54, Z:4.12 [[ 9.99216868e-01 3.80919850e-02 1.07075228e-02 3.41183696e+02] [-3.80861525e-02 9.99274179e-01 -7.48173643e-04 2.53639845e+00] [-1.07282505e-02 3.39779379e-04 9.99942393e-01 4.12293094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.21, Y:2.54, Z:4.12 [[ 9.99285284e-01 3.60945395e-02 1.12296583e-02 3.41211816e+02] [-3.60880134e-02 9.99348309e-01 -7.83301370e-04 2.53514993e+00] [-1.12506129e-02 3.77485474e-04 9.99936639e-01 4.12297269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.24, Y:2.54, Z:4.12 [[ 9.99329809e-01 3.46081621e-02 1.19250839e-02 3.41237412e+02] [-3.44458894e-02 9.99314643e-01 -1.35545427e-02 2.54255702e+00] [-1.23860088e-02 1.31346884e-02 9.99837020e-01 4.12379468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.27, Y:2.53, Z:4.12 [[ 9.99327018e-01 3.42282362e-02 1.31886260e-02 3.41266007e+02] [-3.42008917e-02 9.99412347e-01 -2.29339299e-03 2.53448862e+00] [-1.32593744e-02 1.84078680e-03 9.99910396e-01 4.11832731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.30, Y:2.52, Z:4.12 [[ 9.99364253e-01 3.33579397e-02 1.25832047e-02 3.41296062e+02] [-3.35295245e-02 9.99344088e-01 1.36808087e-02 2.52134228e+00] [-1.21185876e-02 -1.40940200e-02 9.99827234e-01 4.11645198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.32, Y:2.53, Z:4.12 [[ 9.99355093e-01 3.37214593e-02 1.23394079e-02 3.41324072e+02] [-3.37134223e-02 9.99431172e-01 -8.58819771e-04 2.52596157e+00] [-1.23613496e-02 4.42262242e-04 9.99923498e-01 4.12061732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.35, Y:2.52, Z:4.12 [[ 9.99337882e-01 3.36683825e-02 1.37926414e-02 3.41351588e+02] [-3.36583636e-02 9.99432938e-01 -9.57951083e-04 2.52342981e+00] [-1.38170728e-02 4.93079069e-04 9.99904418e-01 4.12097135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.38, Y:2.53, Z:4.12 [[ 9.99307551e-01 3.40155564e-02 1.50785055e-02 3.41378556e+02] [-3.38080084e-02 9.99332899e-01 -1.38121482e-02 2.52984633e+00] [-1.55382745e-02 1.32928097e-02 9.99790910e-01 4.12076300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.41, Y:2.51, Z:4.11 [[ 9.99291357e-01 3.41783912e-02 1.57677528e-02 3.41407763e+02] [-3.43657572e-02 9.99340026e-01 1.17689393e-02 2.51299885e+00] [-1.53551030e-02 -1.23024701e-02 9.99806416e-01 4.11484346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.44, Y:2.52, Z:4.12 [[ 9.99272573e-01 3.49928888e-02 1.51599020e-02 3.41435951e+02] [-3.49810058e-02 9.99387427e-01 -1.04838117e-03 2.51728171e+00] [-1.51873014e-02 5.17309931e-04 9.99884532e-01 4.11836749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.46, Y:2.51, Z:4.12 [[ 9.99222096e-01 3.58265004e-02 1.64822506e-02 3.41464952e+02] [-3.58125978e-02 9.99357875e-01 -1.13796936e-03 2.51488455e+00] [-1.65124364e-02 5.46811918e-04 9.99863511e-01 4.11771100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.49, Y:2.51, Z:4.12 [[ 9.99200283e-01 3.61656856e-02 1.70539643e-02 3.41493669e+02] [-3.61508723e-02 9.99345651e-01 -1.17619588e-03 2.51266838e+00] [-1.70853430e-02 5.58739573e-04 9.99853879e-01 4.11704517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.52, Y:2.51, Z:4.12 [[ 9.99174959e-01 3.67713450e-02 1.72414817e-02 3.41522461e+02] [-3.67563155e-02 9.99323552e-01 -1.18789663e-03 2.50964231e+00] [-1.72734993e-02 5.53183230e-04 9.99850649e-01 4.11573952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.55, Y:2.51, Z:4.11 [[ 9.99166297e-01 3.72012092e-02 1.68161028e-02 3.41550667e+02] [-3.71869923e-02 9.99307654e-01 -1.15744299e-03 2.50698988e+00] [-1.68475185e-02 5.31137741e-04 9.99857929e-01 4.11462069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.58, Y:2.50, Z:4.11 [[ 9.99156895e-01 3.77279779e-02 1.61894678e-02 3.41578910e+02] [-3.77148881e-02 9.99287920e-01 -1.11320093e-03 2.50453200e+00] [-1.62199384e-02 5.01678416e-04 9.99868322e-01 4.11363811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.61, Y:2.50, Z:4.11 [[ 9.99139956e-01 3.82395035e-02 1.60339662e-02 3.41606551e+02] [-3.82267456e-02 9.99268484e-01 -1.10152093e-03 2.50234629e+00] [-1.60643587e-02 4.87647226e-04 9.99870841e-01 4.11269434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.64, Y:2.50, Z:4.11 [[ 9.99112728e-01 3.91184593e-02 1.56045741e-02 3.41635450e+02] [-3.91065062e-02 9.99234475e-01 -1.07052520e-03 2.50039409e+00] [-1.56345057e-02 4.59334979e-04 9.99877668e-01 4.11198444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.66, Y:2.50, Z:4.11 [[ 9.99014552e-01 4.17821961e-02 1.49723942e-02 3.41663256e+02] [-4.17715034e-02 9.99126663e-01 -1.02631889e-03 2.49868006e+00] [-1.50022001e-02 3.99888088e-04 9.99887381e-01 4.11189163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.69, Y:2.50, Z:4.11 [[ 9.99018227e-01 4.16942107e-02 1.49724864e-02 3.41691651e+02] [-4.16835282e-02 9.99130338e-01 -1.02497129e-03 2.49682672e+00] [-1.50022008e-02 3.99858946e-04 9.99887381e-01 4.11117931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.72, Y:2.49, Z:4.11 [[ 9.98938270e-01 4.35070528e-02 1.51482266e-02 3.41719546e+02] [-4.34963446e-02 9.99053049e-01 -1.03580127e-03 2.49499394e+00] [-1.51789467e-02 3.75809044e-04 9.99884723e-01 4.11061001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.75, Y:2.49, Z:4.11 [[ 9.98763234e-01 4.73454346e-02 1.51793544e-02 3.41747095e+02] [-4.73351496e-02 9.98878526e-01 -1.03632848e-03 2.49271205e+00] [-1.52113966e-02 3.16529768e-04 9.99884250e-01 4.11002569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.78, Y:2.49, Z:4.11 [[ 9.98653776e-01 4.94648259e-02 1.56162062e-02 3.41775292e+02] [-4.94542264e-02 9.98775824e-01 -1.06442490e-03 2.49048804e+00] [-1.56497408e-02 2.90704554e-04 9.99877493e-01 4.10959923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.80, Y:2.49, Z:4.11 [[ 9.98555569e-01 5.13479202e-02 1.58166799e-02 3.41802748e+02] [-5.13373095e-02 9.98680791e-01 -1.07641570e-03 2.48836504e+00] [-1.58510861e-02 2.62875100e-04 9.99874329e-01 4.10929778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.83, Y:2.49, Z:4.11 [[ 9.98469254e-01 5.29628360e-02 1.59401129e-02 3.41830075e+02] [-5.29522903e-02 9.98596456e-01 -1.08321250e-03 2.48643747e+00] [-1.59751103e-02 2.37488887e-04 9.99872362e-01 4.10882808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.86, Y:2.48, Z:4.11 [[ 9.98411185e-01 5.41640023e-02 1.55359862e-02 3.41857858e+02] [-5.41541620e-02 9.98532031e-01 -1.05368924e-03 2.48453287e+00] [-1.55702519e-02 2.10676810e-04 9.99878754e-01 4.10881087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.89, Y:2.48, Z:4.11 [[ 9.98334553e-01 5.56137684e-02 1.53371532e-02 3.41885470e+02] [-5.56043742e-02 9.98452340e-01 -1.03859992e-03 2.48183075e+00] [-1.53711770e-02 1.84057383e-04 9.99881840e-01 4.10901512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.91, Y:2.48, Z:4.11 [[ 9.98317214e-01 5.57815799e-02 1.58479046e-02 3.41913539e+02] [-5.57715982e-02 9.98442978e-01 -1.07144797e-03 2.47866732e+00] [-1.58829962e-02 1.85781978e-04 9.99873840e-01 4.10854069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.94, Y:2.48, Z:4.11 [[ 9.98337445e-01 5.52533419e-02 1.64138597e-02 3.41939849e+02] [-5.52425917e-02 9.98472347e-01 -1.10797349e-03 2.47561543e+00] [-1.64500043e-02 1.99387274e-04 9.99864670e-01 4.10826780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.97, Y:2.47, Z:4.11 [[ 9.98421950e-01 5.36898297e-02 1.64624424e-02 3.41967705e+02] [-5.36788406e-02 9.98557636e-01 -1.10899154e-03 2.47019506e+00] [-1.64982391e-02 2.23556681e-04 9.99863870e-01 4.10754573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.00, Y:2.47, Z:4.11 [[ 9.98507703e-01 5.22671214e-02 1.58276377e-02 3.41995271e+02] [-5.22568093e-02 9.98633112e-01 -1.06468567e-03 2.46666579e+00] [-1.58616511e-02 2.35995003e-04 9.99874168e-01 4.10720366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.02, Y:2.46, Z:4.11 [[ 9.98587898e-01 5.09341014e-02 1.50972569e-02 3.42023510e+02] [-5.09245890e-02 9.98701987e-01 -1.01408387e-03 2.46318416e+00] [-1.51293119e-02 2.43830276e-04 9.99885516e-01 4.10648266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.05, Y:2.46, Z:4.11 [[ 9.98800992e-01 4.69121406e-02 1.39939253e-02 3.42051061e+02] [-4.69035917e-02 9.98898980e-01 -9.38652650e-04 2.45898083e+00] [-1.40225519e-02 2.81161840e-04 9.99901640e-01 4.10584772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.08, Y:2.46, Z:4.11 [[ 9.98932662e-01 4.43711223e-02 1.28351278e-02 3.42078059e+02] [-4.43637334e-02 9.99015075e-01 -8.59963870e-04 2.45633716e+00] [-1.28606438e-02 2.89631808e-04 9.99917257e-01 4.10548118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.11, Y:2.45, Z:4.10 [[ 9.99048577e-01 4.18365935e-02 1.23142034e-02 3.42106010e+02] [-4.18296201e-02 9.99124419e-01 -8.23414670e-04 2.45328603e+00] [-1.23378702e-02 3.07532806e-04 9.99923838e-01 4.10433109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.13, Y:2.45, Z:4.10 [[ 9.99280367e-01 3.65092773e-02 1.02868860e-02 3.42133314e+02] [-3.65041387e-02 9.99333266e-01 -6.86913850e-04 2.44866134e+00] [-1.03051061e-02 3.10905611e-04 9.99946853e-01 4.10310874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.16, Y:2.45, Z:4.10 [[ 9.99391668e-01 3.35769053e-02 9.42792727e-03 3.42161392e+02] [-3.35724624e-02 9.99436088e-01 -6.29158919e-04 2.44562472e+00] [-9.44373596e-03 3.12257448e-04 9.99955358e-01 4.10249357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.19, Y:2.44, Z:4.10 [[ 9.99484936e-01 3.06882663e-02 9.38577995e-03 3.42189581e+02] [-3.06837452e-02 9.99528947e-01 -6.25352368e-04 2.44276557e+00] [-9.40054973e-03 3.37039392e-04 9.99955757e-01 4.10193361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.22, Y:2.44, Z:4.10 [[ 9.99621322e-01 2.56925798e-02 9.85417020e-03 3.42218170e+02] [-2.56873706e-02 9.99669811e-01 -6.54862639e-04 2.43968986e+00] [-9.86774156e-03 4.01486935e-04 9.99951232e-01 4.10172510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.25, Y:2.44, Z:4.10 [[ 9.99677765e-01 2.32903976e-02 1.00957169e-02 3.42246783e+02] [-2.32848149e-02 9.99728647e-01 -6.70178777e-04 2.43750826e+00] [-1.01085862e-02 4.34885921e-04 9.99948812e-01 4.10176290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.28, Y:2.44, Z:4.10 [[ 9.99709178e-01 2.16077362e-02 1.07081524e-02 3.42275841e+02] [-2.16013713e-02 9.99766411e-01 -7.09709745e-04 2.43534352e+00] [-1.07209863e-02 4.78192571e-04 9.99942414e-01 4.10161345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.30, Y:2.43, Z:4.10 [[ 9.99760068e-01 1.90181868e-02 1.08680481e-02 3.42304198e+02] [-1.90114813e-02 9.99819006e-01 -7.19982319e-04 2.43312473e+00] [-1.08797738e-02 5.13191880e-04 9.99940682e-01 4.10106418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.33, Y:2.43, Z:4.10 [[ 9.99778769e-01 1.79730883e-02 1.09261475e-02 3.42332584e+02] [-1.79662624e-02 9.99838333e-01 -7.22563827e-04 2.43126406e+00] [-1.09373678e-02 5.26101939e-04 9.99940047e-01 4.10044964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.36, Y:2.43, Z:4.10 [[ 9.99798629e-01 1.63157870e-02 1.16831606e-02 3.42361711e+02] [-1.63078761e-02 9.99866720e-01 -7.72080211e-04 2.42894294e+00] [-1.16942005e-02 5.81397201e-04 9.99931451e-01 4.09993383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.39, Y:2.43, Z:4.10 [[ 9.99807973e-01 1.53691674e-02 1.21575207e-02 3.42392047e+02] [-1.53605452e-02 9.99881698e-01 -8.02271979e-04 2.42645019e+00] [-1.21684127e-02 6.15371776e-04 9.99925773e-01 4.09943154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.42, Y:2.42, Z:4.10 [[ 9.99807702e-01 1.53868159e-02 1.21575065e-02 3.42422977e+02] [-1.53781924e-02 9.99881427e-01 -8.02486949e-04 2.42441003e+00] [-1.21684126e-02 6.15372159e-04 9.99925773e-01 4.09865661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.45, Y:2.42, Z:4.10 [[ 9.99830613e-01 1.30140774e-02 1.30145375e-02 3.42454374e+02] [-1.30039942e-02 9.99915075e-01 -8.59095122e-04 2.42167235e+00] [-1.30246126e-02 6.89708632e-04 9.99914938e-01 4.09807795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.49, Y:2.42, Z:4.10 [[ 9.99843293e-01 1.16827824e-02 1.33004518e-02 3.42485879e+02] [-1.16721637e-02 9.99931495e-01 -8.75724984e-04 2.41890224e+00] [-1.33097715e-02 7.20342701e-04 9.99911162e-01 4.09717519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.52, Y:2.42, Z:4.10 [[ 9.99879597e-01 8.20888673e-03 1.31683917e-02 3.42519055e+02] [-8.19813408e-03 9.99966016e-01 -8.70323665e-04 2.41551393e+00] [-1.31750886e-02 7.62262634e-04 9.99912914e-01 4.09635740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.55, Y:2.41, Z:4.09 [[ 9.99901545e-01 7.15907267e-03 1.20684623e-02 3.42550895e+02] [-7.14992682e-03 9.99974118e-01 -8.00806529e-04 2.41280592e+00] [-1.20738830e-02 7.14439063e-04 9.99926853e-01 4.09483512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.58, Y:2.41, Z:4.09 [[ 9.99925880e-01 5.86515354e-03 1.06693420e-02 3.42584164e+02] [-5.85791248e-03 9.99982590e-01 -7.09803082e-04 2.41036071e+00] [-1.06733194e-02 6.47250399e-04 9.99942829e-01 4.09332259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.62, Y:2.41, Z:4.09 [[ 9.99954035e-01 3.60118298e-03 8.88594872e-03 3.42616559e+02] [-3.59605618e-03 9.99993358e-01 -5.92865247e-04 2.40752130e+00] [-8.88802472e-03 5.60883625e-04 9.99960343e-01 4.09213188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.65, Y:2.41, Z:4.09 [[ 9.99958297e-01 2.94564154e-03 8.64454354e-03 3.42649568e+02] [-2.94074888e-03 9.99995509e-01 -5.78638335e-04 2.40516096e+00] [-8.64620917e-03 5.53192772e-04 9.99962468e-01 4.09129850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.68, Y:2.40, Z:4.09 [[ 9.99964080e-01 2.56242374e-03 8.07917980e-03 3.42681449e+02] [-2.55811993e-03 9.99996581e-01 -5.42993018e-04 2.40300892e+00] [-8.08054355e-03 5.22306003e-04 9.99967215e-01 4.09091248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.71, Y:2.40, Z:4.09 [[ 9.99959967e-01 3.19352935e-03 8.35855841e-03 3.42714708e+02] [-3.18892665e-03 9.99994756e-01 -5.63927346e-04 2.40074486e+00] [-8.36031550e-03 5.37249941e-04 9.99964908e-01 4.09019148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.75, Y:2.40, Z:4.09 [[ 9.99951732e-01 3.97661147e-03 8.98441984e-03 3.42747475e+02] [-3.97127177e-03 9.99991927e-01 -6.12090463e-04 2.39870697e+00] [-8.98678135e-03 5.76381345e-04 9.99959452e-01 4.08970590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.78, Y:2.40, Z:4.09 [[ 9.99939952e-01 5.10914208e-03 9.69477831e-03 3.42779378e+02] [-5.10298909e-03 9.99986762e-01 -6.59300427e-04 2.39700146e+00] [-9.69801843e-03 6.09788490e-04 9.99952787e-01 4.08951866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.81, Y:2.40, Z:4.09 [[ 9.99911960e-01 8.48269373e-03 1.02037691e-02 3.42812063e+02] [-8.47599069e-03 9.99963833e-01 -6.99984567e-04 2.39617204e+00] [-1.02093378e-02 6.13435889e-04 9.99947695e-01 4.08916304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.84, Y:2.39, Z:4.09 [[ 9.99896296e-01 1.02332154e-02 1.01330692e-02 3.42844532e+02] [-1.02267145e-02 9.99947466e-01 -6.93160724e-04 2.39464153e+00] [-1.01396301e-02 5.89460834e-04 9.99948419e-01 4.08873907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.88, Y:2.39, Z:4.09 [[ 9.99873709e-01 1.22128179e-02 1.01692571e-02 3.42875561e+02] [-1.22063430e-02 9.99925256e-01 -6.98537037e-04 2.39286918e+00] [-1.01770281e-02 5.74319377e-04 9.99948048e-01 4.08834634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.91, Y:2.39, Z:4.09 [[ 9.99836638e-01 1.49019437e-02 1.02288098e-02 3.42907160e+02] [-1.48954784e-02 9.99888806e-01 -7.07965477e-04 2.39077966e+00] [-1.02382225e-02 5.55486808e-04 9.99947434e-01 4.08736477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.94, Y:2.39, Z:4.09 [[ 9.99817685e-01 1.59662364e-02 1.04726362e-02 3.42936955e+02] [-1.59595104e-02 9.99872376e-01 -7.25511467e-04 2.38833796e+00] [-1.04828834e-02 5.58241048e-04 9.99944897e-01 4.08638805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.97, Y:2.39, Z:4.09 [[ 9.99791380e-01 1.77472325e-02 1.01109584e-02 3.42967768e+02] [-1.77410495e-02 9.99842370e-01 -7.00890098e-04 2.38562866e+00] [-1.01218034e-02 5.21364865e-04 9.99948637e-01 4.08551498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.00, Y:2.38, Z:4.09 [[ 9.99780985e-01 1.85519220e-02 9.68546720e-03 3.42997196e+02] [-1.85462808e-02 9.99827777e-01 -6.71936746e-04 2.38368874e+00] [-9.69626486e-03 4.92160188e-04 9.99952869e-01 4.08530633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.03, Y:2.38, Z:4.08 [[ 9.99768265e-01 1.91883839e-02 9.75817924e-03 3.43027248e+02] [-1.91826914e-02 9.99815766e-01 -6.76627219e-04 2.38166661e+00] [-9.76936484e-03 4.89282280e-04 9.99952159e-01 4.08464342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.06, Y:2.38, Z:4.08 [[ 9.99762495e-01 1.96680474e-02 9.38726036e-03 3.43055648e+02] [-1.96628009e-02 9.99806457e-01 -6.50878032e-04 2.37962048e+00] [-9.39824502e-03 4.66143615e-04 9.99955727e-01 4.08427064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.08, Y:2.38, Z:4.08 [[ 9.99768919e-01 1.97351633e-02 8.52244105e-03 3.43084116e+02] [-1.97308418e-02 9.99805153e-01 -5.90869042e-04 2.37734388e+00] [-8.53244138e-03 4.22577568e-04 9.99963509e-01 4.08411387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.11, Y:2.38, Z:4.08 [[ 9.99777563e-01 1.92577463e-02 8.60016902e-03 3.43112626e+02] [-1.92533329e-02 9.99814460e-01 -5.95676938e-04 2.37534774e+00] [-8.61004474e-03 4.29962520e-04 9.99962840e-01 4.08359109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.14, Y:2.37, Z:4.08 [[ 9.99785934e-01 1.89177139e-02 8.37888417e-03 3.43141388e+02] [-1.89135174e-02 9.99820955e-01 -5.79808607e-04 2.37327583e+00] [-8.38835263e-03 4.21210319e-04 9.99964728e-01 4.08276200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.17, Y:2.37, Z:4.08 [[ 9.99794978e-01 1.84814199e-02 8.27274245e-03 3.43169262e+02] [-1.84773162e-02 9.99829116e-01 -5.72207964e-04 2.37141113e+00] [-8.28190399e-03 4.19232570e-04 9.99965617e-01 4.08228561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.20, Y:2.37, Z:4.08 [[ 9.99797885e-01 1.83049863e-02 8.31369645e-03 3.43197751e+02] [-1.83008452e-02 9.99832361e-01 -5.73917411e-04 2.36953948e+00] [-8.32280830e-03 4.21653741e-04 9.99965276e-01 4.08179118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.23, Y:2.37, Z:4.08 [[ 9.99793586e-01 1.83488048e-02 8.72395578e-03 3.43226107e+02] [-1.83442570e-02 9.99831549e-01 -6.01029503e-04 2.36778751e+00] [-8.73351439e-03 4.40870955e-04 9.99961765e-01 4.08121704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.25, Y:2.37, Z:4.08 [[ 9.99769350e-01 1.90714357e-02 9.87557288e-03 3.43254498e+02] [-1.90656447e-02 9.99818003e-01 -6.80224946e-04 2.36669374e+00] [-9.88674842e-03 4.91783889e-04 9.99951004e-01 4.08113068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.28, Y:2.37, Z:4.08 [[ 9.99753499e-01 1.95767743e-02 1.04733850e-02 3.43283350e+02] [-1.95702974e-02 9.99808224e-01 -7.20556079e-04 2.36533355e+00] [-1.04854826e-02 5.15411202e-04 9.99944893e-01 4.08101519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.31, Y:2.36, Z:4.08 [[ 9.99710779e-01 2.09917869e-02 1.17347302e-02 3.43312565e+02] [-2.09837711e-02 9.99779492e-01 -8.05808468e-04 2.36349334e+00] [-1.17490579e-02 5.59336519e-04 9.99930821e-01 4.08080380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.34, Y:2.36, Z:4.08 [[ 9.99711904e-01 2.09381099e-02 1.17347428e-02 3.43341804e+02] [-2.09300925e-02 9.99780617e-01 -8.05624214e-04 2.36154766e+00] [-1.17490367e-02 5.59782865e-04 9.99930821e-01 4.08007077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.37, Y:2.36, Z:4.08 [[ 9.99687724e-01 2.19969714e-02 1.18570086e-02 3.43371139e+02] [-2.19888710e-02 9.99757885e-01 -8.13127239e-04 2.36000748e+00] [-1.18720242e-02 5.52151086e-04 9.99929373e-01 4.07955386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.40, Y:2.36, Z:4.08 [[ 9.99686099e-01 2.20384319e-02 1.19168700e-02 3.43399886e+02] [-2.20302517e-02 9.99756971e-01 -8.17284740e-04 2.35853683e+00] [-1.19319855e-02 5.54496547e-04 9.99928658e-01 4.07907509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.43, Y:2.36, Z:4.08 [[ 9.99684794e-01 2.20365668e-02 1.20292244e-02 3.43428643e+02] [-2.20282452e-02 9.99757009e-01 -8.23854298e-04 2.35636310e+00] [-1.20444563e-02 5.58611911e-04 9.99927307e-01 4.07861820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.46, Y:2.36, Z:4.08 [[ 9.99732459e-01 2.01769763e-02 1.13093096e-02 3.43457188e+02] [-2.02074375e-02 9.99792465e-01 2.58568244e-03 2.35534793e+00] [-1.12547913e-02 -2.81352283e-03 9.99932705e-01 4.07822299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.49, Y:2.35, Z:4.08 [[ 9.99685525e-01 2.21820161e-02 1.16965413e-02 3.43489121e+02] [-2.21364706e-02 9.99746920e-01 -4.00913519e-03 2.35295361e+00] [-1.17825118e-02 3.74895428e-03 9.99923556e-01 4.07812941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.52, Y:2.35, Z:4.08 [[ 9.99691651e-01 2.21241599e-02 1.12749199e-02 3.43517804e+02] [-2.21168349e-02 9.99755093e-01 -7.73967301e-04 2.34956755e+00] [-1.12892819e-02 5.24363108e-04 9.99936137e-01 4.07609819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.55, Y:2.35, Z:4.07 [[ 9.99697705e-01 2.21921597e-02 1.05833349e-02 3.43546316e+02] [-2.21857160e-02 9.99753603e-01 -7.25888669e-04 2.34832880e+00] [-1.05968362e-02 4.90870375e-04 9.99943731e-01 4.07494837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.58, Y:2.35, Z:4.07 [[ 9.99698869e-01 2.21396113e-02 1.05834027e-02 3.43575556e+02] [-2.21331750e-02 9.99754768e-01 -7.24897788e-04 2.34638940e+00] [-1.05968563e-02 4.90435195e-04 9.99943731e-01 4.07421501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.60, Y:2.34, Z:4.07 [[ 9.99700031e-01 2.20870736e-02 1.05834407e-02 3.43604796e+02] [-2.20806403e-02 9.99755931e-01 -7.24341621e-04 2.34445174e+00] [-1.05968562e-02 4.90435193e-04 9.99943731e-01 4.07348180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.63, Y:2.34, Z:4.07 [[ 9.99705834e-01 2.22426226e-02 9.67012548e-03 3.43633125e+02] [-2.22372600e-02 9.99752503e-01 -6.61729124e-04 2.34331212e+00] [-9.68245074e-03 4.46497371e-04 9.99953024e-01 4.07264334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.66, Y:2.34, Z:4.07 [[ 9.99706425e-01 2.24150376e-02 9.19939969e-03 3.43662162e+02] [-2.24101970e-02 9.99748662e-01 -6.28946241e-04 2.34142396e+00] [-9.21118539e-03 4.22601239e-04 9.99957487e-01 4.07152489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.69, Y:2.34, Z:4.07 [[ 9.99707438e-01 2.25733101e-02 8.68819344e-03 3.43690275e+02] [-2.25690006e-02 9.99745111e-01 -5.93749410e-04 2.33989767e+00] [-8.69938181e-03 3.97491858e-04 9.99962081e-01 4.07075497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.72, Y:2.34, Z:4.07 [[ 9.99679689e-01 2.38997334e-02 8.32605042e-03 3.43717780e+02] [-2.38958265e-02 9.99714292e-01 -5.68419340e-04 2.33904291e+00] [-8.33725667e-03 3.69279412e-04 9.99965176e-01 4.06978203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.75, Y:2.34, Z:4.07 [[ 9.99655372e-01 2.49328428e-02 8.21529633e-03 3.43746940e+02] [-2.49290832e-02 9.99689065e-01 -5.59734404e-04 2.33794349e+00] [-8.22669768e-03 3.54741698e-04 9.99966097e-01 4.06906999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.78, Y:2.34, Z:4.07 [[ 9.99584130e-01 2.74648698e-02 8.78906759e-03 3.43775011e+02] [-2.74606686e-02 9.99622706e-01 -5.98354187e-04 2.33765353e+00] [-8.80218525e-03 3.56751677e-04 9.99961196e-01 4.06883735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.80, Y:2.34, Z:4.07 [[ 9.99537732e-01 2.89936805e-02 9.14812159e-03 3.43804239e+02] [-2.89892035e-02 9.99579531e-01 -6.21638009e-04 2.33673185e+00] [-9.16229867e-03 3.56153887e-04 9.99957962e-01 4.06841433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.83, Y:2.34, Z:4.07 [[ 9.99470803e-01 3.10125520e-02 9.81504399e-03 3.43832062e+02] [-3.10074995e-02 9.99518930e-01 -6.66571932e-04 2.33555407e+00] [-9.83099436e-03 3.61879213e-04 9.99951609e-01 4.06788802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.86, Y:2.33, Z:4.07 [[ 9.99406951e-01 3.27643542e-02 1.05945258e-02 3.43860992e+02] [-3.27585830e-02 9.99463036e-01 -7.17860334e-04 2.33457675e+00] [-1.06123572e-02 3.70372953e-04 9.99943619e-01 4.06716226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.89, Y:2.33, Z:4.07 [[ 9.99334427e-01 3.47974951e-02 1.09470253e-02 3.43888774e+02] [-3.47914618e-02 9.99394319e-01 -7.41144962e-04 2.33343418e+00] [-1.09661849e-02 3.59788663e-04 9.99939805e-01 4.06656647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.92, Y:2.33, Z:4.07 [[ 9.99266852e-01 3.64849034e-02 1.16021741e-02 3.43916308e+02] [-3.64782503e-02 9.99334139e-01 -7.84609539e-04 2.33215397e+00] [-1.16230750e-02 3.60807293e-04 9.99932385e-01 4.06573987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.94, Y:2.33, Z:4.07 [[ 9.99177947e-01 3.87939836e-02 1.17667499e-02 3.43943276e+02] [-3.87873130e-02 9.99247173e-01 -7.94661266e-04 2.33157016e+00] [-1.17887197e-02 3.37607400e-04 9.99930454e-01 4.06557134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.97, Y:2.33, Z:4.06 [[ 9.99151479e-01 3.91452150e-02 1.28052620e-02 3.43971549e+02] [-3.91373709e-02 9.99233467e-01 -8.62682771e-04 2.33005305e+00] [-1.28292163e-02 3.60786476e-04 9.99917637e-01 4.06471544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.00, Y:2.33, Z:4.06 [[ 9.99151827e-01 3.90222935e-02 1.31486697e-02 3.43999612e+02] [-3.90140310e-02 9.99238272e-01 -8.84403170e-04 2.32810598e+00] [-1.31731655e-02 3.70670434e-04 9.99913161e-01 4.06395854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.02, Y:2.32, Z:4.06 [[ 9.99357155e-01 3.46169549e-02 9.32435659e-03 3.44023166e+02] [-3.47954601e-02 9.99199973e-01 1.97152109e-02 2.32030678e+00] [-8.63441629e-03 -2.00269824e-02 9.99762155e-01 4.06429606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.06, Y:2.33, Z:4.07 [[ 9.99213302e-01 3.77613645e-02 1.21184043e-02 3.44056268e+02] [-3.75024349e-02 9.99077402e-01 -2.09263689e-02 2.33295278e+00] [-1.28974321e-02 2.04554365e-02 9.99707573e-01 4.06878032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.08, Y:2.32, Z:4.06 [[ 9.99245649e-01 3.64974269e-02 1.32691434e-02 3.44083804e+02] [-3.64888443e-02 9.99333665e-01 -8.88412195e-04 2.32106867e+00] [-1.32927265e-02 4.03566313e-04 9.99911566e-01 4.06161215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.11, Y:2.32, Z:4.06 [[ 9.99262171e-01 3.59765265e-02 1.34463176e-02 3.44112450e+02] [-3.59676920e-02 9.99352549e-01 -8.98352415e-04 2.31912908e+00] [-1.34699314e-02 4.14056573e-04 9.99909191e-01 4.06090908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.14, Y:2.32, Z:4.06 [[ 9.99256288e-01 3.62080360e-02 1.32607758e-02 3.44139915e+02] [-3.61994737e-02 9.99344192e-01 -8.85228550e-04 2.31736071e+00] [-1.32841317e-02 4.04537089e-04 9.99911680e-01 4.06003042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.17, Y:2.32, Z:4.06 [[ 9.99246599e-01 3.66204764e-02 1.28520200e-02 3.44168770e+02] [-3.66124846e-02 9.99329171e-01 -8.56645101e-04 2.31575462e+00] [-1.28747693e-02 3.85455320e-04 9.99917042e-01 4.05921906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.20, Y:2.31, Z:4.06 [[ 9.99222841e-01 3.73001602e-02 1.27440864e-02 3.44196267e+02] [-3.72923649e-02 9.99304037e-01 -8.48854746e-04 2.31397804e+00] [-1.27668794e-02 3.72937930e-04 9.99918431e-01 4.05852273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.22, Y:2.31, Z:4.06 [[ 9.99144146e-01 3.88214626e-02 1.42782695e-02 3.44224583e+02] [-3.88118542e-02 9.99246085e-01 -9.49521687e-04 2.31185261e+00] [-1.43043667e-02 3.94542920e-04 9.99897609e-01 4.05780809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.25, Y:2.31, Z:4.06 [[ 9.99087179e-01 3.97533551e-02 1.56358154e-02 3.44253737e+02] [-3.97419819e-02 9.99209437e-01 -1.03754997e-03 2.30998621e+00] [-1.56647004e-02 4.15204585e-04 9.99877215e-01 4.05703613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.28, Y:2.31, Z:4.06 [[ 9.99026456e-01 4.09164393e-02 1.64919761e-02 3.44282668e+02] [-4.09039662e-02 9.99162485e-01 -1.09306348e-03 2.30831576e+00] [-1.65228880e-02 4.17412102e-04 9.99863401e-01 4.05665269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.31, Y:2.31, Z:4.06 [[ 9.98857067e-01 4.42228938e-02 1.81354590e-02 3.44310011e+02] [-4.42083799e-02 9.99021610e-01 -1.20062121e-03 2.30698575e+00] [-1.81708104e-02 3.97509724e-04 9.99834818e-01 4.05715029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.34, Y:2.31, Z:4.06 [[ 9.98761781e-01 4.59179879e-02 1.91426945e-02 3.44337795e+02] [-4.59021626e-02 9.98945139e-01 -1.26550102e-03 2.30540538e+00] [-1.91806108e-02 3.85242982e-04 9.99815961e-01 4.05699396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.37, Y:2.30, Z:4.06 [[ 9.98673581e-01 4.74771841e-02 1.99247303e-02 3.44365900e+02] [-4.74603882e-02 9.98872255e-01 -1.31525662e-03 2.30365562e+00] [-1.99647049e-02 3.67876604e-04 9.99800618e-01 4.05662449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.39, Y:2.30, Z:4.06 [[ 9.98596323e-01 4.88926516e-02 2.03688923e-02 3.44394116e+02] [-4.88754379e-02 9.98803980e-01 -1.34236421e-03 2.30147906e+00] [-2.04101624e-02 3.44941431e-04 9.99791631e-01 4.05607128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.42, Y:2.30, Z:4.06 [[ 9.98517717e-01 5.05595245e-02 2.01519819e-02 3.44422338e+02] [-5.05430573e-02 9.98721003e-01 -1.32596142e-03 2.29861673e+00] [-2.01932475e-02 3.05453193e-04 9.99796049e-01 4.05529477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.45, Y:2.30, Z:4.05 [[ 9.98531931e-01 5.06186360e-02 1.92804853e-02 3.44450454e+02] [-5.06036104e-02 9.98718013e-01 -1.26671247e-03 2.29526793e+00] [-1.93198872e-02 2.89190682e-04 9.99813312e-01 4.05400363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.48, Y:2.29, Z:4.05 [[ 9.98592218e-01 4.96243856e-02 1.87350757e-02 3.44478231e+02] [-4.96100597e-02 9.98767907e-01 -1.22893588e-03 2.29235154e+00] [-1.87729775e-02 2.97757584e-04 9.99823728e-01 4.05293416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.51, Y:2.29, Z:4.05 [[ 9.98675586e-01 4.80454676e-02 1.84040076e-02 3.44506363e+02] [-4.80314116e-02 9.98845099e-01 -1.20526082e-03 2.28899930e+00] [-1.84406601e-02 3.19694093e-04 9.99829905e-01 4.05191046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.53, Y:2.29, Z:4.05 [[ 9.98975312e-01 4.26207958e-02 1.52247823e-02 3.44530015e+02] [-4.27154388e-02 9.99069585e-01 5.94609532e-03 2.28783616e+00] [-1.49571896e-02 -6.59033568e-03 9.99866416e-01 4.05351616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.56, Y:2.29, Z:4.05 [[ 9.98872037e-01 4.41409103e-02 1.74995120e-02 3.44562506e+02] [-4.40099550e-02 9.99000648e-01 -7.79933530e-03 2.28571591e+00] [-1.78262936e-02 7.02038521e-03 9.99816452e-01 4.05279486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.59, Y:2.28, Z:4.05 [[ 9.99275755e-01 3.57218587e-02 1.31116087e-02 3.44585763e+02] [-3.58936115e-02 9.99269669e-01 1.31063884e-02 2.27803893e+00] [-1.26338483e-02 -1.35675192e-02 9.99828139e-01 4.05280679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.62, Y:2.28, Z:4.05 [[ 9.99107696e-01 3.89283773e-02 1.63827161e-02 3.44622455e+02] [-3.86900641e-02 9.99144292e-01 -1.46206075e-02 2.28098354e+00] [-1.69378538e-02 1.39737132e-02 9.99758893e-01 4.05358863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.65, Y:2.27, Z:4.05 [[ 9.99174772e-01 3.68604115e-02 1.70612355e-02 3.44649704e+02] [-3.68467353e-02 9.99320306e-01 -1.11535736e-03 2.27164571e+00] [-1.70907516e-02 4.85786109e-04 9.99853824e-01 4.04833957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.67, Y:2.27, Z:4.05 [[ 9.99526249e-01 2.87375812e-02 1.10195195e-02 3.44673936e+02] [-2.89474382e-02 9.99392996e-01 1.93825949e-02 2.26558326e+00] [-1.04558217e-02 -1.96923992e-02 9.99751412e-01 4.05051671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.71, Y:2.27, Z:4.05 [[ 9.99350155e-01 3.28060067e-02 1.49342917e-02 3.44709962e+02] [-3.24928347e-02 9.99256536e-01 -2.07507096e-02 2.27403566e+00] [-1.56039365e-02 2.02519674e-02 9.99673134e-01 4.05282711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.74, Y:2.26, Z:4.05 [[ 9.99393435e-01 3.07762904e-02 1.62967132e-02 3.44737898e+02] [-3.07630364e-02 9.99526140e-01 -1.06341248e-03 2.26188966e+00] [-1.63217187e-02 5.61431067e-04 9.99866634e-01 4.04591842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.77, Y:2.26, Z:4.05 [[ 9.99451792e-01 2.84497490e-02 1.69329948e-02 3.44766728e+02] [-2.84351309e-02 9.99595031e-01 -1.10347999e-03 2.25833255e+00] [-1.69575312e-02 6.21383126e-04 9.99856018e-01 4.04501289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.80, Y:2.26, Z:4.04 [[ 9.99467774e-01 2.77163539e-02 1.72038640e-02 3.44796294e+02] [-2.77011747e-02 9.99615621e-01 -1.12003470e-03 2.25564348e+00] [-1.72282945e-02 6.42871342e-04 9.99851375e-01 4.04445822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.83, Y:2.25, Z:4.04 [[ 9.99464376e-01 2.73841636e-02 1.79183843e-02 3.44826092e+02] [-2.73676584e-02 9.99624756e-01 -1.16574593e-03 2.25288576e+00] [-1.79435835e-02 6.74737311e-04 9.99838773e-01 4.04373588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.86, Y:2.25, Z:4.04 [[ 9.99440718e-01 2.72098572e-02 1.94389790e-02 3.44856241e+02] [-2.71904077e-02 9.99629473e-01 -1.26419047e-03 2.25004950e+00] [-1.94661747e-02 7.34929672e-04 9.99810246e-01 4.04348471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.89, Y:2.25, Z:4.04 [[ 9.99427901e-01 2.74930333e-02 1.96977878e-02 3.44886622e+02] [-2.74731269e-02 9.99621722e-01 -1.28053936e-03 2.24799771e+00] [-1.97255425e-02 7.38646945e-04 9.99805160e-01 4.04295509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.92, Y:2.25, Z:4.04 [[ 9.99428493e-01 2.88842584e-02 1.75609489e-02 3.44917017e+02] [-2.87492031e-02 9.99555476e-01 -7.89512983e-03 2.24894878e+00] [-1.77811876e-02 7.38575442e-03 9.99814623e-01 4.04462455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.95, Y:2.24, Z:4.04 [[ 9.99401388e-01 2.82123341e-02 2.00232521e-02 3.44945989e+02] [-2.83274622e-02 9.99583623e-01 5.48951540e-03 2.23988650e+00] [-1.98600428e-02 -6.05343723e-03 9.99784444e-01 4.03976258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.98, Y:2.24, Z:4.04 [[ 9.99422203e-01 2.81494650e-02 1.90490926e-02 3.44976673e+02] [-2.81308560e-02 9.99603475e-01 -1.24420074e-03 2.24074964e+00] [-1.90765628e-02 7.07614560e-04 9.99817775e-01 4.04126583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.01, Y:2.24, Z:4.04 [[ 9.99450777e-01 2.75394837e-02 1.84315160e-02 3.45007401e+02] [-2.75219584e-02 9.99620474e-01 -1.20386342e-03 2.23775025e+00] [-1.84576745e-02 6.95930812e-04 9.99829400e-01 4.04026921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.04, Y:2.24, Z:4.04 [[ 9.99462906e-01 2.71680921e-02 1.83247003e-02 3.45037866e+02] [-2.71507070e-02 9.99630635e-01 -1.19688670e-03 2.23512781e+00] [-1.83504489e-02 6.98715289e-04 9.99831372e-01 4.03950072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.07, Y:2.23, Z:4.04 [[ 9.99478282e-01 2.69693698e-02 1.77712293e-02 3.45068724e+02] [-2.69529879e-02 9.99636028e-01 -1.16073647e-03 2.23271234e+00] [-1.77960654e-02 6.81143167e-04 9.99841405e-01 4.03874621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.10, Y:2.23, Z:4.04 [[ 9.99519295e-01 2.64283983e-02 1.62085880e-02 3.45098851e+02] [-2.64146999e-02 9.99650510e-01 -1.05867180e-03 2.23078990e+00] [-1.62309023e-02 6.30017901e-04 9.99868072e-01 4.03823902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.13, Y:2.23, Z:4.04 [[ 9.99539239e-01 2.61777434e-02 1.53634774e-02 3.45128023e+02] [-2.61654014e-02 9.99657123e-01 -1.00382413e-03 2.22904391e+00] [-1.53844874e-02 6.01370056e-04 9.99881471e-01 4.03742636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.16, Y:2.23, Z:4.04 [[ 9.99555706e-01 2.56986699e-02 1.50986297e-02 3.45157790e+02] [-2.56867060e-02 9.99669556e-01 -9.85809678e-04 2.22740744e+00] [-1.51189744e-02 5.97537628e-04 9.99885523e-01 4.03655573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.19, Y:2.23, Z:4.04 [[ 9.99577649e-01 2.51632034e-02 1.45374562e-02 3.45187252e+02] [-2.51520565e-02 9.99683186e-01 -9.49125867e-04 2.22579201e+00] [-1.45567336e-02 5.83078083e-04 9.99893875e-01 4.03574059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.22, Y:2.22, Z:4.03 [[ 9.99622851e-01 2.44083855e-02 1.25851868e-02 3.45216976e+02] [-2.43999792e-02 9.99701939e-01 -8.21094664e-04 2.22465067e+00] [-1.26014773e-02 5.13706693e-04 9.99920466e-01 4.03462348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.25, Y:2.22, Z:4.03 [[ 9.99629382e-01 2.42673659e-02 1.23366531e-02 3.45246031e+02] [-2.42592720e-02 9.99705376e-01 -8.05329213e-04 2.22314327e+00] [-1.23525617e-02 5.05752520e-04 9.99923576e-01 4.03360816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.27, Y:2.22, Z:4.03 [[ 9.99623585e-01 2.40890680e-02 1.31303176e-02 3.45274685e+02] [-2.40799026e-02 9.99709671e-01 -8.55708326e-04 2.22212892e+00] [-1.31471187e-02 5.39209455e-04 9.99913428e-01 4.03288486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.30, Y:2.22, Z:4.03 [[ 9.99617321e-01 2.38248137e-02 1.40566830e-02 3.45304294e+02] [-2.38142918e-02 9.99715980e-01 -9.15468290e-04 2.22113213e+00] [-1.40745015e-02 5.80368008e-04 9.99900781e-01 4.03252312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.33, Y:2.22, Z:4.03 [[ 9.99609163e-01 2.26953442e-02 1.63230607e-02 3.45333806e+02] [-2.26810244e-02 9.99742189e-01 -1.06188578e-03 2.22115993e+00] [-1.63429523e-02 6.91247018e-04 9.99866206e-01 4.03265424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.36, Y:2.22, Z:4.03 [[ 9.99621649e-01 2.07341126e-02 1.80735952e-02 3.45364388e+02] [-2.07162280e-02 9.99784704e-01 -1.17622690e-03 2.22087396e+00] [-1.80940921e-02 8.01365151e-04 9.99835967e-01 4.03252614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.40, Y:2.22, Z:4.03 [[ 9.99620563e-01 2.07864031e-02 1.80736192e-02 3.45396162e+02] [-2.07685337e-02 9.99783619e-01 -1.17585849e-03 2.21877707e+00] [-1.80941503e-02 8.00049761e-04 9.99835967e-01 4.03172451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.43, Y:2.22, Z:4.03 [[ 9.99637245e-01 1.98644624e-02 1.81873893e-02 3.45428843e+02] [-1.98462216e-02 9.99802345e-01 -1.18290124e-03 2.21741305e+00] [-1.82072922e-02 8.21521182e-04 9.99833896e-01 4.03068448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.46, Y:2.22, Z:4.03 [[ 9.99663783e-01 1.85353523e-02 1.81317656e-02 3.45461019e+02] [-1.85169256e-02 9.99827846e-01 -1.18364029e-03 2.21609275e+00] [-1.81505833e-02 8.47497775e-04 9.99834905e-01 4.02977190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.49, Y:2.21, Z:4.03 [[ 9.99686893e-01 1.69771051e-02 1.83819024e-02 3.45493862e+02] [-1.69578223e-02 9.99855480e-01 -1.20438559e-03 2.21479897e+00] [-1.83996929e-02 8.92291453e-04 9.99830313e-01 4.02898741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.53, Y:2.21, Z:4.03 [[ 9.99716935e-01 1.50185417e-02 1.84524515e-02 3.45525836e+02] [-1.49986766e-02 9.99886776e-01 -1.21448645e-03 2.21333215e+00] [-1.84686021e-02 9.37380319e-04 9.99829001e-01 4.02840270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.56, Y:2.21, Z:4.03 [[ 9.99735870e-01 1.31472851e-02 1.88504385e-02 3.45558560e+02] [-1.31261254e-02 9.99913073e-01 -1.24579775e-03 2.21138442e+00] [-1.88651788e-02 9.98035481e-04 9.99821539e-01 4.02752995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.59, Y:2.21, Z:4.03 [[ 9.99784245e-01 9.00902782e-03 1.87163380e-02 3.45591352e+02] [-8.98734832e-03 9.99958842e-01 -1.24211063e-03 2.20926752e+00] [-1.87267579e-02 1.07363239e-03 9.99824062e-01 4.02658110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.62, Y:2.21, Z:4.03 [[ 9.99801827e-01 7.40177248e-03 1.84802673e-02 3.45623603e+02] [-7.38026492e-03 9.99972007e-01 -1.23174255e-03 2.20734541e+00] [-1.84888671e-02 1.09510918e-03 9.99828467e-01 4.02538966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.66, Y:2.21, Z:4.02 [[ 9.99816076e-01 6.28554742e-03 1.81192028e-02 3.45656817e+02] [-6.26460668e-03 9.99979642e-01 -1.21224941e-03 2.20550436e+00] [-1.81264536e-02 1.09851677e-03 9.99835099e-01 4.02445218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.69, Y:2.21, Z:4.02 [[ 9.99827931e-01 5.12034150e-03 1.78294963e-02 3.45689844e+02] [-5.09979365e-03 9.99986279e-01 -1.19774037e-03 2.20506313e+00] [-1.78353845e-02 1.10660752e-03 9.99840324e-01 4.02322171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.72, Y:2.20, Z:4.02 [[ 9.99820606e-01 5.34574136e-03 1.81708250e-02 3.45723419e+02] [-5.32433812e-03 9.99985074e-01 -1.22606467e-03 2.20392402e+00] [-1.81771080e-02 1.12909710e-03 9.99834145e-01 4.02240604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.76, Y:2.20, Z:4.02 [[ 9.99808923e-01 5.99781080e-03 1.86049145e-02 3.45756957e+02] [-5.97538239e-03 9.99981352e-01 -1.26086687e-03 2.20266048e+00] [-1.86121300e-02 1.14945447e-03 9.99826119e-01 4.02160365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.79, Y:2.20, Z:4.02 [[ 9.99793330e-01 8.56127938e-03 1.84391575e-02 3.45788543e+02] [-8.51185657e-03 9.99959972e-01 -2.75713674e-03 2.20308783e+00] [-1.84620241e-02 2.59961546e-03 9.99826183e-01 4.02119902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.82, Y:2.20, Z:4.02 [[ 9.99774198e-01 8.41646698e-03 1.95119704e-02 3.45822639e+02] [-8.42346667e-03 9.99964484e-01 2.76577521e-04 2.20003066e+00] [-1.95089496e-02 -4.40873501e-04 9.99809585e-01 4.01928258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.86, Y:2.20, Z:4.02 [[ 9.99779560e-01 9.29784937e-03 1.88250364e-02 3.45855701e+02] [-9.27522604e-03 9.99956154e-01 -1.28872497e-03 2.19984495e+00] [-1.88361934e-02 1.11383441e-03 9.99821963e-01 4.01926496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.89, Y:2.20, Z:4.02 [[ 9.99776225e-01 1.04728077e-02 1.83799054e-02 3.45887355e+02] [-1.04513335e-02 9.99944584e-01 -1.26402458e-03 2.19888993e+00] [-1.83921248e-02 1.07164720e-03 9.99830276e-01 4.01812827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.92, Y:2.20, Z:4.02 [[ 9.99773467e-01 1.23626376e-02 1.73256947e-02 3.45920064e+02] [-1.23438060e-02 9.99923100e-01 -1.19343734e-03 2.19907862e+00] [-1.73391164e-02 9.79301976e-04 9.99849187e-01 4.01684099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.95, Y:2.20, Z:4.02 [[ 9.99762255e-01 1.33728987e-02 1.72220632e-02 3.45951937e+02] [-1.33543530e-02 9.99910117e-01 -1.19141620e-03 2.19821590e+00] [-1.72364479e-02 9.61143433e-04 9.99850979e-01 4.01622866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.98, Y:2.20, Z:4.02 [[ 9.99744105e-01 1.41839994e-02 1.76220821e-02 3.45984563e+02] [-1.41646237e-02 9.99898928e-01 -1.22384554e-03 2.19686753e+00] [-1.76376600e-02 9.73922204e-04 9.99843970e-01 4.01536239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.02, Y:2.20, Z:4.01 [[ 9.99725303e-01 1.52479774e-02 1.77993760e-02 3.46016769e+02] [-1.52282820e-02 9.99883272e-01 -1.24154168e-03 2.19599555e+00] [-1.78162293e-02 9.70146712e-04 9.99840808e-01 4.01459428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.05, Y:2.19, Z:4.01 [[ 9.99720095e-01 1.61608663e-02 1.72788132e-02 3.46049802e+02] [-1.61423672e-02 9.99868972e-01 -1.20956404e-03 2.19443963e+00] [-1.72960968e-02 9.30304530e-04 9.99849979e-01 4.01351263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.08, Y:2.19, Z:4.01 [[ 9.99713797e-01 1.79555002e-02 1.58089690e-02 3.46082215e+02] [-1.79401739e-02 9.99838445e-01 -1.11076901e-03 2.19421073e+00] [-1.58263594e-02 8.26835448e-04 9.99874413e-01 4.01242222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.11, Y:2.19, Z:4.01 [[ 9.99699414e-01 1.87182593e-02 1.58337743e-02 3.46113856e+02] [-1.87028792e-02 9.99824460e-01 -1.11887774e-03 2.19304523e+00] [-1.58519383e-02 8.22404255e-04 9.99874012e-01 4.01155792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.15, Y:2.19, Z:4.01 [[ 9.99677741e-01 1.95023926e-02 1.62502694e-02 3.46145411e+02] [-1.94862874e-02 9.99809464e-01 -1.14884379e-03 2.19178351e+00] [-1.62695783e-02 8.31816146e-04 9.99867296e-01 4.01102602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.18, Y:2.19, Z:4.01 [[ 9.99659225e-01 1.97602169e-02 1.70577523e-02 3.46176065e+02] [-1.97424947e-02 9.99804370e-01 -1.20673681e-03 2.19062117e+00] [-1.70782607e-02 8.69562997e-04 9.99853778e-01 4.01060042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.21, Y:2.19, Z:4.01 [[ 9.99628092e-01 1.98142552e-02 1.87369391e-02 3.46207189e+02] [-1.97928760e-02 9.99803223e-01 -1.32579382e-03 2.18935708e+00] [-1.87595217e-02 9.54442835e-04 9.99823569e-01 4.01027088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.24, Y:2.19, Z:4.01 [[ 9.99614084e-01 2.02553879e-02 1.90106107e-02 3.46239402e+02] [-2.02334624e-02 9.99794378e-01 -1.34498373e-03 2.18716949e+00] [-1.90339449e-02 9.59814202e-04 9.99818377e-01 4.00933758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.27, Y:2.19, Z:4.01 [[ 9.99594164e-01 2.10746443e-02 1.91668155e-02 3.46270446e+02] [-2.10524461e-02 9.99777449e-01 -1.35921879e-03 2.18559848e+00] [-1.91911950e-02 9.55158819e-04 9.99815376e-01 4.00765831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.30, Y:2.18, Z:4.01 [[ 9.99581601e-01 2.17043652e-02 1.91192011e-02 3.46302600e+02] [-2.16823102e-02 9.99763986e-01 -1.36011551e-03 2.18419041e+00] [-1.91442092e-02 9.44997990e-04 9.99816286e-01 4.00648083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.33, Y:2.18, Z:4.01 [[ 9.99574316e-01 2.22798497e-02 1.88359851e-02 3.46333941e+02] [-2.22584347e-02 9.99751345e-01 -1.34583486e-03 2.18298926e+00] [-1.88612864e-02 9.26002412e-04 9.99821681e-01 4.00565432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.37, Y:2.18, Z:4.01 [[ 9.99567420e-01 2.30099838e-02 1.83170109e-02 3.46365015e+02] [-2.29898676e-02 9.99734842e-01 -1.30806954e-03 2.18177146e+00] [-1.83422527e-02 8.86398035e-04 9.99831374e-01 4.00504793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.40, Y:2.18, Z:4.00 [[ 9.99575113e-01 2.33944184e-02 1.73866189e-02 3.46396452e+02] [-2.33762620e-02 9.99725960e-01 -1.24680631e-03 2.18067582e+00] [-1.74110226e-02 8.39842397e-04 9.99848064e-01 4.00349237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.43, Y:2.18, Z:4.00 [[ 9.99597344e-01 2.30813947e-02 1.65045450e-02 3.46426485e+02] [-2.30649775e-02 9.99733266e-01 -1.18439201e-03 2.17879447e+00] [-1.65274801e-02 8.03238147e-04 9.99863089e-01 4.00274373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.46, Y:2.18, Z:4.00 [[ 9.99624865e-01 2.23868056e-02 1.57784688e-02 3.46456734e+02] [-2.23717149e-02 9.99749081e-01 -1.13228765e-03 2.17663797e+00] [-1.57998580e-02 7.78871480e-04 9.99874871e-01 4.00186602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.49, Y:2.17, Z:4.00 [[ 9.99638329e-01 2.19479304e-02 1.55402680e-02 3.46485700e+02] [-2.19332364e-02 9.99758815e-01 -1.11536478e-03 2.17432790e+00] [-1.55609999e-02 7.74113013e-04 9.99878621e-01 4.00053206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.51, Y:2.17, Z:4.00 [[ 9.99676717e-01 2.09700947e-02 1.43776325e-02 3.46514661e+02] [-2.09574255e-02 9.99779837e-01 -1.03129173e-03 2.17189797e+00] [-1.43960934e-02 7.29640167e-04 9.99896105e-01 3.99980442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.54, Y:2.17, Z:4.00 [[ 9.99662802e-01 2.16174862e-02 1.43863088e-02 3.46544276e+02] [-2.16048560e-02 9.99766054e-01 -1.03278736e-03 2.17001111e+00] [-1.44052694e-02 7.21624976e-04 9.99895978e-01 3.99894539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.57, Y:2.17, Z:4.00 [[ 9.99603687e-01 2.34432918e-02 1.55846471e-02 3.46574283e+02] [-2.34287006e-02 9.99724885e-01 -1.11820060e-03 2.16878135e+00] [-1.56065738e-02 7.52629410e-04 9.99877927e-01 3.99886396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.60, Y:2.17, Z:4.00 [[ 9.99548814e-01 2.48662871e-02 1.68474510e-02 3.46604324e+02] [-2.48494479e-02 9.99690475e-01 -1.20814192e-03 2.16713741e+00] [-1.68722783e-02 7.88946972e-04 9.99857342e-01 3.99856060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.63, Y:2.17, Z:4.00 [[ 9.99495361e-01 2.62631345e-02 1.78681665e-02 3.46634214e+02] [-2.62444305e-02 9.99654735e-01 -1.28050297e-03 2.16531360e+00] [-1.78956273e-02 8.10916922e-04 9.99839532e-01 3.99800840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.66, Y:2.16, Z:4.00 [[ 9.99409336e-01 2.81296202e-02 1.97409011e-02 3.46663881e+02] [-2.81071607e-02 9.99603915e-01 -1.41430482e-03 2.16318359e+00] [-1.97728659e-02 8.58608765e-04 9.99804129e-01 3.99768926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.69, Y:2.16, Z:4.00 [[ 9.99382409e-01 2.86335359e-02 2.03696162e-02 3.46693631e+02] [-2.86097331e-02 9.99589593e-01 -1.45905877e-03 2.16085087e+00] [-2.04030344e-02 8.75388384e-04 9.99791453e-01 3.99695023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.72, Y:2.16, Z:4.00 [[ 9.99368899e-01 2.88156185e-02 2.07717286e-02 3.46722726e+02] [-2.87909232e-02 9.99584349e-01 -1.48702154e-03 2.15829227e+00] [-2.08059442e-02 8.88045832e-04 9.99783139e-01 3.99587181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.75, Y:2.16, Z:3.99 [[ 9.99369854e-01 2.86048558e-02 2.10156209e-02 3.46752441e+02] [-2.85795386e-02 9.99590390e-01 -1.50410180e-03 2.15577062e+00] [-2.10500373e-02 9.02537251e-04 9.99778016e-01 3.99496806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.78, Y:2.15, Z:3.99 [[ 9.99422374e-01 2.74925411e-02 1.99769477e-02 3.46782399e+02] [-2.74694517e-02 9.99621622e-01 -1.42934463e-03 2.15206259e+00] [-2.00086852e-02 8.79763206e-04 9.99799419e-01 3.99361654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.81, Y:2.15, Z:3.99 [[ 9.99535483e-01 2.49938734e-02 1.74391692e-02 3.46811991e+02] [-2.49758965e-02 9.99687275e-01 -1.24790031e-03 2.14767360e+00] [-1.74649054e-02 8.11761756e-04 9.99847147e-01 3.99161045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.84, Y:2.14, Z:3.99 [[ 9.99589385e-01 2.37245191e-02 1.60688513e-02 3.46842321e+02] [-2.37090995e-02 9.99718239e-01 -1.14944218e-03 2.14424491e+00] [-1.60915937e-02 7.67992213e-04 9.99870227e-01 3.98987260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.87, Y:2.14, Z:3.99 [[ 9.99689206e-01 2.10413846e-02 1.33697644e-02 3.46871568e+02] [-2.10304739e-02 9.99778378e-01 -9.56163997e-04 2.14031664e+00] [-1.33869204e-02 6.74694347e-04 9.99910164e-01 3.98814190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.90, Y:2.14, Z:3.99 [[ 9.99721943e-01 1.99914312e-02 1.25051418e-02 3.46900784e+02] [-1.99817933e-02 9.99799943e-01 -8.95200964e-04 2.13769605e+00] [-1.25205365e-02 6.45076888e-04 9.99921407e-01 3.98718016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.93, Y:2.14, Z:3.99 [[ 9.99744262e-01 1.91546014e-02 1.20213047e-02 3.46930434e+02] [-1.91456422e-02 9.99816336e-01 -8.59920839e-04 2.13535368e+00] [-1.20355682e-02 6.29545326e-04 9.99927372e-01 3.98689416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.96, Y:2.13, Z:3.99 [[ 9.99744597e-01 1.91371228e-02 1.20213206e-02 3.46960510e+02] [-1.91281650e-02 9.99816670e-01 -8.59698302e-04 2.13323513e+00] [-1.20355689e-02 6.29532929e-04 9.99927372e-01 3.98613537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.99, Y:2.13, Z:3.99 [[ 9.99729890e-01 1.91271530e-02 1.32022583e-02 3.46990037e+02] [-1.91163486e-02 9.99816820e-01 -9.44103782e-04 2.13117546e+00] [-1.32178979e-02 6.91469799e-04 9.99912401e-01 3.98603350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.02, Y:2.13, Z:3.99 [[ 9.99677480e-01 2.02872080e-02 1.52762895e-02 3.47019643e+02] [-2.02728904e-02 9.99793888e-01 -1.09153424e-03 2.12907145e+00] [-1.52952851e-02 7.81487657e-04 9.99882715e-01 3.98633125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.05, Y:2.13, Z:3.99 [[ 9.99639722e-01 2.15550021e-02 1.59939934e-02 3.47049495e+02] [-2.15394795e-02 9.99767346e-01 -1.14217487e-03 2.12698478e+00] [-1.60148920e-02 7.97261078e-04 9.99871436e-01 3.98584834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.08, Y:2.12, Z:3.99 [[ 9.99589259e-01 2.35908638e-02 1.62722015e-02 3.47080016e+02] [-2.35750580e-02 9.99721394e-01 -1.16250190e-03 2.12479711e+00] [-1.62950924e-02 7.78406322e-04 9.99866923e-01 3.98531674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.11, Y:2.12, Z:3.98 [[ 9.99515680e-01 2.59889456e-02 1.71166720e-02 3.47110159e+02] [-2.59718073e-02 9.99661928e-01 -1.22283170e-03 2.12276843e+00] [-1.71426654e-02 7.77688549e-04 9.99852751e-01 3.98409423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.14, Y:2.12, Z:3.98 [[ 9.99378977e-01 3.06008210e-02 1.74713914e-02 3.47139895e+02] [-3.05836710e-02 9.99531431e-01 -1.24801830e-03 2.12079051e+00] [-1.75013952e-02 7.12903972e-04 9.99846585e-01 3.98289341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.17, Y:2.12, Z:3.98 [[ 9.99306456e-01 3.28748572e-02 1.74886178e-02 3.47168789e+02] [-3.28580023e-02 9.99459248e-01 -1.25031051e-03 2.11883617e+00] [-1.75202645e-02 6.74802318e-04 9.99846281e-01 3.98192851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.20, Y:2.12, Z:3.98 [[ 9.99230806e-01 3.49009371e-02 1.78807238e-02 3.47196804e+02] [-3.48836635e-02 9.99390564e-01 -1.27713148e-03 2.11674251e+00] [-1.79143998e-02 6.52403962e-04 9.99839311e-01 3.98099027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.23, Y:2.11, Z:3.98 [[ 9.99159091e-01 3.69601680e-02 1.77498519e-02 3.47225365e+02] [-3.69435011e-02 9.99316554e-01 -1.26608070e-03 2.11446615e+00] [-1.77845154e-02 6.09274370e-04 9.99841657e-01 3.98020412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.25, Y:2.11, Z:3.98 [[ 9.99131946e-01 3.79222437e-02 1.72411489e-02 3.47252998e+02] [-3.79066801e-02 9.99280528e-01 -1.22872590e-03 2.11221245e+00] [-1.72753404e-02 5.74104586e-04 9.99850605e-01 3.97932337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.28, Y:2.11, Z:3.98 [[ 9.99104595e-01 3.88333731e-02 1.67921937e-02 3.47281761e+02] [-3.88187651e-02 9.99245553e-01 -1.19512659e-03 2.10963903e+00] [-1.68259356e-02 5.42204241e-04 9.99858287e-01 3.97810756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.31, Y:2.11, Z:3.98 [[ 9.99064319e-01 4.00426487e-02 1.63423519e-02 3.47309187e+02] [-4.00289897e-02 9.99197843e-01 -1.16218601e-03 2.10667409e+00] [-1.63757798e-02 5.06930734e-04 9.99865779e-01 3.97709838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.34, Y:2.10, Z:3.98 [[ 9.99041429e-01 4.04674902e-02 1.66914828e-02 3.47337589e+02] [-4.04533322e-02 9.99180726e-01 -1.18512516e-03 2.10426204e+00] [-1.67257670e-02 5.08763039e-04 9.99859985e-01 3.97617108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.37, Y:2.10, Z:3.98 [[ 9.99045015e-01 4.03788416e-02 1.66915563e-02 3.47365980e+02] [-4.03646885e-02 9.99184312e-01 -1.18408849e-03 2.10233805e+00] [-1.67257534e-02 5.09208228e-04 9.99859985e-01 3.97545445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.39, Y:2.10, Z:3.97 [[ 9.99032182e-01 4.07370654e-02 1.65888951e-02 3.47394626e+02] [-4.07231620e-02 9.99169777e-01 -1.17519472e-03 2.10007215e+00] [-1.66229966e-02 4.98505076e-04 9.99861704e-01 3.97470779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.42, Y:2.10, Z:3.97 [[ 9.99036663e-01 4.06110394e-02 1.66279786e-02 3.47420516e+02] [-4.05175193e-02 9.99161272e-01 -5.92318028e-03 2.10237395e+00] [-1.68545788e-02 5.24374981e-03 9.99844201e-01 3.97413570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.45, Y:2.09, Z:3.97 [[ 9.98918164e-01 4.31722200e-02 1.72818200e-02 3.47450015e+02] [-4.32412637e-02 9.99058023e-01 3.64145611e-03 2.09368759e+00] [-1.71083311e-02 -4.38480438e-03 9.99844027e-01 3.97108858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.48, Y:2.09, Z:3.97 [[ 9.98798431e-01 4.56355633e-02 1.78630827e-02 3.47476601e+02] [-4.56203134e-02 9.98958056e-01 -1.26048317e-03 2.09402503e+00] [-1.79019932e-02 4.44049185e-04 9.99839648e-01 3.97217370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.50, Y:2.09, Z:3.97 [[ 9.98738429e-01 4.65615233e-02 1.88036005e-02 3.47504922e+02] [-4.65448383e-02 9.98915324e-01 -1.32423898e-03 2.09194677e+00] [-1.88448633e-02 4.47357812e-04 9.99822320e-01 3.97125055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.53, Y:2.09, Z:3.97 [[ 9.98620297e-01 4.80023948e-02 2.12902167e-02 3.47533161e+02] [-4.79813863e-02 9.98847109e-01 -1.49679232e-03 2.08997839e+00] [-2.13375210e-02 4.73193074e-04 9.99772217e-01 3.97106312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.56, Y:2.09, Z:3.97 [[ 9.98624693e-01 4.79107730e-02 2.12903859e-02 3.47561553e+02] [-4.78897951e-02 9.98851508e-01 -1.49438140e-03 2.08807004e+00] [-2.13375310e-02 4.72733945e-04 9.99772217e-01 3.97034606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.59, Y:2.09, Z:3.97 [[ 9.98603573e-01 4.81730573e-02 2.16854742e-02 3.47589661e+02] [-4.81513997e-02 9.98838892e-01 -1.52006878e-03 2.08611163e+00] [-2.17335214e-02 4.73760179e-04 9.99763687e-01 3.96963229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.62, Y:2.08, Z:3.97 [[ 9.98653170e-01 4.74052127e-02 2.10853685e-02 3.47618024e+02] [-4.73846073e-02 9.98875628e-01 -1.47606514e-03 2.08414286e+00] [-2.11316339e-02 4.74955226e-04 9.99776589e-01 3.96861954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.65, Y:2.08, Z:3.97 [[ 9.98756664e-01 4.55705749e-02 2.02101121e-02 3.47646326e+02] [-4.55512978e-02 9.98961001e-01 -1.41339624e-03 2.08061163e+00] [-2.02535230e-02 4.91042081e-04 9.99794756e-01 3.96676385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.67, Y:2.08, Z:3.97 [[ 9.98837861e-01 4.39654031e-02 1.97476767e-02 3.47674267e+02] [-4.39467107e-02 9.99032924e-01 -1.37973785e-03 2.07740876e+00] [-1.97892400e-02 5.10288964e-04 9.99804044e-01 3.96521617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.70, Y:2.07, Z:3.96 [[ 9.98922227e-01 4.23948625e-02 1.88960166e-02 3.47701670e+02] [-4.23774980e-02 9.99100800e-01 -1.31860163e-03 2.07401777e+00] [-1.89349272e-02 5.16414572e-04 9.99820585e-01 3.96423189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.73, Y:2.07, Z:3.96 [[ 9.98998109e-01 4.06554315e-02 1.87059849e-02 3.47729865e+02] [-4.06381434e-02 9.99173079e-01 -1.30355652e-03 2.07054650e+00] [-1.87435132e-02 5.42074005e-04 9.99824178e-01 3.96279029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.76, Y:2.07, Z:3.96 [[ 9.99148599e-01 3.73231655e-02 1.75800752e-02 3.47757617e+02] [-3.73073992e-02 9.99303087e-01 -1.22405424e-03 2.06667574e+00] [-1.76135090e-02 5.67145191e-04 9.99844709e-01 3.96155447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.79, Y:2.06, Z:3.96 [[ 9.99199295e-01 3.60742730e-02 1.73036608e-02 3.47786804e+02] [-3.60588406e-02 9.99348944e-01 -1.20312933e-03 2.06433490e+00] [-1.73357972e-02 5.78216031e-04 9.99849557e-01 3.96055270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.81, Y:2.06, Z:3.96 [[ 9.99234376e-01 3.52868223e-02 1.68967753e-02 3.47814390e+02] [-3.52720121e-02 9.99377060e-01 -1.17381204e-03 2.06190971e+00] [-1.69276697e-02 5.76930080e-04 9.99856550e-01 3.95978955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.84, Y:2.06, Z:3.96 [[ 9.99277895e-01 3.38907946e-02 1.71785789e-02 3.47842633e+02] [-3.38753094e-02 9.99425357e-01 -1.19169531e-03 2.05919883e+00] [-1.72090949e-02 6.08905108e-04 9.99851727e-01 3.95891822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.87, Y:2.06, Z:3.96 [[ 9.99276760e-01 3.37464271e-02 1.75252697e-02 3.47871291e+02] [-3.37303113e-02 9.99430233e-01 -1.21443732e-03 2.05650585e+00] [-1.75562673e-02 6.22426193e-04 9.99845683e-01 3.95824950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.90, Y:2.05, Z:3.96 [[ 9.99267009e-01 3.38335430e-02 1.79090853e-02 3.47899975e+02] [-3.38167538e-02 9.99427281e-01 -1.23956259e-03 2.05375560e+00] [-1.79407672e-02 6.33026870e-04 9.99838851e-01 3.95740509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.93, Y:2.05, Z:3.96 [[ 9.99243454e-01 3.42404465e-02 1.84421169e-02 3.47928476e+02] [-3.42227292e-02 9.99413417e-01 -1.27553587e-03 2.05118963e+00] [-1.84749740e-02 6.43431295e-04 9.99829116e-01 3.95693691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.96, Y:2.05, Z:3.96 [[ 9.99219769e-01 3.48914498e-02 1.85051195e-02 3.47956804e+02] [-3.48737495e-02 9.99390908e-01 -1.27844755e-03 2.04918311e+00] [-1.85384551e-02 6.32107163e-04 9.99827948e-01 3.95655393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.99, Y:2.05, Z:3.96 [[ 9.99111765e-01 3.74876679e-02 1.92446107e-02 3.47985955e+02] [-3.74690238e-02 9.99296906e-01 -1.32857959e-03 2.04748966e+00] [-1.92808853e-02 6.06322719e-04 9.99813923e-01 3.95597009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.01, Y:2.05, Z:3.96 [[ 9.99037290e-01 3.93204904e-02 1.94522903e-02 3.48014004e+02] [-3.93018142e-02 9.99226485e-01 -1.34161509e-03 2.04582089e+00] [-1.94899966e-02 5.75813207e-04 9.99809886e-01 3.95533336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.04, Y:2.04, Z:3.95 [[ 9.98950000e-01 4.14117304e-02 1.95950397e-02 3.48043135e+02] [-4.13932218e-02 9.99142022e-01 -1.34937928e-03 2.04406114e+00] [-1.96341077e-02 5.36860610e-04 9.99807088e-01 3.95450986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.07, Y:2.04, Z:3.95 [[ 9.98870161e-01 4.34357228e-02 1.92805665e-02 3.48071772e+02] [-4.34182062e-02 9.99056105e-01 -1.32637976e-03 2.04251700e+00] [-1.93199799e-02 4.87753554e-04 9.99813233e-01 3.95396241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.10, Y:2.04, Z:3.95 [[ 9.98661493e-01 4.84231123e-02 1.81776020e-02 3.48099376e+02] [-4.84083884e-02 9.98826845e-01 -1.24939943e-03 2.04122315e+00] [-1.82167767e-02 3.67778685e-04 9.99833993e-01 3.95358395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.13, Y:2.04, Z:3.95 [[ 9.98552167e-01 5.06905634e-02 1.80010036e-02 3.48127245e+02] [-5.06765190e-02 9.98714355e-01 -1.23579169e-03 2.03965884e+00] [-1.80405037e-02 3.21774269e-04 9.99837205e-01 3.95277338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.15, Y:2.04, Z:3.95 [[ 9.98311445e-01 5.55391521e-02 1.70194528e-02 3.48153804e+02] [-5.55273289e-02 9.98456486e-01 -1.16682042e-03 2.03832458e+00] [-1.70579873e-02 2.19805421e-04 9.99854478e-01 3.95250878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.18, Y:2.04, Z:3.95 [[ 9.98191352e-01 5.78290057e-02 1.64265177e-02 3.48181989e+02] [-5.78183375e-02 9.98326488e-01 -1.12401564e-03 2.03685981e+00] [-1.64640284e-02 1.72228747e-04 9.99864444e-01 3.95160789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.21, Y:2.04, Z:3.95 [[ 9.98065020e-01 6.03642527e-02 1.49121477e-02 3.48209372e+02] [-6.03557617e-02 9.98176409e-01 -1.01920146e-03 2.03539626e+00] [-1.49464774e-02 1.17195292e-04 9.99888288e-01 3.95084912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.24, Y:2.03, Z:3.95 [[ 9.97919081e-01 6.29272589e-02 1.40594271e-02 3.48236657e+02] [-6.29199882e-02 9.98018113e-01 -9.59310422e-04 2.03405474e+00] [-1.40919297e-02 7.26951872e-05 9.99900701e-01 3.94961945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.26, Y:2.03, Z:3.95 [[ 9.97741461e-01 6.58420450e-02 1.32967334e-02 3.48264944e+02] [-6.58358227e-02 9.97830058e-01 -9.05610508e-04 2.03258120e+00] [-1.33275075e-02 2.81637697e-05 9.99911184e-01 3.94878070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.29, Y:2.03, Z:3.95 [[ 9.97525695e-01 6.90203047e-02 1.33673193e-02 3.48292626e+02] [-6.90143204e-02 9.97615255e-01 -9.09002415e-04 2.03125794e+00] [-1.33981812e-02 -1.57831892e-05 9.99910240e-01 3.94793280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.32, Y:2.03, Z:3.95 [[ 9.97067555e-01 7.51381322e-02 1.45104365e-02 3.48319471e+02] [-7.51317518e-02 9.97173129e-01 -9.85106428e-04 2.03055591e+00] [-1.45434364e-02 -1.07976854e-04 9.99894233e-01 3.94788656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.35, Y:2.03, Z:3.95 [[ 9.96834009e-01 7.80625548e-02 1.51061889e-02 3.48347612e+02] [-7.80560089e-02 9.96948450e-01 -1.02334057e-03 2.02904010e+00] [-1.51399762e-02 -1.59028134e-04 9.99885371e-01 3.94763937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.37, Y:2.03, Z:3.95 [[ 9.96528346e-01 8.16975731e-02 1.60237758e-02 3.48374978e+02] [-8.16907053e-02 9.96657140e-01 -1.08376756e-03 2.02778848e+00] [-1.60587518e-02 -2.28988460e-04 9.99871024e-01 3.94685757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.40, Y:2.03, Z:3.95 [[ 9.96481412e-01 8.22311731e-02 1.62120538e-02 3.48402645e+02] [-8.22242243e-02 9.96613253e-01 -1.09583914e-03 2.02601380e+00] [-1.62472598e-02 -2.41040213e-04 9.99867976e-01 3.94618701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.43, Y:2.02, Z:3.95 [[ 9.96495393e-01 8.19974883e-02 1.65331237e-02 3.48430264e+02] [-8.19903081e-02 9.96632506e-01 -1.11278896e-03 2.02392886e+00] [-1.65686944e-02 -2.46666833e-04 9.99862699e-01 3.94565569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.46, Y:2.02, Z:3.95 [[ 9.96554567e-01 8.11723311e-02 1.70307714e-02 3.48458136e+02] [-8.11646766e-02 9.96700052e-01 -1.14131003e-03 2.02167849e+00] [-1.70672136e-02 -2.44919329e-04 9.99854315e-01 3.94503589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.48, Y:2.02, Z:3.94 [[ 9.96648901e-01 7.99531035e-02 1.72762513e-02 3.48484542e+02] [-7.99451548e-02 9.96798599e-01 -1.15133557e-03 2.01911907e+00] [-1.73129960e-02 -2.33675258e-04 9.99850092e-01 3.94435368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.51, Y:2.02, Z:3.94 [[ 9.96969001e-01 7.57755820e-02 1.76315574e-02 3.48511442e+02] [-7.57666905e-02 9.97124884e-01 -1.17270730e-03 2.01505083e+00] [-1.76697272e-02 -1.66731929e-04 9.99843864e-01 3.94399440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.54, Y:2.01, Z:3.94 [[ 9.97172174e-01 7.29595790e-02 1.80154141e-02 3.48539153e+02] [-7.29498803e-02 9.97334891e-01 -1.19581569e-03 2.01193869e+00] [-1.80546473e-02 -1.21788174e-04 9.99836994e-01 3.94333982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.57, Y:2.01, Z:3.94 [[ 9.97397132e-01 6.97730407e-02 1.81846895e-02 3.48567262e+02] [-6.97626653e-02 9.97562889e-01 -1.20506737e-03 2.00862632e+00] [-1.82244526e-02 -6.66816695e-05 9.99833919e-01 3.94252966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.59, Y:2.00, Z:3.94 [[ 9.97867415e-01 6.27961701e-02 1.78118661e-02 3.48593955e+02] [-6.27851350e-02 9.98026371e-01 -1.17862094e-03 2.00359278e+00] [-1.78507250e-02 5.77870140e-05 9.99840661e-01 3.94181684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.62, Y:2.00, Z:3.94 [[ 9.98070289e-01 5.93057050e-02 1.83992102e-02 3.48621941e+02] [-5.92933831e-02 9.98239860e-01 -1.21497886e-03 2.00008505e+00] [-1.84388801e-02 1.21682884e-04 9.99829982e-01 3.94112884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.65, Y:2.00, Z:3.94 [[ 9.98256695e-01 5.59816278e-02 1.86983471e-02 3.48648591e+02] [-5.59683557e-02 9.98431782e-01 -1.23276125e-03 1.99656456e+00] [-1.87380360e-02 1.84096434e-04 9.99824411e-01 3.94072345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.68, Y:1.99, Z:3.94 [[ 9.98430537e-01 5.26200491e-02 1.91727095e-02 3.48676198e+02] [-5.26055255e-02 9.98614574e-01 -1.26142114e-03 1.99325084e+00] [-1.92125231e-02 2.50850933e-04 9.99815391e-01 3.94045652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.70, Y:1.99, Z:3.94 [[ 9.98676645e-01 4.73498430e-02 2.00736642e-02 3.48704369e+02] [-4.73329067e-02 9.98878300e-01 -1.31825463e-03 1.98835850e+00] [-2.01135667e-02 3.66365237e-04 9.99797635e-01 3.93972282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.73, Y:1.99, Z:3.94 [[ 9.98784921e-01 4.51419998e-02 1.97707254e-02 3.48733133e+02] [-4.51251662e-02 9.98980499e-01 -1.29696521e-03 1.98501733e+00] [-1.98091167e-02 4.03232024e-04 9.99803699e-01 3.93893897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.76, Y:1.98, Z:3.94 [[ 9.98940250e-01 4.14247807e-02 2.00590477e-02 3.48760363e+02] [-4.14067312e-02 9.99141509e-01 -1.31449145e-03 1.98048607e+00] [-2.00962797e-02 4.82518818e-04 9.99797933e-01 3.93736617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.79, Y:1.98, Z:3.94 [[ 9.98942442e-01 4.13718052e-02 2.00591768e-02 3.48789609e+02] [-4.13537847e-02 9.99143704e-01 -1.31251882e-03 1.97863223e+00] [-2.00963014e-02 4.81607875e-04 9.99797933e-01 3.93662799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.82, Y:1.97, Z:3.94 [[ 9.99043830e-01 3.84911872e-02 2.07329363e-02 3.48817284e+02] [-3.84713364e-02 9.99258785e-01 -1.35560834e-03 1.97478855e+00] [-2.07697477e-02 5.56688377e-04 9.99784131e-01 3.93565587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.85, Y:1.97, Z:3.93 [[ 9.99075988e-01 3.74528164e-02 2.10821546e-02 3.48847228e+02] [-3.74321045e-02 9.99298225e-01 -1.37633547e-03 1.97205082e+00] [-2.11189073e-02 5.85914302e-04 9.99776799e-01 3.93458680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.88, Y:1.97, Z:3.93 [[ 9.99119404e-01 3.62238001e-02 2.11719778e-02 3.48876406e+02] [-3.62026515e-02 9.99343514e-01 -1.38145530e-03 1.96915341e+00] [-2.12081202e-02 6.13757063e-04 9.99774894e-01 3.93374451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.91, Y:1.97, Z:3.93 [[ 9.99135948e-01 3.61084423e-02 2.05800568e-02 3.48905341e+02] [-3.60884502e-02 9.99347699e-01 -1.34211511e-03 1.96724269e+00] [-2.06150941e-02 5.98253100e-04 9.99787307e-01 3.93319878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.93, Y:1.97, Z:3.93 [[ 9.99121177e-01 3.64557226e-02 2.06846382e-02 3.48934612e+02] [-3.64356167e-02 9.99335093e-01 -1.34818559e-03 1.96554812e+00] [-2.07200339e-02 5.93343230e-04 9.99785141e-01 3.93222631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.96, Y:1.96, Z:3.93 [[ 9.99082694e-01 3.74758165e-02 2.07203626e-02 3.48964635e+02] [-3.74558758e-02 9.99297371e-01 -1.34976210e-03 1.96395685e+00] [-2.07563873e-02 5.72424624e-04 9.99784399e-01 3.93150681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.99, Y:1.96, Z:3.93 [[ 9.99041151e-01 3.87366638e-02 2.04022023e-02 3.48993890e+02] [-3.87176049e-02 9.99249309e-01 -1.32848548e-03 1.96235690e+00] [-2.04383476e-02 5.37287253e-04 9.99790971e-01 3.93077524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.02, Y:1.96, Z:3.93 [[ 9.98852435e-01 4.31957325e-02 2.06867517e-02 3.49021445e+02] [-4.31771239e-02 9.99066527e-01 -1.34555127e-03 1.96157221e+00] [-2.07255632e-02 4.50812725e-04 9.99785101e-01 3.93018184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.05, Y:1.96, Z:3.93 [[ 9.98722480e-01 4.59831806e-02 2.09512361e-02 3.49050558e+02] [-4.59647482e-02 9.98942136e-01 -1.36074880e-03 1.96030581e+00] [-2.09916441e-02 3.95992129e-04 9.99779573e-01 3.92933339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.08, Y:1.96, Z:3.93 [[ 9.98568967e-01 4.90619033e-02 2.12825724e-02 3.49079659e+02] [-4.90436150e-02 9.98795684e-01 -1.38071824e-03 1.95911646e+00] [-2.13246821e-02 3.34968105e-04 9.99772547e-01 3.92915760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.11, Y:1.96, Z:3.93 [[ 9.98219234e-01 5.53831799e-02 2.21599853e-02 3.49107455e+02] [-5.53649445e-02 9.98465152e-01 -1.43604118e-03 1.95906263e+00] [-2.22055057e-02 2.06597568e-04 9.99753406e-01 3.92928904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.14, Y:1.96, Z:3.93 [[ 9.98222134e-01 5.53308326e-02 2.21601179e-02 3.49136703e+02] [-5.53126298e-02 9.98468055e-01 -1.43399259e-03 1.95722994e+00] [-2.22055138e-02 2.05708743e-04 9.99753406e-01 3.92855086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.17, Y:1.96, Z:3.93 [[ 9.98046927e-01 5.84264183e-02 2.21062136e-02 3.49165070e+02] [-5.84090853e-02 9.98291709e-01 -1.42950165e-03 1.95620240e+00] [-2.21519704e-02 1.35506012e-04 9.99754606e-01 3.92812774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.19, Y:1.96, Z:3.93 [[ 9.97764668e-01 6.32727397e-02 2.14995024e-02 3.49192870e+02] [-6.32575168e-02 9.97996272e-01 -1.38808709e-03 1.95560218e+00] [-2.15442514e-02 2.49791143e-05 9.99767895e-01 3.92775240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.22, Y:1.95, Z:3.93 [[ 9.97678382e-01 6.48229071e-02 2.08766965e-02 3.49221250e+02] [-6.48089375e-02 9.97896784e-01 -1.34574195e-03 1.95383506e+00] [-2.09200232e-02 -1.03788734e-05 9.99781152e-01 3.92695438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.25, Y:1.95, Z:3.93 [[ 9.97633217e-01 6.57009144e-02 2.02818603e-02 3.49248031e+02] [-6.56879528e-02 9.97839360e-01 -1.30533787e-03 1.95175312e+00] [-2.03238004e-02 -3.00254671e-05 9.99793450e-01 3.92601653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.28, Y:1.95, Z:3.93 [[ 9.97624143e-01 6.59278734e-02 1.99896376e-02 3.49275121e+02] [-6.59153782e-02 9.97824390e-01 -1.28403756e-03 1.94959206e+00] [-2.00308018e-02 -3.66376583e-05 9.99799363e-01 3.92531076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.30, Y:1.95, Z:3.92 [[ 9.97654436e-01 6.55430631e-02 1.97416613e-02 3.49303271e+02] [-6.55308510e-02 9.97849741e-01 -1.26556676e-03 1.94700051e+00] [-1.97821608e-02 -3.10895745e-05 9.99804313e-01 3.92484690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.33, Y:1.94, Z:3.92 [[ 9.97710656e-01 6.46945808e-02 1.96991858e-02 3.49330206e+02] [-6.46822948e-02 9.97905111e-01 -1.26086835e-03 1.94452985e+00] [-1.97394896e-02 -1.62067552e-05 9.99805157e-01 3.92452650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.36, Y:1.94, Z:3.92 [[ 9.97894124e-01 6.18743151e-02 1.94650024e-02 3.49358071e+02] [-6.18618297e-02 9.98083948e-01 -1.24347726e-03 1.94098104e+00] [-1.95046458e-02 3.67179904e-05 9.99809766e-01 3.92418092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.38, Y:1.94, Z:3.92 [[ 9.97991225e-01 6.03170349e-02 1.93744601e-02 3.49384431e+02] [-6.03044110e-02 9.98179268e-01 -1.23568278e-03 1.93821169e+00] [-1.94137171e-02 6.48351647e-05 9.99811534e-01 3.92357677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.41, Y:1.94, Z:3.92 [[ 9.98130310e-01 5.80783480e-02 1.90470456e-02 3.49411496e+02] [-5.80657848e-02 9.98312023e-01 -1.21243169e-03 1.93567976e+00] [-1.90853107e-02 1.04183172e-04 9.99817853e-01 3.92311141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.44, Y:1.93, Z:3.92 [[ 9.98260206e-01 5.57851857e-02 1.90938374e-02 3.49439196e+02] [-5.57721894e-02 9.98442783e-01 -1.21289575e-03 1.93292888e+00] [-1.91317658e-02 1.45880447e-04 9.99816960e-01 3.92238075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.47, Y:1.93, Z:3.92 [[ 9.98544633e-01 5.05358900e-02 1.88345437e-02 3.49467860e+02] [-5.05223526e-02 9.98722217e-01 -1.19418829e-03 1.92856623e+00] [-1.88708266e-02 2.40884844e-04 9.99821901e-01 3.92125388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.50, Y:1.93, Z:3.92 [[ 9.98699026e-01 4.75391155e-02 1.84469203e-02 3.49495022e+02] [-4.75256403e-02 9.98869335e-01 -1.16843915e-03 1.92569990e+00] [-1.84816096e-02 2.90217341e-04 9.99829158e-01 3.92031675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.52, Y:1.92, Z:3.92 [[ 9.98834617e-01 4.45162396e-02 1.86470584e-02 3.49523794e+02] [-4.45019774e-02 9.99008600e-01 -1.17931058e-03 1.92286756e+00] [-1.86810701e-02 3.48105261e-04 9.99825433e-01 3.91932986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.55, Y:1.92, Z:3.92 [[ 9.99034896e-01 3.94204726e-02 1.93727341e-02 3.49552686e+02] [-3.94041486e-02 9.99222606e-01 -1.22377165e-03 1.91911214e+00] [-1.94059155e-02 4.59224489e-04 9.99811582e-01 3.91881191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.58, Y:1.92, Z:3.92 [[ 9.99126293e-01 3.68682526e-02 1.96820348e-02 3.49581150e+02] [-3.68509389e-02 9.99320002e-01 -1.24175720e-03 1.91638063e+00] [-1.97144325e-02 5.15370799e-04 9.99805519e-01 3.91819700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.61, Y:1.91, Z:3.92 [[ 9.99203364e-01 3.42989097e-02 2.04015343e-02 3.49609742e+02] [-3.42797952e-02 9.99411448e-01 -1.28599632e-03 1.91358474e+00] [-2.04336352e-02 5.85611434e-04 9.99791040e-01 3.91739956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.64, Y:1.91, Z:3.92 [[ 9.99281231e-01 3.16078504e-02 2.09276233e-02 3.49640302e+02] [-3.15871762e-02 9.99500132e-01 -1.31779482e-03 1.91058903e+00] [-2.09588149e-02 6.55803101e-04 9.99780125e-01 3.91643229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.67, Y:1.91, Z:3.92 [[ 9.99350313e-01 2.88422899e-02 2.16118910e-02 3.49670842e+02] [-2.88195967e-02 9.99583703e-01 -1.36081984e-03 1.90764208e+00] [-2.16421432e-02 7.37089744e-04 9.99765510e-01 3.91590227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.70, Y:1.90, Z:3.91 [[ 9.99481552e-01 2.27817448e-02 2.27512445e-02 3.49702718e+02] [-2.27550300e-02 9.99740045e-01 -1.43244432e-03 1.90388794e+00] [-2.27779638e-02 9.13996426e-04 9.99740131e-01 3.91480393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.74, Y:1.90, Z:3.91 [[ 9.99545863e-01 1.98369353e-02 2.26839967e-02 3.49736144e+02] [-1.98094950e-02 9.99802745e-01 -1.43376670e-03 1.90115038e+00] [-2.27079637e-02 9.83757058e-04 9.99741657e-01 3.91382169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.77, Y:1.90, Z:3.91 [[ 9.99632767e-01 1.74063613e-02 2.07689487e-02 3.49767172e+02] [-1.72629251e-02 9.99826018e-01 -7.06571044e-03 1.90118721e+00] [-2.08883236e-02 6.70458288e-03 9.99759334e-01 3.91418474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.80, Y:1.89, Z:3.91 [[ 9.99655848e-01 1.42759763e-02 2.20086721e-02 3.49799404e+02] [-1.43747423e-02 9.99887277e-01 4.33593280e-03 1.89287575e+00] [-2.19442915e-02 -4.65080957e-03 9.99748377e-01 3.91008349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.83, Y:1.89, Z:3.91 [[ 9.99728549e-01 1.02938269e-02 2.09013088e-02 3.49832321e+02] [-1.02681533e-02 9.99946390e-01 -1.33527336e-03 1.89256613e+00] [-2.09139334e-02 1.12029306e-03 9.99780652e-01 3.91020477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.86, Y:1.89, Z:3.91 [[ 9.99749257e-01 8.77910302e-03 2.05997747e-02 3.49863838e+02] [-8.75371988e-03 9.99960812e-01 -1.32205496e-03 1.89025896e+00] [-2.06105738e-02 1.14139881e-03 9.99786928e-01 3.90938289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.90, Y:1.89, Z:3.91 [[ 9.99765507e-01 8.02715055e-03 2.01120907e-02 3.49896438e+02] [-8.00269757e-03 9.99967138e-01 -1.29602489e-03 1.88799001e+00] [-2.01218331e-02 1.13477001e-03 9.99796891e-01 3.90862596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.93, Y:1.89, Z:3.91 [[ 9.99785930e-01 7.00195767e-03 1.94696140e-02 3.49929812e+02] [-6.97874335e-03 9.99974854e-01 -1.26002413e-03 1.88633543e+00] [-1.94779470e-02 1.12388096e-03 9.99809655e-01 3.90751067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.96, Y:1.88, Z:3.91 [[ 9.99797125e-01 7.04043050e-03 1.88717147e-02 3.49962124e+02] [-7.01852358e-03 9.99974617e-01 -1.22681440e-03 1.88453079e+00] [-1.88798730e-02 1.09411393e-03 9.99821161e-01 3.90649365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.00, Y:1.88, Z:3.91 [[ 9.99809456e-01 7.35710818e-03 1.80810554e-02 3.49995619e+02] [-7.33696750e-03 9.99972388e-01 -1.17999456e-03 1.88265885e+00] [-1.80892375e-02 1.04710961e-03 9.99835828e-01 3.90506709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.03, Y:1.88, Z:3.90 [[ 9.99817756e-01 7.90096682e-03 1.73789682e-02 3.50027816e+02] [-7.88235618e-03 9.99968285e-01 -1.13911074e-03 1.88118733e+00] [-1.73874171e-02 1.00191593e-03 9.99848325e-01 3.90404978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.06, Y:1.88, Z:3.90 [[ 9.99816719e-01 8.69601211e-03 1.70560046e-02 3.50060605e+02] [-8.67812793e-03 9.99961715e-01 -1.12229046e-03 1.87999880e+00] [-1.70651111e-02 9.74070576e-04 9.99853906e-01 3.90312125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.09, Y:1.88, Z:3.90 [[ 9.99806552e-01 1.10116929e-02 1.62973031e-02 3.50093208e+02] [-1.09955967e-02 9.99938967e-01 -1.07693565e-03 1.88035283e+00] [-1.63081673e-02 8.97528744e-04 9.99866610e-01 3.90267740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.13, Y:1.88, Z:3.90 [[ 9.99783490e-01 1.27439530e-02 1.64488370e-02 3.50126327e+02] [-1.27277186e-02 9.99918404e-01 -1.09127535e-03 1.87941362e+00] [-1.64614020e-02 8.81682906e-04 9.99864113e-01 3.90206414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.16, Y:1.88, Z:3.90 [[ 9.99735523e-01 1.77984823e-02 1.45635612e-02 3.50159616e+02] [-1.76523343e-02 9.99793141e-01 -1.01029466e-02 1.88465281e+00] [-1.47403657e-02 9.84319375e-03 9.99842904e-01 3.90494891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.19, Y:1.88, Z:3.90 [[ 9.99643951e-01 1.92575548e-02 1.84693793e-02 3.50191315e+02] [-1.94019336e-02 9.99782343e-01 7.67011591e-03 1.87565137e+00] [-1.83176516e-02 -8.02572665e-03 9.99800006e-01 3.89929723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.22, Y:1.88, Z:3.90 [[ 9.99583469e-01 2.20998888e-02 1.85602525e-02 3.50223880e+02] [-2.20805324e-02 9.99755417e-01 -1.24720344e-03 1.87971948e+00] [-1.85832761e-02 8.36863685e-04 9.99826966e-01 3.90144410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.26, Y:1.88, Z:3.90 [[ 9.99495843e-01 2.51666101e-02 1.93572102e-02 3.50256548e+02] [-2.51460184e-02 9.99682935e-01 -1.30647953e-03 1.87914124e+00] [-1.93839524e-02 8.19064096e-04 9.99811778e-01 3.90093939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.29, Y:1.88, Z:3.90 [[ 9.99406010e-01 3.00119758e-02 1.69383818e-02 3.50286656e+02] [-3.02471438e-02 9.99447146e-01 1.38025997e-02 1.87521846e+00] [-1.65147740e-02 -1.43067387e-02 9.99761261e-01 3.90127064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.32, Y:1.89, Z:3.90 [[ 9.99193316e-01 3.52618497e-02 1.92176884e-02 3.50318043e+02] [-3.49510556e-02 9.99256495e-01 -1.62751728e-02 1.88719912e+00] [-1.97772927e-02 1.55903654e-02 9.99682849e-01 3.90412881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.35, Y:1.88, Z:3.90 [[ 9.99071285e-01 3.81524017e-02 2.00240142e-02 3.50346311e+02] [-3.81327420e-02 9.99271753e-01 -1.36285350e-03 1.87964541e+00] [-2.00614279e-02 5.98017234e-04 9.99798570e-01 3.89883476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.38, Y:1.89, Z:3.90 [[ 9.98925404e-01 4.39716630e-02 1.46468428e-02 3.50375003e+02] [-4.37243526e-02 9.98902407e-01 -1.67977067e-02 1.88633490e+00] [-1.53693896e-02 1.61392323e-02 9.99751623e-01 3.90364849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.40, Y:1.87, Z:3.89 [[ 9.98799076e-01 4.44567360e-02 2.05913717e-02 3.50404438e+02] [-4.47594110e-02 9.98892864e-01 1.44789802e-02 1.87073668e+00] [-1.99248861e-02 -1.53832497e-02 9.99683127e-01 3.89242547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.43, Y:1.88, Z:3.90 [[ 9.98480154e-01 5.19342006e-02 1.84451035e-02 3.50434100e+02] [-5.19199170e-02 9.98650466e-01 -1.25274343e-03 1.87903368e+00] [-1.84852715e-02 2.93171211e-04 9.99829090e-01 3.89611393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.46, Y:1.88, Z:3.90 [[ 9.98292722e-01 5.57162500e-02 1.75311365e-02 3.50462538e+02] [-5.57039461e-02 9.98446621e-01 -1.18974334e-03 1.87820925e+00] [-1.75701920e-02 2.11158639e-04 9.99845610e-01 3.89521701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.49, Y:1.88, Z:3.89 [[ 9.97843391e-01 6.36801026e-02 1.59189052e-02 3.50490359e+02] [-6.36709942e-02 9.97970361e-01 -1.07885672e-03 1.87802667e+00] [-1.59552972e-02 6.29575334e-05 9.99872704e-01 3.89417678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.52, Y:1.87, Z:3.90 [[ 9.97808301e-01 6.51976658e-02 1.13074553e-02 3.50515249e+02] [-6.54272772e-02 9.97630229e-01 2.12884388e-02 1.86960520e+00] [-9.89270268e-03 -2.19815969e-02 9.99709430e-01 3.89501705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.55, Y:1.89, Z:3.90 [[ 9.97283476e-01 7.21054230e-02 1.50491605e-02 3.50548704e+02] [-7.17497168e-02 9.97158108e-01 -2.29713956e-02 1.88652842e+00] [-1.66627546e-02 2.18292203e-02 9.99622848e-01 3.89969732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.165099893 meters Centerline goodness : 0.996090 Centerline is valid? [True, True] Translation: X:350.57, Y:1.88, Z:3.90 [[ 9.96963252e-01 7.67024477e-02 1.34539591e-02 3.50573902e+02] [-7.65582917e-02 9.97005286e-01 -1.09218656e-02 1.87941164e+00] [-1.42514022e-02 9.85868655e-03 9.99849841e-01 3.89614437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.60, Y:1.87, Z:3.89 [[ 9.96543374e-01 8.12685227e-02 1.72258604e-02 3.50604371e+02] [-8.14270246e-02 9.96641267e-01 8.70774798e-03 1.86900421e+00] [-1.64603375e-02 -1.00802991e-02 9.99813705e-01 3.88843908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.63, Y:1.87, Z:3.89 [[ 9.96320510e-01 8.40463232e-02 1.67826333e-02 3.50632088e+02] [-8.40392007e-02 9.96461808e-01 -1.13044695e-03 1.87228975e+00] [-1.68182630e-02 -2.84111606e-04 9.99858523e-01 3.89084727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.66, Y:1.87, Z:3.89 [[ 9.96163239e-01 8.57932945e-02 1.72717303e-02 3.50659859e+02] [-8.57860310e-02 9.96312906e-01 -1.16236655e-03 1.87045283e+00] [-1.73077710e-02 -3.23766359e-04 9.99850157e-01 3.89035622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.69, Y:1.87, Z:3.89 [[ 9.95958734e-01 8.86396796e-02 1.44640291e-02 3.50685080e+02] [-8.85195799e-02 9.96036060e-01 -8.74365596e-03 1.87236159e+00] [-1.51817294e-02 7.42797074e-03 9.99857160e-01 3.89273337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.71, Y:1.87, Z:3.89 [[ 9.96030742e-01 8.78750367e-02 1.41682188e-02 3.50714533e+02] [-8.78718806e-02 9.96131425e-01 -8.46335527e-04 1.86500711e+00] [-1.41877798e-02 -4.02011832e-04 9.99899268e-01 3.89029007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.74, Y:1.86, Z:3.89 [[ 9.96204243e-01 8.54652366e-02 1.65166238e-02 3.50743589e+02] [-8.55889309e-02 9.96306420e-01 6.93193628e-03 1.85784560e+00] [-1.58631788e-02 -8.31926451e-03 9.99839562e-01 3.88748361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.77, Y:1.86, Z:3.89 [[ 9.96410697e-01 8.31673537e-02 1.57769931e-02 3.50771839e+02] [-8.31611470e-02 9.96535559e-01 -1.05018516e-03 1.85852782e+00] [-1.58096757e-02 -2.65617112e-04 9.99874984e-01 3.88996088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.80, Y:1.85, Z:3.89 [[ 9.96970554e-01 7.62351225e-02 1.54246714e-02 3.50799019e+02] [-7.62283837e-02 9.97089857e-01 -1.02520475e-03 1.85297217e+00] [-1.54579400e-02 -1.53698819e-04 9.99880507e-01 3.89063821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.83, Y:1.85, Z:3.89 [[ 9.97322045e-01 7.14985204e-02 1.53850643e-02 3.50826942e+02] [-7.14912785e-02 9.97440702e-01 -1.02088166e-03 1.84902858e+00] [-1.54186809e-02 -8.17501352e-05 9.99881122e-01 3.89046123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.85, Y:1.84, Z:3.89 [[ 9.97685054e-01 6.63481917e-02 1.49147940e-02 3.50854929e+02] [-6.63408333e-02 9.97796531e-01 -9.88128585e-04 1.84492661e+00] [-1.49474902e-02 -3.61873936e-06 9.99888280e-01 3.89041266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.88, Y:1.84, Z:3.89 [[ 9.98047187e-01 6.07962049e-02 1.43399638e-02 3.50882075e+02] [-6.07888394e-02 9.98150197e-01 -9.49360809e-04 1.84048185e+00] [-1.43711552e-02 7.57971312e-05 9.99896727e-01 3.88986815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.91, Y:1.83, Z:3.89 [[ 9.98676257e-01 4.96195279e-02 1.35512192e-02 3.50909316e+02] [-4.96119634e-02 9.98768168e-01 -8.94020078e-04 1.83323590e+00] [-1.35788872e-02 2.20534037e-04 9.99907778e-01 3.88981583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.94, Y:1.83, Z:3.89 [[ 9.98937470e-01 4.41170360e-02 1.33273506e-02 3.50936555e+02] [-4.41092511e-02 9.99026328e-01 -8.77647732e-04 1.82881202e+00] [-1.33530933e-02 2.88855752e-04 9.99910802e-01 3.88918541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.97, Y:1.82, Z:3.89 [[ 9.99162640e-01 3.86504074e-02 1.34225187e-02 3.50965270e+02] [-3.86420368e-02 9.99252728e-01 -8.82508175e-04 1.82453451e+00] [-1.34465977e-02 3.63095736e-04 9.99909524e-01 3.88843687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.99, Y:1.82, Z:3.89 [[ 9.99499777e-01 2.85472129e-02 1.36107229e-02 3.50992242e+02] [-2.85376810e-02 9.99592318e-01 -8.94065222e-04 1.81777911e+00] [-1.36306971e-02 5.05199523e-04 9.99906970e-01 3.88791721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.02, Y:1.82, Z:3.89 [[ 9.99501277e-01 2.84945961e-02 1.36108298e-02 3.51021489e+02] [-2.84850815e-02 9.99593819e-01 -8.92433206e-04 1.81592318e+00] [-1.36307309e-02 5.04282532e-04 9.99906970e-01 3.88718888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.05, Y:1.81, Z:3.89 [[ 9.99627901e-01 2.35841200e-02 1.37058219e-02 3.51051179e+02] [-2.35740240e-02 9.99721691e-01 -8.97738425e-04 1.81188032e+00] [-1.37231799e-02 5.74303003e-04 9.99905668e-01 3.88643871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.08, Y:1.81, Z:3.89 [[ 9.99720517e-01 1.92341689e-02 1.37453698e-02 3.51081195e+02] [-1.92236164e-02 9.99814805e-01 -8.99442595e-04 1.80781252e+00] [-1.37601243e-02 6.34955499e-04 9.99905123e-01 3.88557789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.11, Y:1.80, Z:3.88 [[ 9.99799513e-01 1.48806963e-02 1.33977388e-02 3.51112379e+02] [-1.48702864e-02 9.99889047e-01 -8.76279315e-04 1.80417438e+00] [-1.34092919e-02 6.76875420e-04 9.99909862e-01 3.88498356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.14, Y:1.80, Z:3.88 [[ 9.99888284e-01 8.12361044e-03 1.25469753e-02 3.51144054e+02] [-8.11398146e-03 9.99966746e-01 -8.18149100e-04 1.79934194e+00] [-1.25532043e-02 7.16251775e-04 9.99920949e-01 3.88352398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.18, Y:1.80, Z:3.88 [[ 9.99913497e-01 5.54763462e-03 1.19257213e-02 3.51176021e+02] [-5.53870389e-03 9.99984356e-01 -7.81760054e-04 1.79659671e+00] [-1.19298716e-02 7.15639390e-04 9.99928580e-01 3.88267601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.21, Y:1.79, Z:3.88 [[ 9.99928974e-01 3.90941252e-03 1.12588918e-02 3.51208780e+02] [-3.90134565e-03 9.99992117e-01 -7.38362574e-04 1.79406139e+00] [-1.12616896e-02 6.94385303e-04 9.99936344e-01 3.88165924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.24, Y:1.79, Z:3.88 [[ 9.99938286e-01 2.42886296e-03 1.08409180e-02 3.51240322e+02] [-2.42126343e-03 9.99996814e-01 -7.14074017e-04 1.79193290e+00] [-1.08426179e-02 6.87781230e-04 9.99940981e-01 3.88102847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.27, Y:1.79, Z:3.88 [[ 9.99937336e-01 2.90535224e-03 1.08112352e-02 3.51272886e+02] [-2.89779297e-03 9.99995546e-01 -7.14803905e-04 1.78999160e+00] [-1.08132638e-02 6.83430391e-04 9.99941301e-01 3.88025817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.31, Y:1.79, Z:3.88 [[ 9.99935854e-01 3.67042104e-03 1.07152536e-02 3.51305668e+02] [-3.66300736e-03 9.99993038e-01 -7.11425182e-04 1.78834139e+00] [-1.07177902e-02 6.72129494e-04 9.99942337e-01 3.87986160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.34, Y:1.79, Z:3.88 [[ 9.99930994e-01 6.10017236e-03 1.00396985e-02 3.51338218e+02] [-6.09373135e-03 9.99981207e-01 -6.72019170e-04 1.78802861e+00] [-1.00436093e-02 6.10793571e-04 9.99949375e-01 3.87927758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.37, Y:1.79, Z:3.88 [[ 9.99923915e-01 7.86624776e-03 9.50192927e-03 3.51371340e+02] [-7.86055770e-03 9.99968903e-01 -6.36030546e-04 1.78703838e+00] [-9.50663696e-03 5.61291690e-04 9.99954653e-01 3.87883875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.40, Y:1.79, Z:3.88 [[ 9.99912032e-01 9.91529908e-03 8.80990574e-03 3.51403274e+02] [-9.91049983e-03 9.99950717e-01 -5.88246642e-04 1.78630577e+00] [-8.81530420e-03 5.00884326e-04 9.99961019e-01 3.87813683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.43, Y:1.79, Z:3.88 [[ 9.99890384e-01 1.20947311e-02 8.54035712e-03 3.51434986e+02] [-1.20902813e-02 9.99926746e-01 -5.72466929e-04 1.78564264e+00] [-8.54665534e-03 4.69148857e-04 9.99963367e-01 3.87721862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.47, Y:1.79, Z:3.88 [[ 9.99869194e-01 1.40841353e-02 7.95191374e-03 3.51466081e+02] [-1.40803039e-02 9.99900723e-01 -5.37604528e-04 1.78532258e+00] [-7.95869600e-03 4.25568844e-04 9.99968239e-01 3.87664222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.50, Y:1.79, Z:3.88 [[ 9.99792376e-01 1.87211131e-02 8.04518176e-03 3.51496065e+02] [-1.87173314e-02 9.99824667e-01 -5.45104797e-04 1.78663546e+00] [-8.05397614e-03 3.94407287e-04 9.99967488e-01 3.87607016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.52, Y:1.79, Z:3.88 [[ 9.99737895e-01 2.14435386e-02 8.01973952e-03 3.51524758e+02] [-2.14398621e-02 9.99769992e-01 -5.44122234e-04 1.78641508e+00] [-8.02956282e-03 3.72037507e-04 9.99967693e-01 3.87600864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.55, Y:1.79, Z:3.88 [[ 9.99663804e-01 2.44558113e-02 8.61347505e-03 3.51553788e+02] [-2.44516883e-02 9.99700842e-01 -5.83670950e-04 1.78646230e+00] [-8.62517241e-03 3.72860715e-04 9.99962733e-01 3.87555932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.58, Y:1.79, Z:3.88 [[ 9.99497285e-01 3.03103700e-02 9.29834210e-03 3.51581872e+02] [-3.03058231e-02 9.99540475e-01 -6.29546703e-04 1.78886208e+00] [-9.31315107e-03 3.47436310e-04 9.99956571e-01 3.87555928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.61, Y:1.79, Z:3.87 [[ 9.99393888e-01 3.32950940e-02 1.01633616e-02 3.51610342e+02] [-3.32898290e-02 9.99445504e-01 -6.86811355e-04 1.78911128e+00] [-1.01805935e-02 3.48058501e-04 9.99948116e-01 3.87494239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.64, Y:1.79, Z:3.87 [[ 9.99291624e-01 3.62056123e-02 1.02666741e-02 3.51638028e+02] [-3.62003985e-02 9.99344310e-01 -6.93277634e-04 1.78933812e+00] [-1.02850429e-02 3.21128838e-04 9.99947056e-01 3.87494883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.67, Y:1.79, Z:3.87 [[ 9.99061800e-01 4.18478350e-02 1.11479884e-02 3.51666086e+02] [-4.18420496e-02 9.99123955e-01 -7.51794513e-04 1.79101446e+00] [-1.11696832e-02 2.84634496e-04 9.99937577e-01 3.87417675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.69, Y:1.79, Z:3.87 [[ 9.98959899e-01 4.41894497e-02 1.12433267e-02 3.51694288e+02] [-4.41837267e-02 9.99023135e-01 -7.57025742e-04 1.79075712e+00] [-1.12657960e-02 2.59466285e-04 9.99936505e-01 3.87356471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.72, Y:1.79, Z:3.87 [[ 9.98858765e-01 4.64467756e-02 1.11294656e-02 3.51722592e+02] [-4.64413208e-02 9.98920740e-01 -7.48203244e-04 1.79021555e+00] [-1.11522056e-02 2.30482288e-04 9.99937786e-01 3.87266002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.75, Y:1.79, Z:3.87 [[ 9.98746764e-01 4.88381077e-02 1.09425853e-02 3.51750944e+02] [-4.88329904e-02 9.98806688e-01 -7.34503461e-04 1.78952400e+00] [-1.09653991e-02 1.99223794e-04 9.99939858e-01 3.87146954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.78, Y:1.79, Z:3.87 [[ 9.98643333e-01 5.09120016e-02 1.09298568e-02 3.51779227e+02] [-5.09070334e-02 9.98703128e-01 -7.32463617e-04 1.78920152e+00] [-1.09529734e-02 1.75063322e-04 9.99939999e-01 3.87056195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.81, Y:1.79, Z:3.87 [[ 9.98424841e-01 5.50327735e-02 1.09193189e-02 3.51807241e+02] [-5.50280740e-02 9.98484540e-01 -7.30586049e-04 1.79028404e+00] [-1.09429773e-02 1.28566171e-04 9.99940116e-01 3.87015154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.83, Y:1.79, Z:3.87 [[ 9.98320930e-01 5.68600509e-02 1.10569442e-02 3.51834764e+02] [-5.68553579e-02 9.98382153e-01 -7.38563533e-04 1.78971881e+00] [-1.10810505e-02 1.08676911e-04 9.99938597e-01 3.86972098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.86, Y:1.79, Z:3.87 [[ 9.98134960e-01 5.98029814e-02 1.22558407e-02 3.51862413e+02] [-5.97974563e-02 9.98210197e-01 -8.17090551e-04 1.78973843e+00] [-1.22827696e-02 8.26985450e-05 9.99924561e-01 3.86907436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.89, Y:1.79, Z:3.87 [[ 9.98058722e-01 6.09454262e-02 1.28235278e-02 3.51888966e+02] [-6.09394887e-02 9.98141097e-01 -8.53616915e-04 1.78856071e+00] [-1.28517142e-02 7.05005760e-05 9.99917411e-01 3.86867683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.92, Y:1.79, Z:3.87 [[ 9.98003947e-01 6.16851652e-02 1.35300188e-02 3.51915941e+02] [-6.16786396e-02 9.98095655e-01 -8.99448662e-04 1.78710482e+00] [-1.35597357e-02 6.31401589e-05 9.99908061e-01 3.86812487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.94, Y:1.79, Z:3.87 [[ 9.97938914e-01 6.24925412e-02 1.45809924e-02 3.51943670e+02] [-6.24851051e-02 9.98045430e-01 -9.65452996e-04 1.78564200e+00] [-1.46128264e-02 5.23682754e-05 9.99893226e-01 3.86729436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.97, Y:1.78, Z:3.87 [[ 9.97852527e-01 6.37150408e-02 1.51897117e-02 3.51972063e+02] [-6.37071385e-02 9.97968132e-01 -1.00404287e-03 1.78402159e+00] [-1.52228208e-02 3.41936545e-05 9.99884126e-01 3.86625800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.00, Y:1.78, Z:3.87 [[ 9.97818999e-01 6.40805776e-02 1.58406354e-02 3.51998620e+02] [-6.40720561e-02 9.97944727e-01 -1.04539379e-03 1.78210965e+00] [-1.58750680e-02 2.81717025e-05 9.99873983e-01 3.86580949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.03, Y:1.78, Z:3.86 [[ 9.97766939e-01 6.45788492e-02 1.70501234e-02 3.52026658e+02] [-6.45690922e-02 9.97912607e-01 -1.12270431e-03 1.77953904e+00] [-1.70870361e-02 1.92862563e-05 9.99854006e-01 3.86491938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.05, Y:1.78, Z:3.86 [[ 9.97764854e-01 6.43965732e-02 1.78431114e-02 3.52054021e+02] [-6.43858946e-02 9.97924386e-01 -1.17289533e-03 1.77709886e+00] [-1.78816064e-02 2.14290456e-05 9.99840111e-01 3.86407585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.08, Y:1.77, Z:3.86 [[ 9.97815502e-01 6.34303370e-02 1.84612338e-02 3.52080757e+02] [-6.34187701e-02 9.97986268e-01 -1.21191004e-03 1.77281526e+00] [-1.85009297e-02 3.84738817e-05 9.99828842e-01 3.86295725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.11, Y:1.77, Z:3.86 [[ 9.97890994e-01 6.21969497e-02 1.85769689e-02 3.52108685e+02] [-6.21850982e-02 9.98063894e-01 -1.21550288e-03 1.76982727e+00] [-1.86166025e-02 5.77287368e-05 9.99826694e-01 3.86202800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.14, Y:1.77, Z:3.86 [[ 9.97984594e-01 6.07631228e-02 1.82919074e-02 3.52136930e+02] [-6.07514264e-02 9.98152211e-01 -1.19493990e-03 1.76674088e+00] [-1.83307161e-02 8.12721419e-05 9.99831975e-01 3.86112772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.16, Y:1.76, Z:3.86 [[ 9.98232220e-01 5.66802856e-02 1.78823818e-02 3.52164686e+02] [-5.66684851e-02 9.98392369e-01 -1.16633989e-03 1.76159890e+00] [-1.79197420e-02 1.50910572e-04 9.99839417e-01 3.85977097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.19, Y:1.76, Z:3.86 [[ 9.98399467e-01 5.37374264e-02 1.76293283e-02 3.52192138e+02] [-5.37255314e-02 9.98555081e-01 -1.14799178e-03 1.75804669e+00] [-1.76655455e-02 1.99009351e-04 9.99843932e-01 3.85839833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.22, Y:1.75, Z:3.86 [[ 9.98570987e-01 5.05989518e-02 1.71967846e-02 3.52219838e+02] [-5.05872018e-02 9.98719022e-01 -1.11785795e-03 1.75429607e+00] [-1.72313184e-02 2.46323303e-04 9.99851499e-01 3.85756673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.25, Y:1.75, Z:3.86 [[ 9.98725970e-01 4.73833574e-02 1.73566862e-02 3.52247635e+02] [-4.73709298e-02 9.98876732e-01 -1.12667456e-03 1.75062589e+00] [-1.73905756e-02 3.03036779e-04 9.99848727e-01 3.85660704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.28, Y:1.75, Z:3.86 [[ 9.98952364e-01 4.19381816e-02 1.83129303e-02 3.52276566e+02] [-4.19234686e-02 9.99120120e-01 -1.18675648e-03 1.74532126e+00] [-1.83465876e-02 4.17771629e-04 9.99831600e-01 3.85579302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.30, Y:1.74, Z:3.86 [[ 9.99017706e-01 3.99914559e-02 1.90867978e-02 3.52304959e+02] [-3.99751452e-02 9.99199911e-01 -1.23547593e-03 1.74176251e+00] [-1.91209351e-02 4.71264814e-04 9.99817067e-01 3.85512631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.33, Y:1.74, Z:3.85 [[ 9.99083991e-01 3.80892782e-02 1.95034835e-02 3.52333115e+02] [-3.80719118e-02 9.99274206e-01 -1.26108830e-03 1.73870956e+00] [-1.95373619e-02 5.17398232e-04 9.99808994e-01 3.85447369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.36, Y:1.74, Z:3.85 [[ 9.99149127e-01 3.62828384e-02 1.96106611e-02 3.52362240e+02] [-3.62649732e-02 9.99341408e-01 -1.26596846e-03 1.73561643e+00] [-1.96436786e-02 5.53711182e-04 9.99806891e-01 3.85341715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.39, Y:1.73, Z:3.85 [[ 9.99264067e-01 3.29414554e-02 1.96516096e-02 3.52390695e+02] [-3.29228822e-02 9.99457091e-01 -1.26798916e-03 1.73160810e+00] [-1.96827100e-02 6.20068372e-04 9.99806084e-01 3.85208847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.42, Y:1.73, Z:3.85 [[ 9.99325772e-01 3.10498393e-02 1.95936120e-02 3.52420005e+02] [-3.10310348e-02 9.99517623e-01 -1.26310299e-03 1.72865194e+00] [-1.96233797e-02 6.54241318e-04 9.99807229e-01 3.85126794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.45, Y:1.73, Z:3.85 [[ 9.99378703e-01 2.91103517e-02 1.98694753e-02 3.52450448e+02] [-2.90906510e-02 9.99575958e-01 -1.27988288e-03 1.72557498e+00] [-1.98983077e-02 7.01071717e-04 9.99801763e-01 3.85038547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.48, Y:1.72, Z:3.85 [[ 9.99491172e-01 2.45125705e-02 2.04090899e-02 3.52481730e+02] [-2.44908217e-02 9.99699190e-01 -1.31494199e-03 1.72086065e+00] [-2.04351833e-02 8.14437530e-04 9.99790848e-01 3.84917968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.51, Y:1.72, Z:3.85 [[ 9.99542419e-01 2.21961024e-02 2.05496065e-02 3.52513935e+02] [-2.21735693e-02 9.99753260e-01 -1.32375524e-03 1.71732166e+00] [-2.05739182e-02 8.67491388e-04 9.99787958e-01 3.84814074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.55, Y:1.71, Z:3.85 [[ 9.99592812e-01 1.94874337e-02 2.08434693e-02 3.52547365e+02] [-1.94635448e-02 9.99809658e-01 -1.34838306e-03 1.71397720e+00] [-2.08657784e-02 9.42146218e-04 9.99781842e-01 3.84721211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.58, Y:1.71, Z:3.85 [[ 9.99636036e-01 1.71454726e-02 2.08285491e-02 3.52578823e+02] [-1.71209807e-02 9.99852509e-01 -1.35364774e-03 1.71080100e+00] [-2.08486860e-02 9.96549875e-04 9.99782146e-01 3.84633476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.61, Y:1.71, Z:3.85 [[ 9.99731024e-01 1.20028196e-02 1.98447060e-02 3.52611456e+02] [-1.19794764e-02 9.99927405e-01 -1.29475611e-03 1.70755457e+00] [-1.98588061e-02 1.05667867e-03 9.99802236e-01 3.84561727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.64, Y:1.70, Z:3.84 [[ 9.99768669e-01 9.95545772e-03 1.90655881e-02 3.52643407e+02] [-9.93343747e-03 9.99949882e-01 -1.24932986e-03 1.70497919e+00] [-1.90770702e-02 1.05965402e-03 9.99817455e-01 3.84429408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.68, Y:1.70, Z:3.84 [[ 9.99797400e-01 8.41855215e-03 1.82835102e-02 3.52676861e+02] [-8.39796170e-03 9.99964013e-01 -1.20266414e-03 1.70239783e+00] [-1.82929770e-02 1.04887627e-03 9.99832119e-01 3.84308782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.71, Y:1.70, Z:3.84 [[ 9.99842638e-01 6.92681773e-03 1.63315416e-02 3.52708704e+02] [-6.91012331e-03 9.99975543e-01 -1.07842852e-03 1.70042174e+00] [-1.63386123e-02 9.65405846e-04 9.99866050e-01 3.84201462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.74, Y:1.70, Z:3.84 [[ 9.99847229e-01 7.10594306e-03 1.59694820e-02 3.52740780e+02] [-7.08993600e-03 9.99974306e-01 -1.05874546e-03 1.69857497e+00] [-1.59765951e-02 9.45361107e-04 9.99871919e-01 3.84130488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.77, Y:1.70, Z:3.84 [[ 9.99835432e-01 7.77718509e-03 1.63897837e-02 3.52773599e+02] [-7.76034406e-03 9.99969293e-01 -1.09088261e-03 1.69704088e+00] [-1.63977644e-02 9.63512724e-04 9.99865083e-01 3.84049725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.81, Y:1.70, Z:3.84 [[ 9.99821396e-01 8.85395829e-03 1.66968221e-02 3.52806643e+02] [-8.83654562e-03 9.99960334e-01 -1.11636306e-03 1.69565860e+00] [-1.67060441e-02 9.68621440e-04 9.99859975e-01 3.83981639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.84, Y:1.70, Z:3.84 [[ 9.99791070e-01 1.12095459e-02 1.70927667e-02 3.52839639e+02] [-1.11915527e-02 9.99936714e-01 -1.14797511e-03 1.69567101e+00] [-1.71045533e-02 9.56440665e-04 9.99853249e-01 3.83980844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.87, Y:1.69, Z:3.84 [[ 9.99772509e-01 1.26220106e-02 1.71934370e-02 3.52872432e+02] [-1.26039259e-02 9.99919895e-01 -1.15980039e-03 1.69471685e+00] [-1.72066987e-02 9.42831744e-04 9.99851509e-01 3.83947922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.91, Y:1.69, Z:3.84 [[ 9.99770872e-01 1.27516108e-02 1.71930079e-02 3.52905884e+02] [-1.27334368e-02 9.99918247e-01 -1.16612212e-03 1.69236780e+00] [-1.72064723e-02 9.46928849e-04 9.99851509e-01 3.83864868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.94, Y:1.69, Z:3.84 [[ 9.99742977e-01 1.43836081e-02 1.75240566e-02 3.52937980e+02] [-1.43649547e-02 9.99896111e-01 -1.18986307e-03 1.69159984e+00] [-1.75393506e-02 9.37824968e-04 9.99845734e-01 3.83796291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.97, Y:1.69, Z:3.84 [[ 9.99689763e-01 1.75829943e-02 1.76412985e-02 3.52970568e+02] [-1.75644985e-02 9.99845009e-01 -1.20284309e-03 1.69251429e+00] [-1.76597138e-02 8.92609365e-04 9.99843657e-01 3.83773648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.00, Y:1.69, Z:3.84 [[ 9.99649946e-01 1.95532864e-02 1.78228760e-02 3.53003572e+02] [-1.95346386e-02 9.99808437e-01 -1.21979797e-03 1.69184891e+00] [-1.78433129e-02 8.71207533e-04 9.99840416e-01 3.83717280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.04, Y:1.69, Z:3.84 [[ 9.99610805e-01 2.17060295e-02 1.75238999e-02 3.53037189e+02] [-2.16882493e-02 9.99764057e-01 -1.20405911e-03 1.69117088e+00] [-1.75459006e-02 8.23527787e-04 9.99845720e-01 3.83674798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.07, Y:1.69, Z:3.84 [[ 9.99504798e-01 2.54088909e-02 1.85619885e-02 3.53068871e+02] [-2.53894644e-02 9.99676814e-01 -1.28152251e-03 1.69275975e+00] [-1.85885516e-02 8.09608949e-04 9.99826890e-01 3.83646737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.10, Y:1.69, Z:3.84 [[ 9.99443692e-01 2.73118695e-02 1.91407682e-02 3.53099920e+02] [-2.72914506e-02 9.99626638e-01 -1.32722549e-03 1.69251392e+00] [-1.91698708e-02 8.04107813e-04 9.99815918e-01 3.83588981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.13, Y:1.69, Z:3.84 [[ 9.99392374e-01 2.88669216e-02 1.95341539e-02 3.53131159e+02] [-2.88459376e-02 9.99582951e-01 -1.35519458e-03 1.69211626e+00] [-1.95651274e-02 7.90890140e-04 9.99808272e-01 3.83513159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.16, Y:1.69, Z:3.83 [[ 9.99336308e-01 3.05123445e-02 1.98982707e-02 3.53161132e+02] [-3.04908801e-02 9.99534091e-01 -1.38127832e-03 1.69133881e+00] [-1.99311459e-02 7.73645787e-04 9.99801056e-01 3.83433899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.19, Y:1.69, Z:3.83 [[ 9.99275809e-01 3.27565482e-02 1.93614641e-02 3.53192102e+02] [-3.27366386e-02 9.99463108e-01 -1.34444578e-03 1.69205515e+00] [-1.93951085e-02 7.09642894e-04 9.99811645e-01 3.83319091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.22, Y:1.69, Z:3.83 [[ 9.99259353e-01 3.34114736e-02 1.90897680e-02 3.53221373e+02] [-3.33922345e-02 9.99441445e-01 -1.32577864e-03 1.69142480e+00] [-1.91234015e-02 6.87346697e-04 9.99816895e-01 3.83229998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.25, Y:1.69, Z:3.83 [[ 9.99250118e-01 3.38674575e-02 1.87668978e-02 3.53250553e+02] [-3.38489519e-02 9.99426111e-01 -1.30293815e-03 1.69067047e+00] [-1.88002549e-02 6.66721279e-04 9.99823037e-01 3.83103052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.28, Y:1.69, Z:3.83 [[ 9.99256133e-01 3.41834130e-02 1.78514546e-02 3.53279235e+02] [-3.41667434e-02 9.99415380e-01 -1.23803662e-03 1.68970567e+00] [-1.78833386e-02 6.27189619e-04 9.99839884e-01 3.83010185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.31, Y:1.69, Z:3.83 [[ 9.99260967e-01 3.43281131e-02 1.72945054e-02 3.53308612e+02] [-3.43125071e-02 9.99410434e-01 -1.19837963e-03 1.68853672e+00] [-1.73254472e-02 6.04076150e-04 9.99849721e-01 3.82914701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.34, Y:1.69, Z:3.83 [[ 9.99244336e-01 3.51265270e-02 1.66398316e-02 3.53336778e+02] [-3.51121931e-02 9.99382712e-01 -1.15288238e-03 1.68879456e+00] [-1.66700568e-02 5.67750212e-04 9.99860884e-01 3.82834306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.37, Y:1.69, Z:3.83 [[ 9.99201973e-01 3.62602494e-02 1.67514652e-02 3.53366020e+02] [-3.62459096e-02 9.99342229e-01 -1.15894618e-03 1.68794218e+00] [-1.67824702e-02 5.50849217e-04 9.99859013e-01 3.82790953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.40, Y:1.69, Z:3.83 [[ 9.99145147e-01 3.77215442e-02 1.69132990e-02 3.53395328e+02] [-3.77071558e-02 9.99288149e-01 -1.16892230e-03 1.68735875e+00] [-1.69453528e-02 5.30170647e-04 9.99856277e-01 3.82729257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.42, Y:1.69, Z:3.83 [[ 9.98954395e-01 4.21609494e-02 1.76796773e-02 3.53424124e+02] [-4.21459460e-02 9.99110719e-01 -1.22052466e-03 1.68877820e+00] [-1.77154136e-02 4.74121751e-04 9.99842957e-01 3.82697151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.45, Y:1.69, Z:3.83 [[ 9.98815788e-01 4.50151844e-02 1.84568328e-02 3.53453297e+02] [-4.49993460e-02 9.98986206e-01 -1.27275548e-03 1.68857918e+00] [-1.84954147e-02 4.40702858e-04 9.99828848e-01 3.82646772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.48, Y:1.69, Z:3.83 [[ 9.98673083e-01 4.77806102e-02 1.92116180e-02 3.53482443e+02] [-4.77639890e-02 9.98857773e-01 -1.32335338e-03 1.68829408e+00] [-1.92529046e-02 4.03973885e-04 9.99814564e-01 3.82605498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.51, Y:1.69, Z:3.83 [[ 9.98520647e-01 5.06761336e-02 1.97090397e-02 3.53510465e+02] [-5.06592298e-02 9.98715076e-01 -1.35631788e-03 1.68766995e+00] [-1.97524480e-02 3.55866641e-04 9.99804838e-01 3.82532198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.54, Y:1.69, Z:3.82 [[ 9.98374082e-01 5.32970267e-02 2.02143438e-02 3.53537434e+02] [-5.32798263e-02 9.98578655e-01 -1.38889674e-03 1.68678433e+00] [-2.02596363e-02 3.09621785e-04 9.99794705e-01 3.82468144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.56, Y:1.69, Z:3.82 [[ 9.98118533e-01 5.76206947e-02 2.09582982e-02 3.53564654e+02] [-5.76032154e-02 9.98338522e-01 -1.43724779e-03 1.68654288e+00] [-2.10062917e-02 2.27278285e-04 9.99779318e-01 3.82410296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.59, Y:1.69, Z:3.82 [[ 9.98025350e-01 5.90700753e-02 2.13571348e-02 3.53592402e+02] [-5.90523159e-02 9.98253819e-01 -1.46180811e-03 1.68573784e+00] [-2.14061904e-02 1.97733286e-04 9.99770842e-01 3.82340536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.62, Y:1.69, Z:3.82 [[ 9.97980053e-01 6.00134739e-02 2.08373919e-02 3.53620400e+02] [-5.99968188e-02 9.98197552e-01 -1.42409275e-03 1.68502463e+00] [-2.08852983e-02 1.71038928e-04 9.99781864e-01 3.82300797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.65, Y:1.68, Z:3.82 [[ 9.97919334e-01 6.10301968e-02 2.07922382e-02 3.53648066e+02] [-6.10138802e-02 9.98135909e-01 -1.41881174e-03 1.68374745e+00] [-2.08400700e-02 1.47244535e-04 9.99782811e-01 3.82234471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.68, Y:1.68, Z:3.82 [[ 9.97833726e-01 6.25744427e-02 2.03050160e-02 3.53675298e+02] [-6.25592441e-02 9.98040293e-01 -1.38347393e-03 1.68234325e+00] [-2.03517942e-02 1.10210489e-04 9.99792875e-01 3.82119118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.70, Y:1.68, Z:3.82 [[ 9.97799887e-01 6.32681387e-02 1.98122999e-02 3.53703121e+02] [-6.32538561e-02 9.97996560e-01 -1.34735949e-03 1.68031755e+00] [-1.98578521e-02 9.11907808e-05 9.99802809e-01 3.81999528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.73, Y:1.68, Z:3.82 [[ 9.97797529e-01 6.35189837e-02 1.91161951e-02 3.53730594e+02] [-6.35057711e-02 9.97980627e-01 -1.29804292e-03 1.67836167e+00] [-1.91600427e-02 8.11953131e-05 9.99816426e-01 3.81926958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.76, Y:1.68, Z:3.82 [[ 9.97771806e-01 6.39632015e-02 1.89771443e-02 3.53758559e+02] [-6.39502994e-02 9.97952255e-01 -1.28657383e-03 1.67616929e+00] [-1.90205773e-02 7.01130350e-05 9.99819090e-01 3.81866716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.79, Y:1.67, Z:3.82 [[ 9.97787206e-01 6.36101437e-02 1.93504775e-02 3.53785176e+02] [-6.35967030e-02 9.97974821e-01 -1.30979602e-03 1.67423949e+00] [-1.93946056e-02 7.62711377e-05 9.99811904e-01 3.81791395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.81, Y:1.67, Z:3.82 [[ 9.97792489e-01 6.34702957e-02 1.95364009e-02 3.53812839e+02] [-6.34566200e-02 9.97983725e-01 -1.31976128e-03 1.67143280e+00] [-1.95807758e-02 7.71339178e-05 9.99808275e-01 3.81722218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.84, Y:1.67, Z:3.82 [[ 9.97848564e-01 6.26747145e-02 1.92385813e-02 3.53839648e+02] [-6.26613423e-02 9.98034004e-01 -1.29769410e-03 1.66876408e+00] [-1.92820909e-02 8.93868600e-05 9.99814079e-01 3.81702393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.87, Y:1.66, Z:3.82 [[ 9.97980741e-01 6.03748328e-02 1.97311803e-02 3.53867230e+02] [-6.03603695e-02 9.98175767e-01 -1.32829127e-03 1.66443873e+00] [-1.97753814e-02 1.34627772e-04 9.99804439e-01 3.81668651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.89, Y:1.66, Z:3.82 [[ 9.98075535e-01 5.86342868e-02 2.01803726e-02 3.53894497e+02] [-5.86188456e-02 9.98279516e-01 -1.35635381e-03 1.66142731e+00] [-2.02251814e-02 1.70793407e-04 9.99795436e-01 3.81617110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.92, Y:1.66, Z:3.82 [[ 9.98194325e-01 5.65325719e-02 2.03016492e-02 3.53921999e+02] [-5.65165640e-02 9.98400733e-01 -1.36184709e-03 1.65863814e+00] [-2.03461702e-02 2.12008578e-04 9.99792973e-01 3.81548905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.95, Y:1.65, Z:3.82 [[ 9.98437456e-01 5.22513103e-02 1.98102848e-02 3.53948285e+02] [-5.22352646e-02 9.98633925e-01 -1.32690622e-03 1.65472658e+00] [-1.98525551e-02 2.90037403e-04 9.99802877e-01 3.81531448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.98, Y:1.65, Z:3.81 [[ 9.98577827e-01 4.96282595e-02 1.94771630e-02 3.53976052e+02] [-4.96123002e-02 9.98767703e-01 -1.30202609e-03 1.65156298e+00] [-1.95177787e-02 3.33867525e-04 9.99809454e-01 3.81467383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.00, Y:1.65, Z:3.81 [[ 9.98730220e-01 4.65929419e-02 1.91584218e-02 3.54004541e+02] [-4.65769760e-02 9.98913885e-01 -1.27897229e-03 1.64791299e+00] [-1.91972046e-02 3.85006923e-04 9.99815643e-01 3.81355180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.03, Y:1.64, Z:3.81 [[ 9.98905829e-01 4.29209073e-02 1.85725693e-02 3.54032911e+02] [-4.29052916e-02 9.99078376e-01 -1.23862577e-03 1.64424908e+00] [-1.86086153e-02 4.40409000e-04 9.99826748e-01 3.81294875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.06, Y:1.64, Z:3.81 [[ 9.99238984e-01 3.48110620e-02 1.75966825e-02 3.54060537e+02] [-3.47958062e-02 9.99393755e-01 -1.17249105e-03 1.63887881e+00] [-1.76268302e-02 5.59308014e-04 9.99844479e-01 3.81223786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.09, Y:1.64, Z:3.81 [[ 9.99382276e-01 3.07379234e-02 1.70366431e-02 3.54089367e+02] [-3.07230640e-02 9.99527293e-01 -1.13330604e-03 1.63516748e+00] [-1.70634252e-02 6.09188095e-04 9.99854224e-01 3.81131427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.12, Y:1.63, Z:3.81 [[ 9.99515784e-01 2.66213303e-02 1.61090458e-02 3.54117748e+02] [-2.66075180e-02 9.99645383e-01 -1.07118148e-03 1.63155788e+00] [-1.61318495e-02 6.42041070e-04 9.99869667e-01 3.81049121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.15, Y:1.63, Z:3.81 [[ 9.99698441e-01 2.13979099e-02 1.20480710e-02 3.54147266e+02] [-2.13039511e-02 9.99742040e-01 -7.87373940e-03 1.63017007e+00] [-1.22134446e-02 7.61469349e-03 9.99896419e-01 3.81171972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.18, Y:1.62, Z:3.81 [[ 9.99741105e-01 1.74211150e-02 1.46364923e-02 3.54176161e+02] [-1.75125371e-02 9.99827782e-01 6.14139048e-03 1.62051338e+00] [-1.45269818e-02 -6.39612262e-03 9.99874020e-01 3.80645613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.21, Y:1.62, Z:3.81 [[ 9.99802023e-01 1.44267075e-02 1.37034793e-02 3.54207724e+02] [-1.44155626e-02 9.99895675e-01 -9.11725006e-04 1.62039578e+00] [-1.37152029e-02 7.14001140e-04 9.99905687e-01 3.80755724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.24, Y:1.62, Z:3.81 [[ 9.99808766e-01 1.43448821e-02 1.32911790e-02 3.54240015e+02] [-1.43344202e-02 9.99896868e-01 -8.82069268e-04 1.61770757e+00] [-1.33024615e-02 6.91379241e-04 9.99911279e-01 3.80718076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.27, Y:1.62, Z:3.81 [[ 9.99805202e-01 1.44491761e-02 1.34454115e-02 3.54272505e+02] [-1.44384266e-02 9.99895359e-01 -8.96224378e-04 1.61545872e+00] [-1.34569542e-02 7.01919209e-04 9.99909205e-01 3.80664279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.30, Y:1.61, Z:3.81 [[ 9.99780360e-01 1.53867115e-02 1.42295998e-02 3.54304449e+02] [-1.53747109e-02 9.99881349e-01 -9.52369853e-04 1.61337097e+00] [-1.42425653e-02 7.33384691e-04 9.99898301e-01 3.80594760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.34, Y:1.61, Z:3.81 [[ 9.99752611e-01 1.64816013e-02 1.49356661e-02 3.54336062e+02] [-1.64684431e-02 9.99863882e-01 -1.00356488e-03 1.61129928e+00] [-1.49501734e-02 7.57349440e-04 9.99887953e-01 3.80559702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.37, Y:1.61, Z:3.81 [[ 9.99688031e-01 1.89702225e-02 1.62472039e-02 3.54366815e+02] [-1.89548807e-02 9.99819737e-01 -1.09775799e-03 1.60986821e+00] [-1.62650998e-02 7.89451712e-04 9.99867403e-01 3.80565327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.40, Y:1.61, Z:3.81 [[ 9.99644576e-01 2.07162216e-02 1.67797690e-02 3.54399336e+02] [-2.07000749e-02 9.99785086e-01 -1.13540112e-03 1.60818082e+00] [-1.67996840e-02 7.87655098e-04 9.99858565e-01 3.80522078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.43, Y:1.61, Z:3.80 [[ 9.99554280e-01 2.51083781e-02 1.61496142e-02 3.54430247e+02] [-2.50939029e-02 9.99684495e-01 -1.09836713e-03 1.60735352e+00] [-1.61720972e-02 6.92620715e-04 9.99868983e-01 3.80434380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.46, Y:1.61, Z:3.80 [[ 9.99500796e-01 2.75956742e-02 1.53830314e-02 3.54460826e+02] [-2.75828219e-02 9.99618973e-01 -1.04706404e-03 1.60614544e+00] [-1.54060645e-02 6.22233927e-04 9.99881126e-01 3.80352539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.49, Y:1.60, Z:3.80 [[ 9.99412052e-01 3.08415099e-02 1.49783825e-02 3.54489734e+02] [-3.08296836e-02 9.99524132e-01 -1.01987183e-03 1.60482062e+00] [-1.50027092e-02 5.57493402e-04 9.99887298e-01 3.80252952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.52, Y:1.61, Z:3.80 [[ 9.99188495e-01 3.77640863e-02 1.40080481e-02 3.54518227e+02] [-3.77544228e-02 9.99286592e-01 -9.53753436e-04 1.60530131e+00] [-1.40340723e-02 4.24113689e-04 9.99901428e-01 3.80217993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.55, Y:1.60, Z:3.80 [[ 9.99051223e-01 4.13185196e-02 1.37634631e-02 3.54546703e+02] [-4.13095411e-02 9.99145958e-01 -9.36126238e-04 1.60488258e+00] [-1.37903879e-02 3.66675719e-04 9.99904841e-01 3.80173761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.57, Y:1.60, Z:3.80 [[ 9.98899465e-01 4.49389662e-02 1.34293988e-02 3.54574640e+02] [-4.49307520e-02 9.98989687e-01 -9.12898272e-04 1.60410380e+00] [-1.34568556e-02 3.08500611e-04 9.99909405e-01 3.80109554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.60, Y:1.60, Z:3.80 [[ 9.98735580e-01 4.84960374e-02 1.32429811e-02 3.54602976e+02] [-4.84883808e-02 9.98823342e-01 -8.98823223e-04 1.60345960e+00] [-1.32709880e-02 2.55556021e-04 9.99911904e-01 3.80058163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.63, Y:1.60, Z:3.80 [[ 9.98553833e-01 5.22074743e-02 1.28305343e-02 3.54631101e+02] [-5.22006105e-02 9.98636240e-01 -8.69501991e-04 1.60261864e+00] [-1.28584310e-02 1.98482823e-04 9.99917307e-01 3.79985818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.66, Y:1.60, Z:3.80 [[ 9.98219510e-01 5.85933814e-02 1.11635428e-02 3.54658761e+02] [-5.85885939e-02 9.98281927e-01 -7.55690385e-04 1.60335492e+00] [-1.11886415e-02 1.00288610e-04 9.99937400e-01 3.79917430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.69, Y:1.60, Z:3.80 [[ 9.98077447e-01 6.11234876e-02 1.02630126e-02 3.54685618e+02] [-6.11195818e-02 9.98130209e-01 -6.94080269e-04 1.60278449e+00] [-1.02862475e-02 6.54748242e-05 9.99947093e-01 3.79846962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.71, Y:1.61, Z:3.80 [[ 9.98006423e-01 6.23148849e-02 1.00017870e-02 3.54711732e+02] [-6.22647183e-02 9.98045854e-01 -5.25143429e-03 1.60569429e+00] [-1.03094846e-02 4.61820670e-03 9.99936191e-01 3.79769244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.74, Y:1.60, Z:3.80 [[ 9.97782156e-01 6.59403017e-02 9.09092038e-03 3.54740539e+02] [-6.59787348e-02 9.97813035e-01 3.99428831e-03 1.59892439e+00] [-8.80765428e-03 -4.58523703e-03 9.99950699e-01 3.79585728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.77, Y:1.60, Z:3.80 [[ 9.97725537e-01 6.67573210e-02 9.33873293e-03 3.54768641e+02] [-6.67543795e-02 9.97769242e-01 -6.26679942e-04 1.59966013e+00] [-9.35973595e-03 1.85325987e-06 9.99956197e-01 3.79682039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.80, Y:1.60, Z:3.80 [[ 9.97743592e-01 6.64869533e-02 9.33863300e-03 3.54796969e+02] [-6.64839859e-02 9.97787294e-01 -6.28184048e-04 1.59782342e+00] [-9.35973540e-03 5.89706458e-06 9.99956197e-01 3.79611444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.82, Y:1.60, Z:3.80 [[ 9.97727936e-01 6.66486668e-02 9.84486955e-03 3.54823446e+02] [-6.66454284e-02 9.97776506e-01 -6.57004243e-04 1.59636700e+00] [-9.86676800e-03 -6.04061606e-07 9.99951322e-01 3.79585973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.85, Y:1.59, Z:3.80 [[ 9.97760519e-01 6.59803081e-02 1.09793290e-02 3.54851408e+02] [-6.59762615e-02 9.97820925e-01 -7.30752213e-04 1.59480941e+00] [-1.10036195e-02 4.74062428e-06 9.99939458e-01 3.79559821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.88, Y:1.59, Z:3.80 [[ 9.97918005e-01 6.33258809e-02 1.22265138e-02 3.54878502e+02] [-6.33206811e-02 9.97992902e-01 -8.12325138e-04 1.59337081e+00] [-1.22534152e-02 3.64426998e-05 9.99924923e-01 3.79640220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.91, Y:1.59, Z:3.80 [[ 9.98052111e-01 6.09902791e-02 1.31213070e-02 3.54906120e+02] [-6.09841164e-02 9.98138358e-01 -8.69647777e-04 1.59140053e+00] [-1.31499198e-02 6.77624885e-05 9.99913534e-01 3.79589319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.93, Y:1.59, Z:3.80 [[ 9.98243617e-01 5.77654385e-02 1.31467079e-02 3.54934156e+02] [-5.77589904e-02 9.98330177e-01 -8.69944788e-04 1.58938259e+00] [-1.31750080e-02 1.09076254e-04 9.99913200e-01 3.79573358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.96, Y:1.59, Z:3.79 [[ 9.98450775e-01 5.39363162e-02 1.36719694e-02 3.54960858e+02] [-5.39290028e-02 9.98544364e-01 -9.03301807e-04 1.58701735e+00] [-1.37007887e-02 1.64586715e-04 9.99906126e-01 3.79480792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.99, Y:1.58, Z:3.79 [[ 9.98934501e-01 4.42513137e-02 1.31027929e-02 3.54988641e+02] [-4.42437862e-02 9.99020391e-01 -8.63952903e-04 1.58235013e+00] [-1.31281884e-02 2.83315193e-04 9.99913781e-01 3.79386206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.02, Y:1.58, Z:3.79 [[ 9.99153279e-01 3.90078280e-02 1.30810854e-02 3.55016707e+02] [-3.89998973e-02 9.99238844e-01 -8.60910863e-04 1.57882414e+00] [-1.31047109e-02 3.50020926e-04 9.99914068e-01 3.79276802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.05, Y:1.58, Z:3.79 [[ 9.99355797e-01 3.34719226e-02 1.29468961e-02 3.55045582e+02] [-3.34637066e-02 9.99439571e-01 -8.50764189e-04 1.57546250e+00] [-1.29681170e-02 4.16964991e-04 9.99915823e-01 3.79203777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.07, Y:1.57, Z:3.79 [[ 9.99663045e-01 2.26175998e-02 1.27373819e-02 3.55074185e+02] [-2.26087789e-02 9.99744039e-01 -8.36107852e-04 1.57128885e+00] [-1.27530324e-02 5.47849471e-04 9.99918527e-01 3.79137759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.10, Y:1.57, Z:3.79 [[ 9.99766360e-01 1.76557069e-02 1.24699925e-02 3.55102562e+02] [-1.76468810e-02 9.99843948e-01 -8.17456854e-04 1.56850988e+00] [-1.24824794e-02 5.97209389e-04 9.99921912e-01 3.79112061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.13, Y:1.57, Z:3.79 [[ 9.99833855e-01 1.34368508e-02 1.23171858e-02 3.55132560e+02] [-1.34279369e-02 9.99909516e-01 -8.06115076e-04 1.56562028e+00] [-1.23269029e-02 6.40586751e-04 9.99923816e-01 3.79010770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.16, Y:1.56, Z:3.79 [[ 9.99877718e-01 1.01737232e-02 1.18761829e-02 3.55164468e+02] [-1.01652447e-02 9.99948033e-01 -7.74055560e-04 1.56283610e+00] [-1.18834407e-02 6.53236602e-04 9.99929176e-01 3.78937239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.20, Y:1.56, Z:3.79 [[ 9.99917618e-01 5.26808416e-03 1.17049173e-02 3.55196547e+02] [-5.25948093e-03 9.99985876e-01 -7.65670749e-04 1.55993465e+00] [-1.17087856e-02 7.04045882e-04 9.99931202e-01 3.78821479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.23, Y:1.56, Z:3.79 [[ 9.99920942e-01 3.76734588e-03 1.19965108e-02 3.55228745e+02] [-3.75816573e-03 9.99992628e-01 -7.87686314e-04 1.55777989e+00] [-1.19993898e-02 7.42539166e-04 9.99927729e-01 3.78737202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.26, Y:1.56, Z:3.79 [[ 9.99921729e-01 3.13076929e-03 1.21133659e-02 3.55261442e+02] [-3.12132608e-03 9.99994810e-01 -7.98396779e-04 1.55583785e+00] [-1.21158026e-02 7.60524523e-04 9.99926312e-01 3.78711865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.29, Y:1.55, Z:3.79 [[ 9.99917645e-01 2.67004135e-03 1.25528140e-02 3.55293149e+02] [-2.65979864e-03 9.99996116e-01 -8.32593137e-04 1.55413610e+00] [-1.25549883e-02 7.99136612e-04 9.99920864e-01 3.78642741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.33, Y:1.55, Z:3.79 [[ 9.99911938e-01 2.48064324e-03 1.30370016e-02 3.55325248e+02] [-2.46955938e-03 9.99996575e-01 -8.66214055e-04 1.55215674e+00] [-1.30391058e-02 8.33942124e-04 9.99914639e-01 3.78597378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.36, Y:1.55, Z:3.79 [[ 9.99912201e-01 2.77688214e-03 1.29568529e-02 3.55358085e+02] [-2.76591718e-03 9.99995802e-01 -8.64109970e-04 1.54983449e+00] [-1.29591980e-02 8.28196520e-04 9.99915683e-01 3.78507200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.39, Y:1.55, Z:3.78 [[ 9.99911527e-01 2.91586389e-03 1.29782984e-02 3.55390623e+02] [-2.90482814e-03 9.99995403e-01 -8.69092367e-04 1.54763809e+00] [-1.29807729e-02 8.31315750e-04 9.99915401e-01 3.78400020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.42, Y:1.55, Z:3.78 [[ 9.99911873e-01 2.99357490e-03 1.29338858e-02 3.55422839e+02] [-2.98257012e-03 9.99995174e-01 -8.70054094e-04 1.54550218e+00] [-1.29364280e-02 8.31401197e-04 9.99915975e-01 3.78317069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.46, Y:1.54, Z:3.78 [[ 9.99907234e-01 2.83346640e-03 1.33226947e-02 3.55455786e+02] [-2.82172955e-03 9.99995614e-01 -8.99681425e-04 1.54351767e+00] [-1.33251855e-02 8.62004924e-04 9.99910844e-01 3.78202464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.49, Y:1.54, Z:3.78 [[ 9.99909974e-01 2.60303801e-03 1.31631199e-02 3.55487532e+02] [-2.59150803e-03 9.99996243e-01 -8.92911202e-04 1.54146415e+00] [-1.31653948e-02 8.58718486e-04 9.99912964e-01 3.78127174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.52, Y:1.54, Z:3.78 [[ 9.99909442e-01 2.74479414e-03 1.31747818e-02 3.55520201e+02] [-2.73321131e-03 9.99995862e-01 -8.97092062e-04 1.53900251e+00] [-1.31771896e-02 8.61001360e-04 9.99912806e-01 3.77993105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.55, Y:1.54, Z:3.78 [[ 9.99935338e-01 2.35256651e-03 1.11258986e-02 3.55551884e+02] [-2.34425558e-03 9.99996963e-01 -7.59971572e-04 1.53685004e+00] [-1.11276527e-02 7.33840480e-04 9.99937816e-01 3.77804260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.59, Y:1.53, Z:3.78 [[ 9.99940938e-01 2.35677263e-03 1.06097609e-02 3.55585268e+02] [-2.34919062e-03 9.99996976e-01 -7.27030854e-04 1.53460227e+00] [-1.06114422e-02 7.02063563e-04 9.99943451e-01 3.77668925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.62, Y:1.53, Z:3.78 [[ 9.99939531e-01 2.41055361e-03 1.07295760e-02 3.55617834e+02] [-2.40276962e-03 9.99996841e-01 -7.38301419e-04 1.53249422e+00] [-1.07313219e-02 7.12476075e-04 9.99942164e-01 3.77533315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.65, Y:1.53, Z:3.77 [[ 9.99935581e-01 2.64634259e-03 1.10377228e-02 3.55649572e+02] [-2.63807817e-03 9.99996229e-01 -7.63235485e-04 1.53154148e+00] [-1.10397010e-02 7.34067942e-04 9.99938791e-01 3.77475930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.68, Y:1.53, Z:3.77 [[ 9.99932658e-01 2.56386750e-03 1.13183568e-02 3.55681873e+02] [-2.55513384e-03 9.99996427e-01 -7.86030314e-04 1.52973019e+00] [-1.13203317e-02 7.57057465e-04 9.99935636e-01 3.77419826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.71, Y:1.53, Z:3.77 [[ 9.99914026e-01 3.40869838e-03 1.26617960e-02 3.55714530e+02] [-3.39775984e-03 9.99993836e-01 -8.85312664e-04 1.52789718e+00] [-1.26647357e-02 8.42214809e-04 9.99919444e-01 3.77374498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.75, Y:1.53, Z:3.77 [[ 9.99903569e-01 4.25285341e-03 1.32199381e-02 3.55746235e+02] [-4.24097866e-03 9.99990578e-01 -9.26150173e-04 1.52595703e+00] [-1.32237523e-02 8.69995388e-04 9.99912184e-01 3.77324245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.78, Y:1.52, Z:3.77 [[ 9.99899359e-01 5.66921559e-03 1.30050880e-02 3.55778778e+02] [-5.65783079e-03 9.99983578e-01 -9.12036873e-04 1.52419159e+00] [-1.30100450e-02 8.38364498e-04 9.99915014e-01 3.77292394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.81, Y:1.52, Z:3.77 [[ 9.99880430e-01 7.22666639e-03 1.36711604e-02 3.55811037e+02] [-7.21423243e-03 9.99973518e-01 -9.58601105e-04 1.52270519e+00] [-1.36777259e-02 8.59859556e-04 9.99906086e-01 3.77232390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.84, Y:1.52, Z:3.77 [[ 9.99856132e-01 9.05342913e-03 1.43439807e-02 3.55843598e+02] [-9.03986928e-03 9.99958630e-01 -1.00989026e-03 1.52089527e+00] [-1.43525302e-02 8.80077258e-04 9.99896610e-01 3.77167148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.88, Y:1.52, Z:3.77 [[ 9.99786455e-01 1.30090117e-02 1.60564873e-02 3.55876148e+02] [-1.29924125e-02 9.99914948e-01 -1.13768434e-03 1.51937180e+00] [-1.60699218e-02 9.28828891e-04 9.99870439e-01 3.77197465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.91, Y:1.52, Z:3.77 [[ 9.99729300e-01 1.54138491e-02 1.74281358e-02 3.55908243e+02] [-1.53946570e-02 9.99880733e-01 -1.23484645e-03 1.51720192e+00] [-1.74450909e-02 9.66212005e-04 9.99847356e-01 3.77145223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.94, Y:1.51, Z:3.77 [[ 9.99613657e-01 2.05700061e-02 1.86925706e-02 3.55940327e+02] [-2.05486989e-02 9.99787967e-01 -1.33125585e-03 1.51466860e+00] [-1.87159911e-02 9.46633526e-04 9.99824392e-01 3.77101660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.97, Y:1.51, Z:3.77 [[ 9.99567987e-01 2.27360677e-02 1.86255242e-02 3.55972178e+02] [-2.27152752e-02 9.99741094e-01 -1.32717269e-03 1.51220474e+00] [-1.86508767e-02 9.03515430e-04 9.99825649e-01 3.77034098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.00, Y:1.51, Z:3.77 [[ 9.99515134e-01 2.47650336e-02 1.88729851e-02 3.56003156e+02] [-2.47439641e-02 9.99692911e-01 -1.34911922e-03 1.50972636e+00] [-1.89006004e-02 8.81472614e-04 9.99820979e-01 3.76940658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.03, Y:1.51, Z:3.77 [[ 9.99480752e-01 2.65190151e-02 1.83021136e-02 3.56033299e+02] [-2.64994809e-02 9.99647970e-01 -1.30906048e-03 1.50732228e+00] [-1.83303857e-02 8.23384243e-04 9.99831645e-01 3.76821827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.06, Y:1.50, Z:3.77 [[ 9.99399359e-01 3.02910783e-02 1.68336314e-02 3.56064063e+02] [-3.02750805e-02 9.99540879e-01 -1.20443432e-03 1.50455400e+00] [-1.68623864e-02 6.94071340e-04 9.99857579e-01 3.76658826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.09, Y:1.50, Z:3.77 [[ 9.99356685e-01 3.22827324e-02 1.56218358e-02 3.56092684e+02] [-3.22691902e-02 9.99478589e-01 -1.11823021e-03 1.50222811e+00] [-1.56497899e-02 6.13406846e-04 9.99877346e-01 3.76550744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.12, Y:1.50, Z:3.76 [[ 9.99286725e-01 3.47398180e-02 1.48049083e-02 3.56119879e+02] [-3.47279304e-02 9.99396242e-01 -1.05935390e-03 1.49996997e+00] [-1.48327715e-02 5.44454460e-04 9.99889840e-01 3.76437704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.15, Y:1.50, Z:3.76 [[ 9.99075870e-01 4.05331181e-02 1.42993955e-02 3.56148274e+02] [-4.05226407e-02 9.99178098e-01 -1.02181514e-03 1.49817858e+00] [-1.43290601e-02 4.41421587e-04 9.99897236e-01 3.76398830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.18, Y:1.50, Z:3.76 [[ 9.98914596e-01 4.41347806e-02 1.48912918e-02 3.56176316e+02] [-4.41238291e-02 9.99025504e-01 -1.06333500e-03 1.49666798e+00] [-1.49237104e-02 4.05120032e-04 9.99888553e-01 3.76356257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.20, Y:1.50, Z:3.76 [[ 9.98756172e-01 4.74692114e-02 1.52572282e-02 3.56204558e+02] [-4.74581297e-02 9.98872636e-01 -1.08777031e-03 1.49540520e+00] [-1.52916633e-02 3.62337791e-04 9.99883010e-01 3.76334725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.23, Y:1.49, Z:3.76 [[ 9.98570730e-01 5.11418394e-02 1.55244484e-02 3.56231880e+02] [-5.11308346e-02 9.98691352e-01 -1.10521305e-03 1.49388087e+00] [-1.55606549e-02 3.09855402e-04 9.99878878e-01 3.76314044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.26, Y:1.49, Z:3.76 [[ 9.98214104e-01 5.75246277e-02 1.61096050e-02 3.56259225e+02] [-5.75136444e-02 9.98344064e-01 -1.14463495e-03 1.49248259e+00] [-1.61487733e-02 2.16068651e-04 9.99869577e-01 3.76278610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.29, Y:1.49, Z:3.76 [[ 9.98086248e-01 5.96543562e-02 1.62849154e-02 3.56286959e+02] [-5.96434515e-02 9.98219077e-01 -1.15491223e-03 1.49043448e+00] [-1.63248088e-02 1.81413457e-04 9.99866725e-01 3.76235973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.31, Y:1.49, Z:3.76 [[ 9.97975298e-01 6.13040098e-02 1.69446908e-02 3.56314714e+02] [-6.12924729e-02 9.98119128e-01 -1.19983947e-03 1.48817746e+00] [-1.69863750e-02 1.58828150e-04 9.99855709e-01 3.76148305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.34, Y:1.49, Z:3.76 [[ 9.97879242e-01 6.27971554e-02 1.71328798e-02 3.56341659e+02] [-6.27856104e-02 9.98026302e-01 -1.21143756e-03 1.48560504e+00] [-1.71751395e-02 1.33170084e-04 9.99852488e-01 3.76090932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.37, Y:1.48, Z:3.76 [[ 9.97789020e-01 6.38517786e-02 1.84396954e-02 3.56369793e+02] [-6.38386332e-02 9.97959386e-01 -1.30124041e-03 1.48184559e+00] [-1.84851536e-02 1.21198441e-04 9.99829128e-01 3.75956634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.40, Y:1.48, Z:3.76 [[ 9.97816999e-01 6.33361398e-02 1.87021284e-02 3.56397901e+02] [-6.33225659e-02 9.97992243e-01 -1.31768456e-03 1.47881609e+00] [-1.87480361e-02 1.30541298e-04 9.99824232e-01 3.75873091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.42, Y:1.47, Z:3.76 [[ 9.97946940e-01 6.10868737e-02 1.92431343e-02 3.56424547e+02] [-6.10721248e-02 9.98132438e-01 -1.35373158e-03 1.47417697e+00] [-1.92898918e-02 1.75733190e-04 9.99813917e-01 3.75746128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.45, Y:1.47, Z:3.76 [[ 9.98058395e-01 5.90061425e-02 1.99428188e-02 3.56452196e+02] [-5.89899403e-02 9.98257595e-01 -1.40024543e-03 1.47059314e+00] [-1.99906934e-02 2.21101012e-04 9.99800142e-01 3.75658645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.48, Y:1.47, Z:3.76 [[ 9.98211492e-01 5.62285653e-02 2.03018416e-02 3.56479777e+02] [-5.62112447e-02 9.98417884e-01 -1.42325422e-03 1.46711007e+00] [-2.03497493e-02 2.79516929e-04 9.99792883e-01 3.75584030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.51, Y:1.46, Z:3.75 [[ 9.98378308e-01 5.29459615e-02 2.09159890e-02 3.56508844e+02] [-5.29269075e-02 9.98597316e-01 -1.46388664e-03 1.46336747e+00] [-2.09641573e-02 3.54494052e-04 9.99780165e-01 3.75461688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.54, Y:1.46, Z:3.75 [[ 9.98743194e-01 4.54320485e-02 2.11650932e-02 3.56537778e+02] [-4.54108835e-02 9.98967298e-01 -1.47978730e-03 1.45756854e+00] [-2.12104657e-02 5.16801919e-04 9.99774899e-01 3.75321939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.56, Y:1.45, Z:3.75 [[ 9.98931523e-01 4.10581369e-02 2.12141874e-02 3.56564994e+02] [-4.10359191e-02 9.99156573e-01 -1.48175347e-03 1.45403647e+00] [-2.12571328e-02 6.09626571e-04 9.99773856e-01 3.75220550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.59, Y:1.45, Z:3.75 [[ 9.99099913e-01 3.67965794e-02 2.11039264e-02 3.56593154e+02] [-3.67736833e-02 9.99322535e-01 -1.47210661e-03 1.45010538e+00] [-2.11437978e-02 6.94712477e-04 9.99776204e-01 3.75070893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.62, Y:1.45, Z:3.75 [[ 9.99246405e-01 3.25563527e-02 2.11354266e-02 3.56622465e+02] [-3.25324748e-02 9.99469594e-01 -1.47269915e-03 1.44600598e+00] [-2.11721619e-02 7.84001602e-04 9.99775537e-01 3.74921334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.65, Y:1.44, Z:3.75 [[ 9.99245813e-01 3.25744762e-02 2.11354939e-02 3.56653387e+02] [-3.25506227e-02 9.99469005e-01 -1.47173287e-03 1.44385487e+00] [-2.11722120e-02 7.82649418e-04 9.99775537e-01 3.74844320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.68, Y:1.44, Z:3.75 [[ 9.99464830e-01 2.51511504e-02 2.09158682e-02 3.56683793e+02] [-2.51261579e-02 9.99683227e-01 -1.45688708e-03 1.43773818e+00] [-2.09458850e-02 9.30571991e-04 9.99780178e-01 3.74628791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.72, Y:1.43, Z:3.75 [[ 9.99533563e-01 2.22106695e-02 2.09604882e-02 3.56715620e+02] [-2.21849472e-02 9.99752819e-01 -1.45894250e-03 1.43418813e+00] [-2.09877112e-02 9.93254671e-04 9.99779240e-01 3.74531007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.75, Y:1.43, Z:3.74 [[ 9.99583683e-01 1.96510441e-02 2.11257293e-02 3.56748877e+02] [-1.96242200e-02 9.99806336e-01 -1.47631864e-03 1.43079542e+00] [-2.11506493e-02 1.06112807e-03 9.99775737e-01 3.74422685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.78, Y:1.43, Z:3.74 [[ 9.99656542e-01 1.55367146e-02 2.11047064e-02 3.56782236e+02] [-1.55089052e-02 9.99878633e-01 -1.48073212e-03 1.42719085e+00] [-2.11251507e-02 1.15291266e-03 9.99776174e-01 3.74327330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.81, Y:1.42, Z:3.74 [[ 9.99715532e-01 1.36390214e-02 1.95661034e-02 3.56814760e+02] [-1.37244926e-02 9.99896822e-01 4.24071507e-03 1.42213245e+00] [-1.95062454e-02 -4.50804356e-03 9.99799572e-01 3.74312270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.85, Y:1.42, Z:3.74 [[ 9.99721427e-01 1.29598074e-02 1.97259390e-02 3.56846461e+02] [-1.28215559e-02 9.99892458e-01 -7.11902980e-03 1.42450291e+00] [-1.98160789e-02 6.86412940e-03 9.99780079e-01 3.74345043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.88, Y:1.42, Z:3.74 [[ 9.99755860e-01 1.13598395e-02 1.89518877e-02 3.56877795e+02] [-1.13364493e-02 9.99934841e-01 -1.34116868e-03 1.41874121e+00] [-1.89658883e-02 1.12599413e-03 9.99819497e-01 3.74076390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.91, Y:1.42, Z:3.74 [[ 9.99768556e-01 1.10051789e-02 1.84856944e-02 3.56911006e+02] [-1.09827770e-02 9.99938826e-01 -1.31294027e-03 1.41623439e+00] [-1.84990127e-02 1.10961214e-03 9.99828263e-01 3.74013726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.94, Y:1.41, Z:3.74 [[ 9.99763273e-01 1.09730023e-02 1.87880847e-02 3.56943837e+02] [-1.09497534e-02 9.99939152e-01 -1.33985566e-03 1.41377113e+00] [-1.88016437e-02 1.13381358e-03 9.99822591e-01 3.73908087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.98, Y:1.41, Z:3.74 [[ 9.99761893e-01 1.13192811e-02 1.86556177e-02 3.56975913e+02] [-1.12963152e-02 9.99935302e-01 -1.33596568e-03 1.41163978e+00] [-1.86695329e-02 1.12490784e-03 9.99825076e-01 3.73875982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.01, Y:1.41, Z:3.74 [[ 9.99743845e-01 1.22711000e-02 1.90174823e-02 3.57009495e+02] [-1.22473066e-02 9.99924064e-01 -1.36710391e-03 1.41046387e+00] [-1.90328140e-02 1.13384078e-03 9.99818217e-01 3.73883107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.04, Y:1.41, Z:3.74 [[ 9.99724793e-01 1.33498600e-02 1.92903802e-02 3.57042886e+02] [-1.33254682e-02 9.99910242e-01 -1.39244092e-03 1.40891763e+00] [-1.93072377e-02 1.13500436e-03 9.99812954e-01 3.73826095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.08, Y:1.41, Z:3.74 [[ 9.99698800e-01 1.57003956e-02 1.88628325e-02 3.57075928e+02] [-1.56773890e-02 9.99876168e-01 -1.36694372e-03 1.40795901e+00] [-1.88819582e-02 1.07081203e-03 9.99821147e-01 3.73810020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.11, Y:1.41, Z:3.74 [[ 9.99686127e-01 1.70257549e-02 1.83785260e-02 3.57108743e+02] [-1.70040431e-02 9.99854527e-01 -1.33700314e-03 1.40637358e+00] [-1.83986160e-02 1.02407424e-03 9.99830207e-01 3.73740643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.14, Y:1.40, Z:3.74 [[ 9.99675955e-01 1.82223663e-02 1.77744237e-02 3.57142224e+02] [-1.82021606e-02 9.99833485e-01 -1.29792032e-03 1.40488426e+00] [-1.77951152e-02 9.73966820e-04 9.99841180e-01 3.73709183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.17, Y:1.40, Z:3.74 [[ 9.99661370e-01 1.94580323e-02 1.72780277e-02 3.57174685e+02] [-1.94390380e-02 9.99810242e-01 -1.26661369e-03 1.40339174e+00] [-1.72993948e-02 9.30316538e-04 9.99849921e-01 3.73625468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.21, Y:1.40, Z:3.74 [[ 9.99634804e-01 2.13455625e-02 1.65718528e-02 3.57207350e+02] [-2.13282766e-02 9.99771783e-01 -1.21914426e-03 1.40230565e+00] [-1.65940941e-02 8.65249968e-04 9.99861934e-01 3.73605344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.24, Y:1.40, Z:3.74 [[ 9.99625046e-01 2.21548099e-02 1.60913652e-02 3.57238542e+02] [-2.21385508e-02 9.99754207e-01 -1.18787524e-03 1.40102978e+00] [-1.61137272e-02 8.31190337e-04 9.99869820e-01 3.73607458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.27, Y:1.40, Z:3.74 [[ 9.99572825e-01 2.48089547e-02 1.54493933e-02 3.57268460e+02] [-2.47941997e-02 9.99691920e-01 -1.14588626e-03 1.40066415e+00] [-1.54730619e-02 7.62341423e-04 9.99879994e-01 3.73596252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.30, Y:1.40, Z:3.74 [[ 9.99526858e-01 2.66200654e-02 1.54088166e-02 3.57298732e+02] [-2.66055957e-02 9.99645355e-01 -1.14331755e-03 1.39960148e+00] [-1.54337872e-02 7.32815855e-04 9.99880623e-01 3.73549035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.33, Y:1.40, Z:3.74 [[ 9.99467357e-01 2.87727994e-02 1.53989719e-02 3.57328625e+02] [-2.87585980e-02 9.99585733e-01 -1.14292061e-03 1.39847979e+00] [-1.54254777e-02 6.99458998e-04 9.99880776e-01 3.73503828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.36, Y:1.40, Z:3.73 [[ 9.99389218e-01 3.12179163e-02 1.57045412e-02 3.57357569e+02] [-3.12034535e-02 9.99512375e-01 -1.16518467e-03 1.39772436e+00] [-1.57332579e-02 6.74437076e-04 9.99875997e-01 3.73485280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.39, Y:1.40, Z:3.73 [[ 9.99172432e-01 3.74441087e-02 1.58867632e-02 3.57386887e+02] [-3.74301049e-02 9.99298554e-01 -1.17800285e-03 1.39824246e+00] [-1.59197288e-02 5.82384759e-04 9.99873103e-01 3.73475599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.41, Y:1.40, Z:3.73 [[ 9.99057245e-01 4.05371529e-02 1.55357561e-02 3.57414545e+02] [-4.05241485e-02 9.99177896e-01 -1.15108523e-03 1.39724180e+00] [-1.55696458e-02 5.20426757e-04 9.99878650e-01 3.73454617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.44, Y:1.40, Z:3.73 [[ 9.98929691e-01 4.36877752e-02 1.51937691e-02 3.57443460e+02] [-4.36757229e-02 9.99045128e-01 -1.12431508e-03 1.39606800e+00] [-1.52283798e-02 4.59512868e-04 9.99883936e-01 3.73404391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.47, Y:1.40, Z:3.73 [[ 9.98640564e-01 5.00666858e-02 1.45034822e-02 3.57471121e+02] [-5.00563831e-02 9.98745817e-01 -1.07273264e-03 1.39554671e+00] [-1.45390003e-02 3.45282469e-04 9.99894244e-01 3.73327457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.50, Y:1.39, Z:3.73 [[ 9.98507099e-01 5.27149285e-02 1.43076954e-02 3.57498812e+02] [-5.27051956e-02 9.98609556e-01 -1.05672936e-03 1.39404622e+00] [-1.43435068e-02 3.01061883e-04 9.99897081e-01 3.73231176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.53, Y:1.39, Z:3.73 [[ 9.98367637e-01 5.55012620e-02 1.34785549e-02 3.57526746e+02] [-5.54928960e-02 9.98458587e-01 -9.94183077e-04 1.39266079e+00] [-1.35129573e-02 2.44596164e-04 9.99908666e-01 3.73215227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.55, Y:1.39, Z:3.73 [[ 9.98199000e-01 5.85363114e-02 1.31246855e-02 3.57553657e+02] [-5.85286564e-02 9.98285261e-01 -9.66928294e-04 1.39148640e+00] [-1.31587805e-02 1.97016647e-04 9.99913400e-01 3.73173045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.58, Y:1.39, Z:3.73 [[ 9.98036991e-01 6.13247367e-02 1.27059542e-02 3.57581565e+02] [-6.13178102e-02 9.98117855e-01 -9.34361861e-04 1.39030811e+00] [-1.27393392e-02 1.53426415e-04 9.99918840e-01 3.73126512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.61, Y:1.39, Z:3.73 [[ 9.97725376e-01 6.64333275e-02 1.14318701e-02 3.57608529e+02] [-6.64280540e-02 9.97790863e-01 -8.40814496e-04 1.38915215e+00] [-1.14624737e-02 7.95050740e-05 9.99934301e-01 3.73108177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.64, Y:1.39, Z:3.73 [[ 9.97587395e-01 6.85906290e-02 1.07105354e-02 3.57635592e+02] [-6.85861530e-02 9.97644888e-01 -7.85090050e-04 1.38754339e+00] [-1.07391607e-02 4.86015191e-05 9.99942332e-01 3.73088481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.66, Y:1.39, Z:3.73 [[ 9.97369290e-01 7.18443076e-02 9.63821695e-03 3.57663446e+02] [-7.18408459e-02 9.97415859e-01 -7.05349849e-04 1.38614267e+00] [-9.66398580e-03 1.10766199e-05 9.99953303e-01 3.73078208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.69, Y:1.38, Z:3.73 [[ 9.97294061e-01 7.29148890e-02 9.37953173e-03 3.57690581e+02] [-7.29116641e-02 9.97338167e-01 -6.85762449e-04 1.38435513e+00] [-9.40456727e-03 2.95499956e-08 9.99955776e-01 3.73061063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.72, Y:1.38, Z:3.73 [[ 9.97248805e-01 7.35415514e-02 9.29841987e-03 3.57718070e+02] [-7.35384219e-02 9.97292154e-01 -6.78481480e-04 1.38268456e+00] [-9.32313776e-03 -7.17627745e-06 9.99956539e-01 3.73065605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.75, Y:1.38, Z:3.73 [[ 9.97201303e-01 7.41459328e-02 9.58866114e-03 3.57746314e+02] [-7.41426431e-02 9.97247402e-01 -6.98587600e-04 1.38022790e+00] [-9.61406484e-03 -1.42962162e-05 9.99953784e-01 3.73108980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.77, Y:1.38, Z:3.73 [[ 9.97222697e-01 7.38457195e-02 9.68002695e-03 3.57773943e+02] [-7.38423620e-02 9.97269677e-01 -7.04284202e-04 1.37782667e+00] [-9.70560573e-03 -1.24678637e-05 9.99952899e-01 3.73091832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.80, Y:1.38, Z:3.73 [[ 9.97281317e-01 7.30302345e-02 9.82649392e-03 3.57800605e+02] [-7.30267435e-02 9.97329727e-01 -7.14074808e-04 1.37541837e+00] [-9.85240355e-03 -5.46338724e-06 9.99951464e-01 3.73045517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.83, Y:1.37, Z:3.73 [[ 9.97354055e-01 7.20489007e-02 9.68734645e-03 3.57827418e+02] [-7.20454630e-02 9.97401101e-01 -7.03833247e-04 1.37306473e+00] [-9.71288043e-03 4.04158317e-06 9.99952829e-01 3.73008145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.86, Y:1.37, Z:3.73 [[ 9.97550674e-01 6.92534176e-02 9.82942827e-03 3.57855044e+02] [-6.92497755e-02 9.97599100e-01 -7.10815867e-04 1.36963629e+00] [-9.85505522e-03 2.83891464e-05 9.99951437e-01 3.72972716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.88, Y:1.37, Z:3.73 [[ 9.97684043e-01 6.72632264e-02 1.01098312e-02 3.57881559e+02] [-6.72592807e-02 9.97735264e-01 -7.30165831e-04 1.36670186e+00] [-1.01360484e-02 4.84948246e-05 9.99948628e-01 3.72903602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.91, Y:1.36, Z:3.73 [[ 9.97806422e-01 6.52989716e-02 1.08806340e-02 3.57909547e+02] [-6.52943048e-02 9.97865742e-01 -7.83965487e-04 1.36326569e+00] [-1.09086041e-02 7.18023624e-05 9.99940497e-01 3.72802687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.94, Y:1.36, Z:3.73 [[ 9.98064087e-01 6.10551654e-02 1.18467443e-02 3.57936995e+02] [-6.10493519e-02 9.98134385e-01 -8.52069711e-04 1.35806173e+00] [-1.18766660e-02 1.27184119e-04 9.99929462e-01 3.72755152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.96, Y:1.35, Z:3.73 [[ 9.98185786e-01 5.89738159e-02 1.21336610e-02 3.57964248e+02] [-5.89675804e-02 9.98259518e-01 -8.71327977e-04 1.35416864e+00] [-1.21639281e-02 1.54254571e-04 9.99926005e-01 3.72656200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.99, Y:1.35, Z:3.73 [[ 9.98308669e-01 5.68437571e-02 1.21896981e-02 3.57990839e+02] [-5.68373095e-02 9.98383070e-01 -8.75001964e-04 1.35055450e+00] [-1.22197266e-02 1.80692402e-04 9.99925320e-01 3.72554565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.02, Y:1.35, Z:3.72 [[ 9.98417162e-01 5.49406860e-02 1.20287636e-02 3.58018743e+02] [-5.49343079e-02 9.98489600e-01 -8.60249839e-04 1.34677815e+00] [-1.20578581e-02 1.98096399e-04 9.99927282e-01 3.72465540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.05, Y:1.34, Z:3.72 [[ 9.98574085e-01 5.18807998e-02 1.25769668e-02 3.58046057e+02] [-5.18736028e-02 9.98653255e-01 -8.97999744e-04 1.34151948e+00] [-1.26066177e-02 2.44306693e-04 9.99920504e-01 3.72358493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.07, Y:1.34, Z:3.72 [[ 9.98626775e-01 5.07608539e-02 1.29576206e-02 3.58073087e+02] [-5.07531367e-02 9.98710802e-01 -9.23925192e-04 1.33780696e+00] [-1.29878149e-02 2.65016544e-04 9.99915620e-01 3.72277909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.10, Y:1.33, Z:3.72 [[ 9.98649241e-01 5.02033944e-02 1.33907490e-02 3.58100811e+02] [-5.01951288e-02 9.98738975e-01 -9.52850576e-04 1.33393731e+00] [-1.34216993e-02 2.79413131e-04 9.99909886e-01 3.72178354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.13, Y:1.33, Z:3.72 [[ 9.98684841e-01 4.94901027e-02 1.33909875e-02 3.58129067e+02] [-4.94817916e-02 9.98774573e-01 -9.51458630e-04 1.33044824e+00] [-1.34216656e-02 2.87597255e-04 9.99909884e-01 3.72114597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.16, Y:1.33, Z:3.72 [[ 9.98686712e-01 4.93727254e-02 1.36815692e-02 3.58156634e+02] [-4.93640617e-02 9.98780380e-01 -9.70424935e-04 1.32560531e+00] [-1.37127954e-02 2.93772661e-04 9.99905932e-01 3.72040691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.18, Y:1.32, Z:3.72 [[ 9.98677474e-01 4.95460417e-02 1.37292904e-02 3.58184436e+02] [-4.95373467e-02 9.98771798e-01 -9.72876621e-04 1.32255063e+00] [-1.37606302e-02 2.91477348e-04 9.99905276e-01 3.71976756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.21, Y:1.32, Z:3.72 [[ 9.98594254e-01 5.11464139e-02 1.39125695e-02 3.58212499e+02] [-5.11376650e-02 9.98691129e-01 -9.84106678e-04 1.31847758e+00] [-1.39446933e-02 2.71266955e-04 9.99902731e-01 3.71933367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.24, Y:1.32, Z:3.72 [[ 9.98530980e-01 5.23732061e-02 1.38899027e-02 3.58240340e+02] [-5.23646184e-02 9.98627550e-01 -9.81484239e-04 1.31564388e+00] [-1.39222430e-02 2.52702962e-04 9.99903049e-01 3.71881645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.27, Y:1.31, Z:3.72 [[ 9.98443557e-01 5.40080775e-02 1.39136883e-02 3.58266902e+02] [-5.39996379e-02 9.98540472e-01 -9.81810013e-04 1.31287431e+00] [-1.39464066e-02 2.28947749e-04 9.99902718e-01 3.71819924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.29, Y:1.31, Z:3.72 [[ 9.98324546e-01 5.61526425e-02 1.39636080e-02 3.58293704e+02] [-5.61443778e-02 9.98422176e-01 -9.83485606e-04 1.31008076e+00] [-1.39968012e-02 1.97859740e-04 9.99902020e-01 3.71748600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.32, Y:1.31, Z:3.72 [[ 9.98066895e-01 6.05892482e-02 1.38353175e-02 3.58321057e+02] [-6.05815867e-02 9.98162775e-01 -9.72582537e-04 1.30613727e+00] [-1.38688269e-02 1.32536948e-04 9.99903814e-01 3.71670485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.35, Y:1.30, Z:3.72 [[ 9.97925011e-01 6.29047027e-02 1.37357505e-02 3.58348283e+02] [-6.28973880e-02 9.98019533e-01 -9.64306430e-04 1.30297594e+00] [-1.37692067e-02 9.83626770e-05 9.99905195e-01 3.71587863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.38, Y:1.30, Z:3.71 [[ 9.97782902e-01 6.51415193e-02 1.36331318e-02 3.58375664e+02] [-6.51345479e-02 9.97876034e-01 -9.55216284e-04 1.29999916e+00] [-1.36663997e-02 6.51106010e-05 9.99906608e-01 3.71477518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.40, Y:1.30, Z:3.71 [[ 9.97495305e-01 6.91900894e-02 1.46917877e-02 3.58403670e+02] [-6.91824579e-02 9.97603494e-01 -1.02765281e-03 1.29561926e+00] [-1.47276821e-02 8.66486780e-06 9.99891542e-01 3.71360164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.43, Y:1.29, Z:3.71 [[ 9.97388176e-01 7.06978685e-02 1.47864076e-02 3.58431092e+02] [-7.06903284e-02 9.97497775e-01 -1.03262295e-03 1.29214305e+00] [-1.48224130e-02 -1.53300914e-05 9.99890142e-01 3.71328966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.46, Y:1.29, Z:3.71 [[ 9.97310191e-01 7.16946330e-02 1.52401677e-02 3.58457816e+02] [-7.16867636e-02 9.97426628e-01 -1.06272657e-03 1.28877398e+00] [-1.52771409e-02 -3.26502627e-05 9.99883297e-01 3.71268540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.49, Y:1.29, Z:3.71 [[ 9.97250192e-01 7.23744197e-02 1.59372839e-02 3.58485543e+02] [-7.23659377e-02 9.97377532e-01 -1.10902384e-03 1.28525459e+00] [-1.59757538e-02 -4.73422568e-05 9.99872378e-01 3.71198710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.51, Y:1.28, Z:3.71 [[ 9.97286807e-01 7.18443419e-02 1.60441509e-02 3.58511977e+02] [-7.18356945e-02 9.97415856e-01 -1.11538012e-03 1.28011143e+00] [-1.60828242e-02 -4.01888478e-05 9.99870662e-01 3.71210600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.54, Y:1.28, Z:3.71 [[ 9.97293159e-01 7.17560548e-02 1.60444172e-02 3.58540378e+02] [-7.17474579e-02 9.97422211e-01 -1.11153358e-03 1.27823109e+00] [-1.60828174e-02 -4.26213133e-05 9.99870662e-01 3.71139611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.57, Y:1.27, Z:3.71 [[ 9.97354943e-01 7.08097658e-02 1.64041348e-02 3.58567316e+02] [-7.08006711e-02 9.97489838e-01 -1.13523856e-03 1.27447236e+00] [-1.64433438e-02 -2.91879677e-05 9.99864799e-01 3.71094521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.59, Y:1.27, Z:3.71 [[ 9.97447537e-01 6.93427667e-02 1.70291512e-02 3.58594593e+02] [-6.93327920e-02 9.97592893e-01 -1.17613529e-03 1.27075036e+00] [-1.70697167e-02 -7.54535613e-06 9.99854302e-01 3.71051528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.62, Y:1.27, Z:3.71 [[ 9.97569343e-01 6.73535470e-02 1.78579388e-02 3.58622514e+02] [-6.73422949e-02 9.97729171e-01 -1.23137227e-03 1.26689439e+00] [-1.79003238e-02 2.57846449e-05 9.99839776e-01 3.70980159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.65, Y:1.26, Z:3.71 [[ 9.97902658e-01 6.21845613e-02 1.79823656e-02 3.58649759e+02] [-6.21723477e-02 9.98064661e-01 -1.23799010e-03 1.26034898e+00] [-1.80245475e-02 1.17387725e-04 9.99837538e-01 3.70925167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.68, Y:1.26, Z:3.71 [[ 9.98089567e-01 5.90305317e-02 1.82376735e-02 3.58678022e+02] [-5.90174834e-02 9.98256162e-01 -1.25331723e-03 1.25600845e+00] [-1.82798539e-02 1.74581257e-04 9.99832894e-01 3.70853088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.71, Y:1.25, Z:3.71 [[ 9.98259368e-01 5.61646146e-02 1.79935910e-02 3.58705676e+02] [-5.61514683e-02 9.98421497e-01 -1.23539705e-03 1.25175387e+00] [-1.80345737e-02 2.22880124e-04 9.99837339e-01 3.70794721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.73, Y:1.25, Z:3.71 [[ 9.98582793e-01 4.96943141e-02 1.90494129e-02 3.58734485e+02] [-4.96784391e-02 9.98764410e-01 -1.30595858e-03 1.24574975e+00] [-1.90907743e-02 3.57762665e-04 9.99817691e-01 3.70729561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.76, Y:1.24, Z:3.71 [[ 9.98724665e-01 4.68483387e-02 1.88222143e-02 3.58763142e+02] [-4.68323598e-02 9.98901931e-01 -1.28907197e-03 1.24203525e+00] [-1.88619371e-02 4.05939260e-04 9.99822015e-01 3.70680442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.79, Y:1.24, Z:3.71 [[ 9.98984205e-01 4.09304851e-02 1.88481972e-02 3.58791395e+02] [-4.09134342e-02 9.99161863e-01 -1.28952653e-03 1.23686565e+00] [-1.88851808e-02 5.17072154e-04 9.99821525e-01 3.70563255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.82, Y:1.23, Z:3.70 [[ 9.99107761e-01 3.77126906e-02 1.90114182e-02 3.58820363e+02] [-3.76947894e-02 9.99288454e-01 -1.29920379e-03 1.23346018e+00] [-1.90468871e-02 5.81413185e-04 9.99818423e-01 3.70466411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.85, Y:1.23, Z:3.70 [[ 9.99211331e-01 3.46195885e-02 1.94473669e-02 3.58850604e+02] [-3.46002980e-02 9.99400349e-01 -1.32763394e-03 1.22984780e+00] [-1.94816674e-02 6.53702183e-04 9.99810001e-01 3.70375266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.88, Y:1.23, Z:3.70 [[ 9.99306800e-01 3.15002692e-02 1.98406551e-02 3.58881489e+02] [-3.14795801e-02 9.99503478e-01 -1.35429822e-03 1.22596812e+00] [-1.98734646e-02 7.28783927e-04 9.99802238e-01 3.70271227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.91, Y:1.22, Z:3.70 [[ 9.99391543e-01 2.86881379e-02 1.98377219e-02 3.58912224e+02] [-2.86669071e-02 9.99588103e-01 -1.35382357e-03 1.22221660e+00] [-1.98683895e-02 7.84313695e-04 9.99802296e-01 3.70164957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.95, Y:1.22, Z:3.70 [[ 9.99535539e-01 2.29742379e-02 2.00222711e-02 3.58945389e+02] [-2.29513740e-02 9.99735642e-01 -1.37099463e-03 1.21755266e+00] [-2.00484757e-02 9.10819221e-04 9.99798594e-01 3.70012100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.98, Y:1.21, Z:3.70 [[ 9.99594781e-01 2.04123095e-02 1.98396243e-02 3.58978620e+02] [-2.03892435e-02 9.99791187e-01 -1.36423089e-03 1.21469692e+00] [-1.98633287e-02 9.59163150e-04 9.99802245e-01 3.69939471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.01, Y:1.21, Z:3.70 [[ 9.99643248e-01 1.79795688e-02 1.97512565e-02 3.59010354e+02] [-1.79561070e-02 9.99837845e-01 -1.36458155e-03 1.21206874e+00] [-1.97725883e-02 1.00943905e-03 9.99803994e-01 3.69844261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.04, Y:1.21, Z:3.70 [[ 9.99713579e-01 1.40752864e-02 1.93558021e-02 3.59043186e+02] [-1.40519688e-02 9.99900368e-01 -1.34016780e-03 1.21021468e+00] [-1.93727369e-02 1.06779682e-03 9.99811761e-01 3.69807317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.08, Y:1.21, Z:3.70 [[ 9.99731350e-01 1.21110730e-02 1.97623189e-02 3.59075806e+02] [-1.20862665e-02 9.99926014e-01 -1.37420708e-03 1.20834895e+00] [-1.97774999e-02 1.13498525e-03 9.99803762e-01 3.69734855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.11, Y:1.21, Z:3.70 [[ 9.99728961e-01 1.20916298e-02 1.98946688e-02 3.59107871e+02] [-1.20663654e-02 9.99926233e-01 -1.38945991e-03 1.20666225e+00] [-1.99100021e-02 1.14902697e-03 9.99801116e-01 3.69675141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.14, Y:1.21, Z:3.70 [[ 9.99719976e-01 1.22641083e-02 2.02376034e-02 3.59140784e+02] [-1.22378866e-02 9.99924107e-01 -1.41903459e-03 1.20527091e+00] [-2.02534707e-02 1.17097173e-03 9.99794192e-01 3.69607619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.17, Y:1.20, Z:3.70 [[ 9.99706754e-01 1.28580413e-02 2.05201419e-02 3.59173057e+02] [-1.28310715e-02 9.99916634e-01 -1.44543472e-03 1.20421300e+00] [-2.05370166e-02 1.18171545e-03 9.99788395e-01 3.69519574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.21, Y:1.20, Z:3.69 [[ 9.99703257e-01 1.38390773e-02 2.00468692e-02 3.59206546e+02] [-1.38134740e-02 9.99903588e-01 -1.41508854e-03 1.20319241e+00] [-2.00645199e-02 1.13775172e-03 9.99798040e-01 3.69451306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.24, Y:1.20, Z:3.69 [[ 9.99690044e-01 1.48903538e-02 1.99522527e-02 3.59239101e+02] [-1.48650802e-02 9.99888508e-01 -1.41442474e-03 1.20223898e+00] [-1.99710895e-02 1.11739449e-03 9.99799933e-01 3.69317232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.27, Y:1.20, Z:3.69 [[ 9.99684988e-01 1.69649106e-02 1.84963793e-02 3.59272378e+02] [-1.69434617e-02 9.99855584e-01 -1.31573186e-03 1.20328297e+00] [-1.85160293e-02 1.00192469e-03 9.99828062e-01 3.69236562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.31, Y:1.20, Z:3.69 [[ 9.99673740e-01 1.82189328e-02 1.79020930e-02 3.59305308e+02] [-1.81989503e-02 9.99833568e-01 -1.27850344e-03 1.20251012e+00] [-1.79224064e-02 9.52287018e-04 9.99838927e-01 3.69121613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.34, Y:1.20, Z:3.69 [[ 9.99655639e-01 1.92474596e-02 1.78364437e-02 3.59337282e+02] [-1.92276912e-02 9.99814313e-01 -1.27916222e-03 1.20168886e+00] [-1.78577523e-02 9.35768100e-04 9.99840100e-01 3.69034185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.37, Y:1.20, Z:3.69 [[ 9.99624903e-01 2.05830736e-02 1.80662736e-02 3.59369813e+02] [-2.05629185e-02 9.99787715e-01 -1.30069491e-03 1.20070651e+00] [-1.80892107e-02 9.28711715e-04 9.99835946e-01 3.68957599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.40, Y:1.20, Z:3.69 [[ 9.99591550e-01 2.18855916e-02 1.83781010e-02 3.59402576e+02] [-2.18648627e-02 9.99760053e-01 -1.32811597e-03 1.20024079e+00] [-1.84027579e-02 9.25738849e-04 9.99830226e-01 3.68900356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.44, Y:1.20, Z:3.69 [[ 9.99499854e-01 2.50228318e-02 1.93364896e-02 3.59436085e+02] [-2.50003539e-02 9.99686457e-01 -1.40335472e-03 1.20215968e+00] [-1.93655427e-02 9.19233753e-04 9.99812048e-01 3.68837370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.47, Y:1.20, Z:3.69 [[ 9.99441239e-01 2.69817022e-02 1.97281136e-02 3.59469532e+02] [-2.69585708e-02 9.99635518e-01 -1.43757028e-03 1.20183392e+00] [-1.97597111e-02 9.04925279e-04 9.99804348e-01 3.68757922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.50, Y:1.20, Z:3.69 [[ 9.99378111e-01 2.89265419e-02 2.01654985e-02 3.59501477e+02] [-2.89026400e-02 9.99581142e-01 -1.47578808e-03 1.20151411e+00] [-2.01997414e-02 8.92034163e-04 9.99795566e-01 3.68677784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.53, Y:1.20, Z:3.69 [[ 9.99230140e-01 3.33433405e-02 2.06724039e-02 3.59532770e+02] [-3.33190496e-02 9.99443613e-01 -1.51845287e-03 1.20297269e+00] [-2.07115323e-02 8.28499023e-04 9.99785150e-01 3.68609205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.56, Y:1.20, Z:3.69 [[ 9.99142080e-01 3.55950652e-02 2.11682768e-02 3.59564628e+02] [-3.55699743e-02 9.99365969e-01 -1.56077015e-03 1.20218751e+00] [-2.12104112e-02 8.06476074e-04 9.99774709e-01 3.68524776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.59, Y:1.20, Z:3.68 [[ 9.99053806e-01 3.78401355e-02 2.14386721e-02 3.59594657e+02] [-3.78148955e-02 9.99283509e-01 -1.58163297e-03 1.20160911e+00] [-2.14831607e-02 7.69435297e-04 9.99768914e-01 3.68443195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.63, Y:1.20, Z:3.68 [[ 9.98869916e-01 4.26738267e-02 2.09245398e-02 3.59625209e+02] [-4.26508421e-02 9.99088846e-01 -1.54370299e-03 1.20310512e+00] [-2.09713501e-02 6.49509228e-04 9.99779866e-01 3.68403705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.65, Y:1.20, Z:3.68 [[ 9.98762796e-01 4.51137036e-02 2.09196574e-02 3.59652608e+02] [-4.50912568e-02 9.98981679e-01 -1.54370034e-03 1.20296694e+00] [-2.09679965e-02 5.98496824e-04 9.99779968e-01 3.68317979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.68, Y:1.20, Z:3.68 [[ 9.98659330e-01 4.75970303e-02 2.03486105e-02 3.59681522e+02] [-4.75763460e-02 9.98866479e-01 -1.49967605e-03 1.20280156e+00] [-2.03969250e-02 5.29552949e-04 9.99791821e-01 3.68256072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.71, Y:1.20, Z:3.68 [[ 9.98546635e-01 5.00538215e-02 1.99808125e-02 3.59709991e+02] [-5.00343982e-02 9.98746412e-01 -1.47114256e-03 1.20245050e+00] [-2.00294011e-02 4.69276529e-04 9.99799281e-01 3.68200628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.74, Y:1.20, Z:3.68 [[ 9.98358315e-01 5.38379277e-02 1.95486993e-02 3.59739013e+02] [-5.38200876e-02 9.98549613e-01 -1.43794127e-03 1.20262689e+00] [-1.95977619e-02 3.83467918e-04 9.99807872e-01 3.68119397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.77, Y:1.20, Z:3.68 [[ 9.98289937e-01 5.51973555e-02 1.92471608e-02 3.59767508e+02] [-5.51803404e-02 9.98475403e-01 -1.41440190e-03 1.20132367e+00] [-1.92958878e-02 3.49918300e-04 9.99813756e-01 3.68035926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.80, Y:1.20, Z:3.68 [[ 9.98181780e-01 5.71742790e-02 1.90849877e-02 3.59795277e+02] [-5.71579326e-02 9.98364166e-01 -1.40133036e-03 1.20057664e+00] [-1.91338879e-02 3.07923990e-04 9.99816883e-01 3.67922531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.82, Y:1.20, Z:3.68 [[ 9.98153708e-01 5.76347823e-02 1.91678867e-02 3.59822945e+02] [-5.76184190e-02 9.98337690e-01 -1.40531422e-03 1.19937186e+00] [-1.92170187e-02 2.98296269e-04 9.99815292e-01 3.67829573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.85, Y:1.20, Z:3.68 [[ 9.98146750e-01 5.76623937e-02 1.94451394e-02 3.59850829e+02] [-5.76456013e-02 9.98336095e-01 -1.42346018e-03 1.19802457e+00] [-1.94948647e-02 2.99895397e-04 9.99809912e-01 3.67753696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.88, Y:1.20, Z:3.68 [[ 9.98161633e-01 5.74924138e-02 1.91827123e-02 3.59878262e+02] [-5.74760804e-02 9.98345899e-01 -1.40215680e-03 1.19670690e+00] [-1.92315955e-02 2.97032003e-04 9.99815012e-01 3.67665897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.91, Y:1.19, Z:3.68 [[ 9.98199323e-01 5.68553893e-02 1.91200320e-02 3.59905788e+02] [-5.68390862e-02 9.98382377e-01 -1.39546527e-03 1.19486756e+00] [-1.91684427e-02 3.06187341e-04 9.99816222e-01 3.67566664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.93, Y:1.19, Z:3.68 [[ 9.98323850e-01 5.46953443e-02 1.89184823e-02 3.59934236e+02] [-5.46790383e-02 9.98503031e-01 -1.37849076e-03 1.19294762e+00] [-1.89655590e-02 3.41735786e-04 9.99820079e-01 3.67537502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.96, Y:1.19, Z:3.67 [[ 9.98415461e-01 5.30293466e-02 1.88270078e-02 3.59963347e+02] [-5.30129276e-02 9.98592886e-01 -1.37046577e-03 1.19074208e+00] [-1.88731910e-02 3.70219410e-04 9.99821817e-01 3.67444782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.99, Y:1.19, Z:3.67 [[ 9.98504308e-01 5.14093466e-02 1.86071514e-02 3.59992272e+02] [-5.13930523e-02 9.98677587e-01 -1.35314271e-03 1.18864044e+00] [-1.86521093e-02 3.94840523e-04 9.99825956e-01 3.67381099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.02, Y:1.19, Z:3.67 [[ 9.98581052e-01 4.96910592e-02 1.91489143e-02 3.60020570e+02] [-4.96735140e-02 9.98764540e-01 -1.39110294e-03 1.18656653e+00] [-1.91943820e-02 4.37935174e-04 9.99815675e-01 3.67301020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.05, Y:1.18, Z:3.67 [[ 9.98733814e-01 4.62925253e-02 1.96918857e-02 3.60048563e+02] [-4.62733372e-02 9.98927793e-01 -1.42919916e-03 1.18487899e+00] [-1.97369332e-02 5.16180257e-04 9.99805075e-01 3.67323869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.08, Y:1.18, Z:3.67 [[ 9.98793563e-01 4.46570943e-02 2.04245630e-02 3.60077782e+02] [-4.46361549e-02 9.99002214e-01 -1.48017429e-03 1.18290504e+00] [-2.04702839e-02 5.66714590e-04 9.99790301e-01 3.67247553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.11, Y:1.18, Z:3.67 [[ 9.98860731e-01 4.30256812e-02 2.06404908e-02 3.60105970e+02] [-4.30039783e-02 9.99073783e-01 -1.49438538e-03 1.18091706e+00] [-2.06856702e-02 6.05059649e-04 9.99785846e-01 3.67196057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.13, Y:1.18, Z:3.67 [[ 9.98960648e-01 4.05897412e-02 2.07387583e-02 3.60134907e+02] [-4.05673473e-02 9.99175681e-01 -1.49955135e-03 1.17879092e+00] [-2.07825294e-02 6.56676383e-04 9.99783804e-01 3.67098207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.16, Y:1.18, Z:3.67 [[ 9.98993729e-01 3.97193887e-02 2.08302649e-02 3.60164828e+02] [-3.96966412e-02 9.99210645e-01 -1.50455737e-03 1.17683324e+00] [-2.08735826e-02 6.76151824e-04 9.99781894e-01 3.67019572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.19, Y:1.18, Z:3.67 [[ 9.99014304e-01 3.92994990e-02 2.06390197e-02 3.60194167e+02] [-3.92770931e-02 9.99227246e-01 -1.49001214e-03 1.17510406e+00] [-2.06816276e-02 6.77902748e-04 9.99785882e-01 3.66944936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.22, Y:1.17, Z:3.67 [[ 9.98976755e-01 4.01920401e-02 2.07374776e-02 3.60223151e+02] [-4.01696261e-02 9.99191754e-01 -1.49643933e-03 1.17384709e+00] [-2.07808616e-02 6.61891382e-04 9.99783835e-01 3.66867606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.25, Y:1.17, Z:3.67 [[ 9.98946547e-01 4.09643059e-02 2.06814150e-02 3.60252510e+02] [-4.09422028e-02 9.99160404e-01 -1.49121243e-03 1.17252869e+00] [-2.07251375e-02 6.42898819e-04 9.99785005e-01 3.66827757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.28, Y:1.17, Z:3.67 [[ 9.98846791e-01 4.31422569e-02 2.10673722e-02 3.60281690e+02] [-4.31198182e-02 9.99068754e-01 -1.51840508e-03 1.17158075e+00] [-2.11132607e-02 6.08232787e-04 9.99776905e-01 3.66759067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.31, Y:1.17, Z:3.67 [[ 9.98799067e-01 4.42699177e-02 2.09904274e-02 3.60310787e+02] [-4.42479250e-02 9.99019438e-01 -1.51126524e-03 1.17000356e+00] [-2.10367485e-02 5.80667455e-04 9.99778534e-01 3.66691150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.34, Y:1.17, Z:3.67 [[ 9.98741948e-01 4.56327427e-02 2.07887974e-02 3.60338339e+02] [-4.56114853e-02 9.98958135e-01 -1.49579801e-03 1.16847440e+00] [-2.08353957e-02 5.45708291e-04 9.99782771e-01 3.66616237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.37, Y:1.17, Z:3.67 [[ 9.98697513e-01 4.67646109e-02 2.04046132e-02 3.60367252e+02] [-4.67444086e-02 9.98905807e-01 -1.46617939e-03 1.16668644e+00] [-2.04508519e-02 5.10468135e-04 9.99790729e-01 3.66505531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.40, Y:1.16, Z:3.66 [[ 9.98700018e-01 4.67110319e-02 2.04047237e-02 3.60396487e+02] [-4.66908498e-02 9.98908314e-01 -1.46463890e-03 1.16464718e+00] [-2.04508630e-02 5.10021007e-04 9.99790729e-01 3.66432516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.42, Y:1.16, Z:3.66 [[ 9.98643160e-01 4.85293951e-02 1.88874865e-02 3.60423821e+02] [-4.85124416e-02 9.98821659e-01 -1.35502330e-03 1.16308614e+00] [-1.89309891e-02 4.36906668e-04 9.99820697e-01 3.66309607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.45, Y:1.16, Z:3.66 [[ 9.98613901e-01 4.93514045e-02 1.82952115e-02 3.60452661e+02] [-4.93356662e-02 9.98781394e-01 -1.31086242e-03 1.16145322e+00] [-1.83376097e-02 4.06438994e-04 9.99831769e-01 3.66187246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.48, Y:1.16, Z:3.66 [[ 9.98591597e-01 5.01343194e-02 1.73600774e-02 3.60480780e+02] [-5.01202853e-02 9.98742415e-01 -1.24282126e-03 1.15981954e+00] [-1.74005537e-02 3.70978831e-04 9.99848530e-01 3.66109230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.51, Y:1.16, Z:3.66 [[ 9.98558759e-01 5.10489948e-02 1.65651776e-02 3.60508257e+02] [-5.10363630e-02 9.98696093e-01 -1.18467601e-03 1.15842920e+00] [-1.66040546e-02 3.37542194e-04 9.99862086e-01 3.66016848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.54, Y:1.16, Z:3.66 [[ 9.98562172e-01 5.11465298e-02 1.60505899e-02 3.60536524e+02] [-5.11347100e-02 9.98691107e-01 -1.14621355e-03 1.15663460e+00] [-1.60882063e-02 3.23823227e-04 9.99870524e-01 3.65950400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.56, Y:1.15, Z:3.66 [[ 9.98566005e-01 5.12197036e-02 1.55716342e-02 3.60564153e+02] [-5.12086125e-02 9.98687361e-01 -1.11041628e-03 1.15490475e+00] [-1.56080695e-02 3.11422163e-04 9.99878138e-01 3.65891746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.59, Y:1.15, Z:3.66 [[ 9.98558211e-01 5.12984686e-02 1.58103393e-02 3.60591512e+02] [-5.12870750e-02 9.98683318e-01 -1.12552621e-03 1.15308036e+00] [-1.58472598e-02 3.13037384e-04 9.99874375e-01 3.65855309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.62, Y:1.15, Z:3.66 [[ 9.98534350e-01 5.14361567e-02 1.68366632e-02 3.60619739e+02] [-5.14232807e-02 9.98676230e-01 -1.19708631e-03 1.15132142e+00] [-1.68759488e-02 3.29535348e-04 9.99857537e-01 3.65876752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.65, Y:1.15, Z:3.66 [[ 9.98513891e-01 5.15512702e-02 1.76770008e-02 3.60647588e+02] [-5.15371301e-02 9.98670291e-01 -1.25482967e-03 1.14977131e+00] [-1.77181836e-02 3.41942969e-04 9.99842962e-01 3.65867738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.68, Y:1.15, Z:3.66 [[ 9.98520918e-01 5.11744690e-02 1.83616424e-02 3.60675951e+02] [-5.11591870e-02 9.98689664e-01 -1.30134745e-03 1.14820388e+00] [-1.84041783e-02 3.60055952e-04 9.99830564e-01 3.65842015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.70, Y:1.15, Z:3.66 [[ 9.98586090e-01 4.96234552e-02 1.90613222e-02 3.60704276e+02] [-4.96067448e-02 9.98767917e-01 -1.34879024e-03 1.14631939e+00] [-1.91047687e-02 4.01313030e-04 9.99817407e-01 3.65826625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.73, Y:1.14, Z:3.66 [[ 9.98659938e-01 4.80967484e-02 1.91057905e-02 3.60732785e+02] [-4.80797241e-02 9.98842589e-01 -1.34966493e-03 1.14409463e+00] [-1.91485917e-02 4.29255166e-04 9.99816557e-01 3.65792238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.76, Y:1.14, Z:3.66 [[ 9.98751436e-01 4.58659873e-02 1.97959583e-02 3.60760065e+02] [-4.58473012e-02 9.98947483e-01 -1.39698759e-03 1.14174341e+00] [-1.98391970e-02 4.87652098e-04 9.99803065e-01 3.65709296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.79, Y:1.14, Z:3.66 [[ 9.98993930e-01 4.01552175e-02 1.99671198e-02 3.60787539e+02] [-4.01351037e-02 9.99193271e-01 -1.40722228e-03 1.13832298e+00] [-2.00075191e-02 6.04424092e-04 9.99799647e-01 3.65664312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.82, Y:1.14, Z:3.66 [[ 9.99135362e-01 3.66870991e-02 1.95597960e-02 3.60817164e+02] [-3.66671732e-02 9.99326585e-01 -1.37650169e-03 1.13538420e+00] [-1.95971240e-02 6.58109087e-04 9.99807741e-01 3.65558884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.85, Y:1.13, Z:3.65 [[ 9.99405749e-01 2.89657461e-02 1.86851592e-02 3.60846418e+02] [-2.89462260e-02 9.99580106e-01 -1.31435550e-03 1.13185085e+00] [-1.87153847e-02 7.72709601e-04 9.99824553e-01 3.65456272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.88, Y:1.13, Z:3.65 [[ 9.99514351e-01 2.51965452e-02 1.83356514e-02 3.60877143e+02] [-2.51771422e-02 9.99682175e-01 -1.28832074e-03 1.12903959e+00] [-1.83622851e-02 8.26055763e-04 9.99831058e-01 3.65389878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.91, Y:1.13, Z:3.65 [[ 9.99603624e-01 2.19903139e-02 1.75789911e-02 3.60908411e+02] [-2.19719536e-02 9.99757822e-01 -1.23692117e-03 1.12619489e+00] [-1.76019341e-02 8.50186103e-04 9.99844712e-01 3.65297051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.94, Y:1.12, Z:3.65 [[ 9.99651863e-01 1.97388198e-02 1.75080249e-02 3.60939400e+02] [-1.97202774e-02 9.99804778e-01 -1.23110866e-03 1.12362158e+00] [-1.75289075e-02 8.85416958e-04 9.99845965e-01 3.65208017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.97, Y:1.12, Z:3.65 [[ 9.99713450e-01 1.66427722e-02 1.72056857e-02 3.60971974e+02] [-1.66243481e-02 9.99861070e-01 -1.21329872e-03 1.12119432e+00] [-1.72234879e-02 9.26917745e-04 9.99851235e-01 3.65195124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.01, Y:1.12, Z:3.65 [[ 9.99711274e-01 1.67734736e-02 1.72052326e-02 3.61005418e+02] [-1.67549592e-02 9.99858882e-01 -1.21968618e-03 1.11874518e+00] [-1.72232630e-02 9.31061053e-04 9.99851235e-01 3.65111841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.04, Y:1.12, Z:3.65 [[ 9.99719690e-01 1.66911679e-02 1.67912836e-02 3.61037160e+02] [-1.66735063e-02 9.99860278e-01 -1.19128644e-03 1.11637465e+00] [-1.68088214e-02 9.10982937e-04 9.99858307e-01 3.65013402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.07, Y:1.11, Z:3.65 [[ 9.99702238e-01 1.76761869e-02 1.68222119e-02 3.61070132e+02] [-1.76585226e-02 9.99843358e-01 -1.19803105e-03 1.11427165e+00] [-1.68407535e-02 9.00618914e-04 9.99857779e-01 3.64899870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.10, Y:1.11, Z:3.65 [[ 9.99685134e-01 1.89379870e-02 1.64616328e-02 3.61103666e+02] [-1.89211651e-02 9.99820286e-01 -1.17704891e-03 1.11262147e+00] [-1.64809653e-02 8.65205032e-04 9.99863805e-01 3.64850176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.14, Y:1.11, Z:3.65 [[ 9.99608472e-01 2.22703984e-02 1.69390921e-02 3.61135620e+02] [-2.22529590e-02 9.99751631e-01 -1.21734724e-03 1.11214055e+00] [-1.69619958e-02 8.39925691e-04 9.99855782e-01 3.64762101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.17, Y:1.11, Z:3.65 [[ 9.99559667e-01 2.44086788e-02 1.68726944e-02 3.61167275e+02] [-2.43916073e-02 9.99701740e-01 -1.21685983e-03 1.11098548e+00] [-1.68973639e-02 8.04771867e-04 9.99856905e-01 3.64704589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.20, Y:1.11, Z:3.65 [[ 9.99500265e-01 2.65105918e-02 1.72165147e-02 3.61197698e+02] [-2.64931147e-02 9.99648224e-01 -1.24245540e-03 1.11020652e+00] [-1.72433965e-02 7.85715409e-04 9.99851013e-01 3.64647594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.23, Y:1.11, Z:3.65 [[ 9.99441551e-01 2.88489020e-02 1.68619836e-02 3.61228593e+02] [-2.88324620e-02 9.99583517e-01 -1.21731692e-03 1.10944098e+00] [-1.68900791e-02 7.30464612e-04 9.99857086e-01 3.64607589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.26, Y:1.11, Z:3.65 [[ 9.99280053e-01 3.38020483e-02 1.72277789e-02 3.61258783e+02] [-3.37856170e-02 9.99428329e-01 -1.24400516e-03 1.10990663e+00] [-1.72599802e-02 6.61058405e-04 9.99850817e-01 3.64504515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.29, Y:1.11, Z:3.64 [[ 9.99182872e-01 3.64206323e-02 1.75250223e-02 3.61286565e+02] [-3.64040343e-02 9.99336352e-01 -1.26528994e-03 1.10918962e+00] [-1.75594746e-02 6.26274523e-04 9.99845624e-01 3.64451443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.32, Y:1.11, Z:3.64 [[ 9.99099345e-01 3.85821655e-02 1.76611311e-02 3.61315637e+02] [-3.85656824e-02 9.99255256e-01 -1.27305917e-03 1.10864694e+00] [-1.76970954e-02 5.90799008e-04 9.99843220e-01 3.64393469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.34, Y:1.11, Z:3.64 [[ 9.98892288e-01 4.33963106e-02 1.81922410e-02 3.61343357e+02] [-4.33796416e-02 9.99057801e-01 -1.31007498e-03 1.10927679e+00] [-1.82319527e-02 5.19450901e-04 9.99833649e-01 3.64292470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.37, Y:1.11, Z:3.64 [[ 9.98799300e-01 4.55164049e-02 1.81166888e-02 3.61372372e+02] [-4.55002544e-02 9.98963477e-01 -1.30288061e-03 1.10844394e+00] [-1.81572129e-02 4.77002297e-04 9.99835030e-01 3.64233691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.40, Y:1.11, Z:3.64 [[ 9.98706189e-01 4.76232568e-02 1.78318136e-02 3.61400295e+02] [-4.76079661e-02 9.98865276e-01 -1.28125440e-03 1.10757103e+00] [-1.78725969e-02 4.30660318e-04 9.99840180e-01 3.64160979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.43, Y:1.11, Z:3.64 [[ 9.98596768e-01 4.98760116e-02 1.78010669e-02 3.61429450e+02] [-4.98611622e-02 9.98755342e-01 -1.27731432e-03 1.10646895e+00] [-1.78426180e-02 3.87940065e-04 9.99840733e-01 3.64051689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.46, Y:1.11, Z:3.64 [[ 9.98367650e-01 5.44734471e-02 1.71662105e-02 3.61457358e+02] [-5.44603318e-02 9.98515176e-01 -1.23091240e-03 1.10590008e+00] [-1.72077738e-02 2.94025600e-04 9.99851892e-01 3.63962819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.49, Y:1.10, Z:3.64 [[ 9.98237774e-01 5.68752539e-02 1.69278737e-02 3.61485212e+02] [-5.68628760e-02 9.98381262e-01 -1.21202511e-03 1.10496716e+00] [-1.69694061e-02 2.47321662e-04 9.99855979e-01 3.63883387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.51, Y:1.10, Z:3.64 [[ 9.98082520e-01 5.96378576e-02 1.65713138e-02 3.61513613e+02] [-5.96264055e-02 9.98220060e-01 -1.18473935e-03 1.10382000e+00] [-1.66124732e-02 1.94379764e-04 9.99861984e-01 3.63828755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.54, Y:1.10, Z:3.64 [[ 9.97744878e-01 6.49606447e-02 1.68900175e-02 3.61541461e+02] [-6.49495419e-02 9.97887821e-01 -1.20564402e-03 1.10357377e+00] [-1.69326622e-02 1.05926251e-04 9.99856627e-01 3.63769074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.57, Y:1.10, Z:3.64 [[ 9.97583509e-01 6.72285753e-02 1.75345786e-02 3.61568962e+02] [-6.72169939e-02 9.97737598e-01 -1.24968032e-03 1.10214614e+00] [-1.75789225e-02 6.80388221e-05 9.99845476e-01 3.63708433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.60, Y:1.10, Z:3.64 [[ 9.97451501e-01 6.90795474e-02 1.78470958e-02 3.61595502e+02] [-6.90678714e-02 9.97611154e-01 -1.27051364e-03 1.10069833e+00] [-1.78922283e-02 3.46148248e-05 9.99839921e-01 3.63653372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.62, Y:1.10, Z:3.64 [[ 9.97348083e-01 7.03625818e-02 1.85986192e-02 3.61622454e+02] [-7.03501944e-02 9.97521482e-01 -1.32027979e-03 1.09896642e+00] [-1.86454204e-02 8.36204282e-06 9.99826159e-01 3.63593283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.65, Y:1.10, Z:3.63 [[ 9.97248041e-01 7.15215229e-02 1.95196658e-02 3.61650657e+02] [-7.15081824e-02 9.97439057e-01 -1.38145497e-03 1.09635960e+00] [-1.95684808e-02 -1.81625600e-05 9.99808519e-01 3.63489043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.68, Y:1.09, Z:3.63 [[ 9.97298235e-01 7.07674014e-02 1.97029164e-02 3.61678631e+02] [-7.07537036e-02 9.97492845e-01 -1.39232283e-03 1.09365184e+00] [-1.97520492e-02 -5.49320361e-06 9.99804909e-01 3.63398983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.71, Y:1.09, Z:3.63 [[ 9.97529014e-01 6.71602728e-02 2.06243341e-02 3.61705125e+02] [-6.71445393e-02 9.97742198e-01 -1.45517491e-03 1.09000390e+00] [-2.06754984e-02 6.67677804e-05 9.99786237e-01 3.63274858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.73, Y:1.09, Z:3.63 [[ 9.97713248e-01 6.44220537e-02 2.04468609e-02 3.61733040e+02] [-6.44060679e-02 9.97922735e-01 -1.44006724e-03 1.08700589e+00] [-2.04971594e-02 1.19872250e-04 9.99789904e-01 3.63207998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.76, Y:1.08, Z:3.63 [[ 9.97926178e-01 6.10432287e-02 2.04222346e-02 3.61761222e+02] [-6.10266180e-02 9.98135106e-01 -1.43617738e-03 1.08364060e+00] [-2.04718182e-02 1.86899096e-04 9.99790413e-01 3.63107595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.79, Y:1.08, Z:3.63 [[ 9.98400145e-01 5.29018556e-02 1.99635604e-02 3.61788574e+02] [-5.28843954e-02 9.98599657e-01 -1.40189692e-03 1.07823393e+00] [-2.00097675e-02 3.43893268e-04 9.99799725e-01 3.62939625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.82, Y:1.07, Z:3.63 [[ 9.98620635e-01 4.85210197e-02 2.00633527e-02 3.61816051e+02] [-4.85025466e-02 9.98822068e-01 -1.40661110e-03 1.07455471e+00] [-2.01079697e-02 4.31547172e-04 9.99797721e-01 3.62815828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.84, Y:1.07, Z:3.63 [[ 9.98833418e-01 4.41091704e-02 1.96515858e-02 3.61844535e+02] [-4.40906303e-02 9.99026588e-01 -1.37592113e-03 1.07107341e+00] [-1.96931474e-02 5.07865201e-04 9.99805942e-01 3.62733222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.87, Y:1.07, Z:3.63 [[ 9.99011564e-01 3.98057126e-02 1.97838486e-02 3.61872150e+02] [-3.97861059e-02 9.99207261e-01 -1.38381372e-03 1.06763830e+00] [-1.98232488e-02 5.95323614e-04 9.99803323e-01 3.62622758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.90, Y:1.06, Z:3.63 [[ 9.99154295e-01 3.58806667e-02 2.00816670e-02 3.61901974e+02] [-3.58597156e-02 9.99355849e-01 -1.40253669e-03 1.06386319e+00] [-2.01190553e-02 6.81227693e-04 9.99797359e-01 3.62520084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.93, Y:1.06, Z:3.62 [[ 9.99363981e-01 2.89879557e-02 2.07685433e-02 3.61931209e+02] [-2.89640780e-02 9.99579402e-01 -1.44965145e-03 1.05915741e+00] [-2.08018305e-02 8.47187735e-04 9.99783260e-01 3.62426244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.96, Y:1.06, Z:3.62 [[ 9.99428101e-01 2.62736660e-02 2.12876742e-02 3.61962864e+02] [-2.62479773e-02 9.99654359e-01 -1.48529987e-03 1.05596218e+00] [-2.13193406e-02 9.25692035e-04 9.99772288e-01 3.62294797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.99, Y:1.05, Z:3.62 [[ 9.99478001e-01 2.42251354e-02 2.13744860e-02 3.61994336e+02] [-2.41987633e-02 9.99706054e-01 -1.49163678e-03 1.05295127e+00] [-2.14043382e-02 9.73622015e-04 9.99770427e-01 3.62217534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.03, Y:1.05, Z:3.62 [[ 9.99524182e-01 2.07454927e-02 2.28261571e-02 3.62027660e+02] [-2.07144143e-02 9.99784158e-01 -1.59715737e-03 1.04937171e+00] [-2.28543641e-02 1.12356694e-03 9.99738174e-01 3.62109712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.06, Y:1.05, Z:3.62 [[ 9.99539287e-01 1.94300115e-02 2.33171084e-02 3.62060082e+02] [-1.93970626e-02 9.99810517e-01 -1.63844160e-03 1.04672170e+00] [-2.33445251e-02 1.18540334e-03 9.99726777e-01 3.62013539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.09, Y:1.04, Z:3.62 [[ 9.99544634e-01 1.86558935e-02 2.37167240e-02 3.62092368e+02] [-1.86214331e-02 9.99825206e-01 -1.67303979e-03 1.04382292e+00] [-2.37437905e-02 1.23063855e-03 9.99717319e-01 3.61927628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.13, Y:1.04, Z:3.62 [[ 9.99547704e-01 1.78268163e-02 2.42196649e-02 3.62125133e+02] [-1.77904764e-02 9.99840266e-01 -1.71509216e-03 1.04088896e+00] [-2.42463708e-02 1.28343706e-03 9.99705190e-01 3.61798663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.16, Y:1.04, Z:3.62 [[ 9.99572178e-01 1.68349999e-02 2.39174199e-02 3.62158207e+02] [-1.67991153e-02 9.99857439e-01 -1.70050310e-03 1.03724349e+00] [-2.39426382e-02 1.29798409e-03 9.99712491e-01 3.61643648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.19, Y:1.03, Z:3.62 [[ 9.99581655e-01 1.66617771e-02 2.36410533e-02 3.62190382e+02] [-1.66265073e-02 9.99860346e-01 -1.68767745e-03 1.03433309e+00] [-2.36658714e-02 1.29390328e-03 9.99719087e-01 3.61534532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.22, Y:1.03, Z:3.61 [[ 9.99582640e-01 1.69663522e-02 2.33813876e-02 3.62223215e+02] [-1.69318435e-02 9.99855246e-01 -1.67310219e-03 1.03159384e+00] [-2.34063895e-02 1.27651390e-03 9.99725218e-01 3.61413329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.26, Y:1.03, Z:3.61 [[ 9.99599909e-01 1.78837434e-02 2.19133137e-02 3.62256473e+02] [-1.78535235e-02 9.99839374e-01 -1.57394649e-03 1.02930824e+00] [-2.19379419e-02 1.18208690e-03 9.99758636e-01 3.61292921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.29, Y:1.03, Z:3.61 [[ 9.99575216e-01 1.94105318e-02 2.17398125e-02 3.62289608e+02] [-1.93810125e-02 9.99810941e-01 -1.56773591e-03 1.02705061e+00] [-2.17661330e-02 1.14573038e-03 9.99762433e-01 3.61188675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.32, Y:1.02, Z:3.61 [[ 9.99571288e-01 1.96122641e-02 2.17393361e-02 3.62323072e+02] [-1.95826498e-02 9.99807002e-01 -1.57431379e-03 1.02455520e+00] [-2.17660163e-02 1.14792506e-03 9.99762433e-01 3.61105327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.36, Y:1.02, Z:3.61 [[ 9.99555954e-01 2.11084790e-02 2.10315530e-02 3.62355651e+02] [-2.10810132e-02 9.99776605e-01 -1.52681105e-03 1.02258306e+00] [-2.10590833e-02 1.08276663e-03 9.99777647e-01 3.61031123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.39, Y:1.02, Z:3.61 [[ 9.99499122e-01 2.50585857e-02 1.93280143e-02 3.62388564e+02] [-2.50360275e-02 9.99685558e-01 -1.40825162e-03 1.02090262e+00] [-1.93572256e-02 9.23649556e-04 9.99812205e-01 3.60895957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.42, Y:1.02, Z:3.61 [[ 9.99458845e-01 2.72376914e-02 1.84424781e-02 3.62420300e+02] [-2.72174259e-02 9.99628627e-01 -1.34900593e-03 1.01905056e+00] [-1.84723729e-02 8.46319127e-04 9.99829013e-01 3.60820355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.45, Y:1.02, Z:3.61 [[ 9.99405569e-01 2.91857863e-02 1.83493250e-02 3.62451267e+02] [-2.91659398e-02 9.99573674e-01 -1.34832948e-03 1.01761927e+00] [-1.83808543e-02 8.12352684e-04 9.99830728e-01 3.60737188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.48, Y:1.02, Z:3.61 [[ 9.99247716e-01 3.44106469e-02 1.78860005e-02 3.62481300e+02] [-3.43926202e-02 9.99407534e-01 -1.31458296e-03 1.01744031e+00] [-1.79206393e-02 6.98447602e-04 9.99839168e-01 3.60681231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.51, Y:1.02, Z:3.61 [[ 9.99144095e-01 3.72965673e-02 1.78897797e-02 3.62510432e+02] [-3.72789476e-02 9.99304030e-01 -1.31749654e-03 1.01667243e+00] [-1.79264670e-02 6.49456723e-04 9.99839097e-01 3.60636617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.54, Y:1.02, Z:3.61 [[ 9.99020665e-01 4.05047755e-02 1.78065813e-02 3.62538025e+02] [-4.04878490e-02 9.99179172e-01 -1.31020159e-03 1.01605754e+00] [-1.78450346e-02 5.87968288e-04 9.99840592e-01 3.60602246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.57, Y:1.02, Z:3.61 [[ 9.98868781e-01 4.40274408e-02 1.79650378e-02 3.62566218e+02] [-4.40108095e-02 9.99030183e-01 -1.32026163e-03 1.01530611e+00] [-1.80057428e-02 5.28112264e-04 9.99837744e-01 3.60563814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.60, Y:1.02, Z:3.61 [[ 9.98481598e-01 5.18118582e-02 1.87090635e-02 3.62595386e+02] [-5.17952244e-02 9.98656783e-01 -1.37287415e-03 1.01565487e+00] [-1.87550643e-02 4.01749439e-04 9.99824028e-01 3.60522020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.62, Y:1.01, Z:3.60 [[ 9.98273842e-01 5.55823062e-02 1.89721709e-02 3.62623612e+02] [-5.55659038e-02 9.98454053e-01 -1.39101614e-03 1.01494559e+00] [-1.90201568e-02 3.34409201e-04 9.99819045e-01 3.60495281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.65, Y:1.02, Z:3.60 [[ 9.97866994e-01 6.20278854e-02 2.03470851e-02 3.62651608e+02] [-6.20104067e-02 9.98074392e-01 -1.48944582e-03 1.01505343e+00] [-2.04002918e-02 2.24537803e-04 9.99791867e-01 3.60499918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.68, Y:1.01, Z:3.60 [[ 9.97723042e-01 6.41514325e-02 2.08164711e-02 3.62678355e+02] [-6.41336478e-02 9.97940159e-01 -1.52151696e-03 1.01389738e+00] [-2.08711999e-02 1.83016307e-04 9.99782156e-01 3.60448333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.71, Y:1.01, Z:3.60 [[ 9.97607569e-01 6.57805197e-02 2.12617311e-02 3.62706090e+02] [-6.57623966e-02 9.97834105e-01 -1.55120964e-03 1.01210671e+00] [-2.13177198e-02 1.49276084e-04 9.99772740e-01 3.60356802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.73, Y:1.01, Z:3.60 [[ 9.97550961e-01 6.66484708e-02 2.12146648e-02 3.62733658e+02] [-6.66306720e-02 9.97776511e-01 -1.54552409e-03 1.01014356e+00] [-2.12705011e-02 1.28191667e-04 9.99773749e-01 3.60298169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.76, Y:1.01, Z:3.60 [[ 9.97538098e-01 6.67736269e-02 2.14248884e-02 3.62761957e+02] [-6.67555532e-02 9.97768143e-01 -1.55847408e-03 1.00807819e+00] [-2.14811361e-02 1.24406992e-04 9.99769246e-01 3.60195369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.79, Y:1.01, Z:3.60 [[ 9.97592974e-01 6.61860197e-02 2.06801399e-02 3.62789629e+02] [-6.61690995e-02 9.97807293e-01 -1.50213663e-03 1.00565071e+00] [-2.07342149e-02 1.30134712e-04 9.99785015e-01 3.60129649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.82, Y:1.00, Z:3.60 [[ 9.97663145e-01 6.53291124e-02 2.00088866e-02 3.62816533e+02] [-6.53131366e-02 9.97863762e-01 -1.45158315e-03 1.00347473e+00] [-2.00609735e-02 1.41347870e-04 9.99798748e-01 3.60083718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.84, Y:1.00, Z:3.60 [[ 9.97696232e-01 6.49000446e-02 1.97538182e-02 3.62844126e+02] [-6.48844598e-02 9.97891759e-01 -1.42953022e-03 1.00099967e+00] [-1.98049490e-02 1.44521090e-04 9.99803852e-01 3.59994224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.87, Y:1.00, Z:3.60 [[ 9.97780003e-01 6.38709485e-02 1.88564811e-02 3.62870789e+02] [-6.38565981e-02 9.97958154e-01 -1.36277889e-03 9.98118749e-01] [-1.89050210e-02 1.55642796e-04 9.99821272e-01 3.59931583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.90, Y:1.00, Z:3.60 [[ 9.97810165e-01 6.35050354e-02 1.84928571e-02 3.62898472e+02] [-6.34912143e-02 9.97981506e-01 -1.33413183e-03 9.95378860e-01] [-1.85402535e-02 1.57076348e-04 9.99828102e-01 3.59861480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.93, Y:0.99, Z:3.60 [[ 9.97859967e-01 6.28167760e-02 1.81532200e-02 3.62926118e+02] [-6.28033785e-02 9.98025063e-01 -1.30773430e-03 9.92983487e-01] [-1.81995162e-02 1.64852159e-04 9.99834361e-01 3.59825151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.95, Y:0.99, Z:3.60 [[ 9.97910696e-01 6.19964459e-02 1.81847111e-02 3.62954190e+02] [-6.19829010e-02 9.98076354e-01 -1.30807172e-03 9.90433292e-01] [-1.82308259e-02 1.78197611e-04 9.99833789e-01 3.59766947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.98, Y:0.99, Z:3.60 [[ 9.97983736e-01 6.06008748e-02 1.88678746e-02 3.62981272e+02] [-6.05860821e-02 9.98162056e-01 -1.35516853e-03 9.86885297e-01] [-1.89153209e-02 2.09305557e-04 9.99821067e-01 3.59763557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.01, Y:0.98, Z:3.60 [[ 9.98035363e-01 5.96576751e-02 1.91409566e-02 3.63009018e+02] [-5.96423271e-02 9.98218869e-01 -1.37220789e-03 9.83853236e-01] [-1.91887267e-02 2.27900812e-04 9.99815853e-01 3.59723830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.04, Y:0.98, Z:3.60 [[ 9.98101130e-01 5.84385722e-02 1.94696568e-02 3.63037182e+02] [-5.84225007e-02 9.98290974e-01 -1.39371644e-03 9.80775844e-01] [-1.95178294e-02 2.53603912e-04 9.99809477e-01 3.59680814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.07, Y:0.98, Z:3.60 [[ 9.98229637e-01 5.59348805e-02 2.02207912e-02 3.63065785e+02] [-5.59170785e-02 9.98434370e-01 -1.44515383e-03 9.75511584e-01] [-2.02699674e-02 3.11907822e-04 9.99794494e-01 3.59630373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.09, Y:0.97, Z:3.60 [[ 9.98311442e-01 5.41515182e-02 2.10208946e-02 3.63094470e+02] [-5.41319153e-02 9.98532665e-01 -1.50085625e-03 9.71998467e-01] [-2.10713235e-02 3.60420683e-04 9.99777910e-01 3.59584573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.12, Y:0.97, Z:3.60 [[ 9.98404867e-01 5.20656863e-02 2.18377105e-02 3.63123032e+02] [-5.20440674e-02 9.98643575e-01 -1.55752679e-03 9.68571144e-01] [-2.18891830e-02 4.18519052e-04 9.99760316e-01 3.59516793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.15, Y:0.96, Z:3.59 [[ 9.98595083e-01 4.77987015e-02 2.28723692e-02 3.63151201e+02] [-4.77739059e-02 9.98856846e-01 -1.62959259e-03 9.63265597e-01] [-2.29241150e-02 5.34600728e-04 9.99737065e-01 3.59463847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.18, Y:0.96, Z:3.59 [[ 9.98715241e-01 4.52098605e-02 2.28896355e-02 3.63179670e+02] [-4.51843860e-02 9.98977336e-01 -1.62916339e-03 9.59524494e-01] [-2.29398814e-02 5.92816183e-04 9.99736671e-01 3.59381527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.21, Y:0.96, Z:3.59 [[ 9.98856264e-01 4.23021769e-02 2.22865378e-02 3.63208844e+02] [-4.22773412e-02 9.99104657e-01 -1.58458310e-03 9.55925658e-01] [-2.23336150e-02 6.40555194e-04 9.99750369e-01 3.59295409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.24, Y:0.95, Z:3.59 [[ 9.99126029e-01 3.61677637e-02 2.09540125e-02 3.63238010e+02] [-3.61444768e-02 9.99345465e-01 -1.48911805e-03 9.50898387e-01] [-2.09941554e-02 7.30444790e-04 9.99779332e-01 3.59167006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.27, Y:0.95, Z:3.59 [[ 9.99248290e-01 3.31589416e-02 2.00833186e-02 3.63267612e+02] [-3.31369629e-02 9.99449802e-01 -1.42626406e-03 9.47333942e-01] [-2.01195622e-02 7.59691744e-04 9.99797292e-01 3.59080273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.30, Y:0.94, Z:3.59 [[ 9.99355020e-01 2.99801777e-02 1.97669637e-02 3.63298149e+02] [-2.99582553e-02 9.99550164e-01 -1.40429672e-03 9.43680703e-01] [-1.98001729e-02 8.11207233e-04 9.99803628e-01 3.59001426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.33, Y:0.94, Z:3.59 [[ 9.99502000e-01 2.50178920e-02 1.92316470e-02 3.63328851e+02] [-2.49962282e-02 9.99686612e-01 -1.36606011e-03 9.38821680e-01] [-1.92597960e-02 8.84661174e-04 9.99814122e-01 3.58924372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.36, Y:0.94, Z:3.59 [[ 9.99554150e-01 2.33032478e-02 1.86670812e-02 3.63360925e+02] [-2.32825543e-02 9.99728046e-01 -1.32514922e-03 9.35642913e-01] [-1.86928849e-02 8.89941072e-04 9.99824877e-01 3.58830562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.39, Y:0.93, Z:3.59 [[ 9.99591571e-01 2.22329084e-02 1.79551801e-02 3.63393554e+02] [-2.22135090e-02 9.99752431e-01 -1.27918061e-03 9.32640140e-01] [-1.79791749e-02 8.79810597e-04 9.99837974e-01 3.58777532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.43, Y:0.93, Z:3.59 [[ 9.99598347e-01 2.16920278e-02 1.82373143e-02 3.63426092e+02] [-2.16718244e-02 9.99764287e-01 -1.30473385e-03 9.29810248e-01] [-1.82613178e-02 9.08973931e-04 9.99832835e-01 3.58674750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.46, Y:0.93, Z:3.59 [[ 9.99598672e-01 2.17934535e-02 1.80980672e-02 3.63458893e+02] [-2.17734788e-02 9.99762084e-01 -1.30002678e-03 9.27448400e-01] [-1.81220934e-02 9.05447160e-04 9.99835371e-01 3.58646160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.49, Y:0.93, Z:3.59 [[ 9.99554507e-01 2.28254258e-02 1.92298567e-02 3.63490647e+02] [-2.28029358e-02 9.99739016e-01 -1.38802300e-03 9.25341149e-01] [-1.92565202e-02 9.48907458e-04 9.99814126e-01 3.58632758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.52, Y:0.92, Z:3.59 [[ 9.99522909e-01 2.38011632e-02 1.96839848e-02 3.63522352e+02] [-2.37777231e-02 9.99716256e-01 -1.42403713e-03 9.23131773e-01] [-1.97122934e-02 9.55317393e-04 9.99805237e-01 3.58584671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.55, Y:0.92, Z:3.59 [[ 9.99467573e-01 2.56120066e-02 2.02137691e-02 3.63554979e+02] [-2.55875452e-02 9.99671507e-01 -1.46789071e-03 9.20901349e-01] [-2.02447246e-02 9.49888431e-04 9.99794603e-01 3.58548110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.59, Y:0.92, Z:3.58 [[ 9.99438878e-01 2.65116440e-02 2.04709957e-02 3.63586852e+02] [-2.64866176e-02 9.99648053e-01 -1.49274461e-03 9.18360490e-01] [-2.05033661e-02 9.49699566e-04 9.99789333e-01 3.58464093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.62, Y:0.92, Z:3.58 [[ 9.99422785e-01 2.70366374e-02 2.05697960e-02 3.63618906e+02] [-2.70113614e-02 9.99633993e-01 -1.50568971e-03 9.15870334e-01] [-2.06029761e-02 9.49202413e-04 9.99787286e-01 3.58394459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.65, Y:0.91, Z:3.58 [[ 9.99417315e-01 2.75177375e-02 2.01941892e-02 3.63651012e+02] [-2.74933768e-02 9.99620886e-01 -1.48301989e-03 9.13261985e-01] [-2.02273427e-02 9.26949304e-04 9.99794977e-01 3.58317948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.68, Y:0.91, Z:3.58 [[ 9.99424696e-01 2.75614389e-02 1.97647273e-02 3.63683392e+02] [-2.75380152e-02 9.99619696e-01 -1.45636856e-03 9.10199235e-01] [-1.97973503e-02 9.11249340e-04 9.99803598e-01 3.58232235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.72, Y:0.91, Z:3.58 [[ 9.99437385e-01 2.75308480e-02 1.91563670e-02 3.63715296e+02] [-2.75087477e-02 9.99620559e-01 -1.41628488e-03 9.07608895e-01] [-1.91880898e-02 8.88520395e-04 9.99815497e-01 3.58168994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.75, Y:0.90, Z:3.58 [[ 9.99445107e-01 2.75846643e-02 1.86698713e-02 3.63747830e+02] [-2.75635956e-02 9.99619093e-01 -1.38492444e-03 9.04903856e-01] [-1.87009624e-02 8.69547172e-04 9.99824744e-01 3.58082197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.78, Y:0.90, Z:3.58 [[ 9.99447853e-01 2.83867297e-02 1.72679652e-02 3.63779097e+02] [-2.83687429e-02 9.99596699e-01 -1.28574171e-03 9.02303704e-01] [-1.72974990e-02 7.95161329e-04 9.99850071e-01 3.57973275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.81, Y:0.90, Z:3.58 [[ 9.99429520e-01 2.92582299e-02 1.68697889e-02 3.63810503e+02] [-2.92411335e-02 9.99571593e-01 -1.25925824e-03 9.00009373e-01] [-1.68994054e-02 7.65248114e-04 9.99856902e-01 3.57873213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.84, Y:0.90, Z:3.58 [[ 9.99391450e-01 3.07344569e-02 1.64961708e-02 3.63840849e+02] [-3.07182981e-02 9.99527322e-01 -1.23210094e-03 8.98165213e-01] [-1.65262414e-02 7.24616849e-04 9.99863170e-01 3.57818642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.87, Y:0.90, Z:3.58 [[ 9.99235279e-01 3.54545339e-02 1.64873521e-02 3.63870253e+02] [-3.54390212e-02 9.99371081e-01 -1.23219127e-03 8.97473322e-01] [-1.65206696e-02 6.46953368e-04 9.99863315e-01 3.57761821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.90, Y:0.90, Z:3.58 [[ 9.99104929e-01 3.92114292e-02 1.58683761e-02 3.63898386e+02] [-3.91669435e-02 9.99227858e-01 -3.10467193e-03 8.97301756e-01] [-1.59778621e-02 2.48037723e-03 9.99869269e-01 3.57732542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.93, Y:0.89, Z:3.58 [[ 9.98996618e-01 4.14310805e-02 1.70065230e-02 3.63927777e+02] [-4.14490487e-02 9.99140370e-01 7.05280620e-04 8.94079425e-01] [-1.69626832e-02 -1.40947716e-03 9.99855130e-01 3.57597581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.96, Y:0.89, Z:3.58 [[ 9.98843110e-01 4.48084034e-02 1.74541867e-02 3.63956156e+02] [-4.47924832e-02 9.98995464e-01 -1.30218383e-03 8.93687719e-01] [-1.74950022e-02 5.18860982e-04 9.99846816e-01 3.57581903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.98, Y:0.89, Z:3.58 [[ 9.98477411e-01 5.19162791e-02 1.86429729e-02 3.63984701e+02] [-5.18993808e-02 9.98651352e-01 -1.38942300e-03 8.92750420e-01] [-1.86899638e-02 4.19748725e-04 9.99825239e-01 3.57529206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.01, Y:0.89, Z:3.57 [[ 9.98300250e-01 5.50783064e-02 1.90523171e-02 3.64013767e+02] [-5.50612602e-02 9.98481971e-01 -1.41852191e-03 8.91446442e-01] [-1.91015249e-02 3.67066193e-04 9.99817482e-01 3.57467399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.04, Y:0.89, Z:3.57 [[ 9.98149206e-01 5.77149060e-02 1.91612403e-02 3.64041608e+02] [-5.76981729e-02 9.98333055e-01 -1.42543019e-03 8.90264998e-01] [-1.92115682e-02 3.17223458e-04 9.99815390e-01 3.57412200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.07, Y:0.89, Z:3.57 [[ 9.98000921e-01 6.01808253e-02 1.92984269e-02 3.64069429e+02] [-6.01643536e-02 9.98187455e-01 -1.43350945e-03 8.88785886e-01] [-1.93497174e-02 2.69566368e-04 9.99812740e-01 3.57335188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.10, Y:0.89, Z:3.57 [[ 9.97811759e-01 6.33034706e-02 1.90883076e-02 3.64097154e+02] [-6.32879681e-02 9.97994303e-01 -1.41574876e-03 8.86750805e-01] [-1.91396440e-02 2.04590559e-04 9.99816799e-01 3.57266711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.13, Y:0.88, Z:3.57 [[ 9.97789317e-01 6.36264893e-02 1.91872129e-02 3.64125028e+02] [-6.36109168e-02 9.97973763e-01 -1.42144818e-03 8.84359431e-01] [-1.92387768e-02 1.97789608e-04 9.99814898e-01 3.57180431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.15, Y:0.88, Z:3.57 [[ 9.97794902e-01 6.35387947e-02 1.91873700e-02 3.64153420e+02] [-6.35232470e-02 9.97979350e-01 -1.41932337e-03 8.82348197e-01] [-1.92387812e-02 1.97349574e-04 9.99814898e-01 3.57109476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.18, Y:0.88, Z:3.57 [[ 9.97831256e-01 6.29850190e-02 1.91225753e-02 3.64180971e+02] [-6.29695045e-02 9.98014451e-01 -1.41296094e-03 8.79743758e-01] [-1.91736019e-02 2.05757501e-04 9.99816148e-01 3.57047989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.21, Y:0.88, Z:3.57 [[ 9.97977893e-01 6.06614392e-02 1.89819769e-02 3.64209066e+02] [-6.06457705e-02 9.98158369e-01 -1.40053748e-03 8.75877864e-01] [-1.90319777e-02 2.46528829e-04 9.99818845e-01 3.56936967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.24, Y:0.87, Z:3.57 [[ 9.98081079e-01 5.89584008e-02 1.89226701e-02 3.64236921e+02] [-5.89425635e-02 9.98260402e-01 -1.39407299e-03 8.72721340e-01] [-1.89719446e-02 2.76047189e-04 9.99819978e-01 3.56858100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.27, Y:0.87, Z:3.57 [[ 9.98211334e-01 5.67983604e-02 1.86568553e-02 3.64265546e+02] [-5.67826236e-02 9.98385622e-01 -1.37257556e-03 8.69871949e-01] [-1.87046961e-02 3.10735293e-04 9.99825004e-01 3.56770734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.29, Y:0.87, Z:3.57 [[ 9.98395496e-01 5.33801836e-02 1.88941694e-02 3.64293553e+02] [-5.33634565e-02 9.98574190e-01 -1.38873100e-03 8.65865241e-01] [-1.89413606e-02 3.78244584e-04 9.99820525e-01 3.56617122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.32, Y:0.86, Z:3.57 [[ 9.98460638e-01 5.21048017e-02 1.90116959e-02 3.64321794e+02] [-5.20876701e-02 9.98641541e-01 -1.39552029e-03 8.62961168e-01] [-1.90585826e-02 4.03097134e-04 9.99818287e-01 3.56546427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.35, Y:0.86, Z:3.56 [[ 9.98499052e-01 5.11335801e-02 1.96214261e-02 3.64349296e+02] [-5.11151719e-02 9.98691729e-01 -1.43887573e-03 8.60270877e-01] [-1.96693308e-02 4.33763486e-04 9.99806446e-01 3.56443642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.38, Y:0.86, Z:3.56 [[ 9.98581865e-01 4.95224894e-02 1.95392326e-02 3.64377594e+02] [-4.95039632e-02 9.98772902e-01 -1.43099348e-03 8.57064662e-01] [-1.95861224e-02 4.61694686e-04 9.99808067e-01 3.56375050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.41, Y:0.85, Z:3.56 [[ 9.98632774e-01 4.85163079e-02 1.94614970e-02 3.64405575e+02] [-4.84977637e-02 9.98822276e-01 -1.42397934e-03 8.54285413e-01] [-1.95076630e-02 4.78193358e-04 9.99809593e-01 3.56270701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.43, Y:0.85, Z:3.56 [[ 9.98732604e-01 4.60268772e-02 2.03644981e-02 3.64434151e+02] [-4.60060962e-02 9.98940051e-01 -1.48802261e-03 8.50957203e-01] [-2.04114018e-02 5.49245634e-04 9.99791515e-01 3.56167914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.46, Y:0.85, Z:3.56 [[ 9.98735113e-01 4.59723572e-02 2.03646121e-02 3.64463385e+02] [-4.59515967e-02 9.98942562e-01 -1.48645951e-03 8.48881453e-01] [-2.04114139e-02 5.48792859e-04 9.99791515e-01 3.56094880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.49, Y:0.85, Z:3.56 [[ 9.98793755e-01 4.44501963e-02 2.08618151e-02 3.64491762e+02] [-4.44281009e-02 9.99011426e-01 -1.52164602e-03 8.46283348e-01] [-2.09088291e-02 5.92959716e-04 9.99781211e-01 3.56016562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.52, Y:0.84, Z:3.56 [[ 9.98944301e-01 4.08883093e-02 2.09387230e-02 3.64520609e+02] [-4.08653026e-02 9.99163500e-01 -1.52564694e-03 8.42636614e-01] [-2.09835889e-02 6.68369058e-04 9.99779597e-01 3.55914739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.55, Y:0.84, Z:3.56 [[ 9.99006047e-01 3.92408060e-02 2.11441801e-02 3.64549968e+02] [-3.92170031e-02 9.99229532e-01 -1.53938301e-03 8.39598537e-01] [-2.11882958e-02 7.08641562e-04 9.99775252e-01 3.55821920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.58, Y:0.84, Z:3.56 [[ 9.99052720e-01 3.76798647e-02 2.17690290e-02 3.64580565e+02] [-3.76542835e-02 9.99289571e-01 -1.58396695e-03 8.36608923e-01] [-2.18132473e-02 7.62769299e-04 9.99761772e-01 3.55717712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.61, Y:0.83, Z:3.56 [[ 9.99135026e-01 3.51018766e-02 2.22947986e-02 3.64611504e+02] [-3.50744057e-02 9.99383387e-01 -1.62213041e-03 8.33038531e-01] [-2.23379911e-02 8.38750496e-04 9.99750124e-01 3.55595093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.64, Y:0.83, Z:3.55 [[ 9.99159795e-01 3.45391130e-02 2.20624991e-02 3.64643007e+02] [-3.45120693e-02 9.99402992e-01 -1.60547407e-03 8.30036129e-01] [-2.21047793e-02 8.42702647e-04 9.99755304e-01 3.55489479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.67, Y:0.83, Z:3.55 [[ 9.99194399e-01 3.39994046e-02 2.13211862e-02 3.64674074e+02] [-3.39739214e-02 9.99421508e-01 -1.55639524e-03 8.26773456e-01] [-2.13617686e-02 8.30777105e-04 9.99771466e-01 3.55375852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.71, Y:0.82, Z:3.55 [[ 9.99188889e-01 3.43481384e-02 2.10183015e-02 3.64705124e+02] [-3.43233363e-02 9.99409595e-01 -1.53974612e-03 8.24255583e-01] [-2.10587796e-02 8.17078983e-04 9.99777905e-01 3.55278652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.74, Y:0.82, Z:3.55 [[ 9.99161672e-01 3.50351072e-02 2.11777042e-02 3.64736553e+02] [-3.50100653e-02 9.99385754e-01 -1.55218192e-03 8.21648430e-01] [-2.12190768e-02 8.09447871e-04 9.99774522e-01 3.55176973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.77, Y:0.82, Z:3.55 [[ 9.99125443e-01 3.60799813e-02 2.11325535e-02 3.64766539e+02] [-3.60552615e-02 9.99348596e-01 -1.54971778e-03 8.19321854e-01] [-2.11747015e-02 7.86422718e-04 9.99775482e-01 3.55127932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.80, Y:0.82, Z:3.55 [[ 9.99012771e-01 3.89805478e-02 2.13073059e-02 3.64797690e+02] [-3.89560692e-02 9.99239702e-01 -1.56286369e-03 8.17591291e-01] [-2.13520272e-02 7.31271901e-04 9.99771752e-01 3.55080349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.83, Y:0.82, Z:3.55 [[ 9.98939917e-01 4.06683944e-02 2.15667185e-02 3.64828374e+02] [-4.06436892e-02 9.99172450e-01 -1.58279464e-03 8.15726921e-01] [-2.16132406e-02 7.04565744e-04 9.99766158e-01 3.54990930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.86, Y:0.81, Z:3.55 [[ 9.98866118e-01 4.27200185e-02 2.10114044e-02 3.64857385e+02] [-4.26970214e-02 9.99086876e-01 -1.54210889e-03 8.14350413e-01] [-2.10580973e-02 6.43235942e-04 9.99778047e-01 3.54911766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.89, Y:0.81, Z:3.55 [[ 9.98776326e-01 4.49975085e-02 2.05200854e-02 3.64886847e+02] [-4.49760604e-02 9.98986930e-01 -1.50576772e-03 8.13058499e-01] [-2.05670529e-02 5.81012554e-04 9.99788307e-01 3.54820917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.91, Y:0.81, Z:3.55 [[ 9.98526673e-01 5.03360013e-02 2.02674796e-02 3.64914651e+02] [-5.03161865e-02 9.98732232e-01 -1.48674868e-03 8.13337351e-01] [-2.03166221e-02 4.64775928e-04 9.99793488e-01 3.54745884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.94, Y:0.81, Z:3.55 [[ 9.98384491e-01 5.30383273e-02 2.03799792e-02 3.64943195e+02] [-5.30188941e-02 9.98592393e-01 -1.49306223e-03 8.12465086e-01] [-2.04304817e-02 4.10126220e-04 9.99791192e-01 3.54655877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.97, Y:0.81, Z:3.55 [[ 9.98223960e-01 5.59321272e-02 2.05066546e-02 3.64972388e+02] [-5.59130927e-02 9.98434511e-01 -1.50084234e-03 8.11582343e-01] [-2.05584970e-02 3.51586306e-04 9.99788590e-01 3.54574633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.00, Y:0.81, Z:3.54 [[ 9.97906329e-01 6.14452852e-02 2.01850087e-02 3.65000833e+02] [-6.14279995e-02 9.98110426e-01 -1.47586252e-03 8.11494867e-01] [-2.02375524e-02 2.32847848e-04 9.99795173e-01 3.54489302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.03, Y:0.81, Z:3.54 [[ 9.97753698e-01 6.38949342e-02 2.01245019e-02 3.65028309e+02] [-6.38782781e-02 9.97956615e-01 -1.47005077e-03 8.10315255e-01] [-2.01773085e-02 1.81230063e-04 9.99796401e-01 3.54421514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.06, Y:0.81, Z:3.54 [[ 9.97588081e-01 6.62713675e-02 2.06428478e-02 3.65056962e+02] [-6.62543927e-02 9.97801627e-01 -1.50589513e-03 8.08948333e-01] [-2.06972649e-02 1.34583690e-04 9.99785780e-01 3.54344789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.08, Y:0.81, Z:3.54 [[ 9.97283027e-01 7.04558609e-02 2.15066524e-02 3.65084691e+02] [-7.04384394e-02 9.97514897e-01 -1.56745928e-03 8.07859130e-01] [-2.15636428e-02 4.83055057e-05 9.99767476e-01 3.54287740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.11, Y:0.81, Z:3.54 [[ 9.97174986e-01 7.19486691e-02 2.15739670e-02 3.65112209e+02] [-7.19315386e-02 9.97408336e-01 -1.57000755e-03 8.06120399e-01] [-2.16310145e-02 1.37236167e-05 9.99766022e-01 3.54217118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.14, Y:0.80, Z:3.54 [[ 9.97096220e-01 7.30102362e-02 2.16479250e-02 3.65138991e+02] [-7.29932887e-02 9.97331191e-01 -1.57306504e-03 8.04070658e-01] [-2.17050007e-02 -1.16560369e-05 9.99764419e-01 3.54166403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.17, Y:0.80, Z:3.54 [[ 9.97034692e-01 7.36220345e-02 2.23968446e-02 3.65165540e+02] [-7.36041144e-02 9.97286215e-01 -1.62453732e-03 8.00766083e-01] [-2.24556661e-02 -2.87798431e-05 9.99747839e-01 3.54034856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.19, Y:0.80, Z:3.54 [[ 9.97092080e-01 7.29209001e-02 2.21342827e-02 3.65193401e+02] [-7.29032869e-02 9.97337727e-01 -1.60270741e-03 7.97769246e-01] [-2.21922261e-02 -1.56150954e-05 9.99753722e-01 3.53965280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.22, Y:0.79, Z:3.54 [[ 9.97159134e-01 7.19625769e-02 2.22496811e-02 3.65220448e+02] [-7.19445947e-02 9.97407333e-01 -1.60865774e-03 7.94519837e-01] [-2.23077582e-02 3.34347536e-06 9.99751151e-01 3.53865725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.25, Y:0.79, Z:3.54 [[ 9.97263293e-01 7.05198233e-02 2.22008774e-02 3.65247821e+02] [-7.05016260e-02 9.97510378e-01 -1.60227292e-03 7.91217698e-01] [-2.22585976e-02 3.26900133e-05 9.99752246e-01 3.53773876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.28, Y:0.79, Z:3.54 [[ 9.97385475e-01 6.89338514e-02 2.16873017e-02 3.65276114e+02] [-6.89161627e-02 9.97621231e-01 -1.56284920e-03 7.88249393e-01] [-2.17434458e-02 6.41574744e-05 9.99763581e-01 3.53702139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.30, Y:0.78, Z:3.54 [[ 9.97687466e-01 6.46634774e-02 2.09369363e-02 3.65304083e+02] [-6.46460807e-02 9.97907116e-01 -1.50737432e-03 7.84022986e-01] [-2.09905898e-02 1.50397589e-04 9.99779662e-01 3.53617603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.33, Y:0.78, Z:3.54 [[ 9.97849957e-01 6.20806428e-02 2.10108704e-02 3.65332161e+02] [-6.20625910e-02 9.98071116e-01 -1.51077294e-03 7.80728191e-01] [-2.10641326e-02 2.03535656e-04 9.99778106e-01 3.53523579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.36, Y:0.78, Z:3.53 [[ 9.98196998e-01 5.60751387e-02 2.14086885e-02 3.65360465e+02] [-5.60550590e-02 9.98426496e-01 -1.53734973e-03 7.75399914e-01] [-2.14612089e-02 3.34512592e-04 9.99769626e-01 3.53403510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.39, Y:0.77, Z:3.53 [[ 9.98385142e-01 5.24562956e-02 2.18046976e-02 3.65388901e+02] [-5.24346382e-02 9.98623133e-01 -1.56418570e-03 7.71613638e-01] [-2.18567268e-02 4.18338336e-04 9.99761026e-01 3.53339600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.42, Y:0.77, Z:3.53 [[ 9.98565544e-01 4.87312019e-02 2.21838854e-02 3.65416153e+02] [-4.87079011e-02 9.98811801e-01 -1.58979242e-03 7.68391424e-01] [-2.22349991e-02 5.06981435e-04 9.99752643e-01 3.53258282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.45, Y:0.76, Z:3.53 [[ 9.98895265e-01 4.14840189e-02 2.20754569e-02 3.65445786e+02] [-4.14592236e-02 9.99138948e-01 -1.57989259e-03 7.64038850e-01] [-2.21219891e-02 6.62915924e-04 9.99755059e-01 3.53133226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.48, Y:0.76, Z:3.53 [[ 9.99042392e-01 3.77362565e-02 2.21421520e-02 3.65475723e+02] [-3.77104111e-02 9.99287454e-01 -1.58378202e-03 7.60927906e-01] [-2.21861407e-02 7.47275723e-04 9.99753578e-01 3.53018340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.51, Y:0.76, Z:3.53 [[ 9.99289449e-01 3.00540714e-02 2.27453455e-02 3.65507047e+02] [-3.00248219e-02 9.99547830e-01 -1.62644679e-03 7.56363962e-01] [-2.27839421e-02 9.42366164e-04 9.99739968e-01 3.52867846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.54, Y:0.75, Z:3.53 [[ 9.99390239e-01 2.63039432e-02 2.29620006e-02 3.65539560e+02] [-2.62730255e-02 9.99653447e-01 -1.64717140e-03 7.53019740e-01] [-2.29973702e-02 1.04288579e-03 9.99734982e-01 3.52737229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.57, Y:0.75, Z:3.53 [[ 9.99471572e-01 2.27694650e-02 2.31976096e-02 3.65571009e+02] [-2.27368023e-02 9.99740089e-01 -1.67083956e-03 7.49653567e-01] [-2.32296244e-02 1.14251718e-03 9.99729503e-01 3.52586756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.60, Y:0.75, Z:3.53 [[ 9.99540355e-01 1.95891561e-02 2.31375052e-02 3.65603790e+02] [-1.95556701e-02 9.99807370e-01 -1.67265964e-03 7.46422066e-01] [-2.31658142e-02 1.21942140e-03 9.99730893e-01 3.52502266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.64, Y:0.74, Z:3.52 [[ 9.99640349e-01 1.41113310e-02 2.28044643e-02 3.65636606e+02] [-1.40772360e-02 9.99899541e-01 -1.65495140e-03 7.44087214e-01] [-2.28255269e-02 1.33333237e-03 9.99738575e-01 3.52450898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.67, Y:0.74, Z:3.52 [[ 9.99661284e-01 1.25931235e-02 2.27756741e-02 3.65669304e+02] [-1.25585740e-02 9.99919761e-01 -1.65935274e-03 7.42068834e-01] [-2.27947430e-02 1.37276071e-03 9.99739224e-01 3.52364548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.70, Y:0.74, Z:3.52 [[ 9.99673583e-01 1.15197530e-02 2.28039874e-02 3.65701763e+02] [-1.14846903e-02 9.99932658e-01 -1.66794181e-03 7.40374033e-01] [-2.28216660e-02 1.40550064e-03 9.99738564e-01 3.52324911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.73, Y:0.74, Z:3.52 [[ 9.99670613e-01 1.12930656e-02 2.30463097e-02 3.65734923e+02] [-1.12570520e-02 9.99935206e-01 -1.69180120e-03 7.38502868e-01] [-2.30639221e-02 1.43181044e-03 9.99732967e-01 3.52241637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.77, Y:0.74, Z:3.52 [[ 9.99662883e-01 1.20823004e-02 2.29812549e-02 3.65768515e+02] [-1.20465513e-02 9.99926004e-01 -1.69339044e-03 7.37518114e-01] [-2.30000145e-02 1.41597470e-03 9.99734462e-01 3.52162968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.80, Y:0.74, Z:3.52 [[ 9.99661436e-01 1.32423993e-02 2.23975870e-02 3.65800908e+02] [-1.32085877e-02 9.99911390e-01 -1.65688182e-03 7.35971943e-01] [-2.24175434e-02 1.36048037e-03 9.99747770e-01 3.52056128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.83, Y:0.74, Z:3.52 [[ 9.99653991e-01 1.61651058e-02 2.07506256e-02 3.65834239e+02] [-1.61366055e-02 9.99868610e-01 -1.54018467e-03 7.37073407e-01] [-2.07727964e-02 1.20480710e-03 9.99783496e-01 3.51906306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.87, Y:0.74, Z:3.52 [[ 9.99644665e-01 1.79211585e-02 1.97325901e-02 3.65866041e+02] [-1.78956182e-02 9.99838780e-01 -1.47015601e-03 7.37156792e-01] [-1.97557557e-02 1.11650671e-03 9.99804213e-01 3.51825021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.90, Y:0.74, Z:3.52 [[ 9.99618716e-01 2.01395905e-02 1.88896555e-02 3.65899499e+02] [-2.01164915e-02 9.99796646e-01 -1.41207907e-03 7.36793127e-01] [-1.89142529e-02 1.03154708e-03 9.99820577e-01 3.51732154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.93, Y:0.74, Z:3.52 [[ 9.99599275e-01 2.23907092e-02 1.73189175e-02 3.65931812e+02] [-2.23168813e-02 9.99741068e-01 -4.44445487e-03 7.38392040e-01] [-1.74139476e-02 4.05616965e-03 9.99840138e-01 3.51701473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.97, Y:0.74, Z:3.51 [[ 9.99511308e-01 2.53911246e-02 1.82328017e-02 3.65965046e+02] [-2.54284724e-02 9.99674988e-01 1.81944563e-03 7.37266978e-01] [-1.81806781e-02 -2.28218878e-03 9.99832113e-01 3.51480062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.00, Y:0.74, Z:3.51 [[ 9.99466327e-01 2.71443743e-02 1.81726351e-02 3.65997011e+02] [-2.71239208e-02 9.99631138e-01 -1.37108686e-03 7.38778367e-01] [-1.82031492e-02 8.77442030e-04 9.99833924e-01 3.51487917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.03, Y:0.74, Z:3.51 [[ 9.99413478e-01 2.88730057e-02 1.84133253e-02 3.66028689e+02] [-2.88521850e-02 9.99582715e-01 -1.39545505e-03 7.38799222e-01] [-1.84459327e-02 8.63371915e-04 9.99829487e-01 3.51439377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.06, Y:0.74, Z:3.51 [[ 9.99286616e-01 3.29483579e-02 1.84571172e-02 3.66059217e+02] [-3.29281169e-02 9.99456743e-01 -1.39956421e-03 7.41916349e-01] [-1.84932035e-02 7.90807675e-04 9.99828673e-01 3.51351564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.09, Y:0.74, Z:3.51 [[ 9.99287193e-01 3.29308756e-02 1.84570749e-02 3.66089285e+02] [-3.29106214e-02 9.99457318e-01 -1.40012135e-03 7.39667660e-01] [-1.84931658e-02 7.91689532e-04 9.99828673e-01 3.51276514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.12, Y:0.74, Z:3.51 [[ 9.99202374e-01 3.55198146e-02 1.82471394e-02 3.66119859e+02] [-3.55004574e-02 9.99368702e-01 -1.38376388e-03 7.40035892e-01] [-1.82847711e-02 7.34878361e-04 9.99832550e-01 3.51204825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.15, Y:0.74, Z:3.51 [[ 9.98935173e-01 4.20392929e-02 1.90057312e-02 3.66148852e+02] [-4.20194661e-02 9.99115752e-01 -1.44151846e-03 7.43430555e-01] [-1.90495258e-02 6.41372819e-04 9.99818336e-01 3.51164987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.18, Y:0.74, Z:3.51 [[ 9.98940226e-01 4.19190556e-02 1.90057513e-02 3.66178057e+02] [-4.18992121e-02 9.99120803e-01 -1.44125337e-03 7.41267555e-01] [-1.90494575e-02 6.43399960e-04 9.99818336e-01 3.51092057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.21, Y:0.74, Z:3.51 [[ 9.98562949e-01 4.97357056e-02 1.99598652e-02 3.66207401e+02] [-4.97154349e-02 9.98762281e-01 -1.51080726e-03 7.44226624e-01] [-2.00103016e-02 5.16322771e-04 9.99799641e-01 3.51016377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.24, Y:0.74, Z:3.51 [[ 9.98356681e-01 5.36219338e-02 2.02144868e-02 3.66235177e+02] [-5.36019674e-02 9.98561211e-01 -1.52865283e-03 7.44547056e-01] [-2.02673718e-02 4.42604508e-04 9.99794498e-01 3.50951320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.26, Y:0.74, Z:3.51 [[ 9.98167554e-01 5.69648857e-02 2.04092335e-02 3.66264363e+02] [-5.69452711e-02 9.98376112e-01 -1.54141868e-03 7.44657904e-01] [-2.04638980e-02 3.76384778e-04 9.99790522e-01 3.50887219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.29, Y:0.74, Z:3.51 [[ 9.97986841e-01 6.00612349e-02 2.03694397e-02 3.66292791e+02] [-6.00423680e-02 9.98194646e-01 -1.53710693e-03 7.44982658e-01] [-2.04249862e-02 3.10983090e-04 9.99791340e-01 3.50834859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.32, Y:0.75, Z:3.51 [[ 9.97704666e-01 6.46982773e-02 1.99882969e-02 3.66319990e+02] [-6.46810808e-02 9.97904850e-01 -1.50631093e-03 7.46399511e-01] [-2.00438742e-02 2.09988792e-04 9.99799079e-01 3.50751018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.35, Y:0.75, Z:3.51 [[ 9.97664835e-01 6.55186433e-02 1.92920996e-02 3.66346824e+02] [-6.55028222e-02 9.97851328e-01 -1.45152697e-03 7.45585997e-01] [-1.93457493e-02 1.84450446e-04 9.99812836e-01 3.50692009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.38, Y:0.74, Z:3.51 [[ 9.97668822e-01 6.54539390e-02 1.93055374e-02 3.66375019e+02] [-6.54381318e-02 9.97855575e-01 -1.45005166e-03 7.44247970e-01] [-1.93590497e-02 1.83353036e-04 9.99812579e-01 3.50598440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.40, Y:0.74, Z:3.51 [[ 9.97700530e-01 6.50546629e-02 1.90143010e-02 3.66403420e+02] [-6.50392953e-02 9.97881684e-01 -1.42614913e-03 7.42737515e-01] [-1.90668004e-02 1.86192998e-04 9.99818195e-01 3.50556053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.43, Y:0.74, Z:3.50 [[ 9.97874554e-01 6.24477251e-02 1.86186976e-02 3.66430173e+02] [-6.24325712e-02 9.98048210e-01 -1.39462653e-03 7.41546293e-01] [-1.86694491e-02 2.29249164e-04 9.99825684e-01 3.50498466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.46, Y:0.74, Z:3.50 [[ 9.97971011e-01 6.08490332e-02 1.87418595e-02 3.66458158e+02] [-6.08334426e-02 9.98146947e-01 -1.40138431e-03 7.39667568e-01] [-1.87924027e-02 2.58409084e-04 9.99823374e-01 3.50421053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.49, Y:0.74, Z:3.50 [[ 9.98210629e-01 5.68637018e-02 1.84948426e-02 3.66486456e+02] [-5.68478718e-02 9.98381897e-01 -1.38095857e-03 7.37737947e-01] [-1.85434425e-02 3.27095075e-04 9.99828002e-01 3.50368302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.51, Y:0.74, Z:3.50 [[ 9.98310441e-01 5.50074916e-02 1.87200470e-02 3.66514390e+02] [-5.49909885e-02 9.98485875e-01 -1.39558474e-03 7.35716541e-01] [-1.87684701e-02 3.63792925e-04 9.99823791e-01 3.50295762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.54, Y:0.73, Z:3.50 [[ 9.98424905e-01 5.28822761e-02 1.87396175e-02 3.66543572e+02] [-5.28653981e-02 9.98600672e-01 -1.39524583e-03 7.33597770e-01] [-1.87871784e-02 4.02370843e-04 9.99823424e-01 3.50204878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.57, Y:0.73, Z:3.50 [[ 9.98537490e-01 5.07731640e-02 1.85733083e-02 3.66571166e+02] [-5.07562425e-02 9.98710116e-01 -1.38163205e-03 7.31562411e-01] [-1.86195007e-02 4.36900056e-04 9.99826547e-01 3.50173307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.60, Y:0.73, Z:3.50 [[ 9.98750671e-01 4.65624702e-02 1.81392906e-02 3.66600188e+02] [-4.65456676e-02 9.98915254e-01 -1.34762848e-03 7.29661988e-01] [-1.81823630e-02 5.01639454e-04 9.99834561e-01 3.50083544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.63, Y:0.73, Z:3.50 [[ 9.98872185e-01 4.39589855e-02 1.79434113e-02 3.66629060e+02] [-4.39421469e-02 9.99033190e-01 -1.33180799e-03 7.27727932e-01] [-1.79846084e-02 5.41833938e-04 9.99838117e-01 3.50006226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.66, Y:0.73, Z:3.50 [[ 9.98981243e-01 4.15908788e-02 1.75121127e-02 3.66656689e+02] [-4.15744960e-02 9.99134563e-01 -1.29868697e-03 7.25811663e-01] [-1.75509706e-02 5.69306668e-04 9.99845808e-01 3.49936391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.69, Y:0.72, Z:3.50 [[ 9.99163205e-01 3.68411718e-02 1.77656531e-02 3.66685372e+02] [-3.68235929e-02 9.99320915e-01 -1.31570980e-03 7.23818215e-01] [-1.78020610e-02 6.60413643e-04 9.99841313e-01 3.49815183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.71, Y:0.72, Z:3.50 [[ 9.99236001e-01 3.47683601e-02 1.78486936e-02 3.66714446e+02] [-3.47503090e-02 9.99395153e-01 -1.32058548e-03 7.21836172e-01] [-1.78838124e-02 6.99328940e-04 9.99839827e-01 3.49738115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.74, Y:0.72, Z:3.50 [[ 9.99292455e-01 3.30681809e-02 1.79188175e-02 3.66744404e+02] [-3.30497427e-02 9.99452831e-01 -1.32422251e-03 7.19826361e-01] [-1.79528025e-02 7.31073259e-04 9.99838568e-01 3.49659394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.77, Y:0.72, Z:3.50 [[ 9.99346505e-01 3.14303699e-02 1.78520027e-02 3.66772845e+02] [-3.14118196e-02 9.99505657e-01 -1.31864050e-03 7.18421820e-01] [-1.78846230e-02 7.57014889e-04 9.99839771e-01 3.49613733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.80, Y:0.72, Z:3.50 [[ 9.99413422e-01 2.90849166e-02 1.80798309e-02 3.66802382e+02] [-2.90655188e-02 9.99576617e-01 -1.33479496e-03 7.17539302e-01] [-1.81109987e-02 8.08512336e-04 9.99835656e-01 3.49559936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.83, Y:0.72, Z:3.49 [[ 9.99438165e-01 2.80652362e-02 1.83220367e-02 3.66831876e+02] [-2.80451587e-02 9.99605743e-01 -1.35188910e-03 7.15890583e-01] [-1.83527542e-02 8.37285137e-04 9.99831223e-01 3.49468558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.86, Y:0.71, Z:3.49 [[ 9.99464560e-01 2.71899253e-02 1.82017064e-02 3.66862552e+02] [-2.71699739e-02 9.99629927e-01 -1.34257098e-03 7.14021933e-01] [-1.82314749e-02 8.47312224e-04 9.99833434e-01 3.49384479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.89, Y:0.71, Z:3.49 [[ 9.99514344e-01 2.53850066e-02 1.80742424e-02 3.66893123e+02] [-2.53650392e-02 9.99677367e-01 -1.33316914e-03 7.12722878e-01] [-1.81022536e-02 8.74067812e-04 9.99835759e-01 3.49237583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.92, Y:0.71, Z:3.49 [[ 9.99531084e-01 2.46949874e-02 1.81044260e-02 3.66924245e+02] [-2.46748448e-02 9.99694638e-01 -1.33515279e-03 7.11139557e-01] [-1.81318692e-02 8.87802808e-04 9.99835210e-01 3.49149298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.96, Y:0.71, Z:3.49 [[ 9.99545749e-01 2.43796996e-02 1.77179386e-02 3.66955389e+02] [-2.43603723e-02 9.99702389e-01 -1.30587328e-03 7.09905774e-01] [-1.77445023e-02 8.73664511e-04 9.99842172e-01 3.49098984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.99, Y:0.71, Z:3.49 [[ 9.99577480e-01 2.35370195e-02 1.70548992e-02 3.66986572e+02] [-2.35188991e-02 9.99722596e-01 -1.26229469e-03 7.09308274e-01] [-1.70798787e-02 8.60648895e-04 9.99853758e-01 3.48996231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.02, Y:0.71, Z:3.49 [[ 9.99594339e-01 2.30966327e-02 1.66643987e-02 3.67018125e+02] [-2.30792622e-02 9.99732877e-01 -1.23396545e-03 7.07723690e-01] [-1.66884477e-02 8.48862856e-04 9.99860378e-01 3.48903136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.05, Y:0.71, Z:3.49 [[ 9.99607562e-01 2.27312378e-02 1.63711032e-02 3.67047958e+02] [-2.27144124e-02 9.99741259e-01 -1.21298427e-03 7.06323495e-01] [-1.63944399e-02 8.40648262e-04 9.99865249e-01 3.48794101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.08, Y:0.71, Z:3.49 [[ 9.99637732e-01 2.21232047e-02 1.53286827e-02 3.67079580e+02] [-2.21083815e-02 9.99754935e-01 -1.13582839e-03 7.05387394e-01] [-1.53500543e-02 7.96524549e-04 9.99881864e-01 3.48692475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.11, Y:0.70, Z:3.49 [[ 9.99649199e-01 2.18163521e-02 1.50174901e-02 3.67110585e+02] [-2.18020823e-02 9.99761687e-01 -1.11328725e-03 7.03813550e-01] [-1.50381991e-02 7.85484155e-04 9.99886611e-01 3.48583085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.14, Y:0.70, Z:3.48 [[ 9.99655745e-01 2.18650576e-02 1.45020840e-02 3.67140796e+02] [-2.18517432e-02 9.99760643e-01 -1.07594272e-03 7.02333298e-01] [-1.45221384e-02 7.58676506e-04 9.99894260e-01 3.48499509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.17, Y:0.70, Z:3.48 [[ 9.99655157e-01 2.23383432e-02 1.38045437e-02 3.67171524e+02] [-2.23263267e-02 9.99750212e-01 -1.02398883e-03 7.00980372e-01] [-1.38239697e-02 7.15430965e-04 9.99904188e-01 3.48440888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.20, Y:0.70, Z:3.48 [[ 9.99608316e-01 2.45913433e-02 1.33596476e-02 3.67200969e+02] [-2.45802865e-02 9.99697368e-01 -9.91221400e-04 7.01257348e-01] [-1.33799801e-02 6.62449187e-04 9.99910265e-01 3.48377111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.23, Y:0.70, Z:3.48 [[ 9.99564871e-01 2.63843376e-02 1.31884307e-02 3.67230623e+02] [-2.63737067e-02 9.99651674e-01 -9.79385645e-04 7.00373320e-01] [-1.32096772e-02 6.31131684e-04 9.99912549e-01 3.48341982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.26, Y:0.70, Z:3.48 [[ 9.99502833e-01 2.84238358e-02 1.36445298e-02 3.67259326e+02] [-2.84126479e-02 9.99595766e-01 -1.01313811e-03 6.99553513e-01] [-1.36678115e-02 6.24957191e-04 9.99906396e-01 3.48286490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.29, Y:0.70, Z:3.48 [[ 9.99413409e-01 3.11430610e-02 1.42459360e-02 3.67286926e+02] [-3.11311532e-02 9.99514749e-01 -1.05692383e-03 6.98740349e-01] [-1.42719390e-02 6.12811429e-04 9.99897963e-01 3.48261473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.32, Y:0.70, Z:3.48 [[ 9.99195954e-01 3.68836663e-02 1.57175209e-02 3.67315376e+02] [-3.68699095e-02 9.99319396e-01 -1.16422632e-03 6.99663339e-01] [-1.57497644e-02 5.83786656e-04 9.99875794e-01 3.48277971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.34, Y:0.70, Z:3.48 [[ 9.99059271e-01 4.01445342e-02 1.64009044e-02 3.67344480e+02] [-4.01300225e-02 9.99193730e-01 -1.21309101e-03 6.98859175e-01] [-1.64363798e-02 5.53781160e-04 9.99864760e-01 3.48204546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.37, Y:0.70, Z:3.48 [[ 9.98910880e-01 4.35014226e-02 1.68724741e-02 3.67373558e+02] [-4.34865631e-02 9.99053234e-01 -1.24676053e-03 6.97889809e-01] [-1.69107357e-02 5.11676745e-04 9.99856872e-01 3.48115883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.40, Y:0.70, Z:3.48 [[ 9.98620438e-01 4.95241239e-02 1.74522798e-02 3.67401314e+02] [-4.95091630e-02 9.98772838e-01 -1.28852583e-03 6.98512185e-01] [-1.74946762e-02 4.22700461e-04 9.99846867e-01 3.48038237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.43, Y:0.70, Z:3.48 [[ 9.98463246e-01 5.25726629e-02 1.75288505e-02 3.67428701e+02] [-5.25580715e-02 9.98617033e-01 -1.29238134e-03 6.97800328e-01] [-1.75725527e-02 3.69112694e-04 9.99845523e-01 3.47979893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.46, Y:0.70, Z:3.48 [[ 9.98317791e-01 5.52794856e-02 1.74861708e-02 3.67456916e+02] [-5.52654209e-02 9.98470869e-01 -1.28690617e-03 6.96887269e-01] [-1.75305717e-02 3.18360736e-04 9.99846277e-01 3.47901682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.48, Y:0.70, Z:3.48 [[ 9.98178181e-01 5.77562070e-02 1.74510458e-02 3.67484425e+02] [-5.77426101e-02 9.98330680e-01 -1.28243960e-03 6.95622531e-01] [-1.74959833e-02 2.72434289e-04 9.99846896e-01 3.47838053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.51, Y:0.69, Z:3.48 [[ 9.97904621e-01 6.24728047e-02 1.68379237e-02 3.67512023e+02] [-6.24608473e-02 9.98046650e-01 -1.23562431e-03 6.94670737e-01] [-1.68822263e-02 1.81324225e-04 9.99857469e-01 3.47758586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.54, Y:0.69, Z:3.48 [[ 9.97788223e-01 6.43873545e-02 1.65206252e-02 3.67540262e+02] [-6.43761350e-02 9.97924971e-01 -1.21057732e-03 6.93206963e-01] [-1.65642903e-02 1.44365795e-04 9.99862792e-01 3.47669496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.57, Y:0.69, Z:3.48 [[ 9.97694518e-01 6.59367176e-02 1.60623176e-02 3.67567756e+02] [-6.59263395e-02 9.97823800e-01 -1.17533567e-03 6.91738468e-01] [-1.61048606e-02 1.13696146e-04 9.99870302e-01 3.47562734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.59, Y:0.69, Z:3.47 [[ 9.97534930e-01 6.84385649e-02 1.54992634e-02 3.67594439e+02] [-6.84292259e-02 9.97655330e-01 -1.13269978e-03 6.90165318e-01] [-1.55404431e-02 6.93050013e-05 9.99879238e-01 3.47480091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.62, Y:0.69, Z:3.47 [[ 9.97485427e-01 6.92405077e-02 1.51186794e-02 3.67622079e+02] [-6.92317441e-02 9.97599995e-01 -1.10289602e-03 6.88459480e-01] [-1.51587595e-02 5.34301678e-05 9.99885098e-01 3.47445619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.65, Y:0.69, Z:3.47 [[ 9.97479111e-01 6.93078278e-02 1.52265455e-02 3.67648862e+02] [-6.92989592e-02 9.97595320e-01 -1.10993278e-03 6.86753054e-01] [-1.52668576e-02 5.19510086e-05 9.99883453e-01 3.47373792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.68, Y:0.68, Z:3.47 [[ 9.97516253e-01 6.86178424e-02 1.59033584e-02 3.67676310e+02] [-6.86081471e-02 9.97643016e-01 -1.15506750e-03 6.83682964e-01] [-1.59451327e-02 6.10986448e-05 9.99872866e-01 3.47313869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.70, Y:0.68, Z:3.47 [[ 9.97591824e-01 6.73874038e-02 1.64161434e-02 3.67703125e+02] [-6.73769347e-02 9.97726882e-01 -1.19060374e-03 6.80984695e-01] [-1.64590592e-02 8.16671363e-05 9.99864537e-01 3.47267345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.73, Y:0.68, Z:3.47 [[ 9.97695974e-01 6.56584503e-02 1.70795626e-02 3.67730604e+02] [-6.56469051e-02 9.97842149e-01 -1.23634588e-03 6.78276060e-01] [-1.71238840e-02 1.12276879e-04 9.99853369e-01 3.47234416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.76, Y:0.68, Z:3.47 [[ 9.97813196e-01 6.37048820e-02 1.76214316e-02 3.67758336e+02] [-6.36923233e-02 9.97968770e-01 -1.27357218e-03 6.75153419e-01] [-1.76667712e-02 1.48437211e-04 9.99843919e-01 3.47191850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.79, Y:0.67, Z:3.47 [[ 9.98142598e-01 5.81574445e-02 1.81401814e-02 3.67786219e+02] [-5.81432565e-02 9.98307392e-01 -1.30900441e-03 6.70797455e-01] [-1.81856055e-02 2.51843840e-04 9.99834596e-01 3.47144471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.81, Y:0.67, Z:3.47 [[ 9.98311209e-01 5.50792922e-02 1.84662159e-02 3.67813740e+02] [-5.50641014e-02 9.98481935e-01 -1.33046244e-03 6.67360868e-01] [-1.85114639e-02 3.11389981e-04 9.99828600e-01 3.47050987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.84, Y:0.66, Z:3.47 [[ 9.98485859e-01 5.16391264e-02 1.89575588e-02 3.67840184e+02] [-5.16225350e-02 9.98665737e-01 -1.36383104e-03 6.63878360e-01] [-1.90026914e-02 3.83128766e-04 9.99819359e-01 3.46974766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.87, Y:0.66, Z:3.47 [[ 9.98490461e-01 5.15500076e-02 1.89577440e-02 3.67868576e+02] [-5.15334492e-02 9.98670341e-01 -1.36125073e-03 6.61927491e-01] [-1.90027092e-02 3.82237931e-04 9.99819359e-01 3.46903821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.90, Y:0.66, Z:3.47 [[ 9.98837092e-01 4.43931044e-02 1.88073336e-02 3.67896954e+02] [-4.43755730e-02 9.99014009e-01 -1.34867350e-03 6.56211677e-01] [-1.88486615e-02 5.12518911e-04 9.99822217e-01 3.46783233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.93, Y:0.65, Z:3.47 [[ 9.98983067e-01 4.10123503e-02 1.87301836e-02 3.67925526e+02] [-4.09943936e-02 9.99158476e-01 -1.34180991e-03 6.52128000e-01] [-1.87694525e-02 5.72612854e-04 9.99823674e-01 3.46634990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.95, Y:0.65, Z:3.47 [[ 9.99107131e-01 3.77599462e-02 1.89506782e-02 3.67952794e+02] [-3.77410042e-02 9.99286634e-01 -1.35631555e-03 6.48381450e-01] [-1.89883738e-02 6.39886911e-04 9.99819500e-01 3.46500083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.98, Y:0.64, Z:3.46 [[ 9.99205738e-01 3.49964590e-02 1.90562669e-02 3.67981392e+02] [-3.49768381e-02 9.99387195e-01 -1.36205564e-03 6.44493218e-01] [-1.90922562e-02 6.94445851e-04 9.99817485e-01 3.46382788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.01, Y:0.64, Z:3.46 [[ 9.99338797e-01 3.06246238e-02 1.95984771e-02 3.68010378e+02] [-3.06030637e-02 9.99530637e-01 -1.39912983e-03 6.39511887e-01] [-1.96321261e-02 7.98431275e-04 9.99806952e-01 3.46257522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.04, Y:0.64, Z:3.46 [[ 9.99368751e-01 2.94116029e-02 1.99263116e-02 3.68039456e+02] [-2.93890916e-02 9.99567036e-01 -1.42168530e-03 6.36336523e-01] [-1.99594982e-02 8.35171667e-04 9.99800441e-01 3.46178579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.07, Y:0.63, Z:3.46 [[ 9.99374251e-01 2.88581664e-02 2.04526982e-02 3.68070776e+02] [-2.88343471e-02 9.99583140e-01 -1.45860768e-03 6.33005496e-01] [-2.04862650e-02 8.67954755e-04 9.99789758e-01 3.46091050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.10, Y:0.63, Z:3.46 [[ 9.99379150e-01 2.86797814e-02 2.04642078e-02 3.68101552e+02] [-2.86558823e-02 9.99588269e-01 -1.46019271e-03 6.29921261e-01] [-2.04976601e-02 8.72866218e-04 9.99789520e-01 3.46011541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.13, Y:0.63, Z:3.46 [[ 9.99300108e-01 3.03805582e-02 2.18246429e-02 3.68132223e+02] [-3.03537744e-02 9.99538005e-01 -1.55752833e-03 6.25709650e-01] [-2.18618786e-02 8.93977941e-04 9.99760601e-01 3.45849235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.16, Y:0.62, Z:3.46 [[ 9.99244981e-01 3.17448909e-02 2.23993309e-02 3.68163686e+02] [-3.17168849e-02 9.99495605e-01 -1.60455203e-03 6.22811480e-01] [-2.24389692e-02 8.92903560e-04 9.99747816e-01 3.45754526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.19, Y:0.62, Z:3.46 [[ 9.99168466e-01 3.36499946e-02 2.30228906e-02 3.68194434e+02] [-3.36209003e-02 9.99433296e-01 -1.64973155e-03 6.20177229e-01] [-2.30653569e-02 8.74309430e-04 9.99733577e-01 3.45672784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.23, Y:0.62, Z:3.46 [[ 9.98963899e-01 3.84642712e-02 2.43234039e-02 3.68225711e+02] [-3.84330700e-02 9.99259646e-01 -1.74912001e-03 6.16919807e-01] [-2.43726746e-02 8.12484659e-04 9.99702612e-01 3.45567354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.25, Y:0.61, Z:3.45 [[ 9.98853845e-01 4.08535033e-02 2.49396624e-02 3.68254648e+02] [-4.08214211e-02 9.99164847e-01 -1.79436705e-03 6.14373276e-01] [-2.49921402e-02 7.74237961e-04 9.99687348e-01 3.45463763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.28, Y:0.61, Z:3.45 [[ 9.98749120e-01 4.31718433e-02 2.52266984e-02 3.68284020e+02] [-4.31397688e-02 9.99067399e-01 -1.81454742e-03 6.11756045e-01] [-2.52815093e-02 7.24003701e-04 9.99680109e-01 3.45356641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.31, Y:0.61, Z:3.45 [[ 9.98658812e-01 4.52181896e-02 2.52169294e-02 3.68313517e+02] [-4.51868150e-02 9.98976909e-01 -1.81292215e-03 6.09091381e-01] [-2.52731072e-02 6.71017956e-04 9.99680359e-01 3.45254082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.34, Y:0.61, Z:3.45 [[ 9.98544857e-01 4.83635931e-02 2.38564761e-02 3.68341609e+02] [-4.83364292e-02 9.98829641e-01 -1.71431401e-03 6.05897476e-01] [-2.39114658e-02 5.58682571e-04 9.99713924e-01 3.45126393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.37, Y:0.60, Z:3.45 [[ 9.98501355e-01 4.93136589e-02 2.37319823e-02 3.68370235e+02] [-4.92870759e-02 9.98783200e-01 -1.70411203e-03 6.03171126e-01] [-2.37871412e-02 5.31878156e-04 9.99716904e-01 3.44986644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.40, Y:0.60, Z:3.45 [[ 9.98509735e-01 4.95521363e-02 2.28669017e-02 3.68397672e+02] [-4.95275537e-02 9.98771410e-01 -1.64047449e-03 6.00636024e-01] [-2.29200967e-02 5.05488047e-04 9.99737172e-01 3.44890647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.43, Y:0.60, Z:3.45 [[ 9.98523723e-01 4.96881621e-02 2.19422202e-02 3.68426087e+02] [-4.96656091e-02 9.98764665e-01 -1.57193205e-03 5.96897974e-01] [-2.19932206e-02 4.79837714e-04 9.99758005e-01 3.44784203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.45, Y:0.59, Z:3.45 [[ 9.98540154e-01 4.94118396e-02 2.18181212e-02 3.68454377e+02] [-4.93895078e-02 9.98778373e-01 -1.56154392e-03 5.93928760e-01] [-2.18686264e-02 4.81678041e-04 9.99760737e-01 3.44691453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.48, Y:0.59, Z:3.45 [[ 9.98571549e-01 4.89310335e-02 2.14619757e-02 3.68481771e+02] [-4.89093463e-02 9.98802043e-01 -1.53455119e-03 5.90923501e-01] [-2.15113524e-02 4.82667955e-04 9.99768488e-01 3.44585101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.51, Y:0.59, Z:3.45 [[ 9.98642041e-01 4.75643379e-02 2.12534364e-02 3.68509538e+02] [-4.75428022e-02 9.98868049e-01 -1.51770013e-03 5.87328563e-01] [-2.13015669e-02 5.05191238e-04 9.99772968e-01 3.44532718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.54, Y:0.58, Z:3.44 [[ 9.98662632e-01 4.66495329e-02 2.22883186e-02 3.68538198e+02] [-4.66256697e-02 9.98911168e-01 -1.58941536e-03 5.84581033e-01] [-2.23381958e-02 5.48081943e-04 9.99750321e-01 3.44458053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.57, Y:0.58, Z:3.45 [[ 9.98694642e-01 4.44815135e-02 2.51079195e-02 3.68566598e+02] [-4.44505960e-02 9.99009983e-01 -1.78844005e-03 5.81393144e-01] [-2.51626148e-02 6.70043514e-04 9.99683147e-01 3.44513546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.60, Y:0.58, Z:3.44 [[ 9.98716298e-01 4.36100840e-02 2.57665689e-02 3.68596084e+02] [-4.35772809e-02 9.99048377e-01 -1.83349715e-03 5.78417182e-01] [-2.58220078e-02 7.08306482e-04 9.99666305e-01 3.44490596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.63, Y:0.58, Z:3.44 [[ 9.98789167e-01 4.24769018e-02 2.48175812e-02 3.68626620e+02] [-4.24461094e-02 9.99097196e-01 -1.76645594e-03 5.75509154e-01] [-2.48702094e-02 7.10907284e-04 9.99690436e-01 3.44385532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.66, Y:0.57, Z:3.44 [[ 9.98940850e-01 4.00429224e-02 2.26658862e-02 3.68656846e+02] [-4.00166131e-02 9.99197712e-01 -1.61330344e-03 5.72490971e-01] [-2.27123030e-02 7.04582713e-04 9.99741794e-01 3.44215554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.69, Y:0.57, Z:3.44 [[ 9.99004269e-01 3.82536615e-02 2.29592592e-02 3.68686825e+02] [-3.82261930e-02 9.99267776e-01 -1.63425216e-03 5.70332756e-01] [-2.30049640e-02 7.54979807e-04 9.99735066e-01 3.44191050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.72, Y:0.57, Z:3.44 [[ 9.99063566e-01 3.60432336e-02 2.39348286e-02 3.68717068e+02] [-3.60127694e-02 9.99349879e-01 -1.70276217e-03 5.67804323e-01] [-2.39806412e-02 8.39208178e-04 9.99712071e-01 3.44149442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.75, Y:0.56, Z:3.44 [[ 9.99124324e-01 3.35509095e-02 2.49984399e-02 3.68748068e+02] [-3.35168968e-02 9.99436569e-01 -1.77847062e-03 5.64960613e-01] [-2.50440243e-02 9.39043131e-04 9.99685908e-01 3.44100923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.78, Y:0.56, Z:3.44 [[ 9.99210133e-01 3.06621314e-02 2.52773512e-02 3.68779989e+02] [-3.06262783e-02 9.99529277e-01 -1.80439971e-03 5.61750167e-01] [-2.53207793e-02 1.02882328e-03 9.99678848e-01 3.44018986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.81, Y:0.56, Z:3.44 [[ 9.99417555e-01 2.42798412e-02 2.39799810e-02 3.68811905e+02] [-2.42456021e-02 9.99704557e-01 -1.71758064e-03 5.57741462e-01] [-2.40145988e-02 1.13517117e-03 9.99710963e-01 3.43901205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.84, Y:0.55, Z:3.44 [[ 9.99503072e-01 2.13723896e-02 2.31696034e-02 3.68844724e+02] [-2.13395058e-02 9.99770899e-01 -1.66561085e-03 5.54854185e-01] [-2.31998933e-02 1.17035527e-03 9.99730161e-01 3.43795843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.88, Y:0.55, Z:3.44 [[ 9.99589494e-01 1.83717517e-02 2.19845838e-02 3.68876356e+02] [-1.83412929e-02 9.99830526e-01 -1.58631502e-03 5.52456657e-01] [-2.20100014e-02 1.18243814e-03 9.99757051e-01 3.43671834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.91, Y:0.55, Z:3.44 [[ 9.99696184e-01 1.28599252e-02 2.10276276e-02 3.68908868e+02] [-1.28307366e-02 9.99916524e-01 -1.52243958e-03 5.49901228e-01] [-2.10454508e-02 1.25217709e-03 9.99777736e-01 3.43519307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.94, Y:0.55, Z:3.43 [[ 9.99725124e-01 1.08167344e-02 2.08008584e-02 3.68941467e+02] [-1.07876126e-02 9.99940669e-01 -1.51173249e-03 5.47553229e-01] [-2.08159763e-02 1.28692535e-03 9.99782496e-01 3.43431641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.97, Y:0.55, Z:3.43 [[ 9.99747966e-01 9.26018862e-03 2.04512615e-02 3.68974307e+02] [-9.23159997e-03 9.99956275e-01 -1.49186002e-03 5.45381765e-01] [-2.04641822e-02 1.30268615e-03 9.99789738e-01 3.43355754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.01, Y:0.54, Z:3.43 [[ 9.99766189e-01 8.34450019e-03 1.99483330e-02 3.69007710e+02] [-8.31700689e-03 9.99964346e-01 -1.46079307e-03 5.43113748e-01] [-1.99598113e-02 1.29454110e-03 9.99799945e-01 3.43267439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.04, Y:0.54, Z:3.43 [[ 9.99772737e-01 7.86243756e-03 1.98155548e-02 3.69040382e+02] [-7.83510213e-03 9.99968244e-01 -1.45675332e-03 5.40798825e-01] [-1.98263792e-02 1.30116536e-03 9.99802591e-01 3.43138510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.07, Y:0.54, Z:3.43 [[ 9.99774411e-01 7.60815279e-03 1.98303623e-02 3.69072543e+02] [-7.58060782e-03 9.99970195e-01 -1.46383163e-03 5.39383794e-01] [-1.98409083e-02 1.31317521e-03 9.99802287e-01 3.43106398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.11, Y:0.54, Z:3.43 [[ 9.99765159e-01 8.35102535e-03 1.99971801e-02 3.69106035e+02] [-8.32305231e-03 9.99964265e-01 -1.48166937e-03 5.37898789e-01] [-2.00088390e-02 1.31488383e-03 9.99798939e-01 3.43050752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.14, Y:0.54, Z:3.43 [[ 9.99749664e-01 9.56946427e-03 2.02245959e-02 3.69139615e+02] [-9.54097992e-03 9.99953352e-01 -1.50442554e-03 5.36663235e-01] [-2.02380490e-02 1.31108647e-03 9.99794330e-01 3.43006732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.17, Y:0.54, Z:3.43 [[ 9.99712578e-01 1.28288666e-02 2.02529220e-02 3.69171931e+02] [-1.28008458e-02 9.99916922e-01 -1.51258289e-03 5.36951832e-01] [-2.02706441e-02 1.25289361e-03 9.99793744e-01 3.42957486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.20, Y:0.54, Z:3.43 [[ 9.99684762e-01 1.51138289e-02 2.00486790e-02 3.69204195e+02] [-1.50867194e-02 9.99885060e-01 -1.50275179e-03 5.36073962e-01] [-2.00690870e-02 1.19980927e-03 9.99797876e-01 3.42885387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.24, Y:0.54, Z:3.43 [[ 9.99652164e-01 1.75814280e-02 1.96581775e-02 3.69237549e+02] [-1.75557395e-02 9.99844793e-01 -1.47858318e-03 5.35358564e-01] [-1.96811220e-02 1.13295503e-03 9.99805666e-01 3.42789793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.27, Y:0.54, Z:3.43 [[ 9.99548759e-01 2.27206026e-02 1.96482180e-02 3.69270259e+02] [-2.26958084e-02 9.99741316e-01 -1.48400105e-03 5.36973860e-01] [-1.96768527e-02 1.03739922e-03 9.99805854e-01 3.42710759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.30, Y:0.54, Z:3.43 [[ 9.99464136e-01 2.57152750e-02 2.02525227e-02 3.69303608e+02] [-2.56894800e-02 9.99668796e-01 -1.53284892e-03 5.36238686e-01] [-2.02852326e-02 1.01175075e-03 9.99793722e-01 3.42619763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.34, Y:0.54, Z:3.43 [[ 9.99379211e-01 2.87033833e-02 2.04281215e-02 3.69336141e+02] [-2.86776346e-02 9.99587507e-01 -1.55234583e-03 5.35584629e-01] [-2.04642527e-02 9.65551948e-04 9.99790119e-01 3.42571231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.37, Y:0.54, Z:3.43 [[ 9.99189545e-01 3.42194657e-02 2.11962579e-02 3.69367887e+02] [-3.41928452e-02 9.99413945e-01 -1.61716093e-03 5.37193546e-01] [-2.12391741e-02 8.91089925e-04 9.99774026e-01 3.42573847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.40, Y:0.54, Z:3.43 [[ 9.99093371e-01 3.70247177e-02 2.10144192e-02 3.69398133e+02] [-3.69991526e-02 9.99314009e-01 -1.60418208e-03 5.36853384e-01] [-2.10593979e-02 8.25211984e-04 9.99777886e-01 3.42519492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.43, Y:0.54, Z:3.42 [[ 9.98996697e-01 3.97796822e-02 2.05712331e-02 3.69426358e+02] [-3.97557640e-02 9.99208193e-01 -1.57051638e-03 5.36722114e-01] [-2.06174193e-02 7.51115593e-04 9.99787156e-01 3.42483391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.46, Y:0.54, Z:3.42 [[ 9.98773180e-01 4.55756737e-02 1.93647101e-02 3.69455640e+02] [-4.55555771e-02 9.98960713e-01 -1.47788953e-03 5.38022537e-01] [-1.94119404e-02 5.93905878e-04 9.99811394e-01 3.42396391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.48, Y:0.54, Z:3.42 [[ 9.98631146e-01 4.87368732e-02 1.89882045e-02 3.69484452e+02] [-4.87181472e-02 9.98811517e-01 -1.44779853e-03 5.37545945e-01] [-1.90361985e-02 5.20746559e-04 9.99818660e-01 3.42356350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.51, Y:0.54, Z:3.42 [[ 9.98307515e-01 5.50958626e-02 1.86158803e-02 3.69512242e+02] [-5.50789885e-02 9.98480993e-01 -1.41832726e-03 5.38415462e-01] [-1.86657466e-02 3.90582905e-04 9.99825703e-01 3.42255796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.54, Y:0.54, Z:3.42 [[ 9.97931632e-01 6.16384942e-02 1.82525232e-02 3.69539793e+02] [-6.16233999e-02 9.98098506e-01 -1.38879114e-03 5.39110642e-01] [-1.83034192e-02 2.61136067e-04 9.99832444e-01 3.42232603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.57, Y:0.54, Z:3.42 [[ 9.97412953e-01 6.96744379e-02 1.76882522e-02 3.69567374e+02] [-6.96615641e-02 9.97569778e-01 -1.34366815e-03 5.40425304e-01] [-1.77388851e-02 1.08000699e-04 9.99842648e-01 3.42228954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.59, Y:0.54, Z:3.43 [[ 9.97220571e-01 7.32839734e-02 1.34384486e-02 3.69594374e+02] [-7.31505874e-02 9.97269125e-01 -1.01628882e-02 5.44037596e-01] [-1.41465267e-02 9.15161080e-03 9.99858052e-01 3.42569569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.62, Y:0.53, Z:3.42 [[ 9.97292944e-01 7.16264521e-02 1.66263283e-02 3.69623160e+02] [-7.17569778e-02 9.97394764e-01 7.39064854e-03 5.33412359e-01] [-1.60536469e-02 -8.56369672e-03 9.99834458e-01 3.41949183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.65, Y:0.54, Z:3.42 [[ 9.97307806e-01 7.15676649e-02 1.59752895e-02 3.69651855e+02] [-7.15574179e-02 9.97435745e-01 -1.21285315e-03 5.35485340e-01] [-1.60211259e-02 6.64374438e-05 9.99871651e-01 3.42153688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.68, Y:0.54, Z:3.42 [[ 9.97336355e-01 7.16263890e-02 1.37788273e-02 3.69678005e+02] [-7.15292442e-02 9.97410911e-01 -7.41907848e-03 5.36537269e-01] [-1.42745545e-02 6.41372758e-03 9.99877543e-01 3.42294927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.71, Y:0.53, Z:3.42 [[ 9.97450272e-01 6.95114841e-02 1.61588326e-02 3.69707082e+02] [-6.96050432e-02 9.97560544e-01 5.30084037e-03 5.27952001e-01] [-1.57509446e-02 -6.41206091e-03 9.99855386e-01 3.41850539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.74, Y:0.53, Z:3.42 [[ 9.97452903e-01 6.95848826e-02 1.56732701e-02 3.69735753e+02] [-6.95749797e-02 9.97576031e-01 -1.17688021e-03 5.29041371e-01] [-1.57171717e-02 8.34151331e-05 9.99876474e-01 3.41986930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.76, Y:0.53, Z:3.42 [[ 9.97645399e-01 6.67615949e-02 1.57018082e-02 3.69763660e+02] [-6.67513251e-02 9.97768948e-01 -1.17781920e-03 5.26378080e-01] [-1.57454098e-02 1.26929406e-04 9.99876025e-01 3.41971278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.79, Y:0.52, Z:3.42 [[ 9.97782818e-01 6.47496782e-02 1.53924212e-02 3.69790153e+02] [-6.47395924e-02 9.97901526e-01 -1.15314869e-03 5.24150987e-01] [-1.54347866e-02 1.54092870e-04 9.99880865e-01 3.41987784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.82, Y:0.52, Z:3.42 [[ 9.97788554e-01 6.46611855e-02 1.53925894e-02 3.69818539e+02] [-6.46511239e-02 9.97907264e-01 -1.15089809e-03 5.22117028e-01] [-1.54347952e-02 1.53204740e-04 9.99880865e-01 3.41917822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.85, Y:0.52, Z:3.42 [[ 9.97932380e-01 6.24257008e-02 1.52969424e-02 3.69846572e+02] [-6.24155189e-02 9.98049597e-01 -1.14258920e-03 5.19369061e-01] [-1.53384341e-02 1.85460163e-04 9.99882342e-01 3.41836113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.87, Y:0.52, Z:3.42 [[ 9.98239964e-01 5.71873047e-02 1.57030961e-02 3.69873395e+02] [-5.71759528e-02 9.98363430e-01 -1.17127785e-03 5.15694436e-01] [-1.57443792e-02 2.71376870e-04 9.99876013e-01 3.41780793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.90, Y:0.51, Z:3.42 [[ 9.98416130e-01 5.41631121e-02 1.52180229e-02 3.69901529e+02] [-5.41521303e-02 9.98532054e-01 -1.13307783e-03 5.12806376e-01] [-1.52570547e-02 3.07194825e-04 9.99883557e-01 3.41743431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.93, Y:0.51, Z:3.42 [[ 9.98576234e-01 5.11369683e-02 1.51827264e-02 3.69928516e+02] [-5.11257104e-02 9.98691588e-01 -1.12896444e-03 5.09778382e-01] [-1.52205929e-02 3.51129388e-04 9.99884098e-01 3.41679676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.96, Y:0.51, Z:3.42 [[ 9.98729006e-01 4.80326088e-02 1.52722430e-02 3.69956009e+02] [-4.80208874e-02 9.98845689e-01 -1.13349918e-03 5.06693881e-01] [-1.53090590e-02 3.98671845e-04 9.99882730e-01 3.41609485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.98, Y:0.50, Z:3.42 [[ 9.98883643e-01 4.47865563e-02 1.50210731e-02 3.69984812e+02] [-4.47748791e-02 9.98996482e-01 -1.11296265e-03 5.03475254e-01] [-1.50558449e-02 4.39153454e-04 9.99886558e-01 3.41532985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.01, Y:0.50, Z:3.42 [[ 9.99175914e-01 3.80206691e-02 1.42099100e-02 3.70013585e+02] [-3.80095483e-02 9.99276822e-01 -1.05195645e-03 4.99555128e-01] [-1.42396298e-02 5.10977287e-04 9.99898481e-01 3.41511803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.04, Y:0.50, Z:3.41 [[ 9.99300869e-01 3.48346014e-02 1.35766207e-02 3.70042160e+02] [-3.48241684e-02 9.99392950e-01 -1.00417461e-03 4.96724524e-01] [-1.36033590e-02 5.30678034e-04 9.99907329e-01 3.41461479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.07, Y:0.49, Z:3.41 [[ 9.99515617e-01 2.82133198e-02 1.31354640e-02 3.70069698e+02] [-2.82029923e-02 9.99601745e-01 -9.70841531e-04 4.93193817e-01] [-1.31576234e-02 5.99911881e-04 9.99913255e-01 3.41401771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.10, Y:0.49, Z:3.41 [[ 9.99588848e-01 2.58132172e-02 1.24825267e-02 3.70096781e+02] [-2.57838948e-02 9.99664403e-01 -2.50435707e-03 4.91025699e-01] [-1.25429832e-02 2.18147924e-03 9.99918954e-01 3.41350755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.13, Y:0.49, Z:3.41 [[ 9.99672872e-01 2.20715268e-02 1.29227014e-02 3.70126170e+02] [-2.20817852e-02 9.99755955e-01 6.51658918e-04 4.87060129e-01] [-1.29051645e-02 -9.36802057e-04 9.99916286e-01 3.41194777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.16, Y:0.49, Z:3.41 [[ 9.99726007e-01 1.96005775e-02 1.27956372e-02 3.70155512e+02] [-1.95901153e-02 9.99807651e-01 -9.42483188e-04 4.85226293e-01] [-1.28116492e-02 6.91556947e-04 9.99917688e-01 3.41164888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.19, Y:0.48, Z:3.41 [[ 9.99800934e-01 1.52048004e-02 1.29192444e-02 3.70185375e+02] [-1.51937930e-02 9.99884117e-01 -9.49740607e-04 4.83451436e-01] [-1.29321879e-02 7.53259221e-04 9.99916092e-01 3.41091013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.22, Y:0.48, Z:3.41 [[ 9.99833576e-01 1.34725621e-02 1.23008608e-02 3.70216783e+02] [-1.34624342e-02 9.99908967e-01 -9.05788244e-04 4.81440439e-01] [-1.23119443e-02 7.40037971e-04 9.99923931e-01 3.41007036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.25, Y:0.48, Z:3.41 [[ 9.99862955e-01 1.21259102e-02 1.12708768e-02 3.70248609e+02] [-1.21173501e-02 9.99926240e-01 -8.27468950e-04 4.79652244e-01] [-1.12800793e-02 6.90782389e-04 9.99936139e-01 3.40929157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.28, Y:0.48, Z:3.41 [[ 9.99876832e-01 1.13073599e-02 1.08841487e-02 3.70280620e+02] [-1.12993020e-02 9.99935840e-01 -8.01549993e-04 4.77713925e-01] [-1.08925138e-02 6.78467985e-04 9.99940445e-01 3.40821877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.31, Y:0.48, Z:3.41 [[ 9.99903063e-01 9.74756523e-03 9.94228581e-03 3.70312591e+02] [-9.74074624e-03 9.99952288e-01 -7.34051382e-04 4.75950474e-01] [-9.94896666e-03 6.37134943e-04 9.99950305e-01 3.40716222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.34, Y:0.47, Z:3.41 [[ 9.99910461e-01 9.37182194e-03 9.55192504e-03 3.70343749e+02] [-9.36548723e-03 9.99955892e-01 -7.07702564e-04 4.73985994e-01] [-9.55813619e-03 6.18180765e-04 9.99954129e-01 3.40647895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.38, Y:0.47, Z:3.41 [[ 9.99913497e-01 9.27308398e-03 9.32779055e-03 3.70375792e+02] [-9.26702137e-03 9.99956820e-01 -6.92963320e-04 4.72831344e-01] [-9.33381368e-03 6.06462543e-04 9.99956255e-01 3.40593426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.41, Y:0.47, Z:3.41 [[ 9.99908473e-01 9.98504651e-03 9.12931426e-03 3.70407054e+02] [-9.97924670e-03 9.99949974e-01 -6.80628788e-04 4.71644633e-01] [-9.13565367e-03 5.89462813e-04 9.99958095e-01 3.40542085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.44, Y:0.47, Z:3.41 [[ 9.99897764e-01 1.09883304e-02 9.14972556e-03 3.70438644e+02] [-1.09825000e-02 9.99939454e-01 -6.87222107e-04 4.70707333e-01] [-9.15672300e-03 5.86664987e-04 9.99957904e-01 3.40506530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.47, Y:0.47, Z:3.40 [[ 9.99886571e-01 1.22520325e-02 8.75969172e-03 3.70470207e+02] [-1.22467346e-02 9.99924789e-01 -6.58190859e-04 4.70037327e-01] [-8.76709708e-03 5.50838582e-04 9.99961417e-01 3.40464711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.50, Y:0.47, Z:3.40 [[ 9.99859966e-01 1.42685496e-02 8.74395258e-03 3.70500913e+02] [-1.42633425e-02 9.99898057e-01 -6.57588323e-04 4.69123819e-01] [-8.75244402e-03 5.32778248e-04 9.99961555e-01 3.40367603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.53, Y:0.47, Z:3.40 [[ 9.99788584e-01 1.86065559e-02 8.75119467e-03 3.70531449e+02] [-1.86015020e-02 9.99826760e-01 -6.58555143e-04 4.70204223e-01] [-8.76193206e-03 4.95630549e-04 9.99961491e-01 3.40349911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.56, Y:0.47, Z:3.40 [[ 9.99776840e-01 1.95245835e-02 8.06605058e-03 3.70559414e+02] [-1.95611523e-02 9.99798626e-01 4.47992330e-03 4.69891358e-01] [-7.97695765e-03 -4.63670481e-03 9.99957434e-01 3.40266248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.59, Y:0.47, Z:3.40 [[ 9.99589758e-01 2.72319177e-02 8.87341151e-03 3.70589389e+02] [-2.71823049e-02 9.99614443e-01 -5.66464525e-03 4.74482710e-01] [-9.02424946e-03 5.42112160e-03 9.99944586e-01 3.40454547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.62, Y:0.47, Z:3.40 [[ 9.99502509e-01 2.99771380e-02 9.80331660e-03 3.70618313e+02] [-2.99713391e-02 9.99550486e-01 -7.37941685e-04 4.72120194e-01] [-9.82103125e-03 4.43756040e-04 9.99951674e-01 3.40263968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.65, Y:0.47, Z:3.40 [[ 9.99396414e-01 3.31675761e-02 1.03305022e-02 3.70646412e+02] [-3.31613130e-02 9.99449710e-01 -7.77022224e-04 4.72357124e-01] [-1.03505894e-02 4.33980207e-04 9.99946337e-01 3.40276408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.67, Y:0.47, Z:3.40 [[ 9.99281836e-01 3.63068244e-02 1.08455978e-02 3.70674770e+02] [-3.63001184e-02 9.99340602e-01 -8.14597522e-04 4.72830367e-01] [-1.08680217e-02 4.20316024e-04 9.99940853e-01 3.40251747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.70, Y:0.48, Z:3.40 [[ 9.99055200e-01 4.20101851e-02 1.11288258e-02 3.70702825e+02] [-4.20034855e-02 9.99117115e-01 -8.35156812e-04 4.75039393e-01] [-1.11540854e-02 3.66918282e-04 9.99937724e-01 3.40216532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.73, Y:0.47, Z:3.40 [[ 9.98943531e-01 4.45130998e-02 1.14195288e-02 3.70729966e+02] [-4.45062212e-02 9.99008741e-01 -8.55903286e-04 4.74749658e-01] [-1.14463080e-02 3.46758978e-04 9.99934429e-01 3.40136917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.76, Y:0.47, Z:3.40 [[ 9.98832857e-01 4.69138775e-02 1.14896654e-02 3.70757890e+02] [-4.69070915e-02 9.98898887e-01 -8.59537848e-04 4.74413781e-01] [-1.15173383e-02 3.19587858e-04 9.99933622e-01 3.40096014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.79, Y:0.48, Z:3.40 [[ 9.98674603e-01 5.01138876e-02 1.17318060e-02 3.70785316e+02] [-5.01070462e-02 9.98743468e-01 -8.76541965e-04 4.75042244e-01] [-1.17609916e-02 2.87534052e-04 9.99930796e-01 3.40057899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.81, Y:0.47, Z:3.40 [[ 9.98614897e-01 5.13960001e-02 1.12578607e-02 3.70812393e+02] [-5.13897968e-02 9.98678318e-01 -8.39801536e-04 4.73948741e-01] [-1.12861438e-02 2.60099153e-04 9.99936276e-01 3.39998021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.84, Y:0.47, Z:3.40 [[ 9.98549695e-01 5.27837228e-02 1.06011965e-02 3.70840813e+02] [-5.27783142e-02 9.98605941e-01 -7.89500011e-04 4.72575295e-01] [-1.06280905e-02 2.28841718e-04 9.99943494e-01 3.39918167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.87, Y:0.47, Z:3.40 [[ 9.98490930e-01 5.38964389e-02 1.05373923e-02 3.70867482e+02] [-5.38911664e-02 9.98546508e-01 -7.83874120e-04 4.71552660e-01] [-1.05643243e-02 2.14818835e-04 9.99944173e-01 3.39827912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.90, Y:0.47, Z:3.40 [[ 9.98359964e-01 5.63446486e-02 1.01322717e-02 3.70895381e+02] [-5.63399140e-02 9.98411362e-01 -7.52339084e-04 4.71375163e-01] [-1.01585654e-02 1.80253906e-04 9.99948384e-01 3.39811000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.92, Y:0.47, Z:3.40 [[ 9.98294169e-01 5.74410821e-02 1.04533970e-02 3.70922288e+02] [-5.74361024e-02 9.98348883e-01 -7.76208389e-04 4.70313511e-01] [-1.04807235e-02 1.74481927e-04 9.99945060e-01 3.39771550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.95, Y:0.47, Z:3.40 [[ 9.98237665e-01 5.84159342e-02 1.04471749e-02 3.70950310e+02] [-5.84110468e-02 9.98292318e-01 -7.72588742e-04 4.68940630e-01] [-1.04744660e-02 1.60996757e-04 9.99945128e-01 3.39752508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.98, Y:0.47, Z:3.39 [[ 9.97978184e-01 6.17105940e-02 1.52101054e-02 3.70979596e+02] [-6.14637338e-02 9.97977904e-01 -1.61960626e-02 4.73511941e-01] [-1.61788177e-02 1.52284473e-02 9.99753140e-01 3.39497810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.01, Y:0.46, Z:3.39 [[ 9.98099312e-01 6.02471738e-02 1.29630782e-02 3.71006317e+02] [-6.04281061e-02 9.98073663e-01 1.40501922e-02 4.58051572e-01] [-1.20916225e-02 -1.48068214e-02 9.99817259e-01 3.39135319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.03, Y:0.47, Z:3.40 [[ 9.98047516e-01 6.08307521e-02 1.41695519e-02 3.71034808e+02] [-6.06682227e-02 9.98090217e-01 -1.16312486e-02 4.68631551e-01] [-1.48500287e-02 1.07488972e-02 9.99831955e-01 3.39533692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.06, Y:0.46, Z:3.39 [[ 9.98173521e-01 5.89054930e-02 1.34076448e-02 3.71062799e+02] [-5.90365222e-02 9.98209701e-01 9.59591912e-03 4.56006032e-01] [-1.28183887e-02 -1.03699331e-02 9.99864067e-01 3.39136899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.09, Y:0.46, Z:3.39 [[ 9.98236922e-01 5.79531228e-02 1.28250878e-02 3.71089926e+02] [-5.79458661e-02 9.98319287e-01 -9.37005413e-04 4.58545391e-01] [-1.28578349e-02 1.92192578e-04 9.99917316e-01 3.39381869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.12, Y:0.46, Z:3.39 [[ 9.98338460e-01 5.61633952e-02 1.28838172e-02 3.71117924e+02] [-5.61559457e-02 9.98421568e-01 -9.39534701e-04 4.55888639e-01] [-1.29162485e-02 2.14470685e-04 9.99916559e-01 3.39279975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.14, Y:0.45, Z:3.39 [[ 9.98577290e-01 5.17964780e-02 1.26696585e-02 3.71144697e+02] [-5.17889368e-02 9.98657626e-01 -9.22798776e-04 4.52245387e-01] [-1.27004488e-02 2.65337759e-04 9.99919311e-01 3.39146448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.17, Y:0.45, Z:3.39 [[ 9.98710085e-01 4.91181814e-02 1.28673925e-02 3.71172965e+02] [-4.91102049e-02 9.98792928e-01 -9.35336873e-04 4.49104659e-01] [-1.28978027e-02 3.02210087e-04 9.99916774e-01 3.39054116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.20, Y:0.44, Z:3.39 [[ 9.98956462e-01 4.35936996e-02 1.36226582e-02 3.71201054e+02] [-4.35842677e-02 9.99049265e-01 -9.88621127e-04 4.44703735e-01] [-1.36528043e-02 3.93855882e-04 9.99906719e-01 3.39018796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.23, Y:0.44, Z:3.39 [[ 9.98960294e-01 4.35057573e-02 1.36227761e-02 3.71229443e+02] [-4.34963395e-02 9.99053099e-01 -9.86992841e-04 4.42738134e-01] [-1.36528165e-02 3.93425766e-04 9.99906719e-01 3.38948758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.26, Y:0.44, Z:3.39 [[ 9.99081706e-01 4.04488537e-02 1.41292177e-02 3.71256946e+02] [-4.04384360e-02 9.99181509e-01 -1.02234784e-03 4.39576711e-01] [-1.41590058e-02 4.50045558e-04 9.99899655e-01 3.38879928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.28, Y:0.43, Z:3.39 [[ 9.99247488e-01 3.61123295e-02 1.41547925e-02 3.71284179e+02] [-3.61014573e-02 9.99347606e-01 -1.02294342e-03 4.34938599e-01] [-1.41824989e-02 5.11165005e-04 9.99899293e-01 3.38663012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.31, Y:0.43, Z:3.39 [[ 9.99303836e-01 3.47612074e-02 1.35463191e-02 3.71311351e+02] [-3.47511408e-02 9.99395518e-01 -9.77874815e-04 4.31964950e-01] [-1.35721227e-02 5.06444013e-04 9.99907766e-01 3.38593898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.34, Y:0.43, Z:3.38 [[ 9.99337426e-01 3.36361745e-02 1.39038744e-02 3.71339570e+02] [-3.36254806e-02 9.99434001e-01 -1.00226017e-03 4.29345624e-01] [-1.39297170e-02 5.34071640e-04 9.99902834e-01 3.38482257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.37, Y:0.43, Z:3.38 [[ 9.99332606e-01 3.35020144e-02 1.45587715e-02 3.71368408e+02] [-3.34902909e-02 9.99438493e-01 -1.04837929e-03 4.26281451e-01] [-1.45857195e-02 5.60102113e-04 9.99893466e-01 3.38460315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.40, Y:0.42, Z:3.38 [[ 9.99307656e-01 3.38743649e-02 1.53862131e-02 3.71397332e+02] [-3.38613333e-02 9.99425928e-01 -1.10677133e-03 4.23808318e-01] [-1.54148715e-02 5.85007372e-04 9.99881013e-01 3.38367016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.43, Y:0.42, Z:3.38 [[ 9.99277144e-01 3.45841487e-02 1.57837226e-02 3.71425180e+02] [-3.45705400e-02 9.99401617e-01 -1.13431300e-03 4.21671318e-01] [-1.58135071e-02 5.87841245e-04 9.99874786e-01 3.38284353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.45, Y:0.42, Z:3.38 [[ 9.99189991e-01 3.72590303e-02 1.52028782e-02 3.71453323e+02] [-3.72467345e-02 9.99305504e-01 -1.09122571e-03 4.19686085e-01] [-1.52329779e-02 5.24084238e-04 9.99883834e-01 3.38234183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.48, Y:0.42, Z:3.38 [[ 9.99105957e-01 3.96195312e-02 1.47505561e-02 3.71482152e+02] [-3.96082331e-02 9.99214727e-01 -1.05741079e-03 4.17733974e-01] [-1.47808670e-02 4.72221952e-04 9.99890646e-01 3.38133174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.51, Y:0.42, Z:3.38 [[ 9.99018170e-01 4.18069984e-02 1.46585065e-02 3.71509681e+02] [-4.17960860e-02 9.99125610e-01 -1.05013619e-03 4.16430280e-01] [-1.46895923e-02 4.36436939e-04 9.99892007e-01 3.38054836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.54, Y:0.42, Z:3.38 [[ 9.98772758e-01 4.76235959e-02 1.36003984e-02 3.71536659e+02] [-4.76147509e-02 9.98865300e-01 -9.73599665e-04 4.15968308e-01] [-1.36313323e-02 3.24825242e-04 9.99907036e-01 3.38036702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.56, Y:0.41, Z:3.38 [[ 9.98639335e-01 5.05314641e-02 1.28859974e-02 3.71564043e+02] [-5.05237952e-02 9.98722434e-01 -9.20181754e-04 4.14695838e-01] [-1.29160328e-02 2.67880203e-04 9.99916549e-01 3.38017158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.59, Y:0.41, Z:3.38 [[ 9.98643775e-01 5.04436212e-02 1.28861401e-02 3.71592435e+02] [-5.04359710e-02 9.98726874e-01 -9.18176325e-04 4.12763700e-01] [-1.29160506e-02 2.67006082e-04 9.99916549e-01 3.37947106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.62, Y:0.41, Z:3.38 [[ 9.98324351e-01 5.65395318e-02 1.23195557e-02 3.71620802e+02] [-5.65330129e-02 9.98400345e-01 -8.77035716e-04 4.11742377e-01] [-1.23494359e-02 1.79104509e-04 9.99923727e-01 3.37888832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.65, Y:0.41, Z:3.38 [[ 9.98156479e-01 5.95119363e-02 1.19152182e-02 3.71648514e+02] [-5.95060638e-02 9.98227585e-01 -8.47092599e-04 4.10232045e-01] [-1.19445116e-02 1.36503231e-04 9.99928652e-01 3.37842819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.68, Y:0.41, Z:3.38 [[ 9.97978101e-01 6.23721787e-02 1.22237630e-02 3.71675739e+02] [-6.23662272e-02 9.98052955e-01 -8.67838266e-04 4.08720031e-01] [-1.22540918e-02 1.03733602e-04 9.99924910e-01 3.37781067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.70, Y:0.41, Z:3.38 [[ 9.97825467e-01 6.47456936e-02 1.23423145e-02 3.71704094e+02] [-6.47398302e-02 9.97901794e-01 -8.74432517e-04 4.07294389e-01] [-1.23730335e-02 7.34916915e-05 9.99923448e-01 3.37764234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.73, Y:0.41, Z:3.38 [[ 9.97690494e-01 6.67649612e-02 1.24947443e-02 3.71731355e+02] [-6.67591249e-02 9.97768730e-01 -8.84067838e-04 4.05831621e-01] [-1.25258899e-02 4.78878854e-05 9.99921547e-01 3.37740508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.76, Y:0.40, Z:3.38 [[ 9.97458074e-01 7.00189821e-02 1.32186204e-02 3.71758905e+02] [-7.00127623e-02 9.97545659e-01 -9.33267646e-04 4.04171214e-01] [-1.32515239e-02 5.42321940e-06 9.99912195e-01 3.37730360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.79, Y:0.40, Z:3.38 [[ 9.97410906e-01 7.07312937e-02 1.29834116e-02 3.71786484e+02] [-7.07253706e-02 9.97495406e-01 -9.15368328e-04 4.02298292e-01] [-1.30156386e-02 -5.25824257e-06 9.99915293e-01 3.37715640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.81, Y:0.40, Z:3.38 [[ 9.97403563e-01 7.08604119e-02 1.28426981e-02 3.71814848e+02] [-7.08546443e-02 9.97486241e-01 -9.04117520e-04 4.00135989e-01] [-1.28744808e-02 -8.19477014e-06 9.99917120e-01 3.37677539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.84, Y:0.40, Z:3.38 [[ 9.97539763e-01 6.89911949e-02 1.24352546e-02 3.71842679e+02] [-6.89856579e-02 9.97617269e-01 -8.74171058e-04 3.97237562e-01] [-1.24659348e-02 1.41661727e-05 9.99922297e-01 3.37647062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.87, Y:0.39, Z:3.38 [[ 9.97661039e-01 6.71519206e-02 1.27699237e-02 3.71870896e+02] [-6.71459495e-02 9.97742762e-01 -8.96238718e-04 3.94109927e-01] [-1.28012830e-02 3.66938013e-05 9.99918060e-01 3.37594527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.90, Y:0.39, Z:3.38 [[ 9.97795174e-01 6.51011367e-02 1.29086209e-02 3.71898789e+02] [-6.50948820e-02 9.97878669e-01 -9.04548723e-04 3.90748486e-01] [-1.29401246e-02 6.22691983e-05 9.99916271e-01 3.37583988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.93, Y:0.39, Z:3.38 [[ 9.97947124e-01 6.26835705e-02 1.31266077e-02 3.71926891e+02] [-6.26769128e-02 9.98033447e-01 -9.18371717e-04 3.87285531e-01] [-1.31583603e-02 9.37511708e-05 9.99913421e-01 3.37543220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.95, Y:0.38, Z:3.38 [[ 9.98258854e-01 5.74794109e-02 1.32430312e-02 3.71953115e+02] [-5.74721932e-02 9.98346679e-01 -9.25259478e-04 3.82614853e-01] [-1.32743196e-02 1.62542416e-04 9.99911879e-01 3.37551326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.99, Y:0.39, Z:3.38 [[ 9.98165899e-01 5.80075569e-02 1.73193949e-02 3.71985046e+02] [-5.75453391e-02 9.98001933e-01 -2.60897546e-02 3.88297243e-01] [-1.87981926e-02 2.50452529e-02 9.99509561e-01 3.37524787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.01, Y:0.36, Z:3.37 [[ 9.98637863e-01 5.01719107e-02 1.43247474e-02 3.72008925e+02] [-5.05049612e-02 9.98437301e-01 2.39207951e-02 3.63099554e-01] [-1.31022102e-02 -2.46116825e-02 9.99611223e-01 3.36706957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.04, Y:0.38, Z:3.37 [[ 9.98615491e-01 5.02377700e-02 1.55970106e-02 3.72039448e+02] [-4.99024446e-02 9.98529246e-01 -2.11917777e-02 3.80617051e-01] [-1.66386989e-02 2.03841086e-02 9.99653761e-01 3.37427811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.07, Y:0.36, Z:3.37 [[ 9.98839773e-01 4.61397318e-02 1.37924802e-02 3.72065084e+02] [-4.63984784e-02 9.98740991e-01 1.90686686e-02 3.57791473e-01] [-1.28952921e-02 -1.96864947e-02 9.99723038e-01 3.36696311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.09, Y:0.36, Z:3.37 [[ 9.98876630e-01 4.58688797e-02 1.18964136e-02 3.72094110e+02] [-4.58623342e-02 9.98947431e-01 -8.22575396e-04 3.63976050e-01] [-1.19216224e-02 2.76054043e-04 9.99928897e-01 3.37294185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.12, Y:0.36, Z:3.37 [[ 9.98885338e-01 4.56190912e-02 1.21235481e-02 3.72121447e+02] [-4.56122915e-02 9.98958867e-01 -8.36926537e-04 3.61179215e-01] [-1.21491057e-02 2.83010838e-04 9.99926157e-01 3.37223722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.15, Y:0.36, Z:3.37 [[ 9.98870218e-01 4.59342214e-02 1.21793049e-02 3.72148100e+02] [-4.59273960e-02 9.98944428e-01 -8.39657948e-04 3.58552366e-01] [-1.22050178e-02 2.79345557e-04 9.99925477e-01 3.37189121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.18, Y:0.36, Z:3.37 [[ 9.98760857e-01 4.80212219e-02 1.30657463e-02 3.72175494e+02] [-4.80135716e-02 9.98846279e-01 -8.98758062e-04 3.55531666e-01] [-1.30938315e-02 2.70311226e-04 9.99914236e-01 3.37144477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.20, Y:0.35, Z:3.37 [[ 9.98584262e-01 5.13878548e-02 1.37389751e-02 3.72202352e+02] [-5.13797292e-02 9.98678743e-01 -9.43976611e-04 3.52059800e-01] [-1.37693313e-02 2.36735367e-04 9.99905170e-01 3.37092865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.23, Y:0.35, Z:3.37 [[ 9.98492002e-01 5.31620564e-02 1.36937452e-02 3.72230528e+02] [-5.31541894e-02 9.98585876e-01 -9.38065122e-04 3.49282145e-01] [-1.37242501e-02 2.08770592e-04 9.99905796e-01 3.37045279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.26, Y:0.35, Z:3.37 [[ 9.98390252e-01 5.50233820e-02 1.37597715e-02 3.72257424e+02] [-5.50156269e-02 9.98485049e-01 -9.41778054e-04 3.46465101e-01] [-1.37907460e-02 1.83259573e-04 9.99904886e-01 3.36941322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.28, Y:0.34, Z:3.37 [[ 9.98293324e-01 5.68258196e-02 1.34634703e-02 3.72284236e+02] [-5.68185976e-02 9.98384096e-01 -9.18626104e-04 3.43825987e-01] [-1.34939163e-02 1.52082806e-04 9.99908941e-01 3.36851084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.31, Y:0.34, Z:3.37 [[ 9.98205991e-01 5.83924507e-02 1.32333410e-02 3.72311500e+02] [-5.83856326e-02 9.98293697e-01 -9.01306342e-04 3.41087908e-01] [-1.32633904e-02 1.27052404e-04 9.99912029e-01 3.36772672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.34, Y:0.34, Z:3.37 [[ 9.98139926e-01 5.95021748e-02 1.32732362e-02 3.72339281e+02] [-5.94954381e-02 9.98228170e-01 -9.02176378e-04 3.38405530e-01] [-1.33033997e-02 1.10801261e-04 9.99911500e-01 3.36705323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.37, Y:0.33, Z:3.37 [[ 9.98034754e-01 6.11318308e-02 1.37669924e-02 3.72367292e+02] [-6.11247598e-02 9.98129696e-01 -9.34201192e-04 3.34246278e-01] [-1.37983533e-02 9.08611551e-05 9.99904794e-01 3.36681321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.40, Y:0.33, Z:3.37 [[ 9.98022336e-01 6.12704575e-02 1.40480717e-02 3.72395144e+02] [-6.12631299e-02 9.98121197e-01 -9.51759485e-04 3.31279517e-01] [-1.40799929e-02 8.92483829e-05 9.99900868e-01 3.36608169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.42, Y:0.33, Z:3.37 [[ 9.98018536e-01 6.12479647e-02 1.44114160e-02 3.72422017e+02] [-6.12402718e-02 9.98122577e-01 -9.74917811e-04 3.27001072e-01] [-1.44440714e-02 9.04270149e-05 9.99895675e-01 3.36590795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.45, Y:0.32, Z:3.37 [[ 9.98027234e-01 6.10803810e-02 1.45199168e-02 3.72449042e+02] [-6.10725725e-02 9.98132846e-01 -9.80995000e-04 3.23770496e-01] [-1.45527255e-02 9.22910521e-05 9.99894099e-01 3.36520243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.48, Y:0.32, Z:3.36 [[ 9.98040217e-01 6.08339237e-02 1.46614980e-02 3.72476826e+02] [-6.08259872e-02 9.98147897e-01 -9.87044124e-04 3.20404631e-01] [-1.46943891e-02 9.33096430e-05 9.99892027e-01 3.36457179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.50, Y:0.32, Z:3.36 [[ 9.98080591e-01 5.99912304e-02 1.53683730e-02 3.72504361e+02] [-5.99824367e-02 9.98198898e-01 -1.03291342e-03 3.15315449e-01] [-1.54026588e-02 1.09098376e-04 9.99881366e-01 3.36367275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.53, Y:0.31, Z:3.36 [[ 9.98129344e-01 5.89668805e-02 1.61467965e-02 3.72532312e+02] [-5.89570697e-02 9.98259931e-01 -1.08335791e-03 3.11608166e-01] [-1.61825822e-02 1.29363514e-04 9.99869045e-01 3.36271266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.56, Y:0.31, Z:3.36 [[ 9.98183664e-01 5.77833702e-02 1.70427639e-02 3.72560251e+02] [-5.77723016e-02 9.98329133e-01 -1.14149161e-03 3.07574467e-01] [-1.70802470e-02 1.54818574e-04 9.99854110e-01 3.36221805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.59, Y:0.30, Z:3.36 [[ 9.98262642e-01 5.60275744e-02 1.82375586e-02 3.72587344e+02] [-5.60146440e-02 9.98429203e-01 -1.21945471e-03 3.03631779e-01] [-1.82772341e-02 1.95765731e-04 9.99832938e-01 3.36144845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.62, Y:0.30, Z:3.36 [[ 9.98448241e-01 5.19272505e-02 2.01164458e-02 3.72615868e+02] [-5.19107481e-02 9.98650826e-01 -1.34201173e-03 2.97123846e-01] [-2.01589922e-02 2.95669505e-04 9.99796743e-01 3.36118654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.64, Y:0.29, Z:3.36 [[ 9.98552579e-01 4.97302336e-02 2.04853772e-02 3.72644552e+02] [-4.97126888e-02 9.98762627e-01 -1.36512940e-03 2.92946961e-01] [-2.05279173e-02 3.44770304e-04 9.99789221e-01 3.36016570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.67, Y:0.29, Z:3.36 [[ 9.98677067e-01 4.70789962e-02 2.06805056e-02 3.72671987e+02] [-4.70605773e-02 9.98891089e-01 -1.37668254e-03 2.88789409e-01] [-2.07223856e-02 4.01624750e-04 9.99785188e-01 3.35892309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.70, Y:0.28, Z:3.36 [[ 9.98810282e-01 4.40611671e-02 2.08957764e-02 3.72700324e+02] [-4.40417436e-02 9.99028726e-01 -1.38905182e-03 2.84616489e-01] [-2.09366842e-02 4.67112817e-04 9.99780694e-01 3.35800742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.73, Y:0.28, Z:3.36 [[ 9.99046258e-01 3.80022627e-02 2.15035480e-02 3.72728809e+02] [-3.79803265e-02 9.99277467e-01 -1.42775405e-03 2.77371352e-01] [-2.15422689e-02 6.09680563e-04 9.99767753e-01 3.35646742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.76, Y:0.27, Z:3.36 [[ 9.99173710e-01 3.44263462e-02 2.16038034e-02 3.72758496e+02] [-3.44033879e-02 9.99407000e-01 -1.43357293e-03 2.72506048e-01] [-2.16403450e-02 6.89144351e-04 9.99765583e-01 3.35537944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.79, Y:0.27, Z:3.35 [[ 9.99275584e-01 3.09428775e-02 2.21550179e-02 3.72788736e+02] [-3.09178984e-02 9.99520848e-01 -1.46919597e-03 2.67531872e-01] [-2.21898634e-02 7.83145064e-04 9.99753468e-01 3.35399433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.82, Y:0.26, Z:3.35 [[ 9.99471342e-01 2.37263150e-02 2.22283292e-02 3.72820207e+02] [-2.36993907e-02 9.99718043e-01 -1.47394686e-03 2.60455462e-01] [-2.22570331e-02 9.46369783e-04 9.99751834e-01 3.35336281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.85, Y:0.26, Z:3.35 [[ 9.99540393e-01 2.03876949e-02 2.24353336e-02 3.72852472e+02] [-2.03592966e-02 9.99791613e-01 -1.49349390e-03 2.56278819e-01] [-2.24611073e-02 1.03603987e-03 9.99747181e-01 3.35222742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.88, Y:0.25, Z:3.35 [[ 9.99608916e-01 1.70865488e-02 2.21374164e-02 3.72884333e+02] [-1.70579588e-02 9.99853408e-01 -1.47967911e-03 2.52335762e-01] [-2.21594538e-02 1.10148130e-03 9.99753842e-01 3.35159639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.92, Y:0.25, Z:3.35 [[ 9.99674450e-01 1.16117820e-02 2.27191574e-02 3.72917097e+02] [-1.15801163e-02 9.99931786e-01 -1.52485688e-03 2.46861970e-01] [-2.27353139e-02 1.26126998e-03 9.99740724e-01 3.35068594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.95, Y:0.24, Z:3.35 [[ 9.99700437e-01 9.40360499e-03 2.25966617e-02 3.72949589e+02] [-9.37156890e-03 9.99954926e-01 -1.52321658e-03 2.43322563e-01] [-2.26099669e-02 1.31099411e-03 9.99743502e-01 3.35025018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.98, Y:0.24, Z:3.35 [[ 9.99709485e-01 7.77920717e-03 2.28129236e-02 3.72982452e+02] [-7.74597817e-03 9.99968807e-01 -1.54459202e-03 2.39818950e-01] [-2.28242277e-02 1.36743489e-03 9.99738558e-01 3.34940262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.01, Y:0.24, Z:3.35 [[ 9.99727564e-01 6.33295965e-03 2.24653223e-02 3.73014706e+02] [-6.30022179e-03 9.99978986e-01 -1.52774052e-03 2.36392469e-01] [-2.24745254e-02 1.38578780e-03 9.99746456e-01 3.34860843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.05, Y:0.23, Z:3.35 [[ 9.99721681e-01 4.57639084e-03 2.31434229e-02 3.73047708e+02] [-4.54107987e-03 9.99988444e-01 -1.57807060e-03 2.32714039e-01] [-2.31503773e-02 1.47253526e-03 9.99730910e-01 3.34787471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.08, Y:0.23, Z:3.35 [[ 9.99723376e-01 4.36228595e-03 2.31115040e-02 3.73081151e+02] [-4.32686172e-03 9.99989387e-01 -1.58253849e-03 2.29992596e-01] [-2.31181622e-02 1.48210044e-03 9.99731641e-01 3.34739223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.11, Y:0.23, Z:3.35 [[ 9.99711722e-01 4.43137006e-03 2.35973744e-02 3.73114646e+02] [-4.39429658e-03 9.99989028e-01 -1.62270767e-03 2.27621030e-01] [-2.36043063e-02 1.51854602e-03 9.99720226e-01 3.34664475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.15, Y:0.23, Z:3.35 [[ 9.99697841e-01 5.28514973e-03 2.40061384e-02 3.73146573e+02] [-5.24685849e-03 9.99984861e-01 -1.65776846e-03 2.25540492e-01] [-2.40145365e-02 1.53131074e-03 9.99710437e-01 3.34594373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.18, Y:0.22, Z:3.35 [[ 9.99696894e-01 6.04911102e-03 2.38647822e-02 3.73179744e+02] [-6.01133702e-03 9.99980563e-01 -1.65425754e-03 2.23465762e-01] [-2.38743251e-02 1.51029688e-03 9.99713827e-01 3.34543320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.21, Y:0.22, Z:3.34 [[ 9.99694956e-01 6.91804387e-03 2.37093816e-02 3.73211906e+02] [-6.88084122e-03 9.99974965e-01 -1.65033438e-03 2.21318626e-01] [-2.37202051e-02 1.48669046e-03 9.99717531e-01 3.34476430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.24, Y:0.22, Z:3.34 [[ 9.99697062e-01 7.86060260e-03 2.33237146e-02 3.73244584e+02] [-7.82471200e-03 9.99968059e-01 -1.62966840e-03 2.19496341e-01] [-2.33357797e-02 1.44667336e-03 9.99726637e-01 3.34385456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.28, Y:0.22, Z:3.34 [[ 9.99701731e-01 9.69199448e-03 2.24168490e-02 3.73277765e+02] [-9.65916781e-03 9.99952113e-01 -1.57219167e-03 2.18615047e-01] [-2.24310132e-02 1.35519462e-03 9.99747475e-01 3.34266452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.31, Y:0.22, Z:3.34 [[ 9.99698047e-01 1.09108300e-02 2.20174612e-02 3.73309826e+02] [-1.08793155e-02 9.99939616e-01 -1.55061736e-03 2.17109484e-01] [-2.20330503e-02 1.31061424e-03 9.99756384e-01 3.34194628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.34, Y:0.22, Z:3.34 [[ 9.99677416e-01 1.21646658e-02 2.22954011e-02 3.73341549e+02] [-1.21325220e-02 9.99925156e-01 -1.57642930e-03 2.15706326e-01] [-2.23129092e-02 1.30542132e-03 9.99750184e-01 3.34118021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.37, Y:0.21, Z:3.34 [[ 9.99656217e-01 1.32827676e-02 2.26056712e-02 3.73373935e+02] [-1.32498632e-02 9.99910929e-01 -1.60474718e-03 2.14409382e-01] [-2.26249731e-02 1.30467345e-03 9.99743171e-01 3.34038988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.41, Y:0.21, Z:3.34 [[ 9.99626551e-01 1.59293559e-02 2.22039415e-02 3.73407181e+02] [-1.58981807e-02 9.99872368e-01 -1.57986900e-03 2.14206900e-01] [-2.22262739e-02 1.22627672e-03 9.99752214e-01 3.33940836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.44, Y:0.21, Z:3.34 [[ 9.99602318e-01 1.71490845e-02 2.23856141e-02 3.73440038e+02] [-1.71175544e-02 9.99852205e-01 -1.59937074e-03 2.12897910e-01] [-2.24097333e-02 1.21554773e-03 9.99748131e-01 3.33883650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.47, Y:0.21, Z:3.34 [[ 9.99557063e-01 1.96880388e-02 2.23172133e-02 3.73473088e+02] [-1.96571885e-02 9.99805497e-01 -1.60090525e-03 2.12596985e-01] [-2.23443913e-02 1.16150248e-03 9.99749658e-01 3.33840963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.51, Y:0.21, Z:3.34 [[ 9.99554536e-01 1.98165153e-02 2.23167191e-02 3.73506527e+02] [-1.97855442e-02 9.99802954e-01 -1.60776465e-03 2.10108134e-01] [-2.23441820e-02 1.16550002e-03 9.99749658e-01 3.33759218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.54, Y:0.21, Z:3.34 [[ 9.99541250e-01 2.10134803e-02 2.18110847e-02 3.73538728e+02] [-2.09841294e-02 9.99778570e-01 -1.57371250e-03 2.09046364e-01] [-2.18393242e-02 1.11530394e-03 9.99760871e-01 3.33676152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.57, Y:0.21, Z:3.34 [[ 9.99516613e-01 2.23654474e-02 2.15946064e-02 3.73572024e+02] [-2.23368655e-02 9.99749278e-01 -1.56390107e-03 2.07922980e-01] [-2.16241695e-02 1.08078928e-03 9.99765586e-01 3.33598572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.60, Y:0.21, Z:3.34 [[ 9.99474016e-01 2.40385942e-02 2.17677905e-02 3.73604635e+02] [-2.40098111e-02 9.99710470e-01 -1.58270118e-03 2.06473443e-01] [-2.17995339e-02 1.05922816e-03 9.99761801e-01 3.33505679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.64, Y:0.21, Z:3.33 [[ 9.99399304e-01 2.65825515e-02 2.22350896e-02 3.73637900e+02] [-2.65530047e-02 9.99646089e-01 -1.62307796e-03 2.05944853e-01] [-2.22703659e-02 1.03169455e-03 9.99751452e-01 3.33435906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.67, Y:0.20, Z:3.33 [[ 9.99366810e-01 2.78271021e-02 2.21727508e-02 3.73670116e+02] [-2.77978807e-02 9.99612243e-01 -1.62508710e-03 2.04445372e-01] [-2.22093746e-02 1.00770263e-03 9.99752834e-01 3.33392576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.70, Y:0.20, Z:3.33 [[ 9.99318975e-01 2.92524061e-02 2.24918298e-02 3.73703062e+02] [-2.92225569e-02 9.99571560e-01 -1.65471343e-03 2.02656166e-01] [-2.25305977e-02 9.96317757e-04 9.99745657e-01 3.33308718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.74, Y:0.20, Z:3.33 [[ 9.99232310e-01 3.14403130e-02 2.33730068e-02 3.73735415e+02] [-3.14085125e-02 9.99505140e-01 -1.72651561e-03 2.01916593e-01] [-2.34157226e-02 9.91078802e-04 9.99725323e-01 3.33261002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.77, Y:0.20, Z:3.33 [[ 9.99205007e-01 3.23993933e-02 2.32300213e-02 3.73767234e+02] [-3.23681023e-02 9.99474533e-01 -1.72185180e-03 2.00390709e-01] [-2.32736017e-02 9.68571233e-04 9.99728664e-01 3.33187677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.80, Y:0.20, Z:3.33 [[ 9.99168393e-01 3.35118321e-02 2.32267076e-02 3.73798346e+02] [-3.34807093e-02 9.99437871e-01 -1.72764589e-03 1.99862737e-01] [-2.32715477e-02 9.48562521e-04 9.99728731e-01 3.33078045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.83, Y:0.20, Z:3.33 [[ 9.99166149e-01 3.35789510e-02 2.32262818e-02 3.73830102e+02] [-3.35477140e-02 9.99435614e-01 -1.73335081e-03 1.97466349e-01] [-2.32713773e-02 9.52716800e-04 9.99728731e-01 3.33000387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.86, Y:0.20, Z:3.33 [[ 9.99189626e-01 3.35164760e-02 2.22876035e-02 3.73861022e+02] [-3.34876644e-02 9.99437744e-01 -1.66479757e-03 1.96651667e-01] [-2.23308703e-02 9.17088679e-04 9.99750214e-01 3.32879743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.89, Y:0.19, Z:3.33 [[ 9.99221798e-01 3.29032485e-02 2.17525567e-02 3.73891221e+02] [-3.28756406e-02 9.99458128e-01 -1.62566655e-03 1.94843257e-01] [-2.17942593e-02 9.09272218e-04 9.99762063e-01 3.32761129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.92, Y:0.19, Z:3.33 [[ 9.99271344e-01 3.19380470e-02 2.08983914e-02 3.73922138e+02] [-3.19123480e-02 9.99489451e-01 -1.56213618e-03 1.93066355e-01] [-2.09376133e-02 8.94081177e-04 9.99780384e-01 3.32673488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.95, Y:0.19, Z:3.33 [[ 9.99314103e-01 3.08111840e-02 2.05424963e-02 3.73953272e+02] [-3.07861004e-02 9.99524815e-01 -1.53626563e-03 1.91342420e-01] [-2.05800690e-02 9.02788555e-04 9.99787800e-01 3.32572972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.98, Y:0.19, Z:3.33 [[ 9.99413543e-01 2.76891957e-02 2.01464484e-02 3.73984086e+02] [-2.76644209e-02 9.99616130e-01 -1.50744965e-03 1.90126918e-01] [-2.01804548e-02 9.49225766e-04 9.99795903e-01 3.32511227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.02, Y:0.19, Z:3.32 [[ 9.99455967e-01 2.60193701e-02 2.02672633e-02 3.74016628e+02] [-2.59939664e-02 9.99660950e-01 -1.51590908e-03 1.88129996e-01] [-2.02998347e-02 9.88257814e-04 9.99793449e-01 3.32465955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.05, Y:0.19, Z:3.32 [[ 9.99494696e-01 2.41334117e-02 2.06864832e-02 3.74048596e+02] [-2.41064341e-02 9.99708192e-01 -1.55252806e-03 1.86378026e-01] [-2.07179145e-02 1.05306622e-03 9.99784806e-01 3.32412800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.08, Y:0.18, Z:3.32 [[ 9.99529157e-01 2.23238310e-02 2.10502110e-02 3.74081891e+02] [-2.22953768e-02 9.99750170e-01 -1.58548122e-03 1.84255133e-01] [-2.10803460e-02 1.11541232e-03 9.99777163e-01 3.32374133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.11, Y:0.18, Z:3.32 [[ 9.99591584e-01 1.89693799e-02 2.13735273e-02 3.74113920e+02] [-1.89391411e-02 9.99819332e-01 -1.61632927e-03 1.82603937e-01] [-2.14003265e-02 1.21087288e-03 9.99770254e-01 3.32365419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.15, Y:0.18, Z:3.32 [[ 9.99611921e-01 1.73668392e-02 2.17807340e-02 3.74147144e+02] [-1.73349252e-02 9.99848372e-01 -1.65320832e-03 1.80471306e-01] [-2.18061424e-02 1.27499935e-03 9.99761405e-01 3.32299238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.18, Y:0.18, Z:3.32 [[ 9.99627662e-01 1.61957823e-02 2.19598413e-02 3.74180092e+02] [-1.61629212e-02 9.99867972e-01 -1.67309401e-03 1.78314450e-01] [-2.19840390e-02 1.31753587e-03 9.99757454e-01 3.32231703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.21, Y:0.18, Z:3.32 [[ 9.99634822e-01 1.49826716e-02 2.24887099e-02 3.74213057e+02] [-1.49477560e-02 9.99886797e-01 -1.71988945e-03 1.76166268e-01] [-2.25119327e-02 1.38310564e-03 9.99745618e-01 3.32174887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.25, Y:0.17, Z:3.32 [[ 9.99663799e-01 1.24134397e-02 2.27638988e-02 3.74245876e+02] [-1.23768498e-02 9.99921877e-01 -1.74755670e-03 1.74327212e-01] [-2.27838136e-02 1.46522381e-03 9.99739342e-01 3.32116381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.28, Y:0.17, Z:3.32 [[ 9.99663252e-01 1.16279963e-02 2.31985449e-02 3.74278006e+02] [-1.15896195e-02 9.99931239e-01 -1.78804716e-03 1.72019136e-01] [-2.32177411e-02 1.51858273e-03 9.99729279e-01 3.32028867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.31, Y:0.17, Z:3.32 [[ 9.99683835e-01 1.05674406e-02 2.28157706e-02 3.74311489e+02] [-1.05299025e-02 9.99943002e-01 -1.76478626e-03 1.69701168e-01] [-2.28331195e-02 1.52398046e-03 9.99738129e-01 3.31947130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.34, Y:0.17, Z:3.32 [[ 9.99735021e-01 8.37044092e-03 2.14435119e-02 3.74343095e+02] [-8.33665591e-03 9.99963864e-01 -1.66444655e-03 1.67854875e-01] [-2.14566692e-02 1.48523832e-03 9.99768676e-01 3.31828007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.38, Y:0.17, Z:3.32 [[ 9.99760662e-01 7.63118259e-03 2.05032593e-02 3.74375950e+02] [-7.60003585e-03 9.99969845e-01 -1.59660467e-03 1.65626251e-01] [-2.05148250e-02 1.44039704e-03 9.99788511e-01 3.31754277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.41, Y:0.16, Z:3.32 [[ 9.99775232e-01 7.11283999e-03 1.99723003e-02 3.74409309e+02] [-7.08307311e-03 9.99973697e-01 -1.56075347e-03 1.63230562e-01] [-1.99828763e-02 1.41893740e-03 9.99799315e-01 3.31644383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.44, Y:0.16, Z:3.32 [[ 9.99788558e-01 6.59245662e-03 1.94776451e-02 3.74442155e+02] [-6.56394501e-03 9.99977291e-01 -1.52738110e-03 1.60921820e-01] [-1.94872719e-02 1.39920796e-03 9.99809126e-01 3.31576700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.47, Y:0.16, Z:3.32 [[ 9.99806227e-01 6.18326660e-03 1.86889020e-02 3.74474729e+02] [-6.15684821e-03 9.99979965e-01 -1.47079429e-03 1.59696280e-01] [-1.86976219e-02 1.35544455e-03 9.99824265e-01 3.31546871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.51, Y:0.16, Z:3.31 [[ 9.99808800e-01 6.59436719e-03 1.84086063e-02 3.74507698e+02] [-6.56871772e-03 9.99977369e-01 -1.45346030e-03 1.57809662e-01] [-1.84177744e-02 1.33226146e-03 9.99829491e-01 3.31480698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.54, Y:0.16, Z:3.31 [[ 9.99798225e-01 7.50674626e-03 1.86321543e-02 3.74541128e+02] [-7.48052190e-03 9.99970930e-01 -1.47677582e-03 1.56023484e-01] [-1.86426984e-02 1.33709961e-03 9.99825316e-01 3.31387190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.57, Y:0.15, Z:3.31 [[ 9.99791369e-01 8.23342450e-03 1.86930325e-02 3.74573748e+02] [-8.20705091e-03 9.99965216e-01 -1.48715511e-03 1.54316472e-01] [-1.87046266e-02 1.33343017e-03 9.99824164e-01 3.31302776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.61, Y:0.15, Z:3.31 [[ 9.99765742e-01 1.04069391e-02 1.89778159e-02 3.74605976e+02] [-1.03800338e-02 9.99944977e-01 -1.51568187e-03 1.53929980e-01] [-1.89925453e-02 1.31833644e-03 9.99818756e-01 3.31188933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.64, Y:0.15, Z:3.31 [[ 9.99729301e-01 1.27712881e-02 1.94478479e-02 3.74639435e+02] [-1.27433717e-02 9.99917585e-01 -1.55870879e-03 1.53321703e-01] [-1.94661518e-02 1.31045569e-03 9.99809658e-01 3.31091655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.67, Y:0.15, Z:3.31 [[ 9.99705497e-01 1.41020897e-02 1.97497040e-02 3.74672733e+02] [-1.40734449e-02 9.99899702e-01 -1.58863454e-03 1.51684852e-01] [-1.97701263e-02 1.31022031e-03 9.99803693e-01 3.30991070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.71, Y:0.15, Z:3.31 [[ 9.99684440e-01 1.51023080e-02 2.00733925e-02 3.74705964e+02] [-1.50727946e-02 9.99885085e-01 -1.62076531e-03 1.50003367e-01] [-2.00955630e-02 1.31769174e-03 9.99797195e-01 3.30897947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.74, Y:0.15, Z:3.31 [[ 9.99676469e-01 1.61012244e-02 1.96903154e-02 3.74739169e+02] [-1.60729076e-02 9.99869549e-01 -1.59553068e-03 1.48103465e-01] [-1.97134368e-02 1.27853385e-03 9.99804854e-01 3.30818194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.77, Y:0.15, Z:3.31 [[ 9.99663812e-01 1.68253278e-02 1.97274136e-02 3.74771703e+02] [-1.67969272e-02 9.99857634e-01 -1.60448008e-03 1.46247477e-01] [-1.97516010e-02 1.27258075e-03 9.99804108e-01 3.30708020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.80, Y:0.14, Z:3.31 [[ 9.99657119e-01 1.69413875e-02 1.99657973e-02 3.74804588e+02] [-1.69122091e-02 9.99855651e-01 -1.62937222e-03 1.44624306e-01] [-1.99905191e-02 1.29114780e-03 9.99799336e-01 3.30590159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.84, Y:0.14, Z:3.30 [[ 9.99663975e-01 1.67872195e-02 1.97515930e-02 3.74837876e+02] [-1.67585219e-02 9.99858258e-01 -1.61756207e-03 1.42385083e-01] [-1.97759477e-02 1.28601102e-03 9.99803610e-01 3.30489488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.87, Y:0.14, Z:3.30 [[ 9.99662997e-01 1.67637407e-02 1.98209123e-02 3.74871357e+02] [-1.67347208e-02 9.99858638e-01 -1.62907226e-03 1.39797725e-01] [-1.98454197e-02 1.29682583e-03 9.99802219e-01 3.30352293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.90, Y:0.14, Z:3.30 [[ 9.99669566e-01 1.65593010e-02 1.96608239e-02 3.74903488e+02] [-1.65305943e-02 9.99862045e-01 -1.62172695e-03 1.37393241e-01] [-1.96849663e-02 1.29618597e-03 9.99805392e-01 3.30260630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.94, Y:0.14, Z:3.30 [[ 9.99677334e-01 1.68534593e-02 1.90049593e-02 3.74936305e+02] [-1.68265970e-02 9.99857186e-01 -1.57247216e-03 1.35234552e-01] [-1.90287467e-02 1.25217598e-03 9.99818153e-01 3.30138945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.97, Y:0.13, Z:3.30 [[ 9.99676225e-01 1.73733915e-02 1.85906030e-02 3.74969215e+02] [-1.73476777e-02 9.99848326e-01 -1.54354347e-03 1.32902291e-01] [-1.86145999e-02 1.22053992e-03 9.99825988e-01 3.30060060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.00, Y:0.13, Z:3.30 [[ 9.99668493e-01 1.82749381e-02 1.81364662e-02 3.75001982e+02] [-1.82505197e-02 9.99832304e-01 -1.51098613e-03 1.30841358e-01] [-1.81610379e-02 1.17948529e-03 9.99834379e-01 3.29951490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.03, Y:0.13, Z:3.30 [[ 9.99639036e-01 2.00506532e-02 1.78821062e-02 3.75034328e+02] [-2.00271027e-02 9.99798320e-01 -1.49511151e-03 1.28760330e-01] [-1.79084777e-02 1.13644505e-03 9.99838984e-01 3.29855225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.07, Y:0.13, Z:3.30 [[ 9.99609589e-01 2.19505494e-02 1.72870955e-02 3.75066708e+02] [-2.19287423e-02 9.99758485e-01 -1.45003626e-03 1.27086026e-01] [-1.73147495e-02 1.07038588e-03 9.99849516e-01 3.29802540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.10, Y:0.13, Z:3.30 [[ 9.99487967e-01 2.69067428e-02 1.73156534e-02 3.75098058e+02] [-2.68855017e-02 9.99637456e-01 -1.45836511e-03 1.26786564e-01] [-1.73486156e-02 9.92078344e-04 9.99849009e-01 3.29741825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.13, Y:0.13, Z:3.30 [[ 9.99399587e-01 2.99548570e-02 1.74118576e-02 3.75128590e+02] [-2.99338246e-02 9.99550806e-01 -1.46736202e-03 1.25546705e-01] [-1.74479909e-02 9.45277501e-04 9.99847325e-01 3.29714852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.16, Y:0.12, Z:3.30 [[ 9.99298415e-01 3.31217563e-02 1.74821775e-02 3.75158158e+02] [-3.31010326e-02 9.99450924e-01 -1.47353577e-03 1.24415655e-01] [-1.75213846e-02 8.93823829e-04 9.99846089e-01 3.29690924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.19, Y:0.12, Z:3.30 [[ 9.99032098e-01 3.98714841e-02 1.85777237e-02 3.75185692e+02] [-3.98492529e-02 9.99204477e-01 -1.56545901e-03 1.24479388e-01] [-1.86253619e-02 8.23635388e-04 9.99826194e-01 3.29679009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.21, Y:0.12, Z:3.30 [[ 9.98874503e-01 4.33959554e-02 1.91446553e-02 3.75214361e+02] [-4.33730284e-02 9.99057648e-01 -1.61136072e-03 1.23203463e-01] [-1.91965408e-02 7.79185464e-04 9.99815426e-01 3.29629143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.24, Y:0.12, Z:3.30 [[ 9.98696855e-01 4.70215681e-02 1.98384618e-02 3.75243563e+02] [-4.69976926e-02 9.98893605e-01 -1.66827065e-03 1.22037757e-01] [-1.98949573e-02 7.33734719e-04 9.99801807e-01 3.29569198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.27, Y:0.12, Z:3.30 [[ 9.98517981e-01 5.05882031e-02 2.00667845e-02 3.75271352e+02] [-5.05645215e-02 9.98719373e-01 -1.68610152e-03 1.20732614e-01] [-2.01263833e-02 6.68935330e-04 9.99797220e-01 3.29505923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.31, Y:0.14, Z:3.29 [[ 9.97909030e-01 5.84448386e-02 2.76001715e-02 3.75305701e+02] [-5.71493567e-02 9.97323719e-01 -4.55998888e-02 1.35670002e-01] [-3.01913839e-02 4.39272087e-02 9.98578430e-01 3.29379565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.33, Y:0.10, Z:3.28 [[ 9.98000111e-01 5.84578253e-02 2.40512122e-02 3.75326693e+02] [-5.94191911e-02 9.97373659e-01 4.14143064e-02 9.66703147e-02] [-2.15670552e-02 -4.27605859e-02 9.98852539e-01 3.28047324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.36, Y:0.12, Z:3.29 [[ 9.97850391e-01 6.21128696e-02 2.08946938e-02 3.75356814e+02] [-6.20899375e-02 9.98069033e-01 -1.74509839e-03 1.15122834e-01] [-2.09627399e-02 4.43996880e-04 9.99780159e-01 3.29261805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.38, Y:0.11, Z:3.29 [[ 9.97715868e-01 6.43862883e-02 2.04316761e-02 3.75383650e+02] [-6.43648809e-02 9.97924976e-01 -1.70432664e-03 1.12920368e-01] [-2.04990152e-02 3.85351335e-04 9.99789799e-01 3.29188827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.42, Y:0.13, Z:3.29 [[ 9.96958235e-01 7.30443419e-02 2.71808986e-02 3.75417087e+02] [-7.18499937e-02 9.96505691e-01 -4.25909196e-02 1.25287032e-01] [-3.01969458e-02 4.05084207e-02 9.98722791e-01 3.28843590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.44, Y:0.09, Z:3.28 [[ 9.97336230e-01 6.91500368e-02 2.32102872e-02 3.75438530e+02] [-7.00110720e-02 9.96799187e-01 3.85983198e-02 8.77464187e-02] [-2.04669201e-02 -4.01204798e-02 9.98985211e-01 3.27730418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.47, Y:0.10, Z:3.29 [[ 9.97343126e-01 7.00798031e-02 1.98874474e-02 3.75468795e+02] [-7.00607958e-02 9.97541356e-01 -1.65172805e-03 1.04787438e-01] [-1.99543040e-02 2.54009232e-04 9.99800861e-01 3.28896824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.50, Y:0.10, Z:3.29 [[ 9.97188059e-01 7.22181311e-02 2.00129081e-02 3.75495635e+02] [-7.21993484e-02 9.97388839e-01 -1.66042321e-03 1.02247093e-01] [-2.00805639e-02 2.10835272e-04 9.99798343e-01 3.28782913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.52, Y:0.10, Z:3.29 [[ 9.97075712e-01 7.37560987e-02 2.00015800e-02 3.75523200e+02] [-7.37376990e-02 9.97276294e-01 -1.65686993e-03 9.99349204e-02] [-2.00693058e-02 1.77154286e-04 9.99798576e-01 3.28690546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.55, Y:0.10, Z:3.29 [[ 9.96802448e-01 7.73444877e-02 2.00676416e-02 3.75550869e+02] [-7.73267381e-02 9.97004423e-01 -1.66011076e-03 9.63086783e-02] [-2.01359279e-02 1.03037197e-04 9.99797246e-01 3.28553501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.58, Y:0.09, Z:3.28 [[ 9.96724501e-01 7.83599613e-02 1.99996301e-02 3.75579069e+02] [-7.83425804e-02 9.96925128e-01 -1.65228412e-03 9.31440599e-02] [-2.00676067e-02 8.00494339e-05 9.99798622e-01 3.28466382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.61, Y:0.09, Z:3.28 [[ 9.96659713e-01 7.91875179e-02 1.99688359e-02 3.75605605e+02] [-7.91703994e-02 9.96859736e-01 -1.64760135e-03 8.98795948e-02] [-2.00365980e-02 6.11571756e-05 9.99799245e-01 3.28365860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.63, Y:0.09, Z:3.28 [[ 9.96671574e-01 7.89608135e-02 2.02722533e-02 3.75633155e+02] [-7.89431786e-02 9.96877719e-01 -1.66994349e-03 8.54741828e-02] [-2.03408177e-02 6.40290920e-05 9.99793102e-01 3.28235152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.66, Y:0.08, Z:3.28 [[ 9.96728474e-01 7.81048160e-02 2.07843069e-02 3.75660826e+02] [-7.80861424e-02 9.96945150e-01 -1.70975052e-03 8.19886088e-02] [-2.08543537e-02 8.11906754e-05 9.99782521e-01 3.28140224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.69, Y:0.08, Z:3.28 [[ 9.96831608e-01 7.65844200e-02 2.14842439e-02 3.75687787e+02] [-7.65641669e-02 9.97063094e-01 -1.76488311e-03 7.85808875e-02] [-2.15563092e-02 1.14368037e-04 9.99767629e-01 3.28068412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.72, Y:0.07, Z:3.28 [[ 9.96962772e-01 7.46033072e-02 2.23512340e-02 3.75715900e+02] [-7.45809564e-02 9.97213277e-01 -1.83307320e-03 7.47235144e-02] [-2.24257006e-02 1.60529337e-04 9.99748499e-01 3.27965997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.74, Y:0.07, Z:3.28 [[ 9.97362482e-01 6.89697521e-02 2.26109006e-02 3.75742556e+02] [-6.89454862e-02 9.97618710e-01 -1.85193015e-03 6.92603735e-02] [-2.26847846e-02 2.88126117e-04 9.99742626e-01 3.27898244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.77, Y:0.07, Z:3.28 [[ 9.97598266e-01 6.54561873e-02 2.26536416e-02 3.75769960e+02] [-6.54310189e-02 9.97855378e-01 -1.85124977e-03 6.51940571e-02] [-2.27262338e-02 3.64552710e-04 9.99741659e-01 3.27785156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.80, Y:0.06, Z:3.28 [[ 9.97860690e-01 6.13438364e-02 2.26048058e-02 3.75797492e+02] [-6.13177766e-02 9.98116590e-01 -1.84482563e-03 6.10474016e-02] [-2.26754004e-02 4.54802546e-04 9.99742777e-01 3.27685095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.83, Y:0.05, Z:3.28 [[ 9.98328287e-01 5.29891208e-02 2.30821282e-02 3.75825845e+02] [-5.29597753e-02 9.98594874e-01 -1.88122177e-03 5.42656603e-02] [-2.31493792e-02 6.55652579e-04 9.99731802e-01 3.27560154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.85, Y:0.05, Z:3.27 [[ 9.98548935e-01 4.86363487e-02 2.31198977e-02 3.75854260e+02] [-4.86057799e-02 9.98816266e-01 -1.88263765e-03 4.99133402e-02] [-2.31840945e-02 7.56145160e-04 9.99730927e-01 3.27493990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.88, Y:0.05, Z:3.27 [[ 9.98737583e-01 4.43063303e-02 2.36683011e-02 3.75881657e+02] [-4.42731214e-02 9.99017609e-01 -1.92552006e-03 4.56130197e-02] [-2.37303623e-02 8.75219681e-04 9.99718012e-01 3.27383375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.91, Y:0.04, Z:3.27 [[ 9.98916664e-01 4.03281697e-02 2.32193077e-02 3.75910096e+02] [-4.02951885e-02 9.99186038e-01 -1.88674122e-03 4.13677702e-02] [-2.32764969e-02 9.49070866e-04 9.99728615e-01 3.27347842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.94, Y:0.04, Z:3.27 [[ 9.99161542e-01 3.37920645e-02 2.31151499e-02 3.75940480e+02] [-3.37576619e-02 9.99428285e-01 -1.87701650e-03 3.54952641e-02] [-2.31653629e-02 1.09512929e-03 9.99731047e-01 3.27182201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.97, Y:0.03, Z:3.27 [[ 9.99240941e-01 3.17151192e-02 2.26206438e-02 3.75971616e+02] [-3.16816430e-02 9.99496323e-01 -1.83682632e-03 3.14916551e-02] [-2.26675055e-02 1.11877290e-03 9.99742433e-01 3.27093703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.00, Y:0.03, Z:3.27 [[ 9.99273128e-01 3.01108290e-02 2.33784830e-02 3.76002340e+02] [-3.00746143e-02 9.99545852e-01 -1.89919617e-03 2.78762655e-02] [-2.34250521e-02 1.19471684e-03 9.99724882e-01 3.27003514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.04, Y:0.02, Z:3.27 [[ 9.99312819e-01 2.88046998e-02 2.33276381e-02 3.76035491e+02] [-2.87682118e-02 9.99584307e-01 -1.89830790e-03 2.34515190e-02] [-2.33726211e-02 1.22590899e-03 9.99726071e-01 3.26922920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.07, Y:0.02, Z:3.27 [[ 9.99313535e-01 2.89842299e-02 2.30732148e-02 3.76067785e+02] [-2.89484268e-02 9.99579130e-01 -1.88428735e-03 2.02536309e-02] [-2.31181186e-02 1.21506058e-03 9.99732002e-01 3.26843516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.10, Y:0.02, Z:3.27 [[ 9.99302301e-01 2.98616379e-02 2.24319619e-02 3.76101016e+02] [-2.98279327e-02 9.99553363e-01 -1.83571936e-03 1.70881465e-02] [-2.24767606e-02 1.16533953e-03 9.99746687e-01 3.26747745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.13, Y:0.01, Z:3.27 [[ 9.99266689e-01 3.12210254e-02 2.21660020e-02 3.76133406e+02] [-3.11883091e-02 9.99511869e-01 -1.82022395e-03 1.40271219e-02] [-2.22120113e-02 1.12756904e-03 9.99752647e-01 3.26638838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.17, Y:0.01, Z:3.27 [[ 9.99155919e-01 3.47959905e-02 2.18332118e-02 3.76165387e+02] [-3.47649809e-02 9.99393897e-01 -1.79836838e-03 1.17549739e-02] [-2.18825546e-02 1.03781922e-03 9.99760010e-01 3.26567328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.20, Y:0.01, Z:3.27 [[ 9.99079667e-01 3.72144407e-02 2.13285066e-02 3.76195430e+02] [-3.71852730e-02 9.99306834e-01 -1.76265210e-03 9.62064351e-03] [-2.13793185e-02 9.67923532e-04 9.99770968e-01 3.26508640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.23, Y:0.01, Z:3.26 [[ 9.98991404e-01 3.97461901e-02 2.08905747e-02 3.76225004e+02] [-3.97187507e-02 9.99209407e-01 -1.72692677e-03 7.59766405e-03] [-2.09426976e-02 8.95437469e-04 9.99780277e-01 3.26468182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.25, Y:0.01, Z:3.26 [[ 9.98781440e-01 4.50356399e-02 2.01848273e-02 3.76254022e+02] [-4.50111048e-02 9.98985093e-01 -1.66842622e-03 6.79454574e-03] [-2.02394803e-02 7.57851762e-04 9.99794874e-01 3.26418659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.28, Y:0.01, Z:3.26 [[ 9.98665243e-01 4.78176921e-02 1.95243856e-02 3.76283286e+02] [-4.77952935e-02 9.98855850e-01 -1.61249815e-03 5.58027034e-03] [-1.95791527e-02 6.77172113e-04 9.99808081e-01 3.26369219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.31, Y:0.00, Z:3.26 [[ 9.98521576e-01 5.10363199e-02 1.87071083e-02 3.76311142e+02] [-5.10163447e-02 9.98696625e-01 -1.54377495e-03 4.10697710e-03] [-1.87615145e-02 5.87124310e-04 9.99823815e-01 3.26312553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.34, Y:0.00, Z:3.26 [[ 9.98399248e-01 5.36712755e-02 1.78419536e-02 3.76339721e+02] [-5.36535553e-02 9.98558528e-01 -1.47072001e-03 2.51416636e-03] [-1.78951703e-02 5.11081511e-04 9.99839738e-01 3.26262214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.37, Y:0.00, Z:3.26 [[ 9.98278877e-01 5.58729877e-02 1.78183389e-02 3.76367251e+02] [-5.58556837e-02 9.98437774e-01 -1.46771991e-03 1.07934170e-03] [-1.78725085e-02 4.69938283e-04 9.99840164e-01 3.26200812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.40, Y:-0.00, Z:3.26 [[ 9.98030255e-01 6.01600977e-02 1.77868495e-02 3.76395393e+02] [-6.01435693e-02 9.98188665e-01 -1.46320531e-03 -5.45360888e-04] [-1.78426581e-02 3.90558553e-04 9.99840731e-01 3.26208016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.42, Y:-0.00, Z:3.26 [[ 9.97960147e-01 6.12766088e-02 1.79086936e-02 3.76422859e+02] [-6.12600683e-02 9.98120754e-01 -1.47125290e-03 -2.34367176e-03] [-1.79651922e-02 3.71163969e-04 9.99838544e-01 3.26171362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.45, Y:-0.00, Z:3.26 [[ 9.97915093e-01 6.19939159e-02 1.79505484e-02 3.76450317e+02] [-6.19774487e-02 9.98076463e-01 -1.47275810e-03 -4.14379694e-03] [-1.80073219e-02 3.57158343e-04 9.99837791e-01 3.26153229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.48, Y:-0.01, Z:3.26 [[ 9.97908693e-01 6.20603043e-02 1.80765020e-02 3.76477861e+02] [-6.20436526e-02 9.98072338e-01 -1.48107881e-03 -5.94735165e-03] [-1.81335728e-02 3.56449212e-04 9.99835510e-01 3.26126118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.51, Y:-0.01, Z:3.26 [[ 9.97945612e-01 6.14241410e-02 1.82107490e-02 3.76505985e+02] [-6.14071722e-02 9.98111687e-01 -1.49004733e-03 -7.88762204e-03] [-1.82678862e-02 3.68715599e-04 9.99833060e-01 3.26123035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.53, Y:-0.01, Z:3.26 [[ 9.98083345e-01 5.92507736e-02 1.78600855e-02 3.76532916e+02] [-5.92341367e-02 9.98243050e-01 -1.45954609e-03 -1.04156069e-02] [-1.79151854e-02 3.98821898e-04 9.99839431e-01 3.26146737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.56, Y:-0.01, Z:3.26 [[ 9.98199785e-01 5.72283430e-02 1.79473030e-02 3.76559923e+02] [-5.72112582e-02 9.98361021e-01 -1.46435545e-03 -1.30774622e-02] [-1.80016904e-02 4.34931511e-04 9.99837862e-01 3.26088019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.59, Y:-0.02, Z:3.26 [[ 9.98342808e-01 5.46721659e-02 1.79608675e-02 3.76588349e+02] [-5.46546868e-02 9.98504244e-01 -1.46297047e-03 -1.60022995e-02] [-1.80139861e-02 4.78900458e-04 9.99837620e-01 3.26054230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.62, Y:-0.02, Z:3.26 [[ 9.98481299e-01 5.19781462e-02 1.82583785e-02 3.76615652e+02] [-5.19596560e-02 9.98648079e-01 -1.48595013e-03 -1.88505202e-02] [-1.83109315e-02 5.34994354e-04 9.99832198e-01 3.26020712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.64, Y:-0.02, Z:3.26 [[ 9.98771520e-01 4.59073473e-02 1.86538488e-02 3.76644277e+02] [-4.58870256e-02 9.98945485e-01 -1.51620367e-03 -2.26052663e-02] [-1.87037829e-02 6.58371413e-04 9.99824852e-01 3.26020861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.67, Y:-0.03, Z:3.26 [[ 9.98921673e-01 4.26067043e-02 1.84434445e-02 3.76672685e+02] [-4.25863008e-02 9.99091669e-01 -1.49779287e-03 -2.60547037e-02] [-1.84905077e-02 7.10739682e-04 9.99828783e-01 3.25957483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.70, Y:-0.03, Z:3.26 [[ 9.99244916e-01 3.51538448e-02 1.65470846e-02 3.76701613e+02] [-3.51364184e-02 9.99381623e-01 -1.34277690e-03 -3.03131552e-02] [-1.65840560e-02 7.60357700e-04 9.99862186e-01 3.25861555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.73, Y:-0.03, Z:3.26 [[ 9.99385382e-01 3.11732666e-02 1.60338771e-02 3.76731465e+02] [-3.11564153e-02 9.99513676e-01 -1.29976747e-03 -3.35501520e-02] [-1.60665974e-02 7.99410472e-04 9.99870604e-01 3.25767696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.76, Y:-0.04, Z:3.26 [[ 9.99602875e-01 2.44411944e-02 1.40257027e-02 3.76760189e+02] [-2.43806871e-02 9.99692758e-01 -4.46894461e-03 -3.57687347e-02] [-1.41306198e-02 4.12521361e-03 9.99891648e-01 3.25816426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.775099893 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:376.79, Y:-0.04, Z:3.26 [[ 9.99700352e-01 2.02104921e-02 1.38109557e-02 3.76789840e+02] [-2.01577300e-02 9.99789014e-01 -3.94890312e-03 -3.82887176e-02] [-1.38878511e-02 3.66932232e-03 9.99896827e-01 3.25710011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.80509989300003 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:376.82, Y:-0.04, Z:3.26 [[ 9.99698925e-01 2.01981427e-02 1.39317669e-02 3.76820671e+02] [-2.01847350e-02 9.99795660e-01 -1.10233731e-03 -4.21629950e-02] [-1.39511852e-02 8.20796405e-04 9.99902341e-01 3.25565517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.85, Y:-0.05, Z:3.25 [[ 9.99768698e-01 1.49641175e-02 1.54475343e-02 3.76851243e+02] [-1.50349517e-02 9.99876934e-01 4.47955507e-03 -4.76058967e-02] [-1.53786007e-02 -4.71077187e-03 9.99870645e-01 3.25462522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.88, Y:-0.05, Z:3.26 [[ 9.99796234e-01 1.35131914e-02 1.49961100e-02 3.76884712e+02] [-1.34965787e-02 9.99908187e-01 -1.20845430e-03 -4.73467378e-02] [-1.50110632e-02 1.00581188e-03 9.99886822e-01 3.25547611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.92, Y:-0.05, Z:3.25 [[ 9.99806057e-01 1.30276979e-02 1.47691460e-02 3.76916767e+02] [-1.30114663e-02 9.99914634e-01 -1.19457946e-03 -4.98554038e-02] [-1.47834478e-02 1.00217954e-03 9.99890217e-01 3.25466362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.95, Y:-0.05, Z:3.25 [[ 9.99802797e-01 1.32399362e-02 1.48010287e-02 3.76950058e+02] [-1.32236003e-02 9.99911843e-01 -1.20102336e-03 -5.20239235e-02] [-1.48156253e-02 1.00506362e-03 9.99889737e-01 3.25412512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.98, Y:-0.05, Z:3.25 [[ 9.99790633e-01 1.40461039e-02 1.48794236e-02 3.76982880e+02] [-1.40296176e-02 9.99900846e-01 -1.21180024e-03 -5.40058275e-02] [-1.48949694e-02 1.00279391e-03 9.99888561e-01 3.25370491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.02, Y:-0.05, Z:3.25 [[ 9.99737852e-01 1.68525492e-02 1.54990201e-02 3.77015021e+02] [-1.68349065e-02 9.99857479e-01 -1.26809124e-03 -5.46179691e-02] [-1.55181818e-02 1.00683426e-03 9.99879079e-01 3.25359250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.05, Y:-0.06, Z:3.25 [[ 9.99699495e-01 1.87844907e-02 1.57500148e-02 3.77047559e+02] [-1.87664729e-02 9.99823061e-01 -1.29101473e-03 -5.59939363e-02] [-1.57714790e-02 9.95054552e-04 9.99875127e-01 3.25313130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.08, Y:-0.06, Z:3.25 [[ 9.99652196e-01 2.09132262e-02 1.60662121e-02 3.77079736e+02] [-2.08946829e-02 9.99780809e-01 -1.32119240e-03 -5.75192941e-02] [-1.60903209e-02 9.85034474e-04 9.99870057e-01 3.25234153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.11, Y:-0.06, Z:3.25 [[ 9.99623189e-01 2.25208521e-02 1.56936619e-02 3.77111315e+02] [-2.25032679e-02 9.99745929e-01 -1.29618202e-03 -5.87580541e-02] [-1.57188658e-02 9.42534929e-04 9.99876007e-01 3.25187064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.14, Y:-0.06, Z:3.25 [[ 9.99558778e-01 2.53076568e-02 1.55489888e-02 3.77142986e+02] [-2.52907226e-02 9.99679313e-01 -1.28478894e-03 -5.87242993e-02] [-1.55765174e-02 8.90976904e-04 9.99878282e-01 3.25162022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.17, Y:-0.06, Z:3.25 [[ 9.99542300e-01 2.63601644e-02 1.48436160e-02 3.77173757e+02] [-2.63448354e-02 9.99652161e-01 -1.22732359e-03 -5.97364199e-02] [-1.48708053e-02 8.35709223e-04 9.99889074e-01 3.25086654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.20, Y:-0.06, Z:3.25 [[ 9.99516079e-01 2.76202299e-02 1.43084484e-02 3.77203837e+02] [-2.76061101e-02 9.99618178e-01 -1.18342322e-03 -6.10924655e-02] [-1.43356716e-02 7.87849931e-04 9.99896929e-01 3.25004895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.23, Y:-0.06, Z:3.25 [[ 9.99459069e-01 3.01123782e-02 1.32217133e-02 3.77232366e+02] [-3.01005424e-02 9.99546278e-01 -1.09331292e-03 -6.07204560e-02] [-1.32486365e-02 6.94740775e-04 9.99911992e-01 3.24950965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.26, Y:-0.06, Z:3.25 [[ 9.99411288e-01 3.17891140e-02 1.29046441e-02 3.77260245e+02] [-3.17779822e-02 9.99494383e-01 -1.06680369e-03 -6.14106549e-02] [-1.29320320e-02 6.56092098e-04 9.99916163e-01 3.24899694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.29, Y:-0.06, Z:3.25 [[ 9.99342961e-01 3.38660864e-02 1.29125673e-02 3.77288211e+02] [-3.38551290e-02 9.99426182e-01 -1.06629084e-03 -6.20176842e-02] [-1.29412689e-02 6.28433611e-04 9.99916061e-01 3.24862325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.32, Y:-0.06, Z:3.25 [[ 9.99258149e-01 3.63826049e-02 1.26276701e-02 3.77316325e+02] [-3.63723400e-02 9.99337765e-01 -1.04167573e-03 -6.26532641e-02] [-1.26572065e-02 5.81605048e-04 9.99919725e-01 3.24830369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.35, Y:-0.06, Z:3.25 [[ 9.99007082e-01 4.25416788e-02 1.32308450e-02 3.77345725e+02] [-4.25309678e-02 9.99094554e-01 -1.09000007e-03 -6.15432407e-02] [-1.32652357e-02 5.26197145e-04 9.99911874e-01 3.24844434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.37, Y:-0.06, Z:3.25 [[ 9.99014155e-01 4.23752698e-02 1.32308380e-02 3.77374069e+02] [-4.23645431e-02 9.99101625e-01 -1.09008712e-03 -6.37918833e-02] [-1.32651445e-02 5.28494059e-04 9.99911874e-01 3.24776378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.40, Y:-0.06, Z:3.25 [[ 9.98865936e-01 4.56831682e-02 1.34122892e-02 3.77402571e+02] [-4.56724820e-02 9.98955860e-01 -1.10213183e-03 -6.41208605e-02] [-1.34486338e-02 4.88309410e-04 9.99909444e-01 3.24751417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.43, Y:-0.06, Z:3.25 [[ 9.98682054e-01 4.95200858e-02 1.34876156e-02 3.77429815e+02] [-4.95096464e-02 9.98773032e-01 -1.10699961e-03 -6.44869794e-02] [-1.35258855e-02 4.37773560e-04 9.99908425e-01 3.24710141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.46, Y:-0.07, Z:3.25 [[ 9.98487339e-01 5.32142776e-02 1.38301927e-02 3.77457325e+02] [-5.32036831e-02 9.98583038e-01 -1.13309966e-03 -6.51264148e-02] [-1.38708929e-02 3.95568471e-04 9.99903716e-01 3.24671638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.49, Y:-0.07, Z:3.25 [[ 9.98272041e-01 5.70592300e-02 1.40419176e-02 3.77485363e+02] [-5.70487108e-02 9.98370735e-01 -1.14887785e-03 -6.60078172e-02] [-1.40845937e-02 3.45819336e-04 9.99900747e-01 3.24626978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.51, Y:-0.07, Z:3.25 [[ 9.98060384e-01 6.06578103e-02 1.40035605e-02 3.77511987e+02] [-6.06477144e-02 9.98158577e-01 -1.14488380e-03 -6.69368794e-02] [-1.40472202e-02 2.93379229e-04 9.99901290e-01 3.24535223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.54, Y:-0.07, Z:3.24 [[ 9.97653075e-01 6.70045545e-02 1.40972015e-02 3.77538670e+02] [-6.69949900e-02 9.97752649e-01 -1.15015115e-03 -6.70585087e-02] [-1.41425855e-02 2.03009965e-04 9.99899968e-01 3.24482949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.57, Y:-0.06, Z:3.25 [[ 9.97531563e-01 6.91668236e-02 1.21132771e-02 3.77567907e+02] [-6.90599724e-02 9.97571658e-01 -9.02816760e-03 -6.46774054e-02] [-1.27083116e-02 8.16933955e-03 9.99885874e-01 3.24696659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.59, Y:-0.07, Z:3.24 [[ 9.97193707e-01 7.29463108e-02 1.68388680e-02 3.77594129e+02] [-7.30660035e-02 9.97305235e-01 6.60502855e-03 -7.39666780e-02] [-1.63116787e-02 -7.81684169e-03 9.99836400e-01 3.24155161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.62, Y:-0.07, Z:3.24 [[ 9.97109510e-01 7.40344006e-02 1.70743359e-02 3.77622385e+02] [-7.40216026e-02 9.97255682e-01 -1.38117801e-03 -7.27659103e-02] [-1.71297332e-02 1.13316021e-04 9.99853269e-01 3.24320380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.65, Y:-0.07, Z:3.24 [[ 9.96858973e-01 7.63111233e-02 2.11849186e-02 3.77652240e+02] [-7.59899416e-02 9.96986947e-01 -1.55742286e-02 -7.10783698e-02] [-2.23095742e-02 1.39154688e-02 9.99654262e-01 3.23920166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.68, Y:-0.09, Z:3.24 [[ 9.97084013e-01 7.40034533e-02 1.86268674e-02 3.77677582e+02] [-7.42408084e-02 9.97163370e-01 1.23901852e-02 -8.50067137e-02] [-1.76571134e-02 -1.37369292e-02 9.99749730e-01 3.23724113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.70, Y:-0.08, Z:3.24 [[ 9.97136616e-01 7.36120449e-02 1.73157809e-02 3.77704928e+02] [-7.35989127e-02 9.97286946e-01 -1.39530470e-03 -8.14862807e-02] [-1.73715135e-02 1.16886759e-04 9.99849097e-01 3.24029325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.73, Y:-0.09, Z:3.24 [[ 9.97277627e-01 7.17108411e-02 1.71723437e-02 3.77732590e+02] [-7.16976809e-02 9.97425453e-01 -1.38158740e-03 -8.56590741e-02] [-1.72272075e-02 1.46608979e-04 9.99851590e-01 3.23849308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.76, Y:-0.09, Z:3.24 [[ 9.97380208e-01 7.03169115e-02 1.69780124e-02 3.77759228e+02] [-7.03038747e-02 9.97524688e-01 -1.36423460e-03 -8.86439667e-02] [-1.70319153e-02 1.67040533e-04 9.99854932e-01 3.23758116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.79, Y:-0.09, Z:3.24 [[ 9.97469242e-01 6.89717384e-02 1.72629988e-02 3.77786553e+02] [-6.89580999e-02 9.97618596e-01 -1.38476368e-03 -9.19051792e-02] [-1.73173982e-02 1.90835576e-04 9.99850024e-01 3.23684201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.81, Y:-0.10, Z:3.24 [[ 9.97549107e-01 6.77607518e-02 1.74430328e-02 3.77814724e+02] [-6.77466756e-02 9.97701576e-01 -1.39729918e-03 -9.52955508e-02] [-1.74976234e-02 2.12167062e-04 9.99846882e-01 3.23636424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.84, Y:-0.10, Z:3.24 [[ 9.97623312e-01 6.66271984e-02 1.75653934e-02 3.77842100e+02] [-6.66127817e-02 9.97777913e-01 -1.40520222e-03 -9.87608874e-02] [-1.76199863e-02 2.31782769e-04 9.99844729e-01 3.23585617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.87, Y:-0.10, Z:3.24 [[ 9.97683729e-01 6.54204857e-02 1.86369654e-02 3.77869880e+02] [-6.54040854e-02 9.97857750e-01 -1.48880928e-03 -1.03268991e-01] [-1.86944390e-02 2.66427117e-04 9.99825208e-01 3.23544803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.90, Y:-0.11, Z:3.24 [[ 9.97689875e-01 6.53001400e-02 1.87297888e-02 3.77897193e+02] [-6.52835933e-02 9.97865632e-01 -1.49417110e-03 -1.06619746e-01] [-1.87873821e-02 2.67971468e-04 9.99823466e-01 3.23505685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.92, Y:-0.11, Z:3.23 [[ 9.97685678e-01 6.52833493e-02 1.90098112e-02 3.77924055e+02] [-6.52663356e-02 9.97866730e-01 -1.51469350e-03 -1.09664704e-01] [-1.90681424e-02 2.70487291e-04 9.99818150e-01 3.23460525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.95, Y:-0.11, Z:3.23 [[ 9.97667039e-01 6.55118479e-02 1.92009403e-02 3.77950574e+02] [-6.54946000e-02 9.97851756e-01 -1.52642578e-03 -1.12775469e-01] [-1.92596910e-02 2.65306781e-04 9.99814480e-01 3.23415826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.98, Y:-0.12, Z:3.23 [[ 9.97583827e-01 6.67070355e-02 1.94082428e-02 3.77978362e+02] [-6.66896883e-02 9.97772576e-01 -1.54038507e-03 -1.17521603e-01] [-1.94677669e-02 2.42333569e-04 9.99810456e-01 3.23342497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.01, Y:-0.12, Z:3.23 [[ 9.97473296e-01 6.79773352e-02 2.06423488e-02 3.78005965e+02] [-6.78639046e-02 9.97675648e-01 -6.14752841e-03 -1.19030321e-01] [-2.10122613e-02 4.73112503e-03 9.99768024e-01 3.23145041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.03, Y:-0.13, Z:3.23 [[ 9.97391787e-01 6.89787836e-02 2.12497202e-02 3.78033476e+02] [-6.89661685e-02 9.97618117e-01 -1.32679850e-03 -1.25500264e-01] [-2.12906268e-02 -1.42173856e-04 9.99773319e-01 3.22926819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.06, Y:-0.13, Z:3.23 [[ 9.97307056e-01 7.05280431e-02 2.01104656e-02 3.78060871e+02] [-7.05951550e-02 9.97501540e-01 2.64611495e-03 -1.31712503e-01] [-1.98735951e-02 -4.05869055e-03 9.99794262e-01 3.23026496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.09, Y:-0.13, Z:3.23 [[ 9.97238924e-01 7.17564161e-02 1.91192161e-02 3.78088041e+02] [-7.17406596e-02 9.97422177e-01 -1.50961102e-03 -1.33052170e-01] [-1.91782544e-02 1.33817691e-04 9.99816071e-01 3.23127663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.12, Y:-0.14, Z:3.23 [[ 9.97113326e-01 7.38571852e-02 1.76105715e-02 3.78115393e+02] [-7.38441821e-02 9.97268825e-01 -1.38838844e-03 -1.36640349e-01] [-1.76650164e-02 8.39423605e-05 9.99843958e-01 3.23150270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.14, Y:-0.14, Z:3.23 [[ 9.97027924e-01 7.47835431e-02 1.85132344e-02 3.78141941e+02] [-7.47693673e-02 9.97199788e-01 -1.45766816e-03 -1.39758154e-01] [-1.85704030e-02 6.91130328e-05 9.99827553e-01 3.23023507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.17, Y:-0.14, Z:3.23 [[ 9.96937128e-01 7.62249307e-02 1.74963562e-02 3.78169296e+02] [-7.62125384e-02 9.97090647e-01 -1.37492917e-03 -1.43000050e-01] [-1.75502570e-02 3.72762175e-05 9.99845982e-01 3.23013084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.20, Y:-0.15, Z:3.23 [[ 9.96718056e-01 7.93809381e-02 1.58676637e-02 3.78197295e+02] [-7.93711692e-02 9.96844354e-01 -1.24545395e-03 -1.48024561e-01] [-1.59164562e-02 -1.80685732e-05 9.99873325e-01 3.22934713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.22, Y:-0.15, Z:3.23 [[ 9.96622099e-01 8.07230422e-02 1.51057034e-02 3.78224220e+02] [-8.07143644e-02 9.96736569e-01 -1.18424488e-03 -1.51592404e-01] [-1.51520028e-02 -3.90026285e-05 9.99885201e-01 3.22848557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.25, Y:-0.16, Z:3.23 [[ 9.96523303e-01 8.20588467e-02 1.44101280e-02 3.78251613e+02] [-8.20511176e-02 9.96627484e-01 -1.12776430e-03 -1.55013386e-01] [-1.44540726e-02 -5.85236963e-05 9.99895533e-01 3.22787910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.28, Y:-0.16, Z:3.23 [[ 9.96331091e-01 8.44710107e-02 1.37479224e-02 3.78279721e+02] [-8.44642224e-02 9.96425933e-01 -1.07469205e-03 -1.59456048e-01] [-1.37895668e-02 -9.04584753e-05 9.99904915e-01 3.22771748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.31, Y:-0.16, Z:3.23 [[ 9.96241677e-01 8.55367222e-02 1.36378216e-02 3.78306541e+02] [-8.55301600e-02 9.96335013e-01 -1.06477782e-03 -1.62958508e-01] [-1.36789168e-02 -1.05669028e-04 9.99906434e-01 3.22732756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.33, Y:-0.17, Z:3.23 [[ 9.96189573e-01 8.61135639e-02 1.38126662e-02 3.78332802e+02] [-8.61069034e-02 9.96285321e-01 -1.07729914e-03 -1.66289032e-01] [-1.38541267e-02 -1.16171748e-04 9.99904020e-01 3.22667693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.36, Y:-0.17, Z:3.23 [[ 9.96169964e-01 8.62617411e-02 1.42938540e-02 3.78360272e+02] [-8.62546778e-02 9.96272501e-01 -1.11105837e-03 -1.71366020e-01] [-1.43364155e-02 -1.26108789e-04 9.99897220e-01 3.22609942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.39, Y:-0.18, Z:3.23 [[ 9.96220659e-01 8.56806283e-02 1.42558222e-02 3.78387887e+02] [-8.56735645e-02 9.96322646e-01 -1.10659909e-03 -1.75087397e-01] [-1.42982126e-02 -1.18930220e-04 9.99897768e-01 3.22562578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.41, Y:-0.18, Z:3.22 [[ 9.96317784e-01 8.44417592e-02 1.48479572e-02 3.78414715e+02] [-8.44339728e-02 9.96428411e-01 -1.15162393e-03 -1.78827467e-01] [-1.48921715e-02 -1.06288610e-04 9.99889100e-01 3.22475880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.44, Y:-0.18, Z:3.22 [[ 9.96440351e-01 8.29410293e-02 1.50802059e-02 3.78442934e+02] [-8.29328824e-02 9.96554453e-01 -1.16587507e-03 -1.82860380e-01] [-1.51249452e-02 -8.89199813e-05 9.99885608e-01 3.22400663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.47, Y:-0.19, Z:3.22 [[ 9.96777987e-01 7.90568970e-02 1.35517874e-02 3.78471294e+02] [-7.89440777e-02 9.96841361e-01 -8.66793299e-03 -1.85969220e-01] [-1.41942421e-02 7.57017145e-03 9.99870600e-01 3.22427413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.50, Y:-0.20, Z:3.22 [[ 9.96979975e-01 7.58232044e-02 1.67860155e-02 3.78498146e+02] [-7.59377835e-02 9.97092679e-01 6.29615911e-03 -1.97848179e-01] [-1.62598182e-02 -7.55183737e-03 9.99839281e-01 3.21995330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.53, Y:-0.20, Z:3.22 [[ 9.97180021e-01 7.31430264e-02 1.67959354e-02 3.78526512e+02] [-7.31316720e-02 9.97321460e-01 -1.29005411e-03 -1.98918423e-01] [-1.68453053e-02 5.81013440e-05 9.99858106e-01 3.22095017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.55, Y:-0.20, Z:3.22 [[ 9.97403933e-01 7.00288568e-02 1.67736111e-02 3.78553020e+02] [-7.00171166e-02 9.97544960e-01 -1.28688103e-03 -2.03210025e-01] [-1.68225500e-02 1.09100320e-04 9.99858485e-01 3.22033454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.58, Y:-0.21, Z:3.22 [[ 9.97580314e-01 6.73564018e-02 1.72229921e-02 3.78580764e+02] [-6.73436801e-02 9.97728967e-01 -1.31821365e-03 -2.07889656e-01] [-1.72726683e-02 1.55164317e-04 9.99850804e-01 3.21966879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.61, Y:-0.21, Z:3.22 [[ 9.97889170e-01 6.24776474e-02 1.77129215e-02 3.78607183e+02] [-6.24634563e-02 9.98046333e-01 -1.35383118e-03 -2.14826360e-01] [-1.77629006e-02 2.44563177e-04 9.99842197e-01 3.21873711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.64, Y:-0.22, Z:3.22 [[ 9.98022287e-01 6.03007695e-02 1.77576019e-02 3.78636021e+02] [-6.02862076e-02 9.98180213e-01 -1.35469584e-03 -2.19200509e-01] [-1.78069760e-02 2.81478162e-04 9.99841404e-01 3.21804741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.66, Y:-0.22, Z:3.22 [[ 9.98133587e-01 5.84023159e-02 1.78469300e-02 3.78664942e+02] [-5.83873265e-02 9.98293078e-01 -1.36024199e-03 -2.23508067e-01] [-1.78959079e-02 3.15668690e-04 9.99839806e-01 3.21711617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.69, Y:-0.23, Z:3.22 [[ 9.98223012e-01 5.69208771e-02 1.76304170e-02 3.78692155e+02] [-5.69060386e-02 9.98378636e-01 -1.34258636e-03 -2.27604911e-01] [-1.76782529e-02 3.36923414e-04 9.99843671e-01 3.21619115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.72, Y:-0.23, Z:3.22 [[ 9.98301832e-01 5.55921186e-02 1.74060020e-02 3.78720728e+02] [-5.55774824e-02 9.98453500e-01 -1.32384282e-03 -2.33349895e-01] [-1.74526789e-02 3.54212940e-04 9.99847628e-01 3.21522985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.75, Y:-0.24, Z:3.21 [[ 9.98291511e-01 5.57192717e-02 1.75903724e-02 3.78747913e+02] [-5.57043632e-02 9.98446412e-01 -1.33675553e-03 -2.36908585e-01] [-1.76375272e-02 3.54611205e-04 9.99844384e-01 3.21460082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.78, Y:-0.24, Z:3.21 [[ 9.98244186e-01 5.63470016e-02 1.82636209e-02 3.78776360e+02] [-5.63310729e-02 9.98411183e-01 -1.38584616e-03 -2.40462617e-01] [-1.83126917e-02 3.54603508e-04 9.99832246e-01 3.21420684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.80, Y:-0.24, Z:3.21 [[ 9.98185106e-01 5.70952900e-02 1.91473743e-02 3.78804992e+02] [-5.70779485e-02 9.98368670e-01 -1.45140805e-03 -2.43981119e-01] [-1.91990072e-02 3.55881051e-04 9.99815619e-01 3.21398754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.83, Y:-0.25, Z:3.21 [[ 9.98125151e-01 5.79283654e-02 1.97607661e-02 3.78832409e+02] [-5.79100856e-02 9.98320681e-01 -1.49651532e-03 -2.49227855e-01] [-1.98142721e-02 3.49361929e-04 9.99803617e-01 3.21394038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.86, Y:-0.25, Z:3.21 [[ 9.98141080e-01 5.82754164e-02 1.78426715e-02 3.78860982e+02] [-5.82606010e-02 9.98300497e-01 -1.34946120e-03 -2.52810878e-01] [-1.78909882e-02 3.07427893e-04 9.99839896e-01 3.21248146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.89, Y:-0.26, Z:3.21 [[ 9.98168480e-01 5.83835614e-02 1.58443980e-02 3.78889819e+02] [-5.83719074e-02 9.98294188e-01 -1.19739227e-03 -2.56440711e-01] [-1.58872785e-02 2.70331484e-04 9.99873753e-01 3.21070184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.92, Y:-0.26, Z:3.21 [[ 9.98175883e-01 5.85419235e-02 1.47563544e-02 3.78917925e+02] [-5.85318442e-02 9.98284920e-01 -1.11437424e-03 -2.59770215e-01] [-1.47962837e-02 2.48624851e-04 9.99890498e-01 3.20928829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.95, Y:-0.26, Z:3.21 [[ 9.98167915e-01 5.85312825e-02 1.53265295e-02 3.78947016e+02] [-5.85204326e-02 9.98285542e-01 -1.15583216e-03 -2.63212185e-01] [-1.53679051e-02 2.56799446e-04 9.99881874e-01 3.20790940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.97, Y:-0.27, Z:3.21 [[ 9.98162598e-01 5.82412063e-02 1.67149419e-02 3.78974840e+02] [-5.82282815e-02 9.98302500e-01 -1.25929663e-03 -2.68662542e-01] [-1.67599112e-02 2.83700453e-04 9.99859503e-01 3.20753662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.00, Y:-0.27, Z:3.21 [[ 9.98175085e-01 5.78907759e-02 1.71801822e-02 3.79002671e+02] [-5.78770974e-02 9.98322879e-01 -1.29274177e-03 -2.72552405e-01] [-1.72262068e-02 2.96043552e-04 9.99851574e-01 3.20693339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.03, Y:-0.28, Z:3.21 [[ 9.98162841e-01 5.80816821e-02 1.72470810e-02 3.79030466e+02] [-5.80679521e-02 9.98311791e-01 -1.29622448e-03 -2.76854393e-01] [-1.72932513e-02 2.92340434e-04 9.99850418e-01 3.20607699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.06, Y:-0.28, Z:3.21 [[ 9.98197476e-01 5.77714180e-02 1.62561431e-02 3.79058247e+02] [-5.77591999e-02 9.98329798e-01 -1.22049781e-03 -2.82376408e-01] [-1.62995019e-02 2.79356020e-04 9.99867115e-01 3.20527612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.09, Y:-0.29, Z:3.20 [[ 9.98185917e-01 5.77849018e-02 1.69050161e-02 3.79086886e+02] [-5.77717213e-02 9.98329015e-01 -1.26739906e-03 -2.85712025e-01] [-1.69500046e-02 2.88468011e-04 9.99856297e-01 3.20399064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.12, Y:-0.29, Z:3.20 [[ 9.98188942e-01 5.77325973e-02 1.69051135e-02 3.79116120e+02] [-5.77194314e-02 9.98332041e-01 -1.26609865e-03 -2.87840317e-01] [-1.69500116e-02 2.88052133e-04 9.99856297e-01 3.20329202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.14, Y:-0.29, Z:3.20 [[ 9.98199275e-01 5.74358165e-02 1.73013003e-02 3.79144584e+02] [-5.74219960e-02 9.98349156e-01 -1.29494325e-03 -2.90794096e-01] [-1.73471147e-02 2.99136212e-04 9.99849483e-01 3.20281323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.17, Y:-0.29, Z:3.20 [[ 9.98204798e-01 5.72408196e-02 1.76258426e-02 3.79172983e+02] [-5.72264674e-02 9.98360353e-01 -1.31798316e-03 -2.93998059e-01] [-1.76723849e-02 3.06952401e-04 9.99843784e-01 3.20272358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.20, Y:-0.30, Z:3.20 [[ 9.98227162e-01 5.67172083e-02 1.80469474e-02 3.79200758e+02] [-5.67020993e-02 9.98390231e-01 -1.34821025e-03 -2.97436539e-01] [-1.80943628e-02 3.22520280e-04 9.99836232e-01 3.20214723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.23, Y:-0.30, Z:3.20 [[ 9.98258863e-01 5.60587231e-02 1.83483568e-02 3.79229273e+02] [-5.60430271e-02 9.98427416e-01 -1.36892448e-03 -3.03236251e-01] [-1.83962426e-02 3.38243537e-04 9.99830718e-01 3.20088951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.26, Y:-0.31, Z:3.20 [[ 9.98294628e-01 5.53774343e-02 1.84709389e-02 3.79258247e+02] [-5.53614360e-02 9.98465431e-01 -1.37673630e-03 -3.07074245e-01] [-1.85188341e-02 3.51810745e-04 9.99828450e-01 3.19962633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.29, Y:-0.31, Z:3.20 [[ 9.98335161e-01 5.46270042e-02 1.85147764e-02 3.79285997e+02] [-5.46108238e-02 9.98506764e-01 -1.37876850e-03 -3.10651935e-01] [-1.85624475e-02 3.65365880e-04 9.99827636e-01 3.19916465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.31, Y:-0.31, Z:3.20 [[ 9.98452697e-01 5.22155922e-02 1.91244436e-02 3.79314222e+02] [-5.21979233e-02 9.98635746e-01 -1.42224117e-03 -3.14639381e-01] [-1.91726162e-02 4.21784293e-04 9.99816100e-01 3.19923255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.34, Y:-0.32, Z:3.20 [[ 9.98511663e-01 5.08717767e-02 1.96601591e-02 3.79343663e+02] [-5.08528660e-02 9.98705087e-01 -1.46094330e-03 -3.17774322e-01] [-1.97090217e-02 4.58993490e-04 9.99805653e-01 3.19870670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.37, Y:-0.32, Z:3.20 [[ 9.98582404e-01 4.93208525e-02 2.00159109e-02 3.79373098e+02] [-4.93009543e-02 9.98782862e-01 -1.48665676e-03 -3.21232568e-01] [-2.00648720e-02 4.97745777e-04 9.99798556e-01 3.19818233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.40, Y:-0.33, Z:3.20 [[ 9.98642579e-01 4.79289996e-02 2.03914163e-02 3.79402125e+02] [-4.79080744e-02 9.98850602e-01 -1.51373409e-03 -3.25173533e-01] [-2.04405302e-02 5.34765830e-04 9.99790928e-01 3.19729111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.43, Y:-0.33, Z:3.20 [[ 9.98710621e-01 4.63688305e-02 2.06646330e-02 3.79432274e+02] [-4.63470158e-02 9.98924222e-01 -1.53358534e-03 -3.28879656e-01] [-2.07135130e-02 5.73863899e-04 9.99785287e-01 3.19649431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.46, Y:-0.33, Z:3.20 [[ 9.98756589e-01 4.53733556e-02 2.06527344e-02 3.79461955e+02] [-4.53513589e-02 9.98969922e-01 -1.53243744e-03 -3.32525488e-01] [-2.07009924e-02 5.93902421e-04 9.99785535e-01 3.19546596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.49, Y:-0.34, Z:3.19 [[ 9.98763060e-01 4.52150042e-02 2.06870371e-02 3.79492515e+02] [-4.51928593e-02 9.98977098e-01 -1.53696256e-03 -3.36481654e-01] [-2.07353701e-02 6.00155074e-04 9.99784819e-01 3.19458588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.52, Y:-0.34, Z:3.19 [[ 9.98741358e-01 4.56692015e-02 2.07370205e-02 3.79523833e+02] [-4.56470407e-02 9.98956442e-01 -1.54099098e-03 -3.39419064e-01] [-2.07857561e-02 5.92467802e-04 9.99783777e-01 3.19360832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.56, Y:-0.34, Z:3.19 [[ 9.98679452e-01 4.67971561e-02 2.11985338e-02 3.79555415e+02] [-4.67742353e-02 9.98904243e-01 -1.57605698e-03 -3.42602109e-01] [-2.12490603e-02 5.82430512e-04 9.99774044e-01 3.19248255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.59, Y:-0.35, Z:3.19 [[ 9.98540951e-01 4.98220072e-02 2.08263281e-02 3.79585246e+02] [-4.98005290e-02 9.98757983e-01 -1.54899279e-03 -3.45885909e-01] [-2.08776353e-02 5.09570581e-04 9.99781909e-01 3.19118694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.61, Y:-0.35, Z:3.19 [[ 9.98449187e-01 5.14742310e-02 2.12043592e-02 3.79614146e+02] [-5.14522935e-02 9.98674205e-01 -1.57921281e-03 -3.48279403e-01] [-2.12575353e-02 4.85750834e-04 9.99773915e-01 3.18984311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.64, Y:-0.35, Z:3.19 [[ 9.98348732e-01 5.33215584e-02 2.13686894e-02 3.79644248e+02] [-5.32997113e-02 9.98577293e-01 -1.59103132e-03 -3.50967479e-01] [-2.14231243e-02 4.49459126e-04 9.99770398e-01 3.18863272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.67, Y:-0.35, Z:3.19 [[ 9.98251221e-01 5.52106233e-02 2.11255018e-02 3.79674799e+02] [-5.51896935e-02 9.98474648e-01 -1.57292450e-03 -3.53563081e-01] [-2.11801201e-02 4.04263830e-04 9.99775594e-01 3.18740045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.70, Y:-0.36, Z:3.19 [[ 9.98104645e-01 5.80368343e-02 2.04656434e-02 3.79704150e+02] [-5.80177830e-02 9.98314387e-01 -1.52391387e-03 -3.55737591e-01] [-2.05195894e-02 3.33654253e-04 9.99789395e-01 3.18648865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.73, Y:-0.36, Z:3.19 [[ 9.97975090e-01 6.01616431e-02 2.06469493e-02 3.79733363e+02] [-6.01427230e-02 9.98188605e-01 -1.53665286e-03 -3.57717721e-01] [-2.07019971e-02 2.91777521e-04 9.99785648e-01 3.18588074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.76, Y:-0.36, Z:3.19 [[ 9.97954578e-01 6.04110318e-02 2.09085426e-02 3.79761467e+02] [-6.03916991e-02 9.98173544e-01 -1.55539752e-03 -3.59857384e-01] [-2.09643173e-02 2.89513655e-04 9.99780183e-01 3.18541845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.79, Y:-0.36, Z:3.18 [[ 9.98049657e-01 5.96602671e-02 1.83721077e-02 3.79791209e+02] [-5.96452310e-02 9.98218704e-01 -1.36576980e-03 -3.61627881e-01] [-1.84208637e-02 2.67297470e-04 9.99830286e-01 3.18478250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.82, Y:-0.36, Z:3.18 [[ 9.98167330e-01 5.75023607e-02 1.88536511e-02 3.79819425e+02] [-5.74861495e-02 9.98345321e-01 -1.40112713e-03 -3.63133265e-01] [-1.89030224e-02 3.14735527e-04 9.99821272e-01 3.18455808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.85, Y:-0.37, Z:3.18 [[ 9.98173657e-01 5.73923929e-02 1.88537677e-02 3.79848647e+02] [-5.73761918e-02 9.98351648e-01 -1.39955604e-03 -3.65245813e-01] [-1.89030139e-02 3.15242583e-04 9.99821272e-01 3.18385972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.88, Y:-0.37, Z:3.18 [[ 9.98269748e-01 5.55377150e-02 1.93151093e-02 3.79876956e+02] [-5.55204132e-02 9.98456526e-01 -1.43127045e-03 -3.66838910e-01] [-1.93647865e-02 3.56411141e-04 9.99812421e-01 3.18335327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.91, Y:-0.37, Z:3.18 [[ 9.98272593e-01 5.54865354e-02 1.93151569e-02 3.79906193e+02] [-5.54692364e-02 9.98459372e-01 -1.43062897e-03 -3.68941660e-01] [-1.93647800e-02 3.56760690e-04 9.99812421e-01 3.18265480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.94, Y:-0.37, Z:3.18 [[ 9.98275435e-01 5.54353473e-02 1.93152301e-02 3.79935430e+02] [-5.54180579e-02 9.98462215e-01 -1.42963874e-03 -3.71043077e-01] [-1.93647800e-02 3.56760690e-04 9.99812421e-01 3.18195627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.97, Y:-0.37, Z:3.18 [[ 9.98363466e-01 5.36991035e-02 1.96671270e-02 3.79965239e+02] [-5.36808633e-02 9.98557084e-01 -1.45457854e-03 -3.72987464e-01] [-1.97168585e-02 3.96449712e-04 9.99805525e-01 3.18165945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.00, Y:-0.38, Z:3.18 [[ 9.98465681e-01 5.16099242e-02 2.00673922e-02 3.79995535e+02] [-5.15905290e-02 9.98667220e-01 -1.48334923e-03 -3.75047008e-01] [-2.01172023e-02 4.45785919e-04 9.99797529e-01 3.18139182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.03, Y:-0.38, Z:3.18 [[ 9.98565408e-01 4.95154301e-02 2.03800930e-02 3.80025028e+02] [-4.94949871e-02 9.98773236e-01 -1.50658508e-03 -3.77498049e-01] [-2.04296906e-02 4.95711302e-04 9.99791169e-01 3.18072074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.06, Y:-0.38, Z:3.18 [[ 9.98684792e-01 4.70532817e-02 2.03635760e-02 3.80055356e+02] [-4.70323778e-02 9.98892232e-01 -1.50450861e-03 -3.80021846e-01] [-2.04118100e-02 5.44782471e-04 9.99791509e-01 3.17990130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.09, Y:-0.38, Z:3.18 [[ 9.98893533e-01 4.21834953e-02 2.07909194e-02 3.80085558e+02] [-4.21606506e-02 9.99109664e-01 -1.53608174e-03 -3.82280020e-01] [-2.08372058e-02 6.57823429e-04 9.99782665e-01 3.17899615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.12, Y:-0.38, Z:3.18 [[ 9.99001495e-01 3.97582273e-02 2.03787989e-02 3.80117622e+02] [-3.97357926e-02 9.99209088e-01 -1.50479052e-03 -3.84447469e-01] [-2.04225089e-02 6.93520253e-04 9.99791198e-01 3.17844877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.15, Y:-0.39, Z:3.18 [[ 9.99094808e-01 3.73738630e-02 2.03164477e-02 3.80149562e+02] [-3.73509706e-02 9.99301075e-01 -1.50521596e-03 -3.86402266e-01] [-2.03585038e-02 7.45014414e-04 9.99792467e-01 3.17772365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.18, Y:-0.39, Z:3.18 [[ 9.99170623e-01 3.55125006e-02 1.99230635e-02 3.80181669e+02] [-3.54900106e-02 9.99368933e-01 -1.48139064e-03 -3.88816374e-01] [-1.99630986e-02 7.73092277e-04 9.99800419e-01 3.17682918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.21, Y:-0.39, Z:3.18 [[ 9.99244409e-01 3.38520648e-02 1.90957929e-02 3.80213413e+02] [-3.38310453e-02 9.99426554e-01 -1.42280226e-03 -3.90987765e-01] [-1.91330072e-02 7.75696568e-04 9.99816646e-01 3.17603181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.25, Y:-0.39, Z:3.18 [[ 9.99300266e-01 3.22719319e-02 1.89076675e-02 3.80245827e+02] [-3.22509444e-02 9.99478803e-01 -1.41395055e-03 -3.93081392e-01] [-1.89434438e-02 8.03171033e-04 9.99820234e-01 3.17511529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.28, Y:-0.39, Z:3.17 [[ 9.99396729e-01 2.94770124e-02 1.83652718e-02 3.80279289e+02] [-2.94566628e-02 9.99565109e-01 -1.37763527e-03 -3.94638979e-01] [-1.83978935e-02 8.35824565e-04 9.99830395e-01 3.17397327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.31, Y:-0.40, Z:3.17 [[ 9.99425919e-01 2.85624793e-02 1.82213549e-02 3.80310910e+02] [-2.85421979e-02 9.99591647e-01 -1.37219699e-03 -3.96260666e-01] [-1.82531075e-02 8.51331722e-04 9.99833036e-01 3.17316410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.34, Y:-0.40, Z:3.17 [[ 9.99450310e-01 2.76935608e-02 1.82248496e-02 3.80343560e+02] [-2.76730392e-02 9.99616079e-01 -1.37730156e-03 -3.97776926e-01] [-1.82559951e-02 8.72207490e-04 9.99832965e-01 3.17236690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.38, Y:-0.40, Z:3.17 [[ 9.99514726e-01 2.53014398e-02 1.81700161e-02 3.80376648e+02] [-2.52805531e-02 9.99679446e-01 -1.37832563e-03 -3.97400592e-01] [-1.81990653e-02 9.18308709e-04 9.99833962e-01 3.17155888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.41, Y:-0.40, Z:3.17 [[ 9.99545881e-01 2.44004609e-02 1.76818943e-02 3.80409168e+02] [-2.43804397e-02 9.99701845e-01 -1.34700820e-03 -3.98608098e-01] [-1.77094900e-02 9.15304138e-04 9.99842756e-01 3.17060810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.44, Y:-0.40, Z:3.17 [[ 9.99571431e-01 2.33355861e-02 1.76749800e-02 3.80442604e+02] [-2.33153692e-02 9.99727250e-01 -1.34904891e-03 -3.99699315e-01] [-1.77016400e-02 9.36372066e-04 9.99842875e-01 3.16964187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.48, Y:-0.40, Z:3.17 [[ 9.99593865e-01 2.25705685e-02 1.73975628e-02 3.80475582e+02] [-2.25507789e-02 9.99744810e-01 -1.33286215e-03 -4.01048632e-01] [-1.74232066e-02 9.39992236e-04 9.99847763e-01 3.16878080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.51, Y:-0.40, Z:3.17 [[ 9.99618358e-01 2.16109065e-02 1.72077530e-02 3.80508067e+02] [-2.15913150e-02 9.99766004e-01 -1.32352265e-03 -4.02253980e-01] [-1.72323290e-02 9.51479523e-04 9.99851060e-01 3.16815778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.54, Y:-0.40, Z:3.17 [[ 9.99640921e-01 1.98638770e-02 1.79848519e-02 3.80540497e+02] [-1.98420983e-02 9.99802162e-01 -1.38859868e-03 -4.01912678e-01] [-1.80088768e-02 1.03124287e-03 9.99837295e-01 3.16773821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.57, Y:-0.40, Z:3.17 [[ 9.99649523e-01 1.93997199e-02 1.80133584e-02 3.80573488e+02] [-1.93777087e-02 9.99811260e-01 -1.39569681e-03 -4.02813843e-01] [-1.80370347e-02 1.04615004e-03 9.99836772e-01 3.16755425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.61, Y:-0.40, Z:3.17 [[ 9.99658249e-01 1.88038879e-02 1.81603972e-02 3.80606423e+02] [-1.87813221e-02 9.99822618e-01 -1.41235283e-03 -4.03445701e-01] [-1.81837336e-02 1.07079389e-03 9.99834089e-01 3.16716107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.64, Y:-0.40, Z:3.17 [[ 9.99659762e-01 1.85253975e-02 1.83621966e-02 3.80639657e+02] [-1.85021813e-02 9.99827792e-01 -1.43344072e-03 -4.04300527e-01] [-1.83855896e-02 1.09321232e-03 9.99830373e-01 3.16644109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.67, Y:-0.41, Z:3.17 [[ 9.99663339e-01 1.83283853e-02 1.83651336e-02 3.80673062e+02] [-1.83050311e-02 9.99831413e-01 -1.43897322e-03 -4.05329352e-01] [-1.83884115e-02 1.10231443e-03 9.99830311e-01 3.16587819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.71, Y:-0.40, Z:3.17 [[ 9.99659864e-01 1.85003315e-02 1.83819103e-02 3.80706070e+02] [-1.84768646e-02 9.99828243e-01 -1.44565580e-03 -4.04451821e-01] [-1.84054982e-02 1.10552402e-03 9.99829993e-01 3.16520057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.74, Y:-0.41, Z:3.16 [[ 9.99647082e-01 1.92500557e-02 1.83070046e-02 3.80738507e+02] [-1.92267950e-02 9.99814103e-01 -1.44576478e-03 -4.05203700e-01] [-1.83314324e-02 1.09326952e-03 9.99831367e-01 3.16473718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.77, Y:-0.41, Z:3.16 [[ 9.99613157e-01 2.06944790e-02 1.85815596e-02 3.80771456e+02] [-2.06707096e-02 9.99785257e-01 -1.47036398e-03 -4.05782125e-01] [-1.86079977e-02 1.08570116e-03 9.99826267e-01 3.16431435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.81, Y:-0.41, Z:3.16 [[ 9.99587513e-01 2.21607772e-02 1.82675691e-02 3.80805063e+02] [-2.21379535e-02 9.99753873e-01 -1.45071016e-03 -4.05975080e-01] [-1.82952219e-02 1.04570517e-03 9.99832082e-01 3.16424068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.84, Y:-0.40, Z:3.16 [[ 9.99489505e-01 2.61167905e-02 1.84022331e-02 3.80837528e+02] [-2.60941846e-02 9.99658412e-01 -1.46751688e-03 -4.03649698e-01] [-1.84342740e-02 9.86576452e-04 9.99829588e-01 3.16366807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.87, Y:-0.40, Z:3.16 [[ 9.99431363e-01 2.85424999e-02 1.79520817e-02 3.80870013e+02] [-2.85213189e-02 9.99592155e-01 -1.43484195e-03 -4.04053833e-01] [-1.79857140e-02 9.22008997e-04 9.99837819e-01 3.16326742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.90, Y:-0.40, Z:3.16 [[ 9.99261698e-01 3.37285706e-02 1.83967968e-02 3.80902626e+02] [-3.37024070e-02 9.99430414e-01 -1.73045731e-03 -4.01998528e-01] [-1.84446841e-02 1.10916338e-03 9.99829267e-01 3.16201800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.93, Y:-0.40, Z:3.16 [[ 9.99196809e-01 3.56773258e-02 1.82446130e-02 3.80933041e+02] [-3.56614918e-02 9.99363215e-01 -1.19258692e-03 -4.02397431e-01] [-1.82755434e-02 5.40998931e-04 9.99832842e-01 3.16134480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.96, Y:-0.40, Z:3.16 [[ 9.99007219e-01 4.06530772e-02 1.82181995e-02 3.80963917e+02] [-4.06330969e-02 9.99173060e-01 -1.46569581e-03 -4.00173289e-01] [-1.82627191e-02 7.23978833e-04 9.99832961e-01 3.15960018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.99, Y:-0.40, Z:3.16 [[ 9.99007959e-01 4.06349078e-02 1.82181914e-02 3.80993975e+02] [-4.06149227e-02 9.99173798e-01 -1.46579615e-03 -4.02560636e-01] [-1.82627020e-02 7.24411590e-04 9.99832961e-01 3.15888203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.02, Y:-0.40, Z:3.16 [[ 9.98743261e-01 4.66065716e-02 1.84316642e-02 3.81022643e+02] [-4.65871333e-02 9.98913129e-01 -1.48282108e-03 -4.00030942e-01] [-1.84807406e-02 6.22279162e-04 9.99829023e-01 3.15751906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.05, Y:-0.40, Z:3.16 [[ 9.98587292e-01 4.99384705e-02 1.81540257e-02 3.81051977e+02] [-4.99201791e-02 9.98752144e-01 -1.45961882e-03 -3.99777826e-01] [-1.82042633e-02 5.51304590e-04 9.99834137e-01 3.15674231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.08, Y:-0.40, Z:3.16 [[ 9.98590010e-01 4.98840620e-02 1.81541399e-02 3.81081197e+02] [-4.98657875e-02 9.98754863e-01 -1.45819726e-03 -4.02066247e-01] [-1.82042763e-02 5.50870737e-04 9.99834137e-01 3.15604384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.11, Y:-0.40, Z:3.15 [[ 9.98411407e-01 5.31640227e-02 1.86614575e-02 3.81110362e+02] [-5.31453028e-02 9.98585666e-01 -1.49797762e-03 -4.01947050e-01] [-1.87147025e-02 5.03829126e-04 9.99824738e-01 3.15483020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.14, Y:-0.40, Z:3.15 [[ 9.98238704e-01 5.63305264e-02 1.86107787e-02 3.81137968e+02] [-5.63124808e-02 9.98412077e-01 -1.49268731e-03 -4.02213833e-01] [-1.86653101e-02 4.42039129e-04 9.99825690e-01 3.15401008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.17, Y:-0.40, Z:3.15 [[ 9.98051774e-01 5.93981516e-02 1.90922771e-02 3.81165557e+02] [-5.93797575e-02 9.98234294e-01 -1.52939247e-03 -4.02396365e-01] [-1.91494088e-02 3.92718086e-04 9.99816556e-01 3.15311544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.19, Y:-0.40, Z:3.15 [[ 9.97894258e-01 6.20176126e-02 1.89964792e-02 3.81193294e+02] [-6.19999107e-02 9.98074998e-01 -1.51994753e-03 -4.02627218e-01] [-1.90541744e-02 3.38966902e-04 9.99818395e-01 3.15248526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.22, Y:-0.40, Z:3.15 [[ 9.97637796e-01 6.59426616e-02 1.92456082e-02 3.81221490e+02] [-6.59252621e-02 9.97823379e-01 -1.53781526e-03 -4.01203339e-01] [-1.93051254e-02 2.65410858e-04 9.99813603e-01 3.15172816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.25, Y:-0.40, Z:3.15 [[ 9.97576358e-01 6.68612492e-02 1.92609532e-02 3.81249548e+02] [-6.68440340e-02 9.97762253e-01 -1.53692381e-03 -4.01975067e-01] [-1.93206127e-02 2.45719050e-04 9.99813309e-01 3.15112707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.28, Y:-0.40, Z:3.15 [[ 9.97545622e-01 6.73319174e-02 1.92131335e-02 3.81276222e+02] [-6.73149137e-02 9.97730604e-01 -1.53109091e-03 -4.03193291e-01] [-1.92726226e-02 2.34002609e-04 9.99814238e-01 3.15076935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.30, Y:-0.40, Z:3.15 [[ 9.97573748e-01 6.67540747e-02 1.97613611e-02 3.81304479e+02] [-6.67360260e-02 9.97769428e-01 -1.57212715e-03 -4.04736351e-01] [-1.98222278e-02 2.49518068e-04 9.99803489e-01 3.14987933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.33, Y:-0.41, Z:3.15 [[ 9.97779187e-01 6.35853044e-02 1.98394288e-02 3.81332434e+02] [-6.35665311e-02 9.97976358e-01 -1.57609514e-03 -4.06952789e-01] [-1.98994974e-02 3.11471262e-04 9.99801937e-01 3.14917828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.36, Y:-0.41, Z:3.15 [[ 9.97929330e-01 6.11519462e-02 1.99371929e-02 3.81360018e+02] [-6.11325375e-02 9.98128404e-01 -1.58208061e-03 -4.09358782e-01] [-1.99966258e-02 3.59993452e-04 9.99799983e-01 3.14849741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.39, Y:-0.41, Z:3.15 [[ 9.98098209e-01 5.83294740e-02 1.99408699e-02 3.81388333e+02] [-5.83095351e-02 9.98297301e-01 -1.58036519e-03 -4.11863374e-01] [-1.99990984e-02 4.14616817e-04 9.99799912e-01 3.14797484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.42, Y:-0.41, Z:3.15 [[ 9.98482502e-01 5.15388542e-02 1.94020379e-02 3.81416195e+02] [-5.15187225e-02 9.98670847e-01 -1.53634268e-03 -4.14489478e-01] [-1.94554310e-02 5.34443077e-04 9.99810582e-01 3.14750316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.44, Y:-0.42, Z:3.15 [[ 9.98673347e-01 4.78543657e-02 1.90133289e-02 3.81444507e+02] [-4.78343998e-02 9.98854148e-01 -1.50376240e-03 -4.16986515e-01] [-1.90635040e-02 5.92276250e-04 9.99818099e-01 3.14703163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.47, Y:-0.42, Z:3.15 [[ 9.98833278e-01 4.42677410e-02 1.92989820e-02 3.81473632e+02] [-4.42465297e-02 9.99019479e-01 -1.52491613e-03 -4.19720879e-01] [-1.93475635e-02 6.69223996e-04 9.99812594e-01 3.14640515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.50, Y:-0.42, Z:3.15 [[ 9.98982700e-01 4.06118416e-02 1.96021077e-02 3.81502185e+02] [-4.05892863e-02 9.99174717e-01 -1.54730969e-03 -4.22411007e-01] [-1.96487696e-02 7.50100045e-04 9.99806663e-01 3.14576155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.53, Y:-0.43, Z:3.15 [[ 9.99116094e-01 3.72782412e-02 1.94258200e-02 3.81530244e+02] [-3.72554814e-02 9.99304599e-01 -1.53233236e-03 -4.25074009e-01] [-1.94694339e-02 8.07259651e-04 9.99810127e-01 3.14524701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.56, Y:-0.43, Z:3.14 [[ 9.99228080e-01 3.42440665e-02 1.92506388e-02 3.81559811e+02] [-3.42211748e-02 9.99413132e-01 -1.51740102e-03 -4.27978568e-01] [-1.92913032e-02 8.57450230e-04 9.99813538e-01 3.14458383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.59, Y:-0.43, Z:3.14 [[ 9.99364170e-01 3.01133922e-02 1.90903096e-02 3.81589751e+02] [-3.00901463e-02 9.99546058e-01 -1.50381773e-03 -4.30641451e-01] [-1.91269287e-02 9.28431346e-04 9.99816632e-01 3.14344203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.62, Y:-0.43, Z:3.14 [[ 9.99405445e-01 2.87665588e-02 1.90063411e-02 3.81621276e+02] [-2.87432692e-02 9.99585705e-01 -1.49746060e-03 -4.32952866e-01] [-1.90415436e-02 9.50265897e-04 9.99818242e-01 3.14234394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.65, Y:-0.44, Z:3.14 [[ 9.99425749e-01 2.81595500e-02 1.88470836e-02 3.81652896e+02] [-2.81365469e-02 9.99602987e-01 -1.48462204e-03 -4.35410259e-01] [-1.88814074e-02 9.53477641e-04 9.99821276e-01 3.14127495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.68, Y:-0.44, Z:3.14 [[ 9.99435484e-01 2.76666861e-02 1.90596084e-02 3.81683998e+02] [-2.76429851e-02 9.99616725e-01 -1.50590693e-03 -4.36821556e-01] [-1.90939668e-02 9.78192350e-04 9.99817215e-01 3.14025468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.72, Y:-0.44, Z:3.14 [[ 9.99418805e-01 2.80671654e-02 1.93464998e-02 3.81716244e+02] [-2.80427337e-02 9.99605550e-01 -1.53303832e-03 -4.38630742e-01] [-1.93818967e-02 9.89618582e-04 9.99811664e-01 3.13962223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.75, Y:-0.44, Z:3.14 [[ 9.99403253e-01 2.84397036e-02 1.96040962e-02 3.81748168e+02] [-2.84145884e-02 9.99595009e-01 -1.55853716e-03 -4.40229465e-01] [-1.96404811e-02 1.00056478e-03 9.99806606e-01 3.13868334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.78, Y:-0.44, Z:3.14 [[ 9.99400263e-01 2.86852273e-02 1.93977354e-02 3.81779657e+02] [-2.86605776e-02 9.99588003e-01 -1.54761899e-03 -4.41852850e-01] [-1.94341374e-02 9.90740523e-04 9.99810648e-01 3.13773109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.81, Y:-0.44, Z:3.14 [[ 9.99401127e-01 2.87207468e-02 1.93004044e-02 3.81811443e+02] [-2.86963066e-02 9.99586987e-01 -1.54211885e-03 -4.43450787e-01] [-1.93367239e-02 9.87344998e-04 9.99812541e-01 3.13685276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.84, Y:-0.44, Z:3.14 [[ 9.99428560e-01 2.80900587e-02 1.88016284e-02 3.81842353e+02] [-2.80666547e-02 9.99604917e-01 -1.50755683e-03 -4.44920930e-01] [-1.88365476e-02 9.78996541e-04 9.99822097e-01 3.13603191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.87, Y:-0.45, Z:3.13 [[ 9.99517309e-01 2.52114200e-02 1.81530490e-02 3.81873426e+02] [-2.51890732e-02 9.99681641e-01 -1.45865318e-03 -4.45374754e-01] [-1.81840446e-02 1.00069062e-03 9.99834156e-01 3.13475851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.90, Y:-0.45, Z:3.13 [[ 9.99558838e-01 2.36419071e-02 1.79774484e-02 3.81904828e+02] [-2.36197467e-02 9.99719972e-01 -1.44403868e-03 -4.47197343e-01] [-1.80065541e-02 1.01877884e-03 9.99837350e-01 3.13363912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.94, Y:-0.45, Z:3.13 [[ 9.99612192e-01 2.17924527e-02 1.73365038e-02 3.81936678e+02] [-2.17715018e-02 9.99761998e-01 -1.39632729e-03 -4.49069308e-01] [-1.73628071e-02 1.01834406e-03 9.99848737e-01 3.13267202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.97, Y:-0.45, Z:3.13 [[ 9.99658169e-01 1.99042644e-02 1.69518647e-02 3.81969175e+02] [-1.98838916e-02 9.99801358e-01 -1.36952182e-03 -4.51042249e-01] [-1.69757567e-02 1.03198464e-03 9.99855369e-01 3.13158232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.00, Y:-0.45, Z:3.13 [[ 9.99734507e-01 1.58638303e-02 1.67109336e-02 3.82002319e+02] [-1.58433968e-02 9.99873568e-01 -1.35445040e-03 -4.51718476e-01] [-1.67303076e-02 1.08933285e-03 9.99859445e-01 3.13094839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.04, Y:-0.45, Z:3.13 [[ 9.99752641e-01 1.46358882e-02 1.67465971e-02 3.82035477e+02] [-1.46151111e-02 9.99892265e-01 -1.36239340e-03 -4.53160402e-01] [-1.67647328e-02 1.11730303e-03 9.99858838e-01 3.13018172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.07, Y:-0.45, Z:3.13 [[ 9.99774257e-01 1.32865941e-02 1.65801826e-02 3.82068640e+02] [-1.32659618e-02 9.99911087e-01 -1.35376291e-03 -4.54217065e-01] [-1.65966954e-02 1.13350523e-03 9.99861623e-01 3.12948950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.10, Y:-0.46, Z:3.13 [[ 9.99781829e-01 1.27767012e-02 1.65242288e-02 3.82100269e+02] [-1.27560547e-02 9.99917721e-01 -1.35426414e-03 -4.55276048e-01] [-1.65401722e-02 1.14318471e-03 9.99862548e-01 3.12888972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.13, Y:-0.45, Z:3.13 [[ 9.99776194e-01 1.26550972e-02 1.69532077e-02 3.82133791e+02] [-1.26332663e-02 9.99919225e-01 -1.39419493e-03 -4.54534029e-01] [-1.69694820e-02 1.17970852e-03 9.99855312e-01 3.12894940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.17, Y:-0.46, Z:3.13 [[ 9.99755288e-01 1.36885382e-02 1.73778145e-02 3.82166499e+02] [-1.36656622e-02 9.99905592e-01 -1.43446304e-03 -4.55550190e-01] [-1.73958096e-02 1.19663267e-03 9.99847965e-01 3.12874488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.20, Y:-0.46, Z:3.13 [[ 9.99720309e-01 1.51750992e-02 1.81388963e-02 3.82198512e+02] [-1.51503138e-02 9.99884098e-01 -1.50306750e-03 -4.56311700e-01] [-1.81596032e-02 1.22783713e-03 9.99834347e-01 3.12838705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.23, Y:-0.46, Z:3.13 [[ 9.99679223e-01 1.71141590e-02 1.86696825e-02 3.82231575e+02] [-1.70881404e-02 9.99852782e-01 -1.55227830e-03 -4.56928517e-01] [-1.86935000e-02 1.23275021e-03 9.99824501e-01 3.12812717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.26, Y:-0.46, Z:3.13 [[ 9.99620677e-01 1.97664068e-02 1.91778643e-02 3.82263746e+02] [-1.97393246e-02 9.99803880e-01 -1.60044440e-03 -4.57512159e-01] [-1.92057382e-02 1.22127923e-03 9.99814807e-01 3.12777007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.30, Y:-0.46, Z:3.13 [[ 9.99444581e-01 2.60883427e-02 2.07346886e-02 3.82296184e+02] [-2.60578997e-02 9.99658926e-01 -1.73709086e-03 -4.55581225e-01] [-2.07729344e-02 1.19582361e-03 9.99783504e-01 3.12781103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.33, Y:-0.46, Z:3.13 [[ 9.99312250e-01 3.03844666e-02 2.12558535e-02 3.82328194e+02] [-3.03534085e-02 9.99537640e-01 -1.78234056e-03 -4.55726478e-01] [-2.13001811e-02 1.13592715e-03 9.99772480e-01 3.12733275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.36, Y:-0.46, Z:3.13 [[ 9.99171242e-01 3.46176859e-02 2.14113269e-02 3.82359398e+02] [-3.45870149e-02 9.99400067e-01 -1.80124205e-03 -4.55667024e-01] [-2.14608363e-02 1.05919537e-03 9.99769129e-01 3.12642884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.39, Y:-0.45, Z:3.13 [[ 9.98827414e-01 4.36591537e-02 2.09207006e-02 3.82389671e+02] [-4.36318326e-02 9.99046126e-01 -1.76083337e-03 -4.53317355e-01] [-2.09776214e-02 8.45960137e-04 9.99779588e-01 3.12525339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.42, Y:-0.45, Z:3.12 [[ 9.98636184e-01 4.79896584e-02 2.05612619e-02 3.82418566e+02] [-4.79641881e-02 9.98847557e-01 -1.73040294e-03 -4.53486430e-01] [-2.06206076e-02 7.41838753e-04 9.99787097e-01 3.12428146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.45, Y:-0.45, Z:3.12 [[ 9.98441198e-01 5.20339765e-02 2.01900884e-02 3.82446242e+02] [-5.20102712e-02 9.98645107e-01 -1.69779284e-03 -4.53680252e-01] [-2.02510759e-02 6.45054345e-04 9.99794718e-01 3.12357912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.47, Y:-0.45, Z:3.12 [[ 9.98246273e-01 5.57608346e-02 1.98773393e-02 3.82473822e+02] [-5.57386297e-02 9.98443998e-01 -1.66980642e-03 -4.53829058e-01] [-1.99395199e-02 5.58942379e-04 9.99801032e-01 3.12293681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.50, Y:-0.45, Z:3.12 [[ 9.98043218e-01 5.92383921e-02 2.00136904e-02 3.82501860e+02] [-5.92166234e-02 9.98243744e-01 -1.67909688e-03 -4.54160143e-01] [-2.00780082e-02 4.90668082e-04 9.99798296e-01 3.12234048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.53, Y:-0.45, Z:3.12 [[ 9.97622594e-01 6.59821959e-02 1.98874413e-02 3.82529192e+02] [-6.59620812e-02 9.97820739e-01 -1.66642463e-03 -4.52909668e-01] [-1.99540558e-02 3.50645840e-04 9.99800837e-01 3.12222239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.56, Y:-0.45, Z:3.12 [[ 9.97404761e-01 6.91258710e-02 2.01334510e-02 3.82556965e+02] [-6.91059487e-02 9.97607904e-01 -1.68441300e-03 -4.53694689e-01] [-2.02017264e-02 2.88700311e-04 9.99795883e-01 3.12145921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.58, Y:-0.45, Z:3.12 [[ 9.97220323e-01 7.17675383e-02 2.00262033e-02 3.82583946e+02] [-7.17484027e-02 9.97421359e-01 -1.67331873e-03 -4.54457104e-01] [-2.00946529e-02 2.31819346e-04 9.99798055e-01 3.12082464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.61, Y:-0.46, Z:3.12 [[ 9.97043429e-01 7.43053015e-02 1.95735259e-02 3.82610858e+02] [-7.42875529e-02 9.97235525e-01 -1.63331678e-03 -4.55546977e-01] [-1.96407794e-02 1.74418422e-04 9.99807086e-01 3.12011968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.64, Y:-0.46, Z:3.12 [[ 9.96731544e-01 7.84397193e-02 1.93245810e-02 3.82639265e+02] [-7.84232706e-02 9.96918855e-01 -1.60870156e-03 -4.56293002e-01] [-1.93912252e-02 8.79467487e-05 9.99811969e-01 3.11951765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.67, Y:-0.46, Z:3.12 [[ 9.96607474e-01 8.00553856e-02 1.90965240e-02 3.82667159e+02] [-8.00396587e-02 9.96790415e-01 -1.58767060e-03 -4.58174952e-01] [-1.91623336e-02 5.38051255e-05 9.99816384e-01 3.11853756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.70, Y:-0.46, Z:3.12 [[ 9.96521583e-01 8.11557916e-02 1.89333772e-02 3.82695189e+02] [-8.11405697e-02 9.96701428e-01 -1.57206195e-03 -4.60319343e-01] [-1.89985060e-02 3.03286550e-05 9.99819512e-01 3.11783502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.72, Y:-0.46, Z:3.12 [[ 9.96492846e-01 8.16064354e-02 1.85040046e-02 3.82722644e+02] [-8.15920101e-02 9.96664632e-01 -1.53445559e-03 -4.62582665e-01] [-1.85675084e-02 1.92950902e-05 9.99827609e-01 3.11724429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.75, Y:-0.47, Z:3.12 [[ 9.96488613e-01 8.17706049e-02 1.80003532e-02 3.82750356e+02] [-8.17570150e-02 9.96651177e-01 -1.49081311e-03 -4.65032126e-01] [-1.80619779e-02 1.39231386e-05 9.99836869e-01 3.11643962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.78, Y:-0.47, Z:3.12 [[ 9.96605450e-01 8.02617613e-02 1.83200965e-02 3.82778613e+02] [-8.02474659e-02 9.96773820e-01 -1.51530465e-03 -4.68463551e-01] [-1.83826136e-02 4.00195589e-05 9.99831025e-01 3.11590662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.81, Y:-0.47, Z:3.12 [[ 9.96729136e-01 7.85887210e-02 1.88372810e-02 3.82805274e+02] [-7.85733470e-02 9.96907121e-01 -1.55603139e-03 -4.71510721e-01] [-1.89013061e-02 7.08336106e-05 9.99821352e-01 3.11531198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.83, Y:-0.47, Z:3.11 [[ 9.96898573e-01 7.63103889e-02 1.92343476e-02 3.82833113e+02] [-7.62939856e-02 9.97084105e-01 -1.58624672e-03 -4.74539528e-01] [-1.92993093e-02 1.13862056e-04 9.99813745e-01 3.11484145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.86, Y:-0.48, Z:3.11 [[ 9.97243949e-01 7.12282862e-02 2.07614597e-02 3.82860912e+02] [-7.12081244e-02 9.97460014e-01 -1.70971749e-03 -4.80077894e-01] [-2.08305062e-02 2.26620817e-04 9.99782996e-01 3.11366408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.89, Y:-0.48, Z:3.11 [[ 9.97444398e-01 6.82578853e-02 2.11076779e-02 3.82887748e+02] [-6.82364255e-02 9.97667668e-01 -1.73609121e-03 -4.84302345e-01] [-2.11769497e-02 2.91341961e-04 9.99775701e-01 3.11305677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.91, Y:-0.49, Z:3.11 [[ 9.97641884e-01 6.52232392e-02 2.13681910e-02 3.82914358e+02] [-6.52006366e-02 9.97870634e-01 -1.75350074e-03 -4.88553629e-01] [-2.14370593e-02 3.56146127e-04 9.99770136e-01 3.11205954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.94, Y:-0.49, Z:3.11 [[ 9.97647637e-01 6.51350908e-02 2.13684821e-02 3.82942730e+02] [-6.51125441e-02 9.97876392e-01 -1.74994483e-03 -4.90789205e-01] [-2.14370867e-02 3.54472090e-04 9.99770136e-01 3.11138055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.97, Y:-0.50, Z:3.11 [[ 9.97817727e-01 6.23907835e-02 2.16142018e-02 3.82970296e+02] [-6.23671127e-02 9.98051711e-01 -1.76816690e-03 -4.95128497e-01] [-2.16824084e-02 4.16292921e-04 9.99764822e-01 3.11026804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.00, Y:-0.50, Z:3.11 [[ 9.98092392e-01 5.77484125e-02 2.18333930e-02 3.82997824e+02] [-5.77232019e-02 9.98331033e-01 -1.78366946e-03 -5.01099552e-01] [-2.18999579e-02 5.19973562e-04 9.99760032e-01 3.10923644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.03, Y:-0.50, Z:3.11 [[ 9.98228625e-01 5.59900025e-02 2.01179276e-02 3.83026025e+02] [-5.58894522e-02 9.98421668e-01 -5.52644769e-03 -5.03165571e-01] [-2.03956007e-02 4.39227832e-03 9.99782340e-01 3.10945363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.05, Y:-0.51, Z:3.11 [[ 9.98240648e-01 5.50155035e-02 2.21111687e-02 3.83053552e+02] [-5.50720939e-02 9.98480461e-01 1.95817113e-03 -5.10913217e-01] [-2.19698401e-02 -3.17243438e-03 9.99753601e-01 3.10637794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.08, Y:-0.51, Z:3.11 [[ 9.98281110e-01 5.45659052e-02 2.13866041e-02 3.83081594e+02] [-5.45411517e-02 9.98510009e-01 -1.73945239e-03 -5.12871094e-01] [-2.14496531e-02 5.70012441e-04 9.99769767e-01 3.10680879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.11, Y:-0.52, Z:3.11 [[ 9.98281394e-01 5.48204658e-02 2.07116919e-02 3.83109682e+02] [-5.47973468e-02 9.98496079e-01 -1.68254918e-03 -5.17930039e-01] [-2.07727812e-02 5.44711777e-04 9.99784074e-01 3.10569337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.14, Y:-0.52, Z:3.11 [[ 9.98270269e-01 5.52132244e-02 2.01982762e-02 3.83137775e+02] [-5.51913617e-02 9.98474451e-01 -1.63867397e-03 -5.21421505e-01] [-2.02579392e-02 5.21069137e-04 9.99794651e-01 3.10501012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.17, Y:-0.52, Z:3.10 [[ 9.98212474e-01 5.63064110e-02 2.00360889e-02 3.83165220e+02] [-5.62851519e-02 9.98413414e-01 -1.62383218e-03 -5.24808842e-01] [-2.00957320e-02 4.93195232e-04 9.99797939e-01 3.10410192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.19, Y:-0.53, Z:3.10 [[ 9.98063912e-01 5.92064981e-02 1.90530301e-02 3.83193017e+02] [-5.91878411e-02 9.98245672e-01 -1.54212951e-03 -5.28665075e-01] [-1.91109089e-02 4.11436093e-04 9.99817285e-01 3.10357411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.22, Y:-0.53, Z:3.10 [[ 9.97983546e-01 6.06417822e-02 1.87461215e-02 3.83220505e+02] [-6.06240043e-02 9.98159523e-01 -1.51570754e-03 -5.31212656e-01] [-1.88035349e-02 3.76186234e-04 9.99823127e-01 3.10295442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.25, Y:-0.53, Z:3.10 [[ 9.97900310e-01 6.20622077e-02 1.85271272e-02 3.83248475e+02] [-6.20451226e-02 9.98072224e-01 -1.49610917e-03 -5.33770765e-01] [-1.85842629e-02 3.43449924e-04 9.99827239e-01 3.10257647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.28, Y:-0.54, Z:3.10 [[ 9.97740349e-01 6.47358326e-02 1.79852291e-02 3.83276538e+02] [-6.47201986e-02 9.97902396e-01 -1.45057450e-03 -5.36907606e-01] [-1.80414074e-02 2.83289104e-04 9.99837200e-01 3.10210858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.30, Y:-0.54, Z:3.10 [[ 9.97679583e-01 6.57255060e-02 1.77653733e-02 3.83304669e+02] [-6.57104405e-02 9.97837707e-01 -1.43106030e-03 -5.39557780e-01] [-1.78210165e-02 2.60369141e-04 9.99841159e-01 3.10146222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.33, Y:-0.54, Z:3.10 [[ 9.97615484e-01 6.66411310e-02 1.79528729e-02 3.83332003e+02] [-6.66259282e-02 9.97776979e-01 -1.44426555e-03 -5.42458184e-01] [-1.80092108e-02 2.44694861e-04 9.99837791e-01 3.10059575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.36, Y:-0.55, Z:3.10 [[ 9.97574672e-01 6.73424588e-02 1.76001873e-02 3.83358615e+02] [-6.73279882e-02 9.97729894e-01 -1.41410463e-03 -5.45234335e-01] [-1.76554623e-02 2.25689762e-04 9.99844105e-01 3.09999520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.39, Y:-0.55, Z:3.10 [[ 9.97559628e-01 6.76807542e-02 1.71494889e-02 3.83386346e+02] [-6.76671040e-02 9.97707006e-01 -1.37564589e-03 -5.48046965e-01] [-1.72032700e-02 2.11832554e-04 9.99851990e-01 3.09942040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.41, Y:-0.55, Z:3.10 [[ 9.97555462e-01 6.77053272e-02 1.72941962e-02 3.83412788e+02] [-6.76914736e-02 9.97705339e-01 -1.38585457e-03 -5.51016192e-01] [-1.73483416e-02 2.11797165e-04 9.99849484e-01 3.09895099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.44, Y:-0.56, Z:3.10 [[ 9.97607269e-01 6.68261101e-02 1.77202614e-02 3.83440772e+02] [-6.68114957e-02 9.97764611e-01 -1.41611700e-03 -5.55370572e-01] [-1.77752833e-02 2.28811444e-04 9.99841981e-01 3.09867462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.47, Y:-0.56, Z:3.10 [[ 9.97645316e-01 6.60785086e-02 1.83699486e-02 3.83467076e+02] [-6.60627122e-02 9.97814396e-01 -1.46607648e-03 -5.58821160e-01] [-1.84266753e-02 2.49055705e-04 9.99830183e-01 3.09797751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.49, Y:-0.56, Z:3.10 [[ 9.97732667e-01 6.48153618e-02 1.81243863e-02 3.83494621e+02] [-6.47998177e-02 9.97897238e-01 -1.44421587e-03 -5.62421805e-01] [-1.81798824e-02 2.66484424e-04 9.99834697e-01 3.09718405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.52, Y:-0.57, Z:3.10 [[ 9.97826573e-01 6.33894278e-02 1.79975370e-02 3.83520899e+02] [-6.33739027e-02 9.97988826e-01 -1.43222200e-03 -5.65859324e-01] [-1.80521285e-02 2.88535008e-04 9.99837005e-01 3.09624968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.55, Y:-0.57, Z:3.09 [[ 9.98073003e-01 5.97032687e-02 1.69056400e-02 3.83548577e+02] [-5.96890777e-02 9.98216114e-01 -1.34321100e-03 -5.70558472e-01] [-1.69556764e-02 3.31540579e-04 9.99856187e-01 3.09487495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.58, Y:-0.57, Z:3.09 [[ 9.98200594e-01 5.77040235e-02 1.63039588e-02 3.83576428e+02] [-5.76905878e-02 9.98333673e-01 -1.29359506e-03 -5.73771842e-01] [-1.63514367e-02 3.50682395e-04 9.99866245e-01 3.09395569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.60, Y:-0.58, Z:3.09 [[ 9.98324549e-01 5.55277347e-02 1.62716293e-02 3.83604378e+02] [-5.55140860e-02 9.98457071e-01 -1.28963753e-03 -5.77060436e-01] [-1.63181340e-02 3.84172181e-04 9.99866777e-01 3.09308637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.63, Y:-0.58, Z:3.09 [[ 9.98438667e-01 5.33072096e-02 1.66904296e-02 3.83632783e+02] [-5.32925748e-02 9.98578068e-01 -1.32069916e-03 -5.80440192e-01] [-1.67370998e-02 4.29161139e-04 9.99859833e-01 3.09190193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.66, Y:-0.58, Z:3.09 [[ 9.98605402e-01 4.97527340e-02 1.76611800e-02 3.83660068e+02] [-4.97358144e-02 9.98761433e-01 -1.39622216e-03 -5.84666176e-01] [-1.77087713e-02 5.15881818e-04 9.99843054e-01 3.09130079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.69, Y:-0.59, Z:3.09 [[ 9.98679108e-01 4.80265710e-02 1.82616279e-02 3.83688377e+02] [-4.80082265e-02 9.98845900e-01 -1.44185387e-03 -5.87682601e-01] [-1.83097995e-02 5.63240963e-04 9.99832203e-01 3.09074495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.72, Y:-0.59, Z:3.09 [[ 9.98738670e-01 4.65689962e-02 1.87722361e-02 3.83717320e+02] [-4.65493808e-02 9.98914893e-01 -1.48076008e-03 -5.90638332e-01] [-1.88208237e-02 6.05056389e-04 9.99822690e-01 3.09027806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.75, Y:-0.59, Z:3.09 [[ 9.98805349e-01 4.42854879e-02 2.06559802e-02 3.83746237e+02] [-4.42612841e-02 9.99018663e-01 -1.62769090e-03 -5.94333850e-01] [-2.07077929e-02 7.11486169e-04 9.99785318e-01 3.08963581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.78, Y:-0.60, Z:3.09 [[ 9.98836378e-01 4.32468867e-02 2.13447141e-02 3.83776163e+02] [-4.32208407e-02 9.99064130e-01 -1.68028741e-03 -5.96926435e-01] [-2.13974055e-02 7.55795705e-04 9.99770764e-01 3.08915307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.80, Y:-0.60, Z:3.09 [[ 9.98847364e-01 4.27296223e-02 2.18660210e-02 3.83804915e+02] [-4.27021818e-02 9.99086364e-01 -1.72053376e-03 -5.99431901e-01] [-2.19195611e-02 7.84823805e-04 9.99759430e-01 3.08846554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.83, Y:-0.60, Z:3.09 [[ 9.98864334e-01 4.21348788e-02 2.22417419e-02 3.83834495e+02] [-4.21063679e-02 9.99111603e-01 -1.74883374e-03 -6.01676213e-01] [-2.22956693e-02 8.10328683e-04 9.99751092e-01 3.08798976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.86, Y:-0.60, Z:3.09 [[ 9.98869110e-01 4.16969152e-02 2.28444583e-02 3.83863658e+02] [-4.16667430e-02 9.99129951e-01 -1.79537124e-03 -6.04028341e-01] [-2.28994440e-02 8.41486699e-04 9.99737419e-01 3.08711967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.89, Y:-0.61, Z:3.09 [[ 9.98894436e-01 4.15034829e-02 2.20763649e-02 3.83893036e+02] [-4.14752779e-02 9.99138026e-01 -1.73414571e-03 -6.06545071e-01] [-2.21293087e-02 8.16605129e-04 9.99754783e-01 3.08642312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.92, Y:-0.61, Z:3.09 [[ 9.98915613e-01 4.11643321e-02 2.17507693e-02 3.83922609e+02] [-4.11368611e-02 9.99152059e-01 -1.70910515e-03 -6.09112150e-01] [-2.18026801e-02 8.12493443e-04 9.99761963e-01 3.08524221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.95, Y:-0.61, Z:3.08 [[ 9.98948761e-01 4.06377951e-02 2.12118502e-02 3.83952592e+02] [-4.06115659e-02 9.99173621e-01 -1.66602362e-03 -6.11604429e-01] [-2.12620247e-02 8.02825779e-04 9.99773615e-01 3.08428007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.98, Y:-0.61, Z:3.08 [[ 9.99000625e-01 3.98382573e-02 2.02648812e-02 3.83981440e+02] [-3.98141667e-02 9.99205835e-01 -1.59101506e-03 -6.13796057e-01] [-2.03121708e-02 7.82595677e-04 9.99793380e-01 3.08367495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.01, Y:-0.62, Z:3.08 [[ 9.99075338e-01 3.82344318e-02 1.96620816e-02 3.84009574e+02] [-3.82114633e-02 9.99268485e-01 -1.54266881e-03 -6.15893163e-01] [-1.97066816e-02 7.89925454e-04 9.99805492e-01 3.08292142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.04, Y:-0.62, Z:3.08 [[ 9.99132958e-01 3.71575442e-02 1.87789537e-02 3.84038215e+02] [-3.71364221e-02 9.99309120e-01 -1.47237235e-03 -6.17942718e-01] [-1.88206894e-02 7.73712594e-04 9.99822576e-01 3.08245369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.07, Y:-0.62, Z:3.08 [[ 9.99180970e-01 3.60815348e-02 1.83169846e-02 3.84067991e+02] [-3.60612719e-02 9.99348550e-01 -1.43543816e-03 -6.19917995e-01] [-1.83568448e-02 7.73728731e-04 9.99831200e-01 3.08171146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.10, Y:-0.62, Z:3.08 [[ 9.99221761e-01 3.51357355e-02 1.79263332e-02 3.84096534e+02] [-3.51161853e-02 9.99382250e-01 -1.40429397e-03 -6.22120604e-01] [-1.79646002e-02 7.73696650e-04 9.99838324e-01 3.08071614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.13, Y:-0.62, Z:3.08 [[ 9.99316178e-01 3.32288842e-02 1.62178477e-02 3.84125910e+02] [-3.32126471e-02 9.99447502e-01 -1.26957142e-03 -6.23540546e-01] [-1.62510739e-02 7.30065604e-04 9.99867676e-01 3.07942339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.15, Y:-0.62, Z:3.08 [[ 9.99333995e-01 3.26621010e-02 1.62712222e-02 3.84154361e+02] [-3.26456895e-02 9.99466176e-01 -1.27328395e-03 -6.24914540e-01] [-1.63041244e-02 7.41250672e-04 9.99866804e-01 3.07825716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.18, Y:-0.63, Z:3.08 [[ 9.99345507e-01 3.25502223e-02 1.57810433e-02 3.84184312e+02] [-3.25347861e-02 9.99469842e-01 -1.23396773e-03 -6.26465144e-01] [-1.58128428e-02 7.19727236e-04 9.99874710e-01 3.07779592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.21, Y:-0.63, Z:3.08 [[ 9.99337172e-01 3.24502776e-02 1.64983451e-02 3.84212750e+02] [-3.24334010e-02 9.99473067e-01 -1.28953398e-03 -6.26413354e-01] [-1.65314973e-02 7.53581800e-04 9.99863061e-01 3.07720194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.24, Y:-0.63, Z:3.08 [[ 9.99334471e-01 3.25336551e-02 1.64977760e-02 3.84241162e+02] [-3.25168062e-02 9.99470358e-01 -1.28857609e-03 -6.27390602e-01] [-1.65309602e-02 7.51263523e-04 9.99863072e-01 3.07721425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.27, Y:-0.63, Z:3.08 [[ 9.99322951e-01 3.25407101e-02 1.71680522e-02 3.84270516e+02] [-3.25224842e-02 9.99470106e-01 -1.33981954e-03 -6.28233804e-01] [-1.72025536e-02 7.80564705e-04 9.99851720e-01 3.07671169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.30, Y:-0.63, Z:3.08 [[ 9.99311286e-01 3.24805360e-02 1.79434728e-02 3.84300087e+02] [-3.24606289e-02 9.99472035e-01 -1.39964924e-03 -6.28986912e-01] [-1.79794607e-02 8.16228870e-04 9.99838023e-01 3.07627381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.33, Y:-0.63, Z:3.08 [[ 9.99314421e-01 3.22238321e-02 1.82294595e-02 3.84329803e+02] [-3.22032567e-02 9.99480330e-01 -1.42118935e-03 -6.28744337e-01] [-1.82657823e-02 8.33167055e-04 9.99832820e-01 3.07645886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.36, Y:-0.63, Z:3.08 [[ 9.99331502e-01 3.14508181e-02 1.86385226e-02 3.84359676e+02] [-3.14291794e-02 9.99504925e-01 -1.45282736e-03 -6.29612647e-01] [-1.86749878e-02 8.66062678e-04 9.99825232e-01 3.07624717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.39, Y:-0.63, Z:3.08 [[ 9.99336973e-01 3.09213334e-02 1.92220128e-02 3.84389612e+02] [-3.08982359e-02 9.99521414e-01 -1.49752194e-03 -6.30607848e-01] [-1.92591188e-02 9.02602754e-04 9.99814119e-01 3.07539195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.42, Y:-0.63, Z:3.07 [[ 9.99350985e-01 3.04485354e-02 1.92482570e-02 3.84419688e+02] [-3.04252953e-02 9.99535919e-01 -1.49914969e-03 -6.31718014e-01] [-1.92849712e-02 9.12542811e-04 9.99813611e-01 3.07494499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.45, Y:-0.63, Z:3.07 [[ 9.99392191e-01 2.92226901e-02 1.90074542e-02 3.84450589e+02] [-2.91998083e-02 9.99572499e-01 -1.48031321e-03 -6.31716213e-01] [-1.90425872e-02 9.24399446e-04 9.99818246e-01 3.07424530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.48, Y:-0.63, Z:3.07 [[ 9.99410352e-01 2.86308329e-02 1.89531727e-02 3.84480786e+02] [-2.86079676e-02 9.99589618e-01 -1.47649763e-03 -6.32853788e-01] [-1.89876681e-02 9.33415262e-04 9.99819282e-01 3.07345701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.51, Y:-0.63, Z:3.07 [[ 9.99433006e-01 2.82632749e-02 1.82990031e-02 3.84511668e+02] [-2.82419031e-02 9.99600102e-01 -1.42534130e-03 -6.34125701e-01] [-1.83319701e-02 9.07734471e-04 9.99831543e-01 3.07281652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.54, Y:-0.63, Z:3.07 [[ 9.99445345e-01 2.83339902e-02 1.74981832e-02 3.84542378e+02] [-2.83144467e-02 9.99598136e-01 -1.36367284e-03 -6.33889770e-01] [-1.75297896e-02 8.67465098e-04 9.99845965e-01 3.07192350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.57, Y:-0.63, Z:3.07 [[ 9.99442047e-01 2.87015214e-02 1.70826494e-02 3.84573014e+02] [-2.86829417e-02 9.99587673e-01 -1.33170476e-03 -6.34610437e-01] [-1.71138278e-02 8.40981097e-04 9.99853194e-01 3.07101294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.60, Y:-0.64, Z:3.07 [[ 9.99426168e-01 2.93852668e-02 1.68475963e-02 3.84603820e+02] [-2.93672918e-02 9.99567825e-01 -1.31338082e-03 -6.35313093e-01] [-1.68789092e-02 8.17858888e-04 9.99857207e-01 3.07026861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.63, Y:-0.64, Z:3.07 [[ 9.99410494e-01 3.01785093e-02 1.63683527e-02 3.84633540e+02] [-3.01616464e-02 9.99544219e-01 -1.27615225e-03 -6.35548058e-01] [-1.63994047e-02 7.81703479e-04 9.99865215e-01 3.06972687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.66, Y:-0.63, Z:3.07 [[ 9.99322659e-01 3.28917526e-02 1.65032120e-02 3.84663198e+02] [-3.28749827e-02 9.99458644e-01 -1.28649314e-03 -6.33917133e-01] [-1.65365929e-02 7.43078935e-04 9.99862985e-01 3.06935648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.69, Y:-0.63, Z:3.07 [[ 9.99266896e-01 3.44492695e-02 1.67008791e-02 3.84692462e+02] [-3.44323185e-02 9.99406184e-01 -1.30154304e-03 -6.34198043e-01] [-1.67357990e-02 7.25538884e-04 9.99859683e-01 3.06882384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.72, Y:-0.63, Z:3.07 [[ 9.99191492e-01 3.63806863e-02 1.71116400e-02 3.84721616e+02] [-3.63631952e-02 9.99337752e-01 -1.33230823e-03 -6.34541744e-01] [-1.71487781e-02 7.08997140e-04 9.99852698e-01 3.06772595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.75, Y:-0.63, Z:3.07 [[ 9.99114883e-01 3.85019103e-02 1.69426251e-02 3.84750114e+02] [-3.84850883e-02 9.99258305e-01 -1.31792805e-03 -6.34815804e-01] [-1.69808016e-02 6.64723105e-04 9.99855595e-01 3.06709477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.78, Y:-0.64, Z:3.07 [[ 9.99116954e-01 3.84480999e-02 1.69427291e-02 3.84779336e+02] [-3.84312928e-02 9.99260378e-01 -1.31658986e-03 -6.37026735e-01] [-1.69808183e-02 6.64296270e-04 9.99855595e-01 3.06639788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.81, Y:-0.64, Z:3.07 [[ 9.99031617e-01 4.05222937e-02 1.71397926e-02 3.84807155e+02] [-4.05054103e-02 9.99178432e-01 -1.33119188e-03 -6.37170538e-01] [-1.71796541e-02 6.35648440e-04 9.99852217e-01 3.06565413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.84, Y:-0.64, Z:3.06 [[ 9.98855250e-01 4.41874059e-02 1.83211161e-02 3.84836114e+02] [-4.41687650e-02 9.99023073e-01 -1.42104832e-03 -6.35338507e-01] [-1.83660101e-02 6.10200501e-04 9.99831144e-01 3.06456908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.87, Y:-0.64, Z:3.06 [[ 9.98760493e-01 4.60182244e-02 1.89684286e-02 3.84865408e+02] [-4.59985987e-02 9.98940423e-01 -1.46988935e-03 -6.35986313e-01] [-1.90159717e-02 5.95546275e-04 9.99819003e-01 3.06380316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.89, Y:-0.64, Z:3.06 [[ 9.98688757e-01 4.72640662e-02 1.96691169e-02 3.84893536e+02] [-4.72432333e-02 9.98882254e-01 -1.52274104e-03 -6.36568337e-01] [-1.97191027e-02 5.91511679e-04 9.99805385e-01 3.06298776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.92, Y:-0.64, Z:3.06 [[ 9.98604266e-01 4.86523905e-02 2.05539410e-02 3.84922787e+02] [-4.86299766e-02 9.98815599e-01 -1.58920553e-03 -6.37467967e-01] [-2.06069155e-02 5.87449752e-04 9.99787482e-01 3.06208395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.95, Y:-0.64, Z:3.06 [[ 9.98456922e-01 5.14109673e-02 2.09925743e-02 3.84951741e+02] [-5.13882283e-02 9.98677436e-01 -1.62156162e-03 -6.37036024e-01] [-2.10481763e-02 5.40288223e-04 9.99778317e-01 3.06072786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.98, Y:-0.64, Z:3.06 [[ 9.98375456e-01 5.29959758e-02 2.09254547e-02 3.84979525e+02] [-5.29737593e-02 9.98594599e-01 -1.61497537e-03 -6.38011104e-01] [-2.09816332e-02 5.03851770e-04 9.99779734e-01 3.05966782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.01, Y:-0.64, Z:3.06 [[ 9.98297443e-01 5.45253169e-02 2.07172504e-02 3.85006888e+02] [-5.45039130e-02 9.98512280e-01 -1.59681134e-03 -6.38773339e-01] [-2.07734956e-02 4.64921464e-04 9.99784100e-01 3.05847733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.03, Y:-0.64, Z:3.06 [[ 9.98091947e-01 5.82736210e-02 2.04120090e-02 3.85034879e+02] [-5.82536941e-02 9.98300577e-01 -1.56998621e-03 -6.38872072e-01] [-2.04688092e-02 3.77915660e-04 9.99790421e-01 3.05688352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.06, Y:-0.64, Z:3.06 [[ 9.97969711e-01 6.03618263e-02 2.03200968e-02 3.85061678e+02] [-6.03425518e-02 9.98176507e-01 -1.56091934e-03 -6.39918272e-01] [-2.03772632e-02 3.31583727e-04 9.99792307e-01 3.05588534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.09, Y:-0.64, Z:3.05 [[ 9.97816745e-01 6.27626729e-02 2.05570163e-02 3.85089169e+02] [-6.27435261e-02 9.98028440e-01 -1.57569670e-03 -6.41017154e-01] [-2.06153818e-02 2.82436869e-04 9.99787441e-01 3.05473859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.12, Y:-0.64, Z:3.05 [[ 9.97647142e-01 6.53043285e-02 2.08692094e-02 3.85117170e+02] [-6.52851984e-02 9.97865367e-01 -1.59738326e-03 -6.42125657e-01] [-2.09289773e-02 2.31174371e-04 9.99780938e-01 3.05375248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.14, Y:-0.64, Z:3.05 [[ 9.97269638e-01 7.05288002e-02 2.18851093e-02 3.85144903e+02] [-7.05090734e-02 9.97509736e-01 -1.67267850e-03 -6.42691643e-01] [-2.19485816e-02 1.25012703e-04 9.99759093e-01 3.05284025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.17, Y:-0.64, Z:3.05 [[ 9.97085072e-01 7.29172816e-02 2.24594915e-02 3.85171480e+02] [-7.28971668e-02 9.97337989e-01 -1.71411794e-03 -6.44325487e-01] [-2.25246929e-02 7.18881114e-05 9.99746284e-01 3.05194404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.20, Y:-0.65, Z:3.05 [[ 9.96927223e-01 7.47668250e-02 2.33673772e-02 3.85199120e+02] [-7.47456297e-02 9.97201043e-01 -1.78037915e-03 -6.46314543e-01] [-2.34350862e-02 2.82991167e-05 9.99725360e-01 3.05092782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.23, Y:-0.65, Z:3.05 [[ 9.96801326e-01 7.62852522e-02 2.38259898e-02 3.85226248e+02] [-7.62637123e-02 9.97086035e-01 -1.81273129e-03 -6.48613205e-01] [-2.38948464e-02 -1.01254801e-05 9.99714477e-01 3.04994828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.25, Y:-0.65, Z:3.05 [[ 9.96695515e-01 7.73667706e-02 2.47473841e-02 3.85253115e+02] [-7.73439441e-02 9.97002699e-01 -1.87967094e-03 -6.52270372e-01] [-2.48186328e-02 -4.06006994e-05 9.99691969e-01 3.04817343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.28, Y:-0.66, Z:3.05 [[ 9.96733448e-01 7.68728391e-02 2.47588533e-02 3.85280553e+02] [-7.68499126e-02 9.97040905e-01 -1.87757750e-03 -6.55541492e-01] [-2.48299242e-02 -3.12714110e-05 9.99691689e-01 3.04695132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.31, Y:-0.66, Z:3.05 [[ 9.96817212e-01 7.59037502e-02 2.43734839e-02 3.85308353e+02] [-7.58813061e-02 9.97115149e-01 -1.84574501e-03 -6.59128813e-01] [-2.44432690e-02 -9.62139430e-06 9.99701219e-01 3.04588871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.34, Y:-0.66, Z:3.04 [[ 9.97099824e-01 7.22985334e-02 2.37668426e-02 3.85335379e+02] [-7.22762282e-02 9.97383034e-01 -1.79730166e-03 -6.64541798e-01] [-2.38345878e-02 7.43114314e-05 9.99715913e-01 3.04391822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.36, Y:-0.67, Z:3.04 [[ 9.97279019e-01 6.98284969e-02 2.36334491e-02 3.85363366e+02] [-6.98058175e-02 9.97559003e-01 -1.78427560e-03 -6.68805047e-01] [-2.37003532e-02 1.29668384e-04 9.99719099e-01 3.04266021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.39, Y:-0.67, Z:3.04 [[ 9.97489958e-01 6.67809343e-02 2.35391348e-02 3.85390664e+02] [-6.67576470e-02 9.97767642e-01 -1.77461457e-03 -6.73002162e-01] [-2.36050974e-02 1.98742959e-04 9.99721341e-01 3.04150128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.42, Y:-0.67, Z:3.04 [[ 9.97542190e-01 6.52744433e-02 2.54720615e-02 3.85418815e+02] [-6.48398856e-02 9.97741703e-01 -1.75295102e-02 -6.70211034e-01] [-2.65587671e-02 1.58348204e-02 9.99521831e-01 3.03990234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.45, Y:-0.69, Z:3.03 [[ 9.98025829e-01 5.74751178e-02 2.53190673e-02 3.85445258e+02] [-5.75894458e-02 9.98333084e-01 3.80909572e-03 -6.86195982e-01] [-2.50579343e-02 -5.25968697e-03 9.99672164e-01 3.03379779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.47, Y:-0.69, Z:3.04 [[ 9.98298913e-01 5.33009205e-02 2.36282119e-02 3.85473584e+02] [-5.35117880e-02 9.98532027e-01 8.38334969e-03 -6.92594677e-01] [-2.31466860e-02 -9.63347675e-03 9.99685664e-01 3.03528734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.50, Y:-0.69, Z:3.04 [[ 9.98464012e-01 5.04588229e-02 2.28806336e-02 3.85502779e+02] [-5.04326387e-02 9.98725983e-01 -1.72034949e-03 -6.91685102e-01] [-2.29382901e-02 5.63776329e-04 9.99736724e-01 3.03731527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.53, Y:-0.70, Z:3.04 [[ 9.98598762e-01 4.74966367e-02 2.33363002e-02 3.85531659e+02] [-4.74686302e-02 9.98871191e-01 -1.75292382e-03 -6.95509647e-01] [-2.33932160e-02 6.42725350e-04 9.99726135e-01 3.03606551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.56, Y:-0.70, Z:3.03 [[ 9.98722743e-01 4.45423167e-02 2.38508713e-02 3.85559799e+02] [-4.45122607e-02 9.99007235e-01 -1.78985421e-03 -6.99220843e-01] [-2.39069172e-02 7.25911905e-04 9.99713925e-01 3.03496355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.59, Y:-0.70, Z:3.03 [[ 9.98904744e-01 3.94323625e-02 2.51873071e-02 3.85589544e+02] [-3.93972666e-02 9.99221842e-01 -1.88830775e-03 -7.04917256e-01] [-2.52421678e-02 8.93928519e-04 9.99680966e-01 3.03384445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.62, Y:-0.71, Z:3.03 [[ 9.98972315e-01 3.70467497e-02 2.61122885e-02 3.85619577e+02] [-3.70082361e-02 9.99313045e-01 -1.95681524e-03 -7.08861599e-01] [-2.61668442e-02 9.88434515e-04 9.99657101e-01 3.03284979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.65, Y:-0.71, Z:3.03 [[ 9.99009311e-01 3.50244674e-02 2.74532980e-02 3.85651803e+02] [-3.49810934e-02 9.99385854e-01 -2.05874211e-03 -7.12844719e-01] [-2.75085440e-02 1.09635616e-03 9.99620967e-01 3.03205071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.68, Y:-0.72, Z:3.03 [[ 9.99049557e-01 3.33394675e-02 2.80795696e-02 3.85684035e+02] [-3.32932243e-02 9.99443394e-01 -2.11291044e-03 -7.16691705e-01] [-2.81343836e-02 1.17604283e-03 9.99603458e-01 3.03148961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.72, Y:-0.72, Z:3.03 [[ 9.99155121e-01 2.97311130e-02 2.83743801e-02 3.85717061e+02] [-2.96822221e-02 9.99557089e-01 -2.14280028e-03 -7.21233254e-01] [-2.84255206e-02 1.29877522e-03 9.99595069e-01 3.03073163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.75, Y:-0.72, Z:3.03 [[ 9.99195578e-01 2.83643611e-02 2.83489033e-02 3.85748912e+02] [-2.83147804e-02 9.99596746e-01 -2.14892657e-03 -7.24762044e-01] [-2.83984244e-02 1.34450496e-03 9.99595779e-01 3.02980457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.78, Y:-0.73, Z:3.03 [[ 9.99232220e-01 2.72266590e-02 2.81723045e-02 3.85781762e+02] [-2.71770290e-02 9.99628339e-01 -2.14312592e-03 -7.28330102e-01] [-2.82201841e-02 1.37584093e-03 9.99600784e-01 3.02880378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.81, Y:-0.73, Z:3.03 [[ 9.99263613e-01 2.62902609e-02 2.79473475e-02 3.85814375e+02] [-2.62408337e-02 9.99653372e-01 -2.13392971e-03 -7.31945013e-01] [-2.79937617e-02 1.39899662e-03 9.99607119e-01 3.02736669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.85, Y:-0.74, Z:3.03 [[ 9.99320408e-01 2.51738121e-02 2.69258531e-02 3.85846205e+02] [-2.51273292e-02 9.99682129e-01 -2.06334240e-03 -7.36245330e-01] [-2.69692363e-02 1.38536540e-03 9.99635304e-01 3.02595213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.88, Y:-0.74, Z:3.02 [[ 9.99336802e-01 2.51691659e-02 2.63148236e-02 3.85879335e+02] [-2.51245848e-02 9.99682280e-01 -2.02346034e-03 -7.39364993e-01] [-2.63573916e-02 1.36096937e-03 9.99651657e-01 3.02498650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.91, Y:-0.74, Z:3.02 [[ 9.99339796e-01 2.60071820e-02 2.53692491e-02 3.85910899e+02] [-2.59658401e-02 9.99660914e-01 -1.95772151e-03 -7.42379055e-01] [-2.54115616e-02 1.29769514e-03 9.99676232e-01 3.02413335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.94, Y:-0.74, Z:3.02 [[ 9.99310320e-01 2.83543448e-02 2.39773894e-02 3.85944353e+02] [-2.83179448e-02 9.99597243e-01 -1.85635048e-03 -7.44588202e-01] [-2.40203679e-02 1.17607981e-03 9.99710778e-01 3.02301321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.98, Y:-0.75, Z:3.02 [[ 9.99256698e-01 3.06103730e-02 2.34319551e-02 3.85977717e+02] [-3.05760772e-02 9.99530784e-01 -1.82060092e-03 -7.46675997e-01] [-2.34766897e-02 1.10279040e-03 9.99723776e-01 3.02217950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.01, Y:-0.75, Z:3.02 [[ 9.99176214e-01 3.34977084e-02 2.29084343e-02 3.86009687e+02] [-3.34655343e-02 9.99438275e-01 -1.78650414e-03 -7.48507654e-01] [-2.29554099e-02 1.01838945e-03 9.99735971e-01 3.02149781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.04, Y:-0.75, Z:3.02 [[ 9.99077314e-01 3.64483631e-02 2.27164435e-02 3.86040660e+02] [-3.64173463e-02 9.99335087e-01 -1.77772262e-03 -7.49849942e-01] [-2.27661341e-02 9.48809751e-04 9.99740368e-01 3.02087439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.07, Y:-0.75, Z:3.02 [[ 9.98816352e-01 4.34446762e-02 2.18735947e-02 3.86071487e+02] [-4.34174791e-02 9.99055541e-01 -1.71697427e-03 -7.49822696e-01] [-2.19275294e-02 7.65245634e-04 9.99759270e-01 3.02075167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.10, Y:-0.75, Z:3.02 [[ 9.98650422e-01 4.70694458e-02 2.19499903e-02 3.86100306e+02] [-4.70429214e-02 9.98891382e-01 -1.72348523e-03 -7.50687792e-01] [-2.20067796e-02 6.88567588e-04 9.99757584e-01 3.02033266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.13, Y:-0.75, Z:3.02 [[ 9.98476132e-01 5.06897671e-02 2.18165438e-02 3.86129257e+02] [-5.06644620e-02 9.98714265e-01 -1.71142996e-03 -7.51556982e-01] [-2.18752455e-02 6.03498509e-04 9.99760526e-01 3.02044488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.16, Y:-0.75, Z:3.02 [[ 9.98292153e-01 5.41889066e-02 2.18251946e-02 3.86156860e+02] [-5.41644514e-02 9.98530564e-01 -1.71052886e-03 -7.52144940e-01] [-2.18858156e-02 5.25457851e-04 9.99760339e-01 3.02037667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.18, Y:-0.75, Z:3.02 [[ 9.98091183e-01 5.75316883e-02 2.24520452e-02 3.86184868e+02] [-5.75067006e-02 9.98343573e-01 -1.75754400e-03 -7.53054185e-01] [-2.25159695e-02 4.63046126e-04 9.99746376e-01 3.02032203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.21, Y:-0.75, Z:3.02 [[ 9.97725684e-01 6.32420846e-02 2.33216421e-02 3.86212912e+02] [-6.32167333e-02 9.97998156e-01 -1.82342980e-03 -7.53263714e-01] [-2.33902734e-02 3.44964714e-04 9.99726351e-01 3.02058560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.24, Y:-0.75, Z:3.02 [[ 9.97598524e-01 6.53550041e-02 2.29326763e-02 3.86241282e+02] [-6.53311056e-02 9.97862035e-01 -1.79058304e-03 -7.54892259e-01] [-2.30006706e-02 2.88065899e-04 9.99735408e-01 3.02027846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.27, Y:-0.76, Z:3.02 [[ 9.97498967e-01 6.70925791e-02 2.22350444e-02 3.86268578e+02] [-6.70705962e-02 9.97746726e-01 -1.73377890e-03 -7.56567303e-01] [-2.23012664e-02 2.38124973e-04 9.99751267e-01 3.01982458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.30, Y:-0.76, Z:3.02 [[ 9.97422427e-01 6.84126079e-02 2.16383241e-02 3.86296166e+02] [-6.83921583e-02 9.97657093e-01 -1.68456095e-03 -7.58310882e-01] [-2.17028727e-02 2.00327187e-04 9.99764445e-01 3.01924974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.32, Y:-0.77, Z:3.02 [[ 9.97436497e-01 6.93227310e-02 1.77423992e-02 3.86323959e+02] [-6.94941638e-02 9.97539614e-01 9.23465896e-03 -7.65050973e-01] [-1.70585743e-02 -1.04439791e-02 9.99799944e-01 3.02085160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.35, Y:-0.76, Z:3.02 [[ 9.97402365e-01 6.97063919e-02 1.81532498e-02 3.86352037e+02] [-6.94936884e-02 9.97509051e-01 -1.20963262e-02 -7.57444949e-01] [-1.89512222e-02 1.08033681e-02 9.99762041e-01 3.02150452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.38, Y:-0.77, Z:3.02 [[ 9.97503634e-01 6.87089707e-02 1.62965318e-02 3.86380341e+02] [-6.88259232e-02 9.97606004e-01 6.72700270e-03 -7.69058026e-01] [-1.57953125e-02 -7.83183349e-03 9.99844573e-01 3.01955447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.41, Y:-0.76, Z:3.02 [[ 9.97543081e-01 6.82422562e-02 1.58365359e-02 3.86406615e+02] [-6.80878140e-02 9.97628254e-01 -1.00953324e-02 -7.64312838e-01] [-1.64879039e-02 8.99225383e-03 9.99823629e-01 3.02016159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.43, Y:-0.77, Z:3.02 [[ 9.97659846e-01 6.63744496e-02 1.64092889e-02 3.86434717e+02] [-6.63807644e-02 9.97794352e-01 -1.60136246e-04 -7.72285730e-01] [-1.63837247e-02 -9.29499636e-04 9.99865346e-01 3.01692401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.46, Y:-0.77, Z:3.02 [[ 9.97728530e-01 6.53761373e-02 1.62400909e-02 3.86462564e+02] [-6.53644290e-02 9.97860675e-01 -1.25126860e-03 -7.74516036e-01] [-1.62871512e-02 1.86902115e-04 9.99867338e-01 3.01656937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.49, Y:-0.78, Z:3.02 [[ 9.97799105e-01 6.42806226e-02 1.62772219e-02 3.86489998e+02] [-6.42687433e-02 9.97931841e-01 -1.25239580e-03 -7.77286564e-01] [-1.63240628e-02 2.03522809e-04 9.99866733e-01 3.01604897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.52, Y:-0.78, Z:3.02 [[ 9.97894707e-01 6.29436699e-02 1.56284270e-02 3.86517239e+02] [-6.29890114e-02 9.98011273e-01 2.42564119e-03 -7.81508706e-01] [-1.54446676e-02 -3.40495367e-03 9.99874926e-01 3.01639076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.55, Y:-0.78, Z:3.02 [[ 9.97975889e-01 6.12931726e-02 1.69491119e-02 3.86545249e+02] [-6.12177404e-02 9.98112237e-01 -4.93457994e-03 -7.81899202e-01] [-1.72195721e-02 3.88700546e-03 9.99844177e-01 3.01611906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.57, Y:-0.79, Z:3.01 [[ 9.98059720e-01 5.99500033e-02 1.68164049e-02 3.86572786e+02] [-5.99368014e-02 9.98201342e-01 -1.28841528e-03 -7.86709161e-01] [-1.68633985e-02 2.77993877e-04 9.99857764e-01 3.01483697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.60, Y:-0.79, Z:3.01 [[ 9.98064985e-01 5.98622565e-02 1.68165495e-02 3.86601173e+02] [-5.98490740e-02 9.98206608e-01 -1.28652527e-03 -7.88790939e-01] [-1.68634051e-02 2.77580912e-04 9.99857764e-01 3.01416590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.885099893 meters Centerline goodness : 0.997823 Centerline is valid? [True, True] Translation: X:386.63, Y:-0.79, Z:3.02 [[ 9.98076146e-01 6.04068923e-02 1.39647824e-02 3.86628729e+02] [-6.02735623e-02 9.98133989e-01 -9.77942741e-03 -7.88002176e-01] [-1.45294688e-02 8.91890603e-03 9.99854663e-01 3.01654147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.66, Y:-0.80, Z:3.01 [[ 9.98198306e-01 5.75105887e-02 1.71077206e-02 3.86657468e+02] [-5.76420204e-02 9.98310693e-01 7.29095079e-03 -7.99218091e-01] [-1.66595136e-02 -8.26393831e-03 9.99827069e-01 3.01071311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.68, Y:-0.80, Z:3.01 [[ 9.98279874e-01 5.63310904e-02 1.62511902e-02 3.86684914e+02] [-5.63183480e-02 9.98412091e-01 -1.24104320e-03 -7.98074501e-01] [-1.62952941e-02 3.23668260e-04 9.99867170e-01 3.01244002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.71, Y:-0.80, Z:3.01 [[ 9.98421472e-01 5.39003569e-02 1.57897057e-02 3.86712621e+02] [-5.38880642e-02 9.98546258e-01 -1.20326877e-03 -8.02749672e-01] [-1.58316081e-02 3.50492701e-04 9.99874611e-01 3.01220214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.74, Y:-0.81, Z:3.01 [[ 9.98513430e-01 5.22787462e-02 1.54227956e-02 3.86740497e+02] [-5.22668482e-02 9.98632464e-01 -1.17379941e-03 -8.06325453e-01] [-1.54630692e-02 3.65953553e-04 9.99880373e-01 3.01140152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.77, Y:-0.81, Z:3.01 [[ 9.98603447e-01 5.05688497e-02 1.52953164e-02 3.86768008e+02] [-5.05569750e-02 9.98720502e-01 -1.16228240e-03 -8.09974365e-01] [-1.53345214e-02 3.87374278e-04 9.99882344e-01 3.01067509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.80, Y:-0.82, Z:3.01 [[ 9.98801999e-01 4.66168182e-02 1.48808009e-02 3.86796482e+02] [-4.66051617e-02 9.98912751e-01 -1.12933788e-03 -8.15792416e-01] [-1.49172679e-02 4.34462799e-04 9.99888637e-01 3.00978492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.83, Y:-0.82, Z:3.01 [[ 9.98880174e-01 4.49196942e-02 1.48532293e-02 3.86825361e+02] [-4.49079095e-02 9.98990496e-01 -1.12616322e-03 -8.19822645e-01] [-1.48888218e-02 4.57874640e-04 9.99889051e-01 3.00900087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.85, Y:-0.82, Z:3.01 [[ 9.98945351e-01 4.34289086e-02 1.49035344e-02 3.86854058e+02] [-4.34168944e-02 9.99056404e-01 -1.12888889e-03 -8.23843793e-01] [-1.49384979e-02 4.80633125e-04 9.99888299e-01 3.00818235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.88, Y:-0.83, Z:3.01 [[ 9.99006107e-01 4.19614952e-02 1.50343005e-02 3.86881489e+02] [-4.19491178e-02 9.99119100e-01 -1.13782546e-03 -8.27691912e-01] [-1.50688017e-02 5.06018937e-04 9.99886331e-01 3.00721271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.91, Y:-0.83, Z:3.01 [[ 9.99075595e-01 4.04837899e-02 1.44574778e-02 3.86910431e+02] [-4.04722100e-02 9.99180067e-01 -1.09277045e-03 -8.33324202e-01] [-1.44898631e-02 5.06634212e-04 9.99894888e-01 3.00626257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.94, Y:-0.84, Z:3.01 [[ 9.99054118e-01 4.12026680e-02 1.38999583e-02 3.86937512e+02] [-4.11794171e-02 9.99149856e-01 -1.95493854e-03 -8.36306058e-01] [-1.39686901e-02 1.38069722e-03 9.99901480e-01 3.00599177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.97, Y:-0.84, Z:3.00 [[ 9.99106194e-01 3.96953690e-02 1.45289758e-02 3.86966992e+02] [-3.96975996e-02 9.99211731e-01 -1.34951833e-04 -8.40006914e-01] [-1.45228800e-02 -4.41934251e-04 9.99894440e-01 3.00481414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.00, Y:-0.84, Z:3.00 [[ 9.99130075e-01 3.92558092e-02 1.40739009e-02 3.86995896e+02] [-3.92447114e-02 9.99229063e-01 -1.06395751e-03 -8.42639872e-01] [-1.41048174e-02 5.10705772e-04 9.99900392e-01 3.00474440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.02, Y:-0.85, Z:3.00 [[ 9.99200044e-01 3.76414808e-02 1.35052360e-02 3.87023378e+02] [-3.76311242e-02 9.99291178e-01 -1.02025100e-03 -8.46048648e-01] [-1.35340669e-02 5.11217632e-04 9.99908280e-01 3.00463289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.05, Y:-0.85, Z:3.00 [[ 9.99210073e-01 3.74738223e-02 1.32266108e-02 3.87051099e+02] [-3.74402194e-02 9.99295005e-01 -2.77917484e-03 -8.47895176e-01] [-1.33214324e-02 2.28177228e-03 9.99908662e-01 3.00469494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.08, Y:-0.85, Z:3.00 [[ 9.99269525e-01 3.53857552e-02 1.44313804e-02 3.87080016e+02] [-3.53999081e-02 9.99372963e-01 7.26361982e-04 -8.52359809e-01] [-1.43966285e-02 -1.23670093e-03 9.99895598e-01 3.00370667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.11, Y:-0.85, Z:3.00 [[ 9.99308661e-01 3.41348515e-02 1.47313452e-02 3.87109123e+02] [-3.41222047e-02 9.99417053e-01 -1.10906337e-03 -8.54404458e-01] [-1.47606153e-02 6.05630649e-04 9.99890873e-01 3.00364950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.14, Y:-0.86, Z:3.00 [[ 9.99352621e-01 3.27246664e-02 1.49477339e-02 3.87138435e+02] [-3.27115080e-02 9.99464203e-01 -1.12400797e-03 -8.57270329e-01] [-1.49765077e-02 6.34317396e-04 9.99887645e-01 3.00274644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.17, Y:-0.86, Z:3.00 [[ 9.99449111e-01 2.97591337e-02 1.46924863e-02 3.87167379e+02] [-2.97461081e-02 9.99556877e-01 -1.10433700e-03 -8.60113528e-01] [-1.47188398e-02 6.66684348e-04 9.99891450e-01 3.00222383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.20, Y:-0.86, Z:3.00 [[ 9.99492048e-01 2.83656955e-02 1.45269609e-02 3.87196902e+02] [-2.83528233e-02 9.99597382e-01 -1.09131301e-03 -8.62701587e-01] [-1.45520680e-02 6.78878321e-04 9.99893883e-01 3.00140217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.23, Y:-0.87, Z:3.00 [[ 9.99535612e-01 2.66720120e-02 1.47365150e-02 3.87226180e+02] [-2.66585968e-02 9.99643985e-01 -1.10606264e-03 -8.65159046e-01] [-1.47607695e-02 7.12694187e-04 9.99890800e-01 3.00034568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.26, Y:-0.87, Z:3.00 [[ 9.99584429e-01 2.43149495e-02 1.54839762e-02 3.87255924e+02] [-2.42998520e-02 9.99704039e-01 -1.16246147e-03 -8.67970532e-01] [-1.55076587e-02 7.85720055e-04 9.99879440e-01 2.99942093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.29, Y:-0.87, Z:3.00 [[ 9.99599958e-01 2.32265745e-02 1.61384887e-02 3.87287471e+02] [-2.32100295e-02 9.99729877e-01 -1.21175810e-03 -8.70415623e-01] [-1.61622743e-02 8.36698552e-04 9.99869032e-01 2.99867606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.32, Y:-0.87, Z:3.00 [[ 9.99613244e-01 2.23710814e-02 1.65195949e-02 3.87319223e+02] [-2.23536433e-02 9.99749358e-01 -1.23951898e-03 -8.72830100e-01] [-1.65431837e-02 8.69766461e-04 9.99862774e-01 2.99806459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.35, Y:-0.88, Z:3.00 [[ 9.99609008e-01 2.19792516e-02 1.72842181e-02 3.87351418e+02] [-2.19600236e-02 9.99758002e-01 -1.30149238e-03 -8.75288321e-01] [-1.73086412e-02 9.21421669e-04 9.99849770e-01 2.99732969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.38, Y:-0.88, Z:3.00 [[ 9.99617021e-01 2.15621087e-02 1.73460919e-02 3.87384500e+02] [-2.15426064e-02 9.99767072e-01 -1.31039471e-03 -8.77476311e-01] [-1.73703064e-02 9.36212822e-04 9.99848687e-01 2.99665973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.42, Y:-0.88, Z:3.00 [[ 9.99631327e-01 2.03190742e-02 1.80095834e-02 3.87416816e+02] [-2.02977471e-02 9.99793046e-01 -1.36622748e-03 -8.78928403e-01] [-1.80336168e-02 1.00016982e-03 9.99836881e-01 2.99588470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.45, Y:-0.88, Z:3.00 [[ 9.99632838e-01 1.99206671e-02 1.83672383e-02 3.87449803e+02] [-1.98983237e-02 9.99801031e-01 -1.39845017e-03 -8.80888996e-01] [-1.83914419e-02 1.03245946e-03 9.99830330e-01 2.99510023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.48, Y:-0.88, Z:2.99 [[ 9.99634849e-01 1.96370636e-02 1.85621895e-02 3.87481534e+02] [-1.96140897e-02 9.99806618e-01 -1.41893577e-03 -8.82949205e-01] [-1.85864637e-02 1.05433719e-03 9.99826701e-01 2.99382734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.51, Y:-0.88, Z:2.99 [[ 9.99651707e-01 1.84774994e-02 1.88427034e-02 3.87514424e+02] [-1.84535227e-02 9.99828674e-01 -1.44556192e-03 -8.84430139e-01] [-1.88661855e-02 1.09734419e-03 9.99821415e-01 2.99233172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.55, Y:-0.89, Z:2.99 [[ 9.99654533e-01 1.81401451e-02 1.90197283e-02 3.87546500e+02] [-1.81155459e-02 9.99834827e-01 -1.46486121e-03 -8.86189693e-01] [-1.90431596e-02 1.11980239e-03 9.99818036e-01 2.99139489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.58, Y:-0.89, Z:2.99 [[ 9.99667190e-01 1.76812764e-02 1.87851438e-02 3.87579858e+02] [-1.76571059e-02 9.99843047e-01 -1.45177280e-03 -8.87860050e-01] [-1.88078646e-02 1.11959836e-03 9.99822490e-01 2.99063347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.61, Y:-0.89, Z:2.99 [[ 9.99674431e-01 1.66451288e-02 1.93383326e-02 3.87612232e+02] [-1.66192082e-02 9.99860766e-01 -1.50032157e-03 -8.87998562e-01] [-1.93606131e-02 1.17844534e-03 9.99811871e-01 2.98977136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.64, Y:-0.89, Z:2.99 [[ 9.99682176e-01 1.62246588e-02 1.92952468e-02 3.87644835e+02] [-1.61986784e-02 9.99867665e-01 -1.50201043e-03 -8.89117716e-01] [-1.93170630e-02 1.18897555e-03 9.99812701e-01 2.98887619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.68, Y:-0.89, Z:2.99 [[ 9.99696780e-01 1.59563318e-02 1.87548321e-02 3.87677668e+02] [-1.59316436e-02 9.99872010e-01 -1.46504905e-03 -8.90364034e-01] [-1.87758085e-02 1.16580951e-03 9.99823039e-01 2.98825424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.71, Y:-0.89, Z:2.99 [[ 9.99715700e-01 1.54019865e-02 1.82016119e-02 3.87709854e+02] [-1.53785385e-02 9.99880724e-01 -1.42751013e-03 -8.91438188e-01] [-1.82214274e-02 1.14719010e-03 9.99833318e-01 2.98699061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.74, Y:-0.89, Z:2.99 [[ 9.99735869e-01 1.50220124e-02 1.73934095e-02 3.87742824e+02] [-1.50005024e-02 9.99886552e-01 -1.36648626e-03 -8.92810887e-01] [-1.74119636e-02 1.10521545e-03 9.99847789e-01 2.98592282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.78, Y:-0.89, Z:2.98 [[ 9.99775807e-01 1.36727071e-02 1.61676327e-02 3.87776329e+02] [-1.36538814e-02 9.99905970e-01 -1.27422168e-03 -8.92814885e-01] [-1.61835345e-02 1.05318507e-03 9.99868483e-01 2.98454121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.81, Y:-0.89, Z:2.98 [[ 9.99779924e-01 1.33338511e-02 1.61960760e-02 3.87809460e+02] [-1.33148379e-02 9.99910533e-01 -1.28120844e-03 -8.93929600e-01] [-1.62117104e-02 1.06527834e-03 9.99868014e-01 2.98400054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.84, Y:-0.90, Z:2.98 [[ 9.99770202e-01 1.35260898e-02 1.66309146e-02 3.87841856e+02] [-1.35059813e-02 9.99907918e-01 -1.32083260e-03 -8.95088731e-01] [-1.66472489e-02 1.09591226e-03 9.99860824e-01 2.98350882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.88, Y:-0.90, Z:2.98 [[ 9.99758079e-01 1.38878339e-02 1.70561444e-02 3.87875081e+02] [-1.38666549e-02 9.99902929e-01 -1.35936817e-03 -8.96016205e-01] [-1.70733674e-02 1.12252764e-03 9.99853609e-01 2.98326806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.91, Y:-0.90, Z:2.98 [[ 9.99742143e-01 1.45983518e-02 1.73935745e-02 3.87908438e+02] [-1.45763440e-02 9.99892791e-01 -1.39139790e-03 -8.96743396e-01] [-1.74120219e-02 1.13750439e-03 9.99847752e-01 2.98288364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.94, Y:-0.90, Z:2.98 [[ 9.99699877e-01 1.59497753e-02 1.85946137e-02 3.87940503e+02] [-1.59247358e-02 9.99872077e-01 -1.49390184e-03 -8.95493874e-01] [-1.86160624e-02 1.19733917e-03 9.99825989e-01 2.98222540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.97, Y:-0.90, Z:2.98 [[ 9.99684138e-01 1.67821033e-02 1.87079065e-02 3.87973828e+02] [-1.67568481e-02 9.99858460e-01 -1.50592342e-03 -8.96581581e-01] [-1.87305311e-02 1.19196221e-03 9.99823858e-01 2.98140214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.01, Y:-0.90, Z:2.98 [[ 9.99680184e-01 1.72990038e-02 1.84465095e-02 3.88006506e+02] [-1.72744401e-02 9.99849675e-01 -1.49014036e-03 -8.97462637e-01] [-1.84695145e-02 1.17101067e-03 9.99828738e-01 2.98063939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.04, Y:-0.90, Z:2.98 [[ 9.99681726e-01 1.75980275e-02 1.80763792e-02 3.88038500e+02] [-1.75743849e-02 9.99844484e-01 -1.46595789e-03 -8.98231617e-01] [-1.80993660e-02 1.14781007e-03 9.99835534e-01 2.97976286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.07, Y:-0.90, Z:2.98 [[ 9.99681491e-01 1.78682653e-02 1.78225126e-02 3.88072216e+02] [-1.78452801e-02 9.99839712e-01 -1.44789055e-03 -8.97827924e-01] [-1.78455271e-02 1.12938165e-03 9.99840118e-01 2.97833009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.10, Y:-0.90, Z:2.98 [[ 9.99691049e-01 1.79209045e-02 1.72234517e-02 3.88104578e+02] [-1.78993598e-02 9.99838808e-01 -1.40424501e-03 -8.98804488e-01] [-1.72458407e-02 1.09552241e-03 9.99850679e-01 2.97784956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.14, Y:-0.90, Z:2.98 [[ 9.99628564e-01 1.96138844e-02 1.89216757e-02 3.88138315e+02] [-1.95157803e-02 9.99795205e-01 -5.35556102e-03 -8.99806996e-01] [-1.90228440e-02 4.98430051e-03 9.99806625e-01 2.97590411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.17, Y:-0.90, Z:2.98 [[ 9.99696832e-01 1.65164794e-02 1.82606305e-02 3.88167332e+02] [-1.65596327e-02 9.99860428e-01 2.21450281e-03 -8.99902314e-01] [-1.82215061e-02 -2.51622078e-03 9.99830808e-01 2.97540752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.20, Y:-0.90, Z:2.98 [[ 9.99697309e-01 1.64894238e-02 1.82589743e-02 3.88199533e+02] [-1.64648777e-02 9.99863329e-01 -1.49385274e-03 -8.99321954e-01] [-1.82811116e-02 1.19276879e-03 9.99832175e-01 2.97586032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.23, Y:-0.90, Z:2.97 [[ 9.99692595e-01 1.66100584e-02 1.84070928e-02 3.88233025e+02] [-1.65850795e-02 9.99861320e-01 -1.50886262e-03 -9.00656623e-01] [-1.84296024e-02 1.20311569e-03 9.99829437e-01 2.97487234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.27, Y:-0.90, Z:2.97 [[ 9.99684616e-01 1.68816122e-02 1.85924555e-02 3.88266571e+02] [-1.68560719e-02 9.99856756e-01 -1.52956178e-03 -9.01777392e-01] [-1.86156137e-02 1.21568361e-03 9.99825975e-01 2.97390221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.30, Y:-0.90, Z:2.97 [[ 9.99674418e-01 1.70649393e-02 1.89696002e-02 3.88299771e+02] [-1.70382767e-02 9.99853611e-01 -1.56628990e-03 -9.02750183e-01] [-1.89935519e-02 1.24257065e-03 9.99818834e-01 2.97281517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.33, Y:-0.90, Z:2.97 [[ 9.99669922e-01 1.74773406e-02 1.88305473e-02 3.88332342e+02] [-1.74510351e-02 9.99846502e-01 -1.56038780e-03 -9.03798347e-01] [-1.88549283e-02 1.23126020e-03 9.99821472e-01 2.97208365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.37, Y:-0.90, Z:2.97 [[ 9.99643648e-01 1.85723306e-02 1.91740776e-02 3.88365107e+02] [-1.85451536e-02 9.99826753e-01 -1.59423459e-03 -9.02968470e-01] [-1.92003644e-02 1.23808026e-03 9.99814889e-01 2.97114737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.40, Y:-0.90, Z:2.97 [[ 9.99626636e-01 1.92910225e-02 1.93506061e-02 3.88397923e+02] [-1.92633753e-02 9.99813141e-01 -1.61415309e-03 -9.03970953e-01] [-1.93781289e-02 1.24079244e-03 9.99811457e-01 2.97043133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.43, Y:-0.91, Z:2.97 [[ 9.99613478e-01 1.99680595e-02 1.93435254e-02 3.88430752e+02] [-1.99404515e-02 9.99799858e-01 -1.61909262e-03 -9.05288390e-01] [-1.93719841e-02 1.23274817e-03 9.99811586e-01 2.96989147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.46, Y:-0.91, Z:2.97 [[ 9.99593459e-01 2.09384144e-02 1.93520112e-02 3.88462835e+02] [-2.09108543e-02 9.99780023e-01 -1.62542298e-03 -9.05152325e-01] [-1.93817880e-02 1.22009509e-03 9.99811411e-01 2.96902310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.49, Y:-0.91, Z:2.97 [[ 9.99580273e-01 2.15463830e-02 1.93657070e-02 3.88494518e+02] [-2.15187972e-02 9.99767112e-01 -1.63174869e-03 -9.06467305e-01] [-1.93963553e-02 1.21433708e-03 9.99811136e-01 2.96822904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.53, Y:-0.91, Z:2.97 [[ 9.99570160e-01 2.22595012e-02 1.90790444e-02 3.88526580e+02] [-2.22327603e-02 9.99751521e-01 -1.61257742e-03 -9.07734208e-01] [-1.91101989e-02 1.18770444e-03 9.99816678e-01 2.96738779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.56, Y:-0.91, Z:2.97 [[ 9.99563931e-01 2.28792633e-02 1.86677854e-02 3.88559085e+02] [-2.28536855e-02 9.99737568e-01 -1.58237172e-03 -9.09084388e-01] [-1.86990898e-02 1.15505401e-03 9.99824490e-01 2.96694522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.59, Y:-0.91, Z:2.97 [[ 9.99562714e-01 2.29327554e-02 1.86673126e-02 3.88590813e+02] [-2.29070834e-02 9.99736337e-01 -1.58792817e-03 -9.11808767e-01] [-1.86988063e-02 1.15962010e-03 9.99824490e-01 2.96620341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.62, Y:-0.91, Z:2.97 [[ 9.99542767e-01 2.38283525e-02 1.86136060e-02 3.88622096e+02] [-2.38029796e-02 9.99715415e-01 -1.58353095e-03 -9.12892632e-01] [-1.86460417e-02 1.13974763e-03 9.99825498e-01 2.96539107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.65, Y:-0.91, Z:2.96 [[ 9.99526130e-01 2.46535470e-02 1.84314234e-02 3.88653151e+02] [-2.46287130e-02 9.99695429e-01 -1.57318543e-03 -9.13793260e-01] [-1.84645943e-02 1.11849771e-03 9.99828889e-01 2.96472832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.68, Y:-0.91, Z:2.96 [[ 9.99462368e-01 2.73423082e-02 1.80934357e-02 3.88683806e+02] [-2.73188021e-02 9.99625578e-01 -1.54508936e-03 -9.13316260e-01] [-1.81289075e-02 1.04996768e-03 9.99835107e-01 2.96422373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.71, Y:-0.91, Z:2.96 [[ 9.99416219e-01 2.89496948e-02 1.81421119e-02 3.88714335e+02] [-2.89263182e-02 9.99580345e-01 -1.54967536e-03 -9.14554685e-01] [-1.81793612e-02 1.02398619e-03 9.99834217e-01 2.96358073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.74, Y:-0.92, Z:2.96 [[ 9.99354458e-01 3.08180909e-02 1.84638444e-02 3.88744125e+02] [-3.07941923e-02 9.99524502e-01 -1.57733316e-03 -9.15660258e-01] [-1.85036753e-02 1.00773575e-03 9.99828284e-01 2.96293121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.77, Y:-0.92, Z:2.96 [[ 9.99298430e-01 3.27653399e-02 1.81405668e-02 3.88772951e+02] [-3.27426010e-02 9.99462617e-01 -1.54915772e-03 -9.16635472e-01] [-1.81815770e-02 9.54101534e-04 9.99834246e-01 2.96235583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.80, Y:-0.91, Z:2.96 [[ 9.99151594e-01 3.68476222e-02 1.83941321e-02 3.88801820e+02] [-3.67256866e-02 9.99301400e-01 -6.92351934e-03 -9.13354982e-01] [-1.86363972e-02 6.24210826e-03 9.99806842e-01 2.96184334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.83, Y:-0.92, Z:2.96 [[ 9.99110417e-01 3.81480169e-02 1.79750780e-02 3.88828981e+02] [-3.82234119e-02 9.99261726e-01 3.86957227e-03 -9.19463041e-01] [-1.78141909e-02 -4.55319877e-03 9.99830947e-01 2.96028115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.86, Y:-0.92, Z:2.96 [[ 9.99035412e-01 4.02437435e-02 1.75694769e-02 3.88857595e+02] [-4.02236316e-02 9.99189581e-01 -1.49672956e-03 -9.17846473e-01] [-1.76154722e-02 7.88577667e-04 9.99844525e-01 2.96183060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.89, Y:-0.92, Z:2.96 [[ 9.98980093e-01 4.17334236e-02 1.72364211e-02 3.88885215e+02] [-4.17143073e-02 9.99128502e-01 -1.46726384e-03 -9.18487091e-01] [-1.72826335e-02 7.46762003e-04 9.99850365e-01 2.96192006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.91, Y:-0.92, Z:2.96 [[ 9.98845804e-01 4.50199817e-02 1.67410092e-02 3.88912901e+02] [-4.50024370e-02 9.98985863e-01 -1.42344604e-03 -9.18339950e-01] [-1.67881150e-02 6.68416894e-04 9.99858846e-01 2.96144523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.94, Y:-0.92, Z:2.96 [[ 9.98792631e-01 4.63008346e-02 1.64168218e-02 3.88941065e+02] [-4.62841574e-02 9.98927341e-01 -1.39455372e-03 -9.19659658e-01] [-1.64637811e-02 6.33031212e-04 9.99864262e-01 2.96077988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.97, Y:-0.91, Z:2.96 [[ 9.98695646e-01 4.78678139e-02 1.77673675e-02 3.88968647e+02] [-4.75729844e-02 9.98728794e-01 -1.66615389e-02 -9.13021767e-01] [-1.85423330e-02 1.57945597e-02 9.99703313e-01 2.96067827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.00, Y:-0.93, Z:2.95 [[ 9.98670502e-01 4.84197381e-02 1.76849511e-02 3.88995911e+02] [-4.86643178e-02 9.98721620e-01 1.36714765e-02 -9.29237613e-01] [-1.70003738e-02 -1.45139264e-02 9.99750135e-01 2.95417807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.02, Y:-0.92, Z:2.96 [[ 9.98649777e-01 4.92271082e-02 1.65925922e-02 3.89024728e+02] [-4.92105747e-02 9.98787440e-01 -1.40351540e-03 -9.23862704e-01] [-1.66415636e-02 5.85089351e-04 9.99861348e-01 2.95836279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.05, Y:-0.93, Z:2.96 [[ 9.98645947e-01 4.92938803e-02 1.66248397e-02 3.89053121e+02] [-4.92773212e-02 9.98784147e-01 -1.40447076e-03 -9.25572106e-01] [-1.66738582e-02 5.83341464e-04 9.99860811e-01 2.95775103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.08, Y:-0.93, Z:2.96 [[ 9.98653990e-01 4.92375607e-02 1.63055235e-02 3.89081025e+02] [-4.92216520e-02 9.98786932e-01 -1.37579117e-03 -9.27246654e-01] [-1.63534844e-02 5.71354538e-04 9.99866110e-01 2.95721302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.11, Y:-0.93, Z:2.96 [[ 9.98668097e-01 4.89360172e-02 1.63492544e-02 3.89107843e+02] [-4.89200061e-02 9.98801749e-01 -1.37805850e-03 -9.29023500e-01] [-1.63971006e-02 5.76417435e-04 9.99865392e-01 2.95638101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.14, Y:-0.93, Z:2.96 [[ 9.98729786e-01 4.77022996e-02 1.62267065e-02 3.89135822e+02] [-4.76864124e-02 9.98861424e-01 -1.36481869e-03 -9.30861299e-01] [-1.62733361e-02 5.89291664e-04 9.99867407e-01 2.95525932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.16, Y:-0.93, Z:2.95 [[ 9.98775563e-01 4.67969129e-02 1.60444521e-02 3.89163264e+02] [-4.67812903e-02 9.98904247e-01 -1.34784448e-03 -9.33047574e-01] [-1.60899463e-02 5.95613963e-04 9.99870371e-01 2.95441440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.19, Y:-0.94, Z:2.95 [[ 9.98839100e-01 4.55355803e-02 1.57150926e-02 3.89190684e+02] [-4.55204618e-02 9.98962536e-01 -1.31858740e-03 -9.35172267e-01] [-1.57588314e-02 6.01698383e-04 9.99875641e-01 2.95398220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.22, Y:-0.94, Z:2.95 [[ 9.98893128e-01 4.42473858e-02 1.59589663e-02 3.89217224e+02] [-4.42316530e-02 9.99020406e-01 -1.33762508e-03 -9.37164683e-01] [-1.60025194e-02 6.30253036e-04 9.99871753e-01 2.95309876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.24, Y:-0.94, Z:2.95 [[ 9.99000848e-01 4.19115130e-02 1.55154857e-02 3.89244071e+02] [-4.19151478e-02 9.99121170e-01 -9.09918476e-05 -9.39217044e-01] [-1.55056639e-02 -5.59432945e-04 9.99879623e-01 2.95169763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.27, Y:-0.94, Z:2.95 [[ 9.99042109e-01 4.07475483e-02 1.59530816e-02 3.89273159e+02] [-4.07132141e-02 9.99167817e-01 -2.47122266e-03 -9.41337260e-01] [-1.60405020e-02 1.81935427e-03 9.99869688e-01 2.95224555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.30, Y:-0.94, Z:2.95 [[ 9.99083751e-01 3.94892162e-02 1.65003074e-02 3.89301011e+02] [-3.94718543e-02 9.99219734e-01 -1.37669321e-03 -9.43959530e-01] [-1.65417973e-02 7.24134085e-04 9.99862913e-01 2.95124855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.33, Y:-0.95, Z:2.95 [[ 9.99117709e-01 3.85614970e-02 1.66377214e-02 3.89329459e+02] [-3.85437432e-02 9.99255952e-01 -1.38654392e-03 -9.46203231e-01] [-1.66788094e-02 7.44040524e-04 9.99860622e-01 2.95044899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.36, Y:-0.95, Z:2.95 [[ 9.99167725e-01 3.71159876e-02 1.69192652e-02 3.89357201e+02] [-3.70974401e-02 9.99310660e-01 -1.40888226e-03 -9.48385842e-01] [-1.69598941e-02 7.80048259e-04 9.99855866e-01 2.94983366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.39, Y:-0.95, Z:2.95 [[ 9.99181658e-01 3.67651246e-02 1.68623596e-02 3.89386311e+02] [-3.67466789e-02 9.99323629e-01 -1.40254382e-03 -9.50536073e-01] [-1.69025191e-02 7.81760345e-04 9.99856837e-01 2.94931425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.41, Y:-0.95, Z:2.95 [[ 9.99192452e-01 3.64177793e-02 1.69761380e-02 3.89414401e+02] [-3.63990524e-02 9.99336339e-01 -1.41091538e-03 -9.52712849e-01] [-1.70162540e-02 7.91860663e-04 9.99854900e-01 2.94863406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.44, Y:-0.95, Z:2.95 [[ 9.99187065e-01 3.63031860e-02 1.75296513e-02 3.89443207e+02] [-3.62832297e-02 9.99340487e-01 -1.45523968e-03 -9.54814439e-01] [-1.75709201e-02 8.18024295e-04 9.99845285e-01 2.94794744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.47, Y:-0.96, Z:2.95 [[ 9.99180579e-01 3.64244107e-02 1.76474813e-02 3.89471689e+02] [-3.64042262e-02 9.99336074e-01 -1.46377032e-03 -9.56627336e-01] [-1.76890816e-02 8.20127974e-04 9.99843200e-01 2.94727974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.50, Y:-0.96, Z:2.95 [[ 9.99171855e-01 3.67039104e-02 1.75621048e-02 3.89498950e+02] [-3.66839839e-02 9.99325856e-01 -1.45554651e-03 -9.58552222e-01] [-1.76036897e-02 8.10093138e-04 9.99844715e-01 2.94707176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.53, Y:-0.96, Z:2.95 [[ 9.99158926e-01 3.70283185e-02 1.76166163e-02 3.89528053e+02] [-3.70083481e-02 9.99313892e-01 -1.45838637e-03 -9.60461802e-01] [-1.76585310e-02 8.05197887e-04 9.99843752e-01 2.94650089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.56, Y:-0.96, Z:2.95 [[ 9.99148307e-01 3.73553880e-02 1.75281615e-02 3.89556369e+02] [-3.73356882e-02 9.99301728e-01 -1.44990209e-03 -9.62503835e-01] [-1.75700838e-02 7.94241247e-04 9.99845319e-01 2.94559558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.58, Y:-0.96, Z:2.94 [[ 9.99142847e-01 3.75587692e-02 1.74042880e-02 3.89584385e+02] [-3.75393970e-02 9.99294113e-01 -1.43855336e-03 -9.64774163e-01] [-1.74460329e-02 7.83973823e-04 9.99847499e-01 2.94451070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.61, Y:-0.97, Z:2.94 [[ 9.99127479e-01 3.79262257e-02 1.74895035e-02 3.89613320e+02] [-3.79067475e-02 9.99280238e-01 -1.44399656e-03 -9.67004129e-01] [-1.75316805e-02 7.79766448e-04 9.99846004e-01 2.94339171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.64, Y:-0.97, Z:2.94 [[ 9.99122924e-01 3.80645033e-02 1.74492542e-02 3.89641598e+02] [-3.80451575e-02 9.99274984e-01 -1.43943165e-03 -9.69060285e-01] [-1.74913945e-02 7.74309534e-04 9.99846714e-01 2.94263146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.67, Y:-0.97, Z:2.94 [[ 9.99131685e-01 3.79330094e-02 1.72326208e-02 3.89669180e+02] [-3.79141408e-02 9.99279991e-01 -1.42043931e-03 -9.70935498e-01] [-1.72740947e-02 7.65845911e-04 9.99850498e-01 2.94190700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.70, Y:-0.97, Z:2.94 [[ 9.99140346e-01 3.77250563e-02 1.71869001e-02 3.89698336e+02] [-3.77062854e-02 9.99287863e-01 -1.41502130e-03 -9.72657057e-01] [-1.72280424e-02 7.65750713e-04 9.99851293e-01 2.94104852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.73, Y:-0.97, Z:2.94 [[ 9.99152986e-01 3.77265173e-02 1.64322743e-02 3.89726102e+02] [-3.77093752e-02 9.99287834e-01 -1.35190972e-03 -9.74457405e-01] [-1.64715746e-02 7.31113836e-04 9.99864067e-01 2.94060909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.75, Y:-0.98, Z:2.94 [[ 9.99165750e-01 3.74424171e-02 1.63054803e-02 3.89754680e+02] [-3.74255260e-02 9.99298521e-01 -1.33993703e-03 -9.76146616e-01] [-1.63442128e-02 7.28578012e-04 9.99866159e-01 2.93984181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.78, Y:-0.98, Z:2.94 [[ 9.99189227e-01 3.69130015e-02 1.60723232e-02 3.89782253e+02] [-3.68965372e-02 9.99318219e-01 -1.31981427e-03 -9.77846009e-01] [-1.61100837e-02 7.25731125e-04 9.99869961e-01 2.93928982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.81, Y:-0.98, Z:2.94 [[ 9.99206317e-01 3.65925657e-02 1.57391021e-02 3.89810721e+02] [-3.65767636e-02 9.99330013e-01 -1.29079214e-03 -9.79717943e-01] [-1.57757905e-02 7.14082243e-04 9.99875299e-01 2.93869530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.84, Y:-0.98, Z:2.94 [[ 9.99218118e-01 3.62387047e-02 1.58084780e-02 3.89838850e+02] [-3.62227348e-02 9.99342902e-01 -1.29547197e-03 -9.81686907e-01] [-1.58450365e-02 7.21832761e-04 9.99874199e-01 2.93799881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.87, Y:-0.98, Z:2.94 [[ 9.99228404e-01 3.55120770e-02 1.67776602e-02 3.89867715e+02] [-3.54940152e-02 9.99368946e-01 -1.37318300e-03 -9.83273957e-01] [-1.68158372e-02 7.76616931e-04 9.99858302e-01 2.93794328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.90, Y:-0.99, Z:2.94 [[ 9.99221945e-01 3.53182816e-02 1.75534782e-02 3.89896486e+02] [-3.52985049e-02 9.99375783e-01 -1.43530936e-03 -9.85348337e-01] [-1.75932137e-02 8.14581074e-04 9.99844896e-01 2.93740030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.92, Y:-0.99, Z:2.94 [[ 9.99236979e-01 3.48354015e-02 1.76622598e-02 3.89924048e+02] [-3.48153250e-02 9.99392721e-01 -1.44299458e-03 -9.87289236e-01] [-1.77018012e-02 8.26976232e-04 9.99842969e-01 2.93715403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.95, Y:-0.99, Z:2.94 [[ 9.99242933e-01 3.44713092e-02 1.80357793e-02 3.89951460e+02] [-3.44503458e-02 9.99405327e-01 -1.47182202e-03 -9.89541498e-01] [-1.80757895e-02 8.49368915e-04 9.99836259e-01 2.93633273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.98, Y:-0.99, Z:2.94 [[ 9.99279739e-01 3.34665610e-02 1.78883286e-02 3.89980569e+02] [-3.34458083e-02 9.99439469e-01 -1.45811933e-03 -9.92191445e-01] [-1.79270999e-02 8.58779488e-04 9.99838928e-01 2.93561152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.01, Y:-0.99, Z:2.93 [[ 9.99298594e-01 3.30600730e-02 1.75883998e-02 3.90008940e+02] [-3.30399699e-02 9.99453005e-01 -1.43241183e-03 -9.94744811e-01] [-1.76261346e-02 8.50286926e-04 9.99844286e-01 2.93494403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.04, Y:-1.00, Z:2.93 [[ 9.99335804e-01 3.21254652e-02 1.72018979e-02 3.90036643e+02] [-3.21061169e-02 9.99483485e-01 -1.39983000e-03 -9.97305395e-01] [-1.72379831e-02 8.46614088e-04 9.99851056e-01 2.93427883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.07, Y:-1.00, Z:2.93 [[ 9.99354184e-01 3.13313787e-02 1.75942853e-02 3.90065669e+02] [-3.13110454e-02 9.99508666e-01 -1.43002696e-03 -1.00023375e+00] [-1.76304454e-02 8.78207962e-04 9.99844186e-01 2.93341427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.09, Y:-1.00, Z:2.93 [[ 9.99410570e-01 2.94710162e-02 1.76060373e-02 3.90093989e+02] [-2.94503924e-02 9.99565221e-01 -1.42959119e-03 -1.00373815e+00] [-1.76405141e-02 9.10243836e-04 9.99843980e-01 2.93322449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.12, Y:-1.01, Z:2.93 [[ 9.99439300e-01 2.84454485e-02 1.76618795e-02 3.90122154e+02] [-2.84245527e-02 9.99594914e-01 -1.43306153e-03 -1.00654611e+00] [-1.76954890e-02 9.30226986e-04 9.99842990e-01 2.93274468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.15, Y:-1.01, Z:2.93 [[ 9.99478520e-01 2.70471601e-02 1.76391145e-02 3.90151917e+02] [-2.70261123e-02 9.99633704e-01 -1.43057930e-03 -1.00909307e+00] [-1.76713465e-02 9.53116591e-04 9.99843395e-01 2.93194912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.18, Y:-1.01, Z:2.93 [[ 9.99516086e-01 2.61290207e-02 1.68780581e-02 3.90180574e+02] [-2.61096273e-02 9.99658149e-01 -1.36840199e-03 -1.01197474e+00] [-1.69080433e-02 9.27059995e-04 9.99856619e-01 2.93112907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.21, Y:-1.01, Z:2.93 [[ 9.99549290e-01 2.50240049e-02 1.65836126e-02 3.90209663e+02] [-2.50051469e-02 9.99686420e-01 -1.34355728e-03 -1.01487146e+00] [-1.66120335e-02 9.28276052e-04 9.99861580e-01 2.93036436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.24, Y:-1.02, Z:2.93 [[ 9.99620799e-01 2.26926642e-02 1.55980920e-02 3.90238750e+02] [-2.26757083e-02 9.99742075e-01 -1.26307135e-03 -1.01855404e+00] [-1.56227313e-02 9.08894606e-04 9.99877545e-01 2.92918070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.27, Y:-1.02, Z:2.93 [[ 9.99650655e-01 2.14220844e-02 1.54810578e-02 3.90268409e+02] [-2.14052344e-02 9.99770096e-01 -1.25332233e-03 -1.02194180e+00] [-1.55043474e-02 9.21508813e-04 9.99879376e-01 2.92803567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.30, Y:-1.03, Z:2.93 [[ 9.99674588e-01 2.03288388e-02 1.54096122e-02 3.90298307e+02] [-2.03120208e-02 9.99792912e-01 -1.24713653e-03 -1.02547510e+00] [-1.54317739e-02 9.33730335e-04 9.99880487e-01 2.92709973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.33, Y:-1.03, Z:2.93 [[ 9.99708421e-01 1.85984390e-02 1.54003626e-02 3.90329048e+02] [-1.85814367e-02 9.99826573e-01 -1.24638794e-03 -1.02981295e+00] [-1.54208726e-02 9.59863655e-04 9.99880631e-01 2.92650315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.36, Y:-1.03, Z:2.93 [[ 9.99724477e-01 1.78939969e-02 1.51912682e-02 3.90360092e+02] [-1.78773766e-02 9.99839431e-01 -1.22917738e-03 -1.03290476e+00] [-1.52108239e-02 9.57258696e-04 9.99883851e-01 2.92621866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.39, Y:-1.04, Z:2.93 [[ 9.99723522e-01 1.79473282e-02 1.51912362e-02 3.90391832e+02] [-1.79307080e-02 9.99838476e-01 -1.22957263e-03 -1.03550262e+00] [-1.52108500e-02 9.56843058e-04 9.99883851e-01 2.92547577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.42, Y:-1.04, Z:2.93 [[ 9.99724857e-01 1.76041221e-02 1.55018052e-02 3.90422837e+02] [-1.75867823e-02 9.99844554e-01 -1.25419288e-03 -1.03846798e+00] [-1.55214744e-02 9.81220926e-04 9.99879053e-01 2.92517299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.45, Y:-1.04, Z:2.92 [[ 9.99714454e-01 1.75915898e-02 1.61724054e-02 3.90454330e+02] [-1.75726287e-02 9.99844726e-01 -1.31380434e-03 -1.04136196e+00] [-1.61930062e-02 1.02923752e-03 9.99868355e-01 2.92462092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.49, Y:-1.04, Z:2.92 [[ 9.99701266e-01 1.81279727e-02 1.63937647e-02 3.90486842e+02] [-1.81085749e-02 9.99835140e-01 -1.33092380e-03 -1.04410297e+00] [-1.64151890e-02 1.03365849e-03 9.99864727e-01 2.92442140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.52, Y:-1.05, Z:2.92 [[ 9.99681923e-01 1.87873985e-02 1.68251814e-02 3.90518625e+02] [-1.87669869e-02 9.99822946e-01 -1.37024507e-03 -1.04709916e+00] [-1.68479458e-02 1.05405126e-03 9.99857508e-01 2.92404073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.55, Y:-1.05, Z:2.92 [[ 9.99645607e-01 2.01893062e-02 1.73508791e-02 3.90550311e+02] [-2.01677311e-02 9.99795606e-01 -1.41755899e-03 -1.05053745e+00] [-1.73759522e-02 1.06712875e-03 9.99848457e-01 2.92354955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.58, Y:-1.05, Z:2.92 [[ 9.99616805e-01 2.14780298e-02 1.74624526e-02 3.90581643e+02] [-2.14562926e-02 9.99768763e-01 -1.43122516e-03 -1.05358451e+00] [-1.74891546e-02 1.05599723e-03 9.99846495e-01 2.92263708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.61, Y:-1.06, Z:2.92 [[ 9.99597178e-01 2.25685877e-02 1.72087182e-02 3.90611514e+02] [-2.25475552e-02 9.99744770e-01 -1.41526596e-03 -1.05639923e+00] [-1.72362665e-02 1.02668134e-03 9.99850917e-01 2.92210825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.64, Y:-1.06, Z:2.92 [[ 9.99575582e-01 2.35267549e-02 1.71798802e-02 3.90642167e+02] [-2.35059017e-02 9.99722697e-01 -1.41476370e-03 -1.05904681e+00] [-1.72084010e-02 1.01033468e-03 9.99851414e-01 2.92144384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.67, Y:-1.06, Z:2.92 [[ 9.99540197e-01 2.52129918e-02 1.68433781e-02 3.90672573e+02] [-2.51931881e-02 9.99681639e-01 -1.38693888e-03 -1.06219705e+00] [-1.68729847e-02 9.61962771e-04 9.99857178e-01 2.92071095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.70, Y:-1.06, Z:2.92 [[ 9.99542122e-01 2.52225116e-02 1.67143919e-02 3.90701886e+02] [-2.52030006e-02 9.99681406e-01 -1.37696637e-03 -1.06492797e+00] [-1.67437973e-02 9.55083056e-04 9.99859357e-01 2.91984878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.73, Y:-1.07, Z:2.92 [[ 9.99546379e-01 2.52115164e-02 1.64747117e-02 3.90731281e+02] [-2.51925692e-02 9.99681696e-01 -1.35663100e-03 -1.06785854e+00] [-1.65036705e-02 9.40975291e-04 9.99863362e-01 2.91920080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.76, Y:-1.07, Z:2.92 [[ 9.99569766e-01 2.47794322e-02 1.56927400e-02 3.90760426e+02] [-2.47622032e-02 9.99692536e-01 -1.29127858e-03 -1.07072272e+00] [-1.57199122e-02 9.02136215e-04 9.99876028e-01 2.91868017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.79, Y:-1.07, Z:2.92 [[ 9.99592921e-01 2.39068766e-02 1.55709252e-02 3.90790095e+02] [-2.38897970e-02 9.99713776e-01 -1.28199874e-03 -1.07368331e+00] [-1.55971170e-02 9.09490625e-04 9.99877944e-01 2.91779471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.82, Y:-1.08, Z:2.92 [[ 9.99625662e-01 2.28827968e-02 1.49970872e-02 3.90819095e+02] [-2.28668458e-02 9.99737758e-01 -1.23424548e-03 -1.07675960e+00] [-1.50213974e-02 8.90847372e-04 9.99886776e-01 2.91728086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.85, Y:-1.08, Z:2.92 [[ 9.99682349e-01 2.08960851e-02 1.40909574e-02 3.90848097e+02] [-2.08818131e-02 9.99781279e-01 -1.15923481e-03 -1.08074823e+00] [-1.41120988e-02 8.64621835e-04 9.99900046e-01 2.91624544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.88, Y:-1.08, Z:2.92 [[ 9.99699949e-01 2.01836969e-02 1.38791277e-02 3.90877180e+02] [-2.01697918e-02 9.99795918e-01 -1.14113325e-03 -1.08393521e+00] [-1.38993276e-02 8.60851735e-04 9.99903029e-01 2.91507028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.91, Y:-1.09, Z:2.91 [[ 9.99718481e-01 1.94295983e-02 1.36180201e-02 3.90907452e+02] [-1.94161476e-02 9.99810862e-01 -1.11924693e-03 -1.08729787e+00] [-1.36371910e-02 8.54522348e-04 9.99906644e-01 2.91386822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.94, Y:-1.09, Z:2.91 [[ 9.99737435e-01 1.87122379e-02 1.32254901e-02 3.90937351e+02] [-1.86994889e-02 9.99824558e-01 -1.08698540e-03 -1.09071488e+00] [-1.32435097e-02 8.39390094e-04 9.99911949e-01 2.91306587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.97, Y:-1.10, Z:2.91 [[ 9.99783277e-01 1.65906028e-02 1.25757836e-02 3.90967607e+02] [-1.66230543e-02 9.99858751e-01 2.48034865e-03 -1.09553214e+00] [-1.25328568e-02 -2.68885904e-03 9.99917845e-01 2.91251638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.00, Y:-1.10, Z:2.91 [[ 9.99766858e-01 1.70028078e-02 1.33091460e-02 3.90998437e+02] [-1.69424353e-02 9.99845719e-01 -4.63585991e-03 -1.09637052e+00] [-1.33859153e-02 4.40928976e-03 9.99900683e-01 2.91282732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.03, Y:-1.10, Z:2.91 [[ 9.99778478e-01 1.62544098e-02 1.33712025e-02 3.91028348e+02] [-1.62411547e-02 9.99867499e-01 -1.09931179e-03 -1.10129237e+00] [-1.33872995e-02 8.81904496e-04 9.99909997e-01 2.91137136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.06, Y:-1.10, Z:2.91 [[ 9.99786210e-01 1.58248441e-02 1.33082001e-02 3.91059267e+02] [-1.58117013e-02 9.99874391e-01 -1.09221888e-03 -1.10457895e+00] [-1.33238127e-02 8.81560091e-04 9.99910845e-01 2.91101361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.09, Y:-1.11, Z:2.91 [[ 9.99814077e-01 1.38789273e-02 1.33861033e-02 3.91090715e+02] [-1.38653879e-02 9.99903262e-01 -1.10373731e-03 -1.10894575e+00] [-1.34001271e-02 9.17928584e-04 9.99909793e-01 2.91033976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.12, Y:-1.11, Z:2.91 [[ 9.99831450e-01 1.31556598e-02 1.28062259e-02 3.91122398e+02] [-1.31432324e-02 9.99913068e-01 -1.05409979e-03 -1.11271488e+00] [-1.28189800e-02 8.85606918e-04 9.99917441e-01 2.90984926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.15, Y:-1.12, Z:2.91 [[ 9.99836508e-01 1.26700773e-02 1.29006552e-02 3.91154018e+02] [-1.26573834e-02 9.99919325e-01 -1.06514492e-03 -1.11663673e+00] [-1.29131099e-02 9.01682235e-04 9.99916216e-01 2.90904353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.18, Y:-1.12, Z:2.91 [[ 9.99848956e-01 1.15687813e-02 1.29702930e-02 3.91184845e+02] [-1.15563447e-02 9.99932689e-01 -1.03339154e-03 -1.11874265e+00] [-1.29813750e-02 8.83346273e-04 9.99915348e-01 2.90814918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.22, Y:-1.12, Z:2.91 [[ 9.99819890e-01 1.36105527e-02 1.32265087e-02 3.91216493e+02] [-1.35974940e-02 9.99906970e-01 -1.07674272e-03 -1.12455444e+00] [-1.32399333e-02 8.96701415e-04 9.99911946e-01 2.90812632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.25, Y:-1.13, Z:2.91 [[ 9.99808216e-01 1.44551836e-02 1.32128453e-02 3.91247855e+02] [-1.44419130e-02 9.99895106e-01 -1.09923922e-03 -1.12752349e+00] [-1.32273491e-02 9.08209645e-04 9.99912102e-01 2.90772380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.28, Y:-1.13, Z:2.91 [[ 9.99772989e-01 1.62875835e-02 1.37362887e-02 3.91280199e+02] [-1.62733670e-02 9.99866923e-01 -1.14611066e-03 -1.13053997e+00] [-1.37531281e-02 9.22314811e-04 9.99904996e-01 2.90642249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.31, Y:-1.13, Z:2.91 [[ 9.99744233e-01 1.80779950e-02 1.35887648e-02 3.91311649e+02] [-1.80641985e-02 9.99836182e-01 -1.13734963e-03 -1.13314017e+00] [-1.36070997e-02 8.91588593e-04 9.99907022e-01 2.90586877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.34, Y:-1.13, Z:2.91 [[ 9.99673675e-01 2.09672678e-02 1.45917155e-02 3.91342763e+02] [-2.07859954e-02 9.99706231e-01 -1.24656984e-02 -1.12869690e+00] [-1.48488005e-02 1.21583272e-02 9.99815827e-01 2.90502250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.37, Y:-1.14, Z:2.90 [[ 9.99627546e-01 2.29231064e-02 1.48088294e-02 3.91372184e+02] [-2.30737397e-02 9.99682924e-01 1.00823450e-02 -1.14384285e+00] [-1.45730152e-02 -1.04202849e-02 9.99839510e-01 2.90017079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.40, Y:-1.14, Z:2.90 [[ 9.99600017e-01 2.47403129e-02 1.37011932e-02 3.91401983e+02] [-2.47268035e-02 9.99693579e-01 -1.15454888e-03 -1.14067644e+00] [-1.37255588e-02 8.15300371e-04 9.99905468e-01 2.90303547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.43, Y:-1.14, Z:2.90 [[ 9.99563303e-01 2.62549408e-02 1.35602666e-02 3.91430940e+02] [-2.62418511e-02 9.99654971e-01 -1.14235808e-03 -1.14310950e+00] [-1.35855805e-02 7.86012722e-04 9.99907403e-01 2.90253727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.46, Y:-1.15, Z:2.90 [[ 9.99523075e-01 2.77485763e-02 1.35513203e-02 3.91459885e+02] [-2.77356486e-02 9.99614642e-01 -1.14102283e-03 -1.14566850e+00] [-1.35777600e-02 7.64623986e-04 9.99907526e-01 2.90147940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.49, Y:-1.15, Z:2.90 [[ 9.99424661e-01 3.05718882e-02 1.46869431e-02 3.91488110e+02] [-3.05570238e-02 9.99532262e-01 -1.23547836e-03 -1.14801663e+00] [-1.47178443e-02 7.85978277e-04 9.99891378e-01 2.90051998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.52, Y:-1.14, Z:2.90 [[ 9.99335794e-01 3.25183520e-02 1.64477179e-02 3.91516945e+02] [-3.22785804e-02 9.99371698e-01 -1.46391061e-02 -1.14318939e+00] [-1.69134234e-02 1.40984737e-02 9.99757555e-01 2.89918854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.54, Y:-1.16, Z:2.89 [[ 9.99315250e-01 3.30986068e-02 1.65382196e-02 3.91544583e+02] [-3.32995009e-02 9.99373097e-01 1.20231776e-02 -1.15949416e+00] [-1.61299013e-02 -1.25656592e-02 9.99790943e-01 2.89499430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.57, Y:-1.15, Z:2.90 [[ 9.99303349e-01 3.38972351e-02 1.56139212e-02 3.91571912e+02] [-3.37828703e-02 9.99400821e-01 -7.53104494e-03 -1.15037760e+00] [-1.58598473e-02 6.99831536e-03 9.99849733e-01 2.89868035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.60, Y:-1.16, Z:2.90 [[ 9.99234852e-01 3.52864460e-02 1.68694082e-02 3.91602694e+02] [-3.53746460e-02 9.99361819e-01 4.95881371e-03 -1.16194270e+00] [-1.66836636e-02 -5.55176883e-03 9.99845405e-01 2.89589519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.63, Y:-1.16, Z:2.90 [[ 9.99126351e-01 3.79138743e-02 1.75804826e-02 3.91631595e+02] [-3.78937739e-02 9.99280684e-01 -1.47517386e-03 -1.16274533e+00] [-1.76237663e-02 8.07694242e-04 9.99844363e-01 2.89671050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.66, Y:-1.17, Z:2.90 [[ 9.99085749e-01 3.91107165e-02 1.72632046e-02 3.91660471e+02] [-3.90915343e-02 9.99234586e-01 -1.44734448e-03 -1.16552046e+00] [-1.73065978e-02 7.71176092e-04 9.99849932e-01 2.89646499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.69, Y:-1.17, Z:2.90 [[ 9.99041912e-01 3.99770483e-02 1.78071352e-02 3.91689084e+02] [-3.99567989e-02 9.99200295e-01 -1.49163248e-03 -1.16822062e+00] [-1.78525258e-02 7.78687244e-04 9.99840328e-01 2.89581682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.72, Y:-1.16, Z:2.90 [[ 9.99060413e-01 4.10041522e-02 1.40339283e-02 3.91717202e+02] [-4.07496799e-02 9.99007919e-01 -1.79622297e-02 -1.16113657e+00] [-1.47565315e-02 1.73734745e-02 9.99740170e-01 2.89764208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.74, Y:-1.18, Z:2.89 [[ 9.98957814e-01 4.15029456e-02 1.89945220e-02 3.91744515e+02] [-4.18023867e-02 9.99003343e-01 1.56486915e-02 -1.18226913e+00] [-1.83261241e-02 -1.64263990e-02 9.99697117e-01 2.88972706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.045099893 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:391.77, Y:-1.17, Z:2.90 [[ 9.99020518e-01 4.24010486e-02 1.26552898e-02 3.91774681e+02] [-4.22298902e-02 9.99016727e-01 -1.34987050e-02 -1.17135933e+00] [-1.32152054e-02 1.29510517e-02 9.99828800e-01 2.89886359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.81, Y:-1.18, Z:2.89 [[ 9.98918942e-01 4.32792560e-02 1.69662277e-02 3.91805066e+02] [-4.31850497e-02 9.99049785e-01 -5.88034137e-03 -1.17885124e+00] [-1.72046029e-02 5.14129700e-03 9.99838771e-01 2.89117327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.83, Y:-1.19, Z:2.89 [[ 9.99047421e-01 4.10817395e-02 1.47153336e-02 3.91831314e+02] [-4.13264398e-02 9.99005625e-01 1.67297822e-02 -1.19214613e+00] [-1.40134125e-02 -1.73219781e-02 9.99751756e-01 2.88992982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.86, Y:-1.19, Z:2.90 [[ 9.99087875e-01 4.07753667e-02 1.26801672e-02 3.91860356e+02] [-4.07652178e-02 9.99168193e-01 -1.05792264e-03 -1.18633396e+00] [-1.27127570e-02 5.40047907e-04 9.99919044e-01 2.89532068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.89, Y:-1.19, Z:2.89 [[ 9.99113744e-01 3.99386000e-02 1.32904392e-02 3.91888428e+02] [-3.99273890e-02 9.99201970e-01 -1.10791345e-03 -1.18920051e+00] [-1.33240816e-02 5.76279019e-04 9.99911064e-01 2.89447838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.92, Y:-1.19, Z:2.89 [[ 9.99144588e-01 3.90851210e-02 1.35072376e-02 3.91917392e+02] [-3.90734818e-02 9.99235707e-01 -1.12462556e-03 -1.19141545e+00] [-1.35408702e-02 5.95888744e-04 9.99908141e-01 2.89388327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.95, Y:-1.19, Z:2.89 [[ 9.99161960e-01 3.85513430e-02 1.37539408e-02 3.91945173e+02] [-3.85392373e-02 9.99256433e-01 -1.14422789e-03 -1.19375907e+00] [-1.37878253e-02 6.13202596e-04 9.99904755e-01 2.89344857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.97, Y:-1.20, Z:2.89 [[ 9.99180227e-01 3.79461081e-02 1.41055674e-02 3.91973271e+02] [-3.79333338e-02 9.99279585e-01 -1.17216735e-03 -1.19612880e+00] [-1.41398847e-02 6.36135240e-04 9.99899824e-01 2.89278206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.00, Y:-1.20, Z:2.89 [[ 9.99216150e-01 3.66074173e-02 1.50659413e-02 3.92000587e+02] [-3.65927165e-02 9.99329480e-01 -1.25036776e-03 -1.19888503e+00] [-1.51016120e-02 6.98083940e-04 9.99885720e-01 2.89187721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.03, Y:-1.20, Z:2.89 [[ 9.99223887e-01 3.62561824e-02 1.53984408e-02 3.92028281e+02] [-3.62408081e-02 9.99342271e-01 -1.27639546e-03 -1.20129946e+00] [-1.54345900e-02 7.17352899e-04 9.99880622e-01 2.89130224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.06, Y:-1.20, Z:2.89 [[ 9.99234302e-01 3.57959774e-02 1.57941995e-02 3.92057149e+02] [-3.57797694e-02 9.99358844e-01 -1.30767560e-03 -1.20365850e+00] [-1.58308825e-02 7.41561497e-04 9.99874409e-01 2.89057370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.08, Y:-1.19, Z:2.89 [[ 9.99174173e-01 3.64866866e-02 1.78799738e-02 3.92084997e+02] [-3.60697840e-02 9.99082040e-01 -2.31094672e-02 -1.19486873e+00] [-1.87067486e-02 2.24454560e-02 9.99573038e-01 2.89047825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.11, Y:-1.22, Z:2.88 [[ 9.99223294e-01 3.47834355e-02 1.85181094e-02 3.92111965e+02] [-3.51545419e-02 9.99179603e-01 2.01066898e-02 -1.21893101e+00] [-1.78035375e-02 -2.07420684e-02 9.99626331e-01 2.88305149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.14, Y:-1.21, Z:2.89 [[ 9.99235112e-01 3.51602355e-02 1.71157206e-02 3.92141470e+02] [-3.51411929e-02 9.99381360e-01 -1.41215442e-03 -1.21125242e+00] [-1.71547838e-02 8.09607445e-04 9.99852518e-01 2.88869973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.17, Y:-1.21, Z:2.89 [[ 9.99233004e-01 3.50335155e-02 1.74944893e-02 3.92170055e+02] [-3.50136238e-02 9.99385795e-01 -1.44212808e-03 -1.21424352e+00] [-1.75342669e-02 8.28476508e-04 9.99845920e-01 2.88787929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.20, Y:-1.22, Z:2.89 [[ 9.99241174e-01 3.48874626e-02 1.73188229e-02 3.92198251e+02] [-3.48679687e-02 9.99390910e-01 -1.42636733e-03 -1.21694853e+00] [-1.73580365e-02 8.21412789e-04 9.99849001e-01 2.88706679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.23, Y:-1.22, Z:2.89 [[ 9.99249758e-01 3.45589765e-02 1.74813847e-02 3.92226951e+02] [-3.45390806e-02 9.99402312e-01 -1.43885069e-03 -1.21974852e+00] [-1.75206615e-02 8.33980244e-04 9.99846154e-01 2.88665211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.26, Y:-1.22, Z:2.89 [[ 9.99285614e-01 3.35217905e-02 1.74514228e-02 3.92255785e+02] [-3.35018264e-02 9.99437626e-01 -1.43515930e-03 -1.22246357e+00] [-1.74897177e-02 8.49479502e-04 9.99846682e-01 2.88645166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.28, Y:-1.22, Z:2.89 [[ 9.99287425e-01 3.34677042e-02 1.74515299e-02 3.92284999e+02] [-3.34477546e-02 9.99439439e-01 -1.43385625e-03 -1.22480435e+00] [-1.74897351e-02 8.49120026e-04 9.99846682e-01 2.88586549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.31, Y:-1.23, Z:2.89 [[ 9.99303178e-01 3.29684692e-02 1.74996977e-02 3.92313287e+02] [-3.29483497e-02 9.99456023e-01 -1.43685654e-03 -1.22740652e+00] [-1.75375492e-02 8.59269148e-04 9.99845836e-01 2.88520638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.34, Y:-1.23, Z:2.88 [[ 9.99309434e-01 3.27290890e-02 1.75915468e-02 3.92342482e+02] [-3.27087383e-02 9.99463884e-01 -1.44339910e-03 -1.23013666e+00] [-1.76293569e-02 8.67005036e-04 9.99844215e-01 2.88454038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.37, Y:-1.23, Z:2.88 [[ 9.99318652e-01 3.25275333e-02 1.74410880e-02 3.92371448e+02] [-3.25075095e-02 9.99470468e-01 -1.43043480e-03 -1.23277990e+00] [-1.74783809e-02 8.62493841e-04 9.99846869e-01 2.88419519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.40, Y:-1.24, Z:2.88 [[ 9.99294031e-01 3.30415544e-02 1.78800345e-02 3.92400018e+02] [-3.30206025e-02 9.99453596e-01 -1.46585214e-03 -1.23574231e+00] [-1.79186988e-02 8.74407787e-04 9.99839065e-01 2.88379731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.43, Y:-1.24, Z:2.88 [[ 9.99256746e-01 3.41357255e-02 1.79083270e-02 3.92428583e+02] [-3.41149073e-02 9.99416841e-01 -1.46678988e-03 -1.23826776e+00] [-1.79479535e-02 8.54758770e-04 9.99838557e-01 2.88351793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.46, Y:-1.24, Z:2.88 [[ 9.99200700e-01 3.53957866e-02 1.85768253e-02 3.92456903e+02] [-3.53736157e-02 9.99373001e-01 -1.52081352e-03 -1.24064624e+00] [-1.86190080e-02 8.62468458e-04 9.99826279e-01 2.88292959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.49, Y:-1.24, Z:2.88 [[ 9.99055721e-01 3.92483821e-02 1.86341501e-02 3.92485967e+02] [-3.92267609e-02 9.99229171e-01 -1.52453959e-03 -1.24294019e+00] [-1.86796221e-02 7.92142649e-04 9.99825207e-01 2.88247806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.51, Y:-1.25, Z:2.88 [[ 9.98968842e-01 4.15994655e-02 1.81861694e-02 3.92513923e+02] [-4.15792832e-02 9.99134102e-01 -1.48663682e-03 -1.24501008e+00] [-1.82322653e-02 7.28935981e-04 9.99833513e-01 2.88184149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.54, Y:-1.25, Z:2.88 [[ 9.98869607e-01 4.42021779e-02 1.74835572e-02 3.92542951e+02] [-4.41839502e-02 9.99022392e-01 -1.42765714e-03 -1.24753395e+00] [-1.75295706e-02 6.53550714e-04 9.99846132e-01 2.88109980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.57, Y:-1.25, Z:2.88 [[ 9.98769799e-01 4.66813219e-02 1.67255375e-02 3.92570550e+02] [-4.66650059e-02 9.98909663e-01 -1.36467733e-03 -1.24993483e+00] [-1.67710060e-02 5.82501193e-04 9.99859187e-01 2.88030732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.60, Y:-1.25, Z:2.88 [[ 9.98563140e-01 5.13733611e-02 1.52457580e-02 3.92598827e+02] [-5.13603678e-02 9.98679412e-01 -1.24283696e-03 -1.25264325e+00] [-1.52894733e-02 4.58023441e-04 9.99883004e-01 2.87944302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.63, Y:-1.26, Z:2.88 [[ 9.98440679e-01 5.38831236e-02 1.45883337e-02 3.92625630e+02] [-5.38715151e-02 9.98547169e-01 -1.18782670e-03 -1.25529255e+00] [-1.46311431e-02 4.00078862e-04 9.99892879e-01 2.87863941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.65, Y:-1.26, Z:2.88 [[ 9.98329894e-01 5.59118887e-02 1.45355939e-02 3.92653241e+02] [-5.59006070e-02 9.98435639e-01 -1.18160116e-03 -1.25773415e+00] [-1.45789206e-02 3.67079243e-04 9.99893655e-01 2.87790486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.68, Y:-1.26, Z:2.88 [[ 9.98229802e-01 5.76514450e-02 1.46141333e-02 3.92681024e+02] [-5.76402508e-02 9.98336714e-01 -1.18638421e-03 -1.26036171e+00] [-1.46582226e-02 3.41921766e-04 9.99892504e-01 2.87738030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.71, Y:-1.26, Z:2.88 [[ 9.98126371e-01 5.93836307e-02 1.47421620e-02 3.92708361e+02] [-5.93724522e-02 9.98235184e-01 -1.19516144e-03 -1.26312881e+00] [-1.47871178e-02 3.17643845e-04 9.99890614e-01 2.87697099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.74, Y:-1.27, Z:2.88 [[ 9.98026666e-01 6.08738357e-02 1.53996888e-02 3.92736476e+02] [-6.08618428e-02 9.98145421e-01 -1.24666779e-03 -1.26626500e+00] [-1.54470183e-02 3.06954259e-04 9.99880641e-01 2.87628913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.76, Y:-1.27, Z:2.88 [[ 9.97883714e-01 6.28914973e-02 1.65152273e-02 3.92763429e+02] [-6.28780116e-02 9.98020327e-01 -1.33506560e-03 -1.26965285e+00] [-1.65664968e-02 2.93795564e-04 9.99862723e-01 2.87611298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.79, Y:-1.27, Z:2.88 [[ 9.97861567e-01 6.30818521e-02 1.71164474e-02 3.92790986e+02] [-6.30674343e-02 9.98008312e-01 -1.38135220e-03 -1.27265625e+00] [-1.71694950e-02 2.98907854e-04 9.99852549e-01 2.87552414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.82, Y:-1.28, Z:2.87 [[ 9.97855727e-01 6.30659791e-02 1.75108498e-02 3.92818546e+02] [-6.30509210e-02 9.98009313e-01 -1.41123310e-03 -1.27622738e+00] [-1.75649920e-02 3.04131827e-04 9.99845677e-01 2.87481710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.85, Y:-1.28, Z:2.87 [[ 9.97909930e-01 6.21679802e-02 1.76327400e-02 3.92846584e+02] [-6.21526056e-02 9.98065649e-01 -1.41913186e-03 -1.27988330e+00] [-1.76868566e-02 3.20245045e-04 9.99843524e-01 2.87398852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.87, Y:-1.28, Z:2.87 [[ 9.98113810e-01 5.87363052e-02 1.78568690e-02 3.92874650e+02] [-5.87200236e-02 9.98273459e-01 -1.43519284e-03 -1.28487285e+00] [-1.79103363e-02 3.83930028e-04 9.99839523e-01 2.87365631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.90, Y:-1.29, Z:2.87 [[ 9.98263346e-01 5.61620417e-02 1.77796581e-02 3.92901154e+02] [-5.61455263e-02 9.98421576e-01 -1.42709493e-03 -1.28858651e+00] [-1.78317428e-02 4.26368300e-04 9.99840911e-01 2.87334706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.93, Y:-1.29, Z:2.87 [[ 9.98434592e-01 5.30364049e-02 1.77624838e-02 3.92928676e+02] [-5.30194676e-02 9.98592464e-01 -1.42343500e-03 -1.29264310e+00] [-1.78129764e-02 4.79449306e-04 9.99841221e-01 2.87276346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.96, Y:-1.30, Z:2.87 [[ 9.98617245e-01 4.93847461e-02 1.80206885e-02 3.92957612e+02] [-4.93667555e-02 9.98779677e-01 -1.44208418e-03 -1.29664914e+00] [-1.80699144e-02 5.50467205e-04 9.99836574e-01 2.87214511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.99, Y:-1.30, Z:2.87 [[ 9.98799239e-01 4.56347003e-02 1.78200620e-02 3.92985913e+02] [-4.56165345e-02 9.98958008e-01 -1.42476469e-03 -1.30091145e+00] [-1.78665123e-02 6.10164414e-04 9.99840195e-01 2.87183838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.01, Y:-1.31, Z:2.87 [[ 9.98962561e-01 4.18093855e-02 1.80492879e-02 3.93014269e+02] [-4.17901499e-02 9.99125370e-01 -1.44174827e-03 -1.30523211e+00] [-1.80937800e-02 6.85970103e-04 9.99836059e-01 2.87106892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.04, Y:-1.31, Z:2.87 [[ 9.99242146e-01 3.46322409e-02 1.77691068e-02 3.93041581e+02] [-3.46124871e-02 9.99399802e-01 -1.41812761e-03 -1.31133962e+00] [-1.78075548e-02 8.02019897e-04 9.99841111e-01 2.87062068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.07, Y:-1.32, Z:2.87 [[ 9.99354903e-01 3.14033802e-02 1.74242603e-02 3.93069659e+02] [-3.13839254e-02 9.99506438e-01 -1.38892639e-03 -1.31538834e+00] [-1.74592774e-02 8.41188713e-04 9.99847221e-01 2.86986262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.10, Y:-1.32, Z:2.87 [[ 9.99502804e-01 2.68434964e-02 1.65399691e-02 3.93100227e+02] [-2.68253558e-02 9.99639267e-01 -1.31769765e-03 -1.32120214e+00] [-1.65693742e-02 8.73351940e-04 9.99862337e-01 2.86869534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.13, Y:-1.32, Z:2.87 [[ 9.99548102e-01 2.55003915e-02 1.59161139e-02 3.93130221e+02] [-2.54834240e-02 9.99674441e-01 -1.26799668e-03 -1.32493607e+00] [-1.59432667e-02 8.61826596e-04 9.99872527e-01 2.86799528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.16, Y:-1.33, Z:2.87 [[ 9.99559367e-01 2.52265265e-02 1.56427137e-02 3.93160025e+02] [-2.52101095e-02 9.99681398e-01 -1.24582937e-03 -1.32842297e+00] [-1.56691579e-02 8.50925892e-04 9.99876869e-01 2.86735839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.19, Y:-1.33, Z:2.87 [[ 9.99546540e-01 2.54234597e-02 1.61357097e-02 3.93190284e+02] [-2.54059871e-02 9.99676387e-01 -1.28694898e-03 -1.33172340e+00] [-1.61632066e-02 8.76421766e-04 9.99868983e-01 2.86643444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.22, Y:-1.33, Z:2.87 [[ 9.99513997e-01 2.65886150e-02 1.62731573e-02 3.93221780e+02] [-2.65709995e-02 9.99646086e-01 -1.29778055e-03 -1.33487366e+00] [-1.63019042e-02 8.64755765e-04 9.99866741e-01 2.86621135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.25, Y:-1.34, Z:2.87 [[ 9.99452856e-01 2.84785883e-02 1.68213850e-02 3.93251705e+02] [-2.84600212e-02 9.99594030e-01 -1.34218612e-03 -1.33774738e+00] [-1.68527796e-02 8.62714772e-04 9.99857610e-01 2.86590497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.28, Y:-1.34, Z:2.87 [[ 9.99271447e-01 3.34148318e-02 1.84397251e-02 3.93282205e+02] [-3.33933507e-02 9.99441203e-01 -1.47170373e-03 -1.34010817e+00] [-1.84785977e-02 8.54867307e-04 9.99828891e-01 2.86550681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.31, Y:-1.34, Z:2.87 [[ 9.99167903e-01 3.63139769e-02 1.85686937e-02 3.93311399e+02] [-3.62926933e-02 9.99340104e-01 -1.48202166e-03 -1.34233407e+00] [-1.86102584e-02 8.06880571e-04 9.99826489e-01 2.86519096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.34, Y:-1.34, Z:2.86 [[ 9.99059739e-01 3.91429335e-02 1.86404904e-02 3.93341462e+02] [-3.91219824e-02 9.99233335e-01 -1.48743156e-03 -1.34432323e+00] [-1.86844218e-02 7.56780052e-04 9.99825145e-01 2.86445902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.37, Y:-1.35, Z:2.86 [[ 9.98956119e-01 4.17234172e-02 1.85964789e-02 3.93369939e+02] [-4.17030229e-02 9.99128950e-01 -1.48329528e-03 -1.34630013e+00] [-1.86421686e-02 7.06217510e-04 9.99825970e-01 2.86394663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.40, Y:-1.35, Z:2.86 [[ 9.98781645e-01 4.60437142e-02 1.77539453e-02 3.93397387e+02] [-4.60258289e-02 9.98939248e-01 -1.41490927e-03 -1.34816241e+00] [-1.78002604e-02 5.96045359e-04 9.99841385e-01 2.86301794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.43, Y:-1.35, Z:2.86 [[ 9.98710633e-01 4.77142628e-02 1.73326655e-02 3.93425952e+02] [-4.76974947e-02 9.98860874e-01 -1.37977151e-03 -1.35059676e+00] [-1.73787562e-02 5.51267757e-04 9.99848826e-01 2.86193726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.45, Y:-1.35, Z:2.86 [[ 9.98655427e-01 4.91158706e-02 1.65821792e-02 3.93453308e+02] [-4.91007339e-02 9.98792961e-01 -1.31896892e-03 -1.35292693e+00] [-1.66269462e-02 5.02998302e-04 9.99861636e-01 2.86105542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.48, Y:-1.36, Z:2.86 [[ 9.98620396e-01 5.00676282e-02 1.58283871e-02 3.93480759e+02] [-5.00539769e-02 9.98745722e-01 -1.25769260e-03 -1.35512986e+00] [-1.58715036e-02 4.63683763e-04 9.99873932e-01 2.86035652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.51, Y:-1.36, Z:2.86 [[ 9.98556495e-01 5.16501250e-02 1.47373760e-02 3.93508465e+02] [-5.16384786e-02 9.98665158e-01 -1.16995401e-03 -1.35679758e+00] [-1.47781322e-02 4.07249499e-04 9.99890715e-01 2.85953525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.54, Y:-1.36, Z:2.86 [[ 9.98527844e-01 5.22975178e-02 1.43914685e-02 3.93536495e+02] [-5.22865009e-02 9.98631474e-01 -1.14097114e-03 -1.35855846e+00] [-1.44314434e-02 3.86811922e-04 9.99895786e-01 2.85905769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.56, Y:-1.36, Z:2.86 [[ 9.98503180e-01 5.29057071e-02 1.38703337e-02 3.93564327e+02] [-5.28955540e-02 9.98599447e-01 -1.09809844e-03 -1.36039288e+00] [-1.39090032e-02 3.62775800e-04 9.99903199e-01 2.85871455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.59, Y:-1.36, Z:2.86 [[ 9.98484612e-01 5.33579773e-02 1.34686706e-02 3.93592677e+02] [-5.33484591e-02 9.98575389e-01 -1.06524469e-03 -1.36233843e+00] [-1.35063223e-02 3.45097606e-04 9.99908726e-01 2.85834146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.62, Y:-1.36, Z:2.86 [[ 9.98453766e-01 5.39231862e-02 1.35043441e-02 3.93620824e+02] [-5.39136907e-02 9.98545030e-01 -1.06647912e-03 -1.36446447e+00] [-1.35422036e-02 3.36761063e-04 9.99908243e-01 2.85806997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.65, Y:-1.37, Z:2.86 [[ 9.98387876e-01 5.48643321e-02 1.45448878e-02 3.93648424e+02] [-5.48534359e-02 9.98493758e-01 -1.14732394e-03 -1.36635307e+00] [-1.45859268e-02 3.47637240e-04 9.99893559e-01 2.85803585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.68, Y:-1.37, Z:2.86 [[ 9.98374600e-01 5.49142108e-02 1.52508252e-02 3.93676483e+02] [-5.49022641e-02 9.98491011e-01 -1.20123681e-03 -1.36828658e+00] [-1.52937769e-02 3.61979489e-04 9.99882978e-01 2.85782012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.70, Y:-1.37, Z:2.86 [[ 9.98361949e-01 5.49374827e-02 1.59778636e-02 3.93703721e+02] [-5.49244035e-02 9.98489725e-01 -1.25658002e-03 -1.37026341e+00] [-1.60227660e-02 3.76947049e-04 9.99871556e-01 2.85755575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.73, Y:-1.37, Z:2.86 [[ 9.98367745e-01 5.47422640e-02 1.62827993e-02 3.93731792e+02] [-5.47286783e-02 9.98500443e-01 -1.27912037e-03 -1.37234908e+00] [-1.63284043e-02 3.85896437e-04 9.99866608e-01 2.85712633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.76, Y:-1.38, Z:2.86 [[ 9.98437815e-01 5.33889143e-02 1.64788989e-02 3.93759050e+02] [-5.33748459e-02 9.98573710e-01 -1.29266785e-03 -1.37515606e+00] [-1.65244093e-02 4.11089774e-04 9.99863378e-01 2.85630183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.79, Y:-1.38, Z:2.86 [[ 9.98511866e-01 5.19391271e-02 1.66246929e-02 3.93787886e+02] [-5.19246336e-02 9.98650157e-01 -1.30255649e-03 -1.37774018e+00] [-1.66699059e-02 4.37387025e-04 9.99860952e-01 2.85553496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.82, Y:-1.38, Z:2.85 [[ 9.98592184e-01 5.05403314e-02 1.61035670e-02 3.93816235e+02] [-5.05265685e-02 9.98721922e-01 -1.26062221e-03 -1.38047668e+00] [-1.61466977e-02 4.45189500e-04 9.99869534e-01 2.85476810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.84, Y:-1.38, Z:2.85 [[ 9.98751657e-01 4.73825658e-02 1.58120222e-02 3.93843709e+02] [-4.73689176e-02 9.98876697e-01 -1.23677115e-03 -1.38334034e+00] [-1.58528619e-02 4.86228854e-04 9.99874217e-01 2.85367292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.87, Y:-1.39, Z:2.85 [[ 9.98825751e-01 4.58197441e-02 1.57375666e-02 3.93872156e+02] [-4.58060534e-02 9.98949595e-01 -1.22949158e-03 -1.38550818e+00] [-1.57773708e-02 5.07172032e-04 9.99875401e-01 2.85295616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.90, Y:-1.39, Z:2.85 [[ 9.98880558e-01 4.47110756e-02 1.54451109e-02 3.93900877e+02] [-4.46977728e-02 9.98999828e-01 -1.20560036e-03 -1.38804452e+00] [-1.54835668e-02 5.13888701e-04 9.99879990e-01 2.85243087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.93, Y:-1.39, Z:2.85 [[ 9.98929507e-01 4.37784213e-02 1.49429195e-02 3.93928889e+02] [-4.37658795e-02 9.99041135e-01 -1.16545781e-03 -1.39038715e+00] [-1.49796132e-02 5.10220180e-04 9.99887669e-01 2.85165976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.96, Y:-1.39, Z:2.85 [[ 9.98942941e-01 4.33671444e-02 1.52411240e-02 3.93957706e+02] [-4.33540718e-02 9.99059065e-01 -1.18723325e-03 -1.39289263e+00] [-1.52782700e-02 5.25213487e-04 9.99883142e-01 2.85090238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.99, Y:-1.39, Z:2.85 [[ 9.98949191e-01 4.32299992e-02 1.52210604e-02 3.93986618e+02] [-4.32169613e-02 9.99065008e-01 -1.18460652e-03 -1.39493483e+00] [-1.52580394e-02 5.25553742e-04 9.99883451e-01 2.85049648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.02, Y:-1.40, Z:2.85 [[ 9.98866569e-01 4.46438528e-02 1.65076654e-02 3.94015325e+02] [-4.46287317e-02 9.99002817e-01 -1.28344101e-03 -1.39711096e+00] [-1.65485020e-02 5.45270152e-04 9.99862915e-01 2.84923063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.04, Y:-1.40, Z:2.85 [[ 9.98810450e-01 4.58252770e-02 1.66652070e-02 3.94042660e+02] [-4.58100498e-02 9.98949330e-01 -1.29451235e-03 -1.39875219e+00] [-1.67070187e-02 5.29538499e-04 9.99860288e-01 2.84849942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.07, Y:-1.40, Z:2.85 [[ 9.98815940e-01 4.57054124e-02 1.66653161e-02 3.94071865e+02] [-4.56901920e-02 9.98954821e-01 -1.29310614e-03 -1.40096729e+00] [-1.67069998e-02 5.30133533e-04 9.99860288e-01 2.84791361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.10, Y:-1.40, Z:2.85 [[ 9.98754113e-01 4.70593597e-02 1.66023430e-02 3.94099961e+02] [-4.70444755e-02 9.98891968e-01 -1.28614382e-03 -1.40257593e+00] [-1.66444722e-02 5.03492911e-04 9.99861344e-01 2.84715256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.13, Y:-1.40, Z:2.85 [[ 9.98675407e-01 4.88065403e-02 1.62896504e-02 3.94128686e+02] [-4.87924702e-02 9.98808143e-01 -1.26029611e-03 -1.40412452e+00] [-1.63317461e-02 4.63814452e-04 9.99866521e-01 2.84615820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.16, Y:-1.41, Z:2.85 [[ 9.98505164e-01 5.24091305e-02 1.55151934e-02 3.94157892e+02] [-5.23968171e-02 9.98625623e-01 -1.19934569e-03 -1.40532268e+00] [-1.55567264e-02 3.84606110e-04 9.99878913e-01 2.84514371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.19, Y:-1.41, Z:2.84 [[ 9.98426313e-01 5.39760724e-02 1.52145151e-02 3.94185168e+02] [-5.39644288e-02 9.98542167e-01 -1.17510309e-03 -1.40731311e+00] [-1.52557623e-02 3.52211231e-04 9.99883562e-01 2.84420696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.21, Y:-1.41, Z:2.84 [[ 9.98385704e-01 5.47800061e-02 1.50045945e-02 3.94212603e+02] [-5.47687926e-02 9.98498392e-01 -1.15754435e-03 -1.40932651e+00] [-1.50454738e-02 3.33892203e-04 9.99886755e-01 2.84352075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.24, Y:-1.41, Z:2.84 [[ 9.98350749e-01 5.54128809e-02 1.50064729e-02 3.94240760e+02] [-5.54017543e-02 9.98463474e-01 -1.15647848e-03 -1.41177956e+00] [-1.50474989e-02 3.23186230e-04 9.99886728e-01 2.84286655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.27, Y:-1.41, Z:2.84 [[ 9.98375218e-01 5.49929464e-02 1.49231137e-02 3.94268122e+02] [-5.49819215e-02 9.98486690e-01 -1.14835830e-03 -1.41475923e+00] [-1.49636820e-02 3.25991001e-04 9.99887985e-01 2.84205086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.30, Y:-1.42, Z:2.84 [[ 9.98428518e-01 5.40788983e-02 1.46958324e-02 3.94296110e+02] [-5.40681252e-02 9.98536610e-01 -1.12968340e-03 -1.41742086e+00] [-1.47354187e-02 3.33332014e-04 9.99891372e-01 2.84130577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.32, Y:-1.42, Z:2.84 [[ 9.98505800e-01 5.26511935e-02 1.46293622e-02 3.94324597e+02] [-5.26403904e-02 9.98612902e-01 -1.12280770e-03 -1.41986930e+00] [-1.46681870e-02 3.51034665e-04 9.99892355e-01 2.84052443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.35, Y:-1.42, Z:2.84 [[ 9.98601103e-01 5.09442053e-02 1.41607221e-02 3.94352209e+02] [-5.09339242e-02 9.98701435e-01 -1.08596484e-03 -1.42229620e+00] [-1.41976571e-02 3.63184544e-04 9.99899142e-01 2.84000300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.38, Y:-1.42, Z:2.84 [[ 9.98684981e-01 4.92562867e-02 1.42171063e-02 3.94380666e+02] [-4.92457724e-02 9.98786097e-01 -1.08890261e-03 -1.42485366e+00] [-1.42534835e-02 3.87338301e-04 9.99898339e-01 2.83933134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.41, Y:-1.43, Z:2.84 [[ 9.98774410e-01 4.75160837e-02 1.38527851e-02 3.94408698e+02] [-4.75059438e-02 9.98870393e-01 -1.06030665e-03 -1.42734573e+00] [-1.38875185e-02 4.00917513e-04 9.99903483e-01 2.83878574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.44, Y:-1.43, Z:2.84 [[ 9.98936176e-01 4.40188339e-02 1.37425830e-02 3.94436261e+02] [-4.40085452e-02 9.99030603e-01 -1.05032907e-03 -1.43022278e+00] [-1.37754953e-02 4.44420613e-04 9.99905015e-01 2.83822654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.46, Y:-1.43, Z:2.84 [[ 9.99016368e-01 4.22174923e-02 1.35639244e-02 3.94464838e+02] [-4.22073253e-02 9.99108338e-01 -1.03508389e-03 -1.43260038e+00] [-1.35955286e-02 4.61568778e-04 9.99907470e-01 2.83779510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.49, Y:-1.43, Z:2.84 [[ 9.99135953e-01 3.90522930e-02 1.42220505e-02 3.94493302e+02] [-3.90408104e-02 9.99237029e-01 -1.08422642e-03 -1.43480529e+00] [-1.42535410e-02 5.28049223e-04 9.99898274e-01 2.83744040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.52, Y:-1.44, Z:2.84 [[ 9.99174564e-01 3.78517609e-02 1.47457027e-02 3.94521917e+02] [-3.78393028e-02 9.99283206e-01 -1.12304373e-03 -1.43689064e+00] [-1.47776423e-02 5.64149618e-04 9.99890646e-01 2.83685814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.55, Y:-1.44, Z:2.84 [[ 9.99209427e-01 3.68874911e-02 1.48267908e-02 3.94551116e+02] [-3.68748056e-02 9.99319256e-01 -1.12814342e-03 -1.43893655e+00] [-1.48583119e-02 5.80516510e-04 9.99889441e-01 2.83648811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.58, Y:-1.44, Z:2.84 [[ 9.99238871e-01 3.59840547e-02 1.50607524e-02 3.94578889e+02] [-3.59708784e-02 9.99352183e-01 -1.14494147e-03 -1.44057815e+00] [-1.50921954e-02 6.02321534e-04 9.99885925e-01 2.83612225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.61, Y:-1.44, Z:2.84 [[ 9.99255188e-01 3.56075088e-02 1.48719581e-02 3.94607367e+02] [-3.55946437e-02 9.99365672e-01 -1.12893702e-03 -1.44238926e+00] [-1.49027230e-02 5.98734121e-04 9.99888769e-01 2.83559611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.64, Y:-1.44, Z:2.84 [[ 9.99268323e-01 3.54977303e-02 1.42383087e-02 3.94636391e+02] [-3.54859360e-02 9.99369592e-01 -1.08021394e-03 -1.44426302e+00] [-1.42676779e-02 5.74163860e-04 9.99898047e-01 2.83537611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.67, Y:-1.45, Z:2.83 [[ 9.99266213e-01 3.56052649e-02 1.41173926e-02 3.94665607e+02] [-3.55936947e-02 9.99365771e-01 -1.07006463e-03 -1.44526934e+00] [-1.41465389e-02 5.66789271e-04 9.99899772e-01 2.83444477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.69, Y:-1.45, Z:2.83 [[ 9.99246860e-01 3.62392842e-02 1.38717987e-02 3.94694234e+02] [-3.62281871e-02 9.99342992e-01 -1.05050558e-03 -1.44663461e+00] [-1.39007544e-02 5.47164288e-04 9.99903230e-01 2.83401608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.72, Y:-1.45, Z:2.83 [[ 9.99220020e-01 3.70316725e-02 1.37115246e-02 3.94721862e+02] [-3.70209172e-02 9.99313952e-01 -1.03747715e-03 -1.44780576e+00] [-1.37405373e-02 5.29054724e-04 9.99905454e-01 2.83378273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.75, Y:-1.45, Z:2.83 [[ 9.99186172e-01 3.79496067e-02 1.36682217e-02 3.94750772e+02] [-3.79390239e-02 9.99279522e-01 -1.03281756e-03 -1.44893282e+00] [-1.36975690e-02 5.13418033e-04 9.99906052e-01 2.83309964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.78, Y:-1.45, Z:2.83 [[ 9.99074555e-01 4.06851640e-02 1.39553259e-02 3.94779643e+02] [-4.06744125e-02 9.99171898e-01 -1.05350300e-03 -1.44934262e+00] [-1.39866314e-02 4.84903354e-04 9.99902065e-01 2.83261756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.81, Y:-1.45, Z:2.83 [[ 9.99024812e-01 4.19451808e-02 1.37850111e-02 3.94807621e+02] [-4.19348222e-02 9.99119807e-01 -1.03976319e-03 -1.45035818e+00] [-1.38164907e-02 4.60677239e-04 9.99904442e-01 2.83249037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.84, Y:-1.45, Z:2.83 [[ 9.98975227e-01 4.29855964e-02 1.41680652e-02 3.94836829e+02] [-4.29747791e-02 9.99075587e-01 -1.06720402e-03 -1.45154918e+00] [-1.42008425e-02 4.57240903e-04 9.99899058e-01 2.83168997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.86, Y:-1.45, Z:2.83 [[ 9.98935000e-01 4.38629753e-02 1.43145276e-02 3.94864111e+02] [-4.38520366e-02 9.99037456e-01 -1.07730755e-03 -1.45281840e+00] [-1.43480031e-02 4.48439026e-04 9.99896962e-01 2.83105613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.89, Y:-1.45, Z:2.83 [[ 9.98897886e-01 4.49131077e-02 1.36318095e-02 3.94893117e+02] [-4.49033019e-02 9.98990813e-01 -1.02470955e-03 -1.45287584e+00] [-1.36640754e-02 4.11466945e-04 9.99906558e-01 2.83063113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.92, Y:-1.45, Z:2.83 [[ 9.98900198e-01 4.50491210e-02 1.29989061e-02 3.94921116e+02] [-4.50402256e-02 9.98984697e-01 -9.76402796e-04 -1.45384967e+00] [-1.30296944e-02 3.89855280e-04 9.99915034e-01 2.82996588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.95, Y:-1.45, Z:2.83 [[ 9.98905385e-01 4.50152499e-02 1.27144986e-02 3.94948943e+02] [-4.50067485e-02 9.98986227e-01 -9.54125240e-04 -1.45490428e+00] [-1.27445592e-02 3.80842601e-04 9.99918712e-01 2.82937509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.98, Y:-1.45, Z:2.83 [[ 9.98895387e-01 4.54355914e-02 1.19838786e-02 3.94976245e+02] [-4.54280788e-02 9.98967208e-01 -8.98496081e-04 -1.45491738e+00] [-1.20123254e-02 3.53099008e-04 9.99927787e-01 2.82879110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.00, Y:-1.46, Z:2.83 [[ 9.98873552e-01 4.58223937e-02 1.23262242e-02 3.95004589e+02] [-4.58145044e-02 9.98949539e-01 -9.21805320e-04 -1.45595682e+00] [-1.23555153e-02 3.56047100e-04 9.99923604e-01 2.82803775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.03, Y:-1.46, Z:2.83 [[ 9.98843092e-01 4.64409075e-02 1.24788092e-02 3.95032739e+02] [-4.64328872e-02 9.98920977e-01 -9.31825544e-04 -1.45673832e+00] [-1.25086191e-02 3.51320367e-04 9.99921702e-01 2.82745574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.06, Y:-1.46, Z:2.83 [[ 9.98791058e-01 4.74615990e-02 1.27991503e-02 3.95060982e+02] [-4.74532638e-02 9.98873003e-01 -9.54306498e-04 -1.45745425e+00] [-1.28300187e-02 3.45791339e-04 9.99917632e-01 2.82710136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.09, Y:-1.46, Z:2.83 [[ 9.98726889e-01 4.87356929e-02 1.30166385e-02 3.95088765e+02] [-4.87271989e-02 9.98811654e-01 -9.69089330e-04 -1.45830603e+00] [-1.30483995e-02 3.33591237e-04 9.99914810e-01 2.82657975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.12, Y:-1.46, Z:2.83 [[ 9.98646273e-01 5.02623196e-02 1.33910871e-02 3.95116844e+02] [-5.02534870e-02 9.98735999e-01 -9.95474098e-04 -1.45927492e+00] [-1.34241956e-02 3.21177674e-04 9.99909840e-01 2.82605828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.14, Y:-1.46, Z:2.83 [[ 9.98460431e-01 5.37473709e-02 1.37108649e-02 3.95144006e+02] [-5.37384560e-02 9.98554526e-01 -1.01806287e-03 -1.45871191e+00] [-1.37457644e-02 2.79694780e-04 9.99905483e-01 2.82544969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.17, Y:-1.46, Z:2.82 [[ 9.98349815e-01 5.56688151e-02 1.40935820e-02 3.95172274e+02] [-5.56596238e-02 9.98449256e-01 -1.04386729e-03 -1.45961686e+00] [-1.41298373e-02 2.57701239e-04 9.99900136e-01 2.82480937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.20, Y:-1.46, Z:2.82 [[ 9.98237361e-01 5.74798262e-02 1.47729516e-02 3.95199393e+02] [-5.74699462e-02 9.98346639e-01 -1.09279538e-03 -1.46075018e+00] [-1.48113403e-02 2.41868447e-04 9.99890277e-01 2.82415086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.23, Y:-1.46, Z:2.82 [[ 9.98110023e-01 5.95126037e-02 1.53176916e-02 3.95226217e+02] [-5.95022672e-02 9.98227531e-01 -1.13007987e-03 -1.46207376e+00] [-1.53577955e-02 2.16506671e-04 9.99882039e-01 2.82341811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.25, Y:-1.46, Z:2.82 [[ 9.97850137e-01 6.33670134e-02 1.67250130e-02 3.95254462e+02] [-6.33552708e-02 9.97990277e-01 -1.23154538e-03 -1.46310691e+00] [-1.67694398e-02 1.69279997e-04 9.99859369e-01 2.82259203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.28, Y:-1.46, Z:2.82 [[ 9.97743840e-01 6.50029025e-02 1.67884617e-02 3.95281579e+02] [-6.49913314e-02 9.97885065e-01 -1.23448269e-03 -1.46467957e+00] [-1.68332002e-02 1.40593021e-04 9.99858302e-01 2.82203282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.31, Y:-1.47, Z:2.82 [[ 9.97641972e-01 6.64966445e-02 1.69909578e-02 3.95309099e+02] [-6.64850458e-02 9.97786642e-01 -1.24721470e-03 -1.46651080e+00] [-1.70362863e-02 1.14629123e-04 9.99854865e-01 2.82140428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.34, Y:-1.47, Z:2.82 [[ 9.97562031e-01 6.77027472e-02 1.69213855e-02 3.95336480e+02] [-6.76914466e-02 9.97705533e-01 -1.24035660e-03 -1.46827831e+00] [-1.69665355e-02 9.18995903e-05 9.99856054e-01 2.82051482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.36, Y:-1.47, Z:2.82 [[ 9.97484509e-01 6.89728315e-02 1.63524570e-02 3.95364151e+02] [-6.89624816e-02 9.97618536e-01 -1.19664492e-03 -1.47068166e+00] [-1.63960502e-02 6.59287546e-05 9.99865574e-01 2.81935336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.39, Y:-1.47, Z:2.82 [[ 9.97509383e-01 6.86696607e-02 1.61092536e-02 3.95390687e+02] [-6.86596028e-02 9.97639450e-01 -1.17724283e-03 -1.47299021e+00] [-1.61520678e-02 6.82558124e-05 9.99869545e-01 2.81857219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.42, Y:-1.48, Z:2.82 [[ 9.97532180e-01 6.83769529e-02 1.59418659e-02 3.95418706e+02] [-6.83670975e-02 9.97659555e-01 -1.16301376e-03 -1.47597230e+00] [-1.59840781e-02 7.02445527e-05 9.99872244e-01 2.81762850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.45, Y:-1.48, Z:2.82 [[ 9.97593085e-01 6.75373391e-02 1.57080747e-02 3.95446992e+02] [-6.75276915e-02 9.97716744e-01 -1.14437808e-03 -1.47881879e+00] [-1.57494974e-02 8.08936406e-05 9.99875966e-01 2.81673211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.47, Y:-1.48, Z:2.82 [[ 9.97743267e-01 6.53293227e-02 1.55065595e-02 3.95474865e+02] [-6.53196800e-02 9.97863752e-01 -1.12805273e-03 -1.48267791e+00] [-1.55471286e-02 1.12623516e-04 9.99879130e-01 2.81568604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.50, Y:-1.49, Z:2.81 [[ 9.97846329e-01 6.38111968e-02 1.51932557e-02 3.95502490e+02] [-6.38017879e-02 9.97961980e-01 -1.10367782e-03 -1.48556178e+00] [-1.52327186e-02 1.31943985e-04 9.99883967e-01 2.81495757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.53, Y:-1.49, Z:2.81 [[ 9.97939608e-01 6.23257414e-02 1.52328559e-02 3.95530711e+02] [-6.23161352e-02 9.98055849e-01 -1.10492663e-03 -1.48848906e+00] [-1.52721063e-02 1.53397345e-04 9.99883363e-01 2.81454879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.56, Y:-1.49, Z:2.81 [[ 9.98043845e-01 6.07140884e-02 1.49091311e-02 3.95557406e+02] [-6.07047254e-02 9.98155183e-01 -1.08017476e-03 -1.49123444e+00] [-1.49472083e-02 1.73007067e-04 9.99888269e-01 2.81413248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.59, Y:-1.49, Z:2.81 [[ 9.98153567e-01 5.87858176e-02 1.52867608e-02 3.95585197e+02] [-5.87757917e-02 9.98270598e-01 -1.10469306e-03 -1.49391053e+00] [-1.53252641e-02 2.04161848e-04 9.99882540e-01 2.81354763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.61, Y:-1.50, Z:2.81 [[ 9.98333731e-01 5.56204656e-02 1.53663592e-02 3.95611529e+02] [-5.56099842e-02 9.98451952e-01 -1.10887681e-03 -1.49809907e+00] [-1.54042476e-02 2.52506125e-04 9.99881316e-01 2.81323021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.64, Y:-1.50, Z:2.81 [[ 9.98427251e-01 5.38662255e-02 1.55388286e-02 3.95639370e+02] [-5.38553263e-02 9.98548122e-01 -1.11932300e-03 -1.50119484e+00] [-1.55765618e-02 2.80713897e-04 9.99878639e-01 2.81278271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.67, Y:-1.50, Z:2.81 [[ 9.98511120e-01 5.22845697e-02 1.55520488e-02 3.95667144e+02] [-5.22734882e-02 9.98632180e-01 -1.11847484e-03 -1.50419746e+00] [-1.55892554e-02 3.03849728e-04 9.99878434e-01 2.81232746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.69, Y:-1.51, Z:2.81 [[ 9.98663126e-01 4.90769495e-02 1.62300358e-02 3.95694707e+02] [-4.90644827e-02 9.98794933e-01 -1.16566352e-03 -1.50845964e+00] [-1.62676847e-02 3.67786862e-04 9.99867605e-01 2.81185984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.72, Y:-1.51, Z:2.81 [[ 9.98767513e-01 4.67540004e-02 1.66589139e-02 3.95723490e+02] [-4.67405697e-02 9.98906348e-01 -1.19487322e-03 -1.51162268e+00] [-1.66965599e-02 4.14753431e-04 9.99860517e-01 2.81138986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.75, Y:-1.52, Z:2.81 [[ 9.98856172e-01 4.46252197e-02 1.71737592e-02 3.95752428e+02] [-4.46106527e-02 9.99003691e-01 -1.23056166e-03 -1.51527150e+00] [-1.72115630e-02 4.63021497e-04 9.99851763e-01 2.81061333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.78, Y:-1.52, Z:2.81 [[ 9.99025008e-01 4.04371921e-02 1.77162651e-02 3.95781151e+02] [-4.04210558e-02 9.99181930e-01 -1.26810207e-03 -1.52066637e+00] [-1.77530505e-02 5.50755536e-04 9.99842250e-01 2.81012766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.81, Y:-1.52, Z:2.81 [[ 9.99102661e-01 3.84631045e-02 1.77330666e-02 3.95809551e+02] [-3.84466511e-02 9.99259850e-01 -1.26794743e-03 -1.52416643e+00] [-1.77687107e-02 5.85032623e-04 9.99841953e-01 2.80998811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.84, Y:-1.53, Z:2.81 [[ 9.99160649e-01 3.69237350e-02 1.77379790e-02 3.95839481e+02] [-3.69070428e-02 9.99317899e-01 -1.26758992e-03 -1.52775278e+00] [-1.77726840e-02 6.11869616e-04 9.99841866e-01 2.80949630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.87, Y:-1.53, Z:2.81 [[ 9.99161319e-01 3.69055819e-02 1.77380278e-02 3.95869561e+02] [-3.68888989e-02 9.99318570e-01 -1.26690604e-03 -1.52987068e+00] [-1.77726965e-02 6.11507192e-04 9.99841866e-01 2.80889346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.90, Y:-1.53, Z:2.81 [[ 9.99208095e-01 3.59375649e-02 1.70784916e-02 3.95898674e+02] [-3.59219627e-02 9.99353854e-01 -1.21955363e-03 -1.53327896e+00] [-1.71112842e-02 6.05094925e-04 9.99853408e-01 2.80824423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.93, Y:-1.54, Z:2.81 [[ 9.99232238e-01 3.53479704e-02 1.68954368e-02 3.95928080e+02] [-3.53326270e-02 9.99374880e-01 -1.20587390e-03 -1.53655164e+00] [-1.69275003e-02 6.07987907e-04 9.99856535e-01 2.80728254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.96, Y:-1.54, Z:2.81 [[ 9.99241704e-01 3.52630471e-02 1.65086429e-02 3.95956294e+02] [-3.52483953e-02 9.99377888e-01 -1.17774197e-03 -1.53930108e+00] [-1.65399035e-02 5.94945724e-04 9.99863029e-01 2.80698439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.99, Y:-1.54, Z:2.81 [[ 9.99202903e-01 3.61798069e-02 1.68695312e-02 3.95986082e+02] [-3.61646548e-02 9.99345121e-01 -1.20249056e-03 -1.54270101e+00] [-1.69019896e-02 5.91451280e-04 9.99856976e-01 2.80647809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.02, Y:-1.55, Z:2.81 [[ 9.99177148e-01 3.69143547e-02 1.68035112e-02 3.96016102e+02] [-3.68994348e-02 9.99318267e-01 -1.19718447e-03 -1.54518870e+00] [-1.68362490e-02 5.76159297e-04 9.99858094e-01 2.80651225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.05, Y:-1.55, Z:2.81 [[ 9.99131353e-01 3.81959856e-02 1.66614986e-02 3.96045173e+02] [-3.81815047e-02 9.99270116e-01 -1.18647944e-03 -1.54785836e+00] [-1.66946564e-02 5.49287721e-04 9.99860484e-01 2.80623185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.07, Y:-1.55, Z:2.81 [[ 9.99092146e-01 3.94635601e-02 1.60471317e-02 3.96074177e+02] [-3.94502986e-02 9.99220881e-01 -1.14225221e-03 -1.55008777e+00] [-1.60797064e-02 5.08151076e-04 9.99870584e-01 2.80590464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.10, Y:-1.55, Z:2.81 [[ 9.98998635e-01 4.19961750e-02 1.54288442e-02 3.96102296e+02] [-4.19842271e-02 9.99117671e-01 -1.09761995e-03 -1.55233762e+00] [-1.54613267e-02 4.48752737e-04 9.99880366e-01 2.80509233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.13, Y:-1.55, Z:2.80 [[ 9.98961801e-01 4.29783261e-02 1.51057474e-02 3.96131393e+02] [-4.29670062e-02 9.99075915e-01 -1.07327901e-03 -1.55447703e+00] [-1.51379162e-02 4.23115995e-04 9.99885326e-01 2.80453365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.16, Y:-1.56, Z:2.80 [[ 9.98926766e-01 4.40552970e-02 1.42985026e-02 3.96158980e+02] [-4.40452773e-02 9.99029020e-01 -1.01505788e-03 -1.55638086e+00] [-1.43293377e-02 3.84186971e-04 9.99897256e-01 2.80408487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.19, Y:-1.56, Z:2.80 [[ 9.98829817e-01 4.63913000e-02 1.36690684e-02 3.96187917e+02] [-4.63823791e-02 9.98923288e-01 -9.69100368e-04 -1.55809869e+00] [-1.36993086e-02 3.33962431e-04 9.99906104e-01 2.80322202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.22, Y:-1.56, Z:2.80 [[ 9.98793505e-01 4.72861788e-02 1.32495706e-02 3.96215820e+02] [-4.72778863e-02 9.98881335e-01 -9.38569057e-04 -1.55991848e+00] [-1.32791301e-02 3.11024985e-04 9.99911780e-01 2.80275091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.24, Y:-1.56, Z:2.80 [[ 9.98735927e-01 4.85281885e-02 1.30982248e-02 3.96243587e+02] [-4.85202044e-02 9.98821771e-01 -9.26836601e-04 -1.56178388e+00] [-1.31277698e-02 2.90136465e-04 9.99913785e-01 2.80235843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.27, Y:-1.56, Z:2.80 [[ 9.98671861e-01 4.97519982e-02 1.33885136e-02 3.96271616e+02] [-4.97437878e-02 9.98761564e-01 -9.45765841e-04 -1.56359884e+00] [-1.34189866e-02 2.78514352e-04 9.99909923e-01 2.80195305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.30, Y:-1.57, Z:2.80 [[ 9.98564286e-01 5.15267861e-02 1.46409268e-02 3.96299791e+02] [-5.15171785e-02 9.98671574e-01 -1.03285948e-03 -1.56509356e+00] [-1.46746974e-02 2.77117344e-04 9.99892282e-01 2.80215743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.33, Y:-1.57, Z:2.80 [[ 9.98533149e-01 5.18683974e-02 1.55312615e-02 3.96327396e+02] [-5.18576546e-02 9.98653888e-01 -1.09389038e-03 -1.56691303e+00] [-1.55670931e-02 2.86871012e-04 9.99878784e-01 2.80265425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.35, Y:-1.57, Z:2.80 [[ 9.98531826e-01 5.15497101e-02 1.66378887e-02 3.96354964e+02] [-5.15373717e-02 9.98670382e-01 -1.16978766e-03 -1.56866449e+00] [-1.66760689e-02 3.10597149e-04 9.99860896e-01 2.80252719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.38, Y:-1.57, Z:2.80 [[ 9.98549622e-01 5.09517123e-02 1.73946974e-02 3.96383162e+02] [-5.09381640e-02 9.98701062e-01 -1.22133611e-03 -1.57071440e+00] [-1.74343319e-02 3.33510762e-04 9.99847955e-01 2.80242825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.41, Y:-1.57, Z:2.80 [[ 9.98600364e-01 4.97306301e-02 1.80049235e-02 3.96411828e+02] [-4.97159470e-02 9.98762600e-01 -1.26246817e-03 -1.57300297e+00] [-1.80454276e-02 3.65569349e-04 9.99837101e-01 2.80188675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.44, Y:-1.58, Z:2.80 [[ 9.98754812e-01 4.64306870e-02 1.82487739e-02 3.96440524e+02] [-4.64150774e-02 9.98921422e-01 -1.27822148e-03 -1.57602794e+00] [-1.82884398e-02 4.29611599e-04 9.99832660e-01 2.80135800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.47, Y:-1.58, Z:2.80 [[ 9.98857557e-01 4.43175195e-02 1.78756404e-02 3.96468824e+02] [-4.43022264e-02 9.99017391e-01 -1.25081426e-03 -1.57835081e+00] [-1.79135087e-02 4.57454608e-04 9.99839436e-01 2.80093228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.50, Y:-1.58, Z:2.80 [[ 9.98956560e-01 4.22043334e-02 1.74523693e-02 3.96496210e+02] [-4.21894546e-02 9.99108884e-01 -1.22000524e-03 -1.58080640e+00] [-1.74883067e-02 4.82426300e-04 9.99846951e-01 2.80012905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.52, Y:-1.58, Z:2.80 [[ 9.99064068e-01 3.98397835e-02 1.68457407e-02 3.96524628e+02] [-3.98256109e-02 9.99205954e-01 -1.17608711e-03 -1.58337657e+00] [-1.68792194e-02 5.04094455e-04 9.99857409e-01 2.79935693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.55, Y:-1.59, Z:2.80 [[ 9.99245998e-01 3.51919039e-02 1.64001428e-02 3.96553049e+02] [-3.51778662e-02 9.99380413e-01 -1.14373859e-03 -1.58650538e+00] [-1.64302318e-02 5.65954180e-04 9.99864854e-01 2.79856935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.58, Y:-1.59, Z:2.80 [[ 9.99319995e-01 3.30342260e-02 1.63794955e-02 3.96581187e+02] [-3.30199489e-02 9.99454041e-01 -1.14139407e-03 -1.58875480e+00] [-1.64082581e-02 5.99767806e-04 9.99865196e-01 2.79845770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.61, Y:-1.59, Z:2.80 [[ 9.99374965e-01 3.10531034e-02 1.68933375e-02 3.96610686e+02] [-3.10376505e-02 9.99517524e-01 -1.17621130e-03 -1.59091281e+00] [-1.69217119e-02 6.51146617e-04 9.99856606e-01 2.79801569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.64, Y:-1.59, Z:2.80 [[ 9.99422245e-01 2.95002335e-02 1.68793503e-02 3.96639622e+02] [-2.94845982e-02 9.99564545e-01 -1.17446031e-03 -1.59315603e+00] [-1.69066469e-02 6.76100894e-04 9.99856844e-01 2.79760118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.67, Y:-1.60, Z:2.80 [[ 9.99485767e-01 2.75882775e-02 1.63428516e-02 3.96669679e+02] [-2.75733607e-02 9.99619136e-01 -1.13741101e-03 -1.59500881e+00] [-1.63680064e-02 6.86198778e-04 9.99865800e-01 2.79632294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.70, Y:-1.60, Z:2.80 [[ 9.99508489e-01 2.71493485e-02 1.56746043e-02 3.96699679e+02] [-2.71355675e-02 9.99631167e-01 -1.09124382e-03 -1.59674961e+00] [-1.56984496e-02 6.65368177e-04 9.99876550e-01 2.79552398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.73, Y:-1.60, Z:2.79 [[ 9.99502376e-01 2.72662408e-02 1.58604029e-02 3.96729730e+02] [-2.72521459e-02 9.99627981e-01 -1.10417886e-03 -1.59835409e+00] [-1.58846094e-02 6.71399376e-04 9.99873606e-01 2.79477768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.76, Y:-1.60, Z:2.79 [[ 9.99473535e-01 2.79250252e-02 1.65180474e-02 3.96760485e+02] [-2.79098278e-02 9.99609783e-01 -1.14990228e-03 -1.59993758e+00] [-1.65437128e-02 6.88281039e-04 9.99862907e-01 2.79372849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.79, Y:-1.60, Z:2.79 [[ 9.99409629e-01 2.99208510e-02 1.68859790e-02 3.96790734e+02] [-2.99052472e-02 9.99552046e-01 -1.17587895e-03 -1.60070715e+00] [-1.69135982e-02 6.70205372e-04 9.99856730e-01 2.79323500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.82, Y:-1.60, Z:2.79 [[ 9.99365298e-01 3.13678113e-02 1.68837597e-02 3.96821405e+02] [-3.13524177e-02 9.99507701e-01 -1.17572441e-03 -1.60191794e+00] [-1.69123278e-02 6.45631487e-04 9.99856768e-01 2.79263754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.85, Y:-1.60, Z:2.79 [[ 9.99274650e-01 3.40862120e-02 1.69795139e-02 3.96851009e+02] [-3.40710342e-02 9.99418714e-01 -1.18244637e-03 -1.60220884e+00] [-1.70099491e-02 6.03079080e-04 9.99855138e-01 2.79198819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.88, Y:-1.60, Z:2.79 [[ 9.99237575e-01 3.53986358e-02 1.64683378e-02 3.96879287e+02] [-3.53845398e-02 9.99373113e-01 -1.14662867e-03 -1.60295089e+00] [-1.64986031e-02 5.63029892e-04 9.99863730e-01 2.79167436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.91, Y:-1.60, Z:2.79 [[ 9.99210344e-01 3.62722937e-02 1.62175692e-02 3.96909295e+02] [-3.62587489e-02 9.99341798e-01 -1.12854496e-03 -1.60385156e+00] [-1.62478296e-02 5.39625027e-04 9.99867850e-01 2.79131274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.94, Y:-1.60, Z:2.79 [[ 9.99185909e-01 3.70132081e-02 1.60481112e-02 3.96938193e+02] [-3.70000472e-02 9.99314640e-01 -1.11632439e-03 -1.60461225e+00] [-1.60784312e-02 5.21634729e-04 9.99870598e-01 2.79064669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.97, Y:-1.61, Z:2.79 [[ 9.99181522e-01 3.73898872e-02 1.54364030e-02 3.96966384e+02] [-3.73777747e-02 9.99300631e-01 -1.07253341e-03 -1.60560896e+00] [-1.54657092e-02 4.94677168e-04 9.99880276e-01 2.78997954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.99, Y:-1.61, Z:2.79 [[ 9.99198970e-01 3.73334934e-02 1.44092973e-02 3.96994779e+02] [-3.73229374e-02 9.99302755e-01 -1.00089556e-03 -1.60597896e+00] [-1.44366175e-02 4.62296506e-04 9.99895680e-01 2.78929217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.02, Y:-1.61, Z:2.79 [[ 9.99210740e-01 3.71412563e-02 1.40862766e-02 3.97022198e+02] [-3.71311612e-02 9.99309922e-01 -9.77603859e-04 -1.60721752e+00] [-1.41128654e-02 4.53792467e-04 9.99900306e-01 2.78879895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.05, Y:-1.61, Z:2.79 [[ 9.99213532e-01 3.71038809e-02 1.39863780e-02 3.97049529e+02] [-3.70939445e-02 9.99311313e-01 -9.69271640e-04 -1.60824190e+00] [-1.40127095e-02 4.49699409e-04 9.99901716e-01 2.78840787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.08, Y:-1.61, Z:2.79 [[ 9.99206620e-01 3.74528667e-02 1.35429884e-02 3.97078324e+02] [-3.74435997e-02 9.99298303e-01 -9.37270189e-04 -1.60958030e+00] [-1.35685888e-02 4.29428341e-04 9.99907850e-01 2.78789623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.11, Y:-1.61, Z:2.79 [[ 9.99161327e-01 3.88148408e-02 1.30403587e-02 3.97106040e+02] [-3.88063748e-02 9.99246342e-01 -9.01719422e-04 -1.60986465e+00] [-1.30655308e-02 3.94914127e-04 9.99914564e-01 2.78818574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.14, Y:-1.61, Z:2.79 [[ 9.99118242e-01 3.99863681e-02 1.27995900e-02 3.97135308e+02] [-3.99783239e-02 9.99200156e-01 -8.83822764e-04 -1.61068374e+00] [-1.28246932e-02 3.71337291e-04 9.99917691e-01 2.78801008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.16, Y:-1.61, Z:2.79 [[ 9.99062973e-01 4.15206781e-02 1.22150883e-02 3.97164633e+02] [-4.15134759e-02 9.99137589e-01 -8.42689630e-04 -1.61125107e+00] [-1.22395429e-02 3.34809233e-04 9.99925038e-01 2.78774848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.19, Y:-1.61, Z:2.79 [[ 9.98922298e-01 4.48775684e-02 1.18426101e-02 3.97193367e+02] [-4.48710438e-02 9.98992454e-01 -8.16203385e-04 -1.61108655e+00] [-1.18673073e-02 2.83933484e-04 9.99929541e-01 2.78766910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.22, Y:-1.61, Z:2.79 [[ 9.98854135e-01 4.64440730e-02 1.15484085e-02 3.97219986e+02] [-4.64379773e-02 9.98920858e-01 -7.95573861e-04 -1.61188071e+00] [-1.15728958e-02 2.58377509e-04 9.99932998e-01 2.78716242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.25, Y:-1.61, Z:2.79 [[ 9.98791909e-01 4.77839961e-02 1.14634934e-02 3.97247561e+02] [-4.77780960e-02 9.98857664e-01 -7.88155998e-04 -1.61295443e+00] [-1.14880595e-02 2.39499947e-04 9.99933981e-01 2.78667045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.27, Y:-1.61, Z:2.79 [[ 9.98746050e-01 4.87425199e-02 1.14233918e-02 3.97274810e+02] [-4.87367331e-02 9.98811351e-01 -7.84568835e-04 -1.61422397e+00] [-1.14480552e-02 2.26846230e-04 9.99934443e-01 2.78598498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.30, Y:-1.62, Z:2.79 [[ 9.98709566e-01 4.95354607e-02 1.12000143e-02 3.97302388e+02] [-4.95299713e-02 9.98772343e-01 -7.67135745e-04 -1.61576815e+00] [-1.12242650e-02 2.11409420e-04 9.99936984e-01 2.78525943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.33, Y:-1.62, Z:2.78 [[ 9.98724437e-01 4.92851030e-02 1.09762476e-02 3.97329028e+02] [-4.92798266e-02 9.98784729e-01 -7.50820091e-04 -1.61698795e+00] [-1.09999127e-02 2.08954794e-04 9.99939477e-01 2.78426251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.36, Y:-1.62, Z:2.78 [[ 9.98773245e-01 4.82737575e-02 1.10295174e-02 3.97356222e+02] [-4.82683836e-02 9.98834118e-01 -7.53063818e-04 -1.61839826e+00] [-1.10530115e-02 2.19763016e-04 9.99938889e-01 2.78372222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.38, Y:-1.62, Z:2.78 [[ 9.98842015e-01 4.68495872e-02 1.09428254e-02 3.97384037e+02] [-4.68442281e-02 9.98901928e-01 -7.45678323e-04 -1.62011261e+00] [-1.09657441e-02 2.32206632e-04 9.99939847e-01 2.78305939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.41, Y:-1.62, Z:2.78 [[ 9.98929455e-01 4.51002971e-02 1.02911327e-02 3.97411716e+02] [-4.50954767e-02 9.98982436e-01 -7.00087998e-04 -1.62187633e+00] [-1.03122350e-02 2.35254989e-04 9.99946800e-01 2.78263267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.44, Y:-1.62, Z:2.78 [[ 9.99158870e-01 3.99833183e-02 9.10420031e-03 3.97440127e+02] [-3.99793409e-02 9.99200315e-01 -6.18529169e-04 -1.62384706e+00] [-9.12165066e-03 2.54028978e-04 9.99958365e-01 2.78202666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.47, Y:-1.63, Z:2.78 [[ 9.99265881e-01 3.73481944e-02 8.53290630e-03 3.97467540e+02] [-3.73446073e-02 9.99302279e-01 -5.79387666e-04 -1.62570643e+00] [-8.54859180e-03 2.60304291e-04 9.99963426e-01 2.78157199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.50, Y:-1.63, Z:2.78 [[ 9.99374829e-01 3.44217795e-02 8.06792803e-03 3.97495542e+02] [-3.44184806e-02 9.99407359e-01 -5.47411450e-04 -1.62743887e+00] [-8.08198952e-03 2.69383400e-04 9.99967304e-01 2.78098863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.52, Y:-1.63, Z:2.78 [[ 9.99475636e-01 3.15267979e-02 7.38338214e-03 3.97522966e+02] [-3.15239626e-02 9.99502871e-01 -5.00107224e-04 -1.62896321e+00] [-7.39547843e-03 2.67091523e-04 9.99972617e-01 2.78099273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.55, Y:-1.63, Z:2.78 [[ 9.99620384e-01 2.65043237e-02 7.52389939e-03 3.97551543e+02] [-2.65012445e-02 9.99648651e-01 -5.08681482e-04 -1.63020149e+00] [-7.53473814e-03 3.09095681e-04 9.99971566e-01 2.78134566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.58, Y:-1.63, Z:2.78 [[ 9.99681870e-01 2.39927874e-02 7.77844774e-03 3.97580038e+02] [-2.39894250e-02 9.99712074e-01 -5.25289150e-04 -1.63142908e+00] [-7.78881128e-03 3.38521551e-04 9.99969609e-01 2.78107590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.61, Y:-1.63, Z:2.78 [[ 9.99732916e-01 2.18434357e-02 7.54727095e-03 3.97608614e+02] [-2.18402127e-02 9.99761344e-01 -5.09201290e-04 -1.63287126e+00] [-7.55659246e-03 3.44231288e-04 9.99971389e-01 2.78115699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.64, Y:-1.63, Z:2.78 [[ 9.99810800e-01 1.79318278e-02 7.53749694e-03 3.97637285e+02] [-1.79285065e-02 9.99839142e-01 -5.07988220e-04 -1.63352345e+00] [-7.54539363e-03 3.72756046e-04 9.99971464e-01 2.78138176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.67, Y:-1.64, Z:2.78 [[ 9.99812996e-01 1.78089436e-02 7.53749269e-03 3.97666508e+02] [-1.78056183e-02 9.99841338e-01 -5.08052845e-04 -1.63543883e+00] [-7.54534466e-03 3.73748119e-04 9.99971464e-01 2.78079607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.70, Y:-1.64, Z:2.78 [[ 9.99842043e-01 1.60631898e-02 7.60678636e-03 3.97695793e+02] [-1.60597646e-02 9.99870903e-01 -5.11153437e-04 -1.63661894e+00] [-7.61401510e-03 3.88909498e-04 9.99970937e-01 2.78052184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.72, Y:-1.64, Z:2.78 [[ 9.99868070e-01 1.44081074e-02 7.49992794e-03 3.97724938e+02] [-1.44047371e-02 9.99896120e-01 -5.03201569e-04 -1.63742628e+00] [-7.50639903e-03 3.95100691e-04 9.99971749e-01 2.78039209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.75, Y:-1.64, Z:2.78 [[ 9.99884017e-01 1.31212512e-02 7.73205254e-03 3.97754194e+02] [-1.31176360e-02 9.99913826e-01 -5.18083368e-04 -1.63825057e+00] [-7.73818414e-03 4.16597029e-04 9.99969973e-01 2.78007193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.78, Y:-1.64, Z:2.78 [[ 9.99910455e-01 1.10965247e-02 7.47990970e-03 3.97784290e+02] [-1.10930902e-02 9.99938345e-01 -5.00491042e-04 -1.63818787e+00] [-7.48500223e-03 4.17470913e-04 9.99971900e-01 2.78023679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.81, Y:-1.64, Z:2.78 [[ 9.99916072e-01 1.03353721e-02 7.81204958e-03 3.97814654e+02] [-1.03316026e-02 9.99946491e-01 -5.22714978e-04 -1.63929749e+00] [-7.81703401e-03 4.41960116e-04 9.99969349e-01 2.78005456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.85, Y:-1.64, Z:2.78 [[ 9.99918376e-01 9.78811940e-03 8.21186152e-03 3.97845116e+02] [-9.78393763e-03 9.99951985e-01 -5.49255536e-04 -1.64065315e+00] [-8.21684340e-03 4.68866362e-04 9.99966131e-01 2.77973782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.88, Y:-1.64, Z:2.78 [[ 9.99920184e-01 9.48478763e-03 8.34651766e-03 3.97876577e+02] [-9.48045743e-03 9.99954904e-01 -5.58216016e-04 -1.64200817e+00] [-8.35143583e-03 4.79042656e-04 9.99965011e-01 2.77934425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.91, Y:-1.64, Z:2.78 [[ 9.99916876e-01 9.87209680e-03 8.29354747e-03 3.97907420e+02] [-9.86785095e-03 9.99951159e-01 -5.52711369e-04 -1.64217606e+00] [-8.29859883e-03 4.70825935e-04 9.99965455e-01 2.77917254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.94, Y:-1.64, Z:2.78 [[ 9.99917673e-01 1.01183688e-02 7.89087065e-03 3.97938633e+02] [-1.01145020e-02 9.99948707e-01 -5.29794616e-04 -1.64317368e+00] [-7.89582656e-03 4.49938773e-04 9.99968726e-01 2.77837521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.97, Y:-1.64, Z:2.78 [[ 9.99918335e-01 1.05494760e-02 7.21329462e-03 3.97970097e+02] [-1.05462545e-02 9.99944269e-01 -4.84492835e-04 -1.64421929e+00] [-7.21800376e-03 4.08380028e-04 9.99973866e-01 2.77760303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.00, Y:-1.64, Z:2.78 [[ 9.99915789e-01 1.16569477e-02 5.70354972e-03 3.98000708e+02] [-1.16549498e-02 9.99932005e-01 -3.83396357e-04 -1.64416714e+00] [-5.70763114e-03 3.16889485e-04 9.99983661e-01 2.77620812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.03, Y:-1.65, Z:2.78 [[ 9.99916463e-01 1.15990059e-02 5.70347083e-03 3.98030782e+02] [-1.15970004e-02 9.99932679e-01 -3.84569238e-04 -1.64616054e+00] [-5.70754749e-03 3.18393959e-04 9.99983661e-01 2.77560588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.06, Y:-1.65, Z:2.77 [[ 9.99899351e-01 1.34993141e-02 4.36541468e-03 3.98060152e+02] [-1.34981588e-02 9.99908852e-01 -2.94008590e-04 -1.64577764e+00] [-4.36898569e-03 2.35053937e-04 9.99990428e-01 2.77480123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.09, Y:-1.65, Z:2.77 [[ 9.99879535e-01 1.49268339e-02 4.25503181e-03 3.98089286e+02] [-1.49257473e-02 9.99888564e-01 -2.87020500e-04 -1.64648031e+00] [-4.25884195e-03 2.23476395e-04 9.99990906e-01 2.77444120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.12, Y:-1.65, Z:2.77 [[ 9.99855799e-01 1.64316767e-02 4.28739711e-03 3.98117479e+02] [-1.64305868e-02 9.99864967e-01 -2.89323628e-04 -1.64662893e+00] [-4.29157224e-03 2.18837457e-04 9.99990767e-01 2.77432140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.15, Y:-1.65, Z:2.77 [[ 9.99815099e-01 1.86877323e-02 4.53167639e-03 3.98146658e+02] [-1.86865423e-02 9.99825345e-01 -3.04809137e-04 -1.64671340e+00] [-4.53658110e-03 2.20071415e-04 9.99989685e-01 2.77441406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.17, Y:-1.64, Z:2.78 [[ 9.99692062e-01 2.40832805e-02 5.98138039e-03 3.98173797e+02] [-2.40813045e-02 9.99709922e-01 -4.02169326e-04 -1.64452260e+00] [-5.98933088e-03 2.58006040e-04 9.99982031e-01 2.77509376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.20, Y:-1.64, Z:2.78 [[ 9.99605677e-01 2.72208026e-02 6.89335461e-03 3.98201626e+02] [-2.72182646e-02 9.99629408e-01 -4.61738730e-04 -1.64433676e+00] [-6.90336889e-03 2.73931506e-04 9.99976134e-01 2.77507152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.23, Y:-1.64, Z:2.78 [[ 9.99375404e-01 3.43029624e-02 8.49170944e-03 3.98229663e+02] [-3.42993741e-02 9.99411442e-01 -5.67884413e-04 -1.64221859e+00] [-8.50619169e-03 2.76269396e-04 9.99963784e-01 2.77517975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.26, Y:-1.64, Z:2.77 [[ 9.99246234e-01 3.77064007e-02 9.22994626e-03 3.98257440e+02] [-3.77023173e-02 9.99288825e-01 -6.16078506e-04 -1.64224191e+00] [-9.24661226e-03 2.67623765e-04 9.99957213e-01 2.77465484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.29, Y:-1.64, Z:2.77 [[ 9.99109498e-01 4.10678629e-02 9.67684109e-03 3.98285632e+02] [-4.10635428e-02 9.99156329e-01 -6.44789306e-04 -1.64244883e+00] [-9.69515714e-03 2.46849742e-04 9.99952970e-01 2.77437647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.31, Y:-1.64, Z:2.77 [[ 9.98962625e-01 4.44349737e-02 9.96028916e-03 3.98312697e+02] [-4.44305739e-02 9.99012255e-01 -6.62685057e-04 -1.64285194e+00] [-9.97989733e-03 2.19456240e-04 9.99950176e-01 2.77346489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.34, Y:-1.64, Z:2.77 [[ 9.98833641e-01 4.73044146e-02 9.67725280e-03 3.98340844e+02] [-4.73004091e-02 9.98880503e-01 -6.42490722e-04 -1.64334015e+00] [-9.69681179e-03 1.84003331e-04 9.99952968e-01 2.77279416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.37, Y:-1.64, Z:2.77 [[ 9.98592017e-01 5.23601988e-02 8.50836986e-03 3.98368570e+02] [-5.23572915e-02 9.98628257e-01 -5.64231988e-04 -1.64327192e+00] [-8.52624186e-03 1.17962359e-04 9.99963644e-01 2.77149822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.40, Y:-1.64, Z:2.77 [[ 9.98499126e-01 5.42161498e-02 7.75265494e-03 3.98395539e+02] [-5.42137955e-02 9.98529219e-01 -5.13672124e-04 -1.64420907e+00] [-7.76910180e-03 9.26003184e-05 9.99969816e-01 2.77084069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.42, Y:-1.65, Z:2.77 [[ 9.98402439e-01 5.59998321e-02 7.52253423e-03 3.98422525e+02] [-5.59976728e-02 9.98430775e-01 -4.97529220e-04 -1.64532530e+00] [-7.53859124e-03 7.54899760e-05 9.99971582e-01 2.77010951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.45, Y:-1.65, Z:2.77 [[ 9.98344575e-01 5.70526026e-02 7.28768189e-03 3.98450358e+02] [-5.70506117e-02 9.98371172e-01 -4.80954879e-04 -1.64637539e+00] [-7.30325124e-03 6.43919844e-05 9.99973329e-01 2.76940315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.48, Y:-1.65, Z:2.77 [[ 9.98294934e-01 5.79383416e-02 7.09741146e-03 3.98478477e+02] [-5.79364808e-02 9.98320162e-01 -4.67677400e-04 -1.64804190e+00] [-7.11258541e-03 5.56809357e-05 9.99974704e-01 2.76870949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.51, Y:-1.65, Z:2.77 [[ 9.98234543e-01 5.90284410e-02 6.59094352e-03 3.98506644e+02] [-5.90268636e-02 9.98256300e-01 -4.33772992e-04 -1.64998059e+00] [-6.60505584e-03 4.39644602e-05 9.99978185e-01 2.76775011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.53, Y:-1.65, Z:2.77 [[ 9.98213244e-01 5.93919797e-02 6.55073449e-03 3.98533312e+02] [-5.93904324e-02 9.98234737e-01 -4.30656332e-04 -1.65140994e+00] [-6.56474826e-03 4.08359008e-05 9.99978451e-01 2.76711340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.56, Y:-1.65, Z:2.77 [[ 9.98180706e-01 5.99511226e-02 6.41411289e-03 3.98560993e+02] [-5.99496571e-02 9.98201313e-01 -4.20676701e-04 -1.65287630e+00] [-6.42779595e-03 3.53874983e-05 9.99979341e-01 2.76665720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.59, Y:-1.65, Z:2.77 [[ 9.98182921e-01 5.97682451e-02 7.65588440e-03 3.98587693e+02] [-5.97080169e-02 9.98184877e-01 -7.86788557e-03 -1.64928241e+00] [-8.11223774e-03 7.39647133e-03 9.99939740e-01 2.76589009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.62, Y:-1.66, Z:2.76 [[ 9.98119275e-01 6.08693607e-02 7.26867723e-03 3.98616530e+02] [-6.09195752e-02 9.98118835e-01 6.89902897e-03 -1.65986065e+00] [-6.83506417e-03 -7.32885853e-03 9.99949784e-01 2.76334969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.64, Y:-1.66, Z:2.77 [[ 9.98104819e-01 6.11390526e-02 6.98471475e-03 3.98644400e+02] [-6.11373710e-02 9.98129258e-01 -4.54216484e-04 -1.65813950e+00] [-6.99941851e-03 2.63285648e-05 9.99975503e-01 2.76533034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.67, Y:-1.66, Z:2.77 [[ 9.98112701e-01 6.10646926e-02 6.49154225e-03 3.98671042e+02] [-6.10632405e-02 9.98133810e-01 -4.21828284e-04 -1.65999160e+00] [-6.50518662e-03 2.46375612e-05 9.99978841e-01 2.76540946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.70, Y:-1.66, Z:2.77 [[ 9.98129113e-01 6.07266469e-02 7.10976046e-03 3.98698649e+02] [-6.07249063e-02 9.98154434e-01 -4.60646283e-04 -1.66242248e+00] [-7.12461243e-03 2.80449286e-05 9.99974619e-01 2.76531097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.73, Y:-1.66, Z:2.77 [[ 9.98162206e-01 6.01711616e-02 7.18626680e-03 3.98726752e+02] [-6.01693744e-02 9.98188074e-01 -4.64839608e-04 -1.66450561e+00] [-7.20121575e-03 3.15921513e-05 9.99974070e-01 2.76523339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.75, Y:-1.67, Z:2.76 [[ 9.98226916e-01 5.90611065e-02 7.40342026e-03 3.98753231e+02] [-5.90591773e-02 9.98254368e-01 -4.79121483e-04 -1.66660551e+00] [-7.41879406e-03 4.10320506e-05 9.99972480e-01 2.76486602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.78, Y:-1.67, Z:2.76 [[ 9.98289581e-01 5.79311056e-02 7.86766593e-03 3.98781131e+02] [-5.79289140e-02 9.98320582e-01 -5.06349761e-04 -1.66910130e+00] [-7.88378623e-03 4.97183481e-05 9.99968921e-01 2.76404019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.81, Y:-1.67, Z:2.76 [[ 9.98433698e-01 5.53850038e-02 7.91526252e-03 3.98807589e+02] [-5.53827108e-02 9.98465070e-01 -5.08755625e-04 -1.67289961e+00] [-7.93129058e-03 6.95900658e-05 9.99968544e-01 2.76342245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.83, Y:-1.68, Z:2.76 [[ 9.98517122e-01 5.37772595e-02 8.45956282e-03 3.98834473e+02] [-5.37745864e-02 9.98552952e-01 -5.43291754e-04 -1.67582436e+00] [-8.47653817e-03 8.75766260e-05 9.99964070e-01 2.76260188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.86, Y:-1.68, Z:2.76 [[ 9.98585560e-01 5.24562295e-02 8.67308926e-03 3.98862695e+02] [-5.24533934e-02 9.98623219e-01 -5.54308342e-04 -1.67869623e+00] [-8.69022524e-03 9.85913437e-05 9.99962234e-01 2.76173595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.89, Y:-1.68, Z:2.76 [[ 9.98618791e-01 5.18168919e-02 8.69020793e-03 3.98889393e+02] [-5.18140270e-02 9.98656597e-01 -5.54650511e-04 -1.68148405e+00] [-8.70727374e-03 1.03609755e-04 9.99962086e-01 2.76099227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.92, Y:-1.69, Z:2.76 [[ 9.98624781e-01 5.17456763e-02 8.42205807e-03 3.98917364e+02] [-5.17429929e-02 9.98660290e-01 -5.36340960e-04 -1.68525578e+00] [-8.43852828e-03 9.98208830e-05 9.99964390e-01 2.75988307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.95, Y:-1.69, Z:2.76 [[ 9.98601120e-01 5.21746341e-02 8.57965347e-03 3.98945148e+02] [-5.21718730e-02 9.98637972e-01 -5.45471103e-04 -1.68777545e+00] [-8.59642750e-03 9.70914629e-05 9.99963045e-01 2.75916958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.97, Y:-1.69, Z:2.76 [[ 9.98550385e-01 5.30701757e-02 8.98246162e-03 3.98973228e+02] [-5.30671953e-02 9.98590781e-01 -5.69989051e-04 -1.69050534e+00] [-9.00005279e-03 9.24887410e-05 9.99959494e-01 2.75816961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.00, Y:-1.69, Z:2.76 [[ 9.98485061e-01 5.42434217e-02 9.23218330e-03 3.99000809e+02] [-5.42403332e-02 9.98527738e-01 -5.84780770e-04 -1.69329607e+00] [-9.25031162e-03 8.31381647e-05 9.99957211e-01 2.75742179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.03, Y:-1.70, Z:2.76 [[ 9.98413218e-01 5.55439323e-02 9.26920610e-03 3.99029024e+02] [-5.55408844e-02 9.98456242e-01 -5.86110212e-04 -1.69608145e+00] [-9.28745155e-03 7.03602785e-05 9.99956868e-01 2.75684830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.06, Y:-1.70, Z:2.76 [[ 9.98225932e-01 5.86919463e-02 1.00121969e-02 3.99055738e+02] [-5.86885596e-02 9.98276141e-01 -6.31988358e-04 -1.70012003e+00] [-1.00320299e-02 4.32657522e-05 9.99949677e-01 2.75582023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.08, Y:-1.70, Z:2.76 [[ 9.98142237e-01 6.00475082e-02 1.03136350e-02 3.99083556e+02] [-6.00440030e-02 9.98195520e-01 -6.49442144e-04 -1.70306999e+00] [-1.03340217e-02 2.89637004e-05 9.99946602e-01 2.75532956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.11, Y:-1.71, Z:2.75 [[ 9.98075443e-01 6.11002181e-02 1.05912092e-02 3.99110302e+02] [-6.10965859e-02 9.98131636e-01 -6.66457789e-04 -1.70600084e+00] [-1.06121416e-02 1.80884326e-05 9.99943689e-01 2.75453632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.14, Y:-1.71, Z:2.75 [[ 9.98012060e-01 6.20447225e-02 1.10625516e-02 3.99138373e+02] [-6.20408507e-02 9.98073370e-01 -6.93153301e-04 -1.70901891e+00] [-1.10842447e-02 5.44524204e-06 9.99938568e-01 2.75369314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.17, Y:-1.71, Z:2.75 [[ 9.97961507e-01 6.28763354e-02 1.09268737e-02 3.99165745e+02] [-6.28726202e-02 9.98021326e-01 -6.83520241e-04 -1.71358260e+00] [-1.09482302e-02 -4.87429165e-06 9.99940066e-01 2.75308765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.19, Y:-1.72, Z:2.75 [[ 9.97969933e-01 6.27088257e-02 1.11182703e-02 3.99193156e+02] [-6.27049827e-02 9.98031865e-01 -6.94243885e-04 -1.71649805e+00] [-1.11399233e-02 -4.33642360e-06 9.99937949e-01 2.75220916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.22, Y:-1.72, Z:2.75 [[ 9.98006332e-01 6.21975245e-02 1.07158196e-02 3.99221324e+02] [-6.21939369e-02 9.98063860e-01 -6.68033772e-04 -1.71952860e+00] [-1.07366223e-02 2.42929786e-07 9.99942361e-01 2.75174663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.25, Y:-1.72, Z:2.75 [[ 9.98113442e-01 6.04709216e-02 1.06218533e-02 3.99247520e+02] [-6.04673032e-02 9.98169959e-01 -6.61762304e-04 -1.72431455e+00] [-1.06424323e-02 1.82390260e-05 9.99943368e-01 2.75083264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.27, Y:-1.73, Z:2.75 [[ 9.98185939e-01 5.92056113e-02 1.09328578e-02 3.99274131e+02] [-5.92017317e-02 9.98245809e-01 -6.78427688e-04 -1.72772423e+00] [-1.09538462e-02 2.99528656e-05 9.99940004e-01 2.74989104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.30, Y:-1.73, Z:2.75 [[ 9.98286625e-01 5.74794814e-02 1.09509587e-02 3.99301722e+02] [-5.74755018e-02 9.98346687e-01 -6.78031301e-04 -1.73117646e+00] [-1.09718262e-02 4.74577322e-05 9.99939807e-01 2.74936985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.33, Y:-1.73, Z:2.75 [[ 9.98400404e-01 5.54084155e-02 1.12490051e-02 3.99329688e+02] [-5.54040993e-02 9.98463771e-01 -6.95205338e-04 -1.73425820e+00] [-1.12702443e-02 7.08522952e-05 9.99936486e-01 2.74872301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.36, Y:-1.74, Z:2.75 [[ 9.98649394e-01 5.06003777e-02 1.17893539e-02 3.99357603e+02] [-5.05953181e-02 9.98718972e-01 -7.27218810e-04 -1.73899222e+00] [-1.18110490e-02 1.29750512e-04 9.99930239e-01 2.74865345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.11509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.39, Y:-1.74, Z:2.75 [[ 9.98774870e-01 4.79546835e-02 1.22109783e-02 3.99385210e+02] [-4.79490750e-02 9.98849499e-01 -7.51814129e-04 -1.74222665e+00] [-1.22329826e-02 1.65387942e-04 9.99925161e-01 2.74824605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.41, Y:-1.75, Z:2.75 [[ 9.98886608e-01 4.53485385e-02 1.30021232e-02 3.99412701e+02] [-4.53419808e-02 9.98971204e-01 -7.98841598e-04 -1.74559382e+00] [-1.30249730e-02 2.08410153e-04 9.99915150e-01 2.74751466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.44, Y:-1.75, Z:2.75 [[ 9.98890656e-01 4.52592562e-02 1.30021945e-02 3.99441117e+02] [-4.52527062e-02 9.98975253e-01 -7.97678539e-04 -1.74724874e+00] [-1.30249729e-02 2.08409151e-04 9.99915150e-01 2.74694509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.47, Y:-1.75, Z:2.75 [[ 9.98999758e-01 4.27465222e-02 1.31231968e-02 3.99468463e+02] [-4.27396487e-02 9.99085920e-01 -8.03903410e-04 -1.75066298e+00] [-1.31455652e-02 2.42218490e-04 9.99913564e-01 2.74664766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.50, Y:-1.76, Z:2.75 [[ 9.99164675e-01 3.85320836e-02 1.36099467e-02 3.99496848e+02] [-3.85243187e-02 9.99257316e-01 -8.32335880e-04 -1.75540864e+00] [-1.36319104e-02 3.07326687e-04 9.99907034e-01 2.74623197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.53, Y:-1.76, Z:2.75 [[ 9.99233000e-01 3.66353163e-02 1.38298615e-02 3.99525545e+02] [-3.66271309e-02 9.99328644e-01 -8.44776535e-04 -1.75835485e+00] [-1.38515255e-02 3.37580442e-04 9.99904006e-01 2.74566529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.55, Y:-1.76, Z:2.75 [[ 9.99297117e-01 3.50232408e-02 1.33658152e-02 3.99552856e+02] [-3.50154617e-02 9.99386438e-01 -8.15656278e-04 -1.76123151e+00] [-1.33861814e-02 3.47072775e-04 9.99910341e-01 2.74522338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.58, Y:-1.76, Z:2.74 [[ 9.99398591e-01 3.18777566e-02 1.36478838e-02 3.99581719e+02] [-3.18693740e-02 9.99491697e-01 -8.31300615e-04 -1.76478088e+00] [-1.36674465e-02 3.95851151e-04 9.99906518e-01 2.74484524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.61, Y:-1.77, Z:2.74 [[ 9.99443416e-01 3.04451185e-02 1.36364360e-02 3.99610357e+02] [-3.04366299e-02 9.99536354e-01 -8.29642184e-04 -1.76726239e+00] [-1.36553721e-02 4.14133264e-04 9.99906675e-01 2.74422497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.64, Y:-1.77, Z:2.74 [[ 9.99474242e-01 2.94709188e-02 1.35168399e-02 3.99639139e+02] [-2.94625041e-02 9.99565549e-01 -8.21283926e-04 -1.77001933e+00] [-1.35351715e-02 4.22612177e-04 9.99908306e-01 2.74376718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.67, Y:-1.77, Z:2.74 [[ 9.99501551e-01 2.84703580e-02 1.36413844e-02 3.99669143e+02] [-2.84617061e-02 9.99594541e-01 -8.27994994e-04 -1.77264054e+00] [-1.36594267e-02 4.39325208e-04 9.99906609e-01 2.74302649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.70, Y:-1.78, Z:2.74 [[ 9.99531772e-01 2.71194440e-02 1.41693924e-02 3.99699077e+02] [-2.71099812e-02 9.99632087e-01 -8.59515081e-04 -1.77565727e+00] [-1.41874888e-02 4.74980671e-04 9.99899240e-01 2.74265713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.73, Y:-1.78, Z:2.74 [[ 9.99535393e-01 2.70893342e-02 1.39701918e-02 3.99728876e+02] [-2.70801413e-02 9.99632907e-01 -8.46824170e-04 -1.77795678e+00] [-1.39880033e-02 4.68115963e-04 9.99902054e-01 2.74196292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.76, Y:-1.78, Z:2.74 [[ 9.99549139e-01 2.69769261e-02 1.31819460e-02 3.99758381e+02] [-2.69687329e-02 9.99635958e-01 -7.98949159e-04 -1.78002886e+00] [-1.31987005e-02 4.43088563e-04 9.99912795e-01 2.74136505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.79, Y:-1.78, Z:2.74 [[ 9.99554188e-01 2.69827185e-02 1.27811296e-02 3.99788358e+02] [-2.69750221e-02 9.99635808e-01 -7.74213631e-04 -1.78202208e+00] [-1.27973652e-02 4.29097226e-04 9.99918018e-01 2.74042930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.82, Y:-1.78, Z:2.74 [[ 9.99551910e-01 2.76317601e-02 1.15093469e-02 3.99817313e+02] [-2.76255627e-02 9.99618098e-01 -6.97137383e-04 -1.78381276e+00] [-1.15242146e-02 3.78872818e-04 9.99933522e-01 2.73919045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.84, Y:-1.79, Z:2.74 [[ 9.99554650e-01 2.77431781e-02 1.09916866e-02 3.99844705e+02] [-2.77375386e-02 9.99615019e-01 -6.65209981e-04 -1.78552888e+00] [-1.10059101e-02 3.60031398e-04 9.99939368e-01 2.73829602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.87, Y:-1.79, Z:2.74 [[ 9.99552349e-01 2.80120450e-02 1.05084408e-02 3.99872991e+02] [-2.80069161e-02 9.99607528e-01 -6.34942311e-04 -1.78715651e+00] [-1.05221026e-02 3.40349058e-04 9.99944583e-01 2.73752022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.90, Y:-1.79, Z:2.74 [[ 9.99542449e-01 2.84089218e-02 1.03838958e-02 3.99901329e+02] [-2.84039427e-02 9.99596330e-01 -6.26695248e-04 -1.78880500e+00] [-1.03975079e-02 3.31464922e-04 9.99945890e-01 2.73691686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.93, Y:-1.79, Z:2.74 [[ 9.99527126e-01 2.90180805e-02 1.01723156e-02 3.99929583e+02] [-2.90133385e-02 9.99578836e-01 -6.13461084e-04 -1.79036049e+00] [-1.01858328e-02 3.18038159e-04 9.99948072e-01 2.73651652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.96, Y:-1.79, Z:2.74 [[ 9.99507765e-01 2.95486412e-02 1.05406733e-02 3.99957642e+02] [-2.95435917e-02 9.99563291e-01 -6.34470086e-04 -1.79186890e+00] [-1.05548178e-02 3.22748430e-04 9.99944244e-01 2.73601688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.99, Y:-1.79, Z:2.74 [[ 9.99470897e-01 3.05765381e-02 1.10906155e-02 3.99986629e+02] [-3.05710247e-02 9.99532375e-01 -6.66353432e-04 -1.79294142e+00] [-1.11058041e-02 3.26949381e-04 9.99938275e-01 2.73564037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.02, Y:-1.79, Z:2.74 [[ 9.99451458e-01 3.10272356e-02 1.15798989e-02 4.00015389e+02] [-3.10212655e-02 9.99518483e-01 -6.94862368e-04 -1.79406089e+00] [-1.15958827e-02 3.35258089e-04 9.99932709e-01 2.73574475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.04, Y:-1.79, Z:2.74 [[ 9.99404663e-01 3.17081916e-02 1.35981674e-02 4.00043563e+02] [-3.17000367e-02 9.99497095e-01 -8.14885348e-04 -1.79474138e+00] [-1.36171673e-02 3.83337812e-04 9.99907209e-01 2.73568960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.07, Y:-1.80, Z:2.74 [[ 9.99399092e-01 3.14941578e-02 1.44766202e-02 4.00072558e+02] [-3.14849170e-02 9.99503852e-01 -8.65848832e-04 -1.79617263e+00] [-1.44967068e-02 4.09533351e-04 9.99894833e-01 2.73547838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.86509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.10, Y:-1.80, Z:2.73 [[ 9.99395733e-01 3.10786779e-02 1.55654874e-02 4.00101761e+02] [-3.10679657e-02 9.99516842e-01 -9.29596153e-04 -1.79766399e+00] [-1.55868574e-02 4.45446400e-04 9.99878418e-01 2.73489378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.13, Y:-1.80, Z:2.73 [[ 9.99413556e-01 3.05534670e-02 1.54605641e-02 4.00130630e+02] [-3.05428433e-02 9.99533033e-01 -9.22855378e-04 -1.79963783e+00] [-1.54815409e-02 4.50104589e-04 9.99880052e-01 2.73411721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.16, Y:-1.80, Z:2.74 [[ 9.99479855e-01 2.99679343e-02 1.19139768e-02 4.00159350e+02] [-2.98547352e-02 9.99508450e-01 -9.56835496e-03 -1.79763477e+00] [-1.21948644e-02 9.20768940e-03 9.99883245e-01 2.73544541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.19, Y:-1.81, Z:2.73 [[ 9.99515618e-01 2.74128656e-02 1.47331045e-02 4.00189748e+02] [-2.75277558e-02 9.99591746e-01 7.65267218e-03 -1.80773670e+00] [-1.45173080e-02 -8.05453466e-03 9.99862177e-01 2.72988034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.22, Y:-1.81, Z:2.73 [[ 9.99551569e-01 2.63665394e-02 1.41938558e-02 4.00218756e+02] [-2.63571259e-02 9.99652229e-01 -8.49897958e-04 -1.80546771e+00] [-1.42113285e-02 4.75407593e-04 9.99898901e-01 2.73160032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.25, Y:-1.81, Z:2.73 [[ 9.99591478e-01 2.49484407e-02 1.39446529e-02 4.00248410e+02] [-2.49392286e-02 9.99688621e-01 -8.34143336e-04 -1.80712447e+00] [-1.39611214e-02 4.86033683e-04 9.99902421e-01 2.73128029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.28, Y:-1.81, Z:2.73 [[ 9.99626254e-01 2.34872557e-02 1.39893483e-02 4.00277422e+02] [-2.34778531e-02 9.99724008e-01 -8.35997773e-04 -1.80892484e+00] [-1.40051226e-02 5.07245457e-04 9.99901795e-01 2.73066253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.31, Y:-1.81, Z:2.73 [[ 9.99648603e-01 2.23342606e-02 1.42776574e-02 4.00307688e+02] [-2.23243455e-02 9.99750416e-01 -8.53471506e-04 -1.81092306e+00] [-1.42931555e-02 5.34432242e-04 9.99897705e-01 2.73011596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.34, Y:-1.81, Z:2.73 [[ 9.99686227e-01 2.07881968e-02 1.39749459e-02 4.00338600e+02] [-2.07785420e-02 9.99783754e-01 -8.35723814e-04 -1.81261201e+00] [-1.39892971e-02 5.45082585e-04 9.99901996e-01 2.72923408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.37, Y:-1.81, Z:2.73 [[ 9.99688442e-01 2.05998610e-02 1.40948160e-02 4.00368918e+02] [-2.05900225e-02 9.99787648e-01 -8.42795567e-04 -1.81414415e+00] [-1.41091844e-02 5.52320408e-04 9.99900308e-01 2.72825136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.40, Y:-1.82, Z:2.73 [[ 9.99672809e-01 2.12325394e-02 1.42637043e-02 4.00399870e+02] [-2.12225258e-02 9.99774413e-01 -8.53051613e-04 -1.81538404e+00] [-1.42785990e-02 5.50060670e-04 9.99897904e-01 2.72754248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.43, Y:-1.81, Z:2.73 [[ 9.99681280e-01 2.21063665e-02 1.21920775e-02 4.00430617e+02] [-2.20045537e-02 9.99722391e-01 -8.42261398e-03 -1.81230400e+00] [-1.23748862e-02 8.15164830e-03 9.99890200e-01 2.72875102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.46, Y:-1.82, Z:2.72 [[ 9.99574497e-01 2.49288795e-02 1.51451748e-02 4.00461180e+02] [-2.50305277e-02 9.99665167e-01 6.55949063e-03 -1.81908166e+00] [-1.49765830e-02 -6.93579126e-03 9.99863789e-01 2.72444766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.49, Y:-1.81, Z:2.73 [[ 9.99543360e-01 2.73359649e-02 1.28769478e-02 4.00490633e+02] [-2.72483985e-02 9.99604690e-01 -6.92733581e-03 -1.81307155e+00] [-1.30612228e-02 6.57329631e-03 9.99893092e-01 2.72766639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.52, Y:-1.82, Z:2.72 [[ 9.99474439e-01 2.85081728e-02 1.54314692e-02 4.00520321e+02] [-2.85946972e-02 9.99576417e-01 5.41566816e-03 -1.81954241e+00] [-1.52705419e-02 -5.85408008e-03 9.99866261e-01 2.72330288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.55, Y:-1.82, Z:2.72 [[ 9.99378616e-01 3.19510564e-02 1.48832488e-02 4.00550153e+02] [-3.19412645e-02 9.99489347e-01 -8.95220335e-04 -1.81530234e+00] [-1.49042518e-02 4.19274275e-04 9.99888838e-01 2.72404266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.58, Y:-1.82, Z:2.72 [[ 9.99350254e-01 3.28577923e-02 1.48133342e-02 4.00579194e+02] [-3.28481970e-02 9.99459956e-01 -8.90653508e-04 -1.81529513e+00] [-1.48345992e-02 4.03483491e-04 9.99889880e-01 2.72323973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.61, Y:-1.82, Z:2.72 [[ 9.99334113e-01 3.33528785e-02 1.47958119e-02 4.00606941e+02] [-3.33433748e-02 9.99443560e-01 -8.88611566e-04 -1.81572593e+00] [-1.48172167e-02 3.94677548e-04 9.99890141e-01 2.72218361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.64, Y:-1.82, Z:2.72 [[ 9.99338974e-01 3.32717909e-02 1.46493366e-02 4.00635478e+02] [-3.32624861e-02 9.99446264e-01 -8.78429477e-04 -1.81655274e+00] [-1.46704516e-02 3.90575459e-04 9.99892307e-01 2.72105869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.66, Y:-1.82, Z:2.72 [[ 9.99398193e-01 3.16214801e-02 1.42595046e-02 4.00664517e+02] [-3.16125102e-02 9.99499835e-01 -8.54060410e-04 -1.81684285e+00] [-1.42793791e-02 4.02767697e-04 9.99897963e-01 2.71943284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.69, Y:-1.82, Z:2.72 [[ 9.99429546e-01 3.06283313e-02 1.42298531e-02 4.00693702e+02] [-3.06193127e-02 9.99530756e-01 -8.51260469e-04 -1.81766166e+00] [-1.42492486e-02 4.15066540e-04 9.99898388e-01 2.71890920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.72, Y:-1.82, Z:2.72 [[ 9.99504596e-01 2.87472361e-02 1.28124487e-02 4.00723754e+02] [-2.87397836e-02 9.99586634e-01 -7.65442282e-04 -1.81758619e+00] [-1.28291568e-02 3.96836077e-04 9.99917624e-01 2.71944131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.75, Y:-1.82, Z:2.72 [[ 9.99557423e-01 2.77079209e-02 1.08272586e-02 4.00752885e+02] [-2.77025376e-02 9.99616002e-01 -6.46885024e-04 -1.81793963e+00] [-1.08410248e-02 3.46656189e-04 9.99941174e-01 2.71864379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.78, Y:-1.82, Z:2.72 [[ 9.99590882e-01 2.72563993e-02 8.66932519e-03 4.00781919e+02] [-2.72529342e-02 9.99628436e-01 -5.17609417e-04 -1.81810249e+00] [-8.68021215e-03 2.81133105e-04 9.99962287e-01 2.71819911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.81, Y:-1.82, Z:2.72 [[ 9.99607706e-01 2.70304970e-02 7.33389137e-03 4.00809340e+02] [-2.70280118e-02 9.99634581e-01 -4.37772738e-04 -1.81808172e+00] [-7.34304464e-03 2.39380500e-04 9.99973011e-01 2.71718838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.61509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.84, Y:-1.82, Z:2.72 [[ 9.99616838e-01 2.71200793e-02 5.53875621e-03 4.00837663e+02] [-2.71186651e-02 9.99632167e-01 -3.30294148e-04 -1.81849038e+00] [-5.54567647e-03 1.79963917e-04 9.99984606e-01 2.71625657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.87, Y:-1.82, Z:2.72 [[ 9.99575410e-01 2.86751155e-02 5.17075545e-03 4.00865223e+02] [-2.86739034e-02 9.99588772e-01 -3.08412785e-04 -1.81832911e+00] [-5.17747286e-03 1.60016094e-04 9.99986584e-01 2.71533556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.89, Y:-1.82, Z:2.72 [[ 9.99537854e-01 2.98698427e-02 5.64539823e-03 4.00893655e+02] [-2.98684200e-02 9.99553783e-01 -3.36180578e-04 -1.81929563e+00] [-5.65292081e-03 1.67406088e-04 9.99984008e-01 2.71506694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.92, Y:-1.82, Z:2.72 [[ 9.99487589e-01 3.13409903e-02 6.50399668e-03 4.00921540e+02] [-3.13391414e-02 9.99508734e-01 -3.86024602e-04 -1.82075835e+00] [-6.51289988e-03 1.81997127e-04 9.99978774e-01 2.71503447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.95, Y:-1.82, Z:2.72 [[ 9.99389424e-01 3.38183276e-02 8.78070313e-03 4.00949499e+02] [-3.38150639e-02 9.99427972e-01 -5.19932715e-04 -1.82303773e+00] [-8.79326358e-03 2.22695219e-04 9.99961314e-01 2.71623868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.98, Y:-1.83, Z:2.72 [[ 9.99357399e-01 3.43420346e-02 1.02671158e-02 4.00976755e+02] [-3.43376168e-02 9.99410106e-01 -6.06301432e-04 -1.82553583e+00] [-1.02818809e-02 2.53363536e-04 9.99947108e-01 2.71626975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.01, Y:-1.83, Z:2.72 [[ 9.99340399e-01 3.43675173e-02 1.17320358e-02 4.01005316e+02] [-3.43617677e-02 9.99409221e-01 -6.91361683e-04 -1.82848005e+00] [-1.17488651e-02 2.87772173e-04 9.99930938e-01 2.71677049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.03, Y:-1.83, Z:2.72 [[ 9.99339257e-01 3.38379180e-02 1.32681540e-02 4.01033580e+02] [-3.38305322e-02 9.99427279e-01 -7.80768029e-04 -1.83152362e+00] [-1.32869746e-02 3.31383432e-04 9.99911669e-01 2.71752597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.06, Y:-1.84, Z:2.72 [[ 9.99325420e-01 3.24305829e-02 1.72325729e-02 4.01061131e+02] [-3.24179420e-02 9.99473888e-01 -1.01246238e-03 -1.83708817e+00] [-1.72563413e-02 4.53134850e-04 9.99850996e-01 2.71910684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.09, Y:-1.84, Z:2.72 [[ 9.99331611e-01 3.13951400e-02 1.87263349e-02 4.01089378e+02] [-3.13800647e-02 9.99506921e-01 -1.09840501e-03 -1.84097297e+00] [-1.87515859e-02 5.10037248e-04 9.99824043e-01 2.71937054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.12, Y:-1.85, Z:2.72 [[ 9.99368095e-01 2.93625958e-02 2.00312063e-02 4.01118500e+02] [-2.93449599e-02 9.99568655e-01 -1.17385143e-03 -1.84743821e+00] [-2.00570332e-02 5.85294720e-04 9.99798666e-01 2.72006946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.15, Y:-1.85, Z:2.72 [[ 9.99383820e-01 2.85757298e-02 2.03815725e-02 4.01149544e+02] [-2.85573144e-02 9.99591444e-01 -1.19407356e-03 -1.85179485e+00] [-2.04073670e-02 6.11294826e-04 9.99791561e-01 2.71956516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.18, Y:-1.86, Z:2.72 [[ 9.99386846e-01 2.80592185e-02 2.09430935e-02 4.01180522e+02] [-2.80396449e-02 9.99606058e-01 -1.22773267e-03 -1.85597336e+00] [-2.09692923e-02 6.39742974e-04 9.99779916e-01 2.71870592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.21, Y:-1.86, Z:2.72 [[ 9.99390944e-01 2.82027181e-02 2.05511204e-02 4.01212352e+02] [-2.81838812e-02 9.99602028e-01 -1.20570450e-03 -1.86191828e+00] [-2.05769458e-02 6.25759824e-04 9.99788076e-01 2.71766313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.24, Y:-1.87, Z:2.72 [[ 9.99367549e-01 2.90409656e-02 2.05213023e-02 4.01244767e+02] [-2.90222516e-02 9.99578034e-01 -1.20922121e-03 -1.86581390e+00] [-2.05477599e-02 6.12882041e-04 9.99788685e-01 2.71649001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.28, Y:-1.87, Z:2.72 [[ 9.99287615e-01 3.15319732e-02 2.07363656e-02 4.01275877e+02] [-3.15132903e-02 9.99502580e-01 -1.22721084e-03 -1.87058440e+00] [-2.07647473e-02 5.72865487e-04 9.99784225e-01 2.71556000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.31, Y:-1.87, Z:2.71 [[ 9.99287061e-01 3.15497212e-02 2.07360926e-02 4.01306823e+02] [-3.15309468e-02 9.99502017e-01 -1.23180624e-03 -1.87241838e+00] [-2.07646295e-02 5.77099404e-04 9.99784225e-01 2.71495475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.34, Y:-1.88, Z:2.71 [[ 9.99106093e-01 3.70467775e-02 2.03605418e-02 4.01336955e+02] [-3.70298103e-02 9.99313429e-01 -1.20985177e-03 -1.87807605e+00] [-2.03913840e-02 4.54823278e-04 9.99791971e-01 2.71342307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.37, Y:-1.90, Z:2.71 [[ 9.99806227e-01 1.61813972e-02 1.12102856e-02 4.01366496e+02] [-1.61749447e-02 9.99868955e-01 -6.66023515e-04 -1.90484380e+00] [-1.12195938e-02 4.84568708e-04 9.99936941e-01 2.70934201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.40, Y:-1.91, Z:2.71 [[ 9.99769758e-01 1.81131392e-02 1.15041790e-02 4.01397347e+02] [-1.81064667e-02 9.99835831e-01 -6.83903718e-04 -1.90660154e+00] [-1.15146780e-02 4.75446221e-04 9.99933591e-01 2.70888020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.43, Y:-1.91, Z:2.71 [[ 9.99769426e-01 1.81314760e-02 1.15041451e-02 4.01428292e+02] [-1.81247982e-02 9.99835498e-01 -6.84472654e-04 -1.90844005e+00] [-1.15146632e-02 4.75804523e-04 9.99933591e-01 2.70827388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.46, Y:-1.91, Z:2.71 [[ 9.99769093e-01 1.81498058e-02 1.15041326e-02 4.01459237e+02] [-1.81431268e-02 9.99835166e-01 -6.84683557e-04 -1.91027930e+00] [-1.15146632e-02 4.75804523e-04 9.99933591e-01 2.70766746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.49, Y:-1.91, Z:2.71 [[ 9.99722397e-01 2.06780712e-02 1.12936666e-02 4.01489332e+02] [-2.06717931e-02 9.99786090e-01 -6.72359748e-04 -1.91161615e+00] [-1.13051539e-02 4.38712759e-04 9.99935998e-01 2.70742640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.52, Y:-1.91, Z:2.71 [[ 9.99722025e-01 2.06960648e-02 1.12936543e-02 4.01520276e+02] [-2.06897855e-02 9.99785717e-01 -6.72566852e-04 -1.91345684e+00] [-1.13051537e-02 4.38716611e-04 9.99935998e-01 2.70681999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.55, Y:-1.91, Z:2.71 [[ 9.99651616e-01 2.36465054e-02 1.17255817e-02 4.01550960e+02] [-2.36399366e-02 9.99720294e-01 -6.98515578e-04 -1.91425406e+00] [-1.17388194e-02 4.21080218e-04 9.99931009e-01 2.70619748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.36509989300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.58, Y:-1.92, Z:2.71 [[ 9.99652037e-01 2.36287360e-02 1.17255526e-02 4.01581064e+02] [-2.36221602e-02 9.99720713e-01 -6.99003143e-04 -1.91601682e+00] [-1.17387944e-02 4.21777032e-04 9.99931009e-01 2.70560757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.61, Y:-1.92, Z:2.71 [[ 9.99652457e-01 2.36109529e-02 1.17255651e-02 4.01611168e+02] [-2.36043783e-02 9.99721134e-01 -6.98794567e-04 -1.91777937e+00] [-1.17387944e-02 4.21777032e-04 9.99931009e-01 2.70501750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.64, Y:-1.92, Z:2.70 [[ 9.99652876e-01 2.35931698e-02 1.17255775e-02 4.01641272e+02] [-2.35865965e-02 9.99721553e-01 -6.98585992e-04 -1.91954139e+00] [-1.17387944e-02 4.21777032e-04 9.99931009e-01 2.70442742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.67, Y:-1.92, Z:2.70 [[ 9.99570538e-01 2.66830658e-02 1.21142138e-02 4.01671989e+02] [-2.66762805e-02 9.99643864e-01 -7.21380039e-04 -1.92019846e+00] [-1.21291481e-02 3.97908067e-04 9.99926360e-01 2.70373245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.70, Y:-1.92, Z:2.70 [[ 9.99571964e-01 2.66296086e-02 1.21141902e-02 4.01701253e+02] [-2.66228145e-02 9.99645289e-01 -7.21776546e-04 -1.92188084e+00] [-1.21291138e-02 3.98953760e-04 9.99926360e-01 2.70315897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.73, Y:-1.92, Z:2.70 [[ 9.99573386e-01 2.65761308e-02 1.21142288e-02 4.01730516e+02] [-2.65693407e-02 9.99646713e-01 -7.21128475e-04 -1.92356215e+00] [-1.21291138e-02 3.98953759e-04 9.99926360e-01 2.70258524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.76, Y:-1.92, Z:2.70 [[ 9.99496262e-01 2.95178740e-02 1.16583836e-02 4.01760512e+02] [-2.95117937e-02 9.99564192e-01 -6.93270510e-04 -1.92406975e+00] [-1.16737666e-02 3.48861472e-04 9.99931798e-01 2.70207185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.79, Y:-1.93, Z:2.70 [[ 9.99497864e-01 2.94635478e-02 1.16584002e-02 4.01789775e+02] [-2.94574670e-02 9.99565794e-01 -6.92990524e-04 -1.92574931e+00] [-1.16737560e-02 3.49215609e-04 9.99931798e-01 2.70149820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.82, Y:-1.93, Z:2.70 [[ 9.99499464e-01 2.94092145e-02 1.16584379e-02 4.01819039e+02] [-2.94031375e-02 9.99567395e-01 -6.92356808e-04 -1.92742745e+00] [-1.16737560e-02 3.49215608e-04 9.99931798e-01 2.70092445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.85, Y:-1.93, Z:2.70 [[ 9.99501061e-01 2.93548812e-02 1.16584754e-02 4.01848302e+02] [-2.93488078e-02 9.99568992e-01 -6.91723090e-04 -1.92910400e+00] [-1.16737560e-02 3.49215607e-04 9.99931798e-01 2.70035071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.88, Y:-1.93, Z:2.70 [[ 9.99502655e-01 2.93005477e-02 1.16585130e-02 4.01877566e+02] [-2.92944781e-02 9.99570586e-01 -6.91089369e-04 -1.93077896e+00] [-1.16737560e-02 3.49215606e-04 9.99931798e-01 2.69977697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.90, Y:-1.93, Z:2.70 [[ 9.99417942e-01 3.19691513e-02 1.19059316e-02 4.01904872e+02] [-3.19630152e-02 9.99488803e-01 -7.05355572e-04 -1.93162034e+00] [-1.19223950e-02 3.24395541e-04 9.99928873e-01 2.69905042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.93, Y:-1.93, Z:2.70 [[ 9.99419632e-01 3.19162222e-02 1.19060115e-02 4.01934136e+02] [-3.19100984e-02 9.99490495e-01 -7.04003475e-04 -1.93328984e+00] [-1.19224145e-02 3.23672895e-04 9.99928873e-01 2.69847650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.96, Y:-1.93, Z:2.70 [[ 9.99333500e-01 3.45423361e-02 1.18060615e-02 4.01961625e+02] [-3.45365019e-02 9.99403194e-01 -6.97743286e-04 -1.93446593e+00] [-1.18231172e-02 2.89538174e-04 9.99930063e-01 2.69780058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.99, Y:-1.94, Z:2.70 [[ 9.99265290e-01 3.65778166e-02 1.14430860e-02 4.01990646e+02] [-3.65724817e-02 9.99330775e-01 -6.75195734e-04 -1.93584244e+00] [-1.14601252e-02 2.56197607e-04 9.99934298e-01 2.69727249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.02, Y:-1.94, Z:2.70 [[ 9.99173959e-01 3.90667664e-02 1.11886957e-02 4.02019164e+02] [-3.90618306e-02 9.99236578e-01 -6.59425087e-04 -1.93674444e+00] [-1.12059156e-02 2.21829440e-04 9.99937187e-01 2.69689012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.05, Y:-1.94, Z:2.70 [[ 9.99156580e-01 3.95272189e-02 1.11232748e-02 4.02047681e+02] [-3.95223774e-02 9.99218471e-01 -6.54827738e-04 -1.93777959e+00] [-1.11404652e-02 2.14657180e-04 9.99937920e-01 2.69684672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.08, Y:-1.94, Z:2.70 [[ 9.99143190e-01 3.96669839e-02 1.18074887e-02 4.02076740e+02] [-3.96615493e-02 9.99212930e-01 -6.94164750e-04 -1.93887043e+00] [-1.18257308e-02 2.25266688e-04 9.99930048e-01 2.69688074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.10, Y:-1.94, Z:2.70 [[ 9.99161646e-01 3.86376311e-02 1.35328651e-02 4.02104363e+02] [-3.86304125e-02 9.99253251e-01 -7.94509904e-04 -1.93997732e+00] [-1.35534574e-02 2.71063664e-04 9.99908111e-01 2.69747307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.13, Y:-1.94, Z:2.70 [[ 9.99195454e-01 3.75542636e-02 1.40755986e-02 4.02132979e+02] [-3.75463673e-02 9.99294546e-01 -8.24925827e-04 -1.94197472e+00] [-1.40966484e-02 2.95774542e-04 9.99900594e-01 2.69699933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.16, Y:-1.94, Z:2.70 [[ 9.99297398e-01 3.50411010e-02 1.32977735e-02 4.02161556e+02] [-3.50338426e-02 9.99385823e-01 -7.78466894e-04 -1.94440812e+00] [-1.33168847e-02 3.12047837e-04 9.99911278e-01 2.69602146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.19, Y:-1.95, Z:2.70 [[ 9.99351235e-01 3.36009326e-02 1.29648073e-02 4.02189800e+02] [-3.35939260e-02 9.99435277e-01 -7.57892628e-04 -1.94588926e+00] [-1.29829517e-02 3.21862157e-04 9.99915666e-01 2.69514144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.22, Y:-1.95, Z:2.69 [[ 9.99449664e-01 3.08840674e-02 1.21054970e-02 4.02218632e+02] [-3.08777627e-02 9.99522918e-01 -7.07413674e-04 -1.94633118e+00] [-1.21215695e-02 3.33233694e-04 9.99926476e-01 2.69415244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.25, Y:-1.95, Z:2.69 [[ 9.99488768e-01 2.97786623e-02 1.16376278e-02 4.02248174e+02] [-2.97727729e-02 9.99556462e-01 -6.79017902e-04 -1.94721402e+00] [-1.16526864e-02 3.32186315e-04 9.99932050e-01 2.69365205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.28, Y:-1.95, Z:2.69 [[ 9.99514667e-01 2.89434564e-02 1.15198457e-02 4.02277466e+02] [-2.89376349e-02 9.99580993e-01 -6.71742118e-04 -1.94812358e+00] [-1.15344613e-02 3.38059012e-04 9.99933419e-01 2.69297488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.31, Y:-1.95, Z:2.69 [[ 9.99540262e-01 2.80950094e-02 1.13989176e-02 4.02307267e+02] [-2.80892589e-02 9.99605198e-01 -6.64299433e-04 -1.94921671e+00] [-1.14130807e-02 3.43806883e-04 9.99934810e-01 2.69257632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.34, Y:-1.95, Z:2.69 [[ 9.99550781e-01 2.75222034e-02 1.18644068e-02 4.02336469e+02] [-2.75159386e-02 9.99621126e-01 -6.90973964e-04 -1.95046535e+00] [-1.18789288e-02 3.64203275e-04 9.99929377e-01 2.69214047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.37, Y:-1.95, Z:2.69 [[ 9.99565822e-01 2.62840283e-02 1.33160764e-02 4.02365711e+02] [-2.62760342e-02 9.99654425e-01 -7.74961386e-04 -1.95051002e+00] [-1.33318438e-02 4.24731236e-04 9.99911037e-01 2.69213090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.40, Y:-1.95, Z:2.69 [[ 9.99569049e-01 2.59502240e-02 1.37223366e-02 4.02395600e+02] [-2.59417117e-02 9.99663139e-01 -7.97987612e-04 -1.95134987e+00] [-1.37384220e-02 4.41662819e-04 9.99905526e-01 2.69197149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.43, Y:-1.95, Z:2.69 [[ 9.99568184e-01 2.56394471e-02 1.43549745e-02 4.02426033e+02] [-2.56301050e-02 9.99671147e-01 -8.34414489e-04 -1.95244882e+00] [-1.43716478e-02 4.66134671e-04 9.99896614e-01 2.69159785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.46, Y:-1.95, Z:2.69 [[ 9.99585915e-01 2.46013174e-02 1.49256397e-02 4.02455526e+02] [-2.45911008e-02 9.99697217e-01 -8.67667719e-04 -1.95383240e+00] [-1.49424662e-02 5.00270520e-04 9.99888230e-01 2.68968180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.49, Y:-1.96, Z:2.69 [[ 9.99612763e-01 2.33295055e-02 1.51676944e-02 4.02486721e+02] [-2.33188164e-02 9.99727691e-01 -8.81225333e-04 -1.95588851e+00] [-1.51841226e-02 5.27191408e-04 9.99884576e-01 2.68738862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.52, Y:-1.96, Z:2.69 [[ 9.99646185e-01 2.15917934e-02 1.55338351e-02 4.02518026e+02] [-2.15803757e-02 9.99766709e-01 -9.02286439e-04 -1.95708920e+00] [-1.55496932e-02 5.66741198e-04 9.99878936e-01 2.68588085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.55, Y:-1.96, Z:2.69 [[ 9.99653018e-01 2.08774198e-02 1.60616760e-02 4.02550320e+02] [-2.08650581e-02 9.99781862e-01 -9.36848240e-04 -1.95799484e+00] [-1.60777313e-02 6.01395369e-04 9.99870564e-01 2.68546800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.58, Y:-1.96, Z:2.68 [[ 9.99655229e-01 2.06418261e-02 1.62276679e-02 4.02582747e+02] [-2.06291093e-02 9.99786745e-01 -9.50670445e-04 -1.95932625e+00] [-1.62438309e-02 6.15580348e-04 9.99867871e-01 2.68467447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.62, Y:-1.96, Z:2.68 [[ 9.99667767e-01 2.04250155e-02 1.57218002e-02 4.02615122e+02] [-2.04129941e-02 9.99791205e-01 -9.24747339e-04 -1.96113006e+00] [-1.57374055e-02 6.03511094e-04 9.99875977e-01 2.68393113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.65, Y:-1.96, Z:2.68 [[ 9.99665065e-01 2.05570531e-02 1.57215240e-02 4.02647764e+02] [-2.05449746e-02 9.99788498e-01 -9.29416300e-04 -1.96311318e+00] [-1.57373050e-02 6.06106694e-04 9.99875977e-01 2.68329267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.68, Y:-1.97, Z:2.68 [[ 9.99663697e-01 2.06235631e-02 1.57213862e-02 4.02679555e+02] [-2.06114564e-02 9.99787127e-01 -9.31741060e-04 -1.96502396e+00] [-1.57372554e-02 6.07387046e-04 9.99875977e-01 2.68267023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.71, Y:-1.97, Z:2.68 [[ 9.99672412e-01 2.03528220e-02 1.55187690e-02 4.02712190e+02] [-2.03409884e-02 9.99792677e-01 -9.20012844e-04 -1.96665034e+00] [-1.55342765e-02 6.04044359e-04 9.99879153e-01 2.68163893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.74, Y:-1.97, Z:2.68 [[ 9.99681871e-01 1.97482232e-02 1.56896436e-02 4.02744466e+02] [-1.97359907e-02 9.99804790e-01 -9.34118873e-04 -1.96787942e+00] [-1.57050280e-02 6.24171041e-04 9.99876474e-01 2.68063894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.78, Y:-1.97, Z:2.68 [[ 9.99686564e-01 1.92753770e-02 1.59760148e-02 4.02776772e+02] [-1.92625678e-02 9.99814003e-01 -9.55283207e-04 -1.96904584e+00] [-1.59914567e-02 6.47244721e-04 9.99871919e-01 2.67983055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.81, Y:-1.97, Z:2.68 [[ 9.99687605e-01 1.91950672e-02 1.60075597e-02 4.02808982e+02] [-1.91821262e-02 9.99815544e-01 -9.61594488e-04 -1.97026630e+00] [-1.60230649e-02 6.54235060e-04 9.99871408e-01 2.67891583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.84, Y:-1.97, Z:2.68 [[ 9.99676745e-01 1.93224777e-02 1.65241708e-02 4.02840859e+02] [-1.93086325e-02 9.99813074e-01 -9.97020496e-04 -1.97129088e+00] [-1.65403469e-02 6.77639062e-04 9.99862969e-01 2.67797035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.87, Y:-1.97, Z:2.68 [[ 9.99611086e-01 2.23799251e-02 1.66377748e-02 4.02872740e+02] [-2.23662409e-02 9.99749336e-01 -1.00811859e-03 -1.97100215e+00] [-1.66561659e-02 6.35602037e-04 9.99861074e-01 2.67679647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.91, Y:-1.97, Z:2.68 [[ 9.99541164e-01 2.50116421e-02 1.70844744e-02 4.02905165e+02] [-2.49975143e-02 9.99686972e-01 -1.04002512e-03 -1.97146870e+00] [-1.71051392e-02 6.12478527e-04 9.99853509e-01 2.67607984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.94, Y:-1.97, Z:2.68 [[ 9.99454476e-01 2.80910611e-02 1.73678399e-02 4.02936404e+02] [-2.80768371e-02 9.99605203e-01 -1.06232606e-03 -1.97164569e+00] [-1.73908250e-02 5.74112524e-04 9.99848603e-01 2.67551228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.97, Y:-1.97, Z:2.68 [[ 9.99341567e-01 3.18888178e-02 1.73071027e-02 4.02967241e+02] [-3.18752504e-02 9.99491294e-01 -1.05928472e-03 -1.97181706e+00] [-1.73320778e-02 5.06919020e-04 9.99849660e-01 2.67554216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.00, Y:-1.97, Z:2.68 [[ 9.99207755e-01 3.53960171e-02 1.81929698e-02 4.02997200e+02] [-3.53815981e-02 9.99373254e-01 -1.11392649e-03 -1.97177660e+00] [-1.82209960e-02 4.69347642e-04 9.99833874e-01 2.67505369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.03, Y:-1.97, Z:2.67 [[ 9.98888041e-01 4.30919741e-02 1.91249261e-02 4.03026002e+02] [-4.30774631e-02 9.99071050e-01 -1.17025853e-03 -1.97066512e+00] [-1.91575888e-02 3.45103948e-04 9.99816417e-01 2.67485118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.05, Y:-1.97, Z:2.67 [[ 9.98755631e-01 4.61338852e-02 1.89434389e-02 4.03054075e+02] [-4.61202075e-02 9.98935225e-01 -1.15850349e-03 -1.97175233e+00] [-1.89767147e-02 2.83386557e-04 9.99819886e-01 2.67422706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.08, Y:-1.97, Z:2.67 [[ 9.98631593e-01 4.87256708e-02 1.89934240e-02 4.03083314e+02] [-4.87124214e-02 9.98812172e-01 -1.15988318e-03 -1.97334159e+00] [-1.90273792e-02 2.33080316e-04 9.99818936e-01 2.67343449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.11, Y:-1.97, Z:2.67 [[ 9.98523328e-01 5.08495123e-02 1.91178064e-02 4.03111927e+02] [-5.08365041e-02 9.98706308e-01 -1.16611221e-03 -1.97490652e+00] [-1.91523701e-02 1.92507801e-04 9.99816558e-01 2.67258069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.14, Y:-1.98, Z:2.67 [[ 9.98405226e-01 5.35947605e-02 1.77371622e-02 4.03140235e+02] [-5.35840171e-02 9.98562760e-01 -1.08073653e-03 -1.97685520e+00] [-1.77695915e-02 1.28584591e-04 9.99842100e-01 2.67171317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.17, Y:-1.98, Z:2.67 [[ 9.98389405e-01 5.41016310e-02 1.70766076e-02 4.03167897e+02] [-5.40917654e-02 9.98535428e-01 -1.03942373e-03 -1.97853893e+00] [-1.71078322e-02 1.14045788e-04 9.99853644e-01 2.67093923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.20, Y:-1.98, Z:2.67 [[ 9.98394281e-01 5.40115204e-02 1.70767226e-02 4.03196315e+02] [-5.40016740e-02 9.98540306e-01 -1.03753020e-03 -1.98018005e+00] [-1.71078344e-02 1.13692617e-04 9.99853644e-01 2.67038173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.22, Y:-1.98, Z:2.67 [[ 9.98398117e-01 5.40589746e-02 1.66981340e-02 4.03224035e+02] [-5.40495913e-02 9.98537739e-01 -1.01305324e-03 -1.98164974e+00] [-1.67284816e-02 1.08903123e-04 9.99860063e-01 2.66972098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.25, Y:-1.98, Z:2.67 [[ 9.98435239e-01 5.36724661e-02 1.56952265e-02 4.03251574e+02] [-5.36641478e-02 9.98558589e-01 -9.50973912e-04 -1.98358350e+00] [-1.57236444e-02 1.07214909e-04 9.99876370e-01 2.66915047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.28, Y:-1.99, Z:2.67 [[ 9.98472018e-01 5.31207394e-02 1.52254977e-02 4.03279394e+02] [-5.31128717e-02 9.98588091e-01 -9.20928793e-04 -1.98546242e+00] [-1.52529211e-02 1.10851723e-04 9.99883661e-01 2.66885543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.31, Y:-1.99, Z:2.67 [[ 9.98505789e-01 5.25827167e-02 1.48743649e-02 4.03307170e+02] [-5.25751727e-02 9.98616565e-01 -8.98029628e-04 -1.98724498e+00] [-1.49010080e-02 1.14665480e-04 9.99888967e-01 2.66879838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.34, Y:-1.99, Z:2.67 [[ 9.98540964e-01 5.19259380e-02 1.48202597e-02 4.03335001e+02] [-5.19183950e-02 9.98650931e-01 -8.93516781e-04 -1.98894138e+00] [-1.48466629e-02 1.22769010e-04 9.99889775e-01 2.66844382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.36, Y:-1.99, Z:2.67 [[ 9.98607314e-01 5.07080067e-02 1.45647103e-02 4.03363043e+02] [-5.07006144e-02 9.98713512e-01 -8.76573272e-04 -1.99088195e+00] [-1.45904223e-02 1.36912717e-04 9.99893545e-01 2.66861932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.39, Y:-1.99, Z:2.67 [[ 9.98639441e-01 5.00278210e-02 1.47134087e-02 4.03391086e+02] [-5.00202267e-02 9.98747814e-01 -8.83929327e-04 -1.99280858e+00] [-1.47392058e-02 1.46758650e-04 9.99891361e-01 2.66808816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.42, Y:-1.99, Z:2.67 [[ 9.98675087e-01 4.92369018e-02 1.49598683e-02 4.03418722e+02] [-4.92289867e-02 9.98787116e-01 -8.97098062e-04 -1.99454878e+00] [-1.49858940e-02 1.59450327e-04 9.99887692e-01 2.66770006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.45, Y:-2.00, Z:2.67 [[ 9.98708675e-01 4.84159614e-02 1.53908046e-02 4.03446644e+02] [-4.84075135e-02 9.98827244e-01 -9.21170222e-04 -1.99641480e+00] [-1.54173543e-02 1.74950112e-04 9.99881130e-01 2.66708113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.47, Y:-2.00, Z:2.67 [[ 9.98754243e-01 4.71136493e-02 1.64397787e-02 4.03474454e+02] [-4.71038600e-02 9.98889514e-01 -9.82388233e-04 -1.99900336e+00] [-1.64678065e-02 2.06787381e-04 9.99864375e-01 2.66645116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.50, Y:-2.00, Z:2.67 [[ 9.98771587e-01 4.66487150e-02 1.67096920e-02 4.03503107e+02] [-4.66385619e-02 9.98911333e-01 -9.96996160e-04 -2.00081146e+00] [-1.67380093e-02 2.16455431e-04 9.99859886e-01 2.66593854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.53, Y:-2.00, Z:2.67 [[ 9.98767234e-01 4.66046439e-02 1.70885628e-02 4.03530651e+02] [-4.65940396e-02 9.98913389e-01 -1.01838360e-03 -2.00271585e+00] [-1.71174556e-02 2.20903003e-04 9.99853461e-01 2.66522326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.56, Y:-2.00, Z:2.66 [[ 9.98738927e-01 4.71122890e-02 1.73489996e-02 4.03558807e+02] [-4.71014629e-02 9.98889577e-01 -1.03232786e-03 -2.00485268e+00] [-1.73783702e-02 2.13862755e-04 9.99848962e-01 2.66441738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.59, Y:-2.01, Z:2.66 [[ 9.98715007e-01 4.74099547e-02 1.79061564e-02 4.03587999e+02] [-4.73984993e-02 9.98875493e-01 -1.06384214e-03 -2.00699072e+00] [-1.79364576e-02 2.13750167e-04 9.99839106e-01 2.66368597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.62, Y:-2.01, Z:2.66 [[ 9.98640884e-01 4.89922311e-02 1.77805170e-02 4.03617082e+02] [-4.89812094e-02 9.98799143e-01 -1.05510229e-03 -2.01013770e+00] [-1.78108570e-02 1.82757060e-04 9.99841357e-01 2.66271368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.65, Y:-2.01, Z:2.66 [[ 9.98592646e-01 4.99311094e-02 1.78777059e-02 4.03646076e+02] [-4.99201403e-02 9.98752651e-01 -1.05958048e-03 -2.01267880e+00] [-1.79083121e-02 1.65631687e-04 9.99839620e-01 2.66216316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.67, Y:-2.02, Z:2.66 [[ 9.98541634e-01 5.09592221e-02 1.78258913e-02 4.03673688e+02] [-5.09485031e-02 9.98700724e-01 -1.05523433e-03 -2.01540745e+00] [-1.78565045e-02 1.45492929e-04 9.99840549e-01 2.66145393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.70, Y:-2.02, Z:2.66 [[ 9.98428164e-01 5.31417641e-02 1.78088316e-02 4.03702104e+02] [-5.31314449e-02 9.98586973e-01 -1.05241823e-03 -2.01957098e+00] [-1.78395945e-02 1.04555048e-04 9.99840856e-01 2.66070454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.73, Y:-2.02, Z:2.66 [[ 9.98396815e-01 5.39269989e-02 1.71953195e-02 4.03731168e+02] [-5.39175157e-02 9.98544877e-01 -1.01495662e-03 -2.02222527e+00] [-1.72250318e-02 8.62005460e-05 9.99851634e-01 2.66010393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.76, Y:-2.02, Z:2.66 [[ 9.98349072e-01 5.49233329e-02 1.68094349e-02 4.03758519e+02] [-5.49144310e-02 9.98490572e-01 -9.91037310e-04 -2.02489238e+00] [-1.68384933e-02 6.63206262e-05 9.99858220e-01 2.65909422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.79, Y:-2.03, Z:2.66 [[ 9.98335422e-01 5.54296216e-02 1.59355833e-02 4.03786233e+02] [-5.54217062e-02 9.98462595e-01 -9.38239369e-04 -2.02753141e+00] [-1.59630901e-02 5.35003830e-05 9.99872580e-01 2.65833260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.81, Y:-2.03, Z:2.66 [[ 9.98325315e-01 5.58004896e-02 1.52600893e-02 4.03813988e+02] [-5.57932983e-02 9.98441938e-01 -8.96905494e-04 -2.03008514e+00] [-1.52863609e-02 4.39927474e-05 9.99883156e-01 2.65729104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.84, Y:-2.03, Z:2.66 [[ 9.98357610e-01 5.55286927e-02 1.40942080e-02 4.03842076e+02] [-5.55225520e-02 9.98457091e-01 -8.26913051e-04 -2.03353557e+00] [-1.41183793e-02 4.30085401e-05 9.99900330e-01 2.65621641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.87, Y:-2.04, Z:2.66 [[ 9.98396200e-01 5.49814650e-02 1.34931637e-02 4.03869802e+02] [-5.49758007e-02 9.98487374e-01 -7.90630614e-04 -2.03602120e+00] [-1.35162237e-02 4.75651208e-05 9.99908651e-01 2.65561595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.90, Y:-2.04, Z:2.66 [[ 9.98434258e-01 5.43934902e-02 1.30529804e-02 4.03897783e+02] [-5.43881568e-02 9.98519577e-01 -7.63489134e-04 -2.03865474e+00] [-1.30751853e-02 5.23661622e-05 9.99914515e-01 2.65521957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.92, Y:-2.04, Z:2.65 [[ 9.98473818e-01 5.34120023e-02 1.40425324e-02 4.03924913e+02] [-5.32994267e-02 9.98544308e-01 -8.27263526e-03 -2.03697211e+00] [-1.44639488e-02 7.51155079e-03 9.99867177e-01 2.65341217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.95, Y:-2.05, Z:2.65 [[ 9.98604756e-01 5.10651370e-02 1.34496610e-02 4.03952775e+02] [-5.11583772e-02 9.98668199e-01 6.68197877e-03 -2.04812157e+00] [-1.30905326e-02 -7.36071861e-03 9.99887223e-01 2.65267685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.98, Y:-2.05, Z:2.65 [[ 9.98653730e-01 5.00546623e-02 1.36109845e-02 4.03980830e+02] [-5.00485216e-02 9.98746474e-01 -7.91616531e-04 -2.04707020e+00] [-1.36335468e-02 1.09341152e-04 9.99907053e-01 2.65454975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.01, Y:-2.05, Z:2.65 [[ 9.98700807e-01 4.89914303e-02 1.40191707e-02 4.04008793e+02] [-4.89848278e-02 9.98799191e-01 -8.14162790e-04 -2.04967695e+00] [-1.40422234e-02 1.26378371e-04 9.99901395e-01 2.65435215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.04, Y:-2.05, Z:2.65 [[ 9.98810244e-01 4.63257739e-02 1.52321482e-02 4.04037866e+02] [-4.63176991e-02 9.98926369e-01 -8.82662686e-04 -2.05342277e+00] [-1.52566846e-02 1.76094475e-04 9.99883595e-01 2.65390575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.07, Y:-2.06, Z:2.65 [[ 9.98939128e-01 4.37679839e-02 1.43172032e-02 4.04065117e+02] [-4.38664629e-02 9.99015350e-01 6.63805885e-03 -2.05869735e+00] [-1.40125713e-02 -7.25906178e-03 9.99875469e-01 2.65296772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.09, Y:-2.06, Z:2.65 [[ 9.98966766e-01 4.27470972e-02 1.54300218e-02 4.04094320e+02] [-4.26232435e-02 9.99057001e-01 -8.26849036e-03 -2.05603998e+00] [-1.57689253e-02 7.60226950e-03 9.99846762e-01 2.65437074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.12, Y:-2.06, Z:2.65 [[ 9.99072481e-01 3.99557640e-02 1.60534809e-02 4.04122173e+02] [-3.99459890e-02 9.99201408e-01 -9.29225753e-04 -2.06303583e+00] [-1.60777886e-02 2.87091708e-04 9.99870703e-01 2.65176462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.15, Y:-2.07, Z:2.65 [[ 9.99300686e-01 3.36244016e-02 1.63566302e-02 4.04151845e+02] [-3.36134336e-02 9.99434462e-01 -9.45091089e-04 -2.06824747e+00] [-1.63791580e-02 3.94627671e-04 9.99865775e-01 2.65052641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.18, Y:-2.07, Z:2.65 [[ 9.99416527e-01 3.00482276e-02 1.62391128e-02 4.04181242e+02] [-3.00369574e-02 9.99548349e-01 -9.37527492e-04 -2.07182387e+00] [-1.62599495e-02 4.49206929e-04 9.99867697e-01 2.64972035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.21, Y:-2.08, Z:2.65 [[ 9.99538944e-01 2.58906481e-02 1.58610522e-02 4.04211685e+02] [-2.58793685e-02 9.99664653e-01 -9.16022982e-04 -2.07565767e+00] [-1.58794497e-02 5.05126631e-04 9.99873786e-01 2.64892274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.24, Y:-2.08, Z:2.65 [[ 9.99653988e-01 2.13379491e-02 1.53817116e-02 4.04243043e+02] [-2.13267998e-02 9.99772163e-01 -8.88529791e-04 -2.07932112e+00] [-1.53971665e-02 5.60179666e-04 9.99881300e-01 2.64793267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.28, Y:-2.08, Z:2.65 [[ 9.99751330e-01 1.67190342e-02 1.47564312e-02 4.04275598e+02] [-1.67082784e-02 9.99860044e-01 -8.51874365e-04 -2.08272345e+00] [-1.47686085e-02 6.05107967e-04 9.99890755e-01 2.64728446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.31, Y:-2.09, Z:2.65 [[ 9.99858758e-01 8.89531128e-03 1.42596793e-02 4.04308545e+02] [-8.88442794e-03 9.99960191e-01 -8.26391982e-04 -2.08685414e+00] [-1.42664627e-02 6.99586167e-04 9.99897984e-01 2.64653889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.34, Y:-2.09, Z:2.65 [[ 9.99888217e-01 6.10125516e-03 1.36501938e-02 4.04340167e+02] [-6.09097001e-03 9.99981134e-01 -7.94927492e-04 -2.08932299e+00] [-1.36547863e-02 7.11695712e-04 9.99906516e-01 2.64603088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.37, Y:-2.09, Z:2.65 [[ 9.99908457e-01 4.03154323e-03 1.29160115e-02 4.04373102e+02] [-4.02212304e-03 9.99991626e-01 -7.55234885e-04 -2.09146160e+00] [-1.29189481e-02 7.03215961e-04 9.99916300e-01 2.64535602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.41, Y:-2.09, Z:2.64 [[ 9.99919209e-01 2.75023011e-03 1.24101607e-02 4.04405186e+02] [-2.74139043e-03 9.99995976e-01 -7.29248601e-04 -2.09315192e+00] [-1.24121164e-02 6.95168588e-04 9.99922725e-01 2.64460408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.44, Y:-2.09, Z:2.64 [[ 9.99930128e-01 2.71154594e-03 1.15059120e-02 4.04438704e+02] [-2.70391437e-03 9.99996114e-01 -6.78777643e-04 -2.09396529e+00] [-1.15077078e-02 6.47619215e-04 9.99933574e-01 2.64372479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.47, Y:-2.09, Z:2.64 [[ 9.99929638e-01 3.78865826e-03 1.12411807e-02 4.04471388e+02] [-3.78139002e-03 9.99992628e-01 -6.67756057e-04 -2.09495874e+00] [-1.12436277e-02 6.25201784e-04 9.99936593e-01 2.64290110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.50, Y:-2.10, Z:2.64 [[ 9.99930551e-01 5.42995945e-03 1.04598955e-02 4.04504037e+02] [-5.42374554e-03 9.99985098e-01 -6.22345899e-04 -2.09570575e+00] [-1.04631189e-02 5.65570867e-04 9.99945100e-01 2.64230576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.54, Y:-2.09, Z:2.64 [[ 9.99908882e-01 9.46746821e-03 9.62260927e-03 4.04536629e+02] [-9.46238372e-03 9.99955066e-01 -5.73781131e-04 -2.09430221e+00] [-9.62760915e-03 4.82676028e-04 9.99953537e-01 2.64154382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.57, Y:-2.09, Z:2.64 [[ 9.99884217e-01 1.18902892e-02 9.49603013e-03 4.04568856e+02] [-1.18854574e-02 9.99929206e-01 -5.65095550e-04 -2.09433142e+00] [-9.50207701e-03 4.52165460e-04 9.99954752e-01 2.64127530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.60, Y:-2.09, Z:2.64 [[ 9.99852423e-01 1.40213128e-02 9.92652727e-03 4.04600921e+02] [-1.40161112e-02 9.99901593e-01 -5.93381279e-04 -2.09424212e+00] [-9.93387042e-03 4.54162399e-04 9.99950555e-01 2.64103804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.63, Y:-2.09, Z:2.64 [[ 9.99810417e-01 1.60098363e-02 1.10822349e-02 4.04632456e+02] [-1.60034159e-02 9.99871714e-01 -6.67790703e-04 -2.09454075e+00] [-1.10915044e-02 4.90310488e-04 9.99938367e-01 2.64030054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.66, Y:-2.09, Z:2.64 [[ 9.99732361e-01 1.95083049e-02 1.24351541e-02 4.04664307e+02] [-1.95005020e-02 9.99809567e-01 -7.48436071e-04 -2.09335002e+00] [-1.24473867e-02 5.05744012e-04 9.99922400e-01 2.64040055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.70, Y:-2.09, Z:2.64 [[ 9.99700282e-01 2.07457207e-02 1.29984962e-02 4.04695744e+02] [-2.07372391e-02 9.99784651e-01 -7.86962707e-04 -2.09355561e+00] [-1.30120231e-02 5.17173917e-04 9.99915206e-01 2.64008198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.73, Y:-2.09, Z:2.64 [[ 9.99677741e-01 2.17061291e-02 1.31627537e-02 4.04725851e+02] [-2.16975070e-02 9.99764263e-01 -7.97510058e-04 -2.09368870e+00] [-1.31769616e-02 5.11654113e-04 9.99913049e-01 2.63972776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.76, Y:-2.09, Z:2.64 [[ 9.99649928e-01 2.26126886e-02 1.37363992e-02 4.04757606e+02] [-2.26033817e-02 9.99744164e-01 -8.32427312e-04 -2.09418266e+00] [-1.37517084e-02 5.21646828e-04 9.99905305e-01 2.63890569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.79, Y:-2.09, Z:2.64 [[ 9.99637182e-01 2.33676732e-02 1.33961615e-02 4.04788194e+02] [-2.33588871e-02 9.99726814e-01 -8.11977802e-04 -2.09438567e+00] [-1.34114759e-02 4.98763777e-04 9.99909938e-01 2.63838427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.82, Y:-2.09, Z:2.64 [[ 9.99619878e-01 2.40483844e-02 1.34823743e-02 4.04818264e+02] [-2.40395247e-02 9.99710674e-01 -8.18832690e-04 -2.09476610e+00] [-1.34981651e-02 4.94411563e-04 9.99908773e-01 2.63730204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.85, Y:-2.09, Z:2.64 [[ 9.99603034e-01 2.55660065e-02 1.18386281e-02 4.04848724e+02] [-2.55592835e-02 9.99673050e-01 -7.18866579e-04 -2.09390273e+00] [-1.18531360e-02 4.15994364e-04 9.99929663e-01 2.63623787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.88, Y:-2.09, Z:2.64 [[ 9.99608016e-01 2.65967752e-02 8.74218194e-03 4.04877674e+02] [-2.65400128e-02 9.99626319e-01 -6.54607296e-03 -2.09085183e+00] [-8.91301958e-03 6.31148939e-03 9.99940360e-01 2.63755771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.91, Y:-2.10, Z:2.63 [[ 9.99565243e-01 2.76056128e-02 1.03564034e-02 4.04906408e+02] [-2.76623793e-02 9.99602852e-01 5.37866882e-03 -2.09670006e+00] [-1.02038089e-02 -5.66281316e-03 9.99931905e-01 2.63362699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.93, Y:-2.09, Z:2.64 [[ 9.99473760e-01 3.12172742e-02 8.81387332e-03 4.04934433e+02] [-3.12137666e-02 9.99512588e-01 -5.35277832e-04 -2.09095218e+00] [-8.82628725e-03 2.59881963e-04 9.99961014e-01 2.63541777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.96, Y:-2.09, Z:2.63 [[ 9.99404820e-01 3.34919574e-02 8.26410201e-03 4.04963219e+02] [-3.34889580e-02 9.99438962e-01 -5.01086968e-04 -2.09041347e+00] [-8.27624792e-03 2.24032565e-04 9.99965726e-01 2.63488553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.99, Y:-2.09, Z:2.63 [[ 9.99324234e-01 3.59051968e-02 7.86717700e-03 4.04990704e+02] [-3.59025558e-02 9.99355182e-01 -4.76719511e-04 -2.08971064e+00] [-7.87922081e-03 1.93945599e-04 9.99968940e-01 2.63493066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.02, Y:-2.09, Z:2.63 [[ 9.99111148e-01 4.13751970e-02 8.06275459e-03 4.05018468e+02] [-4.13726056e-02 9.99143668e-01 -4.88001290e-04 -2.08725085e+00] [-8.07604135e-03 1.53990363e-04 9.99967376e-01 2.63489958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.05, Y:-2.09, Z:2.63 [[ 9.99002094e-01 4.38573507e-02 8.44683225e-03 4.05047005e+02] [-4.38546038e-02 9.99037794e-01 -5.10232534e-04 -2.08669526e+00] [-8.46108210e-03 1.39290888e-04 9.99964195e-01 2.63467190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.08, Y:-2.09, Z:2.63 [[ 9.99005988e-01 4.37685414e-02 8.44689841e-03 4.05075424e+02] [-4.37658006e-02 9.99041689e-01 -5.09133406e-04 -2.08831698e+00] [-8.46108768e-03 1.38942049e-04 9.99964195e-01 2.63411422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.10, Y:-2.09, Z:2.63 [[ 9.98893772e-01 4.61513642e-02 9.01573776e-03 4.05103095e+02] [-4.61483455e-02 9.98934450e-01 -5.42689513e-04 -2.08804234e+00] [-9.03117690e-03 1.26027793e-04 9.99959210e-01 2.63414086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.13, Y:-2.09, Z:2.63 [[ 9.98793224e-01 4.81463775e-02 9.69654410e-03 4.05131279e+02] [-4.81429910e-02 9.98840284e-01 -5.82493682e-04 -2.08803489e+00] [-9.71334382e-03 1.14970106e-04 9.99952818e-01 2.63376327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.16, Y:-2.09, Z:2.63 [[ 9.98730512e-01 4.94099190e-02 9.79916096e-03 4.05159223e+02] [-4.94065320e-02 9.98778579e-01 -5.87556156e-04 -2.08810985e+00] [-9.81622316e-03 1.02667700e-04 9.99951814e-01 2.63342967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.19, Y:-2.09, Z:2.63 [[ 9.98667041e-01 5.06231166e-02 1.00717976e-02 4.05186818e+02] [-5.06196120e-02 9.98717824e-01 -6.02734590e-04 -2.08730613e+00] [-1.00893961e-02 9.21006839e-05 9.99949097e-01 2.63316552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.21, Y:-2.09, Z:2.63 [[ 9.98682336e-01 5.02643927e-02 1.03481123e-02 4.05214704e+02] [-5.02606863e-02 9.98735942e-01 -6.18080519e-04 -2.08794619e+00] [-1.03660992e-02 9.71628683e-05 9.99946266e-01 2.63287766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.24, Y:-2.09, Z:2.63 [[ 9.98738257e-01 4.91114811e-02 1.04860574e-02 4.05243074e+02] [-4.91076237e-02 9.98793297e-01 -6.25178674e-04 -2.08876565e+00] [-1.05041073e-02 1.09444498e-04 9.99944824e-01 2.63223820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.27, Y:-2.09, Z:2.63 [[ 9.98815046e-01 4.74641950e-02 1.07542287e-02 4.05270332e+02] [-4.74600540e-02 9.98872932e-01 -6.40082979e-04 -2.08991218e+00] [-1.07724890e-02 1.28928236e-04 9.99941967e-01 2.63177835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.30, Y:-2.09, Z:2.63 [[ 9.98926996e-01 4.51269099e-02 1.04124289e-02 4.05297613e+02] [-4.51229141e-02 9.98981251e-01 -6.18478744e-04 -2.09101679e+00] [-1.04297312e-02 1.47975980e-04 9.99945598e-01 2.63158324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.33, Y:-2.09, Z:2.63 [[ 9.99170013e-01 3.93977385e-02 1.03490830e-02 4.05326768e+02] [-3.93935025e-02 9.99223587e-01 -6.12925260e-04 -2.09231473e+00] [-1.03651957e-02 2.04729913e-04 9.99946259e-01 2.63078763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.35, Y:-2.09, Z:2.63 [[ 9.99303194e-01 3.58871232e-02 1.02586732e-02 4.05354349e+02] [-3.58827798e-02 9.99355821e-01 -6.07190236e-04 -2.09377346e+00] [-1.02738551e-02 2.38657431e-04 9.99947194e-01 2.62994245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.38, Y:-2.10, Z:2.63 [[ 9.99428669e-01 3.22819266e-02 1.00106507e-02 4.05382226e+02] [-3.22776221e-02 9.99478767e-01 -5.91295596e-04 -2.09560843e+00] [-1.00245210e-02 2.67837771e-04 9.99949717e-01 2.62909734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.41, Y:-2.10, Z:2.63 [[ 9.99536649e-01 2.88371281e-02 9.74206823e-03 4.05411191e+02] [-2.88328979e-02 9.99584081e-01 -5.74420733e-04 -2.09734455e+00] [-9.75458096e-03 2.93262515e-04 9.99952380e-01 2.62796991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.44, Y:-2.10, Z:2.63 [[ 9.99704839e-01 2.21912524e-02 9.88855414e-03 4.05439889e+02] [-2.21865763e-02 9.99753678e-01 -5.82341660e-04 -2.09862838e+00] [-9.89904126e-03 3.62776614e-04 9.99950937e-01 2.62702009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.47, Y:-2.10, Z:2.63 [[ 9.99765050e-01 1.92308194e-02 1.00010136e-02 4.05469846e+02] [-1.92258991e-02 9.99814992e-01 -5.87894533e-04 -2.09993918e+00] [-1.00104690e-02 3.95477930e-04 9.99949816e-01 2.62629381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.50, Y:-2.10, Z:2.63 [[ 9.99805122e-01 1.66227824e-02 1.06489752e-02 4.05499035e+02] [-1.66170608e-02 9.99861731e-01 -6.25554455e-04 -2.10103368e+00] [-1.06579013e-02 4.48477880e-04 9.99943102e-01 2.62567663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.53, Y:-2.10, Z:2.62 [[ 9.99851977e-01 1.23839885e-02 1.19440504e-02 4.05529883e+02] [-1.23764999e-02 9.99923163e-01 -7.00689893e-04 -2.10100125e+00] [-1.19518100e-02 5.52760637e-04 9.99928422e-01 2.62499231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.56, Y:-2.10, Z:2.62 [[ 9.99862251e-01 1.09301106e-02 1.24904654e-02 4.05561982e+02] [-1.09218253e-02 9.99940088e-01 -7.31351147e-04 -2.10207551e+00] [-1.24977108e-02 5.94831723e-04 9.99921724e-01 2.62428852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.60, Y:-2.10, Z:2.62 [[ 9.99865210e-01 9.81937372e-03 1.31583705e-02 4.05595032e+02] [-9.81003863e-03 9.99951581e-01 -7.73799986e-04 -2.10323648e+00] [-1.31653316e-02 6.44611562e-04 9.99913125e-01 2.62340414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.63, Y:-2.10, Z:2.62 [[ 9.99869719e-01 8.86009700e-03 1.34923625e-02 4.05628193e+02] [-8.85014129e-03 9.99960519e-01 -7.97407729e-04 -2.10441084e+00] [-1.34988949e-02 6.77894527e-04 9.99908656e-01 2.62277434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.66, Y:-2.11, Z:2.62 [[ 9.99866347e-01 7.02149456e-03 1.47643590e-02 4.05659940e+02] [-7.00930101e-03 9.99975050e-01 -8.77462965e-04 -2.10507264e+00] [-1.47701517e-02 7.73857854e-04 9.99890616e-01 2.62187978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.69, Y:-2.11, Z:2.62 [[ 9.99866614e-01 6.29450053e-03 1.50709753e-02 4.05693054e+02] [-6.28165132e-03 9.99979865e-01 -8.99766522e-04 -2.10651710e+00] [-1.50763355e-02 8.04975893e-04 9.99886022e-01 2.62110922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.73, Y:-2.11, Z:2.62 [[ 9.99862761e-01 5.62428551e-03 1.55828852e-02 4.05725435e+02] [-5.61039393e-03 9.99983824e-01 -9.35036516e-04 -2.10798727e+00] [-1.55878920e-02 8.47482068e-04 9.99878142e-01 2.61993569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.76, Y:-2.11, Z:2.62 [[ 9.99863260e-01 5.08529530e-03 1.57353766e-02 4.05758681e+02] [-5.07099876e-03 9.99986693e-01 -9.48326488e-04 -2.10948693e+00] [-1.57399897e-02 8.68402739e-04 9.99875742e-01 2.61866415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.79, Y:-2.11, Z:2.62 [[ 9.99880741e-01 4.64488069e-03 1.47285096e-02 4.05791904e+02] [-4.63225156e-03 9.99988874e-01 -8.91461145e-04 -2.10981483e+00] [-1.47324865e-02 8.23128668e-04 9.99891132e-01 2.61725049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.83, Y:-2.11, Z:2.62 [[ 9.99879835e-01 5.41634645e-03 1.45250754e-02 4.05825271e+02] [-5.40408410e-03 9.99985008e-01 -8.83335915e-04 -2.11088537e+00] [-1.45296421e-02 8.04735040e-04 9.99894115e-01 2.61593125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.86, Y:-2.11, Z:2.62 [[ 9.99880062e-01 6.68741166e-03 1.39692742e-02 4.05857565e+02] [-6.67613095e-03 9.99977350e-01 -8.54014460e-04 -2.11173821e+00] [-1.39746689e-02 7.60651327e-04 9.99902060e-01 2.61526804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.89, Y:-2.11, Z:2.61 [[ 9.99864440e-01 8.36358498e-03 1.41827840e-02 4.05890559e+02] [-8.35209583e-03 9.99964743e-01 -8.69115908e-04 -2.11212682e+00] [-1.41895529e-02 7.50542119e-04 9.99899042e-01 2.61436690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.92, Y:-2.11, Z:2.61 [[ 9.99838110e-01 1.07345334e-02 1.44403243e-02 4.05923396e+02] [-1.07227944e-02 9.99942113e-01 -8.90114448e-04 -2.11242956e+00] [-1.44490434e-02 7.35129719e-04 9.99895337e-01 2.61410599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.96, Y:-2.11, Z:2.61 [[ 9.99720924e-01 1.71458943e-02 1.62509502e-02 4.05955722e+02] [-1.71318365e-02 9.99852735e-01 -1.00387598e-03 -2.10975430e+00] [-1.62657694e-02 7.25187200e-04 9.99867441e-01 2.61433944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.99, Y:-2.11, Z:2.61 [[ 9.99629117e-01 2.16437950e-02 1.65279939e-02 4.05987856e+02] [-2.16298476e-02 9.99765525e-01 -1.02218120e-03 -2.10916989e+00] [-1.65462423e-02 6.64304105e-04 9.99862881e-01 2.61418744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.02, Y:-2.11, Z:2.61 [[ 9.99502716e-01 2.62945276e-02 1.74045321e-02 4.06019178e+02] [-2.62797337e-02 9.99654047e-01 -1.07820566e-03 -2.10841449e+00] [-1.74268618e-02 6.20283015e-04 9.99847948e-01 2.61345927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.05, Y:-2.11, Z:2.61 [[ 9.99334077e-01 3.15524573e-02 1.83260568e-02 4.06048547e+02] [-3.15369249e-02 9.99501942e-01 -1.13601047e-03 -2.10780899e+00] [-1.83527733e-02 5.57306500e-04 9.99831418e-01 2.61282124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.08, Y:-2.11, Z:2.61 [[ 9.98927934e-01 4.18302861e-02 1.98295247e-02 4.06077867e+02] [-4.18141164e-02 9.99124651e-01 -1.22953183e-03 -2.10501654e+00] [-1.98635986e-02 3.99059640e-04 9.99802620e-01 2.61220247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.11, Y:-2.10, Z:2.61 [[ 9.98695512e-01 4.68993678e-02 2.01921918e-02 4.06106801e+02] [-4.68837393e-02 9.98899575e-01 -1.24694810e-03 -2.10463885e+00] [-2.02284529e-02 2.98636014e-04 9.99795339e-01 2.61128681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.14, Y:-2.10, Z:2.61 [[ 9.98438388e-01 5.17646645e-02 2.10048622e-02 4.06135667e+02] [-5.17488616e-02 9.98659290e-01 -1.29556572e-03 -2.10437809e+00] [-2.10437652e-02 2.06564843e-04 9.99778534e-01 2.60991897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.16, Y:-2.10, Z:2.61 [[ 9.97963808e-01 6.04123601e-02 2.04593651e-02 4.06163039e+02] [-6.03992143e-02 9.98173505e-01 -1.26041776e-03 -2.10205514e+00] [-2.04981410e-02 2.21217334e-05 9.99789891e-01 2.60895097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.19, Y:-2.10, Z:2.61 [[ 9.97770836e-01 6.34900304e-02 2.05517646e-02 4.06190736e+02] [-6.34774715e-02 9.97982472e-01 -1.26352178e-03 -2.10183504e+00] [-2.05905219e-02 -4.38688770e-05 9.99787992e-01 2.60814619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.22, Y:-2.10, Z:2.61 [[ 9.97611128e-01 6.60453619e-02 2.02496073e-02 4.06217788e+02] [-6.60337401e-02 9.97816617e-01 -1.24277105e-03 -2.10195950e+00] [-2.02874739e-02 -9.73550722e-05 9.99794183e-01 2.60735647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.25, Y:-2.10, Z:2.61 [[ 9.97487847e-01 6.80371720e-02 1.97215041e-02 4.06245996e+02] [-6.80265851e-02 9.97682778e-01 -1.20795795e-03 -2.10260300e+00] [-1.97579910e-02 -1.36663198e-04 9.99804783e-01 2.60679571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.27, Y:-2.10, Z:2.61 [[ 9.97417229e-01 6.89270115e-02 2.01974940e-02 4.06273718e+02] [-6.89161346e-02 9.97621693e-01 -1.23489985e-03 -2.10346825e+00] [-2.02345761e-02 -1.60222827e-04 9.99795247e-01 2.60589682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.30, Y:-2.10, Z:2.61 [[ 9.97398390e-01 6.90319918e-02 2.07613921e-02 4.06301759e+02] [-6.90205691e-02 9.97614432e-01 -1.26710057e-03 -2.10470442e+00] [-2.07993349e-02 -1.69159036e-04 9.99783656e-01 2.60517383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.33, Y:-2.11, Z:2.60 [[ 9.97457674e-01 6.81430431e-02 2.08498120e-02 4.06328416e+02] [-6.81313772e-02 9.97675550e-01 -1.27017910e-03 -2.10647434e+00] [-2.08879015e-02 -1.53576512e-04 9.99781812e-01 2.60492979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.36, Y:-2.11, Z:2.60 [[ 9.97565694e-01 6.66843861e-02 2.03931149e-02 4.06355543e+02] [-6.66729727e-02 9.97774111e-01 -1.23982408e-03 -2.10839619e+00] [-2.04303991e-02 -1.22863627e-04 9.99791270e-01 2.60458426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.38, Y:-2.11, Z:2.60 [[ 9.97698456e-01 6.45582687e-02 2.07369268e-02 4.06382958e+02] [-6.45460623e-02 9.97913936e-01 -1.25810745e-03 -2.11050537e+00] [-2.07748895e-02 -8.32751166e-05 9.99784175e-01 2.60391255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.41, Y:-2.11, Z:2.60 [[ 9.97865740e-01 6.18877855e-02 2.08294622e-02 4.06410492e+02] [-6.18749346e-02 9.98083113e-01 -1.26149404e-03 -2.11262593e+00] [-2.08676056e-02 -3.00199311e-05 9.99782247e-01 2.60320837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.44, Y:-2.12, Z:2.60 [[ 9.98392388e-01 5.38185785e-02 1.77820114e-02 4.06435235e+02] [-5.39938843e-02 9.98495790e-01 9.52979993e-03 -2.11779211e+00] [-1.72423833e-02 -1.04745996e-02 9.99796471e-01 2.60225216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.47, Y:-2.11, Z:2.61 [[ 9.98443223e-01 5.20903705e-02 1.99430010e-02 4.06466268e+02] [-5.18669326e-02 9.98587071e-01 -1.15621091e-02 -2.11348098e+00] [-2.05170975e-02 1.05097272e-02 9.99734262e-01 2.60501204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.49, Y:-2.12, Z:2.60 [[ 9.98640043e-01 4.79750352e-02 2.04073785e-02 4.06493633e+02] [-4.79599306e-02 9.98848504e-01 -1.22921143e-03 -2.12097216e+00] [-2.04428510e-02 2.48803292e-04 9.99790992e-01 2.60079557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.52, Y:-2.12, Z:2.60 [[ 9.98820954e-01 4.40987591e-02 2.02978010e-02 4.06520919e+02] [-4.40830603e-02 9.99027124e-01 -1.22043419e-03 -2.12386071e+00] [-2.03318734e-02 3.24206054e-04 9.99793234e-01 2.60010623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.55, Y:-2.13, Z:2.60 [[ 9.99143853e-01 3.61398359e-02 2.01363906e-02 4.06549678e+02] [-3.61228058e-02 9.99346627e-01 -1.20894576e-03 -2.12737487e+00] [-2.01669251e-02 4.80527796e-04 9.99796511e-01 2.59976420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.58, Y:-2.13, Z:2.60 [[ 9.99273159e-01 3.20683494e-02 2.06100572e-02 4.06577854e+02] [-3.20496741e-02 9.99485513e-01 -1.23587742e-03 -2.13002184e+00] [-2.06390862e-02 5.74433514e-04 9.99786826e-01 2.59905852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.61, Y:-2.13, Z:2.60 [[ 9.99392173e-01 2.82038464e-02 2.04897021e-02 4.06607750e+02] [-2.81845994e-02 9.99601982e-01 -1.22757950e-03 -2.13250023e+00] [-2.05161693e-02 6.49339293e-04 9.99789310e-01 2.59909834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.64, Y:-2.14, Z:2.60 [[ 9.99480261e-01 2.45973174e-02 2.08369689e-02 4.06638715e+02] [-2.45766434e-02 9.99697170e-01 -1.24771676e-03 -2.13518541e+00] [-2.08613493e-02 7.34965521e-04 9.99782108e-01 2.59871889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.67, Y:-2.14, Z:2.60 [[ 9.99545953e-01 2.16024934e-02 2.10052491e-02 4.06670871e+02] [-2.15808008e-02 9.99766315e-01 -1.25888277e-03 -2.13806414e+00] [-2.10275355e-02 8.05001076e-04 9.99778573e-01 2.59826982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.70, Y:-2.14, Z:2.60 [[ 9.99633087e-01 1.64341158e-02 2.15316206e-02 4.06703112e+02] [-1.64100038e-02 9.99864507e-01 -1.29606256e-03 -2.14176310e+00] [-2.15500029e-02 9.42253040e-04 9.99767328e-01 2.59742951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.74, Y:-2.14, Z:2.60 [[ 9.99666908e-01 1.44407908e-02 2.13901224e-02 4.06735604e+02] [-1.44164160e-02 9.99895242e-01 -1.29330741e-03 -2.14427297e+00] [-2.14065580e-02 9.84507720e-04 9.99770369e-01 2.59671432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.77, Y:-2.15, Z:2.60 [[ 9.99695557e-01 1.28419379e-02 2.10683923e-02 4.06769043e+02] [-1.28178189e-02 9.99917030e-01 -1.27944579e-03 -2.14667442e+00] [-2.10830748e-02 1.00900544e-03 9.99777218e-01 2.59568054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.80, Y:-2.15, Z:2.59 [[ 9.99740031e-01 1.00811468e-02 2.04509304e-02 4.06801385e+02] [-1.00577289e-02 9.99948641e-01 -1.24761575e-03 -2.14877070e+00] [-2.04624575e-02 1.04160149e-03 9.99790079e-01 2.59477900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.83, Y:-2.15, Z:2.59 [[ 9.99750474e-01 8.95627322e-03 2.04639964e-02 4.06833951e+02] [-8.93251264e-03 9.99959320e-01 -1.25220591e-03 -2.15087159e+00] [-2.04743791e-02 1.06909855e-03 9.99789806e-01 2.59444304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.87, Y:-2.15, Z:2.59 [[ 9.99769713e-01 8.06452244e-03 1.98868048e-02 4.06866797e+02] [-8.04179704e-03 9.99966917e-01 -1.22244513e-03 -2.15260109e+00] [-1.98960053e-02 1.06223797e-03 9.99801491e-01 2.59379765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.90, Y:-2.15, Z:2.59 [[ 9.99793555e-01 7.29001991e-03 1.89658299e-02 4.06899575e+02] [-7.26911374e-03 9.99972894e-01 -1.17101322e-03 -2.15447955e+00] [-1.89738525e-02 1.03290670e-03 9.99819447e-01 2.59307799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.93, Y:-2.16, Z:2.59 [[ 9.99830623e-01 5.49816961e-03 1.75640359e-02 4.06931810e+02] [-5.47987922e-03 9.99984392e-01 -1.08931349e-03 -2.15563421e+00] [-1.75697510e-02 9.92880189e-04 9.99845147e-01 2.59240732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.97, Y:-2.16, Z:2.59 [[ 9.99829944e-01 5.62096965e-03 1.75638344e-02 4.06965280e+02] [-5.60264144e-03 9.99983708e-01 -1.09255176e-03 -2.15780498e+00] [-1.75696895e-02 9.93962094e-04 9.99845147e-01 2.59175222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.00, Y:-2.16, Z:2.59 [[ 9.99848671e-01 5.05654144e-03 1.66453063e-02 4.06997556e+02] [-5.03997695e-03 9.99986762e-01 -1.03694344e-03 -2.15922720e+00] [-1.66503293e-02 9.52894560e-04 9.99860920e-01 2.59131834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.03, Y:-2.16, Z:2.59 [[ 9.99858400e-01 4.53246025e-03 1.62060988e-02 4.07030786e+02] [-4.51662465e-03 9.99989286e-01 -1.01360550e-03 -2.16071225e+00] [-1.62105193e-02 9.40265108e-04 9.99868159e-01 2.59035189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.06, Y:-2.16, Z:2.59 [[ 9.99869325e-01 4.06236697e-03 1.56470725e-02 4.07064080e+02] [-4.04748111e-03 9.99991326e-01 -9.82901550e-04 -2.16238533e+00] [-1.56509297e-02 9.19441878e-04 9.99877094e-01 2.58956133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.10, Y:-2.16, Z:2.59 [[ 9.99897595e-01 4.13721004e-03 1.36997475e-02 4.07097334e+02] [-4.12576256e-03 9.99991116e-01 -8.63755003e-04 -2.16360736e+00] [-1.37031993e-02 8.07144645e-04 9.99905781e-01 2.58825272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.13, Y:-2.16, Z:2.59 [[ 9.99906693e-01 4.68378626e-03 1.28322856e-02 4.07129266e+02] [-4.67374215e-03 9.99988748e-01 -8.12598707e-04 -2.16492529e+00] [-1.28359473e-02 7.52548092e-04 9.99917333e-01 2.58796172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.16, Y:-2.17, Z:2.59 [[ 9.99905753e-01 5.52819688e-03 1.25667573e-02 4.07162563e+02] [-5.51859048e-03 9.99984453e-01 -7.98978176e-04 -2.16594480e+00] [-1.25709789e-02 7.29552088e-04 9.99920716e-01 2.58721297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.19, Y:-2.17, Z:2.59 [[ 9.99885497e-01 8.14026442e-03 1.27565323e-02 4.07194926e+02] [-8.13051922e-03 9.99966614e-01 -8.15613328e-04 -2.16564107e+00] [-1.27627458e-02 7.11802706e-04 9.99918299e-01 2.58659811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.23, Y:-2.17, Z:2.59 [[ 9.99871800e-01 9.94766656e-03 1.25470136e-02 4.07228196e+02] [-9.93836454e-03 9.99950290e-01 -8.03507740e-04 -2.16640252e+00] [-1.25543829e-02 6.78707936e-04 9.99920960e-01 2.58679363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.26, Y:-2.17, Z:2.59 [[ 9.99836475e-01 1.22677709e-02 1.32862947e-02 4.07259843e+02] [-1.22574860e-02 9.99924508e-01 -8.55256667e-04 -2.16710223e+00] [-1.32957838e-02 6.92260240e-04 9.99911368e-01 2.58640514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.29, Y:-2.17, Z:2.59 [[ 9.99795876e-01 1.48748802e-02 1.36727328e-02 4.07291710e+02] [-1.48641758e-02 9.99889131e-01 -8.84192746e-04 -2.16768393e+00] [-1.36843692e-02 6.80778357e-04 9.99906133e-01 2.58630676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.32, Y:-2.17, Z:2.59 [[ 9.99680542e-01 2.06683041e-02 1.45476559e-02 4.07322867e+02] [-2.06567260e-02 9.99786180e-01 -9.45703051e-04 -2.16672090e+00] [-1.45640914e-02 6.44893998e-04 9.99893730e-01 2.58691638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.35, Y:-2.17, Z:2.59 [[ 9.99615723e-01 2.35299309e-02 1.46543384e-02 4.07353086e+02] [-2.35184737e-02 9.99722948e-01 -9.53690585e-04 -2.16712943e+00] [-1.46727186e-02 6.08676431e-04 9.99892165e-01 2.58682882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.38, Y:-2.17, Z:2.59 [[ 9.99534717e-01 2.67150486e-02 1.47192611e-02 4.07381991e+02] [-2.67038306e-02 9.99642930e-01 -9.58177073e-04 -2.16772316e+00] [-1.47396030e-02 5.64670595e-04 9.99891207e-01 2.58645986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.41, Y:-2.17, Z:2.59 [[ 9.99353032e-01 3.27198931e-02 1.49307343e-02 4.07410779e+02] [-3.27090307e-02 9.99464445e-01 -9.71199789e-04 -2.16771188e+00] [-1.49545157e-02 4.82201605e-04 9.99888059e-01 2.58603595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.44, Y:-2.17, Z:2.59 [[ 9.99261374e-01 3.53927953e-02 1.49685181e-02 4.07438312e+02] [-3.53821927e-02 9.99373381e-01 -9.72641635e-04 -2.16910709e+00] [-1.49935630e-02 4.42304226e-04 9.99887492e-01 2.58575756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.47, Y:-2.17, Z:2.59 [[ 9.99157389e-01 3.81305555e-02 1.51846530e-02 4.07467321e+02] [-3.81199827e-02 9.99272684e-01 -9.85214793e-04 -2.17063919e+00] [-1.52111758e-02 4.05545928e-04 9.99884221e-01 2.58529836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.50, Y:-2.17, Z:2.59 [[ 9.99040737e-01 4.10830226e-02 1.51588706e-02 4.07496102e+02] [-4.10728420e-02 9.99155672e-01 -9.82443700e-04 -2.17209850e+00] [-1.51864333e-02 3.58883383e-04 9.99884615e-01 2.58502330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.52, Y:-2.17, Z:2.58 [[ 9.98762780e-01 4.75398825e-02 1.45900085e-02 4.07524257e+02] [-4.75311522e-02 9.98869309e-01 -9.44743445e-04 -2.17329423e+00] [-1.46184247e-02 2.50094674e-04 9.99893114e-01 2.58471763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.55, Y:-2.17, Z:2.58 [[ 9.98600513e-01 5.10515014e-02 1.38115864e-02 4.07551920e+02] [-5.10440331e-02 9.98696004e-01 -8.92937099e-04 -2.17489886e+00] [-1.38391619e-02 1.86688373e-04 9.99904217e-01 2.58401521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.395099893 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:407.58, Y:-2.17, Z:2.58 [[ 9.98409874e-01 5.46880611e-02 1.36725878e-02 4.07579219e+02] [-5.45669009e-02 9.98468803e-01 -9.08315458e-03 -2.17131392e+00] [-1.41483925e-02 8.32264048e-03 9.99865269e-01 2.58387024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.61, Y:-2.18, Z:2.58 [[ 9.98235621e-01 5.78817777e-02 1.32418085e-02 4.07607094e+02] [-5.79828013e-02 9.98290329e-01 7.37653517e-03 -2.18175477e+00] [-1.27922024e-02 -8.13131731e-03 9.99885114e-01 2.58004824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.63, Y:-2.18, Z:2.58 [[ 9.98047117e-01 6.12909918e-02 1.20568484e-02 4.07634897e+02] [-6.12860920e-02 9.98119939e-01 -7.75789961e-04 -2.17942906e+00] [-1.20817297e-02 3.53578148e-05 9.99927013e-01 2.58243638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.66, Y:-2.18, Z:2.58 [[ 9.97694788e-01 6.68631885e-02 1.15941257e-02 4.07661461e+02] [-6.68590392e-02 9.97762153e-01 -7.45548272e-04 -2.18221721e+00] [-1.16180296e-02 -3.13424815e-05 9.99932508e-01 2.58184637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.69, Y:-2.18, Z:2.58 [[ 9.97473821e-01 7.03886157e-02 9.56131226e-03 4.07688829e+02] [-7.03328018e-02 9.97505212e-01 -6.05382510e-03 -2.18209560e+00] [-9.96357919e-03 5.36605818e-03 9.99935964e-01 2.58303496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.72, Y:-2.19, Z:2.58 [[ 9.97429561e-01 7.07067081e-02 1.16117376e-02 4.07718365e+02] [-7.07632098e-02 9.97482861e-01 4.52884505e-03 -2.18991189e+00] [-1.12622895e-02 -5.33888775e-03 9.99922326e-01 2.57881181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.75, Y:-2.19, Z:2.58 [[ 9.97331185e-01 7.21510597e-02 1.11683623e-02 4.07746291e+02] [-7.21476156e-02 9.97393711e-01 -7.11495956e-04 -2.18995077e+00] [-1.11905895e-02 -9.61736052e-05 9.99937379e-01 2.58029999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.77, Y:-2.19, Z:2.58 [[ 9.97274742e-01 7.29412499e-02 1.10753151e-02 4.07772927e+02] [-7.29379230e-02 9.97336234e-01 -7.04547701e-04 -2.19371184e+00] [-1.10972036e-02 -1.05182850e-04 9.99938419e-01 2.58018605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.80, Y:-2.20, Z:2.58 [[ 9.97358950e-01 7.17931036e-02 1.09943682e-02 4.07800412e+02] [-7.17897556e-02 9.97419542e-01 -6.99377858e-04 -2.19700443e+00] [-1.10162082e-02 -9.17522408e-05 9.99939316e-01 2.57989324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.83, Y:-2.20, Z:2.58 [[ 9.97458138e-01 7.04113302e-02 1.09319633e-02 4.07828228e+02] [-7.04079865e-02 9.97518039e-01 -6.90897972e-04 -2.20068633e+00] [-1.09534776e-02 -8.05557207e-05 9.99940006e-01 2.57950731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.86, Y:-2.20, Z:2.58 [[ 9.97564299e-01 6.88312980e-02 1.13014321e-02 4.07855774e+02] [-6.88276374e-02 9.97628312e-01 -7.12986839e-04 -2.20467695e+00] [-1.13237044e-02 -6.66006550e-05 9.99935883e-01 2.57901796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.88, Y:-2.21, Z:2.58 [[ 9.97868606e-01 6.42274293e-02 1.15361289e-02 4.07883631e+02] [-6.42233221e-02 9.97935287e-01 -7.26518551e-04 -2.21106443e+00] [-1.15589726e-02 -1.59184708e-05 9.99933193e-01 2.57957713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.91, Y:-2.22, Z:2.58 [[ 9.98038507e-01 6.14773574e-02 1.18183135e-02 4.07911772e+02] [-6.14728697e-02 9.98108478e-01 -7.42962746e-04 -2.21521412e+00] [-1.18416343e-02 1.49997868e-05 9.99929885e-01 2.57933010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.94, Y:-2.22, Z:2.58 [[ 9.98382554e-01 5.55443729e-02 1.21284024e-02 4.07937926e+02] [-5.55392238e-02 9.98456216e-01 -7.61214359e-04 -2.22195975e+00] [-1.21519599e-02 8.63810829e-05 9.99926158e-01 2.57945103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.97, Y:-2.22, Z:2.58 [[ 9.98387408e-01 5.54570314e-02 1.21285139e-02 4.07966338e+02] [-5.54518975e-02 9.98461071e-01 -7.59431568e-04 -2.22364856e+00] [-1.21519648e-02 8.56578030e-05 9.99926158e-01 2.57889778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.99, Y:-2.23, Z:2.58 [[ 9.98705386e-01 4.94540029e-02 1.19102013e-02 4.07993571e+02] [-4.94486274e-02 9.98776390e-01 -7.45571099e-04 -2.23081330e+00] [-1.19324993e-02 1.55662766e-04 9.99928793e-01 2.57832067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.02, Y:-2.24, Z:2.58 [[ 9.98974581e-01 4.42551153e-02 9.55357348e-03 4.08017671e+02] [-4.44006637e-02 9.98891965e-01 1.56020510e-02 -2.24000133e+00] [-8.85251722e-03 -1.60102374e-02 9.99832639e-01 2.57745999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.05, Y:-2.24, Z:2.58 [[ 9.99041620e-01 4.22947736e-02 1.12691651e-02 4.08050855e+02] [-4.20981347e-02 9.98966281e-01 -1.71498118e-02 -2.23593975e+00] [-1.19828634e-02 1.66589649e-02 9.99789423e-01 2.58097314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.08, Y:-2.25, Z:2.58 [[ 9.99046851e-01 4.18828152e-02 1.22971406e-02 4.08078675e+02] [-4.18765034e-02 9.99122497e-01 -7.70431265e-04 -2.24544665e+00] [-1.23186176e-02 2.54735680e-04 9.99924091e-01 2.57530855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.11, Y:-2.25, Z:2.57 [[ 9.99122322e-01 4.00978331e-02 1.21139810e-02 4.08106085e+02] [-4.00915879e-02 9.99195722e-01 -7.58042840e-04 -2.24930165e+00] [-1.21346338e-02 2.71708790e-04 9.99926336e-01 2.57465948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.13, Y:-2.25, Z:2.57 [[ 9.99184105e-01 3.87589405e-02 1.13520776e-02 4.08133473e+02] [-3.87533821e-02 9.99248554e-01 -7.09282604e-04 -2.25498620e+00] [-1.13710382e-02 2.68772502e-04 9.99935312e-01 2.57378875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.16, Y:-2.26, Z:2.57 [[ 9.99191186e-01 3.87954654e-02 1.05776292e-02 4.08161091e+02] [-3.87906541e-02 9.99247142e-01 -6.59716806e-04 -2.25845500e+00] [-1.05952597e-02 2.48870064e-04 9.99943838e-01 2.57341608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.19, Y:-2.26, Z:2.57 [[ 9.99169122e-01 3.93836676e-02 1.04876910e-02 4.08189168e+02] [-3.93789781e-02 9.99224134e-01 -6.53348764e-04 -2.26172719e+00] [-1.05052852e-02 2.39811359e-04 9.99944789e-01 2.57281647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.22, Y:-2.27, Z:2.57 [[ 9.99080325e-01 4.17184721e-02 9.90323065e-03 4.08216788e+02] [-4.17144147e-02 9.99129385e-01 -6.15993555e-04 -2.26626234e+00] [-9.92030706e-03 2.02319570e-04 9.99950772e-01 2.57223755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.24, Y:-2.27, Z:2.57 [[ 9.99018564e-01 4.32699559e-02 9.46678660e-03 4.08244238e+02] [-4.32663267e-02 9.99063401e-01 -5.87927856e-04 -2.26934083e+00] [-9.48335963e-03 1.77757760e-04 9.99955016e-01 2.57147589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.27, Y:-2.27, Z:2.57 [[ 9.98944173e-01 4.49824210e-02 9.33383268e-03 4.08272256e+02] [-4.49789765e-02 9.98987766e-01 -5.78735165e-04 -2.27216707e+00] [-9.35041757e-03 1.58297880e-04 9.99956271e-01 2.57074745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.30, Y:-2.27, Z:2.57 [[ 9.98851976e-01 4.70734294e-02 8.87819407e-03 4.08299173e+02] [-4.70704014e-02 9.98891423e-01 -5.49827465e-04 -2.27496626e+00] [-8.89423417e-03 1.31296092e-04 9.99960437e-01 2.56999848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.33, Y:-2.28, Z:2.57 [[ 9.98641247e-01 5.14191504e-02 8.46937562e-03 4.08326646e+02] [-5.14165607e-02 9.98677157e-01 -5.23369178e-04 -2.27877095e+00] [-8.48508317e-03 8.71918830e-05 9.99963997e-01 2.56913722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.35, Y:-2.28, Z:2.57 [[ 9.98523396e-01 5.36797805e-02 8.33721015e-03 4.08354132e+02] [-5.36773568e-02 9.98558199e-01 -5.14361304e-04 -2.28168452e+00] [-8.35280035e-03 6.60823923e-05 9.99965113e-01 2.56851308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.38, Y:-2.28, Z:2.57 [[ 9.98408959e-01 5.56973202e-02 8.79545115e-03 4.08381369e+02] [-5.56947088e-02 9.98447698e-01 -5.41750780e-04 -2.28457621e+00] [-8.81197202e-03 5.10287413e-05 9.99961173e-01 2.56780943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.41, Y:-2.29, Z:2.57 [[ 9.98303567e-01 5.75308320e-02 8.95501282e-03 4.08409003e+02] [-5.75282109e-02 9.98343729e-01 -5.50220377e-04 -2.28735962e+00] [-8.97183554e-03 3.41210977e-05 9.99959752e-01 2.56754321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.44, Y:-2.29, Z:2.57 [[ 9.98097115e-01 6.07863842e-02 1.03520465e-02 4.08436629e+02] [-6.07830717e-02 9.98150798e-01 -6.34590691e-04 -2.29118145e+00] [-1.03714780e-02 4.15395259e-06 9.99946215e-01 2.56735686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.46, Y:-2.29, Z:2.57 [[ 9.98030878e-01 6.17877972e-02 1.07997651e-02 4.08463124e+02] [-6.17842564e-02 9.98089309e-01 -6.61509709e-04 -2.29376240e+00] [-1.08200033e-02 -7.04834182e-06 9.99941462e-01 2.56706494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.49, Y:-2.30, Z:2.57 [[ 9.97978232e-01 6.26393225e-02 1.07593471e-02 4.08491108e+02] [-6.26358869e-02 9.98036229e-01 -6.56310247e-04 -2.29684864e+00] [-1.07793290e-02 -1.89379055e-05 9.99941901e-01 2.56663896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.52, Y:-2.30, Z:2.57 [[ 9.97920516e-01 6.36098019e-02 1.04133310e-02 4.08517464e+02] [-6.36066460e-02 9.97974846e-01 -6.34307378e-04 -2.30150128e+00] [-1.04325906e-02 -2.93687123e-05 9.99945579e-01 2.56616033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.54, Y:-2.30, Z:2.57 [[ 9.97909875e-01 6.37474187e-02 1.05900151e-02 4.08544835e+02] [-6.37441790e-02 9.97966064e-01 -6.43520799e-04 -2.30474901e+00] [-1.06094985e-02 -3.28760574e-05 9.99943717e-01 2.56535585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.57, Y:-2.31, Z:2.56 [[ 9.97918054e-01 6.36086150e-02 1.06537550e-02 4.08572227e+02] [-6.36053408e-02 9.97974921e-01 -6.46223890e-04 -2.30831257e+00] [-1.06732857e-02 -3.27572330e-05 9.99943038e-01 2.56467660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.60, Y:-2.31, Z:2.56 [[ 9.97947103e-01 6.30874358e-02 1.10251590e-02 4.08599704e+02] [-6.30839114e-02 9.98008003e-01 -6.67485417e-04 -2.31190636e+00] [-1.10453069e-02 -2.93950170e-05 9.99938998e-01 2.56402050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.63, Y:-2.32, Z:2.56 [[ 9.98054168e-01 6.13010321e-02 1.14044019e-02 4.08627068e+02] [-6.12971595e-02 9.98119323e-01 -6.89131092e-04 -2.31722800e+00] [-1.14251984e-02 -1.12672844e-05 9.99934730e-01 2.56309449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.65, Y:-2.32, Z:2.56 [[ 9.98134320e-01 5.99648054e-02 1.14935289e-02 4.08654945e+02] [-5.99607976e-02 9.98200492e-01 -6.93283338e-04 -2.32053369e+00] [-1.15144188e-02 2.82873227e-06 9.99933707e-01 2.56246402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.68, Y:-2.32, Z:2.56 [[ 9.98223506e-01 5.84892990e-02 1.13504905e-02 4.08682147e+02] [-5.84853071e-02 9.98288035e-01 -6.83593721e-04 -2.32387561e+00] [-1.13710418e-02 1.85423974e-05 9.99935347e-01 2.56154917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.71, Y:-2.33, Z:2.56 [[ 9.98309129e-01 5.69681939e-02 1.15545285e-02 4.08709909e+02] [-5.69639745e-02 9.98375993e-01 -6.94223330e-04 -2.32709046e+00] [-1.15753125e-02 3.48576238e-05 9.99933003e-01 2.56075985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.74, Y:-2.33, Z:2.56 [[ 9.98479850e-01 5.38679833e-02 1.16717592e-02 4.08736775e+02] [-5.38634793e-02 9.98548064e-01 -7.00123281e-04 -2.33178201e+00] [-1.16925268e-02 7.03774290e-05 9.99931638e-01 2.55981445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.76, Y:-2.34, Z:2.56 [[ 9.98554482e-01 5.25027882e-02 1.15067084e-02 4.08764069e+02] [-5.24983400e-02 9.98620774e-01 -6.88495062e-04 -2.33519804e+00] [-1.15269859e-02 8.34167418e-05 9.99933559e-01 2.55923026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.79, Y:-2.34, Z:2.56 [[ 9.98559027e-01 5.24162535e-02 1.15067703e-02 4.08792491e+02] [-5.24118115e-02 9.98625320e-01 -6.87457654e-04 -2.33680397e+00] [-1.15269861e-02 8.33763693e-05 9.99933559e-01 2.55865441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.82, Y:-2.34, Z:2.56 [[ 9.98625560e-01 5.10589362e-02 1.18311262e-02 4.08820575e+02] [-5.10541561e-02 9.98695637e-01 -7.05897375e-04 -2.34010586e+00] [-1.18517365e-02 1.00898997e-04 9.99929761e-01 2.55778336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.85, Y:-2.35, Z:2.56 [[ 9.98692566e-01 4.93189802e-02 1.34460686e-02 4.08848286e+02] [-4.93126706e-02 9.98783069e-01 -8.00602488e-04 -2.34533354e+00] [-1.34691905e-02 1.36494203e-04 9.99909277e-01 2.55713999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.88, Y:-2.35, Z:2.56 [[ 9.98717309e-01 4.87245102e-02 1.37716882e-02 4.08877116e+02] [-4.87178592e-02 9.98812245e-01 -8.18212632e-04 -2.34874406e+00] [-1.37951978e-02 1.46235952e-04 9.99904831e-01 2.55697341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.90, Y:-2.35, Z:2.56 [[ 9.98736029e-01 4.82126726e-02 1.42085578e-02 4.08904391e+02] [-4.82055548e-02 9.98837081e-01 -8.43206030e-04 -2.35182338e+00] [-1.42326876e-02 1.57208831e-04 9.99898698e-01 2.55677934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.93, Y:-2.36, Z:2.56 [[ 9.98775254e-01 4.72258696e-02 1.47549965e-02 4.08931458e+02] [-4.72181067e-02 9.98884221e-01 -8.74241842e-04 -2.35675216e+00] [-1.47798200e-02 1.76468120e-04 9.99890757e-01 2.55638385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.96, Y:-2.36, Z:2.56 [[ 9.98806265e-01 4.65955980e-02 1.46593373e-02 4.08959675e+02] [-4.65878876e-02 9.98913818e-01 -8.67214831e-04 -2.36019060e+00] [-1.46838230e-02 1.83232048e-04 9.99892170e-01 2.55554111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.99, Y:-2.36, Z:2.55 [[ 9.98857531e-01 4.57425100e-02 1.38295160e-02 4.08987933e+02] [-4.57355783e-02 9.98953247e-01 -8.17244416e-04 -2.36374794e+00] [-1.38524227e-02 1.83809830e-04 9.99904034e-01 2.55490216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.02, Y:-2.37, Z:2.55 [[ 9.98916985e-01 4.45090317e-02 1.35574030e-02 4.09015625e+02] [-4.45022681e-02 9.99008963e-01 -8.00313677e-04 -2.36732015e+00] [-1.35795883e-02 1.96111743e-04 9.99907774e-01 2.55389858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.04, Y:-2.37, Z:2.55 [[ 9.99037343e-01 4.20784904e-02 1.24011143e-02 4.09043230e+02] [-4.20726564e-02 9.99114286e-01 -7.31066891e-04 -2.37254263e+00] [-1.24208926e-02 2.08615304e-04 9.99922836e-01 2.55332077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.07, Y:-2.38, Z:2.55 [[ 9.99097252e-01 4.05257790e-02 1.27413786e-02 4.09071716e+02] [-4.05195109e-02 9.99178466e-01 -7.49818261e-04 -2.37588353e+00] [-1.27612981e-02 2.32866934e-04 9.99918544e-01 2.55242966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.10, Y:-2.38, Z:2.55 [[ 9.99147603e-01 3.91360475e-02 1.31315643e-02 4.09098882e+02] [-3.91292810e-02 9.99233858e-01 -7.71916365e-04 -2.37907890e+00] [-1.31517134e-02 2.57429718e-04 9.99913479e-01 2.55191639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.13, Y:-2.38, Z:2.55 [[ 9.99186700e-01 3.79484098e-02 1.36328978e-02 4.09127975e+02] [-3.79410253e-02 9.99279660e-01 -7.99984390e-04 -2.38213603e+00] [-1.36534356e-02 2.82087642e-04 9.99906748e-01 2.55147410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.16, Y:-2.39, Z:2.55 [[ 9.99245564e-01 3.61159098e-02 1.42808782e-02 4.09157197e+02] [-3.61076378e-02 9.99347556e-01 -8.36731741e-04 -2.38585927e+00] [-1.43017800e-02 3.20451704e-04 9.99897673e-01 2.55111110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.19, Y:-2.39, Z:2.55 [[ 9.99269045e-01 3.54320164e-02 1.43508568e-02 4.09186568e+02] [-3.54236002e-02 9.99372034e-01 -8.40308479e-04 -2.38822680e+00] [-1.43716188e-02 3.31335239e-04 9.99896668e-01 2.55065609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.22, Y:-2.39, Z:2.55 [[ 9.99292234e-01 3.47651666e-02 1.43671392e-02 4.09215455e+02] [-3.47566684e-02 9.99395451e-01 -8.40844487e-04 -2.39051549e+00] [-1.43876856e-02 3.40895473e-04 9.99896434e-01 2.54998582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.25, Y:-2.39, Z:2.55 [[ 9.99316420e-01 3.40454523e-02 1.44083389e-02 4.09245421e+02] [-3.40368432e-02 9.99420224e-01 -8.42376106e-04 -2.39255946e+00] [-1.44286644e-02 3.51385901e-04 9.99895840e-01 2.54933496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.27, Y:-2.39, Z:2.55 [[ 9.99339935e-01 3.33023054e-02 1.45138343e-02 4.09274647e+02] [-3.32934990e-02 9.99445258e-01 -8.48022236e-04 -2.39468374e+00] [-1.45340239e-02 3.64246159e-04 9.99894309e-01 2.54857164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.30, Y:-2.40, Z:2.55 [[ 9.99406637e-01 3.12740143e-02 1.44329575e-02 4.09304662e+02] [-3.12651017e-02 9.99510772e-01 -8.42793169e-04 -2.39743607e+00] [-1.44522541e-02 3.91045201e-04 9.99895484e-01 2.54744765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.33, Y:-2.40, Z:2.55 [[ 9.99436509e-01 3.01468049e-02 1.47592218e-02 4.09334707e+02] [-3.01373731e-02 9.99545395e-01 -8.61089434e-04 -2.39967955e+00] [-1.47784713e-02 4.15800043e-04 9.99890706e-01 2.54649948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.37, Y:-2.40, Z:2.55 [[ 9.99464124e-01 2.92462887e-02 1.47010007e-02 4.09365110e+02] [-2.92368354e-02 9.99572144e-01 -8.57592902e-04 -2.40182044e+00] [-1.47197922e-02 4.27322600e-04 9.99891567e-01 2.54606544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.40, Y:-2.40, Z:2.55 [[ 9.99536597e-01 2.77415332e-02 1.25299261e-02 4.09396075e+02] [-2.76371407e-02 9.99582481e-01 -8.42918551e-03 -2.39955734e+00] [-1.27585332e-02 8.07898807e-03 9.99885968e-01 2.54715995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.42, Y:-2.41, Z:2.54 [[ 9.99543346e-01 2.60360977e-02 1.53369181e-02 4.09424638e+02] [-2.61430072e-02 9.99635004e-01 6.81194774e-03 -2.40852465e+00] [-1.51539637e-02 -7.20979020e-03 9.99859178e-01 2.54368839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.46, Y:-2.41, Z:2.54 [[ 9.99573812e-01 2.51867859e-02 1.47587019e-02 4.09456273e+02] [-2.51768147e-02 9.99682643e-01 -8.61053500e-04 -2.40642087e+00] [-1.47757053e-02 4.89109425e-04 9.99890714e-01 2.54487869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.49, Y:-2.41, Z:2.54 [[ 9.99594724e-01 2.43590761e-02 1.47316802e-02 4.09487860e+02] [-2.43490596e-02 9.99703149e-01 -8.58936567e-04 -2.40788310e+00] [-1.47482300e-02 4.99885901e-04 9.99891114e-01 2.54425273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.52, Y:-2.41, Z:2.54 [[ 9.99619138e-01 2.35417348e-02 1.44001708e-02 4.09519315e+02] [-2.35320323e-02 9.99722728e-01 -8.42865429e-04 -2.40921225e+00] [-1.44160206e-02 5.03679128e-04 9.99895957e-01 2.54397670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.55, Y:-2.41, Z:2.54 [[ 9.99661342e-01 2.16780829e-02 1.43965978e-02 4.09550303e+02] [-2.16681444e-02 9.99764860e-01 -8.45977138e-04 -2.41073503e+00] [-1.44115518e-02 5.33743080e-04 9.99896006e-01 2.54354054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.58, Y:-2.41, Z:2.54 [[ 9.99675849e-01 2.12726838e-02 1.39882140e-02 4.09582217e+02] [-2.12632203e-02 9.99773572e-01 -8.24926140e-04 -2.41261280e+00] [-1.40025951e-02 5.27224262e-04 9.99901820e-01 2.54301092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.61, Y:-2.41, Z:2.54 [[ 9.99676541e-01 2.13541885e-02 1.38134412e-02 4.09614742e+02] [-2.13449227e-02 9.99771837e-01 -8.17878292e-04 -2.41438259e+00] [-1.38277546e-02 5.22766906e-04 9.99904255e-01 2.54215497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.65, Y:-2.42, Z:2.54 [[ 9.99682125e-01 2.12584336e-02 1.35546401e-02 4.09646221e+02] [-2.12494567e-02 9.99773880e-01 -8.05965664e-04 -2.41608314e+00] [-1.35687087e-02 5.17680729e-04 9.99907807e-01 2.54134449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.68, Y:-2.42, Z:2.54 [[ 9.99676996e-01 2.15335591e-02 1.34984806e-02 4.09678435e+02] [-2.15246419e-02 9.99767994e-01 -8.05556401e-04 -2.41682114e+00] [-1.35126953e-02 5.14746243e-04 9.99908567e-01 2.54091877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.71, Y:-2.42, Z:2.54 [[ 9.99679194e-01 2.16251751e-02 1.31856599e-02 4.09709365e+02] [-2.16166123e-02 9.99766020e-01 -7.91599317e-04 -2.41753891e+00] [-1.31996932e-02 5.06316071e-04 9.99912752e-01 2.54038528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.74, Y:-2.42, Z:2.54 [[ 9.99671007e-01 2.23192341e-02 1.26384180e-02 4.09740812e+02] [-2.23114173e-02 9.99750781e-01 -7.59168998e-04 -2.41721051e+00] [-1.26522123e-02 4.76938218e-04 9.99919844e-01 2.54048206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.77, Y:-2.42, Z:2.54 [[ 9.99656126e-01 2.30681752e-02 1.24695092e-02 4.09772265e+02] [-2.30606187e-02 9.99733788e-01 -7.49460935e-04 -2.41841849e+00] [-1.24834783e-02 4.61648619e-04 9.99921972e-01 2.53991477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.80, Y:-2.42, Z:2.54 [[ 9.99645423e-01 2.34181189e-02 1.26735718e-02 4.09802578e+02] [-2.34103319e-02 9.99725650e-01 -7.62452919e-04 -2.41903849e+00] [-1.26879501e-02 4.65490048e-04 9.99919396e-01 2.53957412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.83, Y:-2.42, Z:2.54 [[ 9.99619442e-01 2.44500908e-02 1.27735694e-02 4.09832891e+02] [-2.44422645e-02 9.99700948e-01 -7.68468859e-04 -2.41996580e+00] [-1.27885386e-02 4.55961449e-04 9.99918119e-01 2.53932017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.86, Y:-2.42, Z:2.54 [[ 9.99591104e-01 2.53479946e-02 1.32327026e-02 4.09863099e+02] [-2.53396758e-02 9.99678582e-01 -7.95963947e-04 -2.42060030e+00] [-1.32486254e-02 4.60326087e-04 9.99912127e-01 2.53892482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.89, Y:-2.42, Z:2.54 [[ 9.99518069e-01 2.78312995e-02 1.37495164e-02 4.09893666e+02] [-2.78225547e-02 9.99612536e-01 -8.26914093e-04 -2.41996152e+00] [-1.37672031e-02 4.43968904e-04 9.99905129e-01 2.53887065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.92, Y:-2.42, Z:2.54 [[ 9.99475126e-01 2.91100070e-02 1.42154953e-02 4.09924632e+02] [-2.91007646e-02 9.99576116e-01 -8.56625716e-04 -2.42021297e+00] [-1.42344060e-02 4.42494313e-04 9.99898588e-01 2.53813241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.96, Y:-2.42, Z:2.54 [[ 9.99438470e-01 3.02688759e-02 1.43714982e-02 4.09955274e+02] [-3.02595492e-02 9.99541700e-01 -8.66026449e-04 -2.42047870e+00] [-1.43911254e-02 4.30665093e-04 9.99896350e-01 2.53783218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.98, Y:-2.42, Z:2.54 [[ 9.99361272e-01 3.26970248e-02 1.44205555e-02 4.09984407e+02] [-3.26878854e-02 9.99465230e-01 -8.69088316e-04 -2.41993073e+00] [-1.44412604e-02 3.97155740e-04 9.99895641e-01 2.53716332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.01, Y:-2.42, Z:2.54 [[ 9.99324796e-01 3.39188996e-02 1.41230350e-02 4.10013772e+02] [-3.39102574e-02 9.99424520e-01 -8.51012267e-04 -2.42054669e+00] [-1.41437728e-02 3.71521909e-04 9.99899903e-01 2.53677304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.04, Y:-2.42, Z:2.54 [[ 9.99281173e-01 3.50973153e-02 1.43288104e-02 4.10042171e+02] [-3.50885451e-02 9.99383835e-01 -8.63093041e-04 -2.42096534e+00] [-1.43502737e-02 3.59695519e-04 9.99896965e-01 2.53609333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.07, Y:-2.42, Z:2.54 [[ 9.99231902e-01 3.65139476e-02 1.42245745e-02 4.10071276e+02] [-3.65054622e-02 9.99333087e-01 -8.55812710e-04 -2.42149052e+00] [-1.42463370e-02 3.35880696e-04 9.99898459e-01 2.53551514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.10, Y:-2.42, Z:2.53 [[ 9.99129649e-01 3.95173265e-02 1.33538359e-02 4.10099732e+02] [-3.95101277e-02 9.99218848e-01 -8.02568033e-04 -2.42124611e+00] [-1.33751199e-02 2.74257755e-04 9.99910511e-01 2.53488807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.13, Y:-2.42, Z:2.53 [[ 9.99067830e-01 4.10259429e-02 1.34291600e-02 4.10127242e+02] [-4.10188108e-02 9.99158049e-01 -8.06209577e-04 -2.42216423e+00] [-1.34509288e-02 2.54609881e-04 9.99909500e-01 2.53430390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.16, Y:-2.42, Z:2.53 [[ 9.99002452e-01 4.25777124e-02 1.34625400e-02 4.10156052e+02] [-4.25707042e-02 9.99093131e-01 -8.06840871e-04 -2.42308420e+00] [-1.34846847e-02 2.32926201e-04 9.99909050e-01 2.53347297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.18, Y:-2.42, Z:2.53 [[ 9.98942267e-01 4.39530697e-02 1.35083499e-02 4.10184750e+02] [-4.39461527e-02 9.99033574e-01 -8.08608099e-04 -2.42416519e+00] [-1.35308359e-02 2.14112801e-04 9.99908431e-01 2.53291986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.21, Y:-2.43, Z:2.53 [[ 9.98832324e-01 4.62548079e-02 1.39456369e-02 4.10212923e+02] [-4.62476729e-02 9.98929656e-01 -8.33862819e-04 -2.42505000e+00] [-1.39692805e-02 1.87935883e-04 9.99902407e-01 2.53211979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.24, Y:-2.43, Z:2.53 [[ 9.98787762e-01 4.72038370e-02 1.39572350e-02 4.10241553e+02] [-4.71968043e-02 9.98885263e-01 -8.33014176e-04 -2.42658434e+00] [-1.39809978e-02 1.73267475e-04 9.99902246e-01 2.53134692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.27, Y:-2.43, Z:2.53 [[ 9.98765002e-01 4.76361569e-02 1.41162064e-02 4.10270158e+02] [-4.76290206e-02 9.98864740e-01 -8.41483396e-04 -2.42799945e+00] [-1.41402658e-02 1.68103082e-04 9.99900007e-01 2.53089507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-2.43, Z:2.53 [[ 9.98733757e-01 4.81943241e-02 1.44288092e-02 4.10299020e+02] [-4.81869422e-02 9.98837965e-01 -8.59031936e-04 -2.42979161e+00] [-1.44534429e-02 1.62663995e-04 9.99895530e-01 2.52995859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.33, Y:-2.43, Z:2.53 [[ 9.98718646e-01 4.85261091e-02 1.43625568e-02 4.10326510e+02] [-4.85188426e-02 9.98821902e-01 -8.54154476e-04 -2.43206139e+00] [-1.43870851e-02 1.56205370e-04 9.99896488e-01 2.52902916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.36, Y:-2.43, Z:2.53 [[ 9.98721289e-01 4.84851226e-02 1.43171125e-02 4.10355289e+02] [-4.84779177e-02 9.98823893e-01 -8.50061973e-04 -2.43432245e+00] [-1.43414894e-02 1.54911186e-04 9.99897144e-01 2.52833763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.38, Y:-2.44, Z:2.53 [[ 9.98744225e-01 4.79637967e-02 1.44722905e-02 4.10383542e+02] [-4.79563951e-02 9.98849061e-01 -8.58238547e-04 -2.43658933e+00] [-1.44967982e-02 1.63121909e-04 9.99894903e-01 2.52747188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.41, Y:-2.44, Z:2.53 [[ 9.98763532e-01 4.75393535e-02 1.45401631e-02 4.10412201e+02] [-4.75318522e-02 9.98869351e-01 -8.61242682e-04 -2.43894993e+00] [-1.45646662e-02 1.69056901e-04 9.99893915e-01 2.52695638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.44, Y:-2.44, Z:2.53 [[ 9.98778394e-01 4.71166970e-02 1.48908325e-02 4.10439617e+02] [-4.71087977e-02 9.98889376e-01 -8.80996462e-04 -2.44144658e+00] [-1.49158040e-02 1.78431017e-04 9.99888737e-01 2.52644304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.47, Y:-2.45, Z:2.53 [[ 9.98831222e-01 4.57719283e-02 1.55280709e-02 4.10467595e+02] [-4.57631987e-02 9.98951895e-01 -9.17227502e-04 -2.44500595e+00] [-1.55537791e-02 2.05541275e-04 9.99879012e-01 2.52600507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.50, Y:-2.45, Z:2.53 [[ 9.98858503e-01 4.51057402e-02 1.57214124e-02 4.10495816e+02] [-4.50967330e-02 9.98982195e-01 -9.27153736e-04 -2.44747326e+00] [-1.57472310e-02 2.17111056e-04 9.99875981e-01 2.52559383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.52, Y:-2.45, Z:2.53 [[ 9.98872526e-01 4.44980992e-02 1.65407309e-02 4.10524412e+02] [-4.44880652e-02 9.99009441e-01 -9.74269086e-04 -2.45096667e+00] [-1.65676994e-02 2.37305510e-04 9.99862718e-01 2.52519710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.55, Y:-2.45, Z:2.52 [[ 9.98875965e-01 4.42980477e-02 1.68668127e-02 4.10553517e+02] [-4.42876063e-02 9.99018330e-01 -9.92252329e-04 -2.45385102e+00] [-1.68942099e-02 2.44146241e-04 9.99857253e-01 2.52484595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.58, Y:-2.46, Z:2.52 [[ 9.98870356e-01 4.42362670e-02 1.73541047e-02 4.10581988e+02] [-4.42252265e-02 9.99021066e-01 -1.01963854e-03 -2.45666666e+00] [-1.73822212e-02 2.50997495e-04 9.99848886e-01 2.52425174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.61, Y:-2.46, Z:2.52 [[ 9.98870951e-01 4.40499773e-02 1.77882512e-02 4.10610429e+02] [-4.40383715e-02 9.99029295e-01 -1.04381478e-03 -2.45928997e+00] [-1.78169641e-02 2.59270641e-04 9.99841232e-01 2.52400067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.64, Y:-2.46, Z:2.52 [[ 9.98873334e-01 4.39958896e-02 1.77883290e-02 4.10639694e+02] [-4.39842990e-02 9.99031679e-01 -1.04248820e-03 -2.46094675e+00] [-1.78169694e-02 2.58906485e-04 9.99841232e-01 2.52340778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.67, Y:-2.46, Z:2.52 [[ 9.98850421e-01 4.41517936e-02 1.86669573e-02 4.10669130e+02] [-4.41390772e-02 9.99024798e-01 -1.09288461e-03 -2.46456920e+00] [-1.86970060e-02 2.67685980e-04 9.99825160e-01 2.52308067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.70, Y:-2.47, Z:2.52 [[ 9.98846168e-01 4.41985299e-02 1.87835705e-02 4.10698658e+02] [-4.41856752e-02 9.99022732e-01 -1.09903134e-03 -2.46710765e+00] [-1.88137895e-02 2.67798497e-04 9.99822969e-01 2.52280322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.73, Y:-2.47, Z:2.52 [[ 9.98842573e-01 4.41795496e-02 1.90179453e-02 4.10727887e+02] [-4.41663818e-02 9.99023570e-01 -1.11205244e-03 -2.46987043e+00] [-1.90485056e-02 2.70811486e-04 9.99818524e-01 2.52209370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.76, Y:-2.47, Z:2.52 [[ 9.98826577e-01 4.45001785e-02 1.91102717e-02 4.10757483e+02] [-4.44869545e-02 9.99009341e-01 -1.11675851e-03 -2.47302205e+00] [-1.91410359e-02 2.65290292e-04 9.99816758e-01 2.52154632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.79, Y:-2.48, Z:2.52 [[ 9.98796667e-01 4.49756574e-02 1.95552442e-02 4.10785886e+02] [-4.49619156e-02 9.98988049e-01 -1.14203467e-03 -2.47743127e+00] [-1.95868190e-02 2.61419186e-04 9.99808126e-01 2.52043726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.82, Y:-2.48, Z:2.52 [[ 9.98773139e-01 4.54948171e-02 1.95560411e-02 4.10815246e+02] [-4.54811950e-02 9.98964543e-01 -1.14099745e-03 -2.48055963e+00] [-1.95877012e-02 2.50165486e-04 9.99808111e-01 2.51962848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.84, Y:-2.48, Z:2.52 [[ 9.98768606e-01 4.55627708e-02 1.96292228e-02 4.10844459e+02] [-4.55490733e-02 9.98961447e-01 -1.14456838e-03 -2.48363996e+00] [-1.96609865e-02 2.49066054e-04 9.99806673e-01 2.51888547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.87, Y:-2.49, Z:2.52 [[ 9.98759738e-01 4.56265533e-02 1.99299796e-02 4.10872710e+02] [-4.56124602e-02 9.98958535e-01 -1.16136751e-03 -2.48656150e+00] [-1.99622125e-02 2.50871707e-04 9.99800704e-01 2.51797054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.90, Y:-2.49, Z:2.52 [[ 9.98764558e-01 4.55006495e-02 1.99762082e-02 4.10902389e+02] [-4.54864877e-02 9.98964277e-01 -1.16296585e-03 -2.49090633e+00] [-2.00084341e-02 2.52881523e-04 9.99799779e-01 2.51686028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.93, Y:-2.49, Z:2.52 [[ 9.98786126e-01 4.52500318e-02 1.94604565e-02 4.10931812e+02] [-4.52365577e-02 9.98975661e-01 -1.13225555e-03 -2.49404556e+00] [-1.94917570e-02 2.50557077e-04 9.99809986e-01 2.51579604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.96, Y:-2.50, Z:2.51 [[ 9.98810773e-01 4.49576321e-02 1.88640073e-02 4.10961755e+02] [-4.49449316e-02 9.98988864e-01 -1.09689734e-03 -2.49727720e+00] [-1.88942471e-02 2.47751368e-04 9.99821457e-01 2.51472179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.99, Y:-2.50, Z:2.51 [[ 9.98827681e-01 4.47412654e-02 1.84792655e-02 4.10989835e+02] [-4.47290523e-02 9.98998578e-01 -1.07390328e-03 -2.50049966e+00] [-1.85088078e-02 2.46084286e-04 9.99828667e-01 2.51364152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.02, Y:-2.50, Z:2.51 [[ 9.98855626e-01 4.43128121e-02 1.79947868e-02 4.11019700e+02] [-4.43011792e-02 9.99017675e-01 -1.04476951e-03 -2.50362735e+00] [-1.80234067e-02 2.46383633e-04 9.99837535e-01 2.51278534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.05, Y:-2.51, Z:2.51 [[ 9.98876377e-01 4.37720665e-02 1.81656049e-02 4.11049178e+02] [-4.37601341e-02 9.99041510e-01 -1.05403912e-03 -2.50742975e+00] [-1.81943308e-02 2.57925468e-04 9.99834436e-01 2.51196963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.08, Y:-2.51, Z:2.51 [[ 9.98900539e-01 4.33517996e-02 1.78419228e-02 4.11077536e+02] [-4.33402324e-02 9.99059835e-01 -1.03465378e-03 -2.50968243e+00] [-1.78700026e-02 2.60243142e-04 9.99840285e-01 2.51163926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.11, Y:-2.51, Z:2.51 [[ 9.98901350e-01 4.32089382e-02 1.81405618e-02 4.11106850e+02] [-4.31969761e-02 9.99066022e-01 -1.05091842e-03 -2.51216879e+00] [-1.81690280e-02 2.66146410e-04 9.99834894e-01 2.51117078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.14, Y:-2.52, Z:2.51 [[ 9.98893267e-01 4.29409340e-02 1.91915791e-02 4.11136055e+02] [-4.29275107e-02 9.99077572e-01 -1.11103784e-03 -2.51573567e+00] [-1.92215852e-02 2.85961500e-04 9.99815207e-01 2.51057704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.17, Y:-2.52, Z:2.51 [[ 9.98890305e-01 4.27326119e-02 1.98010697e-02 4.11166591e+02] [-4.27182890e-02 9.99086500e-01 -1.14594195e-03 -2.51847423e+00] [-1.98319505e-02 2.98802487e-04 9.99803283e-01 2.51012376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.20, Y:-2.52, Z:2.51 [[ 9.98894773e-01 4.23981006e-02 2.02887764e-02 4.11195628e+02] [-4.23829945e-02 9.99100747e-01 -1.17416487e-03 -2.52112036e+00] [-2.03203140e-02 3.12968051e-04 9.99793472e-01 2.50951336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.23, Y:-2.52, Z:2.51 [[ 9.98907854e-01 4.18927383e-02 2.06905102e-02 4.11226040e+02] [-4.18769273e-02 9.99122060e-01 -1.19704452e-03 -2.52379014e+00] [-2.07224927e-02 3.29282181e-04 9.99785212e-01 2.50895376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.26, Y:-2.53, Z:2.51 [[ 9.98972314e-01 4.00951569e-02 2.11351595e-02 4.11256865e+02] [-4.00782559e-02 9.99195796e-01 -1.22280480e-03 -2.52764460e+00] [-2.11671910e-02 3.74487810e-04 9.99775880e-01 2.50796168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.29, Y:-2.53, Z:2.51 [[ 9.99015176e-01 3.88935504e-02 2.13534441e-02 4.11288021e+02] [-3.88760071e-02 9.99243278e-01 -1.23622629e-03 -2.53073239e+00] [-2.13853667e-02 4.04872185e-04 9.99771225e-01 2.50722598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.32, Y:-2.53, Z:2.51 [[ 9.99051900e-01 3.79117249e-02 2.14010072e-02 4.11320302e+02] [-3.78938556e-02 9.99281001e-01 -1.24003327e-03 -2.53391233e+00] [-2.14326316e-02 4.27890918e-04 9.99770203e-01 2.50617020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.35, Y:-2.54, Z:2.51 [[ 9.99103513e-01 3.67245056e-02 2.10589672e-02 4.11352700e+02] [-3.67068270e-02 9.99325326e-01 -1.22554701e-03 -2.53700877e+00] [-2.10897669e-02 4.51440459e-04 9.99777484e-01 2.50542341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.39, Y:-2.54, Z:2.50 [[ 9.99142536e-01 3.58117385e-02 2.07776998e-02 4.11385112e+02] [-3.57942155e-02 9.99358443e-01 -1.21476366e-03 -2.54006610e+00] [-2.08078726e-02 4.70000581e-04 9.99783382e-01 2.50452249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.42, Y:-2.54, Z:2.50 [[ 9.99208234e-01 3.42332899e-02 2.02728133e-02 4.11417070e+02] [-3.42161820e-02 9.99413746e-01 -1.19025180e-03 -2.54335743e+00] [-2.03016745e-02 4.95651129e-04 9.99793777e-01 2.50405656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.45, Y:-2.55, Z:2.50 [[ 9.99214919e-01 3.39211850e-02 2.04669971e-02 4.11448900e+02] [-3.39035746e-02 9.99424380e-01 -1.20690515e-03 -2.54566591e+00] [-2.04961556e-02 5.12053269e-04 9.99789801e-01 2.50335837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.48, Y:-2.55, Z:2.50 [[ 9.99246438e-01 3.32015797e-02 2.01050009e-02 4.11481818e+02] [-3.31843337e-02 9.99448539e-01 -1.19090056e-03 -2.54815596e+00] [-2.01334536e-02 5.22832081e-04 9.99797165e-01 2.50285619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.51, Y:-2.55, Z:2.50 [[ 9.99267257e-01 3.29575889e-02 1.94613871e-02 4.11513751e+02] [-3.29412758e-02 9.99456618e-01 -1.15829487e-03 -2.55026606e+00] [-1.94889867e-02 5.16363217e-04 9.99809938e-01 2.50192901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.55, Y:-2.55, Z:2.50 [[ 9.99288199e-01 3.27212744e-02 1.87726935e-02 4.11545962e+02] [-3.27059609e-02 9.99464387e-01 -1.12225075e-03 -2.55239464e+00] [-1.87993601e-02 5.07472948e-04 9.99823148e-01 2.50106963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.58, Y:-2.55, Z:2.50 [[ 9.99312627e-01 3.23301909e-02 1.81392444e-02 4.11577932e+02] [-3.23157460e-02 9.99477117e-01 -1.08896188e-03 -2.55486286e+00] [-1.81649660e-02 5.02030142e-04 9.99834877e-01 2.50035718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.61, Y:-2.56, Z:2.50 [[ 9.99368447e-01 3.07668716e-02 1.77794070e-02 4.11610195e+02] [-3.07526942e-02 9.99526451e-01 -1.07032370e-03 -2.55688424e+00] [-1.78039181e-02 5.22883068e-04 9.99841361e-01 2.49969752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.64, Y:-2.56, Z:2.50 [[ 9.99387025e-01 3.01596017e-02 1.77756406e-02 4.11642062e+02] [-3.01452556e-02 9.99544951e-01 -1.07452007e-03 -2.55845656e+00] [-1.77999589e-02 5.38010189e-04 9.99841423e-01 2.49915474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.67, Y:-2.56, Z:2.50 [[ 9.99411998e-01 2.94131198e-02 1.76217814e-02 4.11674377e+02] [-2.93988221e-02 9.99567189e-01 -1.06992287e-03 -2.56005205e+00] [-1.76456243e-02 5.51234132e-04 9.99844152e-01 2.49849364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.71, Y:-2.56, Z:2.50 [[ 9.99430552e-01 2.86459922e-02 1.78319425e-02 4.11706429e+02] [-2.86311485e-02 9.99589453e-01 -1.08721403e-03 -2.56145954e+00] [-1.78557660e-02 5.76045928e-04 9.99840407e-01 2.49773363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.74, Y:-2.56, Z:2.50 [[ 9.99463273e-01 2.84762117e-02 1.61947640e-02 4.11736110e+02] [-2.84144625e-02 9.99588102e-01 -4.03035844e-03 -2.56052102e+00] [-1.63028627e-02 3.56802972e-03 9.99860733e-01 2.49756697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.77, Y:-2.56, Z:2.50 [[ 9.99508783e-01 2.62535229e-02 1.71156639e-02 4.11769006e+02] [-2.62904112e-02 9.99652477e-01 1.93376599e-03 -2.56472736e+00] [-1.70589476e-02 -2.38279393e-03 9.99851646e-01 2.49577985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.80, Y:-2.56, Z:2.50 [[ 9.99568800e-01 2.42281838e-02 1.65894255e-02 4.11800852e+02] [-2.42145106e-02 9.99706261e-01 -1.02461598e-03 -2.56386177e+00] [-1.66093771e-02 6.22469347e-04 9.99861861e-01 2.49602281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.83, Y:-2.57, Z:2.50 [[ 9.99587499e-01 2.33080588e-02 1.67799151e-02 4.11832619e+02] [-2.32938618e-02 9.99728119e-01 -1.04104944e-03 -2.56520459e+00] [-1.67996178e-02 6.49750983e-04 9.99858665e-01 2.49532846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.87, Y:-2.57, Z:2.49 [[ 9.99611056e-01 2.23923469e-02 1.66228446e-02 4.11865707e+02] [-2.23782156e-02 9.99749040e-01 -1.03566060e-03 -2.56609016e+00] [-1.66418638e-02 6.63268182e-04 9.99861295e-01 2.49471323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.90, Y:-2.57, Z:2.49 [[ 9.99620502e-01 2.17989049e-02 1.68421801e-02 4.11898283e+02] [-2.17842306e-02 9.99762140e-01 -1.05427332e-03 -2.56715956e+00] [-1.68611560e-02 6.86979289e-04 9.99857605e-01 2.49395096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.93, Y:-2.57, Z:2.49 [[ 9.99620924e-01 2.13538747e-02 1.73787566e-02 4.11930807e+02] [-2.13380914e-02 9.99771719e-01 -1.09313905e-03 -2.56822519e+00] [-1.73981321e-02 7.21895174e-04 9.99848380e-01 2.49312133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.96, Y:-2.57, Z:2.49 [[ 9.99615480e-01 2.10011854e-02 1.81063983e-02 4.11964342e+02] [-2.09839028e-02 9.99779159e-01 -1.14398482e-03 -2.56776307e+00] [-1.81264247e-02 7.63602035e-04 9.99835411e-01 2.49262352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.00, Y:-2.57, Z:2.49 [[ 9.99594766e-01 2.17907084e-02 1.83158331e-02 4.11997065e+02] [-2.17730586e-02 9.99762263e-01 -1.16252470e-03 -2.56787097e+00] [-1.83368110e-02 7.63261899e-04 9.99831575e-01 2.49209981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.03, Y:-2.57, Z:2.49 [[ 9.99564422e-01 2.29621098e-02 1.85393740e-02 4.12029057e+02] [-2.29441261e-02 9.99736050e-01 -1.18217716e-03 -2.56765370e+00] [-1.85616258e-02 7.56292499e-04 9.99827432e-01 2.49138838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.06, Y:-2.57, Z:2.49 [[ 9.99520706e-01 2.47744828e-02 1.85629716e-02 4.12061755e+02] [-2.47566729e-02 9.99692800e-01 -1.18865135e-03 -2.56770713e+00] [-1.85867173e-02 7.28524216e-04 9.99826987e-01 2.49063692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.09, Y:-2.57, Z:2.49 [[ 9.99393223e-01 2.97614824e-02 1.80953146e-02 4.12094262e+02] [-2.97452819e-02 9.99556834e-01 -1.16383770e-03 -2.56595579e+00] [-1.81219329e-02 6.24881276e-04 9.99835589e-01 2.48994062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.13, Y:-2.57, Z:2.49 [[ 9.99303322e-01 3.26432856e-02 1.80910844e-02 4.12126823e+02] [-3.26274756e-02 9.99466899e-01 -1.16846314e-03 -2.56570053e+00] [-1.81195825e-02 5.77382683e-04 9.99835660e-01 2.48892098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.16, Y:-2.57, Z:2.49 [[ 9.99215943e-01 3.54029906e-02 1.77236616e-02 4.12156804e+02] [-3.53881616e-02 9.99372982e-01 -1.14970446e-03 -2.56526085e+00] [-1.77532515e-02 5.21595221e-04 9.99842263e-01 2.48838133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.19, Y:-2.56, Z:2.49 [[ 9.99043512e-01 4.03118432e-02 1.69415506e-02 4.12186613e+02] [-4.02989926e-02 9.99187061e-01 -1.09937037e-03 -2.56218614e+00] [-1.69720958e-02 4.15591416e-04 9.99855877e-01 2.48754757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.22, Y:-2.56, Z:2.49 [[ 9.98965754e-01 4.23629701e-02 1.65167032e-02 4.12216260e+02] [-4.23510398e-02 9.99102218e-01 -1.07158051e-03 -2.56155250e+00] [-1.65472701e-02 3.70972683e-04 9.99863016e-01 2.48695331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.25, Y:-2.56, Z:2.49 [[ 9.98887836e-01 4.41668074e-02 1.65040427e-02 4.12245019e+02] [-4.41551490e-02 9.99024112e-01 -1.07030195e-03 -2.56130223e+00] [-1.65352084e-02 3.40373137e-04 9.99863226e-01 2.48630805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.27, Y:-2.56, Z:2.49 [[ 9.98825952e-01 4.56069559e-02 1.63316481e-02 4.12273513e+02] [-4.55957507e-02 9.98959413e-01 -1.05799272e-03 -2.56135805e+00] [-1.63629054e-02 3.12096833e-04 9.99866070e-01 2.48580446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.30, Y:-2.56, Z:2.49 [[ 9.98751415e-01 4.72626435e-02 1.61819019e-02 4.12302078e+02] [-4.72518788e-02 9.98882457e-01 -1.04713778e-03 -2.56035952e+00] [-1.62133084e-02 2.81205071e-04 9.99868516e-01 2.48505324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.33, Y:-2.56, Z:2.48 [[ 9.98741548e-01 4.76592102e-02 1.56179335e-02 4.12329594e+02] [-4.76492471e-02 9.98863619e-01 -1.00963668e-03 -2.56089156e+00] [-1.56483040e-02 2.64183333e-04 9.99877523e-01 2.48491994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.36, Y:-2.56, Z:2.48 [[ 9.98758381e-01 4.74850568e-02 1.50620407e-02 4.12358514e+02] [-4.74757914e-02 9.98871916e-01 -9.72317845e-04 -2.56145281e+00] [-1.50912200e-02 2.56028297e-04 9.99886088e-01 2.48437890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.39, Y:-2.56, Z:2.48 [[ 9.98780381e-01 4.71795548e-02 1.45547362e-02 4.12386626e+02] [-4.71708829e-02 9.98886393e-01 -9.38733766e-04 -2.56184324e+00] [-1.45828170e-02 2.51029110e-04 9.99893634e-01 2.48407489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.42, Y:-2.56, Z:2.48 [[ 9.98837816e-01 4.60500901e-02 1.42269705e-02 4.12415914e+02] [-4.60417122e-02 9.98939098e-01 -9.16023030e-04 -2.56145573e+00] [-1.42540600e-02 2.59924362e-04 9.99898372e-01 2.48411969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.44, Y:-2.56, Z:2.48 [[ 9.98871054e-01 4.52927452e-02 1.43242376e-02 4.12444641e+02] [-4.52841892e-02 9.98973720e-01 -9.21261060e-04 -2.56256144e+00] [-1.43512633e-02 2.71559522e-04 9.99896978e-01 2.48388920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.47, Y:-2.56, Z:2.48 [[ 9.98900414e-01 4.46300934e-02 1.43567784e-02 4.12473758e+02] [-4.46214444e-02 9.99003542e-01 -9.22355425e-04 -2.56386538e+00] [-1.43836373e-02 2.80721025e-04 9.99896511e-01 2.48367514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.50, Y:-2.56, Z:2.48 [[ 9.98943282e-01 4.35401584e-02 1.47164532e-02 4.12501346e+02] [-4.35309662e-02 9.99051632e-01 -9.44523761e-04 -2.56416066e+00] [-1.47436213e-02 3.02904237e-04 9.99891261e-01 2.48383991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.53, Y:-2.56, Z:2.48 [[ 9.98970388e-01 4.29138908e-02 1.47160688e-02 4.12530277e+02] [-4.29046558e-02 9.99078726e-01 -9.42835255e-04 -2.56499551e+00] [-1.47429720e-02 3.10476634e-04 9.99891268e-01 2.48379866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.56, Y:-2.57, Z:2.48 [[ 9.98990700e-01 4.26023401e-02 1.42345048e-02 4.12558946e+02] [-4.25936814e-02 9.99092062e-01 -9.11039132e-04 -2.56582498e+00] [-1.42603931e-02 3.03819659e-04 9.99898269e-01 2.48388865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.59, Y:-2.57, Z:2.48 [[ 9.98995865e-01 4.24810345e-02 1.42345525e-02 4.12588179e+02] [-4.24723741e-02 9.99097227e-01 -9.10292248e-04 -2.56764465e+00] [-1.42603721e-02 3.04802952e-04 9.99898269e-01 2.48330074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.62, Y:-2.57, Z:2.48 [[ 9.99019929e-01 4.17940703e-02 1.45752231e-02 4.12615570e+02] [-4.17849462e-02 9.99126195e-01 -9.30101608e-04 -2.56785348e+00] [-1.46013599e-02 3.20165130e-04 9.99893343e-01 2.48308593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.64, Y:-2.57, Z:2.48 [[ 9.99010928e-01 4.19506912e-02 1.47412739e-02 4.12644566e+02] [-4.19413983e-02 9.99119631e-01 -9.39126383e-04 -2.56908543e+00] [-1.47676932e-02 3.19927879e-04 9.99890900e-01 2.48253803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.67, Y:-2.57, Z:2.48 [[ 9.98986808e-01 4.25478459e-02 1.46642091e-02 4.12672134e+02] [-4.25387280e-02 9.99094383e-01 -9.33279248e-04 -2.57044250e+00] [-1.46906380e-02 3.08536853e-04 9.99892039e-01 2.48205516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.70, Y:-2.57, Z:2.48 [[ 9.98944539e-01 4.35494917e-02 1.46030741e-02 4.12701059e+02] [-4.35405765e-02 9.99051228e-01 -9.28031736e-04 -2.57176116e+00] [-1.46296345e-02 2.91225969e-04 9.99892939e-01 2.48143292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.73, Y:-2.57, Z:2.48 [[ 9.98862562e-01 4.53513993e-02 1.47252568e-02 4.12729412e+02] [-4.53425458e-02 9.98971061e-01 -9.34718954e-04 -2.57294092e+00] [-1.47524962e-02 2.65975139e-04 9.99891141e-01 2.48081757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.76, Y:-2.57, Z:2.48 [[ 9.98674677e-01 4.93186413e-02 1.47160351e-02 4.12756861e+02] [-4.93102438e-02 9.98783074e-01 -9.33163257e-04 -2.57308382e+00] [-1.47441491e-02 2.06275235e-04 9.99891278e-01 2.48108746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.78, Y:-2.57, Z:2.48 [[ 9.98548823e-01 5.17408622e-02 1.49375889e-02 4.12784804e+02] [-5.17325013e-02 9.98660530e-01 -9.45840195e-04 -2.57407508e+00] [-1.49665190e-02 1.71708776e-04 9.99887981e-01 2.48047787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.81, Y:-2.58, Z:2.48 [[ 9.98441182e-01 5.37278853e-02 1.51168718e-02 4.12813162e+02] [-5.37195691e-02 9.98555604e-01 -9.55944305e-04 -2.57528216e+00] [-1.51463979e-02 1.42382323e-04 9.99885277e-01 2.47998406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.84, Y:-2.58, Z:2.48 [[ 9.98358214e-01 5.53066079e-02 1.49015157e-02 4.12839660e+02] [-5.52987228e-02 9.98469412e-01 -9.40985811e-04 -2.57659851e+00] [-1.49307503e-02 1.15406130e-04 9.99888523e-01 2.47946835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.87, Y:-2.58, Z:2.48 [[ 9.98240003e-01 5.75643924e-02 1.42561607e-02 4.12867865e+02] [-5.75574389e-02 9.98341793e-01 -8.97910786e-04 -2.57841443e+00] [-1.42842087e-02 7.57823660e-05 9.99897973e-01 2.47859866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.90, Y:-2.58, Z:2.48 [[ 9.98213257e-01 5.81865713e-02 1.35873532e-02 4.12895937e+02] [-5.81803314e-02 9.98305724e-01 -8.54404266e-04 -2.58029303e+00] [-1.36140474e-02 6.23609509e-05 9.99907323e-01 2.47793809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.92, Y:-2.58, Z:2.48 [[ 9.98200964e-01 5.85108557e-02 1.30887168e-02 4.12923114e+02] [-5.85051094e-02 9.98286771e-01 -8.21822195e-04 -2.58222999e+00] [-1.31143784e-02 5.45868988e-05 9.99914001e-01 2.47700100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.95, Y:-2.58, Z:2.48 [[ 9.98218366e-01 5.82824056e-02 1.27771255e-02 4.12951281e+02] [-5.82769326e-02 9.98300134e-01 -8.00564149e-04 -2.58444885e+00] [-1.28020649e-02 5.45261551e-05 9.99918049e-01 2.47616143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.98, Y:-2.59, Z:2.48 [[ 9.98317044e-01 5.67254104e-02 1.20543887e-02 4.12979265e+02] [-5.67204393e-02 9.98389815e-01 -7.54140676e-04 -2.58672632e+00] [-1.20777578e-02 6.91412692e-05 9.99927059e-01 2.47559949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.01, Y:-2.59, Z:2.48 [[ 9.98406846e-01 5.52393268e-02 1.15059692e-02 4.13006234e+02] [-5.52347107e-02 9.98473139e-01 -7.18819675e-04 -2.58858895e+00] [-1.15281083e-02 8.21456033e-05 9.99933546e-01 2.47532568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.03, Y:-2.59, Z:2.47 [[ 9.98496488e-01 5.36269230e-02 1.13541531e-02 4.13033879e+02] [-5.36223416e-02 9.98561036e-01 -7.07763986e-04 -2.59069422e+00] [-1.13757701e-02 9.78635769e-05 9.99935289e-01 2.47471240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.06, Y:-2.59, Z:2.47 [[ 9.98726047e-01 4.91935340e-02 1.12374187e-02 4.13061529e+02] [-4.91887787e-02 9.98789255e-01 -6.99333282e-04 -2.59370586e+00] [-1.12582157e-02 1.45687464e-04 9.99936614e-01 2.47427448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.09, Y:-2.60, Z:2.47 [[ 9.98859338e-01 4.63443623e-02 1.14988337e-02 4.13089298e+02] [-4.63392112e-02 9.98925506e-01 -7.14139042e-04 -2.59632633e+00] [-1.15195746e-02 1.80477568e-04 9.99933631e-01 2.47409829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.12, Y:-2.60, Z:2.47 [[ 9.99003342e-01 4.29335378e-02 1.22079694e-02 4.13118008e+02] [-4.29274937e-02 9.99077904e-01 -7.56827898e-04 -2.59937012e+00] [-1.22292058e-02 2.32016068e-04 9.99925194e-01 2.47367231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.15, Y:-2.60, Z:2.47 [[ 9.99134682e-01 3.96065929e-02 1.26966633e-02 4.13146437e+02] [-3.95997989e-02 9.99215311e-01 -7.86154444e-04 -2.60223147e+00] [-1.27178373e-02 2.82688856e-04 9.99919085e-01 2.47309249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.17, Y:-2.61, Z:2.47 [[ 9.99372076e-01 3.30345967e-02 1.28128537e-02 4.13174943e+02] [-3.30271499e-02 9.99454141e-01 -7.92410729e-04 -2.60634086e+00] [-1.28320367e-02 3.68741114e-04 9.99917598e-01 2.47265880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.20, Y:-2.61, Z:2.47 [[ 9.99470942e-01 2.99074153e-02 1.27821293e-02 4.13203328e+02] [-2.98997624e-02 9.99552590e-01 -7.89442147e-04 -2.60911091e+00] [-1.28000207e-02 4.06841855e-04 9.99917994e-01 2.47251741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.23, Y:-2.61, Z:2.47 [[ 9.99539626e-01 2.69374318e-02 1.39610820e-02 4.13232375e+02] [-2.69280261e-02 9.99637004e-01 -8.61282544e-04 -2.61203100e+00] [-1.39792149e-02 4.84941652e-04 9.99902168e-01 2.47164097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.26, Y:-2.61, Z:2.47 [[ 9.99604509e-01 2.43318212e-02 1.40992300e-02 4.13261683e+02] [-2.43219784e-02 9.99703799e-01 -8.69178053e-04 -2.61496179e+00] [-1.41162025e-02 5.25913132e-04 9.99900223e-01 2.47115572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.29, Y:-2.62, Z:2.47 [[ 9.99713961e-01 1.89368207e-02 1.46079503e-02 4.13292716e+02] [-1.89256881e-02 9.99820488e-01 -8.99970459e-04 -2.61904284e+00] [-1.46223706e-02 6.23247522e-04 9.99892893e-01 2.47055884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.32, Y:-2.62, Z:2.47 [[ 9.99751255e-01 1.67631913e-02 1.47113115e-02 4.13324399e+02] [-1.67516746e-02 9.99859271e-01 -9.05729939e-04 -2.62199327e+00] [-1.47244241e-02 6.59065540e-04 9.99891373e-01 2.47002731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.36, Y:-2.62, Z:2.47 [[ 9.99777704e-01 1.48917916e-02 1.49257389e-02 4.13356064e+02] [-1.48796727e-02 9.99888866e-01 -9.22676437e-04 -2.62464615e+00] [-1.49378204e-02 7.00381221e-04 9.99888179e-01 2.46962033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.39, Y:-2.63, Z:2.47 [[ 9.99812461e-01 1.19662821e-02 1.52266299e-02 4.13388996e+02] [-1.19532690e-02 9.99928110e-01 -9.45355245e-04 -2.62728996e+00] [-1.52368476e-02 7.63169952e-04 9.99883621e-01 2.46920647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.42, Y:-2.63, Z:2.47 [[ 9.99827689e-01 1.10078736e-02 1.49471833e-02 4.13421181e+02] [-1.09951615e-02 9.99939117e-01 -9.32383254e-04 -2.62942751e+00] [-1.49565368e-02 7.67875901e-04 9.99887850e-01 2.46867882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.45, Y:-2.63, Z:2.47 [[ 9.99840564e-01 1.02225342e-02 1.46405594e-02 4.13453884e+02] [-1.02101986e-02 9.99947454e-01 -9.17060443e-04 -2.63155260e+00] [-1.46491648e-02 7.67431211e-04 9.99892401e-01 2.46811039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.49, Y:-2.63, Z:2.47 [[ 9.99856162e-01 9.51816881e-03 1.40377895e-02 4.13487233e+02] [-9.50670551e-03 9.99954420e-01 -8.83108047e-04 -2.63364592e+00] [-1.40455552e-02 7.49527891e-04 9.99901075e-01 2.46733535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.52, Y:-2.64, Z:2.47 [[ 9.99867344e-01 9.12568759e-03 1.34913591e-02 4.13519990e+02] [-9.11501413e-03 9.99958094e-01 -8.52412558e-04 -2.63562155e+00] [-1.34985725e-02 7.29325552e-04 9.99908624e-01 2.46678033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.55, Y:-2.64, Z:2.47 [[ 9.99883353e-01 9.45920320e-03 1.19918315e-02 4.13552431e+02] [-9.45075806e-03 9.99955051e-01 -7.60714975e-04 -2.63654622e+00] [-1.19984882e-02 6.47294342e-04 9.99927806e-01 2.46596220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.58, Y:-2.64, Z:2.47 [[ 9.99879054e-01 1.04391795e-02 1.15282939e-02 4.13584188e+02] [-1.04314049e-02 9.99945322e-01 -7.34319030e-04 -2.63770313e+00] [-1.15353292e-02 6.13973915e-04 9.99933277e-01 2.46522235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.62, Y:-2.64, Z:2.46 [[ 9.99866486e-01 1.18378333e-02 1.12639083e-02 4.13617001e+02] [-1.18304693e-02 9.99929758e-01 -7.20176800e-04 -2.63848428e+00] [-1.12716424e-02 5.86823325e-04 9.99936301e-01 2.46491566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.65, Y:-2.64, Z:2.46 [[ 9.99836559e-01 1.41675851e-02 1.12309493e-02 4.13648854e+02] [-1.41603727e-02 9.99899477e-01 -7.21458092e-04 -2.63905836e+00] [-1.12400417e-02 5.62305749e-04 9.99936671e-01 2.46476266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.68, Y:-2.64, Z:2.46 [[ 9.99764292e-01 1.84321404e-02 1.14724018e-02 4.13680762e+02] [-1.84248389e-02 9.99829973e-01 -7.41816759e-04 -2.63754531e+00] [-1.14841245e-02 5.30264752e-04 9.99933915e-01 2.46488621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.71, Y:-2.64, Z:2.46 [[ 9.99714068e-01 2.07461712e-02 1.18902637e-02 4.13712272e+02] [-2.07384767e-02 9.99784638e-01 -7.70074846e-04 -2.63813429e+00] [-1.19036791e-02 5.23268702e-04 9.99929012e-01 2.46434897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.74, Y:-2.64, Z:2.46 [[ 9.99659918e-01 2.30434964e-02 1.22084057e-02 4.13742556e+02] [-2.30355463e-02 9.99734333e-01 -7.91434317e-04 -2.63878657e+00] [-1.22233997e-02 5.09937870e-04 9.99925161e-01 2.46385931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.77, Y:-2.64, Z:2.46 [[ 9.99607133e-01 2.48736074e-02 1.29183273e-02 4.13773525e+02] [-2.48648583e-02 9.99690471e-01 -8.37456410e-04 -2.63940017e+00] [-1.29351593e-02 5.15915022e-04 9.99916204e-01 2.46359848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.80, Y:-2.64, Z:2.46 [[ 9.99526478e-01 2.79395060e-02 1.28919761e-02 4.13804241e+02] [-2.79310472e-02 9.99609503e-01 -8.35748137e-04 -2.63886069e+00] [-1.29102922e-02 4.75266000e-04 9.99916546e-01 2.46341845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.83, Y:-2.64, Z:2.46 [[ 9.99507584e-01 2.88606736e-02 1.23146866e-02 4.13832498e+02] [-2.88530201e-02 9.99583346e-01 -7.98742346e-04 -2.63928856e+00] [-1.23326079e-02 4.43033133e-04 9.99923852e-01 2.46267074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.86, Y:-2.64, Z:2.46 [[ 9.99476375e-01 3.00690070e-02 1.19511729e-02 4.13860903e+02] [-3.00618907e-02 9.99547739e-01 -7.74682915e-04 -2.64000561e+00] [-1.19690618e-02 4.15002418e-04 9.99928282e-01 2.46201886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.89, Y:-2.64, Z:2.46 [[ 9.99386459e-01 3.24475572e-02 1.31856487e-02 4.13889539e+02] [-3.24391158e-02 9.99473349e-01 -8.53622479e-04 -2.63899625e+00] [-1.32064025e-02 4.25367961e-04 9.99912701e-01 2.46202629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.92, Y:-2.64, Z:2.46 [[ 9.99355039e-01 3.32117306e-02 1.36560470e-02 4.13918027e+02] [-3.32027615e-02 9.99448246e-01 -8.83041334e-04 -2.63933268e+00] [-1.36778396e-02 4.29053335e-04 9.99906362e-01 2.46164885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.95, Y:-2.64, Z:2.46 [[ 9.99319603e-01 3.42983038e-02 1.35630818e-02 4.13947112e+02] [-3.42895695e-02 9.99411556e-01 -8.76067598e-04 -2.63985233e+00] [-1.35851483e-02 4.10399290e-04 9.99907633e-01 2.46144230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.98, Y:-2.64, Z:2.46 [[ 9.99291639e-01 3.52760227e-02 1.31080909e-02 4.13975854e+02] [-3.52679602e-02 9.99377534e-01 -8.45796149e-04 -2.64054485e+00] [-1.31297679e-02 3.82901392e-04 9.99913728e-01 2.46099541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.00, Y:-2.64, Z:2.46 [[ 9.99271994e-01 3.61399770e-02 1.22222815e-02 4.14004589e+02] [-3.61330416e-02 9.99346678e-01 -7.87860168e-04 -2.64107944e+00] [-1.22427697e-02 3.45658394e-04 9.99924995e-01 2.46065900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.03, Y:-2.64, Z:2.46 [[ 9.99240599e-01 3.71491995e-02 1.17542576e-02 4.14032345e+02] [-3.71428624e-02 9.99309679e-01 -7.57044890e-04 -2.64149634e+00] [-1.17742670e-02 3.19883214e-04 9.99930630e-01 2.46000606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.06, Y:-2.64, Z:2.46 [[ 9.99149931e-01 3.97397706e-02 1.09620485e-02 4.14060843e+02] [-3.97344261e-02 9.99210027e-01 -7.04998857e-04 -2.64083427e+00] [-1.09814053e-02 2.68828852e-04 9.99939666e-01 2.45954988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.09, Y:-2.64, Z:2.46 [[ 9.99099191e-01 4.10158028e-02 1.08862835e-02 4.14089733e+02] [-4.10106158e-02 9.99158466e-01 -6.99365532e-04 -2.64159393e+00] [-1.09058074e-02 2.52282347e-04 9.99940498e-01 2.45915739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.12, Y:-2.64, Z:2.46 [[ 9.98974937e-01 4.48701362e-02 5.97882229e-03 4.14115011e+02] [-4.47717618e-02 9.98874169e-01 -1.56806950e-02 -2.63526760e+00] [-6.67568607e-03 1.53969389e-02 9.99859175e-01 2.46333296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.15, Y:-2.65, Z:2.46 [[ 9.98968700e-01 4.47130597e-02 7.89165031e-03 4.14145915e+02] [-4.47458983e-02 9.98990253e-01 4.03476984e-03 -2.64565199e+00] [-7.70327484e-03 -4.38372777e-03 9.99960720e-01 2.45783794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.17, Y:-2.65, Z:2.46 [[ 9.98825771e-01 4.72651368e-02 1.06341706e-02 4.14174338e+02] [-4.73625543e-02 9.98836282e-01 9.10332709e-03 -2.64828136e+00] [-1.01915254e-02 -9.59629918e-03 9.99902017e-01 2.45598531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.20, Y:-2.64, Z:2.46 [[ 9.98753247e-01 4.88867442e-02 1.01013449e-02 4.14203117e+02] [-4.88826807e-02 9.98804316e-01 -6.48930360e-04 -2.64472924e+00] [-1.01209909e-02 1.54340489e-04 9.99948770e-01 2.45807886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.23, Y:-2.65, Z:2.46 [[ 9.98694788e-01 5.00807268e-02 1.00319626e-02 4.14230925e+02] [-5.00767900e-02 9.98745163e-01 -6.43392254e-04 -2.64574754e+00] [-1.00515957e-02 1.40184006e-04 9.99949472e-01 2.45795973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.26, Y:-2.65, Z:2.46 [[ 9.98650135e-01 5.09586775e-02 1.00558976e-02 4.14259155e+02] [-5.09547773e-02 9.98700754e-01 -6.43843519e-04 -2.64685044e+00] [-1.00756419e-02 1.30578396e-04 9.99949231e-01 2.45774174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.29, Y:-2.65, Z:2.46 [[ 9.98626262e-01 5.13122583e-02 1.06132902e-02 4.14287156e+02] [-5.13079470e-02 9.98682650e-01 -6.78282014e-04 -2.64845527e+00] [-1.06341129e-02 1.32804102e-04 9.99943447e-01 2.45685136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.31, Y:-2.65, Z:2.46 [[ 9.98638728e-01 5.11676290e-02 1.01274142e-02 4.14314441e+02] [-5.11637047e-02 9.98690071e-01 -6.46367022e-04 -2.65010317e+00] [-1.01472211e-02 1.27331110e-04 9.99948508e-01 2.45656934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.34, Y:-2.65, Z:2.46 [[ 9.98716019e-01 4.97349569e-02 9.63051980e-03 4.14341109e+02] [-4.97313527e-02 9.98762442e-01 -6.13513119e-04 -2.65299410e+00] [-9.64911453e-03 1.33786602e-04 9.99953437e-01 2.45552260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.37, Y:-2.66, Z:2.45 [[ 9.98786897e-01 4.82717737e-02 9.72477378e-03 4.14369202e+02] [-4.82680431e-02 9.98834227e-01 -6.18099680e-04 -2.65549063e+00] [-9.74327367e-03 1.47954062e-04 9.99952522e-01 2.45453468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.40, Y:-2.66, Z:2.45 [[ 9.98862672e-01 4.67133721e-02 9.55108513e-03 4.14396991e+02] [-4.67097114e-02 9.98908322e-01 -6.06113834e-04 -2.65803941e+00] [-9.56897204e-03 1.59296054e-04 9.99954204e-01 2.45395642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.43, Y:-2.66, Z:2.45 [[ 9.98870934e-01 4.65363775e-02 9.55110776e-03 4.14425375e+02] [-4.65327121e-02 9.98916583e-01 -6.05758473e-04 -2.65975995e+00] [-9.56894973e-03 1.60635584e-04 9.99954204e-01 2.45340884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.45, Y:-2.66, Z:2.45 [[ 9.98944768e-01 4.49058683e-02 9.63395081e-03 4.14452167e+02] [-4.49020822e-02 9.98991207e-01 -6.09046358e-04 -2.66225577e+00] [-9.65158191e-03 1.75819222e-04 9.99953407e-01 2.45262551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.48, Y:-2.66, Z:2.45 [[ 9.99022376e-01 4.30935616e-02 9.86085530e-03 4.14480266e+02] [-4.30895269e-02 9.99071022e-01 -6.21346728e-04 -2.66466591e+00] [-9.87847083e-03 1.95839695e-04 9.99951188e-01 2.45185200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.51, Y:-2.67, Z:2.45 [[ 9.99140239e-01 4.01561412e-02 1.03085589e-02 4.14508337e+02] [-4.01515876e-02 9.99193389e-01 -6.48396818e-04 -2.66817777e+00] [-1.03262810e-02 2.33934348e-04 9.99946655e-01 2.45100718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.54, Y:-2.67, Z:2.45 [[ 9.99201850e-01 3.86092060e-02 1.02465579e-02 4.14536171e+02] [-3.86046388e-02 9.99254356e-01 -6.43213829e-04 -2.67080055e+00] [-1.02637516e-02 2.47135780e-04 9.99947296e-01 2.45033047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.56, Y:-2.67, Z:2.45 [[ 9.99247983e-01 3.72781133e-02 1.06681998e-02 4.14564391e+02] [-3.72730998e-02 9.99304893e-01 -6.68459197e-04 -2.67348948e+00] [-1.06857032e-02 2.70319629e-04 9.99942870e-01 2.44955254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.59, Y:-2.68, Z:2.45 [[ 9.99314685e-01 3.53233462e-02 1.10644574e-02 4.14592732e+02] [-3.53178424e-02 9.99375890e-01 -6.92495991e-04 -2.67695757e+00] [-1.10820133e-02 3.01248650e-04 9.99938547e-01 2.44866934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.62, Y:-2.68, Z:2.45 [[ 9.99318438e-01 3.51772834e-02 1.11901107e-02 4.14620720e+02] [-3.51716524e-02 9.99381041e-01 -6.99673964e-04 -2.67969620e+00] [-1.12077971e-02 3.05622410e-04 9.99937144e-01 2.44793057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.65, Y:-2.68, Z:2.45 [[ 9.99313570e-01 3.52482437e-02 1.13995455e-02 4.14649696e+02] [-3.52424181e-02 9.99378540e-01 -7.11581355e-04 -2.68197711e+00] [-1.14175431e-02 3.09345357e-04 9.99934770e-01 2.44744356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.68, Y:-2.68, Z:2.45 [[ 9.99292020e-01 3.58208320e-02 1.15033371e-02 4.14678405e+02] [-3.58149474e-02 9.99358182e-01 -7.17213364e-04 -2.68432887e+00] [-1.15216452e-02 3.04714176e-04 9.99933577e-01 2.44681693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.71, Y:-2.69, Z:2.45 [[ 9.99247193e-01 3.70032062e-02 1.16537611e-02 4.14706656e+02] [-3.69972571e-02 9.99315104e-01 -7.25727147e-04 -2.68669638e+00] [-1.16726337e-02 2.94023619e-04 9.99931829e-01 2.44607589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.73, Y:-2.69, Z:2.45 [[ 9.99128700e-01 4.01010683e-02 1.15648450e-02 4.14734139e+02] [-4.00954252e-02 9.99195596e-01 -7.19490984e-04 -2.68973103e+00] [-1.15843945e-02 2.55166714e-04 9.99932866e-01 2.44509631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.76, Y:-2.69, Z:2.44 [[ 9.99043000e-01 4.21622170e-02 1.16375118e-02 4.14763184e+02] [-4.21566566e-02 9.99110752e-01 -7.22803274e-04 -2.69216426e+00] [-1.16576382e-02 2.31512962e-04 9.99932021e-01 2.44459036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.79, Y:-2.69, Z:2.44 [[ 9.98841609e-01 4.67134982e-02 1.15450925e-02 4.14790939e+02] [-4.67083356e-02 9.98908313e-01 -7.16548582e-04 -2.69484490e+00] [-1.15659614e-02 1.76466483e-04 9.99933096e-01 2.44402644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.82, Y:-2.70, Z:2.44 [[ 9.98746579e-01 4.87250131e-02 1.14518221e-02 4.14818019e+02] [-4.87200784e-02 9.98812220e-01 -7.09657348e-04 -2.69685153e+00] [-1.14727979e-02 1.50834177e-04 9.99934174e-01 2.44358906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.85, Y:-2.70, Z:2.44 [[ 9.98559928e-01 5.24806651e-02 1.11287716e-02 4.14846321e+02] [-5.24762545e-02 9.98621935e-01 -6.88165516e-04 -2.69945237e+00] [-1.11495508e-02 1.03178258e-04 9.99937837e-01 2.44295791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.87, Y:-2.70, Z:2.44 [[ 9.98564655e-01 5.23906332e-02 1.11288551e-02 4.14874739e+02] [-5.23862320e-02 9.98626662e-01 -6.86811311e-04 -2.70111894e+00] [-1.11495539e-02 1.02826714e-04 9.99937837e-01 2.44240978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.90, Y:-2.70, Z:2.44 [[ 9.98493539e-01 5.37512407e-02 1.10207700e-02 4.14903069e+02] [-5.37470167e-02 9.98554353e-01 -6.79309275e-04 -2.70334647e+00] [-1.10413515e-02 8.59524145e-05 9.99939039e-01 2.44176306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.93, Y:-2.71, Z:2.44 [[ 9.98434678e-01 5.48341103e-02 1.10188316e-02 4.14930731e+02] [-5.48299670e-02 9.98495476e-01 -6.77988846e-04 -2.70568524e+00] [-1.10394304e-02 7.27654009e-05 9.99939061e-01 2.44110190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.96, Y:-2.71, Z:2.44 [[ 9.98382683e-01 5.57383560e-02 1.11916698e-02 4.14957421e+02] [-5.57341509e-02 9.98445408e-01 -6.87516308e-04 -2.70839967e+00] [-1.12125923e-02 6.26461628e-05 9.99937135e-01 2.44048271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.98, Y:-2.71, Z:2.44 [[ 9.98259078e-01 5.77766069e-02 1.18606910e-02 4.14984603e+02] [-5.77720473e-02 9.98329536e-01 -7.26976471e-04 -2.71265722e+00] [-1.18828804e-02 4.04944583e-05 9.99929395e-01 2.43976563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.01, Y:-2.72, Z:2.44 [[ 9.98178052e-01 5.91349763e-02 1.19845828e-02 4.15011889e+02] [-5.91304371e-02 9.98249996e-01 -7.33048508e-04 -2.71554617e+00] [-1.20069585e-02 2.30593149e-05 9.99927914e-01 2.43917765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.04, Y:-2.72, Z:2.44 [[ 9.98098472e-01 6.05262858e-02 1.16622545e-02 4.15039955e+02] [-6.05220999e-02 9.98166604e-01 -7.11838959e-04 -2.71837674e+00] [-1.16839579e-02 4.66124735e-06 9.99931740e-01 2.43884466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.07, Y:-2.72, Z:2.44 [[ 9.97835603e-01 6.47298666e-02 1.15825015e-02 4.15067407e+02] [-6.47260352e-02 9.97902822e-01 -7.05744489e-04 -2.72224913e+00] [-1.16038937e-02 -4.54724225e-05 9.99932672e-01 2.43859713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.10, Y:-2.72, Z:2.44 [[ 9.97677345e-01 6.70253472e-02 1.21456778e-02 4.15095225e+02] [-6.70213208e-02 9.97751270e-01 -7.38685572e-04 -2.72498866e+00] [-1.21678761e-02 -7.70495111e-05 9.99925966e-01 2.43825581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.12, Y:-2.73, Z:2.44 [[ 9.97534661e-01 6.90589054e-02 1.24686756e-02 4.15122755e+02] [-6.90548384e-02 9.97612578e-01 -7.56925231e-04 -2.72780452e+00] [-1.24911800e-02 -1.05963224e-04 9.99921977e-01 2.43805175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.15, Y:-2.73, Z:2.44 [[ 9.97392039e-01 7.09261159e-02 1.33643554e-02 4.15150763e+02] [-7.09216325e-02 9.97481562e-01 -8.09707814e-04 -2.73123569e+00] [-1.33881275e-02 -1.40225771e-04 9.99910365e-01 2.43733239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.18, Y:-2.74, Z:2.44 [[ 9.97269256e-01 7.25950015e-02 1.35645236e-02 4.15178878e+02] [-7.25905575e-02 9.97361488e-01 -8.20332546e-04 -2.73513830e+00] [-1.35882855e-02 -1.66563901e-04 9.99907661e-01 2.43671578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.21, Y:-2.74, Z:2.44 [[ 9.97095181e-01 7.47435384e-02 1.46493283e-02 4.15206537e+02] [-7.47386123e-02 9.97202767e-01 -8.84211895e-04 -2.74148918e+00] [-1.46744399e-02 -2.13227049e-04 9.99892302e-01 2.43660890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.23, Y:-2.75, Z:2.44 [[ 9.97049716e-01 7.52429602e-02 1.51776363e-02 4.15232881e+02] [-7.52377554e-02 9.97165204e-01 -9.14444916e-04 -2.74544521e+00] [-1.52034163e-02 -2.30184242e-04 9.99884395e-01 2.43608661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.26, Y:-2.75, Z:2.44 [[ 9.97056336e-01 7.51011800e-02 1.54426885e-02 4.15260417e+02] [-7.50958067e-02 9.97175891e-01 -9.28351416e-04 -2.74948661e+00] [-1.54687970e-02 -2.34062491e-04 9.99880324e-01 2.43580095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.29, Y:-2.75, Z:2.44 [[ 9.97085553e-01 7.46211022e-02 1.58774046e-02 4.15288236e+02] [-7.46153887e-02 9.97211931e-01 -9.52756925e-04 -2.75397498e+00] [-1.59042331e-02 -2.34718551e-04 9.99873492e-01 2.43505876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.32, Y:-2.76, Z:2.43 [[ 9.97159183e-01 7.36528098e-02 1.57742607e-02 4.15316354e+02] [-7.36470749e-02 9.97283919e-01 -9.44944163e-04 -2.75863450e+00] [-1.58010144e-02 -2.19468412e-04 9.99875132e-01 2.43431020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.34, Y:-2.78, Z:2.44 [[ 9.97611162e-01 6.80630270e-02 1.18064761e-02 4.15341977e+02] [-6.83212461e-02 9.97396986e-01 2.30534287e-02 -2.77678349e+00] [-1.02066575e-02 -2.38049910e-02 9.99664517e-01 2.43584436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.37, Y:-2.76, Z:2.44 [[ 9.97608446e-01 6.76305482e-02 1.42652241e-02 4.15372125e+02] [-6.72687016e-02 9.97434524e-01 -2.44804263e-02 -2.76109499e+00] [-1.58842517e-02 2.34622769e-02 9.99598525e-01 2.43793548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.40, Y:-2.78, Z:2.43 [[ 9.97852795e-01 6.37327371e-02 1.50976247e-02 4.15398607e+02] [-6.37264214e-02 9.97967000e-01 -8.99528006e-04 -2.77751265e+00] [-1.51242607e-02 -6.45210620e-05 9.99885620e-01 2.43210108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.43, Y:-2.79, Z:2.43 [[ 9.98353027e-01 5.53723082e-02 1.50047315e-02 4.15425751e+02] [-5.53651449e-02 9.98465775e-01 -8.92688492e-04 -2.78626635e+00] [-1.50311410e-02 6.04791260e-05 9.99887024e-01 2.43147803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.45, Y:-2.79, Z:2.43 [[ 9.98600992e-01 5.07093011e-02 1.49875417e-02 4.15454446e+02] [-5.07016516e-02 9.98713447e-01 -8.90164104e-04 -2.79128035e+00] [-1.50133990e-02 1.29025641e-04 9.99887284e-01 2.43114412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.48, Y:-2.80, Z:2.43 [[ 9.98844492e-01 4.56925164e-02 1.48954709e-02 4.15483358e+02] [-4.56844192e-02 9.98955531e-01 -8.83589793e-04 -2.79612473e+00] [-1.49202865e-02 2.02077859e-04 9.99888666e-01 2.43071592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.51, Y:-2.80, Z:2.43 [[ 9.99079624e-01 4.04792428e-02 1.41892791e-02 4.15512675e+02] [-4.04713805e-02 9.99180344e-01 -8.40925887e-04 -2.80078314e+00] [-1.42116888e-02 2.65892206e-04 9.99898973e-01 2.43091476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.54, Y:-2.81, Z:2.43 [[ 9.99430761e-01 3.06533860e-02 1.40898463e-02 4.15541430e+02] [-3.06446655e-02 9.99529994e-01 -8.34451937e-04 -2.80801665e+00] [-1.41088027e-02 4.02198309e-04 9.99900385e-01 2.43078342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.57, Y:-2.81, Z:2.43 [[ 9.99560258e-01 2.63161402e-02 1.36657371e-02 4.15573003e+02] [-2.63075390e-02 9.99653570e-01 -8.08810191e-04 -2.81228543e+00] [-1.36822877e-02 4.48942610e-04 9.99906292e-01 2.43027858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.60, Y:-2.82, Z:2.43 [[ 9.99663923e-01 2.24680803e-02 1.29316045e-02 4.15603893e+02] [-2.24600673e-02 9.99747449e-01 -7.64558618e-04 -2.81629994e+00] [-1.29455168e-02 4.73856960e-04 9.99916091e-01 2.43035608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.64, Y:-2.82, Z:2.43 [[ 9.99738946e-01 1.90685877e-02 1.25868636e-02 4.15636093e+02] [-1.90606933e-02 9.99818050e-01 -7.46865589e-04 -2.82012358e+00] [-1.25988151e-02 5.06756269e-04 9.99920503e-01 2.43031001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.67, Y:-2.82, Z:2.43 [[ 9.99831150e-01 1.34281737e-02 1.25441664e-02 4.15667568e+02] [-1.34198514e-02 9.99909670e-01 -7.47383634e-04 -2.82465782e+00] [-1.25530693e-02 5.78916589e-04 9.99921040e-01 2.43090271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.70, Y:-2.83, Z:2.43 [[ 9.99852073e-01 1.16868372e-02 1.26194102e-02 4.15700763e+02] [-1.16782346e-02 9.99931522e-01 -7.55168351e-04 -2.82731285e+00] [-1.26273716e-02 6.07684208e-04 9.99920087e-01 2.43098401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.73, Y:-2.83, Z:2.43 [[ 9.99866172e-01 1.05989026e-02 1.24619705e-02 4.15733988e+02] [-1.05903845e-02 9.99943640e-01 -7.49321710e-04 -2.82988388e+00] [-1.24692101e-02 6.17244371e-04 9.99922066e-01 2.43081657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.77, Y:-2.83, Z:2.43 [[ 9.99876827e-01 9.93637536e-03 1.21490236e-02 4.15766411e+02] [-9.92818796e-03 9.99950445e-01 -7.34041105e-04 -2.83226967e+00] [-1.21557153e-02 6.13332901e-04 9.99925928e-01 2.43058922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.80, Y:-2.83, Z:2.43 [[ 9.99883939e-01 9.71512241e-03 1.17355864e-02 4.15799249e+02] [-9.70743384e-03 9.99952628e-01 -7.11937309e-04 -2.83478404e+00] [-1.17419471e-02 5.97932252e-04 9.99930882e-01 2.42999764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.83, Y:-2.84, Z:2.43 [[ 9.99887667e-01 9.90837835e-03 1.12462427e-02 4.15832579e+02] [-9.90129696e-03 9.99950746e-01 -6.85171727e-04 -2.83704447e+00] [-1.12524778e-02 5.73742370e-04 9.99936524e-01 2.42927704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.87, Y:-2.84, Z:2.43 [[ 9.99891684e-01 1.00782672e-02 1.07260397e-02 4.15865865e+02] [-1.00718043e-02 9.99949063e-01 -6.56393352e-04 -2.83910101e+00] [-1.07321087e-02 5.48291681e-04 9.99942259e-01 2.42856537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.90, Y:-2.84, Z:2.43 [[ 9.99896556e-01 1.01353902e-02 1.02054515e-02 4.15898262e+02] [-1.01295042e-02 9.99948498e-01 -6.28271823e-04 -2.84066029e+00] [-1.02112937e-02 5.24830668e-04 9.99947726e-01 2.42800070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.93, Y:-2.84, Z:2.43 [[ 9.99903014e-01 1.03114763e-02 9.36138917e-03 4.15931489e+02] [-1.03065273e-02 9.99946720e-01 -5.76754030e-04 -2.84210600e+00] [-9.36683758e-03 4.80214680e-04 9.99956015e-01 2.42768625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.96, Y:-2.84, Z:2.43 [[ 9.99909074e-01 1.03489738e-02 8.64542029e-03 4.15963822e+02] [-1.03447344e-02 9.99946349e-01 -5.34941005e-04 -2.84230622e+00] [-8.65049254e-03 4.45457788e-04 9.99962485e-01 2.42728470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.00, Y:-2.84, Z:2.43 [[ 9.99907743e-01 1.05673924e-02 8.53438173e-03 4.15995443e+02] [-1.05632525e-02 9.99944067e-01 -5.30019587e-04 -2.84342536e+00] [-8.53950530e-03 4.39819860e-04 9.99963441e-01 2.42673414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.03, Y:-2.84, Z:2.43 [[ 9.99903330e-01 1.11128571e-02 8.35670768e-03 4.16028084e+02] [-1.11088870e-02 9.99938159e-01 -5.21353225e-04 -2.84459749e+00] [-8.36198461e-03 4.28469105e-04 9.99964946e-01 2.42614594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.06, Y:-2.85, Z:2.43 [[ 9.99899396e-01 1.17074904e-02 8.00822623e-03 4.16059921e+02] [-1.17038486e-02 9.99931382e-01 -5.01470550e-04 -2.84529655e+00] [-8.01354768e-03 4.07693033e-04 9.99967808e-01 2.42586595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.09, Y:-2.85, Z:2.43 [[ 9.99892313e-01 1.26035033e-02 7.51764118e-03 4.16092349e+02] [-1.26003071e-02 9.99920501e-01 -4.72375141e-04 -2.84545959e+00] [-7.52299712e-03 3.77599684e-04 9.99971631e-01 2.42550441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.12, Y:-2.85, Z:2.43 [[ 9.99884731e-01 1.33759453e-02 7.18389199e-03 4.16124103e+02] [-1.33730161e-02 9.99910473e-01 -4.55625475e-04 -2.84548999e+00] [-7.18934326e-03 3.59502653e-04 9.99974092e-01 2.42512684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.16, Y:-2.84, Z:2.43 [[ 9.99856915e-01 1.54729792e-02 6.83643464e-03 4.16155981e+02] [-1.54703740e-02 9.99880233e-01 -4.33802674e-04 -2.84357910e+00] [-6.84232808e-03 3.27978403e-04 9.99976537e-01 2.42519741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.19, Y:-2.84, Z:2.43 [[ 9.99832155e-01 1.69510268e-02 6.95158796e-03 4.16186470e+02] [-1.69483652e-02 9.99856269e-01 -4.41606418e-04 -2.84359841e+00] [-6.95807449e-03 3.23714245e-04 9.99975740e-01 2.42512881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.22, Y:-2.84, Z:2.42 [[ 9.99804905e-01 1.84066057e-02 7.16575047e-03 4.16217466e+02] [-1.84038124e-02 9.99830532e-01 -4.55573480e-04 -2.84339861e+00] [-7.17292166e-03 3.23607473e-04 9.99974222e-01 2.42484812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.275099893 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:416.25, Y:-2.84, Z:2.42 [[ 9.99743039e-01 2.13649203e-02 7.57609157e-03 4.16247739e+02] [-2.13618826e-02 9.99771693e-01 -4.81661540e-04 -2.84122254e+00] [-7.58465256e-03 3.19698193e-04 9.99971185e-01 2.42469808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.30509989300003 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:416.28, Y:-2.84, Z:2.42 [[ 9.99703394e-01 2.31304849e-02 7.62260502e-03 4.16277749e+02] [-2.31274595e-02 9.99732407e-01 -4.84827564e-04 -2.84108234e+00] [-7.63177956e-03 3.08392273e-04 9.99970830e-01 2.42444733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.335099893 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:416.31, Y:-2.84, Z:2.42 [[ 9.99704615e-01 2.30776854e-02 7.62258821e-03 4.16307008e+02] [-2.30746564e-02 9.99733627e-01 -4.85092230e-04 -2.84288055e+00] [-7.63175256e-03 3.09060338e-04 9.99970830e-01 2.42388404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.365099893 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:416.34, Y:-2.84, Z:2.42 [[ 9.99661588e-01 2.50377600e-02 7.05828120e-03 4.16336297e+02] [-2.50352151e-02 9.99686469e-01 -4.48686877e-04 -2.84244385e+00] [-7.06730233e-03 2.71829448e-04 9.99974989e-01 2.42398711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.395099893 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:416.37, Y:-2.84, Z:2.42 [[ 9.99604283e-01 2.72614702e-02 6.93465598e-03 4.16365411e+02] [-2.72590657e-02 9.99628305e-01 -4.41034997e-04 -2.84188466e+00] [-6.94410167e-03 2.51828229e-04 9.99975858e-01 2.42349895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.425099893 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:416.39, Y:-2.84, Z:2.42 [[ 9.99547801e-01 2.93629764e-02 6.48149594e-03 4.16393794e+02] [-2.93609211e-02 9.99568790e-01 -4.12051928e-04 -2.84128365e+00] [-6.49080013e-03 2.21562907e-04 9.99978910e-01 2.42324636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.455099893 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:416.42, Y:-2.84, Z:2.42 [[ 9.99398064e-01 3.41327292e-02 6.20208018e-03 4.16422355e+02] [-3.41309436e-02 9.99417292e-01 -3.93539472e-04 -2.83924936e+00] [-6.21189876e-03 1.81619738e-04 9.99980689e-01 2.42302274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.485099893 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:416.45, Y:-2.84, Z:2.42 [[ 9.99324538e-01 3.62274769e-02 6.16751929e-03 4.16451466e+02] [-3.62257537e-02 9.99343556e-01 -3.90922831e-04 -2.83928542e+00] [-6.17763281e-03 1.67235743e-04 9.99980904e-01 2.42270362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.515099893 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:416.48, Y:-2.84, Z:2.42 [[ 9.99243468e-01 3.83869508e-02 6.23976548e-03 4.16480794e+02] [-3.83852320e-02 9.99262937e-01 -3.95026922e-04 -2.83928324e+00] [-6.25033026e-03 1.55213225e-04 9.99980454e-01 2.42265576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.545099893 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:416.51, Y:-2.84, Z:2.42 [[ 9.99149302e-01 4.07147241e-02 6.55622056e-03 4.16508175e+02] [-4.07128787e-02 9.99170801e-01 -4.14737735e-04 -2.83955768e+00] [-6.56767008e-03 1.47462306e-04 9.99978422e-01 2.42214633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.575099893 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:416.54, Y:-2.84, Z:2.42 [[ 9.98985757e-01 4.46439164e-02 5.86336522e-03 4.16536578e+02] [-4.46425086e-02 9.99002957e-01 -3.70810236e-04 -2.83795477e+00] [-5.87407361e-03 1.08678812e-04 9.99982742e-01 2.42201143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.605099893 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:416.56, Y:-2.84, Z:2.42 [[ 9.98893078e-01 4.67093944e-02 5.55442564e-03 4.16563305e+02] [-4.67081645e-02 9.98908516e-01 -3.51012841e-04 -2.83795433e+00] [-5.56475868e-03 9.11872712e-05 9.99984512e-01 2.42159635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.635099893 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:416.59, Y:-2.84, Z:2.42 [[ 9.98816297e-01 4.83616614e-02 5.21091372e-03 4.16591393e+02] [-4.83606053e-02 9.98829887e-01 -3.28571706e-04 -2.83804334e+00] [-5.22070664e-03 7.61798328e-05 9.99986369e-01 2.42107159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.665099893 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:416.62, Y:-2.84, Z:2.42 [[ 9.98739548e-01 4.98881630e-02 5.52148681e-03 4.16618340e+02] [-4.98870032e-02 9.98754808e-01 -3.47670372e-04 -2.83820948e+00] [-5.53195614e-03 7.17817193e-05 9.99984696e-01 2.42042990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.695099893 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:416.65, Y:-2.84, Z:2.42 [[ 9.98633090e-01 5.19233114e-02 5.99344809e-03 4.16646586e+02] [-5.19219887e-02 9.98651073e-01 -3.76188373e-04 -2.83771595e+00] [-6.00489631e-03 6.44824137e-05 9.99981968e-01 2.42014898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.725099893 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:416.67, Y:-2.84, Z:2.42 [[ 9.98619616e-01 5.21943106e-02 5.88354231e-03 4.16674972e+02] [-5.21930438e-02 9.98636946e-01 -3.68753247e-04 -2.83858916e+00] [-5.89476954e-03 6.11642448e-05 9.99982624e-01 2.41985458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.755099893 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:416.70, Y:-2.84, Z:2.42 [[ 9.98614415e-01 5.22807891e-02 5.99745800e-03 4.16702037e+02] [-5.22794736e-02 9.98632423e-01 -3.76011184e-04 -2.83973090e+00] [-6.00891417e-03 6.19462411e-05 9.99981944e-01 2.41891687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.785099893 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:416.73, Y:-2.84, Z:2.42 [[ 9.98625302e-01 5.20268472e-02 6.38063135e-03 4.16730439e+02] [-5.20253668e-02 9.98645684e-01 -3.97890077e-04 -2.84105233e+00] [-6.39269093e-03 6.53884115e-05 9.99979564e-01 2.41826163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.815099893 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:416.76, Y:-2.84, Z:2.42 [[ 9.98666627e-01 5.12279262e-02 6.37707480e-03 4.16757592e+02] [-5.12264340e-02 9.98686985e-01 -3.97216614e-04 -2.84206503e+00] [-6.38905019e-03 7.00121742e-05 9.99979587e-01 2.41780175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.845099893 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:416.79, Y:-2.84, Z:2.42 [[ 9.98784503e-01 4.88255120e-02 6.75167574e-03 4.16785383e+02] [-4.88237920e-02 9.98807319e-01 -4.19451057e-04 -2.84318900e+00] [-6.76410306e-03 8.92988040e-05 9.99977119e-01 2.41779639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.875099893 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:416.81, Y:-2.85, Z:2.42 [[ 9.98861398e-01 4.71634121e-02 7.17778445e-03 4.16812972e+02] [-4.71614317e-02 9.98887181e-01 -4.45018245e-04 -2.84514545e+00] [-7.19078545e-03 1.05996956e-04 9.99974140e-01 2.41718535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.905099893 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:416.84, Y:-2.85, Z:2.42 [[ 9.98953972e-01 4.51294994e-02 7.36812386e-03 4.16841123e+02] [-4.51273651e-02 9.98981138e-01 -4.55747232e-04 -2.84725318e+00] [-7.38118440e-03 1.22766492e-04 9.99972751e-01 2.41671715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.93509989300003 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:416.87, Y:-2.85, Z:2.42 [[ 9.99063272e-01 4.26457924e-02 7.34269817e-03 4.16869476e+02] [-4.26436089e-02 9.99090245e-01 -4.53740801e-04 -2.84962144e+00] [-7.35536825e-03 1.40196620e-04 9.99972939e-01 2.41633847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.965099893 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:416.90, Y:-2.85, Z:2.42 [[ 9.99250154e-01 3.78947919e-02 7.94445792e-03 4.16897564e+02] [-3.78920956e-02 9.99281717e-01 -4.89694560e-04 -2.85275214e+00] [-7.95730842e-03 1.88295206e-04 9.99968322e-01 2.41562601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.99509989300003 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:416.93, Y:-2.86, Z:2.42 [[ 9.99326530e-01 3.57979250e-02 8.06199664e-03 4.16926041e+02] [-3.57950878e-02 9.99359027e-01 -4.95991690e-04 -2.85521062e+00] [-8.07458459e-03 2.07077777e-04 9.99967379e-01 2.41537544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.025099893 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:416.95, Y:-2.86, Z:2.41 [[ 9.99394148e-01 3.37183877e-02 8.62593300e-03 4.16953312e+02] [-3.37150668e-02 9.99431345e-01 -5.30164430e-04 -2.85769160e+00] [-8.63890411e-03 2.39019322e-04 9.99962655e-01 2.41476042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.05509989300003 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:416.98, Y:-2.86, Z:2.41 [[ 9.99440638e-01 3.21797336e-02 9.10365643e-03 4.16982286e+02] [-3.21759805e-02 9.99482063e-01 -5.58460081e-04 -2.86016856e+00] [-9.11691240e-03 2.65228628e-04 9.99958405e-01 2.41413550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.085099893 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:417.01, Y:-2.87, Z:2.42 [[ 9.99604410e-01 2.74477934e-02 6.13536667e-03 4.17008689e+02] [-2.75398216e-02 9.99501221e-01 1.54553358e-02 -2.86707001e+00] [-5.70809161e-03 -1.56181887e-02 9.99861735e-01 2.41700836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.115099893 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:417.04, Y:-2.86, Z:2.42 [[ 9.99524331e-01 2.94936072e-02 9.01325364e-03 4.17041060e+02] [-2.93438304e-02 9.99436126e-01 -1.63208662e-02 -2.85808565e+00] [-9.48953252e-03 1.60486195e-02 9.99826180e-01 2.41684354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.145099893 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:417.07, Y:-2.87, Z:2.41 [[ 9.99539257e-01 2.86573368e-02 1.00015762e-02 4.17068284e+02] [-2.86526317e-02 9.99589241e-01 -6.13432941e-04 -2.86734880e+00] [-1.00150473e-02 3.26578826e-04 9.99949795e-01 2.41255580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.175099893 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:417.10, Y:-2.87, Z:2.41 [[ 9.99539870e-01 2.86979129e-02 9.82230026e-03 4.17097455e+02] [-2.86933862e-02 9.99588079e-01 -6.01500323e-04 -2.86902230e+00] [-9.83551605e-03 3.19388500e-04 9.99951579e-01 2.41228652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.205099893 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:417.13, Y:-2.87, Z:2.41 [[ 9.99519778e-01 2.92749687e-02 1.01582567e-02 4.17125470e+02] [-2.92701631e-02 9.99571344e-01 -6.21459362e-04 -2.87062610e+00] [-1.01720955e-02 3.23827093e-04 9.99948210e-01 2.41146824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.235099893 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:417.15, Y:-2.87, Z:2.41 [[ 9.99495176e-01 3.02105130e-02 9.83450109e-03 4.17154634e+02] [-3.02060635e-02 9.99543512e-01 -6.00688713e-04 -2.87203094e+00] [-9.84815888e-03 3.03323907e-04 9.99951460e-01 2.41112187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.265099893 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:417.18, Y:-2.87, Z:2.41 [[ 9.99372665e-01 3.38881678e-02 1.02892824e-02 4.17183077e+02] [-3.38835003e-02 9.99425592e-01 -6.27671229e-04 -2.87314154e+00] [-1.03046428e-02 2.78640567e-04 9.99946867e-01 2.41035506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.295099893 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:417.21, Y:-2.87, Z:2.41 [[ 9.99288384e-01 3.61923383e-02 1.06226043e-02 4.17211766e+02] [-3.61875019e-02 9.99344808e-01 -6.47208594e-04 -2.87444447e+00] [-1.06390684e-02 2.62342517e-04 9.99943369e-01 2.40978174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.325099893 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:417.24, Y:-2.88, Z:2.41 [[ 9.99196786e-01 3.85415729e-02 1.09695029e-02 4.17239395e+02] [-3.85365646e-02 9.99256968e-01 -6.67647471e-04 -2.87571639e+00] [-1.09870844e-02 2.44384248e-04 9.99939610e-01 2.40925441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.355099893 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:417.27, Y:-2.88, Z:2.41 [[ 9.99015505e-01 4.28613002e-02 1.14424144e-02 4.17267990e+02] [-4.28561482e-02 9.99081011e-01 -6.95178612e-04 -2.87696988e+00] [-1.14616952e-02 2.04116406e-04 9.99934292e-01 2.40844678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.385099893 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:417.30, Y:-2.88, Z:2.41 [[ 9.98938113e-01 4.47157608e-02 1.10971538e-02 4.17296366e+02] [-4.47110376e-02 9.98999735e-01 -6.73468275e-04 -2.87829369e+00] [-1.11161683e-02 1.76587869e-04 9.99938198e-01 2.40782784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.415099893 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:417.32, Y:-2.88, Z:2.41 [[ 9.98876658e-01 4.60837723e-02 1.10321682e-02 4.17323850e+02] [-4.60791947e-02 9.98937566e-01 -6.68891740e-04 -2.87962550e+00] [-1.10512723e-02 1.59786919e-04 9.99938920e-01 2.40691141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.445099893 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:417.35, Y:-2.88, Z:2.41 [[ 9.98832946e-01 4.71388734e-02 1.05201219e-02 4.17353058e+02] [-4.71347800e-02 9.98888336e-01 -6.36846062e-04 -2.88117439e+00] [-1.05384472e-02 1.40239198e-04 9.99944459e-01 2.40603417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.475099893 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:417.38, Y:-2.88, Z:2.40 [[ 9.98829203e-01 4.74024194e-02 9.65578124e-03 4.17380863e+02] [-4.73989872e-02 9.98875866e-01 -5.84120987e-04 -2.88353534e+00] [-9.67261559e-03 1.25762849e-04 9.99953211e-01 2.40486446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.505099893 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:417.41, Y:-2.89, Z:2.40 [[ 9.98861624e-01 4.67027992e-02 9.71103626e-03 4.17409663e+02] [-4.66993043e-02 9.98908820e-01 -5.86453444e-04 -2.88579436e+00] [-9.72782879e-03 1.32287202e-04 9.99952675e-01 2.40404295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.535099893 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:417.44, Y:-2.89, Z:2.40 [[ 9.98899566e-01 4.57677853e-02 1.02452959e-02 4.17438237e+02] [-4.57638540e-02 9.98952095e-01 -6.17949260e-04 -2.88821727e+00] [-1.02628420e-02 1.48405021e-04 9.99947325e-01 2.40346258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.565099893 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:417.47, Y:-2.89, Z:2.40 [[ 9.98961463e-01 4.43196434e-02 1.05719055e-02 4.17466719e+02] [-4.43153841e-02 9.99017388e-01 -6.36926062e-04 -2.89055404e+00] [-1.05897457e-02 1.67766540e-04 9.99943913e-01 2.40305092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.595099893 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:417.49, Y:-2.89, Z:2.40 [[ 9.99036224e-01 4.25119449e-02 1.09251134e-02 4.17494811e+02] [-4.25072955e-02 9.99095940e-01 -6.57526705e-04 -2.89288825e+00] [-1.09431892e-02 1.92495971e-04 9.99940103e-01 2.40256382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.625099893 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:417.52, Y:-2.90, Z:2.40 [[ 9.99175719e-01 3.85922212e-02 1.25905728e-02 4.17523386e+02] [-3.85857543e-02 9.99255006e-01 -7.56235961e-04 -2.89634801e+00] [-1.26103778e-02 2.69795861e-04 9.99920450e-01 2.40209976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.655099893 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:417.55, Y:-2.90, Z:2.40 [[ 9.99263277e-01 3.61774696e-02 1.28098915e-02 4.17551283e+02] [-3.61705881e-02 9.99345335e-01 -7.68553397e-04 -2.89869079e+00] [-1.28293097e-02 3.04645876e-04 9.99917655e-01 2.40157337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.68509989300003 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:417.58, Y:-2.90, Z:2.40 [[ 9.99340015e-01 3.38796631e-02 1.31035210e-02 4.17580648e+02] [-3.38722856e-02 9.99425862e-01 -7.84606230e-04 -2.90121340e+00] [-1.31225799e-02 3.40242198e-04 9.99913837e-01 2.40083754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.715099893 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:417.61, Y:-2.90, Z:2.40 [[ 9.99418893e-01 3.15867263e-02 1.28123045e-02 4.17609898e+02] [-3.15794906e-02 9.99500949e-01 -7.66711334e-04 -2.90384101e+00] [-1.28301284e-02 3.61659743e-04 9.99917625e-01 2.40019621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.74509989300003 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:417.64, Y:-2.91, Z:2.40 [[ 9.99488334e-01 2.92932878e-02 1.28442337e-02 4.17638661e+02] [-2.92858314e-02 9.99570783e-01 -7.68262305e-04 -2.90680273e+00] [-1.28612257e-02 3.91715148e-04 9.99917214e-01 2.39942410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.775099893 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:417.67, Y:-2.91, Z:2.40 [[ 9.99600521e-01 2.49367739e-02 1.33024367e-02 4.17668098e+02] [-2.49284036e-02 9.99688923e-01 -7.94691064e-04 -2.91094679e+00] [-1.33181156e-02 4.62765090e-04 9.99911203e-01 2.39870487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.80509989300003 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:417.70, Y:-2.91, Z:2.40 [[ 9.99627501e-01 2.32825222e-02 1.42402199e-02 4.17699685e+02] [-2.32727702e-02 9.99728791e-01 -8.50169412e-04 -2.91365455e+00] [-1.42561519e-02 5.18443359e-04 9.99898241e-01 2.39826912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.835099893 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:417.73, Y:-2.92, Z:2.40 [[ 9.99639689e-01 2.24206759e-02 1.47582411e-02 4.17730615e+02] [-2.24101123e-02 9.99748474e-01 -8.80786210e-04 -2.91609193e+00] [-1.47742768e-02 5.49735012e-04 9.99890703e-01 2.39798746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.865099893 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:417.76, Y:-2.92, Z:2.40 [[ 9.99633933e-01 2.24216849e-02 1.51415716e-02 4.17761998e+02] [-2.24105090e-02 9.99748441e-01 -9.07386319e-04 -2.91841959e+00] [-1.51581077e-02 5.67723828e-04 9.99884948e-01 2.39769601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.895099893 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:417.79, Y:-2.92, Z:2.40 [[ 9.99615578e-01 2.32870797e-02 1.50468470e-02 4.17794342e+02] [-2.32760900e-02 9.99728665e-01 -9.05106263e-04 -2.92024751e+00] [-1.50638416e-02 5.54526556e-04 9.99886380e-01 2.39715024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.925099893 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:417.83, Y:-2.92, Z:2.40 [[ 9.99588263e-01 2.46304142e-02 1.47189469e-02 4.17825486e+02] [-2.46199889e-02 9.99696487e-01 -8.89099521e-04 -2.92191066e+00] [-1.47363784e-02 5.26353136e-04 9.99891275e-01 2.39631427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.955099893 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:417.86, Y:-2.92, Z:2.40 [[ 9.99539819e-01 2.64641821e-02 1.48255953e-02 4.17856867e+02] [-2.64537421e-02 9.99649633e-01 -8.99887859e-04 -2.92389278e+00] [-1.48442157e-02 5.07281274e-04 9.99889690e-01 2.39546102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.985099893 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:417.89, Y:-2.93, Z:2.39 [[ 9.99492236e-01 2.83338722e-02 1.45760501e-02 4.17887443e+02] [-2.83239705e-02 9.99598404e-01 -8.85341217e-04 -2.92545481e+00] [-1.45952816e-02 4.72040059e-04 9.99893372e-01 2.39440240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.015099893 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:417.92, Y:-2.93, Z:2.39 [[ 9.99369881e-01 3.24702301e-02 1.43361512e-02 4.17918016e+02] [-3.24610720e-02 9.99472621e-01 -8.71108359e-04 -2.92677202e+00] [-1.43568757e-02 4.05192620e-04 9.99896853e-01 2.39345518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.045099893 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:417.95, Y:-2.93, Z:2.39 [[ 9.99309710e-01 3.41776502e-02 1.45599467e-02 4.17947587e+02] [-3.41683826e-02 9.99415699e-01 -8.84871072e-04 -2.92822639e+00] [-1.45816822e-02 3.86770423e-04 9.99893607e-01 2.39263233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.075099893 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:417.98, Y:-2.93, Z:2.39 [[ 9.99261220e-01 3.56213808e-02 1.44267580e-02 4.17977545e+02] [-3.56124396e-02 9.99365292e-01 -8.76269716e-04 -2.92962499e+00] [-1.44488151e-02 3.61850299e-04 9.99895545e-01 2.39222801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.105099893 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:418.01, Y:-2.93, Z:2.39 [[ 9.99226191e-01 3.66077637e-02 1.43836996e-02 4.18006598e+02] [-3.65989843e-02 9.99329651e-01 -8.73213471e-04 -2.93079803e+00] [-1.44060239e-02 3.46108974e-04 9.99896168e-01 2.39170727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.135099893 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:418.04, Y:-2.93, Z:2.39 [[ 9.99196811e-01 3.74413242e-02 1.42786916e-02 4.18036734e+02] [-3.74327700e-02 9.99298773e-01 -8.65974752e-04 -2.93149983e+00] [-1.43011023e-02 3.30788231e-04 9.99897679e-01 2.39107404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.165099893 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:418.07, Y:-2.93, Z:2.39 [[ 9.99201674e-01 3.73566601e-02 1.41596300e-02 4.18066734e+02] [-3.73482465e-02 9.99301942e-01 -8.58258779e-04 -2.93312287e+00] [-1.41818074e-02 3.28736258e-04 9.99899379e-01 2.39091879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.195099893 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:418.10, Y:-2.93, Z:2.39 [[ 9.99235943e-01 3.66417549e-02 1.35982182e-02 4.18096520e+02] [-3.66339353e-02 9.99328413e-01 -8.23773695e-04 -2.93453607e+00] [-1.36192703e-02 3.24988039e-04 9.99907201e-01 2.39054882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.225099893 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:418.13, Y:-2.94, Z:2.39 [[ 9.99237877e-01 3.65889703e-02 1.35982413e-02 4.18125783e+02] [-3.65811511e-02 9.99330346e-01 -8.23392405e-04 -2.93624679e+00] [-1.36192623e-02 3.25325561e-04 9.99907201e-01 2.38998644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.255099893 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:418.16, Y:-2.94, Z:2.39 [[ 9.99276269e-01 3.57430720e-02 1.30142815e-02 4.18155207e+02] [-3.57358480e-02 9.99360961e-01 -7.87278903e-04 -2.93766999e+00] [-1.30341047e-02 3.21632737e-04 9.99915001e-01 2.38984811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.285099893 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:418.18, Y:-2.94, Z:2.39 [[ 9.99407489e-01 3.22044206e-02 1.21468668e-02 4.18184461e+02] [-3.21978710e-02 9.99481244e-01 -7.34426382e-04 -2.93887552e+00] [-1.21642173e-02 3.42887974e-04 9.99925954e-01 2.39003004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.315099893 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:418.21, Y:-2.94, Z:2.39 [[ 9.99471024e-01 3.01899990e-02 1.20928512e-02 4.18213638e+02] [-3.01833655e-02 9.99544111e-01 -7.30724734e-04 -2.94049541e+00] [-1.21093988e-02 3.65335251e-04 9.99926612e-01 2.38955716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.345099893 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:418.24, Y:-2.94, Z:2.39 [[ 9.99530404e-01 2.81050100e-02 1.22098296e-02 4.18243139e+02] [-2.80980975e-02 9.99604899e-01 -7.37343481e-04 -2.94220305e+00] [-1.22257286e-02 3.93924243e-04 9.99925185e-01 2.38964323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.375099893 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:418.27, Y:-2.94, Z:2.39 [[ 9.99611692e-01 2.48528300e-02 1.26016853e-02 4.18272258e+02] [-2.48452148e-02 9.99691021e-01 -7.60521078e-04 -2.94394756e+00] [-1.26166927e-02 4.47134184e-04 9.99920306e-01 2.39004993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.405099893 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:418.30, Y:-2.95, Z:2.39 [[ 9.99632129e-01 2.37896924e-02 1.30252542e-02 4.18302782e+02] [-2.37814773e-02 9.99716872e-01 -7.85253447e-04 -2.94578344e+00] [-1.30402473e-02 4.75204789e-04 9.99914859e-01 2.38942244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.43509989300003 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:418.33, Y:-2.95, Z:2.39 [[ 9.99643931e-01 2.32403453e-02 1.31109849e-02 4.18334317e+02] [-2.32319727e-02 9.99729789e-01 -7.90551868e-04 -2.94768412e+00] [-1.31258149e-02 4.85676332e-04 9.99913735e-01 2.38900175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.465099893 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:418.37, Y:-2.95, Z:2.39 [[ 9.99649262e-01 2.30222847e-02 1.30891896e-02 4.18365003e+02] [-2.30139137e-02 9.99734833e-01 -7.89819555e-04 -2.94942875e+00] [-1.31039022e-02 4.88309057e-04 9.99914021e-01 2.38869050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.49509989300003 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:418.40, Y:-2.95, Z:2.39 [[ 9.99644497e-01 2.30246023e-02 1.34442651e-02 4.18396523e+02] [-2.30157692e-02 9.99734773e-01 -8.11391215e-04 -2.95111355e+00] [-1.34593813e-02 5.01672660e-04 9.99909293e-01 2.38815412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.525099893 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:418.43, Y:-2.95, Z:2.39 [[ 9.99637480e-01 2.35006059e-02 1.31388965e-02 4.18426443e+02] [-2.34922083e-02 9.99723705e-01 -7.93132315e-04 -2.95291065e+00] [-1.31539054e-02 4.84183094e-04 9.99913366e-01 2.38736929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.55509989300003 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:418.46, Y:-2.95, Z:2.39 [[ 9.99594074e-01 2.51053906e-02 1.34687364e-02 4.18457493e+02] [-2.50966920e-02 9.99684697e-01 -8.14494026e-04 -2.95443231e+00] [-1.34849379e-02 4.76142673e-04 9.99908961e-01 2.38633623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.585099893 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:418.49, Y:-2.96, Z:2.39 [[ 9.99553430e-01 2.66228248e-02 1.35707883e-02 4.18487501e+02] [-2.66141240e-02 9.99645444e-01 -8.21367025e-04 -2.95573914e+00] [-1.35878438e-02 4.59825583e-04 9.99907575e-01 2.38581596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.615099893 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:418.52, Y:-2.96, Z:2.39 [[ 9.99502311e-01 2.85272262e-02 1.34658191e-02 4.18518303e+02] [-2.85188335e-02 9.99592923e-01 -8.14910501e-04 -2.95699455e+00] [-1.34835846e-02 4.30475474e-04 9.99909000e-01 2.38513845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.645099893 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:418.55, Y:-2.96, Z:2.38 [[ 9.99359208e-01 3.30860654e-02 1.36559650e-02 4.18548843e+02] [-3.30778544e-02 9.99452436e-01 -8.26770888e-04 -2.95750827e+00] [-1.36758421e-02 3.74531078e-04 9.99906411e-01 2.38434267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.675099893 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:418.58, Y:-2.96, Z:2.38 [[ 9.99269321e-01 3.55591410e-02 1.40132724e-02 4.18578785e+02] [-3.55507350e-02 9.99367513e-01 -8.48586354e-04 -2.95870423e+00] [-1.40345842e-02 3.49784176e-04 9.99901449e-01 2.38367201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.61, Y:-2.96, Z:2.38 [[ 9.99194231e-01 3.76340981e-02 1.39486172e-02 4.18607256e+02] [-3.76259759e-02 9.99291536e-01 -8.44363849e-04 -2.95986285e+00] [-1.39705120e-02 3.18853152e-04 9.99902357e-01 2.38305139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.64, Y:-2.96, Z:2.38 [[ 9.99123105e-01 3.94692954e-02 1.39712176e-02 4.18636118e+02] [-3.94613415e-02 9.99220741e-01 -8.44630895e-04 -2.96150144e+00] [-1.39936674e-02 2.92567254e-04 9.99902041e-01 2.38220542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.765099893 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:418.66, Y:-2.96, Z:2.38 [[ 9.99055478e-01 4.11346446e-02 1.40033309e-02 4.18664618e+02] [-4.11268282e-02 9.99153576e-01 -8.45819859e-04 -2.96309194e+00] [-1.40262707e-02 2.69108379e-04 9.99901591e-01 2.38094101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.795099893 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:418.69, Y:-2.96, Z:2.38 [[ 9.99061830e-01 4.11730882e-02 1.34251967e-02 4.18692162e+02] [-4.11659136e-02 9.99151996e-01 -8.10429346e-04 -2.96461887e+00] [-1.34471800e-02 2.57008536e-04 9.99909550e-01 2.38029466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.72, Y:-2.97, Z:2.38 [[ 9.99081378e-01 4.08386528e-02 1.29847853e-02 4.18720638e+02] [-4.08319285e-02 9.99165723e-01 -7.82656726e-04 -2.96621588e+00] [-1.30059151e-02 2.51743933e-04 9.99915388e-01 2.37932095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.75, Y:-2.97, Z:2.38 [[ 9.99117672e-01 4.01127299e-02 1.24437143e-02 4.18749816e+02] [-4.01065082e-02 9.99195129e-01 -7.49234146e-04 -2.96792121e+00] [-1.24637525e-02 2.49499147e-04 9.99922293e-01 2.37866336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.78, Y:-2.97, Z:2.38 [[ 9.99212061e-01 3.78157599e-02 1.20509304e-02 4.18777672e+02] [-3.78097662e-02 9.99284692e-01 -7.24887250e-04 -2.96973219e+00] [-1.20697224e-02 2.68673224e-04 9.99927122e-01 2.37805534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.81, Y:-2.97, Z:2.38 [[ 9.99254821e-01 3.67167682e-02 1.19030072e-02 4.18806323e+02] [-3.67108568e-02 9.99325674e-01 -7.14817908e-04 -2.97141074e+00] [-1.19212265e-02 2.77315649e-04 9.99928901e-01 2.37753494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.84, Y:-2.97, Z:2.38 [[ 9.99318944e-01 3.49877890e-02 1.17261598e-02 4.18835577e+02] [-3.49819425e-02 9.99387697e-01 -7.03389856e-04 -2.97314230e+00] [-1.17435899e-02 2.92706958e-04 9.99930999e-01 2.37710106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.975099893 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:418.86, Y:-2.97, Z:2.38 [[ 9.99375235e-01 3.33146237e-02 1.18014853e-02 4.18864420e+02] [-3.33085951e-02 9.99444865e-01 -7.07069645e-04 -2.97467446e+00] [-1.18184897e-02 3.13536997e-04 9.99930110e-01 2.37673216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.89, Y:-2.98, Z:2.38 [[ 9.99411009e-01 3.21330219e-02 1.20458980e-02 4.18893657e+02] [-3.21266687e-02 9.99483546e-01 -7.20604492e-04 -2.97616265e+00] [-1.20628320e-02 3.33185489e-04 9.99927186e-01 2.37613784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.92, Y:-2.98, Z:2.38 [[ 9.99446258e-01 3.08381822e-02 1.24973426e-02 4.18922939e+02] [-3.08312484e-02 9.99524325e-01 -7.47149379e-04 -2.97768276e+00] [-1.25144387e-02 3.61426976e-04 9.99921626e-01 2.37570861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.95, Y:-2.98, Z:2.38 [[ 9.99479972e-01 2.94176232e-02 1.32056275e-02 4.18951719e+02] [-2.94097625e-02 9.99567128e-01 -7.89100754e-04 -2.97908218e+00] [-1.32231246e-02 4.00316031e-04 9.99912491e-01 2.37549599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.98, Y:-2.98, Z:2.38 [[ 9.99490449e-01 2.89130829e-02 1.35231803e-02 4.18981049e+02] [-2.89048045e-02 9.99581843e-01 -8.07257733e-04 -2.98086972e+00] [-1.35408658e-02 4.15961510e-04 9.99908232e-01 2.37515925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.01, Y:-2.98, Z:2.37 [[ 9.99478799e-01 2.89140874e-02 1.43563566e-02 4.19010756e+02] [-2.89047651e-02 9.99581803e-01 -8.56466752e-04 -2.98243164e+00] [-1.43751167e-02 4.41053247e-04 9.99896575e-01 2.37434918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.04, Y:-2.98, Z:2.37 [[ 9.99469458e-01 2.91549511e-02 1.45186866e-02 4.19040900e+02] [-2.91454516e-02 9.99574806e-01 -8.65500650e-04 -2.98403960e+00] [-1.45377470e-02 4.41887789e-04 9.99894224e-01 2.37339124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.07, Y:-2.99, Z:2.37 [[ 9.99449153e-01 2.95060801e-02 1.51915380e-02 4.19071805e+02] [-2.94957201e-02 9.99564496e-01 -9.05611257e-04 -2.98577066e+00] [-1.52116431e-02 4.57027050e-04 9.99884192e-01 2.37242107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.10, Y:-2.99, Z:2.37 [[ 9.99441075e-01 2.98901212e-02 1.49705721e-02 4.19101640e+02] [-2.98801045e-02 9.99553092e-01 -8.92369220e-04 -2.98724232e+00] [-1.49905547e-02 4.44548192e-04 9.99887536e-01 2.37208057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.13, Y:-2.99, Z:2.37 [[ 9.99425083e-01 3.06609987e-02 1.44709068e-02 4.19132582e+02] [-3.06517158e-02 9.99529753e-01 -8.62893884e-04 -2.98850005e+00] [-1.44905590e-02 4.18839671e-04 9.99894919e-01 2.37150142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.16, Y:-2.99, Z:2.37 [[ 9.99358275e-01 3.30476574e-02 1.38162928e-02 4.19162688e+02] [-3.30394209e-02 9.99453710e-01 -8.24034293e-04 -2.98929033e+00] [-1.38359775e-02 3.67023176e-04 9.99904211e-01 2.37034445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.19, Y:-2.99, Z:2.37 [[ 9.99315599e-01 3.44768959e-02 1.34043539e-02 4.19192295e+02] [-3.44692773e-02 9.99405438e-01 -7.99044633e-04 -2.99065145e+00] [-1.34239328e-02 3.36459373e-04 9.99909838e-01 2.36973568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.22, Y:-2.99, Z:2.37 [[ 9.99271999e-01 3.58294634e-02 1.31042403e-02 4.19221163e+02] [-3.58223027e-02 9.99357870e-01 -7.80834990e-04 -2.99198682e+00] [-1.31238026e-02 3.10842479e-04 9.99913831e-01 2.36919641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.25, Y:-2.99, Z:2.37 [[ 9.99224479e-01 3.72088168e-02 1.28819206e-02 4.19249604e+02] [-3.72020183e-02 9.99307471e-01 -7.67068903e-04 -2.99326332e+00] [-1.29015413e-02 2.87240579e-04 9.99916730e-01 2.36874711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.28, Y:-2.99, Z:2.37 [[ 9.99116624e-01 4.02318722e-02 1.21395354e-02 4.19277487e+02] [-4.02260650e-02 9.99190343e-01 -7.22260965e-04 -2.99400750e+00] [-1.21587645e-02 2.33297197e-04 9.99926052e-01 2.36825693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.31, Y:-3.00, Z:2.37 [[ 9.99048221e-01 4.19283996e-02 1.20275450e-02 4.19305849e+02] [-4.19228348e-02 9.99120596e-01 -7.14535098e-04 -2.99543427e+00] [-1.20469272e-02 2.09626236e-04 9.99927411e-01 2.36763252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.34, Y:-3.00, Z:2.37 [[ 9.99003215e-01 4.30394052e-02 1.18400583e-02 4.19335030e+02] [-4.30340992e-02 9.99073357e-01 -7.02665761e-04 -2.99680048e+00] [-1.18593291e-02 1.92439111e-04 9.99929657e-01 2.36696808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.36, Y:-3.00, Z:2.37 [[ 9.98955437e-01 4.41762458e-02 1.16830816e-02 4.19363899e+02] [-4.41711658e-02 9.99023738e-01 -6.92621464e-04 -2.99847321e+00] [-1.17022732e-02 1.75842644e-04 9.99931511e-01 2.36614262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.39, Y:-3.00, Z:2.37 [[ 9.98935814e-01 4.47493443e-02 1.11685240e-02 4.19392100e+02] [-4.47447437e-02 9.98998233e-01 -6.61586954e-04 -2.99994069e+00] [-1.11869413e-02 1.61150159e-04 9.99937411e-01 2.36564935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.42, Y:-3.00, Z:2.36 [[ 9.98952621e-01 4.43653639e-02 1.11971328e-02 4.19420765e+02] [-4.43607268e-02 9.99015359e-01 -6.62274004e-04 -3.00164935e+00] [-1.12154897e-02 1.64867401e-04 9.99937091e-01 2.36489602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.45, Y:-3.00, Z:2.36 [[ 9.99000961e-01 4.32525052e-02 1.12383969e-02 4.19449153e+02] [-4.32477715e-02 9.99064157e-01 -6.64009367e-04 -3.00321309e+00] [-1.12565996e-02 1.77310373e-04 9.99936627e-01 2.36453295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.48, Y:-3.01, Z:2.36 [[ 9.99069180e-01 4.16388079e-02 1.12686619e-02 4.19477884e+02] [-4.16339538e-02 9.99132710e-01 -6.65099575e-04 -3.00518259e+00] [-1.12865827e-02 1.95321536e-04 9.99936285e-01 2.36392829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.51, Y:-3.01, Z:2.36 [[ 9.99266186e-01 3.65505977e-02 1.14518051e-02 4.19505605e+02] [-3.65452570e-02 9.99331771e-01 -6.75344249e-04 -3.00800763e+00] [-1.14688369e-02 2.56339512e-04 9.99934198e-01 2.36385163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.53, Y:-3.01, Z:2.36 [[ 9.99366131e-01 3.35757100e-02 1.18325203e-02 4.19534537e+02] [-3.35698152e-02 9.99436132e-01 -6.96500451e-04 -3.01024700e+00] [-1.18492338e-02 2.98843441e-04 9.99929751e-01 2.36352637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.56, Y:-3.01, Z:2.36 [[ 9.99457741e-01 3.02616163e-02 1.29791370e-02 4.19563081e+02] [-3.02542520e-02 9.99541944e-01 -7.63411116e-04 -3.01246860e+00] [-1.29962939e-02 3.70323069e-04 9.99915476e-01 2.36314015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.59, Y:-3.01, Z:2.36 [[ 9.99552040e-01 2.66571178e-02 1.36057956e-02 4.19592195e+02] [-2.66487053e-02 9.99644541e-01 -7.99259063e-04 -3.01498585e+00] [-1.36222652e-02 4.36324190e-04 9.99907117e-01 2.36284255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.62, Y:-3.02, Z:2.36 [[ 9.99700144e-01 2.02490068e-02 1.37695290e-02 4.19622797e+02] [-2.02397943e-02 9.99794828e-01 -8.08087132e-04 -3.01850821e+00] [-1.37830668e-02 5.29152388e-04 9.99904869e-01 2.36210668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.65, Y:-3.02, Z:2.36 [[ 9.99758781e-01 1.73022730e-02 1.35281898e-02 4.19653784e+02] [-1.72931156e-02 9.99850148e-01 -7.93605490e-04 -3.02087917e+00] [-1.35398938e-02 5.59469507e-04 9.99908175e-01 2.36086127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.69, Y:-3.02, Z:2.36 [[ 9.99803639e-01 1.49177766e-02 1.30438741e-02 4.19685487e+02] [-1.49090491e-02 9.99888560e-01 -7.66076556e-04 -3.02341243e+00] [-1.30538486e-02 5.71454370e-04 9.99914632e-01 2.35983787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.72, Y:-3.03, Z:2.36 [[ 9.99838083e-01 1.25848309e-02 1.28619759e-02 4.19717285e+02] [-1.25761200e-02 9.99920630e-01 -7.57917842e-04 -3.02583774e+00] [-1.28704933e-02 5.96041369e-04 9.99916994e-01 2.35881542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.75, Y:-3.03, Z:2.36 [[ 9.99872634e-01 8.65768932e-03 1.34074642e-02 4.19750316e+02] [-8.64783445e-03 9.99962292e-01 -7.92830171e-04 -3.02790279e+00] [-1.34138227e-02 6.76783661e-04 9.99909802e-01 2.35797642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.78, Y:-3.03, Z:2.36 [[ 9.99882896e-01 7.35541492e-03 1.34198291e-02 4.19782594e+02] [-7.34536480e-03 9.99972704e-01 -7.98036775e-04 -3.02942871e+00] [-1.34253326e-02 6.99369782e-04 9.99909632e-01 2.35767621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.82, Y:-3.03, Z:2.36 [[ 9.99880293e-01 5.94578454e-03 1.42845162e-02 4.19816226e+02] [-5.93422266e-03 9.99982030e-01 -8.51649460e-04 -3.02948141e+00] [-1.42893232e-02 7.66780012e-04 9.99897608e-01 2.35749036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.85, Y:-3.03, Z:2.36 [[ 9.99874586e-01 5.88638351e-03 1.47024432e-02 4.19848879e+02] [-5.87406201e-03 9.99982359e-01 -8.81101144e-04 -3.03011529e+00] [-1.47073704e-02 7.94627579e-04 9.99891525e-01 2.35695744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.88, Y:-3.03, Z:2.36 [[ 9.99878031e-01 6.13645479e-03 1.43620354e-02 4.19882217e+02] [-6.12466404e-03 9.99980870e-01 -8.64806690e-04 -3.03062153e+00] [-1.43670675e-02 7.76738568e-04 9.99896487e-01 2.35642444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.91, Y:-3.03, Z:2.36 [[ 9.99872573e-01 6.71762295e-03 1.44814244e-02 4.19913941e+02] [-6.70563179e-03 9.99977133e-01 -8.76435207e-04 -3.03119252e+00] [-1.44869808e-02 7.79216426e-04 9.99894755e-01 2.35597604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.95, Y:-3.03, Z:2.36 [[ 9.99852292e-01 7.75004193e-03 1.53405223e-02 4.19947335e+02] [-7.73663818e-03 9.99969637e-01 -9.32901768e-04 -3.03008213e+00] [-1.53472866e-02 8.14079900e-04 9.99881892e-01 2.35565782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.98, Y:-3.03, Z:2.35 [[ 9.99841322e-01 8.79879754e-03 1.54890982e-02 4.19979839e+02] [-8.78518528e-03 9.99960961e-01 -9.46651804e-04 -3.03053115e+00] [-1.54968229e-02 8.10426994e-04 9.99879589e-01 2.35492639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.01, Y:-3.03, Z:2.35 [[ 9.99839665e-01 8.98556223e-03 1.54888178e-02 4.20013320e+02] [-8.97190181e-03 9.99959299e-01 -9.51215670e-04 -3.03267961e+00] [-1.54967346e-02 8.12099005e-04 9.99879589e-01 2.35428416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.05, Y:-3.03, Z:2.35 [[ 9.99828877e-01 1.02509359e-02 1.53992168e-02 4.20046663e+02] [-1.02375446e-02 9.99947145e-01 -9.48187624e-04 -3.03307377e+00] [-1.54081227e-02 7.90375198e-04 9.99880975e-01 2.35399643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.08, Y:-3.03, Z:2.35 [[ 9.99815794e-01 1.13979378e-02 1.54422979e-02 4.20078992e+02] [-1.13845369e-02 9.99934738e-01 -9.55442180e-04 -3.03341198e+00] [-1.54521801e-02 7.79462773e-04 9.99880304e-01 2.35352610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.11, Y:-3.03, Z:2.35 [[ 9.99810006e-01 1.27586822e-02 1.47366140e-02 4.20112551e+02] [-1.27465717e-02 9.99918340e-01 -9.15439333e-04 -3.03350319e+00] [-1.47470904e-02 7.27424099e-04 9.99890991e-01 2.35352906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.15, Y:-3.03, Z:2.35 [[ 9.99796985e-01 1.50718086e-02 1.33726773e-02 4.20145987e+02] [-1.50619971e-02 9.99886214e-01 -8.34118664e-04 -3.03165861e+00] [-1.33837274e-02 6.32530099e-04 9.99910234e-01 2.35330293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.18, Y:-3.03, Z:2.35 [[ 9.99777610e-01 1.63125900e-02 1.33652452e-02 4.20177981e+02] [-1.63028454e-02 9.99866749e-01 -8.37733656e-04 -3.03192124e+00] [-1.33771299e-02 6.19655826e-04 9.99910330e-01 2.35268709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.21, Y:-3.03, Z:2.35 [[ 9.99747567e-01 1.83376377e-02 1.29820274e-02 4.20210161e+02] [-1.83285681e-02 9.99831684e-01 -8.17274768e-04 -3.03046111e+00] [-1.29948292e-02 5.79126488e-04 9.99915396e-01 2.35257005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.24, Y:-3.03, Z:2.35 [[ 9.99729722e-01 1.91325924e-02 1.32070981e-02 4.20241919e+02] [-1.91232122e-02 9.99816785e-01 -8.36170303e-04 -3.03068405e+00] [-1.32206765e-02 5.83382165e-04 9.99912433e-01 2.35213027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.27, Y:-3.03, Z:2.35 [[ 9.99712867e-01 2.00848707e-02 1.30683122e-02 4.20273639e+02] [-2.00757618e-02 9.99798119e-01 -8.27847293e-04 -3.03074411e+00] [-1.30823011e-02 5.65253269e-04 9.99914263e-01 2.35213243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.30, Y:-3.03, Z:2.35 [[ 9.99689057e-01 2.12293957e-02 1.30806131e-02 4.20304392e+02] [-2.12203597e-02 9.99774479e-01 -8.29215165e-04 -3.03089971e+00] [-1.30952669e-02 5.51382011e-04 9.99914101e-01 2.35165523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.34, Y:-3.03, Z:2.35 [[ 9.99662996e-01 2.22542359e-02 1.33657287e-02 4.20335455e+02] [-2.22448883e-02 9.99752193e-01 -8.47642541e-04 -3.03066903e+00] [-1.33812802e-02 5.50037740e-04 9.99910315e-01 2.35134623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.37, Y:-3.03, Z:2.35 [[ 9.99565714e-01 2.55112689e-02 1.47498413e-02 4.20366469e+02] [-2.55002390e-02 9.99674378e-01 -9.35421725e-04 -3.02919493e+00] [-1.47689023e-02 5.58891006e-04 9.99890778e-01 2.35074887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.40, Y:-3.03, Z:2.35 [[ 9.99507800e-01 2.72905239e-02 1.54720745e-02 4.20397143e+02] [-2.72786001e-02 9.99627388e-01 -9.81225109e-04 -3.02952653e+00] [-1.54930876e-02 5.58685616e-04 9.99879819e-01 2.35001639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.43, Y:-3.03, Z:2.35 [[ 9.99441512e-01 2.93388296e-02 1.59968080e-02 4.20426995e+02] [-2.93263462e-02 9.99569375e-01 -1.01443904e-03 -3.02991048e+00] [-1.60196818e-02 5.44744558e-04 9.99871528e-01 2.34968414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.46, Y:-3.03, Z:2.35 [[ 9.99380377e-01 3.09923342e-02 1.66834333e-02 4.20456488e+02] [-3.09789779e-02 9.99519476e-01 -1.05847701e-03 -3.03017363e+00] [-1.67082212e-02 5.40985444e-04 9.99860262e-01 2.34932822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.49, Y:-3.03, Z:2.35 [[ 9.99326300e-01 3.23181627e-02 1.73919989e-02 4.20486130e+02] [-3.23038595e-02 9.99477486e-01 -1.10278187e-03 -3.03028271e+00] [-1.74185513e-02 5.40210234e-04 9.99848140e-01 2.34918910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.51, Y:-3.03, Z:2.35 [[ 9.99241927e-01 3.49678989e-02 1.71119066e-02 4.20514510e+02] [-3.49544506e-02 9.99388318e-01 -1.08445584e-03 -3.02876546e+00] [-1.71393607e-02 4.85496446e-04 9.99852992e-01 2.34864399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.54, Y:-3.03, Z:2.35 [[ 9.99204220e-01 3.60818278e-02 1.70008376e-02 4.20543990e+02] [-3.60687305e-02 9.99348732e-01 -1.07648029e-03 -3.02943409e+00] [-1.70286069e-02 4.62425021e-04 9.99854896e-01 2.34791057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.57, Y:-3.03, Z:2.35 [[ 9.99166511e-01 3.71474219e-02 1.69219752e-02 4.20572716e+02] [-3.71346081e-02 9.99309699e-01 -1.07092977e-03 -3.03016496e+00] [-1.69500762e-02 4.41646243e-04 9.99856240e-01 2.34742579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.60, Y:-3.03, Z:2.35 [[ 9.99114877e-01 3.83629493e-02 1.72553479e-02 4.20601161e+02] [-3.83498221e-02 9.99263779e-01 -1.09113727e-03 -3.03152133e+00] [-1.72845034e-02 4.28431959e-04 9.99850520e-01 2.34655298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.63, Y:-3.03, Z:2.35 [[ 9.99000974e-01 4.07867769e-02 1.82617662e-02 4.20628532e+02] [-4.07725036e-02 9.99167790e-01 -1.15338927e-03 -3.03293943e+00] [-1.82936116e-02 4.07659077e-04 9.99832575e-01 2.34555568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.66, Y:-3.03, Z:2.35 [[ 9.98952209e-01 4.17360025e-02 1.87773666e-02 4.20657195e+02] [-4.17211121e-02 9.99128594e-01 -1.18421258e-03 -3.03476727e+00] [-1.88104282e-02 3.99559158e-04 9.99822988e-01 2.34505847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.69, Y:-3.04, Z:2.34 [[ 9.98915143e-01 4.25149050e-02 1.90005347e-02 4.20686313e+02] [-4.24998250e-02 9.99095757e-01 -1.19693534e-03 -3.03659637e+00] [-1.90342412e-02 3.88117439e-04 9.99818757e-01 2.34444349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.71, Y:-3.04, Z:2.34 [[ 9.98828805e-01 4.48133202e-02 1.82424100e-02 4.20714101e+02] [-4.47998259e-02 9.98995324e-01 -1.14791871e-03 -3.03854149e+00] [-1.82755244e-02 3.29317477e-04 9.99832934e-01 2.34282039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.74, Y:-3.04, Z:2.34 [[ 9.98808354e-01 4.55249405e-02 1.75884156e-02 4.20742255e+02] [-4.55125338e-02 9.98963156e-01 -1.10523479e-03 -3.04052045e+00] [-1.76204949e-02 3.03424380e-04 9.99844701e-01 2.34160756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.77, Y:-3.04, Z:2.34 [[ 9.98789516e-01 4.60715009e-02 1.72313557e-02 4.20770882e+02] [-4.60597006e-02 9.98938104e-01 -1.08126364e-03 -3.04281062e+00] [-1.72628733e-02 2.86283697e-04 9.99850945e-01 2.34060388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.80, Y:-3.05, Z:2.34 [[ 9.98780101e-01 4.65232308e-02 1.65499008e-02 4.20799476e+02] [-4.65124258e-02 9.98917173e-01 -1.03740126e-03 -3.04595764e+00] [-1.65802434e-02 2.66359705e-04 9.99862503e-01 2.33961953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.83, Y:-3.05, Z:2.34 [[ 9.98785051e-01 4.64130818e-02 1.65604431e-02 4.20828625e+02] [-4.64022682e-02 9.98922297e-01 -1.03683861e-03 -3.04865881e+00] [-1.65907187e-02 2.67136783e-04 9.99862329e-01 2.33923217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.86, Y:-3.05, Z:2.34 [[ 9.98818350e-01 4.59136843e-02 1.59322995e-02 4.20856103e+02] [-4.59036291e-02 9.98945376e-01 -9.96444537e-04 -3.05123259e+00] [-1.59612473e-02 2.63916723e-04 9.99872576e-01 2.33906320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.88, Y:-3.05, Z:2.34 [[ 9.98847418e-01 4.51745091e-02 1.62203451e-02 4.20884582e+02] [-4.51640151e-02 9.98979072e-01 -1.01288598e-03 -3.05377381e+00] [-1.62495419e-02 2.79142632e-04 9.99867929e-01 2.33849326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.91, Y:-3.06, Z:2.34 [[ 9.98894297e-01 4.41442698e-02 1.61699575e-02 4.20913212e+02] [-4.41337247e-02 9.99025123e-01 -1.00858144e-03 -3.05647322e+00] [-1.61987169e-02 2.93825794e-04 9.99868749e-01 2.33785671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.94, Y:-3.06, Z:2.34 [[ 9.99000007e-01 4.14424970e-02 1.67781142e-02 4.20942044e+02] [-4.14307843e-02 9.99140830e-01 -1.04523251e-03 -3.06063479e+00] [-1.68070160e-02 3.49056856e-04 9.99858691e-01 2.33715367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.97, Y:-3.06, Z:2.34 [[ 9.99060056e-01 3.98457430e-02 1.70681250e-02 4.20970158e+02] [-3.98334100e-02 9.99205770e-01 -1.06206794e-03 -3.06356948e+00] [-1.70968878e-02 3.81188037e-04 9.99853765e-01 2.33704324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.00, Y:-3.07, Z:2.34 [[ 9.99100441e-01 3.86141983e-02 1.75286266e-02 4.20999244e+02] [-3.86010320e-02 9.99254109e-01 -1.08897321e-03 -3.06656392e+00] [-1.75576020e-02 4.11370544e-04 9.99845769e-01 2.33661068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.03, Y:-3.07, Z:2.34 [[ 9.99154711e-01 3.71692091e-02 1.75588580e-02 4.21028825e+02] [-3.71557975e-02 9.99308891e-01 -1.08953366e-03 -3.06925391e+00] [-1.75872200e-02 4.36199319e-04 9.99845238e-01 2.33609069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.06, Y:-3.07, Z:2.34 [[ 9.99199714e-01 3.59780101e-02 1.74789602e-02 4.21058601e+02] [-3.59645491e-02 9.99352478e-01 -1.08395357e-03 -3.07185377e+00] [-1.75066407e-02 4.54463180e-04 9.99846644e-01 2.33556995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.09, Y:-3.08, Z:2.33 [[ 9.99274974e-01 3.40519136e-02 1.70292077e-02 4.21087582e+02] [-3.40388670e-02 9.99419953e-01 -1.05547830e-03 -3.07522996e+00] [-1.70552710e-02 4.75058114e-04 9.99854435e-01 2.33463785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.12, Y:-3.08, Z:2.33 [[ 9.99306410e-01 3.31084707e-02 1.70448750e-02 4.21117049e+02] [-3.30952750e-02 9.99451644e-01 -1.05574230e-03 -3.07780845e+00] [-1.70704824e-02 4.90905224e-04 9.99854168e-01 2.33361046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.15, Y:-3.08, Z:2.33 [[ 9.99353063e-01 3.18427724e-02 1.67180554e-02 4.21146344e+02] [-3.18299118e-02 9.99492764e-01 -1.03485599e-03 -3.08088636e+00] [-1.67425281e-02 5.02052276e-04 9.99859708e-01 2.33287770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.18, Y:-3.08, Z:2.33 [[ 9.99372040e-01 3.13226015e-02 1.65656664e-02 4.21176316e+02] [-3.13099071e-02 9.99509199e-01 -1.02517286e-03 -3.08338658e+00] [-1.65896470e-02 5.05859621e-04 9.99862254e-01 2.33237453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.21, Y:-3.09, Z:2.33 [[ 9.99396090e-01 3.05216402e-02 1.66098053e-02 4.21205820e+02] [-3.05087784e-02 9.99533971e-01 -1.02724793e-03 -3.08585351e+00] [-1.66334180e-02 5.19882697e-04 9.99861520e-01 2.33169974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.24, Y:-3.09, Z:2.33 [[ 9.99425544e-01 2.94345834e-02 1.67984294e-02 4.21236724e+02] [-2.94212803e-02 9.99566561e-01 -1.03856221e-03 -3.08827027e+00] [-1.68217180e-02 5.43734301e-04 9.99858357e-01 2.33114593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.27, Y:-3.09, Z:2.33 [[ 9.99451466e-01 2.85663375e-02 1.67550147e-02 4.21267383e+02] [-2.85529812e-02 9.99591744e-01 -1.03587810e-03 -3.09081786e+00] [-1.67777656e-02 5.56904265e-04 9.99859088e-01 2.33061011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.30, Y:-3.09, Z:2.33 [[ 9.99502601e-01 2.63835257e-02 1.72759754e-02 4.21297552e+02] [-2.63690029e-02 9.99651707e-01 -1.06792949e-03 -3.09363366e+00] [-1.72981340e-02 6.11848057e-04 9.99850189e-01 2.33000846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.33, Y:-3.10, Z:2.33 [[ 9.99527925e-01 2.53520070e-02 1.73552172e-02 4.21329050e+02] [-2.53371684e-02 9.99678385e-01 -1.07438300e-03 -3.09609908e+00] [-1.73768733e-02 6.34143753e-04 9.99848810e-01 2.32933696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.36, Y:-3.10, Z:2.33 [[ 9.99555682e-01 2.42523059e-02 1.73281362e-02 4.21359930e+02] [-2.42373377e-02 9.99705656e-01 -1.07333137e-03 -3.09837693e+00] [-1.73490666e-02 6.52866577e-04 9.99849280e-01 2.32892499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.39, Y:-3.10, Z:2.33 [[ 9.99579138e-01 2.35743531e-02 1.69055371e-02 4.21392201e+02] [-2.35600076e-02 9.99721876e-01 -1.04725355e-03 -3.10071543e+00] [-1.69255236e-02 6.48518214e-04 9.99856543e-01 2.32813251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.42, Y:-3.10, Z:2.33 [[ 9.99651448e-01 2.05735606e-02 1.65442335e-02 4.21422994e+02] [-2.05593422e-02 9.99788105e-01 -1.02905630e-03 -3.10272695e+00] [-1.65618992e-02 6.88559062e-04 9.99862605e-01 2.32789758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.45, Y:-3.10, Z:2.33 [[ 9.99695276e-01 1.95383081e-02 1.50867467e-02 4.21454857e+02] [-1.95263203e-02 9.99808900e-01 -9.41496708e-04 -3.10463335e+00] [-1.51022589e-02 6.46621163e-04 9.99885745e-01 2.32706381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.49, Y:-3.11, Z:2.33 [[ 9.99803122e-01 1.55210782e-02 1.23617623e-02 4.21487427e+02] [-1.55126960e-02 9.99879372e-01 -7.73673236e-04 -3.10646712e+00] [-1.23722794e-02 5.81756656e-04 9.99923291e-01 2.32562970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.52, Y:-3.11, Z:2.33 [[ 9.99832001e-01 1.34421530e-02 1.24610775e-02 4.21519016e+02] [-1.34334330e-02 9.99909461e-01 -7.83220777e-04 -3.10833176e+00] [-1.24704774e-02 6.15694147e-04 9.99922051e-01 2.32514037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.55, Y:-3.11, Z:2.32 [[ 9.99866688e-01 1.07289178e-02 1.23084124e-02 4.21551330e+02] [-1.07201585e-02 9.99942235e-01 -7.77407676e-04 -3.11012260e+00] [-1.23160421e-02 6.45355907e-04 9.99923946e-01 2.32465248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.58, Y:-3.11, Z:2.32 [[ 9.99878519e-01 8.44724057e-03 1.30993174e-02 4.21584131e+02] [-8.43712321e-03 9.99964065e-01 -8.27429350e-04 -3.11194097e+00] [-1.31058362e-02 7.16808278e-04 9.99913858e-01 2.32446697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.62, Y:-3.11, Z:2.32 [[ 9.99913790e-01 3.19411045e-03 1.27361423e-02 4.21617395e+02] [-3.18407298e-03 9.99994604e-01 -8.08309104e-04 -3.11308515e+00] [-1.27386554e-02 7.67686613e-04 9.99918565e-01 2.32433157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.65, Y:-3.11, Z:2.32 [[ 9.99922460e-01 1.16019995e-03 1.23986966e-02 4.21649274e+02] [-1.15048618e-03 9.99999026e-01 -7.90554536e-04 -3.11453441e+00] [-1.23996017e-02 7.76228708e-04 9.99922821e-01 2.32348168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.68, Y:-3.12, Z:2.32 [[ 9.99923499e-01 -5.84065364e-04 1.23553531e-02 4.21682801e+02] [ 5.93884234e-04 9.99999511e-01 -7.91051690e-04 -3.11592150e+00] [-1.23548850e-02 7.98328823e-04 9.99923357e-01 2.32283572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.71, Y:-3.12, Z:2.32 [[ 9.99902782e-01 -3.29394942e-03 1.35490375e-02 4.21714952e+02] [ 3.30607563e-03 9.99994154e-01 -8.72686028e-04 -3.11581348e+00] [-1.35460837e-02 9.17395330e-04 9.99907827e-01 2.32230549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.75, Y:-3.12, Z:2.32 [[ 9.99891139e-01 -3.74147653e-03 1.42727394e-02 4.21747518e+02] [ 3.75502375e-03 9.99992524e-01 -9.22486372e-04 -3.11673797e+00] [-1.42691813e-02 9.75980425e-04 9.99897714e-01 2.32192135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.78, Y:-3.12, Z:2.32 [[ 9.99870408e-01 -3.86604851e-03 1.56275902e-02 4.21780467e+02] [ 3.88233530e-03 9.99991952e-01 -1.01197844e-03 -3.11645759e+00] [-1.56235521e-02 1.07251884e-03 9.99877370e-01 2.32163776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.81, Y:-3.12, Z:2.32 [[ 9.99870895e-01 -3.73825852e-03 1.56274831e-02 4.21813925e+02] [ 3.75455547e-03 9.99992438e-01 -1.01363008e-03 -3.11871238e+00] [-1.56235757e-02 1.07217347e-03 9.99877370e-01 2.32099513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.85, Y:-3.12, Z:2.32 [[ 9.99875226e-01 -3.50282321e-03 1.54033327e-02 4.21847135e+02] [ 3.51865911e-03 9.99993308e-01 -1.00110206e-03 -3.11944551e+00] [-1.53997229e-02 1.05517622e-03 9.99880860e-01 2.32060584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.88, Y:-3.12, Z:2.32 [[ 9.99876178e-01 -2.66041218e-03 1.55096754e-02 4.21880461e+02] [ 2.67639326e-03 9.99995909e-01 -1.00972887e-03 -3.11807947e+00] [-1.55069257e-02 1.05111383e-03 9.99879208e-01 2.31967077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.91, Y:-3.12, Z:2.32 [[ 9.99875123e-01 -1.98445838e-03 1.56779924e-02 4.21912841e+02] [ 2.00072423e-03 9.99997476e-01 -1.02187894e-03 -3.11833254e+00] [-1.56759250e-02 1.05311867e-03 9.99876571e-01 2.31908598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.95, Y:-3.12, Z:2.32 [[ 9.99875482e-01 -1.09032142e-03 1.57426413e-02 4.21945511e+02] [ 1.10668806e-03 9.99998856e-01 -1.03096299e-03 -3.11872218e+00] [-1.57414992e-02 1.04825681e-03 9.99875545e-01 2.31842045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.98, Y:-3.12, Z:2.32 [[ 9.99875614e-01 -9.64341106e-04 1.57425336e-02 4.21978969e+02] [ 9.80717929e-04 9.99998986e-01 -1.03260458e-03 -3.12100355e+00] [-1.57415218e-02 1.04791512e-03 9.99875545e-01 2.31777782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.01, Y:-3.12, Z:2.32 [[ 9.99876448e-01 1.63847146e-05 1.57190341e-02 4.22012593e+02] [-1.45246255e-07 9.99999466e-01 -1.03310911e-03 -3.11965585e+00] [-1.57190426e-02 1.03297919e-03 9.99875915e-01 2.31720273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.05, Y:-3.12, Z:2.32 [[ 9.99882478e-01 5.77065197e-04 1.53198177e-02 4.22046100e+02] [-5.61681001e-04 9.99999334e-01 -1.00848594e-03 -3.12015664e+00] [-1.53203894e-02 9.99762574e-04 9.99882136e-01 2.31635793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.08, Y:-3.12, Z:2.32 [[ 9.99888272e-01 1.30131216e-03 1.48912992e-02 4.22078814e+02] [-1.28683362e-03 9.99998690e-01 -9.81822459e-04 -3.12067704e+00] [-1.48925573e-02 9.62550137e-04 9.99888636e-01 2.31508792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.11, Y:-3.12, Z:2.31 [[ 9.99912254e-01 1.71007846e-03 1.31361819e-02 4.22111556e+02] [-1.69884408e-03 9.99998182e-01 -8.66335388e-04 -3.11870995e+00] [-1.31376395e-02 8.43943046e-04 9.99913341e-01 2.31398482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.14, Y:-3.12, Z:2.31 [[ 9.99917269e-01 2.25511428e-03 1.26637176e-02 4.22143896e+02] [-2.24466024e-03 9.99997128e-01 -8.39663424e-04 -3.11868783e+00] [-1.26655748e-02 8.11168215e-04 9.99919459e-01 2.31269265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.18, Y:-3.12, Z:2.31 [[ 9.99922537e-01 2.81877469e-03 1.21233057e-02 4.22176512e+02] [-2.80922409e-03 9.99995730e-01 -8.04746076e-04 -3.11848740e+00] [-1.21255223e-02 7.70626656e-04 9.99926186e-01 2.31180303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.21, Y:-3.12, Z:2.31 [[ 9.99917318e-01 3.71757628e-03 1.23099988e-02 4.22209780e+02] [-3.70778029e-03 9.99992791e-01 -8.18501904e-04 -3.11860675e+00] [-1.23129529e-02 7.72791458e-04 9.99923894e-01 2.31088602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.24, Y:-3.12, Z:2.31 [[ 9.99907522e-01 4.73704778e-03 1.27478329e-02 4.22243348e+02] [-4.72662127e-03 9.99988470e-01 -8.47908884e-04 -3.11838813e+00] [-1.27517025e-02 7.87576293e-04 9.99918384e-01 2.31036493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.28, Y:-3.12, Z:2.31 [[ 9.99866771e-01 7.10329615e-03 1.46963855e-02 4.22275815e+02] [-7.08960392e-03 9.99974385e-01 -9.83562717e-04 -3.11570728e+00] [-1.47029956e-02 8.79240126e-04 9.99891519e-01 2.31008923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.31, Y:-3.12, Z:2.31 [[ 9.99835753e-01 8.55909804e-03 1.59752865e-02 4.22308889e+02] [-8.54308786e-03 9.99962935e-01 -1.07015991e-03 -3.11559802e+00] [-1.59838540e-02 9.33505861e-04 9.99871814e-01 2.30981243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.34, Y:-3.12, Z:2.31 [[ 9.99808536e-01 9.63856895e-03 1.70290737e-02 4.22341941e+02] [-9.62044490e-03 9.99953066e-01 -1.14590124e-03 -3.11546768e+00] [-1.70393193e-02 9.81854578e-04 9.99854338e-01 2.30957272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.37, Y:-3.11, Z:2.31 [[ 9.99778825e-01 1.12378811e-02 1.77766820e-02 4.22374938e+02] [-1.12182885e-02 9.99936351e-01 -1.20149247e-03 -3.11340626e+00] [-1.77890528e-02 1.00180278e-03 9.99841260e-01 2.30886726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.41, Y:-3.11, Z:2.31 [[ 9.99774594e-01 1.18525907e-02 1.76146697e-02 4.22407821e+02] [-1.18333600e-02 9.99929269e-01 -1.19557413e-03 -3.11390957e+00] [-1.76275944e-02 9.86863910e-04 9.99844135e-01 2.30748362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.44, Y:-3.11, Z:2.31 [[ 9.99772361e-01 1.22534520e-02 1.74664926e-02 4.22440070e+02] [-1.22345123e-02 9.99924447e-01 -1.19078855e-03 -3.11307495e+00] [-1.74797642e-02 9.76823462e-04 9.99846740e-01 2.30573862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.47, Y:-3.11, Z:2.30 [[ 9.99762332e-01 1.22170465e-02 1.80560892e-02 4.22473408e+02] [-1.21967408e-02 9.99924855e-01 -1.23428370e-03 -3.11415198e+00] [-1.80698117e-02 1.01376491e-03 9.99836214e-01 2.30445085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.51, Y:-3.11, Z:2.30 [[ 9.99790869e-01 1.10880804e-02 1.71835126e-02 4.22505431e+02] [-1.10694427e-02 9.99938036e-01 -1.17936502e-03 -3.11383531e+00] [-1.71955247e-02 9.88906473e-04 9.99851657e-01 2.30303976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.54, Y:-3.11, Z:2.30 [[ 9.99837130e-01 9.90073306e-03 1.50893729e-02 4.22538439e+02] [-9.88617669e-03 9.99950591e-01 -1.03896650e-03 -3.11390917e+00] [-1.50989138e-02 8.89621075e-04 9.99885609e-01 2.30128086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.57, Y:-3.11, Z:2.30 [[ 9.99856597e-01 9.34801470e-03 1.41209166e-02 4.22570624e+02] [-9.33515075e-03 9.99955950e-01 -9.76626272e-04 -3.11491466e+00] [-1.41294241e-02 8.44665335e-04 9.99899818e-01 2.30008674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.60, Y:-3.12, Z:2.30 [[ 9.99869613e-01 9.16138220e-03 1.32976309e-02 4.22603103e+02] [-9.14993551e-03 9.99957714e-01 -9.21392059e-04 -3.11595306e+00] [-1.33055098e-02 7.99599456e-04 9.99911158e-01 2.29882116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.64, Y:-3.12, Z:2.30 [[ 9.99876581e-01 9.15709180e-03 1.27660149e-02 4.22635600e+02] [-9.14649962e-03 9.99957776e-01 -8.87856068e-04 -3.11677790e+00] [-1.27736061e-02 7.70982138e-04 9.99918117e-01 2.29806104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.67, Y:-3.12, Z:2.30 [[ 9.99875464e-01 9.27861571e-03 1.27657198e-02 4.22669052e+02] [-9.26797972e-03 9.99956653e-01 -8.92076111e-04 -3.11920741e+00] [-1.27734437e-02 7.73652583e-04 9.99918117e-01 2.29741936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.70, Y:-3.12, Z:2.30 [[ 9.99869801e-01 9.65681734e-03 1.29277616e-02 4.22702622e+02] [-9.64593334e-03 9.99953068e-01 -9.03998772e-04 -3.11990316e+00] [-1.29358847e-02 7.79180745e-04 9.99916024e-01 2.29651473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.74, Y:-3.12, Z:2.30 [[ 9.99832483e-01 1.13549507e-02 1.43551483e-02 4.22735768e+02] [-1.13416375e-02 9.99935173e-01 -1.00849400e-03 -3.11943376e+00] [-1.43656691e-02 8.45514171e-04 9.99896451e-01 2.29578462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.77, Y:-3.12, Z:2.30 [[ 9.99804515e-01 1.27357669e-02 1.51239197e-02 4.22769330e+02] [-1.27210767e-02 9.99918514e-01 -1.06712984e-03 -3.12041996e+00] [-1.51362781e-02 8.74528691e-04 9.99885058e-01 2.29503595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.80, Y:-3.12, Z:2.29 [[ 9.99774722e-01 1.44152500e-02 1.55790380e-02 4.22802596e+02] [-1.43997942e-02 9.99895708e-01 -1.10381036e-03 -3.12141702e+00] [-1.55933249e-02 8.79226754e-04 9.99878030e-01 2.29460680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.83, Y:-3.12, Z:2.29 [[ 9.99703714e-01 1.71613140e-02 1.72619151e-02 4.22834981e+02] [-1.71426486e-02 9.99852299e-01 -1.22870869e-03 -3.12084165e+00] [-1.72804517e-02 9.32429694e-04 9.99850247e-01 2.29395440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.87, Y:-3.12, Z:2.29 [[ 9.99678892e-01 1.84811164e-02 1.73367299e-02 4.22867052e+02] [-1.84624040e-02 9.99828788e-01 -1.23879693e-03 -3.12190125e+00] [-1.73566560e-02 9.18321428e-04 9.99848940e-01 2.29340391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.90, Y:-3.12, Z:2.29 [[ 9.99663916e-01 1.91335982e-02 1.74917156e-02 4.22898853e+02] [-1.91145741e-02 9.99816513e-01 -1.25416117e-03 -3.12300763e+00] [-1.75125027e-02 9.19392977e-04 9.99846222e-01 2.29312607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.93, Y:-3.12, Z:2.29 [[ 9.99660140e-01 1.97654039e-02 1.69980429e-02 4.22931001e+02] [-1.97474628e-02 9.99804252e-01 -1.22269875e-03 -3.12346459e+00] [-1.70188827e-02 8.86614985e-04 9.99854775e-01 2.29256493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.96, Y:-3.13, Z:2.29 [[ 9.99661623e-01 1.99738644e-02 1.66638531e-02 4.22961903e+02] [-1.99565796e-02 9.99800124e-01 -1.20292771e-03 -3.12528292e+00] [-1.66845495e-02 8.69967158e-04 9.99860425e-01 2.29169497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.99, Y:-3.13, Z:2.29 [[ 9.99677621e-01 1.92846839e-02 1.65152881e-02 4.22993065e+02] [-1.92675388e-02 9.99813648e-01 -1.19663583e-03 -3.12711051e+00] [-1.65352871e-02 8.78041110e-04 9.99862897e-01 2.29112735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.02, Y:-3.13, Z:2.29 [[ 9.99686019e-01 1.89335516e-02 1.64129214e-02 4.23024566e+02] [-1.89165618e-02 9.99820358e-01 -1.18979173e-03 -3.12914458e+00] [-1.64324999e-02 8.78942114e-04 9.99864591e-01 2.29002318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.06, Y:-3.13, Z:2.29 [[ 9.99698956e-01 1.86102710e-02 1.59892308e-02 4.23055651e+02] [-1.85940970e-02 9.99826442e-01 -1.15963377e-03 -3.13105882e+00] [-1.60080368e-02 8.61979361e-04 9.99871492e-01 2.28929558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.09, Y:-3.13, Z:2.29 [[ 9.99709769e-01 1.81599943e-02 1.58301338e-02 4.23087157e+02] [-1.81440753e-02 9.99834723e-01 -1.14866600e-03 -3.13216556e+00] [-1.58483772e-02 8.61109485e-04 9.99874036e-01 2.28857819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.12, Y:-3.13, Z:2.29 [[ 9.99705170e-01 1.85035670e-02 1.57223375e-02 4.23118273e+02] [-1.84879032e-02 9.99828433e-01 -1.14104806e-03 -3.13367004e+00] [-1.57407535e-02 8.50038588e-04 9.99875745e-01 2.28793093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.15, Y:-3.14, Z:2.29 [[ 9.99693657e-01 1.91252943e-02 1.57103569e-02 4.23149756e+02] [-1.91096902e-02 9.99816740e-01 -1.14277193e-03 -3.13515096e+00] [-1.57293337e-02 8.42201801e-04 9.99875932e-01 2.28723919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.18, Y:-3.14, Z:2.29 [[ 9.99652954e-01 2.11064407e-02 1.57635696e-02 4.23179804e+02] [-2.10909662e-02 9.99776903e-01 -1.14728355e-03 -3.13567976e+00] [-1.57842678e-02 8.14416472e-04 9.99875089e-01 2.28648177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.21, Y:-3.14, Z:2.29 [[ 9.99634722e-01 2.21687207e-02 1.54586541e-02 4.23209792e+02] [-2.21539605e-02 9.99753937e-01 -1.12543133e-03 -3.13689463e+00] [-1.54797997e-02 7.82549827e-04 9.99879874e-01 2.28579888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.24, Y:-3.14, Z:2.29 [[ 9.99613484e-01 2.33206720e-02 1.51336674e-02 4.23239334e+02] [-2.33066565e-02 9.99727756e-01 -1.10184290e-03 -3.13819528e+00] [-1.51552431e-02 7.48701835e-04 9.99884872e-01 2.28512510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.27, Y:-3.14, Z:2.28 [[ 9.99570743e-01 2.50681389e-02 1.51630427e-02 4.23268921e+02] [-2.50542726e-02 9.99685483e-01 -1.10378076e-03 -3.13837380e+00] [-1.51859434e-02 7.23407950e-04 9.99884425e-01 2.28381775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.30, Y:-3.14, Z:2.28 [[ 9.99558575e-01 2.56872111e-02 1.49272571e-02 4.23297701e+02] [-2.56738483e-02 9.99669782e-01 -1.08616526e-03 -3.13945850e+00] [-1.49502284e-02 7.02445666e-04 9.99887992e-01 2.28317085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.33, Y:-3.14, Z:2.28 [[ 9.99549872e-01 2.59682191e-02 1.50235073e-02 4.23326630e+02] [-2.59547261e-02 9.99662522e-01 -1.09243856e-03 -3.14081603e+00] [-1.50468059e-02 7.02015804e-04 9.99886544e-01 2.28256310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.36, Y:-3.14, Z:2.28 [[ 9.99542509e-01 2.61427606e-02 1.52095095e-02 4.23355876e+02] [-2.61289686e-02 9.99657970e-01 -1.10484813e-03 -3.14232685e+00] [-1.52331912e-02 7.06933878e-04 9.99883718e-01 2.28166956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.38, Y:-3.14, Z:2.28 [[ 9.99539821e-01 2.60224201e-02 1.55878107e-02 4.23383664e+02] [-2.60079356e-02 9.99661096e-01 -1.13124787e-03 -3.14308236e+00] [-1.56119657e-02 7.25320512e-04 9.99877863e-01 2.28082102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.41, Y:-3.14, Z:2.28 [[ 9.99581346e-01 2.49224505e-02 1.46971057e-02 4.23412742e+02] [-2.49094767e-02 9.99689143e-01 -1.06517063e-03 -3.14436486e+00] [-1.47190836e-02 6.98627477e-04 9.99891424e-01 2.27977792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.44, Y:-3.15, Z:2.28 [[ 9.99645708e-01 2.30445291e-02 1.33194784e-02 4.23441211e+02] [-2.30337201e-02 9.99734224e-01 -9.64373614e-04 -3.14573660e+00] [-1.33381619e-02 6.57234806e-04 9.99910827e-01 2.27876331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.47, Y:-3.15, Z:2.28 [[ 9.99646902e-01 2.29926285e-02 1.33195317e-02 4.23470446e+02] [-2.29818247e-02 9.99735419e-01 -9.63636680e-04 -3.14778865e+00] [-1.33381641e-02 6.57189280e-04 9.99910827e-01 2.27820084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.50, Y:-3.15, Z:2.28 [[ 9.99678196e-01 2.18882701e-02 1.28221485e-02 4.23499305e+02] [-2.18781740e-02 9.99760214e-01 -9.27150286e-04 -3.14933466e+00] [-1.28393676e-02 6.46326731e-04 9.99917363e-01 2.27734260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.53, Y:-3.15, Z:2.28 [[ 9.99703424e-01 2.06873209e-02 1.28490861e-02 4.23528028e+02] [-2.06770955e-02 9.99785775e-01 -9.28162102e-04 -3.15096091e+00] [-1.28655347e-02 6.62205051e-04 9.99917016e-01 2.27639148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.56, Y:-3.15, Z:2.28 [[ 9.99728340e-01 1.98653905e-02 1.21906336e-02 4.23557179e+02] [-1.98561384e-02 9.99802461e-01 -8.79524257e-04 -3.15268936e+00] [-1.22056975e-02 6.37226418e-04 9.99925305e-01 2.27598772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.59, Y:-3.15, Z:2.28 [[ 9.99742609e-01 1.88791636e-02 1.25814785e-02 4.23585906e+02] [-1.88692355e-02 9.99821548e-01 -9.07357186e-04 -3.15389790e+00] [-1.25963634e-02 6.69720761e-04 9.99920438e-01 2.27516283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.62, Y:-3.16, Z:2.27 [[ 9.99739788e-01 1.86555814e-02 1.31272726e-02 4.23615938e+02] [-1.86447654e-02 9.99825724e-01 -9.45845268e-04 -3.15524870e+00] [-1.31426302e-02 7.00844229e-04 9.99913386e-01 2.27442098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.65, Y:-3.16, Z:2.27 [[ 9.99730108e-01 1.91246924e-02 1.31893028e-02 4.23645745e+02] [-1.91138252e-02 9.99816863e-01 -9.49513974e-04 -3.15642677e+00] [-1.32050465e-02 6.97159679e-04 9.99912567e-01 2.27379938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.68, Y:-3.16, Z:2.27 [[ 9.99716709e-01 1.97926208e-02 1.32194773e-02 4.23675232e+02] [-1.97817542e-02 9.99803868e-01 -9.52275788e-04 -3.15758126e+00] [-1.32357326e-02 6.90501565e-04 9.99912165e-01 2.27340161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.70, Y:-3.16, Z:2.27 [[ 9.99673154e-01 2.22385304e-02 1.26108029e-02 4.23704978e+02] [-2.22288409e-02 9.99752496e-01 -9.08010552e-04 -3.15762288e+00] [-1.26278745e-02 6.27390242e-04 9.99920068e-01 2.27298019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.73, Y:-3.16, Z:2.27 [[ 9.99641763e-01 2.34834501e-02 1.28402615e-02 4.23732321e+02] [-2.34735091e-02 9.99724032e-01 -9.24394195e-04 -3.15863388e+00] [-1.28584259e-02 6.22657050e-04 9.99917133e-01 2.27230715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.76, Y:-3.16, Z:2.27 [[ 9.99603622e-01 2.48456541e-02 1.32398160e-02 4.23760825e+02] [-2.48352214e-02 9.99691105e-01 -9.51834139e-04 -3.15974538e+00] [-1.32593752e-02 6.22643091e-04 9.99911897e-01 2.27149058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.79, Y:-3.16, Z:2.27 [[ 9.99576154e-01 2.57384776e-02 1.36030682e-02 4.23789490e+02] [-2.57275603e-02 9.99668514e-01 -9.76980955e-04 -3.16094016e+00] [-1.36237050e-02 6.26593109e-04 9.99906997e-01 2.27142910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.82, Y:-3.16, Z:2.27 [[ 9.99540697e-01 2.69347663e-02 1.38893492e-02 4.23817315e+02] [-2.69235132e-02 9.99637000e-01 -9.96579514e-04 -3.16152498e+00] [-1.39111500e-02 6.22171706e-04 9.99903042e-01 2.27077616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.85, Y:-3.16, Z:2.27 [[ 9.99530312e-01 2.74510907e-02 1.36232644e-02 4.23846366e+02] [-2.74403306e-02 9.99622967e-01 -9.76164732e-04 -3.16286716e+00] [-1.36449248e-02 6.01879359e-04 9.99906723e-01 2.26990114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.88, Y:-3.16, Z:2.27 [[ 9.99522051e-01 2.78340538e-02 1.34511921e-02 4.23875609e+02] [-2.78236112e-02 9.99612385e-01 -9.62887175e-04 -3.16402216e+00] [-1.34727793e-02 5.88166225e-04 9.99909065e-01 2.26897625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.90, Y:-3.17, Z:2.27 [[ 9.99500551e-01 2.84590568e-02 1.37379434e-02 4.23903491e+02] [-2.84482359e-02 9.99594784e-01 -9.82482720e-04 -3.16532152e+00] [-1.37603371e-02 5.91171765e-04 9.99905147e-01 2.26812794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.93, Y:-3.17, Z:2.27 [[ 9.99502072e-01 2.84055240e-02 1.37380449e-02 4.23932727e+02] [-2.83947176e-02 9.99596307e-01 -9.81061027e-04 -3.16734905e+00] [-1.37603665e-02 5.90484624e-04 9.99905147e-01 2.26756524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.96, Y:-3.17, Z:2.27 [[ 9.99474413e-01 2.92111368e-02 1.40573137e-02 4.23960378e+02] [-2.91999102e-02 9.99573088e-01 -1.00325873e-03 -3.16862465e+00] [-1.40806188e-02 5.92259133e-04 9.99900688e-01 2.26711337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.99, Y:-3.17, Z:2.27 [[ 9.99407864e-01 3.11906438e-02 1.45280589e-02 4.23989599e+02] [-3.11788821e-02 9.99513284e-01 -1.03543040e-03 -3.16945900e+00] [-1.45532837e-02 5.81848650e-04 9.99893926e-01 2.26669833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.02, Y:-3.17, Z:2.27 [[ 9.99383831e-01 3.20063877e-02 1.44065958e-02 4.24017765e+02] [-3.19949203e-02 9.99487505e-01 -1.02581899e-03 -3.17093668e+00] [-1.44320453e-02 5.64249030e-04 9.99895693e-01 2.26613088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.05, Y:-3.17, Z:2.27 [[ 9.99365726e-01 3.27881456e-02 1.38954686e-02 4.24046674e+02] [-3.27775709e-02 9.99462183e-01 -9.88136257e-04 -3.17267640e+00] [-1.39203946e-02 5.32049798e-04 9.99902965e-01 2.26520296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.07, Y:-3.17, Z:2.26 [[ 9.99337540e-01 3.42638995e-02 1.22664678e-02 4.24074000e+02] [-3.42557774e-02 9.99412718e-01 -8.71695209e-04 -3.17455495e+00] [-1.22891316e-02 4.50920354e-04 9.99924384e-01 2.26400122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.10, Y:-3.18, Z:2.26 [[ 9.99334337e-01 3.46745061e-02 1.13384937e-02 4.24101594e+02] [-3.46676014e-02 9.99398574e-01 -8.05001694e-04 -3.17649483e+00] [-1.13595875e-02 4.11387455e-04 9.99935393e-01 2.26333139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.13, Y:-3.18, Z:2.26 [[ 9.99330492e-01 3.47427783e-02 1.14676301e-02 4.24129781e+02] [-3.47357339e-02 9.99396202e-01 -8.12952407e-04 -3.17843706e+00] [-1.14889502e-02 4.14071582e-04 9.99933914e-01 2.26227183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.16, Y:-3.18, Z:2.26 [[ 9.99370826e-01 3.34415984e-02 1.18157422e-02 4.24157919e+02] [-3.34340448e-02 9.99440576e-01 -8.36290240e-04 -3.18059854e+00] [-1.18370991e-02 4.40716013e-04 9.99929842e-01 2.26215338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.19, Y:-3.18, Z:2.26 [[ 9.99389803e-01 3.28529469e-02 1.18619542e-02 4.24185821e+02] [-3.28453079e-02 9.99460096e-01 -8.38282339e-04 -3.18301633e+00] [-1.18830899e-02 4.48161282e-04 9.99929293e-01 2.26171703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.21, Y:-3.19, Z:2.26 [[ 9.99408078e-01 3.21218385e-02 1.23159024e-02 4.24213330e+02] [-3.21135652e-02 9.99483849e-01 -8.68984645e-04 -3.18500384e+00] [-1.23374589e-02 4.72962739e-04 9.99923779e-01 2.26109288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.24, Y:-3.19, Z:2.26 [[ 9.99445822e-01 3.09356105e-02 1.22896805e-02 4.24241944e+02] [-3.09273023e-02 9.99521262e-01 -8.65552311e-04 -3.18730010e+00] [-1.23105733e-02 4.84985978e-04 9.99924104e-01 2.26108951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.27, Y:-3.19, Z:2.26 [[ 9.99448758e-01 3.05553333e-02 1.29827546e-02 4.24270316e+02] [-3.05460426e-02 9.99532943e-01 -9.13359466e-04 -3.18949170e+00] [-1.30045989e-02 5.16284209e-04 9.99915303e-01 2.26020056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.30, Y:-3.19, Z:2.26 [[ 9.99509120e-01 2.87291325e-02 1.24962161e-02 4.24299226e+02] [-2.87203934e-02 9.99587099e-01 -8.78269007e-04 -3.19232277e+00] [-1.25162883e-02 5.18941641e-04 9.99921534e-01 2.25999922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.33, Y:-3.19, Z:2.26 [[ 9.99540301e-01 2.75559744e-02 1.26433515e-02 4.24327279e+02] [-2.75469451e-02 9.99620117e-01 -8.87784216e-04 -3.19478571e+00] [-1.26630122e-02 5.39090394e-04 9.99919676e-01 2.25941041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.36, Y:-3.20, Z:2.26 [[ 9.99580548e-01 2.61180067e-02 1.25130754e-02 4.24355527e+02] [-2.61090655e-02 9.99658715e-01 -8.77406125e-04 -3.19729173e+00] [-1.25317210e-02 5.50333390e-04 9.99921323e-01 2.25881510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.38, Y:-3.20, Z:2.26 [[ 9.99632131e-01 2.46132494e-02 1.13925631e-02 4.24383732e+02] [-2.46057484e-02 9.99696914e-01 -7.98133694e-04 -3.20084423e+00] [-1.14087548e-02 5.17517544e-04 9.99934784e-01 2.25770081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.41, Y:-3.20, Z:2.26 [[ 9.99642017e-01 2.43376342e-02 1.11138123e-02 4.24411767e+02] [-2.43304858e-02 9.99703667e-01 -7.77974206e-04 -3.20345804e+00] [-1.11294529e-02 5.07291254e-04 9.99937937e-01 2.25696233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.44, Y:-3.21, Z:2.26 [[ 9.99643531e-01 2.42674479e-02 1.11311619e-02 4.24440456e+02] [-2.42602857e-02 9.99705373e-01 -7.78032539e-04 -3.20607961e+00] [-1.11467632e-02 5.07710026e-04 9.99937744e-01 2.25672135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.47, Y:-3.21, Z:2.26 [[ 9.99636757e-01 2.44238259e-02 1.13943168e-02 4.24468949e+02] [-2.44163408e-02 9.99701560e-01 -7.95586183e-04 -3.20805697e+00] [-1.14103475e-02 5.17089671e-04 9.99934766e-01 2.25648125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.50, Y:-3.21, Z:2.26 [[ 9.99614788e-01 2.50643716e-02 1.19185872e-02 4.24497275e+02] [-2.50562382e-02 9.99685698e-01 -8.31269256e-04 -3.20999168e+00] [-1.19356764e-02 5.32314081e-04 9.99928626e-01 2.25617974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.53, Y:-3.21, Z:2.26 [[ 9.99592203e-01 2.56226966e-02 1.26057760e-02 4.24525904e+02] [-2.56136548e-02 9.99671531e-01 -8.78229594e-04 -3.21205284e+00] [-1.26241380e-02 5.54991460e-04 9.99920158e-01 2.25616715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.55, Y:-3.21, Z:2.26 [[ 9.99567621e-01 2.59823093e-02 1.37655491e-02 4.24553391e+02] [-2.59715746e-02 9.99662223e-01 -9.58044453e-04 -3.21452130e+00] [-1.37857916e-02 6.00117230e-04 9.99904791e-01 2.25582269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.58, Y:-3.22, Z:2.26 [[ 9.99534881e-01 2.62362943e-02 1.55460409e-02 4.24582443e+02] [-2.62226628e-02 9.99655543e-01 -1.08007802e-03 -3.21805628e+00] [-1.55690233e-02 6.71917060e-04 9.99878570e-01 2.25528368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.61, Y:-3.22, Z:2.25 [[ 9.99535342e-01 2.60940278e-02 1.57544298e-02 4.24609960e+02] [-2.60800279e-02 9.99659260e-01 -1.09346701e-03 -3.22115087e+00] [-1.57775946e-02 6.82082955e-04 9.99875293e-01 2.25418535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.64, Y:-3.22, Z:2.25 [[ 9.99540332e-01 2.58570895e-02 1.58283118e-02 4.24638481e+02] [-2.58429517e-02 9.99665413e-01 -1.09712208e-03 -3.22432995e+00] [-1.58513842e-02 6.87567472e-04 9.99874123e-01 2.25313747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.67, Y:-3.23, Z:2.25 [[ 9.99552544e-01 2.51165695e-02 1.62440822e-02 4.24667425e+02] [-2.51016008e-02 9.99684272e-01 -1.12474956e-03 -3.22739919e+00] [-1.62672033e-02 7.16493813e-04 9.99867424e-01 2.25253822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.70, Y:-3.23, Z:2.25 [[ 9.99566559e-01 2.40768575e-02 1.69410464e-02 4.24696890e+02] [-2.40604501e-02 9.99709819e-01 -1.17167873e-03 -3.23050982e+00] [-1.69643408e-02 7.63561673e-04 9.99855804e-01 2.25203023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.73, Y:-3.23, Z:2.25 [[ 9.99650434e-01 2.14621629e-02 1.54397266e-02 4.24727312e+02] [-2.14482333e-02 9.99769391e-01 -1.06723307e-03 -3.23456788e+00] [-1.54590712e-02 7.35705141e-04 9.99880231e-01 2.25085433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.76, Y:-3.24, Z:2.25 [[ 9.99730074e-01 1.89735127e-02 1.34084042e-02 4.24756444e+02] [-1.89627829e-02 9.99819761e-01 -9.26926526e-04 -3.23910610e+00] [-1.34235746e-02 6.72415666e-04 9.99909674e-01 2.24845285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.79, Y:-3.24, Z:2.25 [[ 9.99759246e-01 1.77015722e-02 1.29655051e-02 4.24786849e+02] [-1.76914372e-02 9.99843093e-01 -8.95973818e-04 -3.24246172e+00] [-1.29793309e-02 6.66379689e-04 9.99915543e-01 2.24766004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.82, Y:-3.25, Z:2.25 [[ 9.99796017e-01 1.51785965e-02 1.33242109e-02 4.24816750e+02] [-1.51676695e-02 9.99884540e-01 -9.20761977e-04 -3.24686634e+00] [-1.33366484e-02 7.18476930e-04 9.99910805e-01 2.24674001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.85, Y:-3.25, Z:2.25 [[ 9.99795204e-01 1.52320609e-02 1.33242324e-02 4.24848521e+02] [-1.52211427e-02 9.99883728e-01 -9.20451408e-04 -3.24908925e+00] [-1.33367035e-02 7.17452860e-04 9.99910805e-01 2.24612916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.88, Y:-3.25, Z:2.25 [[ 9.99812152e-01 1.37233942e-02 1.36868420e-02 4.24879979e+02] [-1.37117210e-02 9.99905542e-01 -9.46357451e-04 -3.25245661e+00] [-1.36985364e-02 7.58509521e-04 9.99905883e-01 2.24572318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.91, Y:-3.26, Z:2.25 [[ 9.99833109e-01 1.20910360e-02 1.36952598e-02 4.24912320e+02] [-1.20792054e-02 9.99926596e-01 -9.46243494e-04 -3.25670465e+00] [-1.37056956e-02 7.80657720e-04 9.99905768e-01 2.24538474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.94, Y:-3.26, Z:2.24 [[ 9.99839900e-01 1.15396811e-02 1.36751391e-02 4.24944306e+02] [-1.15277870e-02 9.99933103e-01 -9.48270835e-04 -3.25993060e+00] [-1.36851670e-02 7.90474926e-04 9.99906041e-01 2.24463504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.98, Y:-3.26, Z:2.24 [[ 9.99842167e-01 1.07756420e-02 1.41254134e-02 4.24976870e+02] [-1.07628200e-02 9.99941596e-01 -9.83429442e-04 -3.26283233e+00] [-1.41351855e-02 8.31244942e-04 9.99899748e-01 2.24429139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.01, Y:-3.27, Z:2.24 [[ 9.99823399e-01 1.04407542e-02 1.56256822e-02 4.25009008e+02] [-1.04249401e-02 9.99945061e-01 -1.09317261e-03 -3.26699652e+00] [-1.56362373e-02 9.30082756e-04 9.99877314e-01 2.24392607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.04, Y:-3.27, Z:2.24 [[ 9.99796087e-01 1.09959358e-02 1.69373266e-02 4.25042151e+02] [-1.09773483e-02 9.99939039e-01 -1.19000771e-03 -3.27024568e+00] [-1.69493793e-02 1.00383812e-03 9.99855845e-01 2.24333455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.07, Y:-3.27, Z:2.24 [[ 9.99778105e-01 1.14998405e-02 1.76491967e-02 4.25074723e+02] [-1.14796394e-02 9.99933331e-01 -1.24547779e-03 -3.27339270e+00] [-1.76623428e-02 1.04259501e-03 9.99843465e-01 2.24284133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.11, Y:-3.28, Z:2.24 [[ 9.99760878e-01 1.20892361e-02 1.82218945e-02 4.25106485e+02] [-1.20676969e-02 9.99926349e-01 -1.29155334e-03 -3.27669079e+00] [-1.82361664e-02 1.07134820e-03 9.99833133e-01 2.24226256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.14, Y:-3.28, Z:2.24 [[ 9.99722021e-01 1.31708004e-02 1.95553010e-02 4.25138980e+02] [-1.31461230e-02 9.99912620e-01 -1.38995085e-03 -3.28102536e+00] [-1.95718990e-02 1.13248808e-03 9.99807811e-01 2.24143679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.17, Y:-3.28, Z:2.24 [[ 9.99712958e-01 1.34013919e-02 1.98595967e-02 4.25172262e+02] [-1.33758699e-02 9.99909534e-01 -1.41740100e-03 -3.28447607e+00] [-1.98767952e-02 1.15135476e-03 9.99801774e-01 2.24088233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.20, Y:-3.29, Z:2.24 [[ 9.99708463e-01 1.36662722e-02 1.99053515e-02 4.25203987e+02] [-1.36405702e-02 9.99905946e-01 -1.42641667e-03 -3.28889640e+00] [-1.99229731e-02 1.15448047e-03 9.99800851e-01 2.23996597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.24, Y:-3.29, Z:2.24 [[ 9.99703999e-01 1.30971482e-02 2.05031420e-02 4.25236636e+02] [-1.30696430e-02 9.99913501e-01 -1.47494574e-03 -3.29271863e+00] [-2.05206861e-02 1.20654041e-03 9.99788701e-01 2.23920805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.27, Y:-3.30, Z:2.24 [[ 9.99704558e-01 1.27219253e-02 2.07110870e-02 4.25268250e+02] [-1.26936549e-02 9.99918313e-01 -1.49588462e-03 -3.29704394e+00] [-2.07284257e-02 1.23254328e-03 9.99784383e-01 2.23868273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.30, Y:-3.30, Z:2.24 [[ 9.99700979e-01 1.20879300e-02 2.12563775e-02 4.25300968e+02] [-1.20578834e-02 9.99926113e-01 -1.54113908e-03 -3.30114461e+00] [-2.12734361e-02 1.28437133e-03 9.99772870e-01 2.23768752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.33, Y:-3.31, Z:2.24 [[ 9.99694296e-01 1.18823017e-02 2.16823871e-02 4.25334173e+02] [-1.18508527e-02 9.99928530e-01 -1.57836133e-03 -3.30548937e+00] [-2.16995920e-02 1.32092404e-03 9.99763664e-01 2.23664948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.37, Y:-3.31, Z:2.24 [[ 9.99680322e-01 1.17314408e-02 2.23970437e-02 4.25366064e+02] [-1.16977007e-02 9.99930240e-01 -1.63687896e-03 -3.30960932e+00] [-2.24146843e-02 1.37436177e-03 9.99747815e-01 2.23552291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.40, Y:-3.32, Z:2.23 [[ 9.99658126e-01 1.24746182e-02 2.29785848e-02 4.25398561e+02] [-1.24391533e-02 9.99921210e-01 -1.68568678e-03 -3.31502449e+00] [-2.29978026e-02 1.39927635e-03 9.99734536e-01 2.23399739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.43, Y:-3.32, Z:2.23 [[ 9.99641321e-01 1.31215700e-02 2.33463869e-02 4.25430565e+02] [-1.30849881e-02 9.99912910e-01 -1.71899946e-03 -3.31865149e+00] [-2.33669097e-02 1.41289570e-03 9.99725958e-01 2.23263762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.46, Y:-3.32, Z:2.23 [[ 9.99627540e-01 1.38987997e-02 2.34862564e-02 4.25462777e+02] [-1.38618839e-02 9.99902416e-01 -1.73388612e-03 -3.32208449e+00] [-2.35080635e-02 1.40767656e-03 9.99722656e-01 2.23156445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.50, Y:-3.33, Z:2.23 [[ 9.99618655e-01 1.46644315e-02 2.33987089e-02 4.25496163e+02] [-1.46278536e-02 9.99891504e-01 -1.73364929e-03 -3.32580893e+00] [-2.34215932e-02 1.39071528e-03 9.99724710e-01 2.23047402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.53, Y:-3.33, Z:2.23 [[ 9.99602935e-01 1.49493487e-02 2.38849053e-02 4.25528574e+02] [-1.49111543e-02 9.99887245e-01 -1.77641338e-03 -3.33071943e+00] [-2.39087684e-02 1.41955652e-03 9.99713137e-01 2.22899176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.56, Y:-3.33, Z:2.23 [[ 9.99591154e-01 1.50396499e-02 2.43173584e-02 4.25561943e+02] [-1.49999150e-02 9.99885847e-01 -1.81560363e-03 -3.33486976e+00] [-2.43418886e-02 1.45010302e-03 9.99702641e-01 2.22790870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.59, Y:-3.34, Z:2.23 [[ 9.99594021e-01 1.48936631e-02 2.42893526e-02 4.25593619e+02] [-1.48538086e-02 9.99888019e-01 -1.82042691e-03 -3.33874263e+00] [-2.43137454e-02 1.45889846e-03 9.99703313e-01 2.22663515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.63, Y:-3.34, Z:2.23 [[ 9.99603572e-01 1.50834018e-02 2.37737198e-02 4.25626587e+02] [-1.50451238e-02 9.99885217e-01 -1.78815129e-03 -3.34264337e+00] [-2.37979624e-02 1.42976386e-03 9.99715766e-01 2.22556155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.66, Y:-3.35, Z:2.22 [[ 9.99594185e-01 1.56754505e-02 2.37854242e-02 4.25659647e+02] [-1.56371384e-02 9.99876120e-01 -1.79589071e-03 -3.34711479e+00] [-2.38106291e-02 1.42322594e-03 9.99715474e-01 2.22367935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.69, Y:-3.35, Z:2.22 [[ 9.99562957e-01 1.71156179e-02 2.41029167e-02 4.25691741e+02] [-1.70765231e-02 9.99852517e-01 -1.82690145e-03 -3.35092811e+00] [-2.41306305e-02 1.41450900e-03 9.99707813e-01 2.22196671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.72, Y:-3.35, Z:2.22 [[ 9.99541111e-01 1.80862408e-02 2.42992787e-02 4.25724442e+02] [-1.80466291e-02 9.99835438e-01 -1.84848014e-03 -3.35429730e+00] [-2.43287120e-02 1.40911182e-03 9.99703020e-01 2.22088102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.76, Y:-3.36, Z:2.22 [[ 9.99509881e-01 2.00471243e-02 2.40439130e-02 4.25757212e+02] [-2.00087457e-02 9.99798120e-01 -1.83573032e-03 -3.35799549e+00] [-2.40758601e-02 1.35374205e-03 9.99709218e-01 2.21930037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.79, Y:-3.36, Z:2.22 [[ 9.99489779e-01 2.08844773e-02 2.41665173e-02 4.25788857e+02] [-2.08457938e-02 9.99780988e-01 -1.85155232e-03 -3.36097206e+00] [-2.41998932e-02 1.34683739e-03 9.99706232e-01 2.21834937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.82, Y:-3.36, Z:2.22 [[ 9.99487211e-01 2.10073512e-02 2.41662078e-02 4.25822290e+02] [-2.09686063e-02 9.99778413e-01 -1.85558398e-03 -3.36362638e+00] [-2.41998337e-02 1.34790076e-03 9.99706232e-01 2.21770716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.86, Y:-3.37, Z:2.22 [[ 9.99468076e-01 2.14015176e-02 2.46077077e-02 4.25855167e+02] [-2.13613632e-02 9.99770027e-01 -1.89351943e-03 -3.36650996e+00] [-2.46425728e-02 1.36685804e-03 9.99695391e-01 2.21681833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.89, Y:-3.37, Z:2.22 [[ 9.99465303e-01 2.15312090e-02 2.46072174e-02 4.25888602e+02] [-2.14909379e-02 9.99767238e-01 -1.89987153e-03 -3.36916888e+00] [-2.46423963e-02 1.37002349e-03 9.99695391e-01 2.21617675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.92, Y:-3.37, Z:2.22 [[ 9.99460448e-01 2.19235783e-02 2.44575088e-02 4.25920726e+02] [-2.18838161e-02 9.99758730e-01 -1.89226651e-03 -3.37181715e+00] [-2.44930931e-02 1.35602191e-03 9.99699080e-01 2.21569611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.95, Y:-3.37, Z:2.21 [[ 9.99461165e-01 2.20381652e-02 2.43248601e-02 4.25954179e+02] [-2.19987020e-02 9.99756215e-01 -1.88878338e-03 -3.37455312e+00] [-2.43605554e-02 1.35265029e-03 9.99702323e-01 2.21495081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.99, Y:-3.38, Z:2.21 [[ 9.99464561e-01 2.21816038e-02 2.40534488e-02 4.25986056e+02] [-2.21428920e-02 9.99753059e-01 -1.87459392e-03 -3.37769766e+00] [-2.40890905e-02 1.34097727e-03 9.99708916e-01 2.21391418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.02, Y:-3.38, Z:2.21 [[ 9.99469484e-01 2.20166465e-02 2.40003886e-02 4.26018798e+02] [-2.19778989e-02 9.99756695e-01 -1.87707345e-03 -3.38076722e+00] [-2.40358761e-02 1.34859952e-03 9.99710187e-01 2.21314290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.05, Y:-3.38, Z:2.21 [[ 9.99473421e-01 2.19842427e-02 2.38657567e-02 4.26051349e+02] [-2.19457543e-02 9.99757408e-01 -1.87345352e-03 -3.38379646e+00] [-2.39011535e-02 1.34871496e-03 9.99713417e-01 2.21241359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.08, Y:-3.39, Z:2.21 [[ 9.99505050e-01 2.14928618e-02 2.29719678e-02 4.26083392e+02] [-2.14569339e-02 9.99768136e-01 -1.80935969e-03 -3.38630932e+00] [-2.30055297e-02 1.31555616e-03 9.99734472e-01 2.21219486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.12, Y:-3.39, Z:2.21 [[ 9.99524368e-01 2.18110979e-02 2.18016915e-02 4.26116753e+02] [-2.17787246e-02 9.99761334e-01 -1.72126092e-03 -3.38870138e+00] [-2.18340308e-02 1.24562920e-03 9.99760833e-01 2.21176128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.15, Y:-3.39, Z:2.21 [[ 9.99525273e-01 2.25688494e-02 2.09732068e-02 4.26150163e+02] [-2.25389317e-02 9.99744585e-01 -1.66178930e-03 -3.39123199e+00] [-2.10053546e-02 1.18828673e-03 9.99778657e-01 2.21071763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.18, Y:-3.39, Z:2.21 [[ 9.99524729e-01 2.35466042e-02 1.98965655e-02 4.26182747e+02] [-2.35197630e-02 9.99722120e-01 -1.58199725e-03 -3.39379935e+00] [-1.99282873e-02 1.11328287e-03 9.99800792e-01 2.21029644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.21, Y:-3.40, Z:2.21 [[ 9.99513346e-01 2.45596129e-02 1.92327078e-02 4.26214439e+02] [-2.45346159e-02 9.99697803e-01 -1.53462759e-03 -3.39601278e+00] [-1.92645856e-02 1.06201365e-03 9.99813857e-01 2.21001811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.25, Y:-3.40, Z:2.21 [[ 9.99478227e-01 2.57261047e-02 1.95305367e-02 4.26245436e+02] [-2.57004446e-02 9.99668466e-01 -1.56374726e-03 -3.39792629e+00] [-1.95642908e-02 1.06098786e-03 9.99808038e-01 2.21039460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.28, Y:-3.40, Z:2.21 [[ 9.99481775e-01 2.63980365e-02 1.84207806e-02 4.26278117e+02] [-2.63752498e-02 9.99651019e-01 -1.47890608e-03 -3.40015610e+00] [-1.84533923e-02 9.92286980e-04 9.99829229e-01 2.20999757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.31, Y:-3.40, Z:2.21 [[ 9.99470200e-01 2.74278758e-02 1.75222739e-02 4.26308642e+02] [-2.74073370e-02 9.99623352e-01 -1.41126433e-03 -3.40234798e+00] [-1.75543821e-02 9.30277782e-04 9.99845477e-01 2.20944351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.34, Y:-3.40, Z:2.21 [[ 9.99434755e-01 2.94127739e-02 1.62806377e-02 4.26338028e+02] [-2.93952998e-02 9.99567004e-01 -1.31162396e-03 -3.40363238e+00] [-1.63121667e-02 8.32308346e-04 9.99866601e-01 2.20879822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.37, Y:-3.41, Z:2.21 [[ 9.99406329e-01 3.05201464e-02 1.59846761e-02 4.26367983e+02] [-3.05034466e-02 9.99533832e-01 -1.28756100e-03 -3.40569034e+00] [-1.60165211e-02 7.99208893e-04 9.99871408e-01 2.20850777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.40, Y:-3.41, Z:2.21 [[ 9.99375450e-01 3.14107210e-02 1.61888058e-02 4.26397460e+02] [-3.13937177e-02 9.99506246e-01 -1.30343782e-03 -3.40780175e+00] [-1.62217544e-02 7.94396963e-04 9.99868103e-01 2.20768008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.43, Y:-3.41, Z:2.21 [[ 9.99357064e-01 3.19903433e-02 1.61887525e-02 4.26425791e+02] [-3.19734251e-02 9.99487870e-01 -1.30287014e-03 -3.40970467e+00] [-1.62221410e-02 7.84422611e-04 9.99868105e-01 2.20716430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.45, Y:-3.41, Z:2.21 [[ 9.99334886e-01 3.28178913e-02 1.58987953e-02 4.26454756e+02] [-3.28016850e-02 9.99461061e-01 -1.27911282e-03 -3.41140163e+00] [-1.59322046e-02 7.56754794e-04 9.99872788e-01 2.20714912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.48, Y:-3.41, Z:2.21 [[ 9.99332592e-01 3.29800043e-02 1.57063566e-02 4.26483501e+02] [-3.29642256e-02 9.99455735e-01 -1.26251302e-03 -3.41316495e+00] [-1.57394459e-02 7.43922528e-04 9.99875851e-01 2.20667937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.51, Y:-3.41, Z:2.21 [[ 9.99346488e-01 3.29711557e-02 1.48155431e-02 4.26511964e+02] [-3.29571301e-02 9.99456058e-01 -1.18990751e-03 -3.41462287e+00] [-1.48467169e-02 7.00852110e-04 9.99889536e-01 2.20678051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.54, Y:-3.42, Z:2.21 [[ 9.99363570e-01 3.26494284e-02 1.43690391e-02 4.26540594e+02] [-3.26362167e-02 9.99466632e-01 -1.15305269e-03 -3.41603294e+00] [-1.43990216e-02 6.83367783e-04 9.99896095e-01 2.20627544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.57, Y:-3.42, Z:2.21 [[ 9.99366873e-01 3.26780246e-02 1.40712450e-02 4.26569414e+02] [-3.26653716e-02 9.99465708e-01 -1.12816755e-03 -3.41783787e+00] [-1.41005931e-02 6.67810826e-04 9.99900359e-01 2.20575147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.60, Y:-3.42, Z:2.21 [[ 9.99387874e-01 3.25265355e-02 1.28803129e-02 4.26597989e+02] [-3.25159318e-02 9.99470685e-01 -1.03186856e-03 -3.41929731e+00] [-1.29070583e-02 6.12421552e-04 9.99916513e-01 2.20526784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.63, Y:-3.42, Z:2.20 [[ 9.99387642e-01 3.26967993e-02 1.24603127e-02 4.26626115e+02] [-3.26868985e-02 9.99465143e-01 -9.97469312e-04 -3.42108192e+00] [-1.24862622e-02 5.89569529e-04 9.99921870e-01 2.20479604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.65, Y:-3.42, Z:2.20 [[ 9.99385180e-01 3.28620478e-02 1.22207909e-02 4.26654811e+02] [-3.28525511e-02 9.99459732e-01 -9.77088070e-04 -3.42276932e+00] [-1.22462975e-02 5.75003179e-04 9.99924846e-01 2.20440358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.68, Y:-3.42, Z:2.20 [[ 9.99365337e-01 3.36076778e-02 1.18087438e-02 4.26682831e+02] [-3.35988702e-02 9.99434953e-01 -9.43511598e-04 -3.42326368e+00] [-1.18337806e-02 5.46152335e-04 9.99929829e-01 2.20481082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.71, Y:-3.42, Z:2.20 [[ 9.99334321e-01 3.45081205e-02 1.18365467e-02 4.26711302e+02] [-3.44993502e-02 9.99404274e-01 -9.44401860e-04 -3.42427099e+00] [-1.18620849e-02 5.35420022e-04 9.99929500e-01 2.20474907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.74, Y:-3.43, Z:2.20 [[ 9.99295444e-01 3.55822214e-02 1.19382112e-02 4.26739137e+02] [-3.55733853e-02 9.99366614e-01 -9.51755630e-04 -3.42518367e+00] [-1.19645153e-02 5.26402479e-04 9.99928284e-01 2.20480960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.77, Y:-3.43, Z:2.21 [[ 9.99202016e-01 3.77856675e-02 1.29450663e-02 4.26767694e+02] [-3.77754810e-02 9.99285720e-01 -1.03059862e-03 -3.42521012e+00] [-1.29747618e-02 5.40770112e-04 9.99915678e-01 2.20544628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.80, Y:-3.43, Z:2.21 [[ 9.99174218e-01 3.84842552e-02 1.30324409e-02 4.26796604e+02] [-3.84740025e-02 9.99259064e-01 -1.03660098e-03 -3.42662901e+00] [-1.30626775e-02 5.34334813e-04 9.99914537e-01 2.20544902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.83, Y:-3.43, Z:2.20 [[ 9.99141435e-01 3.91922290e-02 1.34298663e-02 4.26825197e+02] [-3.91814193e-02 9.99231544e-01 -1.06717246e-03 -3.42815221e+00] [-1.34613709e-02 5.40055000e-04 9.99909246e-01 2.20499778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.85, Y:-3.43, Z:2.20 [[ 9.99128371e-01 3.96550626e-02 1.30374499e-02 4.26852664e+02] [-3.96449253e-02 9.99213295e-01 -1.03518117e-03 -3.42868706e+00] [-1.30682434e-02 5.17410147e-04 9.99914473e-01 2.20495135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.88, Y:-3.43, Z:2.20 [[ 9.99150503e-01 3.91107753e-02 1.29853321e-02 4.26880131e+02] [-3.91006868e-02 9.99234745e-01 -1.02997759e-03 -3.43002359e+00] [-1.30156782e-02 5.21367224e-04 9.99915157e-01 2.20443360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.91, Y:-3.43, Z:2.20 [[ 9.99176699e-01 3.85148922e-02 1.27486513e-02 4.26907540e+02] [-3.85051386e-02 9.99257892e-01 -1.00973581e-03 -3.43146784e+00] [-1.27780803e-02 5.18015908e-04 9.99918223e-01 2.20392999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.94, Y:-3.43, Z:2.20 [[ 9.99224606e-01 3.74551776e-02 1.21365518e-02 4.26935383e+02] [-3.74462708e-02 9.99298181e-01 -9.60375526e-04 -3.43293362e+00] [-1.21640052e-02 5.05162252e-04 9.99925888e-01 2.20342592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.96, Y:-3.43, Z:2.20 [[ 9.99325361e-01 3.47509416e-02 1.18825699e-02 4.26963149e+02] [-3.47422293e-02 9.99395866e-01 -9.38897343e-04 -3.43476474e+00] [-1.19080188e-02 5.25436958e-04 9.99928959e-01 2.20206740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.99, Y:-3.44, Z:2.20 [[ 9.99393405e-01 3.28523540e-02 1.15561430e-02 4.26992178e+02] [-3.28440002e-02 9.99460074e-01 -9.11973986e-04 -3.43662285e+00] [-1.15798640e-02 5.31870826e-04 9.99932810e-01 2.20162094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.02, Y:-3.44, Z:2.20 [[ 9.99510858e-01 2.93090967e-02 1.09096571e-02 4.27021370e+02] [-2.93014484e-02 9.99570250e-01 -8.60269588e-04 -3.43815835e+00] [-1.09301824e-02 5.40180038e-04 9.99940118e-01 2.20107163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.05, Y:-3.44, Z:2.20 [[ 9.99564712e-01 2.77274868e-02 1.00783617e-02 4.27049390e+02] [-2.77208843e-02 9.99615387e-01 -7.94252521e-04 -3.43993175e+00] [-1.00965081e-02 5.14525693e-04 9.99948897e-01 2.20046092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.08, Y:-3.44, Z:2.20 [[ 9.99621980e-01 2.58471126e-02 9.37138917e-03 4.27076947e+02] [-2.58413286e-02 9.99665785e-01 -7.37783324e-04 -3.44139975e+00] [-9.38732668e-03 4.95335281e-04 9.99955815e-01 2.19995974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.11, Y:-3.44, Z:2.20 [[ 9.99710483e-01 2.28044514e-02 7.67510762e-03 4.27105671e+02] [-2.28004866e-02 9.99739853e-01 -6.03701156e-04 -3.44216562e+00] [-7.68687804e-03 4.28530186e-04 9.99970364e-01 2.19968301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.13, Y:-3.45, Z:2.20 [[ 9.99799153e-01 1.93732825e-02 5.13115009e-03 4.27131272e+02] [-1.94413570e-02 9.99718945e-01 1.35670780e-02 -3.44659954e+00] [-4.86686911e-03 -1.36641096e-02 9.99894797e-01 2.19946856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.16, Y:-3.44, Z:2.20 [[ 9.99757136e-01 2.12045048e-02 6.00322485e-03 4.27164288e+02] [-2.11168585e-02 9.99674669e-01 -1.43050305e-02 -3.43874699e+00] [-6.30460291e-03 1.41747870e-02 9.99879656e-01 2.20325718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.19, Y:-3.45, Z:2.20 [[ 9.99756410e-01 2.08154819e-02 7.33736225e-03 4.27191152e+02] [-2.08118126e-02 9.99783245e-01 -5.76096007e-04 -3.44621533e+00] [-7.34776355e-03 4.23251867e-04 9.99972915e-01 2.19874481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.22, Y:-3.45, Z:2.20 [[ 9.99710520e-01 2.24749233e-02 8.58799745e-03 4.27220042e+02] [-2.24699681e-02 9.99747292e-01 -6.73056349e-04 -3.44645054e+00] [-8.60095409e-03 4.79889484e-04 9.99962896e-01 2.19915570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.25, Y:-3.45, Z:2.20 [[ 9.99674265e-01 2.37285738e-02 9.39782890e-03 4.27249366e+02] [-2.37227028e-02 9.99718306e-01 -7.35725487e-04 -3.44743070e+00] [-9.41263931e-03 5.12543934e-04 9.99955569e-01 2.19957969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.28, Y:-3.45, Z:2.20 [[ 9.99675520e-01 2.36755912e-02 9.39789437e-03 4.27278589e+02] [-2.36697256e-02 9.99719563e-01 -7.34887823e-04 -3.44965345e+00] [-9.41265776e-03 5.12203785e-04 9.99955569e-01 2.19901716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.31, Y:-3.45, Z:2.20 [[ 9.99637074e-01 2.50111830e-02 1.00080750e-02 4.27306983e+02] [-2.50046019e-02 9.99687030e-01 -7.82186038e-04 -3.45044093e+00] [-1.00245061e-02 5.31654233e-04 9.99949612e-01 2.19885259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.33, Y:-3.45, Z:2.20 [[ 9.99641679e-01 2.48723259e-02 9.89349864e-03 4.27333298e+02] [-2.49183368e-02 9.99679113e-01 4.55484930e-03 -3.45122903e+00] [-9.77703425e-03 -4.79974674e-03 9.99940684e-01 2.19951166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.36, Y:-3.45, Z:2.20 [[ 9.99549324e-01 2.82051767e-02 1.02769978e-02 4.27364122e+02] [-2.81443093e-02 9.99585743e-01 -6.01996189e-03 -3.44998583e+00] [-1.04425346e-02 5.72800983e-03 9.99929069e-01 2.20044926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.39, Y:-3.45, Z:2.20 [[ 9.99457377e-01 3.14731592e-02 9.71554663e-03 4.27391666e+02] [-3.14672773e-02 9.99504495e-01 -7.57719767e-04 -3.45246463e+00] [-9.73458036e-03 4.51586810e-04 9.99952516e-01 2.19799930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.42, Y:-3.45, Z:2.20 [[ 9.99412502e-01 3.30842545e-02 8.94887464e-03 4.27419847e+02] [-3.30793373e-02 9.99452486e-01 -6.96972425e-04 -3.45363495e+00] [-8.96703382e-03 4.00540113e-04 9.99959715e-01 2.19745456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.45, Y:-3.45, Z:2.20 [[ 9.99363032e-01 3.46709730e-02 8.45306884e-03 4.27447403e+02] [-3.46666472e-02 9.99398715e-01 -6.57769996e-04 -3.45461048e+00] [-8.47079166e-03 3.64311462e-04 9.99964056e-01 2.19687200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.48, Y:-3.46, Z:2.20 [[ 9.99315736e-01 3.62713471e-02 7.24218828e-03 4.27475032e+02] [-3.62682174e-02 9.99341933e-01 -5.63058186e-04 -3.45534703e+00] [-7.25784532e-03 3.00011646e-04 9.99973616e-01 2.19661398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.50, Y:-3.45, Z:2.20 [[ 9.99243881e-01 3.86471333e-02 4.25043424e-03 4.27502011e+02] [-3.86231718e-02 9.99238256e-01 -5.58202817e-03 -3.45349112e+00] [-4.46292588e-03 5.41364223e-03 9.99975387e-01 2.19802116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.53, Y:-3.46, Z:2.19 [[ 9.99160693e-01 4.06605713e-02 4.96257210e-03 4.27529120e+02] [-4.06847972e-02 9.99160102e-01 4.88247221e-03 -3.45779199e+00] [-4.75987994e-03 -5.08027556e-03 9.99975767e-01 2.19369979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.56, Y:-3.46, Z:2.19 [[ 9.99096906e-01 4.22927608e-02 4.08581204e-03 4.27557248e+02] [-4.22918203e-02 9.99105251e-01 -3.16364586e-04 -3.45630318e+00] [-4.09553620e-03 1.43282451e-04 9.99991603e-01 2.19495344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.59, Y:-3.46, Z:2.19 [[ 9.99038603e-01 4.36970415e-02 3.52678231e-03 4.27585523e+02] [-4.36963499e-02 9.99044821e-01 -2.72977049e-04 -3.45718343e+00] [-3.53534189e-03 1.18607096e-04 9.99993744e-01 2.19483784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.61, Y:-3.46, Z:2.19 [[ 9.98898876e-01 4.67126601e-02 4.35470049e-03 4.27612146e+02] [-4.67116372e-02 9.98908359e-01 -3.36365087e-04 -3.45686224e+00] [-4.36565923e-03 1.32579518e-04 9.99990462e-01 2.19446369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.64, Y:-3.46, Z:2.19 [[ 9.98844834e-01 4.78164483e-02 4.75245692e-03 4.27640162e+02] [-4.78152475e-02 9.98856130e-01 -3.66030123e-04 -3.45763884e+00] [-4.76452299e-03 1.38367394e-04 9.99988640e-01 2.19426639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.67, Y:-3.46, Z:2.19 [[ 9.98789236e-01 4.89068199e-02 5.30887255e-03 4.27668398e+02] [-4.89053411e-02 9.98803335e-01 -4.08080169e-04 -3.45861880e+00] [-5.32247751e-03 1.47953857e-04 9.99985825e-01 2.19394926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.70, Y:-3.46, Z:2.19 [[ 9.98740061e-01 4.98609442e-02 5.67249992e-03 4.27696652e+02] [-4.98592754e-02 9.98756158e-01 -4.35313235e-04 -3.45969068e+00] [-5.68714936e-03 1.51938031e-04 9.99983816e-01 2.19367567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.73, Y:-3.46, Z:2.19 [[ 9.98744427e-01 4.97733950e-02 5.67256392e-03 4.27725036e+02] [-4.97717296e-02 9.98760525e-01 -4.34476075e-04 -3.46176898e+00] [-5.68715827e-03 1.51597242e-04 9.99983816e-01 2.19312773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.75, Y:-3.46, Z:2.19 [[ 9.98656298e-01 5.13863183e-02 6.71152450e-03 4.27752793e+02] [-5.13840278e-02 9.98678836e-01 -5.13382643e-04 -3.46205951e+00] [-6.72903832e-03 1.67827648e-04 9.99977346e-01 2.19222574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.78, Y:-3.46, Z:2.19 [[ 9.98637249e-01 5.16180998e-02 7.69523330e-03 4.27780628e+02] [-5.16151040e-02 9.98666879e-01 -5.87526013e-04 -3.46357821e+00] [-7.71530160e-03 1.89535094e-04 9.99970219e-01 2.19147370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.81, Y:-3.47, Z:2.19 [[ 9.98654034e-01 5.12255354e-02 8.12800731e-03 4.27808296e+02] [-5.12221883e-02 9.98687090e-01 -6.19571834e-04 -3.46507412e+00] [-8.14907387e-03 2.02403590e-04 9.99966775e-01 2.19099443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.84, Y:-3.47, Z:2.19 [[ 9.98670660e-01 5.07269342e-02 9.14827127e-03 4.27835127e+02] [-5.07226831e-02 9.98712534e-01 -6.96261289e-04 -3.46680548e+00] [-9.17181238e-03 2.31310857e-04 9.99957911e-01 2.18997617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.87, Y:-3.45, Z:2.19 [[ 9.98515010e-01 5.21635828e-02 1.57078190e-02 4.27866141e+02] [-5.15730631e-02 9.98023534e-01 -3.59060459e-02 -3.45326130e+00] [-1.75497610e-02 3.50426254e-02 9.99231715e-01 2.18971707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.89, Y:-3.49, Z:2.18 [[ 9.98788767e-01 4.75143757e-02 1.27821272e-02 4.27890640e+02] [-4.79210092e-02 9.98284159e-01 3.36498866e-02 -3.48705630e+00] [-1.11613417e-02 -3.42216612e-02 9.99351941e-01 2.17663242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.92, Y:-3.47, Z:2.19 [[ 9.98968791e-01 4.41598934e-02 1.05478690e-02 4.27919695e+02] [-4.41539224e-02 9.99024421e-01 -7.98403972e-04 -3.47275409e+00] [-1.05728361e-02 3.31850863e-04 9.99944051e-01 2.18733461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.95, Y:-3.48, Z:2.19 [[ 9.99083070e-01 4.15252615e-02 1.04245748e-02 4.27947801e+02] [-4.15192969e-02 9.99137391e-01 -7.88018796e-04 -3.47515959e+00] [-1.04483052e-02 3.54475222e-04 9.99945352e-01 2.18637548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.97, Y:-3.48, Z:2.19 [[ 9.99202560e-01 3.86386075e-02 1.00649310e-02 4.27974834e+02] [-3.86329058e-02 9.99253181e-01 -7.60369479e-04 -3.47743917e+00] [-1.00867940e-02 3.70925598e-04 9.99949058e-01 2.18560391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.00, Y:-3.48, Z:2.18 [[ 9.99311195e-01 3.57203885e-02 1.00593280e-02 4.28001806e+02] [-3.57145673e-02 9.99361744e-01 -7.57786882e-04 -3.47960868e+00] [-1.00799760e-02 3.98000368e-04 9.99949117e-01 2.18449942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.03, Y:-3.48, Z:2.18 [[ 9.99480718e-01 3.04761573e-02 1.04640918e-02 4.28029305e+02] [-3.04695873e-02 9.99535385e-01 -7.86751249e-04 -3.48216572e+00] [-1.04832072e-02 4.67506146e-04 9.99944940e-01 2.18300653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.06, Y:-3.48, Z:2.18 [[ 9.99544458e-01 2.83497138e-02 1.03522789e-02 4.28056836e+02] [-2.83431828e-02 9.99597949e-01 -7.77071420e-04 -3.48427810e+00] [-1.03701465e-02 4.83300899e-04 9.99946112e-01 2.18238766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.09, Y:-3.49, Z:2.18 [[ 9.99590996e-01 2.66202544e-02 1.04500265e-02 4.28086008e+02] [-2.66135171e-02 9.99645491e-01 -7.83272750e-04 -3.48650668e+00] [-1.04671728e-02 5.04840430e-04 9.99945090e-01 2.18172852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.11, Y:-3.49, Z:2.18 [[ 9.99620003e-01 2.53323705e-02 1.08683210e-02 4.28114951e+02] [-2.53250157e-02 9.99678939e-01 -8.13827301e-04 -3.48840140e+00] [-1.08854478e-02 5.38277648e-04 9.99940607e-01 2.18087054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.14, Y:-3.49, Z:2.18 [[ 9.99644149e-01 2.44444638e-02 1.06791303e-02 4.28142345e+02] [-2.44373182e-02 9.99701045e-01 -7.99114885e-04 -3.49036452e+00] [-1.06954716e-02 5.37861214e-04 9.99942657e-01 2.18020941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.17, Y:-3.49, Z:2.18 [[ 9.99662568e-01 2.36899313e-02 1.06553743e-02 4.28169983e+02] [-2.36827866e-02 9.99719206e-01 -7.96220757e-04 -3.49151471e+00] [-1.06712447e-02 5.43603131e-04 9.99942913e-01 2.17921782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.20, Y:-3.49, Z:2.18 [[ 9.99666222e-01 2.34746966e-02 1.07881021e-02 4.28198612e+02] [-2.34673727e-02 9.99724279e-01 -8.04992020e-04 -3.49297234e+00] [-1.08040245e-02 5.51554919e-04 9.99941483e-01 2.17836283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.23, Y:-3.49, Z:2.18 [[ 9.99673488e-01 2.32201636e-02 1.06650079e-02 4.28227460e+02] [-2.32129992e-02 9.99730226e-01 -7.95079865e-04 -3.49452279e+00] [-1.06805926e-02 5.47253443e-04 9.99942811e-01 2.17786011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.26, Y:-3.50, Z:2.18 [[ 9.99678506e-01 2.30454296e-02 1.05731752e-02 4.28255793e+02] [-2.30383863e-02 9.99734271e-01 -7.87482386e-04 -3.49595550e+00] [-1.05885135e-02 5.43640321e-04 9.99943792e-01 2.17766765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.28, Y:-3.50, Z:2.18 [[ 9.99677134e-01 2.30042124e-02 1.07904762e-02 4.28283405e+02] [-2.29968814e-02 9.99735214e-01 -8.02999058e-04 -3.49681549e+00] [-1.08060914e-02 5.54592496e-04 9.99941459e-01 2.17777859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.31, Y:-3.50, Z:2.18 [[ 9.99677239e-01 2.28608467e-02 1.10814698e-02 4.28312187e+02] [-2.28531194e-02 9.99738494e-01 -8.23458075e-04 -3.49845397e+00] [-1.10973968e-02 5.69946143e-04 9.99938260e-01 2.17728922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.34, Y:-3.50, Z:2.18 [[ 9.99684014e-01 2.27926074e-02 1.06004504e-02 4.28339681e+02] [-2.27855386e-02 9.99740066e-01 -7.87152821e-04 -3.50010411e+00] [-1.06156362e-02 5.45367120e-04 9.99943504e-01 2.17693544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.37, Y:-3.50, Z:2.18 [[ 9.99697558e-01 2.24369397e-02 1.00686125e-02 4.28368639e+02] [-2.24305544e-02 9.99748125e-01 -7.46669003e-04 -3.50165167e+00] [-1.00828294e-02 5.20598619e-04 9.99949031e-01 2.17627344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.40, Y:-3.50, Z:2.18 [[ 9.99704361e-01 2.21800210e-02 9.96177370e-03 4.28396872e+02] [-2.21737632e-02 9.99753859e-01 -7.38203608e-04 -3.50329757e+00] [-9.97569507e-03 5.17095356e-04 9.99950108e-01 2.17606164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.43, Y:-3.51, Z:2.18 [[ 9.99703097e-01 2.21504243e-02 1.01526161e-02 4.28425123e+02] [-2.21439340e-02 9.99754511e-01 -7.51249743e-04 -3.50505194e+00] [-1.01667642e-02 5.26207835e-04 9.99948179e-01 2.17550516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.45, Y:-3.51, Z:2.17 [[ 9.99711088e-01 2.19876562e-02 9.70996016e-03 4.28453586e+02] [-2.19817182e-02 9.99758115e-01 -7.17853100e-04 -3.50663382e+00] [-9.72339538e-03 5.04204095e-04 9.99952600e-01 2.17499785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.48, Y:-3.51, Z:2.17 [[ 9.99713389e-01 2.18997753e-02 9.67158033e-03 4.28481617e+02] [-2.18938851e-02 9.99760045e-01 -7.14491237e-04 -3.50806834e+00] [-9.68490678e-03 5.02537988e-04 9.99952974e-01 2.17466177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.51, Y:-3.51, Z:2.17 [[ 9.99717753e-01 2.17126997e-02 9.64224470e-03 4.28510805e+02] [-2.17068464e-02 9.99764126e-01 -7.11297233e-04 -3.50934354e+00] [-9.65541453e-03 5.01793747e-04 9.99953259e-01 2.17431569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.54, Y:-3.51, Z:2.17 [[ 9.99697785e-01 2.25264788e-02 9.84359631e-03 4.28539596e+02] [-2.25204250e-02 9.99746120e-01 -7.25430258e-04 -3.51053944e+00] [-9.85743861e-03 5.03529050e-04 9.99951287e-01 2.17382792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.57, Y:-3.51, Z:2.17 [[ 9.99687474e-01 2.29077933e-02 1.00094063e-02 4.28568087e+02] [-2.29015601e-02 9.99737453e-01 -7.36929042e-04 -3.51269100e+00] [-1.00236598e-02 5.07467711e-04 9.99949633e-01 2.17273485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.60, Y:-3.51, Z:2.17 [[ 9.99659840e-01 2.31332797e-02 1.20439124e-02 4.28596890e+02] [-2.29458676e-02 9.99616962e-01 -1.54730863e-02 -3.50675438e+00] [-1.23972424e-02 1.51914650e-02 9.99807745e-01 2.17269180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.63, Y:-3.52, Z:2.17 [[ 9.99687174e-01 2.23716642e-02 1.11831138e-02 4.28625360e+02] [-2.25249419e-02 9.99651399e-01 1.37734632e-02 -3.52327031e+00] [-1.08710800e-02 -1.40210535e-02 9.99842602e-01 2.16662056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.65, Y:-3.52, Z:2.17 [[ 9.99682049e-01 2.30955072e-02 1.01191993e-02 4.28654753e+02] [-2.30891680e-02 9.99733134e-01 -7.42847715e-04 -3.51809081e+00] [-1.01336553e-02 5.08967632e-04 9.99948524e-01 2.17059946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.68, Y:-3.52, Z:2.17 [[ 9.99678181e-01 2.33687120e-02 9.87106551e-03 4.28682906e+02] [-2.33626981e-02 9.99726793e-01 -7.24128118e-04 -3.52001728e+00] [-9.88529060e-03 4.93280356e-04 9.99951018e-01 2.16994009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.71, Y:-3.52, Z:2.17 [[ 9.99668905e-01 2.38516222e-02 9.65297402e-03 4.28712092e+02] [-2.38459030e-02 9.99715396e-01 -7.07154784e-04 -3.52214609e+00] [-9.66709354e-03 4.76736767e-04 9.99953159e-01 2.16923627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.74, Y:-3.52, Z:2.17 [[ 9.99659305e-01 2.40013119e-02 1.02572000e-02 4.28740630e+02] [-2.39948704e-02 9.99711800e-01 -7.50616471e-04 -3.52415651e+00] [-1.02722597e-02 5.04240554e-04 9.99947112e-01 2.16833360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.77, Y:-3.53, Z:2.17 [[ 9.99657450e-01 2.36280089e-02 1.12561289e-02 4.28768246e+02] [-2.36202369e-02 9.99720665e-01 -8.22926468e-04 -3.52710843e+00] [-1.12724287e-02 5.56772144e-04 9.99936309e-01 2.16771442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.80, Y:-3.53, Z:2.17 [[ 9.99659289e-01 2.32674230e-02 1.18293002e-02 4.28797377e+02] [-2.32588288e-02 9.99729104e-01 -8.63589603e-04 -3.52976908e+00] [-1.18461892e-02 5.88159701e-04 9.99929658e-01 2.16704901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.83, Y:-3.53, Z:2.17 [[ 9.99666109e-01 2.27970901e-02 1.21640212e-02 4.28826008e+02] [-2.27879788e-02 9.99739927e-01 -8.87132119e-04 -3.53228938e+00] [-1.21810817e-02 6.09642457e-04 9.99925622e-01 2.16638951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.85, Y:-3.54, Z:2.17 [[ 9.99680702e-01 2.17727109e-02 1.28235012e-02 4.28854847e+02] [-2.17625134e-02 9.99762732e-01 -9.34238974e-04 -3.53621681e+00] [-1.28407995e-02 6.54869057e-04 9.99917339e-01 2.16556021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.88, Y:-3.54, Z:2.16 [[ 9.99681853e-01 2.17197752e-02 1.28235751e-02 4.28884080e+02] [-2.17095864e-02 9.99763884e-01 -9.33223573e-04 -3.53828190e+00] [-1.28408166e-02 6.54532159e-04 9.99917339e-01 2.16499469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.91, Y:-3.54, Z:2.16 [[ 9.99696750e-01 2.07342662e-02 1.32852838e-02 4.28913129e+02] [-2.07232522e-02 9.99784784e-01 -9.66183826e-04 -3.54119788e+00] [-1.33024577e-02 6.90576544e-04 9.99911280e-01 2.16439449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.94, Y:-3.54, Z:2.16 [[ 9.99730190e-01 1.84626466e-02 1.40952895e-02 4.28941538e+02] [-1.84500410e-02 9.99829259e-01 -1.02383844e-03 -3.54473469e+00] [-1.41117856e-02 7.63503528e-04 9.99900132e-01 2.16393776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.97, Y:-3.55, Z:2.16 [[ 9.99746982e-01 1.74582425e-02 1.41838222e-02 4.28971558e+02] [-1.74453873e-02 9.99847288e-01 -1.02956003e-03 -3.54796176e+00] [-1.41996304e-02 7.81857259e-04 9.99898874e-01 2.16347822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.00, Y:-3.55, Z:2.16 [[ 9.99776942e-01 1.57360710e-02 1.40869306e-02 4.29001890e+02] [-1.57232217e-02 9.99875860e-01 -1.02243758e-03 -3.55262386e+00] [-1.41012710e-02 8.00717580e-04 9.99900252e-01 2.16272530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.03, Y:-3.56, Z:2.16 [[ 9.99781966e-01 1.49742480e-02 1.45531089e-02 4.29032611e+02] [-1.49604511e-02 9.99887528e-01 -1.05645230e-03 -3.55619058e+00] [-1.45672917e-02 8.38500881e-04 9.99893540e-01 2.16175891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.06, Y:-3.56, Z:2.16 [[ 9.99790038e-01 1.43197557e-02 1.46568825e-02 4.29064392e+02] [-1.43056979e-02 9.99897103e-01 -1.06352574e-03 -3.55956987e+00] [-1.46706037e-02 8.53625510e-04 9.99892017e-01 2.16132278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.10, Y:-3.56, Z:2.16 [[ 9.99793754e-01 1.38100368e-02 1.48906485e-02 4.29095301e+02] [-1.37954124e-02 9.99904251e-01 -1.08439524e-03 -3.56308481e+00] [-1.49041983e-02 8.78748948e-04 9.99888540e-01 2.16056644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.13, Y:-3.57, Z:2.16 [[ 9.99810883e-01 1.26752185e-02 1.47491541e-02 4.29127728e+02] [-1.26606991e-02 9.99919270e-01 -1.07738039e-03 -3.56798896e+00] [-1.47616194e-02 8.90442041e-04 9.99890645e-01 2.16000959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.16, Y:-3.57, Z:2.16 [[ 9.99827437e-01 1.17053894e-02 1.44250079e-02 4.29160912e+02] [-1.16913524e-02 9.99931095e-01 -1.05704940e-03 -3.57168214e+00] [-1.44363871e-02 8.88219138e-04 9.99895395e-01 2.15933832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.19, Y:-3.58, Z:2.16 [[ 9.99836486e-01 1.05270387e-02 1.47031544e-02 4.29193570e+02] [-1.05122649e-02 9.99944160e-01 -1.08172616e-03 -3.57566632e+00] [-1.47137208e-02 9.26985825e-04 9.99891318e-01 2.15883188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.295099893 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:429.23, Y:-3.57, Z:2.16 [[ 9.99840064e-01 9.99352747e-03 1.48316165e-02 4.29225150e+02] [-9.80654931e-03 9.99872195e-01 -1.26263622e-02 -3.57383833e+00] [-1.49559028e-02 1.24788958e-02 9.99810281e-01 2.15851649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.26, Y:-3.59, Z:2.15 [[ 9.99857904e-01 7.75737135e-03 1.49664844e-02 4.29257562e+02] [-7.91480587e-03 9.99913667e-01 1.04887399e-02 -3.59142806e+00] [-1.48838272e-02 -1.06057063e-02 9.99832981e-01 2.15320248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.29, Y:-3.59, Z:2.16 [[ 9.99869925e-01 7.69811014e-03 1.41729448e-02 4.29291045e+02] [-7.68395246e-03 9.99969923e-01 -1.05310811e-03 -3.58982165e+00] [-1.41806255e-02 9.44066894e-04 9.99899004e-01 2.15624889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.32, Y:-3.59, Z:2.16 [[ 9.99864983e-01 7.90785747e-03 1.44042396e-02 4.29323996e+02] [-7.89319495e-03 9.99968271e-01 -1.07449749e-03 -3.59385100e+00] [-1.44122795e-02 9.60656947e-04 9.99895676e-01 2.15581290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.36, Y:-3.60, Z:2.16 [[ 9.99841131e-01 8.96127150e-03 1.54080774e-02 4.29356681e+02] [-8.94454575e-03 9.99959331e-01 -1.15409068e-03 -3.59894974e+00] [-1.54177929e-02 1.01608908e-03 9.99880622e-01 2.15539680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.39, Y:-3.60, Z:2.15 [[ 9.99830650e-01 9.91070936e-03 1.55064092e-02 4.29388408e+02] [-9.89381130e-03 9.99950375e-01 -1.16608299e-03 -3.60276235e+00] [-1.55171964e-02 1.01246802e-03 9.99879088e-01 2.15499528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.42, Y:-3.61, Z:2.15 [[ 9.99816732e-01 1.10371431e-02 1.56423946e-02 4.29421239e+02] [-1.10200185e-02 9.99938581e-01 -1.18052813e-03 -3.60681970e+00] [-1.56544636e-02 1.00793230e-03 9.99876953e-01 2.15406572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.45, Y:-3.61, Z:2.15 [[ 9.99806515e-01 1.21301559e-02 1.54851864e-02 4.29453430e+02] [-1.21134353e-02 9.99925941e-01 -1.17312473e-03 -3.61072791e+00] [-1.54982698e-02 9.85318943e-04 9.99879409e-01 2.15341298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.49, Y:-3.62, Z:2.15 [[ 9.99791177e-01 1.37027588e-02 1.51603567e-02 4.29485745e+02] [-1.36868540e-02 9.99905667e-01 -1.15236718e-03 -3.61675303e+00] [-1.51747171e-02 9.44628951e-04 9.99884411e-01 2.15231281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.52, Y:-3.62, Z:2.15 [[ 9.99783489e-01 1.44249067e-02 1.49965707e-02 4.29519033e+02] [-1.44093605e-02 9.99895525e-01 -1.14418925e-03 -3.62104104e+00] [-1.50115088e-02 9.27850528e-04 9.99886890e-01 2.15152763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.55, Y:-3.63, Z:2.15 [[ 9.99783096e-01 1.48731902e-02 1.45790942e-02 4.29551127e+02] [-1.48584847e-02 9.99888983e-01 -1.11647291e-03 -3.62523389e+00] [-1.45940812e-02 8.99607498e-04 9.99893096e-01 2.15086948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.58, Y:-3.63, Z:2.15 [[ 9.99783553e-01 1.53791934e-02 1.40117068e-02 4.29583062e+02] [-1.53656090e-02 9.99881362e-01 -1.07664564e-03 -3.62948332e+00] [-1.40266024e-02 8.61114193e-04 9.99901252e-01 2.15027904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.61, Y:-3.63, Z:2.15 [[ 9.99782730e-01 1.54329238e-02 1.40113569e-02 4.29614813e+02] [-1.54192814e-02 9.99880531e-01 -1.08117969e-03 -3.63195915e+00] [-1.40263687e-02 8.64899730e-04 9.99901252e-01 2.14966944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.65, Y:-3.64, Z:2.15 [[ 9.99786342e-01 1.57995369e-02 1.33283695e-02 4.29647157e+02] [-1.57872309e-02 9.99874845e-01 -1.02800533e-03 -3.63629527e+00] [-1.33429434e-02 8.17367639e-04 9.99910645e-01 2.14894465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.68, Y:-3.64, Z:2.15 [[ 9.99766801e-01 1.75383366e-02 1.25996082e-02 4.29677774e+02] [-1.75274391e-02 9.99845907e-01 -9.74822651e-04 -3.64251357e+00] [-1.26147635e-02 7.53756458e-04 9.99920147e-01 2.14820330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.71, Y:-3.65, Z:2.15 [[ 9.99751301e-01 1.83049182e-02 1.27384042e-02 4.29707952e+02] [-1.82937843e-02 9.99832165e-01 -9.90026452e-04 -3.64637849e+00] [-1.27543886e-02 7.56746614e-04 9.99918373e-01 2.14764235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.74, Y:-3.65, Z:2.15 [[ 9.99731452e-01 1.92237138e-02 1.29411578e-02 4.29737736e+02] [-1.92122993e-02 9.99814921e-01 -1.00578442e-03 -3.65062432e+00] [-1.29580975e-02 7.56884926e-04 9.99915754e-01 2.14727958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.77, Y:-3.65, Z:2.15 [[ 9.99711571e-01 2.00907469e-02 1.31581235e-02 4.29768363e+02] [-2.00790213e-02 9.99797873e-01 -1.02264696e-03 -3.65472694e+00] [-1.31760096e-02 7.58149759e-04 9.99912905e-01 2.14684870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.80, Y:-3.66, Z:2.15 [[ 9.99673755e-01 2.12417916e-02 1.41834482e-02 4.29798898e+02] [-2.12282827e-02 9.99774047e-01 -1.10233501e-03 -3.65905969e+00] [-1.42036590e-02 8.00885129e-04 9.99898802e-01 2.14606642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.83, Y:-3.66, Z:2.15 [[ 9.99607794e-01 2.36478570e-02 1.50012418e-02 4.29829236e+02] [-2.36330163e-02 9.99720022e-01 -1.16582043e-03 -3.66472453e+00] [-1.50246109e-02 8.10838596e-04 9.99886795e-01 2.14592339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.86, Y:-3.67, Z:2.15 [[ 9.99576498e-01 2.48078072e-02 1.52117413e-02 4.29859195e+02] [-2.47926758e-02 9.99691915e-01 -1.18252408e-03 -3.66875498e+00] [-1.52363906e-02 8.04883510e-04 9.99883596e-01 2.14548329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.89, Y:-3.67, Z:2.14 [[ 9.99545679e-01 2.59838565e-02 1.52733643e-02 4.29889825e+02] [-2.59687392e-02 9.99662050e-01 -1.18731451e-03 -3.67268055e+00] [-1.52990537e-02 7.90145069e-04 9.99882650e-01 2.14463875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.92, Y:-3.68, Z:2.14 [[ 9.99482519e-01 2.91551606e-02 1.35893290e-02 4.29917766e+02] [-2.90914342e-02 9.99564921e-01 -4.86380314e-03 -3.67620182e+00] [-1.37252216e-02 4.46595315e-03 9.99895831e-01 2.14497005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.95, Y:-3.68, Z:2.14 [[ 9.99456886e-01 2.93119641e-02 1.50579601e-02 4.29946672e+02] [-2.93549504e-02 9.99565560e-01 2.64162518e-03 -3.68385760e+00] [-1.49739871e-02 -3.08221615e-03 9.99883133e-01 2.14180406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.98, Y:-3.69, Z:2.14 [[ 9.99435638e-01 3.03468765e-02 1.44039332e-02 4.29975135e+02] [-3.03338471e-02 9.99539193e-01 -1.12223745e-03 -3.68614411e+00] [-1.44313521e-02 6.84677392e-04 9.99895628e-01 2.14211628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.00, Y:-3.69, Z:2.14 [[ 9.99402979e-01 3.14734093e-02 1.42516437e-02 4.30002747e+02] [-3.14607813e-02 9.99504371e-01 -1.10946018e-03 -3.68984712e+00] [-1.42794987e-02 6.60429967e-04 9.99897825e-01 2.14151860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.03, Y:-3.69, Z:2.14 [[ 9.99357838e-01 3.29191622e-02 1.41506107e-02 4.30030009e+02] [-3.29068771e-02 9.99457817e-01 -1.10019199e-03 -3.69312094e+00] [-1.41791559e-02 6.33833081e-04 9.99899270e-01 2.14108509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.06, Y:-3.70, Z:2.14 [[ 9.99252021e-01 3.58977135e-02 1.43789099e-02 4.30059035e+02] [-3.58853589e-02 9.99355290e-01 -1.11639299e-03 -3.69740476e+00] [-1.44097156e-02 5.99565613e-04 9.99895995e-01 2.14094700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.09, Y:-3.70, Z:2.14 [[ 9.99198120e-01 3.74032281e-02 1.42868801e-02 4.30086339e+02] [-3.73911983e-02 9.99300090e-01 -1.10830386e-03 -3.70034861e+00] [-1.43183348e-02 5.73211565e-04 9.99897323e-01 2.14096975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.11, Y:-3.70, Z:2.14 [[ 9.99125469e-01 3.91950416e-02 1.45617783e-02 4.30114713e+02] [-3.91827551e-02 9.99231424e-01 -1.12820701e-03 -3.70326270e+00] [-1.45948066e-02 5.56649770e-04 9.99893335e-01 2.14051316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.14, Y:-3.71, Z:2.14 [[ 9.99059788e-01 4.12207778e-02 1.34308245e-02 4.30142217e+02] [-4.11754543e-02 9.99145323e-01 -3.63392849e-03 -3.70509646e+00] [-1.35691388e-02 3.07749153e-03 9.99903199e-01 2.14077291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.17, Y:-3.71, Z:2.14 [[ 9.98866995e-01 4.53071754e-02 1.45597362e-02 4.30169111e+02] [-4.53332976e-02 9.98970838e-01 1.46897203e-03 -3.71145832e+00] [-1.44781969e-02 -2.12734854e-03 9.99892922e-01 2.13829481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.20, Y:-3.71, Z:2.14 [[ 9.98786270e-01 4.71460064e-02 1.42562671e-02 4.30196659e+02] [-4.71350962e-02 9.98887917e-01 -1.10051818e-03 -3.71308386e+00] [-1.42922979e-02 4.27211931e-04 9.99897769e-01 2.13865203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.22, Y:-3.72, Z:2.14 [[ 9.98706189e-01 4.87712442e-02 1.43984002e-02 4.30224114e+02] [-4.87603064e-02 9.98809892e-01 -1.10994211e-03 -3.71594857e+00] [-1.44353978e-02 4.06435649e-04 9.99895722e-01 2.13819210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.25, Y:-3.72, Z:2.14 [[ 9.98644487e-01 4.98893861e-02 1.48403808e-02 4.30251499e+02] [-4.98779146e-02 9.98754669e-01 -1.14234313e-03 -3.71889363e+00] [-1.48788905e-02 4.00587416e-04 9.99889223e-01 2.13794864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.28, Y:-3.72, Z:2.14 [[ 9.98562050e-01 5.14853026e-02 1.49363762e-02 4.30278679e+02] [-5.14738821e-02 9.98673681e-01 -1.14830038e-03 -3.72302459e+00] [-1.49756864e-02 3.77815917e-04 9.99887787e-01 2.13771842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.31, Y:-3.73, Z:2.14 [[ 9.98542833e-01 5.18382187e-02 1.50003323e-02 4.30306504e+02] [-5.18267780e-02 9.98655427e-01 -1.15068472e-03 -3.72640384e+00] [-1.50398127e-02 3.71589090e-04 9.99886827e-01 2.13726209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.33, Y:-3.73, Z:2.14 [[ 9.98552980e-01 5.17186685e-02 1.47351568e-02 4.30334793e+02] [-5.17076384e-02 9.98661627e-01 -1.12881405e-03 -3.72957586e+00] [-1.47738165e-02 3.65260470e-04 9.99890795e-01 2.13694721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.36, Y:-3.73, Z:2.14 [[ 9.98560367e-01 5.15323330e-02 1.48866570e-02 4.30362335e+02] [-5.15210784e-02 9.98671258e-01 -1.13879552e-03 -3.73295936e+00] [-1.49255612e-02 3.70179449e-04 9.99888539e-01 2.13648238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.39, Y:-3.74, Z:2.14 [[ 9.98601718e-01 5.07052921e-02 1.49526352e-02 4.30388906e+02] [-5.06938666e-02 9.98713586e-01 -1.14239617e-03 -3.73633043e+00] [-1.49913255e-02 3.82791879e-04 9.99887550e-01 2.13595952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.42, Y:-3.74, Z:2.14 [[ 9.98715683e-01 4.82234644e-02 1.55397003e-02 4.30417271e+02] [-4.82108681e-02 9.98836478e-01 -1.18440143e-03 -3.74172754e+00] [-1.55787354e-02 4.33697844e-04 9.99878550e-01 2.13518003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.45, Y:-3.75, Z:2.13 [[ 9.98784105e-01 4.67940433e-02 1.55122533e-02 4.30445885e+02] [-4.67813366e-02 9.98904456e-01 -1.18119553e-03 -3.74558116e+00] [-1.55505319e-02 4.54075375e-04 9.99878980e-01 2.13435550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.48, Y:-3.75, Z:2.13 [[ 9.98778118e-01 4.65440916e-02 1.66108219e-02 4.30476306e+02] [-4.64913593e-02 9.98912395e-01 -3.54694690e-03 -3.75062832e+00] [-1.67578453e-02 2.77035325e-03 9.99855739e-01 2.13249377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.50, Y:-3.75, Z:2.13 [[ 9.98971092e-01 4.27095009e-02 1.52530820e-02 4.30502872e+02] [-4.27302368e-02 9.99086109e-01 1.03600156e-03 -3.75431288e+00] [-1.51948953e-02 -1.68670342e-03 9.99883128e-01 2.13227866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.53, Y:-3.76, Z:2.13 [[ 9.99063130e-01 4.07177829e-02 1.46603279e-02 4.30530585e+02] [-4.07058135e-02 9.99170554e-01 -1.11404725e-03 -3.75682038e+00] [-1.46935295e-02 5.16242954e-04 9.99891911e-01 2.13225775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.56, Y:-3.76, Z:2.13 [[ 9.99240364e-01 3.63355119e-02 1.40863342e-02 4.30557645e+02] [-3.63240440e-02 9.99339492e-01 -1.06919112e-03 -3.76141813e+00] [-1.41158797e-02 5.56706301e-04 9.99900211e-01 2.13133427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.59, Y:-3.76, Z:2.13 [[ 9.99316593e-01 3.41957334e-02 1.40356020e-02 4.30586465e+02] [-3.41841563e-02 9.99414985e-01 -1.06399399e-03 -3.76482348e+00] [-1.40637751e-02 5.83471635e-04 9.99900930e-01 2.13064426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.62, Y:-3.77, Z:2.13 [[ 9.99380846e-01 3.22899609e-02 1.39743500e-02 4.30615351e+02] [-3.22783148e-02 9.99478359e-01 -1.05819629e-03 -3.76843609e+00] [-1.40012295e-02 6.06472634e-04 9.99901794e-01 2.12969235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.65, Y:-3.77, Z:2.13 [[ 9.99436509e-01 3.05408554e-02 1.39255122e-02 4.30645170e+02] [-3.05291297e-02 9.99533322e-01 -1.05388098e-03 -3.77208626e+00] [-1.39511999e-02 6.28153362e-04 9.99902480e-01 2.12891192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.67, Y:-3.78, Z:2.13 [[ 9.99522182e-01 2.76665997e-02 1.37828335e-02 4.30673624e+02] [-2.76548467e-02 9.99616988e-01 -1.04262481e-03 -3.77680452e+00] [-1.38064004e-02 6.60964484e-04 9.99904469e-01 2.12789418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.70, Y:-3.78, Z:2.13 [[ 9.99550992e-01 2.66841827e-02 1.36296875e-02 4.30703556e+02] [-2.66726061e-02 9.99643692e-01 -1.03046921e-03 -3.77980780e+00] [-1.36523284e-02 6.66467233e-04 9.99906581e-01 2.12764038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.73, Y:-3.78, Z:2.13 [[ 9.99558603e-01 2.63541862e-02 1.37133419e-02 4.30734401e+02] [-2.63424455e-02 9.99652441e-01 -1.03610495e-03 -3.78274972e+00] [-1.37358814e-02 6.74404652e-04 9.99905431e-01 2.12699889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.76, Y:-3.79, Z:2.13 [[ 9.99561891e-01 2.62287297e-02 1.37142491e-02 4.30763751e+02] [-2.62169744e-02 9.99655739e-01 -1.03626958e-03 -3.78530357e+00] [-1.37367079e-02 6.76269457e-04 9.99905418e-01 2.12673406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.79, Y:-3.79, Z:2.13 [[ 9.99521696e-01 2.79015614e-02 1.33372779e-02 4.30793884e+02] [-2.78905965e-02 9.99610474e-01 -1.00745325e-03 -3.78825928e+00] [-1.33601922e-02 6.34986748e-04 9.99910547e-01 2.12630561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.82, Y:-3.79, Z:2.13 [[ 9.99473958e-01 2.95149666e-02 1.34414737e-02 4.30823532e+02] [-2.95039725e-02 9.99564147e-01 -1.01553072e-03 -3.79062804e+00] [-1.34655886e-02 6.18419640e-04 9.99909144e-01 2.12577762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.85, Y:-3.79, Z:2.13 [[ 9.99403648e-01 3.16328698e-02 1.38459247e-02 4.30853535e+02] [-3.16214142e-02 9.99499371e-01 -1.04555914e-03 -3.79255916e+00] [-1.38720670e-02 6.07107904e-04 9.99903594e-01 2.12515344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.88, Y:-3.80, Z:2.13 [[ 9.99280550e-01 3.54736926e-02 1.34163840e-02 4.30882247e+02] [-3.55677094e-02 9.99343895e-01 6.83508369e-03 -3.79564541e+00] [-1.31651158e-02 -7.30735624e-03 9.99886635e-01 2.12627974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.91, Y:-3.79, Z:2.13 [[ 9.99112038e-01 3.96501763e-02 1.42477551e-02 4.30912937e+02] [-3.95259673e-02 9.99178940e-01 -8.89623529e-03 -3.79146622e+00] [-1.45887941e-02 8.32517948e-03 9.99858919e-01 2.12715530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.94, Y:-3.80, Z:2.12 [[ 9.98997892e-01 4.22093322e-02 1.48857069e-02 4.30941212e+02] [-4.21972833e-02 9.99108667e-01 -1.12272935e-03 -3.79659558e+00] [-1.49198284e-02 4.93467866e-04 9.99888571e-01 2.12486772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.97, Y:-3.80, Z:2.12 [[ 9.98896961e-01 4.46627539e-02 1.44947949e-02 4.30970251e+02] [-4.46516023e-02 9.99002023e-01 -1.09222854e-03 -3.79816968e+00] [-1.45291114e-02 4.43807950e-04 9.99894348e-01 2.12407280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.00, Y:-3.80, Z:2.12 [[ 9.98828292e-01 4.63915568e-02 1.37792097e-02 4.30998323e+02] [-4.63816552e-02 9.98923253e-01 -1.03746206e-03 -3.79957004e+00] [-1.38125025e-02 3.97143901e-04 9.99904524e-01 2.12337596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.03, Y:-3.80, Z:2.12 [[ 9.98699931e-01 4.93954936e-02 1.25909664e-02 4.31026610e+02] [-4.93874789e-02 9.98779245e-01 -9.46870826e-04 -3.80125162e+00] [-1.26223671e-02 3.23803743e-04 9.99920282e-01 2.12215346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.05, Y:-3.80, Z:2.12 [[ 9.98676737e-01 4.99968511e-02 1.20453257e-02 4.31054415e+02] [-4.99895663e-02 9.98749330e-01 -9.05296917e-04 -3.80313194e+00] [-1.20755230e-02 3.01958363e-04 9.99927043e-01 2.12145210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.08, Y:-3.80, Z:2.12 [[ 9.98675095e-01 5.00690784e-02 1.18803574e-02 4.31082578e+02] [-5.00620114e-02 9.98745713e-01 -8.91672748e-04 -3.80483329e+00] [-1.19101012e-02 2.95736779e-04 9.99929028e-01 2.12073630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.11, Y:-3.81, Z:2.12 [[ 9.98701584e-01 4.96146073e-02 1.15557951e-02 4.31111097e+02] [-4.96079072e-02 9.98768394e-01 -8.65897401e-04 -3.80615688e+00] [-1.15845241e-02 2.91514293e-04 9.99932855e-01 2.12011404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.14, Y:-3.81, Z:2.12 [[ 9.98727981e-01 4.91283395e-02 1.13502020e-02 4.31139210e+02] [-4.91218515e-02 9.98792432e-01 -8.49863053e-04 -3.80796268e+00] [-1.13782482e-02 2.91239072e-04 9.99935223e-01 2.11968307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.17, Y:-3.81, Z:2.12 [[ 9.98770537e-01 4.83208066e-02 1.10686518e-02 4.31167088e+02] [-4.83145949e-02 9.98831825e-01 -8.28066267e-04 -3.80969267e+00] [-1.10957345e-02 2.92270763e-04 9.99938398e-01 2.11945000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.19, Y:-3.81, Z:2.12 [[ 9.98787161e-01 4.78244894e-02 1.17057596e-02 4.31194597e+02] [-4.78175260e-02 9.98855705e-01 -8.74193177e-04 -3.81169855e+00] [-1.17341726e-02 3.13392458e-04 9.99931103e-01 2.11900467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.22, Y:-3.81, Z:2.12 [[ 9.98805759e-01 4.71533161e-02 1.27914152e-02 4.31222684e+02] [-4.71449629e-02 9.98887603e-01 -9.53951019e-04 -3.81356798e+00] [-1.28221680e-02 3.49760975e-04 9.99917731e-01 2.11899431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.25, Y:-3.81, Z:2.12 [[ 9.98794386e-01 4.70445318e-02 1.40209324e-02 4.31250653e+02] [-4.70345034e-02 9.98892719e-01 -1.04432285e-03 -3.81426804e+00] [-1.40545370e-02 3.83596210e-04 9.99901157e-01 2.11925488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.28, Y:-3.82, Z:2.12 [[ 9.98799572e-01 4.67669599e-02 1.45693977e-02 4.31277994e+02] [-4.67561269e-02 9.98905747e-01 -1.08347036e-03 -3.81550491e+00] [-1.46041257e-02 4.00961123e-04 9.99893274e-01 2.11933239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.31, Y:-3.82, Z:2.12 [[ 9.98802033e-01 4.67143179e-02 1.45695121e-02 4.31307229e+02] [-4.67035017e-02 9.98908210e-01 -1.08192976e-03 -3.81761513e+00] [-1.46041469e-02 4.00186412e-04 9.99893274e-01 2.11876872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.34, Y:-3.82, Z:2.12 [[ 9.98811939e-01 4.63333679e-02 1.50973416e-02 4.31335757e+02] [-4.63217219e-02 9.98925945e-01 -1.12035957e-03 -3.81916591e+00] [-1.51330363e-02 4.19693649e-04 9.99885401e-01 2.11832645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.36, Y:-3.82, Z:2.12 [[ 9.98854985e-01 4.52266676e-02 1.55970469e-02 4.31364290e+02] [-4.52141209e-02 9.98976650e-01 -1.15630163e-03 -3.82115691e+00] [-1.56333814e-02 4.49770884e-04 9.99877690e-01 2.11715289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.39, Y:-3.82, Z:2.12 [[ 9.98890450e-01 4.44040417e-02 1.56891977e-02 4.31391718e+02] [-4.43912612e-02 9.99013546e-01 -1.16209043e-03 -3.82347265e+00] [-1.57253225e-02 4.64337757e-04 9.99876242e-01 2.11641066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.42, Y:-3.83, Z:2.12 [[ 9.98892734e-01 4.43525746e-02 1.56893062e-02 4.31420955e+02] [-4.43398109e-02 9.99015833e-01 -1.16062268e-03 -3.82557309e+00] [-1.57253419e-02 4.63676689e-04 9.99876242e-01 2.11584701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.45, Y:-3.83, Z:2.11 [[ 9.98939006e-01 4.34421220e-02 1.52854613e-02 4.31449854e+02] [-4.34299111e-02 9.99055837e-01 -1.13004698e-03 -3.82799170e+00] [-1.53201210e-02 4.65001783e-04 9.99882532e-01 2.11495853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.48, Y:-3.83, Z:2.11 [[ 9.98970469e-01 4.28847239e-02 1.47953327e-02 4.31478763e+02] [-4.28732370e-02 9.99079922e-01 -1.09283817e-03 -3.83027514e+00] [-1.48285859e-02 4.57389257e-04 9.99889946e-01 2.11436440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.51, Y:-3.83, Z:2.11 [[ 9.99024585e-01 4.19894107e-02 1.36663336e-02 4.31506746e+02] [-4.19795366e-02 9.99117962e-01 -1.00870503e-03 -3.83153108e+00] [-1.36966343e-02 4.34014775e-04 9.99906103e-01 2.11405249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.54, Y:-3.83, Z:2.11 [[ 9.99027026e-01 4.20626631e-02 1.32564315e-02 4.31535780e+02] [-4.20533943e-02 9.99114887e-01 -9.77291791e-04 -3.83327819e+00] [-1.32858055e-02 4.18862972e-04 9.99911652e-01 2.11355444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.56, Y:-3.83, Z:2.11 [[ 9.99022097e-01 4.22467984e-02 1.30405854e-02 4.31564714e+02] [-4.22378562e-02 9.99107122e-01 -9.60499743e-04 -3.83496986e+00] [-1.30695198e-02 4.08754099e-04 9.99914507e-01 2.11340397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.59, Y:-3.84, Z:2.11 [[ 9.98957502e-01 4.37317759e-02 1.30935149e-02 4.31592827e+02] [-4.37228996e-02 9.99043232e-01 -9.63542352e-04 -3.83665715e+00] [-1.31231249e-02 3.90051423e-04 9.99913812e-01 2.11304205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.62, Y:-3.84, Z:2.11 [[ 9.98916766e-01 4.47158020e-02 1.28759839e-02 4.31621212e+02] [-4.47073162e-02 9.98999680e-01 -9.46274104e-04 -3.83840880e+00] [-1.29054172e-02 3.69598384e-04 9.99916653e-01 2.11243233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.65, Y:-3.84, Z:2.11 [[ 9.98871289e-01 4.58302775e-02 1.24793204e-02 4.31649905e+02] [-4.58224038e-02 9.98949182e-01 -9.16287130e-04 -3.83993268e+00] [-1.25082006e-02 3.43420446e-04 9.99921710e-01 2.11190868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.68, Y:-3.84, Z:2.11 [[ 9.98821389e-01 4.70855674e-02 1.17805509e-02 4.31677980e+02] [-4.70786440e-02 9.98890812e-01 -8.64477975e-04 -3.84116983e+00] [-1.18081885e-02 3.08846731e-04 9.99930233e-01 2.11183819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.71, Y:-3.84, Z:2.11 [[ 9.98729186e-01 4.91252848e-02 1.12570146e-02 4.31705425e+02] [-4.91191039e-02 9.98792588e-01 -8.25061315e-04 -3.84227530e+00] [-1.12839541e-02 2.71078344e-04 9.99936297e-01 2.11143284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.73, Y:-3.84, Z:2.11 [[ 9.98699461e-01 4.97013929e-02 1.13647542e-02 4.31733297e+02] [-4.96951486e-02 9.98764087e-01 -8.31354480e-04 -3.84404577e+00] [-1.13920278e-02 2.65500123e-04 9.99935073e-01 2.11084317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.76, Y:-3.85, Z:2.11 [[ 9.98695944e-01 4.98498555e-02 1.10182820e-02 4.31761411e+02] [-4.98440074e-02 9.98756691e-01 -8.04903842e-04 -3.84617032e+00] [-1.10447072e-02 2.54658874e-04 9.99938973e-01 2.11046544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.79, Y:-3.85, Z:2.11 [[ 9.98706886e-01 4.96119406e-02 1.11000610e-02 4.31788829e+02] [-4.96060042e-02 9.98768536e-01 -8.09664529e-04 -3.84825054e+00] [-1.11265607e-02 2.57987866e-04 9.99938065e-01 2.11007491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.82, Y:-3.85, Z:2.11 [[ 9.98731900e-01 4.91562705e-02 1.08744577e-02 4.31816593e+02] [-4.91505581e-02 9.98791067e-01 -7.92090689e-04 -3.85068700e+00] [-1.09002475e-02 2.56600571e-04 9.99940558e-01 2.10964620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.84, Y:-3.85, Z:2.11 [[ 9.98763794e-01 4.86029518e-02 1.04228569e-02 4.31844042e+02] [-4.85976868e-02 9.98818147e-01 -7.57964016e-04 -3.85283318e+00] [-1.04473779e-02 2.50500282e-04 9.99945393e-01 2.10952053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.87, Y:-3.86, Z:2.11 [[ 9.98832746e-01 4.71952943e-02 1.02834832e-02 4.31872201e+02] [-4.71901023e-02 9.98885647e-01 -7.47082204e-04 -3.85524778e+00] [-1.03072825e-02 2.60931545e-04 9.99946845e-01 2.10956716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.90, Y:-3.86, Z:2.11 [[ 9.98878608e-01 4.61869806e-02 1.04062614e-02 4.31898872e+02] [-4.61816171e-02 9.98932774e-01 -7.55243604e-04 -3.85715849e+00] [-1.04300380e-02 2.73818702e-04 9.99945568e-01 2.10934993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.93, Y:-3.86, Z:2.11 [[ 9.98924445e-01 4.52055488e-02 1.03156205e-02 4.31926231e+02] [-4.52002489e-02 9.98977668e-01 -7.46453336e-04 -3.85938858e+00] [-1.03388183e-02 2.79381870e-04 9.99946514e-01 2.10900536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.95, Y:-3.86, Z:2.11 [[ 9.99013970e-01 4.33343210e-02 9.65523884e-03 4.31954035e+02] [-4.33295963e-02 9.99060588e-01 -6.98082680e-04 -3.86213142e+00] [-9.67641953e-03 2.79036748e-04 9.99953143e-01 2.10864039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.98, Y:-3.86, Z:2.11 [[ 9.99058045e-01 4.24188663e-02 9.14668132e-03 4.31982167e+02] [-4.24145976e-02 9.99099878e-01 -6.60251494e-04 -3.86476608e+00] [-9.16645531e-03 2.71676760e-04 9.99957950e-01 2.10788355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.01, Y:-3.87, Z:2.11 [[ 9.99108292e-01 4.12020121e-02 9.22031345e-03 4.32009541e+02] [-4.11976289e-02 9.99150796e-01 -6.64896269e-04 -3.86704115e+00] [-9.23987858e-03 2.84448324e-04 9.99957271e-01 2.10694541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.04, Y:-3.87, Z:2.11 [[ 9.99142181e-01 4.04374266e-02 8.92839666e-03 4.32037128e+02] [-4.04332939e-02 9.99182033e-01 -6.42967251e-04 -3.86947446e+00] [-8.94709347e-03 2.81411215e-04 9.99959934e-01 2.10659184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.07, Y:-3.87, Z:2.11 [[ 9.99191899e-01 3.92023256e-02 8.87281099e-03 4.32065443e+02] [-3.91982035e-02 9.99231251e-01 -6.38076124e-04 -3.87113135e+00] [-8.89100409e-03 2.89762243e-04 9.99960432e-01 2.10660957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.09, Y:-3.87, Z:2.11 [[ 9.99188554e-01 3.92350716e-02 9.10184500e-03 4.32093456e+02] [-3.92307464e-02 9.99229964e-01 -6.53320058e-04 -3.87292232e+00] [-9.12046931e-03 2.95717751e-04 9.99958364e-01 2.10629769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.12, Y:-3.87, Z:2.11 [[ 9.99186170e-01 3.92700446e-02 9.21199183e-03 4.32122336e+02] [-3.92656254e-02 9.99228590e-01 -6.60170511e-04 -3.87456062e+00] [-9.23081053e-03 2.97918625e-04 9.99957351e-01 2.10594919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.15, Y:-3.88, Z:2.11 [[ 9.99167473e-01 3.95554610e-02 9.98628020e-03 4.32150635e+02] [-3.95502897e-02 9.99217325e-01 -7.14864508e-04 -3.87626926e+00] [-1.00067410e-02 3.19309089e-04 9.99949880e-01 2.10560836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.18, Y:-3.88, Z:2.10 [[ 9.99146250e-01 3.99058390e-02 1.06909074e-02 4.32179229e+02] [-3.98999406e-02 9.99203388e-01 -7.64524506e-04 -3.87785707e+00] [-1.07128999e-02 3.37305222e-04 9.99942558e-01 2.10496496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.21, Y:-3.88, Z:2.10 [[ 9.99132438e-01 4.03948052e-02 1.01306914e-02 4.32206510e+02] [-4.03895391e-02 9.99183747e-01 -7.23952599e-04 -3.87947984e+00] [-1.01516662e-02 3.14150567e-04 9.99948421e-01 2.10459688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.24, Y:-3.88, Z:2.10 [[ 9.99089454e-01 4.14620691e-02 1.00577978e-02 4.32235393e+02] [-4.14569433e-02 9.99140034e-01 -7.17683820e-04 -3.88136611e+00] [-1.00789051e-02 3.00064782e-04 9.99949162e-01 2.10342838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.26, Y:-3.88, Z:2.10 [[ 9.99062113e-01 4.19843796e-02 1.05927062e-02 4.32262742e+02] [-4.19787308e-02 9.99118219e-01 -7.55149268e-04 -3.88315879e+00] [-1.06150702e-02 3.09772662e-04 9.99943611e-01 2.10268264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.29, Y:-3.88, Z:2.10 [[ 9.99071114e-01 4.16791535e-02 1.09433668e-02 4.32290340e+02] [-4.16731164e-02 9.99130995e-01 -7.79219407e-04 -3.88462482e+00] [-1.09663341e-02 3.22451404e-04 9.99939816e-01 2.10221967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.32, Y:-3.89, Z:2.10 [[ 9.99115353e-01 4.07732588e-02 1.02981890e-02 4.32319505e+02] [-4.07678776e-02 9.99168376e-01 -7.32004259e-04 -3.88691357e+00] [-1.03194709e-02 3.11521386e-04 9.99946704e-01 2.10171819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.35, Y:-3.89, Z:2.10 [[ 9.99151038e-01 3.99633191e-02 1.00067881e-02 4.32346966e+02] [-3.99582030e-02 9.99201099e-01 -7.10760413e-04 -3.88919356e+00] [-1.00271980e-02 3.10303734e-04 9.99949678e-01 2.10063881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.38, Y:-3.89, Z:2.10 [[ 9.99201497e-01 3.87423448e-02 9.76722682e-03 4.32375497e+02] [-3.87374223e-02 9.99249184e-01 -6.92737058e-04 -3.89134458e+00] [-9.78673169e-03 3.13826715e-04 9.99952060e-01 2.09973721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.40, Y:-3.89, Z:2.10 [[ 9.99282191e-01 3.65933838e-02 9.79934769e-03 4.32403951e+02] [-3.65883327e-02 9.99330182e-01 -6.94296058e-04 -3.89403667e+00] [-9.81819055e-03 3.35255892e-04 9.99951744e-01 2.09843097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.43, Y:-3.90, Z:2.10 [[ 9.99320450e-01 3.54180865e-02 1.02077584e-02 4.32432856e+02] [-3.54125525e-02 9.99372518e-01 -7.22435636e-04 -3.89632593e+00] [-1.02269405e-02 3.60461923e-04 9.99947639e-01 2.09797071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.46, Y:-3.90, Z:2.10 [[ 9.99338241e-01 3.47404185e-02 1.07788624e-02 4.32460629e+02] [-3.47342157e-02 9.99396294e-01 -7.62191807e-04 -3.89866092e+00] [-1.07988340e-02 3.87292088e-04 9.99941616e-01 2.09757030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.49, Y:-3.90, Z:2.10 [[ 9.99341658e-01 3.45563114e-02 1.10503871e-02 4.32488302e+02] [-3.45497943e-02 9.99402673e-01 -7.80183074e-04 -3.90089967e+00] [-1.10707467e-02 3.97880844e-04 9.99938638e-01 2.09737731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.52, Y:-3.90, Z:2.10 [[ 9.99339629e-01 3.44521060e-02 1.15480603e-02 4.32517229e+02] [-3.44449962e-02 9.99406264e-01 -8.14059988e-04 -3.90292508e+00] [-1.15692499e-02 4.15749511e-04 9.99932988e-01 2.09695110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.54, Y:-3.90, Z:2.10 [[ 9.99302272e-01 3.54702062e-02 1.16975909e-02 4.32544570e+02] [-3.54629886e-02 9.99370651e-01 -8.23922731e-04 -3.90442376e+00] [-1.17194537e-02 4.08516326e-04 9.99931241e-01 2.09653759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.57, Y:-3.91, Z:2.10 [[ 9.99287330e-01 3.58729312e-02 1.17458336e-02 4.32573566e+02] [-3.58656975e-02 9.99356278e-01 -8.25987440e-04 -3.90621609e+00] [-1.17679031e-02 4.04126269e-04 9.99930674e-01 2.09591494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.60, Y:-3.91, Z:2.10 [[ 9.99277803e-01 3.60598702e-02 1.19815557e-02 4.32602251e+02] [-3.60523670e-02 9.99349548e-01 -8.41702538e-04 -3.90813680e+00] [-1.20041140e-02 4.09131219e-04 9.99927864e-01 2.09524180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.63, Y:-3.91, Z:2.10 [[ 9.99268210e-01 3.65281681e-02 1.13462166e-02 4.32630131e+02] [-3.64674267e-02 9.99319624e-01 -5.51504976e-03 -3.90825027e+00] [-1.15399515e-02 5.09724658e-03 9.99920421e-01 2.09564029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.66, Y:-3.91, Z:2.09 [[ 9.99272863e-01 3.55172784e-02 1.38660584e-02 4.32658301e+02] [-3.55715122e-02 9.99360342e-01 3.68434695e-03 -3.91468199e+00] [-1.37263309e-02 -4.17490459e-03 9.99897074e-01 2.09293554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.69, Y:-3.91, Z:2.09 [[ 9.99293355e-01 3.49381507e-02 1.38606249e-02 4.32687066e+02] [-3.49280467e-02 9.99389358e-01 -9.70450094e-04 -3.91437862e+00] [-1.38860667e-02 4.85639777e-04 9.99903466e-01 2.09372652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.72, Y:-3.92, Z:2.09 [[ 9.99319446e-01 3.42314908e-02 1.37422466e-02 4.32715604e+02] [-3.42215055e-02 9.99413811e-01 -9.61176810e-04 -3.91633955e+00] [-1.37670936e-02 4.90242308e-04 9.99905109e-01 2.09308241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.74, Y:-3.92, Z:2.09 [[ 9.99341242e-01 3.36355262e-02 1.36283821e-02 4.32744732e+02] [-3.36256635e-02 9.99434044e-01 -9.52248726e-04 -3.91818433e+00] [-1.36526984e-02 4.93358036e-04 9.99906676e-01 2.09232926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.77, Y:-3.92, Z:2.09 [[ 9.99380806e-01 3.23697460e-02 1.37914566e-02 4.32773744e+02] [-3.23595395e-02 9.99475829e-01 -9.62631357e-04 -3.91937419e+00] [-1.38153876e-02 5.15750118e-04 9.99904430e-01 2.09136007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.80, Y:-3.92, Z:2.09 [[ 9.99399579e-01 3.19232677e-02 1.34679614e-02 4.32802464e+02] [-3.19135079e-02 9.99490193e-01 -9.39012797e-04 -3.92106706e+00] [-1.34910717e-02 5.08639101e-04 9.99908862e-01 2.09056287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.83, Y:-3.92, Z:2.09 [[ 9.99402027e-01 3.18213756e-02 1.35273285e-02 4.32831508e+02] [-3.18115302e-02 9.99493441e-01 -9.42421290e-04 -3.92268613e+00] [-1.35504653e-02 5.11532727e-04 9.99908057e-01 2.08979767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.86, Y:-3.92, Z:2.09 [[ 9.99425431e-01 3.16171291e-02 1.22132842e-02 4.32860152e+02] [-3.15763927e-02 9.99495164e-01 -3.51402291e-03 -3.92273313e+00] [-1.23182218e-02 3.12635241e-03 9.99919240e-01 2.09013198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.89, Y:-3.93, Z:2.09 [[ 9.99387315e-01 3.22374870e-02 1.36286190e-02 4.32888700e+02] [-3.22626764e-02 9.99478091e-01 1.63241281e-03 -3.92575807e+00] [-1.35688812e-02 -2.07110837e-03 9.99905794e-01 2.08871725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.92, Y:-3.93, Z:2.09 [[ 9.99392572e-01 3.23255066e-02 1.30210599e-02 4.32918248e+02] [-3.23164337e-02 9.99477276e-01 -9.06644772e-04 -3.92576225e+00] [-1.30435612e-02 4.85299833e-04 9.99914811e-01 2.08887356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.95, Y:-3.93, Z:2.09 [[ 9.99393537e-01 3.25173205e-02 1.24571896e-02 4.32945696e+02] [-3.25090321e-02 9.99471065e-01 -8.67313637e-04 -3.92697515e+00] [-1.24788033e-02 4.61816465e-04 9.99922030e-01 2.08833334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.97, Y:-3.93, Z:2.09 [[ 9.99399331e-01 3.24061288e-02 1.22808914e-02 4.32974315e+02] [-3.23980801e-02 9.99474680e-01 -8.53821365e-04 -3.92812625e+00] [-1.23021091e-02 4.55431198e-04 9.99924222e-01 2.08743149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.01, Y:-3.92, Z:2.09 [[ 9.99222387e-01 3.57611774e-02 1.66060038e-02 4.33007465e+02] [-3.52310339e-02 9.98892387e-01 -3.11893249e-02 -3.91784072e+00] [-1.77029778e-02 3.05800250e-02 9.99375538e-01 2.08551563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.03, Y:-3.95, Z:2.08 [[ 9.99421135e-01 3.12576302e-02 1.34296195e-02 4.33031777e+02] [-3.16401201e-02 9.99070328e-01 2.92810848e-02 -3.94535378e+00] [-1.25018771e-02 -2.96890498e-02 9.99480997e-01 2.07799011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.06, Y:-3.93, Z:2.09 [[ 9.99426222e-01 3.19088998e-02 1.13600037e-02 4.33060461e+02] [-3.19020135e-02 9.99490691e-01 -7.86924066e-04 -3.93187417e+00] [-1.13793278e-02 4.24065556e-04 9.99935163e-01 2.08545053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.09, Y:-3.93, Z:2.08 [[ 9.99410227e-01 3.22271263e-02 1.18579436e-02 4.33088932e+02] [-3.22196603e-02 9.99480475e-01 -8.20161527e-04 -3.93225712e+00] [-1.18782146e-02 4.37618902e-04 9.99929356e-01 2.08491397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.12, Y:-3.93, Z:2.08 [[ 9.99390136e-01 3.27486999e-02 1.21193625e-02 4.33116535e+02] [-3.27409492e-02 9.99463521e-01 -8.37441122e-04 -3.93316780e+00] [-1.21402859e-02 4.40130964e-04 9.99926207e-01 2.08457955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.15, Y:-3.93, Z:2.08 [[ 9.99370063e-01 3.32839611e-02 1.23148678e-02 4.33145377e+02] [-3.32760144e-02 9.99445839e-01 -8.49691129e-04 -3.93409837e+00] [-1.23363245e-02 4.39366157e-04 9.99923808e-01 2.08418663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.17, Y:-3.93, Z:2.08 [[ 9.99317722e-01 3.47822230e-02 1.24212851e-02 4.33174447e+02] [-3.47742655e-02 9.99394826e-01 -8.56104346e-04 -3.93396126e+00] [-1.24435453e-02 4.23579178e-04 9.99922486e-01 2.08380188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.20, Y:-3.93, Z:2.08 [[ 9.99300104e-01 3.53801948e-02 1.21467543e-02 4.33202930e+02] [-3.53726398e-02 9.99373842e-01 -8.36319255e-04 -3.93474890e+00] [-1.21687376e-02 4.06071155e-04 9.99925876e-01 2.08350482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.23, Y:-3.94, Z:2.08 [[ 9.99304228e-01 3.52635024e-02 1.21467954e-02 4.33232154e+02] [-3.52559461e-02 9.99377966e-01 -8.35721630e-04 -3.93670932e+00] [-1.21687102e-02 4.06893395e-04 9.99925876e-01 2.08295230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.26, Y:-3.94, Z:2.08 [[ 9.99293052e-01 3.55880914e-02 1.21195423e-02 4.33259489e+02] [-3.55806115e-02 9.99366463e-01 -8.32303522e-04 -3.93744640e+00] [-1.21414842e-02 4.00494401e-04 9.99926209e-01 2.08256233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.29, Y:-3.94, Z:2.08 [[ 9.99274017e-01 3.60203911e-02 1.24084763e-02 4.33288363e+02] [-3.60126013e-02 9.99350974e-01 -8.50718629e-04 -3.93843035e+00] [-1.24310661e-02 4.03239513e-04 9.99922650e-01 2.08176865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.32, Y:-3.94, Z:2.08 [[ 9.99246379e-01 3.67566236e-02 1.24749508e-02 4.33316044e+02] [-3.67488170e-02 9.99324169e-01 -8.54512355e-04 -3.93959450e+00] [-1.24979289e-02 3.95428692e-04 9.99921820e-01 2.08115982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.34, Y:-3.94, Z:2.08 [[ 9.99175254e-01 3.84611342e-02 1.30212766e-02 4.33344580e+02] [-3.84527931e-02 9.99260021e-01 -8.90426679e-04 -3.93960799e+00] [-1.30458880e-02 3.88987848e-04 9.99914823e-01 2.08031645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.37, Y:-3.94, Z:2.08 [[ 9.99117599e-01 3.98630951e-02 1.32271702e-02 4.33372168e+02] [-3.98546220e-02 9.99205080e-01 -9.03663216e-04 -3.94060222e+00] [-1.32526785e-02 3.75701953e-04 9.99912109e-01 2.07940088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.40, Y:-3.94, Z:2.08 [[ 9.99061620e-01 4.12250561e-02 1.32805894e-02 4.33401111e+02] [-4.12166538e-02 9.99149822e-01 -9.05873152e-04 -3.94149014e+00] [-1.33066432e-02 3.57641643e-04 9.99911399e-01 2.07894005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.43, Y:-3.94, Z:2.08 [[ 9.98891992e-01 4.52668701e-02 1.28723873e-02 4.33429546e+02] [-4.52593229e-02 9.98974887e-01 -8.77161218e-04 -3.94084614e+00] [-1.28988980e-02 2.93593782e-04 9.99916763e-01 2.07872844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.46, Y:-3.94, Z:2.08 [[ 9.98896031e-01 4.51776424e-02 1.28724428e-02 4.33457951e+02] [-4.51700984e-02 9.98978926e-01 -8.76346528e-04 -3.94269084e+00] [-1.28988903e-02 2.93929563e-04 9.99916763e-01 2.07819146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.49, Y:-3.94, Z:2.08 [[ 9.98690804e-01 4.93628773e-02 1.34158553e-02 4.33485776e+02] [-4.93550760e-02 9.98780879e-01 -9.12162188e-04 -3.94216174e+00] [-1.34445267e-02 2.48827429e-04 9.99909587e-01 2.07774813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.51, Y:-3.94, Z:2.08 [[ 9.98575188e-01 5.16844792e-02 1.32781029e-02 4.33512815e+02] [-5.16770599e-02 9.98663441e-01 -9.01481889e-04 -3.94306819e+00] [-1.33069486e-02 2.14024126e-04 9.99911436e-01 2.07717898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.54, Y:-3.94, Z:2.08 [[ 9.98461915e-01 5.39076338e-02 1.29526216e-02 4.33540678e+02] [-5.39007822e-02 9.98545910e-01 -8.77734547e-04 -3.94417735e+00] [-1.29811039e-02 1.78228079e-04 9.99915726e-01 2.07681175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.57, Y:-3.95, Z:2.08 [[ 9.98363373e-01 5.58356131e-02 1.23677147e-02 4.33567775e+02] [-5.58295283e-02 9.98439965e-01 -8.36969702e-04 -3.94511319e+00] [-1.23951533e-02 1.45116218e-04 9.99923167e-01 2.07645536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.60, Y:-3.95, Z:2.08 [[ 9.98194840e-01 5.88313286e-02 1.20804362e-02 4.33595894e+02] [-5.88257615e-02 9.98267932e-01 -8.15955741e-04 -3.94610434e+00] [-1.21075158e-02 1.03841954e-04 9.99926696e-01 2.07602329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.62, Y:-3.95, Z:2.08 [[ 9.98155364e-01 5.94758255e-02 1.21858910e-02 4.33623384e+02] [-5.94702246e-02 9.98229742e-01 -8.21790091e-04 -3.94778032e+00] [-1.22131955e-02 9.55765119e-05 9.99925412e-01 2.07535247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.65, Y:-3.95, Z:2.07 [[ 9.98150668e-01 5.95811823e-02 1.20551587e-02 4.33649979e+02] [-5.95757225e-02 9.98223459e-01 -8.11822561e-04 -3.94963025e+00] [-1.20821116e-02 9.21264390e-05 9.99927004e-01 2.07477668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.68, Y:-3.95, Z:2.07 [[ 9.98205402e-01 5.86953482e-02 1.18672236e-02 4.33677442e+02] [-5.86900133e-02 9.98275937e-01 -7.97613434e-04 -3.95234948e+00] [-1.18935800e-02 9.96945267e-05 9.99929264e-01 2.07416736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.71, Y:-3.95, Z:2.07 [[ 9.98276634e-01 5.75729679e-02 1.13628578e-02 4.33705762e+02] [-5.75680169e-02 9.98341295e-01 -7.62592038e-04 -3.95448993e+00] [-1.13879149e-02 1.07140622e-04 9.99935150e-01 2.07375105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.73, Y:-3.96, Z:2.07 [[ 9.98359310e-01 5.62027554e-02 1.09516226e-02 4.33733522e+02] [-5.61980854e-02 9.98419369e-01 -7.33930360e-04 -3.95648796e+00] [-1.09755610e-02 1.17265986e-04 9.99939760e-01 2.07343483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.76, Y:-3.96, Z:2.07 [[ 9.98475664e-01 5.42700239e-02 1.00554938e-02 4.33761753e+02] [-5.42659982e-02 9.98526288e-01 -6.72963864e-04 -3.95866440e+00] [-1.00771967e-02 1.26266630e-04 9.99949216e-01 2.07301875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.79, Y:-3.96, Z:2.07 [[ 9.98678915e-01 5.05042284e-02 9.47357168e-03 4.33788219e+02] [-5.05004891e-02 9.98723835e-01 -6.33662582e-04 -3.96126469e+00] [-9.49348448e-03 1.54405456e-04 9.99954924e-01 2.07239693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.81, Y:-3.96, Z:2.07 [[ 9.98765475e-01 4.87827975e-02 9.36832695e-03 4.33814663e+02] [-4.87790833e-02 9.98809397e-01 -6.24684005e-04 -3.96350979e+00] [-9.38764683e-03 1.66934416e-04 9.99955921e-01 2.07177300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.84, Y:-3.97, Z:2.07 [[ 9.98854156e-01 4.68911632e-02 9.57050027e-03 4.33842299e+02] [-4.68872132e-02 9.98899987e-01 -6.36804808e-04 -3.96553288e+00] [-9.58983311e-03 1.87341043e-04 9.99953999e-01 2.07136417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.87, Y:-3.97, Z:2.07 [[ 9.98916298e-01 4.54779289e-02 9.89890523e-03 4.33870256e+02] [-4.54736452e-02 9.98965322e-01 -6.57506297e-04 -3.96773828e+00] [-9.91856508e-03 2.06654452e-04 9.99950788e-01 2.07112205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.90, Y:-3.97, Z:2.07 [[ 9.98977996e-01 4.40234140e-02 1.02422256e-02 4.33898106e+02] [-4.40187636e-02 9.99030474e-01 -6.79139849e-04 -3.96977611e+00] [-1.02621935e-02 2.27595658e-04 9.99947316e-01 2.07114300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.93, Y:-3.97, Z:2.07 [[ 9.99079942e-01 4.13072755e-02 1.15316321e-02 4.33926375e+02] [-4.13012171e-02 9.99146449e-01 -7.63130859e-04 -3.97198302e+00] [-1.15533121e-02 2.86158295e-04 9.99933217e-01 2.07098010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.95, Y:-3.97, Z:2.07 [[ 9.99117126e-01 4.02269664e-02 1.21144809e-02 4.33953766e+02] [-4.02202175e-02 9.99190519e-01 -8.00309308e-04 -3.97388971e+00] [-1.21368685e-02 3.12355677e-04 9.99926297e-01 2.07035934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.98, Y:-3.98, Z:2.07 [[ 9.99168849e-01 3.89339421e-02 1.20730882e-02 4.33981606e+02] [-3.89271625e-02 9.99241734e-01 -7.96127272e-04 -3.97587937e+00] [-1.20949299e-02 3.25494505e-04 9.99926801e-01 2.07008564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.01, Y:-3.98, Z:2.07 [[ 9.99225852e-01 3.72830913e-02 1.25565484e-02 4.34010297e+02] [-3.72756443e-02 9.99304680e-01 -8.26674096e-04 -3.97797933e+00] [-1.25786386e-02 3.57980696e-04 9.99920822e-01 2.06941622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.04, Y:-3.98, Z:2.07 [[ 9.99315034e-01 3.46253390e-02 1.30594188e-02 4.34039030e+02] [-3.46170694e-02 9.99400281e-01 -8.58819912e-04 -3.98055726e+00] [-1.30813237e-02 4.06152845e-04 9.99914353e-01 2.06873087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.07, Y:-3.98, Z:2.07 [[ 9.99360669e-01 3.32860757e-02 1.30495640e-02 4.34067223e+02] [-3.32777157e-02 9.99445776e-01 -8.57308622e-04 -3.98262376e+00] [-1.30708680e-02 4.22500838e-04 9.99914483e-01 2.06820636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.10, Y:-3.98, Z:2.07 [[ 9.99401355e-01 3.20555934e-02 1.30142287e-02 4.34095663e+02] [-3.20471913e-02 9.99485992e-01 -8.53692395e-04 -3.98477282e+00] [-1.30349049e-02 4.36111861e-04 9.99914947e-01 2.06761207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.12, Y:-3.99, Z:2.07 [[ 9.99439054e-01 3.08620021e-02 1.30044111e-02 4.34124172e+02] [-3.08535242e-02 9.99523554e-01 -8.52088351e-04 -3.98684845e+00] [-1.30245124e-02 4.50378462e-04 9.99915076e-01 2.06717480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.15, Y:-3.99, Z:2.07 [[ 9.99486765e-01 2.90435004e-02 1.35159648e-02 4.34153098e+02] [-2.90341904e-02 9.99578028e-01 -8.84565763e-04 -3.98924752e+00] [-1.35359523e-02 4.91686679e-04 9.99908264e-01 2.06692999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.18, Y:-3.99, Z:2.07 [[ 9.99497936e-01 2.85654347e-02 1.37073405e-02 4.34181893e+02] [-2.85558309e-02 9.99591798e-01 -8.95878564e-04 -3.99129143e+00] [-1.37273363e-02 5.04004277e-04 9.99905649e-01 2.06662482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.21, Y:-3.99, Z:2.07 [[ 9.99505852e-01 2.82308375e-02 1.38228659e-02 4.34210204e+02] [-2.82210444e-02 9.99601299e-01 -9.03050357e-04 -3.99314169e+00] [-1.38428486e-02 5.12508402e-04 9.99904052e-01 2.06634402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.24, Y:-3.99, Z:2.07 [[ 9.99503535e-01 2.85916029e-02 1.32364769e-02 4.34238533e+02] [-2.85826669e-02 9.99591059e-01 -8.63823574e-04 -3.99451584e+00] [-1.32557620e-02 4.85060907e-04 9.99912021e-01 2.06577568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.27, Y:-4.00, Z:2.07 [[ 9.99499251e-01 2.90477350e-02 1.25489856e-02 4.34267204e+02] [-2.90397497e-02 9.99577923e-01 -8.18112950e-04 -3.99595228e+00] [-1.25674533e-02 4.53283878e-04 9.99920924e-01 2.06507840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.30, Y:-4.00, Z:2.06 [[ 9.99490644e-01 2.97210611e-02 1.16237358e-02 4.34295401e+02] [-2.97142629e-02 9.99558147e-01 -7.57162887e-04 -3.99725187e+00] [-1.16411035e-02 4.11386481e-04 9.99932155e-01 2.06475105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.32, Y:-4.00, Z:2.06 [[ 9.99466566e-01 3.06199741e-02 1.13578642e-02 4.34324095e+02] [-3.06135543e-02 9.99531022e-01 -7.38698565e-04 -3.99886058e+00] [-1.13751566e-02 3.90599925e-04 9.99935225e-01 2.06407099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.35, Y:-4.00, Z:2.06 [[ 9.99402725e-01 3.27182532e-02 1.11224436e-02 4.34352370e+02] [-3.27122337e-02 9.99464550e-01 -7.22745358e-04 -3.99992084e+00] [-1.11401350e-02 3.58473707e-04 9.99937883e-01 2.06366947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.38, Y:-4.00, Z:2.06 [[ 9.99362556e-01 3.38162361e-02 1.14430876e-02 4.34381118e+02] [-3.38099503e-02 9.99428004e-01 -7.42371726e-04 -4.00101558e+00] [-1.14616464e-02 3.55008284e-04 9.99934250e-01 2.06337256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.41, Y:-4.00, Z:2.06 [[ 9.99313033e-01 3.52402006e-02 1.14712861e-02 4.34408705e+02] [-3.52339848e-02 9.99378814e-01 -7.43562438e-04 -4.00196806e+00] [-1.14903636e-02 3.38872515e-04 9.99933926e-01 2.06327707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.44, Y:-4.00, Z:2.06 [[ 9.99143219e-01 3.92786959e-02 1.30388922e-02 4.34436860e+02] [-3.92090387e-02 9.99215585e-01 -5.55568710e-03 -3.99967038e+00] [-1.32468845e-02 5.03968466e-03 9.99899556e-01 2.06277822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.46, Y:-4.00, Z:2.06 [[ 9.99126776e-01 3.99209505e-02 1.23289200e-02 4.34464143e+02] [-3.99723903e-02 9.99192960e-01 3.95434009e-03 -4.00461562e+00] [-1.21611091e-02 -4.44370347e-03 9.99916177e-01 2.06267774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.49, Y:-4.00, Z:2.06 [[ 9.99068688e-01 4.11946459e-02 1.28358167e-02 4.34493288e+02] [-4.11874084e-02 9.99151096e-01 -8.27808422e-04 -4.00325232e+00] [-1.28590216e-02 2.98363448e-04 9.99917275e-01 2.06386872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.52, Y:-4.00, Z:2.06 [[ 9.99006929e-01 4.23840812e-02 1.37385032e-02 4.34520707e+02] [-4.22944523e-02 9.99082386e-01 -6.75023049e-03 -4.00107176e+00] [-1.40119988e-02 6.16246456e-03 9.99882837e-01 2.06379593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.55, Y:-4.01, Z:2.06 [[ 9.98992677e-01 4.23199661e-02 1.49214943e-02 4.34548986e+02] [-4.23977370e-02 9.99088625e-01 4.93462798e-03 -4.00888723e+00] [-1.46990620e-02 -5.56229481e-03 9.99876492e-01 2.06212978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.58, Y:-4.01, Z:2.06 [[ 9.99021626e-01 4.17566423e-02 1.45661609e-02 4.34576479e+02] [-4.17474592e-02 9.99127758e-01 -9.34074245e-04 -4.00815812e+00] [-1.45924595e-02 3.25060163e-04 9.99893472e-01 2.06347214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.60, Y:-4.01, Z:2.06 [[ 9.99075556e-01 4.04536940e-02 1.45441296e-02 4.34604985e+02] [-4.04444193e-02 9.99181356e-01 -9.31382717e-04 -4.01032412e+00] [-1.45699010e-02 3.42292833e-04 9.99893795e-01 2.06298789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.63, Y:-4.01, Z:2.06 [[ 9.99152031e-01 3.87237287e-02 1.39890240e-02 4.34632516e+02] [-3.87149913e-02 9.99249893e-01 -8.94955913e-04 -4.01251360e+00] [-1.40131868e-02 3.52612076e-04 9.99901748e-01 2.06277262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.66, Y:-4.02, Z:2.06 [[ 9.99322716e-01 3.44350166e-02 1.29745438e-02 4.34660197e+02] [-3.44271530e-02 9.99406866e-01 -8.29008459e-04 -4.01509769e+00] [-1.29953951e-02 3.81770381e-04 9.99915483e-01 2.06239430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.69, Y:-4.02, Z:2.06 [[ 9.99400867e-01 3.22431485e-02 1.25811853e-02 4.34689022e+02] [-3.22355961e-02 9.99479976e-01 -8.02675325e-04 -4.01735460e+00] [-1.26005235e-02 3.96632409e-04 9.99920532e-01 2.06149925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.72, Y:-4.02, Z:2.06 [[ 9.99466345e-01 3.03429622e-02 1.20966539e-02 4.34717836e+02] [-3.03358510e-02 9.99539465e-01 -7.70963928e-04 -4.01957578e+00] [-1.21144763e-02 4.03590210e-04 9.99926536e-01 2.06076666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.75, Y:-4.02, Z:2.06 [[ 9.99518731e-01 2.87973864e-02 1.15332762e-02 4.34745593e+02] [-2.87908269e-02 9.99585188e-01 -7.34411589e-04 -4.02179271e+00] [-1.15496412e-02 4.02005582e-04 9.99933220e-01 2.06045358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.77, Y:-4.02, Z:2.06 [[ 9.99581986e-01 2.65904306e-02 1.13491526e-02 4.34774112e+02] [-2.65839495e-02 9.99646324e-01 -7.21562433e-04 -4.02412729e+00] [-1.13643253e-02 4.19555510e-04 9.99935336e-01 2.06052051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.80, Y:-4.03, Z:2.06 [[ 9.99596172e-01 2.59167417e-02 1.16540071e-02 4.34801542e+02] [-2.59098708e-02 9.99664009e-01 -7.40195785e-04 -4.02556513e+00] [-1.16692749e-02 4.37943054e-04 9.99931816e-01 2.06039384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.83, Y:-4.03, Z:2.06 [[ 9.99594221e-01 2.58680048e-02 1.19264201e-02 4.34829810e+02] [-2.58608201e-02 9.99665267e-01 -7.56271107e-04 -4.02721953e+00] [-1.19419912e-02 4.47537223e-04 9.99928592e-01 2.06010510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.86, Y:-4.03, Z:2.06 [[ 9.99594517e-01 2.57952987e-02 1.20583551e-02 4.34858875e+02] [-2.57879592e-02 9.99667144e-01 -7.63776822e-04 -4.02859939e+00] [-1.20740432e-02 4.52506754e-04 9.99927004e-01 2.05982109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.89, Y:-4.03, Z:2.06 [[ 9.99577582e-01 2.65545537e-02 1.18116146e-02 4.34888121e+02] [-2.65475740e-02 9.99647272e-01 -7.47345419e-04 -4.02985530e+00] [-1.18272937e-02 4.33460014e-04 9.99929961e-01 2.05925937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.92, Y:-4.03, Z:2.06 [[ 9.99566080e-01 2.71661052e-02 1.13866126e-02 4.34917295e+02] [-2.71596672e-02 9.99630849e-01 -7.19675460e-04 -4.03154426e+00] [-1.14019600e-02 4.10106568e-04 9.99934911e-01 2.05871705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.95, Y:-4.03, Z:2.06 [[ 9.99557940e-01 2.75948266e-02 1.10657638e-02 4.34945675e+02] [-2.75887812e-02 9.99619113e-01 -6.98622689e-04 -4.03299249e+00] [-1.10808273e-02 3.93022920e-04 9.99938529e-01 2.05812926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.97, Y:-4.03, Z:2.06 [[ 9.99552792e-01 2.77663402e-02 1.11016062e-02 4.34973241e+02] [-2.77602738e-02 9.99614364e-01 -7.00198328e-04 -4.03452602e+00] [-1.11167670e-02 3.91701566e-04 9.99938130e-01 2.05773581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.00, Y:-4.04, Z:2.06 [[ 9.99554244e-01 2.77140185e-02 1.11016885e-02 4.35002498e+02] [-2.77079633e-02 9.99615816e-01 -6.98891605e-04 -4.03630563e+00] [-1.11167925e-02 3.90974894e-04 9.99938130e-01 2.05718388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.03, Y:-4.04, Z:2.06 [[ 9.99554011e-01 2.77513862e-02 1.10290241e-02 4.35031100e+02] [-2.77454172e-02 9.99614781e-01 -6.93878893e-04 -4.03811168e+00] [-1.10440316e-02 3.87564556e-04 9.99938938e-01 2.05652177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.06, Y:-4.04, Z:2.06 [[ 9.99585811e-01 2.65582490e-02 1.10844478e-02 4.35060239e+02] [-2.65521550e-02 9.99647187e-01 -6.96612369e-04 -4.03976238e+00] [-1.10990379e-02 4.02007863e-04 9.99938323e-01 2.05644531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.09, Y:-4.04, Z:2.06 [[ 9.99609343e-01 2.56807183e-02 1.10300763e-02 4.35089221e+02] [-2.56746394e-02 9.99670112e-01 -6.92390734e-04 -4.04132774e+00] [-1.10442187e-02 4.08927016e-04 9.99938927e-01 2.05621849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.12, Y:-4.04, Z:2.06 [[ 9.99669502e-01 2.35924994e-02 1.02117527e-02 4.35117604e+02] [-2.35871869e-02 9.99721579e-01 -6.40370437e-04 -4.04309469e+00] [-1.02240174e-02 3.99292277e-04 9.99947654e-01 2.05574913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.15, Y:-4.05, Z:2.06 [[ 9.99700900e-01 2.23888337e-02 9.84122772e-03 4.35145396e+02] [-2.23838466e-02 9.99749260e-01 -6.16620775e-04 -4.04514763e+00] [-9.85256555e-03 3.96151813e-04 9.99951384e-01 2.05523830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.17, Y:-4.05, Z:2.05 [[ 9.99728871e-01 2.11387827e-02 9.76405250e-03 4.35174300e+02] [-2.11338258e-02 9.99776469e-01 -6.10572468e-04 -4.04696193e+00] [-9.77477669e-03 4.04055139e-04 9.99952144e-01 2.05447996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.21, Y:-4.04, Z:2.05 [[ 9.99661784e-01 2.22111941e-02 1.35270433e-02 4.35205532e+02] [-2.19597005e-02 9.99588323e-01 -1.84650000e-02 -4.04251575e+00] [-1.39316042e-02 1.81617050e-02 9.99737997e-01 2.05173502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.23, Y:-4.06, Z:2.05 [[ 9.99779477e-01 1.83937568e-02 1.01325013e-02 4.35233708e+02] [-1.85655941e-02 9.99680815e-01 1.71343858e-02 -4.05845248e+00] [-9.81410144e-03 -1.73187231e-02 9.99801853e-01 2.04862866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.26, Y:-4.05, Z:2.05 [[ 9.99810779e-01 1.74625038e-02 8.57132173e-03 4.35263767e+02] [-1.74585604e-02 9.99847445e-01 -5.34681819e-04 -4.05053689e+00] [-8.57935101e-03 3.84937708e-04 9.99963123e-01 2.05307022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.29, Y:-4.05, Z:2.05 [[ 9.99817529e-01 1.71517045e-02 8.40999035e-03 4.35293182e+02] [-1.71478997e-02 9.99852826e-01 -5.24324983e-04 -4.05148998e+00] [-8.41774569e-03 3.80015638e-04 9.99964498e-01 2.05293162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.32, Y:-4.05, Z:2.05 [[ 9.99816204e-01 1.71095770e-02 8.64994725e-03 4.35322913e+02] [-1.71055531e-02 9.99853544e-01 -5.38959540e-04 -4.05249569e+00] [-8.65790179e-03 3.90898349e-04 9.99962443e-01 2.05277123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.35, Y:-4.05, Z:2.05 [[ 9.99802920e-01 1.77580735e-02 8.87536266e-03 4.35353020e+02] [-1.77538658e-02 9.99842235e-01 -5.52660316e-04 -4.05251301e+00] [-8.88377662e-03 3.94979401e-04 9.99960460e-01 2.05297998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.38, Y:-4.05, Z:2.05 [[ 9.99785920e-01 1.84017960e-02 9.45979665e-03 4.35382951e+02] [-1.83970482e-02 9.99830587e-01 -5.88668319e-04 -4.05332246e+00] [-9.46902659e-03 4.14509962e-04 9.99955082e-01 2.05239515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.41, Y:-4.05, Z:2.05 [[ 9.99766419e-01 1.96110943e-02 9.08367133e-03 4.35411454e+02] [-1.96067690e-02 9.99807609e-01 -5.64975661e-04 -4.05396370e+00] [-9.09300351e-03 3.86742248e-04 9.99958583e-01 2.05223312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.44, Y:-4.05, Z:2.05 [[ 9.99746292e-01 2.07360428e-02 8.79586494e-03 4.35440387e+02] [-2.07320307e-02 9.99784919e-01 -5.47084113e-04 -4.05441653e+00] [-8.80531747e-03 3.64589172e-04 9.99961166e-01 2.05193195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.47, Y:-4.05, Z:2.05 [[ 9.99701485e-01 2.30111512e-02 8.21147896e-03 4.35468587e+02] [-2.30077337e-02 9.99735157e-01 -5.10410844e-04 -4.05367194e+00] [-8.22104935e-03 3.21330957e-04 9.99966155e-01 2.05190100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.50, Y:-4.05, Z:2.05 [[ 9.99672048e-01 2.42176431e-02 8.32475787e-03 4.35497000e+02] [-2.42141805e-02 9.99706660e-01 -5.16502487e-04 -4.05459262e+00] [-8.33482437e-03 3.14755910e-04 9.99965215e-01 2.05124497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.52, Y:-4.06, Z:2.05 [[ 9.99639712e-01 2.54673496e-02 8.47708931e-03 4.35524561e+02] [-2.54638074e-02 9.99675607e-01 -5.25537451e-04 -4.05578752e+00] [-8.48772344e-03 3.09489136e-04 9.99963931e-01 2.05039066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.55, Y:-4.06, Z:2.05 [[ 9.99620088e-01 2.61998616e-02 8.55841482e-03 4.35552920e+02] [-2.61962871e-02 9.99656678e-01 -5.29516211e-04 -4.05683576e+00] [-8.56934978e-03 3.05116349e-04 9.99963236e-01 2.04989051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.58, Y:-4.06, Z:2.05 [[ 9.99582653e-01 2.74510526e-02 8.99778717e-03 4.35580966e+02] [-2.74471572e-02 9.99623101e-01 -5.56147278e-04 -4.05741932e+00] [-9.00966274e-03 3.08951493e-04 9.99959364e-01 2.04937191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.61, Y:-4.06, Z:2.05 [[ 9.99568607e-01 2.80426125e-02 8.72989475e-03 4.35609594e+02] [-2.80389760e-02 9.99606685e-01 -5.38691754e-04 -4.05841865e+00] [-8.74156748e-03 2.93682057e-04 9.99961749e-01 2.04906743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.64, Y:-4.06, Z:2.05 [[ 9.99571110e-01 2.79600325e-02 8.70819655e-03 4.35637543e+02] [-2.79564149e-02 9.99608999e-01 -5.36891980e-04 -4.05945556e+00] [-8.71980315e-03 2.93211756e-04 9.99961939e-01 2.04849018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.67, Y:-4.06, Z:2.05 [[ 9.99591716e-01 2.75750051e-02 7.48471191e-03 4.35666815e+02] [-2.75723268e-02 9.99619705e-01 -4.60813424e-04 -4.06058770e+00] [-7.49457245e-03 2.54254359e-04 9.99971883e-01 2.04813589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.69, Y:-4.06, Z:2.05 [[ 9.99615060e-01 2.67587907e-02 7.32790837e-03 4.35694085e+02] [-2.67562031e-02 9.99641887e-01 -4.50939797e-04 -4.06210033e+00] [-7.33735075e-03 2.54699208e-04 9.99973049e-01 2.04741235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.72, Y:-4.06, Z:2.05 [[ 9.99632245e-01 2.60920467e-02 7.38786270e-03 4.35722924e+02] [-2.60894062e-02 9.99659511e-01 -4.53583240e-04 -4.06373675e+00] [-7.39718213e-03 2.60671481e-04 9.99972606e-01 2.04661931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.75, Y:-4.07, Z:2.05 [[ 9.99673822e-01 2.43633632e-02 7.66000205e-03 4.35751579e+02] [-2.43604782e-02 9.99703129e-01 -4.69721343e-04 -4.06505283e+00] [-7.66917201e-03 2.82966817e-04 9.99970551e-01 2.04619705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.78, Y:-4.07, Z:2.05 [[ 9.99684886e-01 2.36968974e-02 8.28169864e-03 4.35780655e+02] [-2.36935080e-02 9.99719141e-01 -5.07153567e-04 -4.06669840e+00] [-8.29139062e-03 3.10771262e-04 9.99965578e-01 2.04577564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.81, Y:-4.07, Z:2.05 [[ 9.99696821e-01 2.30055254e-02 8.77563698e-03 4.35808937e+02] [-2.30016993e-02 9.99735282e-01 -5.36686398e-04 -4.06820802e+00] [-8.78566066e-03 3.34669123e-04 9.99961349e-01 2.04564138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.84, Y:-4.07, Z:2.05 [[ 9.99704139e-01 2.24327390e-02 9.40246552e-03 4.35836844e+02] [-2.24283266e-02 9.99748288e-01 -5.74478109e-04 -4.06974591e+00] [-9.41298593e-03 3.63426576e-04 9.99955631e-01 2.04513904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.87, Y:-4.07, Z:2.04 [[ 9.99707420e-01 2.21871726e-02 9.63345819e-03 4.35865122e+02] [-2.21825411e-02 9.99753765e-01 -5.87369984e-04 -4.07128820e+00] [-9.64411817e-03 3.73503549e-04 9.99953425e-01 2.04485422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.89, Y:-4.07, Z:2.04 [[ 9.99687892e-01 2.26870470e-02 1.04602594e-02 4.35893593e+02] [-2.26816228e-02 9.99742536e-01 -6.36905262e-04 -4.07288765e+00] [-1.04720158e-02 3.99450820e-04 9.99945087e-01 2.04435032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.92, Y:-4.07, Z:2.04 [[ 9.99675803e-01 2.29238876e-02 1.10807691e-02 4.35922389e+02] [-2.29178250e-02 9.99737125e-01 -6.73809570e-04 -4.07458376e+00] [-1.10933026e-02 4.19643997e-04 9.99938379e-01 2.04346212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.95, Y:-4.08, Z:2.04 [[ 9.99674601e-01 2.30289302e-02 1.09709330e-02 4.35951116e+02] [-2.30230038e-02 9.99734714e-01 -6.66198280e-04 -4.07623461e+00] [-1.09833644e-02 4.13397668e-04 9.99939596e-01 2.04298462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.98, Y:-4.08, Z:2.04 [[ 9.99679822e-01 2.28224681e-02 1.09265128e-02 4.35979156e+02] [-2.28165808e-02 9.99739448e-01 -6.63182670e-04 -4.07778010e+00] [-1.09388013e-02 4.13664672e-04 9.99940084e-01 2.04255570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.01, Y:-4.08, Z:2.04 [[ 9.99694265e-01 2.19283556e-02 1.14246937e-02 4.36007995e+02] [-2.19218749e-02 9.99759447e-01 -6.92192043e-04 -4.07971573e+00] [-1.14371241e-02 4.41529709e-04 9.99934496e-01 2.04233963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.04, Y:-4.08, Z:2.04 [[ 9.99705375e-01 2.12939897e-02 1.16502680e-02 4.36037079e+02] [-2.12872207e-02 9.99773153e-01 -7.04727143e-04 -4.08210337e+00] [-1.16626316e-02 4.56517686e-04 9.99931885e-01 2.04178393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.07, Y:-4.08, Z:2.04 [[ 9.99726004e-01 2.02382418e-02 1.17613940e-02 4.36067132e+02] [-2.02312753e-02 9.99795074e-01 -7.11009367e-04 -4.08449679e+00] [-1.17733734e-02 4.72866554e-04 9.99930580e-01 2.04131404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.10, Y:-4.09, Z:2.04 [[ 9.99767095e-01 1.81101226e-02 1.17379008e-02 4.36096910e+02] [-1.81030440e-02 9.99835875e-01 -7.09037031e-04 -4.08751549e+00] [-1.17488151e-02 4.96380158e-04 9.99930857e-01 2.04052895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.13, Y:-4.09, Z:2.04 [[ 9.99784795e-01 1.71117963e-02 1.17281434e-02 4.36127194e+02] [-1.71046648e-02 9.99853454e-01 -7.08111516e-04 -4.08968656e+00] [-1.17385417e-02 5.07353166e-04 9.99930972e-01 2.03974809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.16, Y:-4.09, Z:2.04 [[ 9.99800527e-01 1.61585573e-02 1.17391758e-02 4.36157138e+02] [-1.61513468e-02 9.99869307e-01 -7.08777618e-04 -4.09168203e+00] [-1.17490944e-02 5.19032736e-04 9.99930842e-01 2.03907924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.19, Y:-4.09, Z:2.04 [[ 9.99815705e-01 1.56493060e-02 1.11200747e-02 4.36186979e+02] [-1.56428061e-02 9.99877419e-01 -6.71263882e-04 -4.09370608e+00] [-1.11292164e-02 4.97190999e-04 9.99937945e-01 2.03838194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.22, Y:-4.10, Z:2.04 [[ 9.99830676e-01 1.52315155e-02 1.03257387e-02 4.36217826e+02] [-1.52258857e-02 9.99883885e-01 -6.23623234e-04 -4.09595823e+00] [-1.03340384e-02 4.66299123e-04 9.99946494e-01 2.03763670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.25, Y:-4.10, Z:2.04 [[ 9.99850042e-01 1.45050695e-02 9.46025133e-03 4.36247973e+02] [-1.45003130e-02 9.99894702e-01 -5.71183765e-04 -4.09865719e+00] [-9.46754024e-03 4.33921506e-04 9.99955088e-01 2.03669349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.28, Y:-4.10, Z:2.04 [[ 9.99854091e-01 1.44464766e-02 9.11566933e-03 4.36278145e+02] [-1.44420565e-02 9.99895557e-01 -5.50536825e-04 -4.10085280e+00] [-9.12267058e-03 4.18807486e-04 9.99958300e-01 2.03627312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.31, Y:-4.10, Z:2.04 [[ 9.99847554e-01 1.46588351e-02 9.48615750e-03 4.36308955e+02] [-1.46540545e-02 9.99892459e-01 -5.73262771e-04 -4.10312029e+00] [-9.49354072e-03 4.34164710e-04 9.99954841e-01 2.03555596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.34, Y:-4.10, Z:2.04 [[ 9.99825488e-01 1.56399616e-02 1.02169408e-02 4.36339864e+02] [-1.56344672e-02 9.99877584e-01 -6.17425103e-04 -4.10480544e+00] [-1.02253466e-02 4.57580930e-04 9.99947615e-01 2.03549793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.37, Y:-4.11, Z:2.04 [[ 9.99801415e-01 1.66561604e-02 1.09409117e-02 4.36370346e+02] [-1.66499205e-02 9.99861162e-01 -6.61175758e-04 -4.10647539e+00] [-1.09504054e-02 4.78879148e-04 9.99939928e-01 2.03507334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.40, Y:-4.11, Z:2.04 [[ 9.99814340e-01 1.67726471e-02 9.48490277e-03 4.36400099e+02] [-1.68656850e-02 9.99809583e-01 9.81564868e-03 -4.11081499e+00] [-9.31846227e-03 -9.97379569e-03 9.99906840e-01 2.03504249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.43, Y:-4.11, Z:2.04 [[ 9.99781446e-01 1.85287461e-02 9.68227494e-03 4.36430046e+02] [-1.85238603e-02 9.99828242e-01 -5.94046669e-04 -4.10756408e+00] [-9.69161888e-03 4.14563729e-04 9.99952949e-01 2.03779443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.46, Y:-4.11, Z:2.04 [[ 9.99637509e-01 2.38700768e-02 1.24526739e-02 4.36460349e+02] [-2.37349492e-02 9.99658988e-01 -1.08885302e-02 -4.10661377e+00] [-1.27083374e-02 1.05890196e-02 9.99863176e-01 2.03669184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.49, Y:-4.11, Z:2.03 [[ 9.99576675e-01 2.59303448e-02 1.31942138e-02 4.36489143e+02] [-2.59220033e-02 9.99663646e-01 -8.02865453e-04 -4.11288865e+00] [-1.32105944e-02 4.60505128e-04 9.99912630e-01 2.03277744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.52, Y:-4.11, Z:2.03 [[ 9.99513640e-01 2.81531819e-02 1.34120260e-02 4.36517978e+02] [-2.81447678e-02 9.99603525e-01 -8.15728086e-04 -4.11441175e+00] [-1.34296738e-02 4.37852991e-04 9.99909722e-01 2.03224033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.55, Y:-4.12, Z:2.03 [[ 9.99448904e-01 3.04889860e-02 1.31266820e-02 4.36546819e+02] [-3.04811349e-02 9.99535024e-01 -7.97807303e-04 -4.11577090e+00] [-1.31449027e-02 3.97251472e-04 9.99913523e-01 2.03173628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.58, Y:-4.12, Z:2.03 [[ 9.99309294e-01 3.47174103e-02 1.32528179e-02 4.36575573e+02] [-3.47097917e-02 9.99397110e-01 -8.04509912e-04 -4.11730168e+00] [-1.32727584e-02 3.43951683e-04 9.99911854e-01 2.03096736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.60, Y:-4.11, Z:2.03 [[ 9.99288110e-01 3.51670914e-02 1.36583217e-02 4.36602870e+02] [-3.50955713e-02 9.99369148e-01 -5.44130084e-03 -4.11409891e+00] [-1.38410601e-02 4.95808062e-03 9.99891915e-01 2.03104819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.63, Y:-4.12, Z:2.03 [[ 9.99193306e-01 3.77887037e-02 1.35923101e-02 4.36632709e+02] [-3.78449326e-02 9.99275999e-01 3.90357772e-03 -4.12290108e+00] [-1.34349582e-02 -4.41482879e-03 9.99900001e-01 2.02850571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.66, Y:-4.12, Z:2.03 [[ 9.99158773e-01 3.87377448e-02 1.34585800e-02 4.36661260e+02] [-3.87302907e-02 9.99249369e-01 -8.14153781e-04 -4.12243157e+00] [-1.34800160e-02 2.92214178e-04 9.99909098e-01 2.02973780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.69, Y:-4.12, Z:2.03 [[ 9.99124213e-01 3.95914353e-02 1.35397388e-02 4.36688820e+02] [-3.95839817e-02 9.99215912e-01 -8.18149760e-04 -4.12443092e+00] [-1.35615141e-02 2.81476465e-04 9.99907999e-01 2.02935200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.72, Y:-4.13, Z:2.03 [[ 9.99060699e-01 4.11032073e-02 1.37203010e-02 4.36717433e+02] [-4.10957150e-02 9.99154871e-01 -8.27685912e-04 -4.12687439e+00] [-1.37427261e-02 2.63062888e-04 9.99905530e-01 2.02805821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.74, Y:-4.13, Z:2.03 [[ 9.99024648e-01 4.20843979e-02 1.33662242e-02 4.36744821e+02] [-4.20773858e-02 9.99114030e-01 -8.05527303e-04 -4.12894687e+00] [-1.33882822e-02 2.42325861e-04 9.99910344e-01 2.02726005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.77, Y:-4.13, Z:2.03 [[ 9.98994219e-01 4.29485692e-02 1.28829776e-02 4.36772519e+02] [-4.29421439e-02 9.99077260e-01 -7.75078073e-04 -4.13075883e+00] [-1.29043785e-02 2.21075835e-04 9.99916711e-01 2.02658013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.80, Y:-4.13, Z:2.03 [[ 9.98881242e-01 4.52365046e-02 1.37812669e-02 4.36800024e+02] [-4.52293869e-02 9.98976285e-01 -8.27871907e-04 -4.13261901e+00] [-1.38046088e-02 2.03627466e-04 9.99904691e-01 2.02554616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.24509989300003 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:436.83, Y:-4.13, Z:2.03 [[ 9.98778142e-01 4.72580715e-02 1.44532908e-02 4.36826878e+02] [-4.71306314e-02 9.98847876e-01 -9.03461111e-03 -4.13034962e+00] [-1.48635972e-02 8.34237938e-03 9.99854729e-01 2.02511844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.275099893 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:436.85, Y:-4.14, Z:2.02 [[ 9.98781887e-01 4.70723828e-02 1.47964114e-02 4.36854938e+02] [-4.70642640e-02 9.98891461e-01 -8.96622455e-04 -4.13587136e+00] [-1.48222151e-02 1.99148055e-04 9.99890125e-01 2.02220910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.88, Y:-4.14, Z:2.02 [[ 9.98770099e-01 4.76488973e-02 1.37066113e-02 4.36882990e+02] [-4.77533851e-02 9.98831749e-01 7.39948112e-03 -4.14235752e+00] [-1.33380214e-02 -8.04491758e-03 9.99878681e-01 2.02146908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.91, Y:-4.14, Z:2.02 [[ 9.98715863e-01 4.89390112e-02 1.30995684e-02 4.36911088e+02] [-4.89329613e-02 9.98801759e-01 -7.82147218e-04 -4.14073599e+00] [-1.31221495e-02 1.40142159e-04 9.99913891e-01 2.02322506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.94, Y:-4.14, Z:2.02 [[ 9.98625952e-01 5.08591734e-02 1.26314093e-02 4.36938477e+02] [-5.08537140e-02 9.98705829e-01 -7.53230124e-04 -4.14349378e+00] [-1.26533708e-02 1.09841072e-04 9.99919937e-01 2.02268517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.97, Y:-4.15, Z:2.02 [[ 9.98614770e-01 5.11016972e-02 1.25362438e-02 4.36966349e+02] [-5.10963551e-02 9.98693449e-01 -7.46263833e-04 -4.14591070e+00] [-1.25580000e-02 1.04673718e-04 9.99921140e-01 2.02226668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.99, Y:-4.15, Z:2.02 [[ 9.98625984e-01 5.08082392e-02 1.28322712e-02 4.36993949e+02] [-5.08026358e-02 9.98708421e-01 -7.62465880e-04 -4.14818165e+00] [-1.28544369e-02 1.09505038e-04 9.99917372e-01 2.02220211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.02, Y:-4.15, Z:2.02 [[ 9.98628411e-01 5.08133080e-02 1.26215498e-02 4.37021197e+02] [-5.08079034e-02 9.98708164e-01 -7.48697012e-04 -4.15078953e+00] [-1.26432886e-02 1.06395627e-04 9.99920065e-01 2.02180622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.05, Y:-4.15, Z:2.02 [[ 9.98713524e-01 4.94698136e-02 1.11370700e-02 4.37049225e+02] [-4.94655364e-02 9.98775613e-01 -6.59355080e-04 -4.15457527e+00] [-1.11560521e-02 1.07605695e-04 9.99937764e-01 2.02179070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.515099893 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:437.08, Y:-4.16, Z:2.02 [[ 9.98757958e-01 4.89726724e-02 9.17702961e-03 4.37075936e+02] [-4.89294508e-02 9.98790332e-01 -4.87667385e-03 -4.15520578e+00] [-9.40475220e-03 4.42158980e-03 9.99945999e-01 2.02285445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.10, Y:-4.16, Z:2.02 [[ 9.98810887e-01 4.75838248e-02 1.06108957e-02 4.37104252e+02] [-4.76238479e-02 9.98859027e-01 3.55151994e-03 -4.16191974e+00] [-1.04297941e-02 -4.05262846e-03 9.99937396e-01 2.01987648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.13, Y:-4.16, Z:2.02 [[ 9.98867051e-01 4.66022875e-02 9.63544620e-03 4.37130865e+02] [-4.65989708e-02 9.98913516e-01 -5.68562732e-04 -4.16243138e+00] [-9.65147377e-03 1.18916703e-04 9.99953416e-01 2.02120078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.16, Y:-4.17, Z:2.02 [[ 9.98956659e-01 4.46332985e-02 9.66760925e-03 4.37158395e+02] [-4.46298813e-02 9.99003428e-01 -5.69032700e-04 -4.16606734e+00] [-9.68337259e-03 1.36974752e-04 9.99953106e-01 2.02133317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.19, Y:-4.17, Z:2.02 [[ 9.99016060e-01 4.33655597e-02 9.29191921e-03 4.37186231e+02] [-4.33623565e-02 9.99059261e-01 -5.46012337e-04 -4.16848196e+00] [-9.30685608e-03 1.42555580e-04 9.99956680e-01 2.02120766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.21, Y:-4.17, Z:2.02 [[ 9.99066655e-01 4.22973904e-02 8.76069274e-03 4.37213525e+02] [-4.22945110e-02 9.99105055e-01 -5.13769661e-04 -4.17092648e+00] [-8.77458352e-03 1.42760922e-04 9.99961492e-01 2.02105280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.24, Y:-4.17, Z:2.02 [[ 9.99131375e-01 4.09300706e-02 7.82461708e-03 4.37241023e+02] [-4.09277341e-02 9.99162004e-01 -4.58567809e-04 -4.17345546e+00] [-7.83682929e-03 1.37925638e-04 9.99969282e-01 2.02103170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.27, Y:-4.18, Z:2.02 [[ 9.99254167e-01 3.79364875e-02 7.20641891e-03 4.37268143e+02] [-3.79344339e-02 9.99280141e-01 -4.21487979e-04 -4.17743851e+00] [-7.21722108e-03 1.47802197e-04 9.99973945e-01 2.02091653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.30, Y:-4.18, Z:2.02 [[ 9.99330162e-01 3.59062529e-02 7.06877374e-03 4.37295631e+02] [-3.59042290e-02 9.99355150e-01 -4.13051716e-04 -4.18026625e+00] [-7.07904658e-03 1.58976167e-04 9.99974931e-01 2.02076554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.32, Y:-4.18, Z:2.02 [[ 9.99366369e-01 3.43761904e-02 9.22704123e-03 4.37324441e+02] [-3.43144444e-02 9.99388164e-01 -6.76880945e-03 -4.18101311e+00] [-9.45408167e-03 6.44789973e-03 9.99934520e-01 2.01896177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.35, Y:-4.19, Z:2.02 [[ 9.99465451e-01 3.18027284e-02 7.57617339e-03 4.37350703e+02] [-3.18470923e-02 9.99475873e-01 5.80883340e-03 -4.18911200e+00] [-7.38746576e-03 -6.04700739e-03 9.99954428e-01 2.01850962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.38, Y:-4.19, Z:2.02 [[ 9.99581978e-01 2.80835694e-02 6.86890263e-03 4.37379826e+02] [-2.80814874e-02 9.99605557e-01 -3.99385359e-04 -4.18987729e+00] [-6.87740941e-03 2.06329405e-04 9.99976329e-01 2.01993200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.41, Y:-4.19, Z:2.02 [[ 9.99622247e-01 2.66693349e-02 6.64149141e-03 4.37408706e+02] [-2.66673602e-02 9.99644288e-01 -3.85725148e-04 -4.19259796e+00] [-6.64941598e-03 2.08468396e-04 9.99977871e-01 2.01949358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.44, Y:-4.20, Z:2.02 [[ 9.99667169e-01 2.49813034e-02 6.44093828e-03 4.37436986e+02] [-2.49794139e-02 9.99687896e-01 -3.73659917e-04 -4.19526757e+00] [-6.44826255e-03 2.12644688e-04 9.99979187e-01 2.01883571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.46, Y:-4.20, Z:2.02 [[ 9.99739881e-01 2.21377360e-02 5.48555015e-03 4.37464223e+02] [-2.21363225e-02 9.99754911e-01 -3.18268421e-04 -4.19870762e+00] [-5.49125144e-03 1.96755726e-04 9.99984904e-01 2.01862466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.49, Y:-4.20, Z:2.02 [[ 9.99769663e-01 2.08542743e-02 5.07153770e-03 4.37492488e+02] [-2.08530523e-02 9.99782508e-01 -2.93699622e-04 -4.20112626e+00] [-5.07655958e-03 1.87874931e-04 9.99987097e-01 2.01824481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.52, Y:-4.20, Z:2.02 [[ 9.99800925e-01 1.93996556e-02 4.66527031e-03 4.37520617e+02] [-1.93986051e-02 9.99811793e-01 -2.70314266e-04 -4.20362665e+00] [-4.66963627e-03 1.79760716e-04 9.99989081e-01 2.01784782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.55, Y:-4.21, Z:2.02 [[ 9.99857224e-01 1.64333291e-02 3.93415190e-03 4.37548066e+02] [-1.64325603e-02 9.99864950e-01 -2.27687161e-04 -4.20645110e+00] [-3.93736225e-03 1.63006465e-04 9.99992235e-01 2.01800458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.58, Y:-4.21, Z:2.02 [[ 9.99881725e-01 1.49635478e-02 3.55356518e-03 4.37575511e+02] [-1.49629120e-02 9.99888028e-01 -2.05454959e-04 -4.20839102e+00] [-3.55624161e-03 1.52258976e-04 9.99993665e-01 2.01787802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.60, Y:-4.21, Z:2.02 [[ 9.99901282e-01 1.36892126e-02 3.16744310e-03 4.37603784e+02] [-1.36887022e-02 9.99906289e-01 -1.82765345e-04 -4.21038725e+00] [-3.16964819e-03 1.39389117e-04 9.99994967e-01 2.01761552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.63, Y:-4.21, Z:2.02 [[ 9.99916523e-01 1.24222531e-02 3.55459397e-03 4.37632485e+02] [-1.24216036e-02 9.99922828e-01 -2.04743799e-04 -4.21230046e+00] [-3.55686304e-03 1.60572950e-04 9.99993661e-01 2.01730101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.66, Y:-4.21, Z:2.02 [[ 9.99930151e-01 1.13199160e-02 3.39879208e-03 4.37661126e+02] [-1.13193174e-02 9.99935915e-01 -1.95301698e-04 -4.21447892e+00] [-3.40078507e-03 1.56816050e-04 9.99994205e-01 2.01726979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.69, Y:-4.22, Z:2.02 [[ 9.99952515e-01 9.01278496e-03 3.70629777e-03 4.37690080e+02] [-9.01205845e-03 9.99959368e-01 -2.12674876e-04 -4.21664677e+00] [-3.70806397e-03 1.79263405e-04 9.99993109e-01 2.01727159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.72, Y:-4.22, Z:2.02 [[ 9.99961893e-01 7.85419443e-03 3.81113487e-03 4.37719525e+02] [-7.85341975e-03 9.99969138e-01 -2.18190315e-04 -4.21855404e+00] [-3.81273096e-03 1.88251558e-04 9.99992714e-01 2.01689140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.75, Y:-4.22, Z:2.02 [[ 9.99969519e-01 6.77248220e-03 3.88523573e-03 4.37750090e+02] [-6.77167156e-03 9.99977047e-01 -2.21762527e-04 -4.22032219e+00] [-3.88664843e-03 1.95446227e-04 9.99992428e-01 2.01662271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.78, Y:-4.22, Z:2.02 [[ 9.99975854e-01 5.83561658e-03 3.77326805e-03 4.37780409e+02] [-5.83484534e-03 9.99982954e-01 -2.15371606e-04 -4.22217569e+00] [-3.77446056e-03 1.93349970e-04 9.99992858e-01 2.01638221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.81, Y:-4.22, Z:2.02 [[ 9.99984679e-01 3.86821970e-03 3.95967856e-03 4.37810395e+02] [-3.86735499e-03 9.99992496e-01 -2.26011595e-04 -4.22361702e+00] [-3.96052311e-03 2.10694649e-04 9.99992135e-01 2.01629611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.84, Y:-4.23, Z:2.02 [[ 9.99985818e-01 3.25741719e-03 4.21348625e-03 4.37841585e+02] [-3.25643478e-03 9.99994669e-01 -2.39998828e-04 -4.22501058e+00] [-4.21424556e-03 2.26274481e-04 9.99991094e-01 2.01601163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.87, Y:-4.23, Z:2.02 [[ 9.99984842e-01 2.98108537e-03 4.62907724e-03 4.37873374e+02] [-2.97989566e-03 9.99995525e-01 -2.63884981e-04 -4.22648326e+00] [-4.62984319e-03 2.50086814e-04 9.99989251e-01 2.01562016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.91, Y:-4.23, Z:2.02 [[ 9.99985921e-01 2.79206835e-03 4.51242892e-03 4.37905030e+02] [-2.79093528e-03 9.99996072e-01 -2.57378185e-04 -4.22790861e+00] [-4.51312982e-03 2.44780664e-04 9.99989786e-01 2.01523826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.94, Y:-4.23, Z:2.01 [[ 9.99982052e-01 2.86693864e-03 5.26084082e-03 4.37935894e+02] [-2.86541155e-03 9.99995850e-01 -2.97788863e-04 -4.22868528e+00] [-5.26167274e-03 2.82709045e-04 9.99986117e-01 2.01475457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.97, Y:-4.23, Z:2.01 [[ 9.99979956e-01 3.31042326e-03 5.39706065e-03 4.37968173e+02] [-3.30881672e-03 9.99994479e-01 -3.06570540e-04 -4.22978664e+00] [-5.39804573e-03 2.88706511e-04 9.99985389e-01 2.01450991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.00, Y:-4.23, Z:2.01 [[ 9.99971136e-01 4.21607228e-03 6.32071735e-03 4.37999990e+02] [-4.21385848e-03 9.99991056e-01 -3.63522477e-04 -4.22990888e+00] [-6.32219345e-03 3.36877375e-04 9.99979958e-01 2.01420212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.03, Y:-4.23, Z:2.01 [[ 9.99968171e-01 5.22114505e-03 6.03299924e-03 4.38031648e+02] [-5.21914276e-03 9.99986320e-01 -3.47587122e-04 -4.23072067e+00] [-6.03473151e-03 3.16088975e-04 9.99981741e-01 2.01384108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.06, Y:-4.23, Z:2.01 [[ 9.99964160e-01 6.12237512e-03 5.84766792e-03 4.38062936e+02] [-6.12050631e-03 9.99981213e-01 -3.37423548e-04 -4.23149361e+00] [-5.84962390e-03 3.01620766e-04 9.99982845e-01 2.01300275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.09, Y:-4.23, Z:2.01 [[ 9.99959439e-01 7.15989858e-03 5.46414305e-03 4.38094101e+02] [-7.15828147e-03 9.99974329e-01 -3.15449978e-04 -4.23233857e+00] [-5.46626137e-03 2.76323309e-04 9.99985022e-01 2.01234364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.12, Y:-4.23, Z:2.01 [[ 9.99954912e-01 8.26452842e-03 4.67675090e-03 4.38124014e+02] [-8.26335430e-03 9.99965821e-01 -2.70321197e-04 -4.23298558e+00] [-4.67882513e-03 2.31663359e-04 9.99989027e-01 2.01204886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.15, Y:-4.23, Z:2.01 [[ 9.99927939e-01 1.11893616e-02 4.34914666e-03 4.38154553e+02] [-1.11883724e-02 9.99937377e-01 -2.51698502e-04 -4.23224457e+00] [-4.35169064e-03 2.03020492e-04 9.99990511e-01 2.01096782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.18, Y:-4.23, Z:2.01 [[ 9.99906752e-01 1.28849071e-02 4.52400305e-03 4.38184584e+02] [-1.28838519e-02 9.99916965e-01 -2.62332658e-04 -4.23290827e+00] [-4.52700754e-03 2.04021611e-04 9.99989732e-01 2.01033194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.21, Y:-4.23, Z:2.01 [[ 9.99884863e-01 1.45569980e-02 4.28431635e-03 4.38213635e+02] [-1.45560652e-02 9.99894024e-01 -2.48829176e-04 -4.23349514e+00] [-4.28748452e-03 1.86437739e-04 9.99990791e-01 2.00977141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.24, Y:-4.23, Z:2.01 [[ 9.99852654e-01 1.64953694e-02 4.75106733e-03 4.38242085e+02] [-1.64942464e-02 9.99863923e-01 -2.75458743e-04 -4.23395239e+00] [-4.75496462e-03 1.97052880e-04 9.99988676e-01 2.00911329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.27, Y:-4.23, Z:2.01 [[ 9.99764297e-01 2.10401610e-02 5.35376621e-03 4.38269607e+02] [-2.10388018e-02 9.99778612e-01 -3.10072395e-04 -4.23338091e+00] [-5.35910492e-03 1.97362483e-04 9.99985620e-01 2.00860968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.30, Y:-4.23, Z:2.01 [[ 9.99711996e-01 2.33761956e-02 5.42934566e-03 4.38298921e+02] [-2.33748362e-02 9.99726722e-01 -3.13706331e-04 -4.23360090e+00] [-5.43519520e-03 1.86705916e-04 9.99985212e-01 2.00791563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.33, Y:-4.23, Z:2.01 [[ 9.99663329e-01 2.53451277e-02 5.55463837e-03 4.38328144e+02] [-2.53437376e-02 9.99678745e-01 -3.20516038e-04 -4.23373120e+00] [-5.56097743e-03 1.79632833e-04 9.99984522e-01 2.00740715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.36, Y:-4.23, Z:2.01 [[ 9.99577361e-01 2.84888785e-02 5.78639066e-03 4.38357336e+02] [-2.84874254e-02 9.99594095e-01 -3.33410844e-04 -4.23315312e+00] [-5.79354044e-03 1.68430560e-04 9.99983203e-01 2.00667745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.39, Y:-4.23, Z:2.01 [[ 9.99558114e-01 2.91792749e-02 5.66988098e-03 4.38385229e+02] [-2.91778908e-02 9.99574181e-01 -3.26700096e-04 -4.23396526e+00] [-5.67699951e-03 1.61120564e-04 9.99983873e-01 2.00600588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.41, Y:-4.24, Z:2.01 [[ 9.99547843e-01 2.94420006e-02 6.10564879e-03 4.38413725e+02] [-2.94404076e-02 9.99566476e-01 -3.50636649e-04 -4.23505622e+00] [-6.11332529e-03 1.70725317e-04 9.99981299e-01 2.00501561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.44, Y:-4.24, Z:2.00 [[ 9.99568243e-01 2.86128781e-02 6.68062804e-03 4.38442621e+02] [-2.86109565e-02 9.99590549e-01 -3.83044822e-04 -4.23622501e+00] [-6.68885266e-03 1.91740281e-04 9.99977611e-01 2.00421901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.47, Y:-4.24, Z:2.00 [[ 9.99587972e-01 2.78749354e-02 6.84651208e-03 4.38471547e+02] [-2.78729036e-02 9.99611398e-01 -3.92024355e-04 -4.23744886e+00] [-6.85477917e-03 2.01030658e-04 9.99976486e-01 2.00373493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.50, Y:-4.24, Z:2.00 [[ 9.99611128e-01 2.68485078e-02 7.53324006e-03 4.38499953e+02] [-2.68460240e-02 9.99639488e-01 -4.30659196e-04 -4.23829378e+00] [-7.54208680e-03 2.28254182e-04 9.99971532e-01 2.00319856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.53, Y:-4.24, Z:2.00 [[ 9.99641051e-01 2.55826259e-02 7.95598771e-03 4.38528582e+02] [-2.55798207e-02 9.99672680e-01 -4.54169299e-04 -4.23920941e+00] [-7.96500239e-03 2.50493537e-04 9.99968247e-01 2.00277630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.56, Y:-4.24, Z:2.00 [[ 9.99710617e-01 2.26579582e-02 8.08085286e-03 4.38557649e+02] [-2.26549736e-02 9.99743237e-01 -4.60699735e-04 -4.24059153e+00] [-8.08921652e-03 2.77494908e-04 9.99967243e-01 2.00193610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.59, Y:-4.24, Z:2.00 [[ 9.99751072e-01 2.09021863e-02 7.80341057e-03 4.38586789e+02] [-2.08993538e-02 9.99781486e-01 -4.44364448e-04 -4.24218241e+00] [-7.81099360e-03 2.81167595e-04 9.99969454e-01 2.00134765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.61, Y:-4.24, Z:2.00 [[ 9.99785852e-01 1.91379004e-02 7.87346216e-03 4.38614855e+02] [-1.91349653e-02 9.99816809e-01 -4.47956447e-04 -4.24376155e+00] [-7.88059276e-03 2.97202093e-04 9.99968903e-01 2.00051330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.64, Y:-4.25, Z:2.00 [[ 9.99815075e-01 1.74682580e-02 8.04212487e-03 4.38643195e+02] [-1.74651496e-02 9.99847368e-01 -4.56589120e-04 -4.24537756e+00] [-8.04887320e-03 3.16047771e-04 9.99967557e-01 1.99992865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.67, Y:-4.25, Z:2.00 [[ 9.99816012e-01 1.74145219e-02 8.04216828e-03 4.38672461e+02] [-1.74114180e-02 9.99848306e-01 -4.55822531e-04 -4.24697469e+00] [-8.04888626e-03 3.15713112e-04 9.99967557e-01 1.99937920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.70, Y:-4.25, Z:2.00 [[ 9.99840337e-01 1.54213925e-02 9.02674360e-03 4.38701958e+02] [-1.54174079e-02 9.99881014e-01 -5.10841341e-04 -4.24872584e+00] [-9.03354743e-03 3.71590790e-04 9.99959128e-01 1.99892289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.73, Y:-4.25, Z:2.00 [[ 9.99895119e-01 1.14137665e-02 8.91498885e-03 4.38731080e+02] [-1.14097254e-02 9.99934780e-01 -5.04030784e-04 -4.24991589e+00] [-8.92016030e-03 4.02260347e-04 9.99960134e-01 1.99899605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.76, Y:-4.25, Z:2.00 [[ 9.99912008e-01 9.54180375e-03 9.21572008e-03 4.38762718e+02] [-9.53741219e-03 9.99954382e-01 -5.20361038e-04 -4.25178109e+00] [-9.22026487e-03 4.32421129e-04 9.99957399e-01 1.99839118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.79, Y:-4.25, Z:2.00 [[ 9.99938704e-01 5.48577336e-03 9.61740614e-03 4.38794313e+02] [-5.48080018e-03 9.99984833e-01 -5.43382084e-04 -4.25329675e+00] [-9.62024114e-03 4.90637695e-04 9.99953604e-01 1.99788740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.83, Y:-4.26, Z:2.00 [[ 9.99946921e-01 3.74486943e-03 9.59853844e-03 4.38827670e+02] [-3.73985497e-03 9.99992861e-01 -5.40314831e-04 -4.25501128e+00] [-9.60049332e-03 5.04389010e-04 9.99953787e-01 1.99733786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.86, Y:-4.26, Z:2.00 [[ 9.99952641e-01 2.24472203e-03 9.46976994e-03 4.38859326e+02] [-2.23974649e-03 9.99997348e-01 -5.35986027e-04 -4.25635888e+00] [-9.47094797e-03 5.14750759e-04 9.99955017e-01 1.99681222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.89, Y:-4.26, Z:2.00 [[ 9.99958113e-01 8.86569446e-04 9.10970929e-03 4.38891580e+02] [-8.81887138e-04 9.99999477e-01 -5.17995068e-04 -4.25764325e+00] [-9.11016377e-03 5.09939635e-04 9.99958372e-01 1.99632732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.92, Y:-4.26, Z:2.00 [[ 9.99961454e-01 -1.24988148e-03 8.69073773e-03 4.38924306e+02] [ 1.25424054e-03 9.99999090e-01 -4.96142988e-04 -4.25787363e+00] [-8.69010970e-03 5.07024139e-04 9.99962112e-01 1.99657992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.96, Y:-4.26, Z:2.00 [[ 9.99964479e-01 -1.62046607e-03 8.27132419e-03 4.38957739e+02] [ 1.62445904e-03 9.99998567e-01 -4.76052698e-04 -4.25882279e+00] [-8.27054091e-03 4.89472215e-04 9.99965679e-01 1.99619131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.99, Y:-4.26, Z:2.00 [[ 9.99969286e-01 -2.08810264e-03 7.55426779e-03 4.38991164e+02] [ 2.09145158e-03 9.99997718e-01 -4.35444496e-04 -4.25868079e+00] [-7.55334130e-03 4.51230507e-04 9.99971371e-01 1.99579397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.02, Y:-4.26, Z:2.00 [[ 9.99970067e-01 -1.59384080e-03 7.57132790e-03 4.39022925e+02] [ 1.59719873e-03 9.99998629e-01 -4.37480438e-04 -4.25952128e+00] [-7.57062025e-03 4.49560258e-04 9.99971241e-01 1.99560485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.05, Y:-4.26, Z:2.00 [[ 9.99968827e-01 -8.85801916e-04 7.84601070e-03 4.39054950e+02] [ 8.89385086e-04 9.99999502e-01 -4.53209463e-04 -4.26003651e+00] [-7.84560534e-03 4.60173460e-04 9.99969117e-01 1.99538012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.09, Y:-4.26, Z:2.00 [[ 9.99968797e-01 6.14678950e-05 7.89938639e-03 4.39087033e+02] [-5.78452041e-05 9.99999893e-01 -4.58831717e-04 -4.26019102e+00] [-7.89941375e-03 4.58360459e-04 9.99968694e-01 1.99533048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.12, Y:-4.26, Z:2.00 [[ 9.99960429e-01 3.13039077e-03 8.32718900e-03 4.39118371e+02] [-3.12646391e-03 9.99994995e-01 -4.84546606e-04 -4.25881074e+00] [-8.32866415e-03 4.58492776e-04 9.99965211e-01 1.99547214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.15, Y:-4.26, Z:2.00 [[ 9.99948137e-01 5.15551062e-03 8.78314185e-03 4.39150369e+02] [-5.15121677e-03 9.99986602e-01 -5.11426191e-04 -4.25911216e+00] [-8.78566084e-03 4.66155800e-04 9.99961297e-01 1.99517192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.18, Y:-4.26, Z:2.00 [[ 9.99933986e-01 7.36843042e-03 8.81644623e-03 4.39182942e+02] [-7.36418404e-03 9.99972752e-01 -5.14009634e-04 -4.25920809e+00] [-8.81999345e-03 4.49049770e-04 9.99961002e-01 1.99516839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.21, Y:-4.26, Z:2.00 [[ 9.99908785e-01 9.99514108e-03 9.08399386e-03 4.39214782e+02] [-9.99073492e-03 9.99949951e-01 -5.30296948e-04 -4.25919716e+00] [-9.08883960e-03 4.39492802e-04 9.99958599e-01 1.99528143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.25, Y:-4.26, Z:2.00 [[ 9.99824265e-01 1.58326401e-02 1.00382766e-02 4.39246078e+02] [-1.58275412e-02 9.99874564e-01 -5.87193242e-04 -4.25689232e+00] [-1.00463143e-02 4.28208815e-04 9.99949443e-01 1.99547235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.28, Y:-4.26, Z:2.00 [[ 9.99768101e-01 1.89443568e-02 1.02398958e-02 4.39275780e+02] [-1.89392052e-02 9.99820457e-01 -5.99831778e-04 -4.25637364e+00] [-1.02494207e-02 4.05757190e-04 9.99947391e-01 1.99537064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.30, Y:-4.26, Z:2.00 [[ 9.99703170e-01 2.20797413e-02 1.02983795e-02 4.39304467e+02] [-2.20746941e-02 9.99756142e-01 -6.03519101e-04 -4.25571327e+00] [-1.03091938e-02 3.76006380e-04 9.99946788e-01 1.99517073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.33, Y:-4.25, Z:1.99 [[ 9.99542439e-01 2.85491480e-02 9.99290448e-03 4.39332537e+02] [-2.85447240e-02 9.99592345e-01 -5.85092339e-04 -4.25353515e+00] [-1.00055347e-02 2.99579923e-04 9.99949899e-01 1.99457382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.36, Y:-4.25, Z:1.99 [[ 9.99441647e-01 3.18443519e-02 1.01159208e-02 4.39361311e+02] [-3.18399978e-02 9.99492804e-01 -5.91221854e-04 -4.25352932e+00] [-1.01296171e-02 2.68800849e-04 9.99948658e-01 1.99390368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.39, Y:-4.25, Z:1.99 [[ 9.99329440e-01 3.51136849e-02 1.03778760e-02 4.39389272e+02] [-3.51092832e-02 9.99383295e-01 -6.06077062e-04 -4.25337492e+00] [-1.03927575e-02 2.41310864e-04 9.99945965e-01 1.99315374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.42, Y:-4.25, Z:1.99 [[ 9.99205276e-01 3.83343793e-02 1.09220607e-02 4.39417148e+02] [-3.83297099e-02 9.99264944e-01 -6.36601390e-04 -4.25323072e+00] [-1.09384361e-02 2.17456050e-04 9.99940150e-01 1.99250093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.44, Y:-4.25, Z:1.99 [[ 9.98912764e-01 4.51476961e-02 1.16179055e-02 4.39444313e+02] [-4.51428885e-02 9.98980312e-01 -6.75860571e-04 -4.25170681e+00] [-1.16365724e-02 1.50659939e-04 9.99932281e-01 1.99214817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.47, Y:-4.25, Z:1.99 [[ 9.98754611e-01 4.83996212e-02 1.21121509e-02 4.39471833e+02] [-4.83946565e-02 9.98828045e-01 -7.02820480e-04 -4.25188664e+00] [-1.21319722e-02 1.15781813e-04 9.99926398e-01 1.99140235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.50, Y:-4.25, Z:1.99 [[ 9.98605842e-01 5.13649593e-02 1.21660772e-02 4.39499806e+02] [-5.13601864e-02 9.98679946e-01 -7.04629803e-04 -4.25240185e+00] [-1.21862106e-02 7.87954443e-05 9.99925742e-01 1.99071549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.53, Y:-4.25, Z:1.99 [[ 9.98471285e-01 5.39368191e-02 1.20794279e-02 4.39527099e+02] [-5.39323164e-02 9.98544349e-01 -6.98435360e-04 -4.25305454e+00] [-1.20995159e-02 4.58961238e-05 9.99926797e-01 1.98996871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.56, Y:-4.25, Z:1.99 [[ 9.98276852e-01 5.74071667e-02 1.21549639e-02 4.39555266e+02] [-5.74028846e-02 9.98350849e-01 -7.01166913e-04 -4.25410192e+00] [-1.21751705e-02 2.22870880e-06 9.99925880e-01 1.98861874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.58, Y:-4.26, Z:1.99 [[ 9.98227194e-01 5.82811671e-02 1.20737108e-02 4.39581930e+02] [-5.82770203e-02 9.98300208e-01 -6.95295568e-04 -4.25563441e+00] [-1.20937106e-02 -9.55694383e-06 9.99926868e-01 1.98769689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.61, Y:-4.26, Z:1.99 [[ 9.98205030e-01 5.86578688e-02 1.20818993e-02 4.39609381e+02] [-5.86537636e-02 9.98278145e-01 -6.94148034e-04 -4.25739970e+00] [-1.21018132e-02 -1.57468039e-05 9.99926770e-01 1.98691052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.64, Y:-4.26, Z:1.99 [[ 9.98235220e-01 5.80081612e-02 1.27082110e-02 4.39636649e+02] [-5.80035845e-02 9.98316109e-01 -7.28726002e-04 -4.25985801e+00] [-1.27290838e-02 -9.68183101e-06 9.99918982e-01 1.98588656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.66, Y:-4.26, Z:1.99 [[ 9.98315490e-01 5.66005005e-02 1.27501399e-02 4.39664996e+02] [-5.65958011e-02 9.98396907e-01 -7.29378028e-04 -4.26218981e+00] [-1.27709834e-02 6.54499962e-06 9.99918448e-01 1.98546484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.69, Y:-4.26, Z:1.98 [[ 9.98410973e-01 5.48246802e-02 1.30300605e-02 4.39692553e+02] [-5.48196399e-02 9.98495996e-01 -7.43945449e-04 -4.26496934e+00] [-1.30512498e-02 2.84600771e-05 9.99914828e-01 1.98437555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.72, Y:-4.27, Z:1.98 [[ 9.98672288e-01 4.96647635e-02 1.36774224e-02 4.39719080e+02] [-4.96587422e-02 9.98765939e-01 -7.79713370e-04 -4.26924336e+00] [-1.36992679e-02 9.94745431e-05 9.99906156e-01 1.98354483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.75, Y:-4.27, Z:1.98 [[ 9.98817453e-01 4.66125295e-02 1.38190951e-02 4.39746541e+02] [-4.66061315e-02 9.98913036e-01 -7.84841758e-04 -4.27247930e+00] [-1.38406577e-02 1.39859083e-04 9.99904204e-01 1.98281028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.77, Y:-4.28, Z:1.98 [[ 9.98957954e-01 4.33832564e-02 1.41738914e-02 4.39773105e+02] [-4.33762196e-02 9.99058486e-01 -8.03650462e-04 -4.27579506e+00] [-1.41954114e-02 1.88003195e-04 9.99899222e-01 1.98179540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.80, Y:-4.28, Z:1.98 [[ 9.99089832e-01 4.08256022e-02 1.23603311e-02 4.39800767e+02] [-4.07517127e-02 9.99150241e-01 -6.17204539e-03 -4.27675942e+00] [-1.26018053e-02 5.66272313e-03 9.99904559e-01 1.98266304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.83, Y:-4.28, Z:1.98 [[ 9.99181951e-01 3.80745864e-02 1.36291561e-02 4.39827750e+02] [-3.81178234e-02 9.99268966e-01 2.92670531e-03 -4.28460973e+00] [-1.35077596e-02 -3.44382489e-03 9.99902836e-01 1.97852038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.86, Y:-4.29, Z:1.98 [[ 9.99387891e-01 3.14618321e-02 1.52969410e-02 4.39856317e+02] [-3.14727748e-02 9.99504497e-01 4.75087672e-04 -4.28892353e+00] [-1.52744142e-02 -9.56234047e-04 9.99882882e-01 1.97810252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.88, Y:-4.29, Z:1.98 [[ 9.99444741e-01 2.95094909e-02 1.54725469e-02 4.39884660e+02] [-2.94995832e-02 9.99564416e-01 -8.68231229e-04 -4.29189249e+00] [-1.54914284e-02 4.11315451e-04 9.99879916e-01 1.97817743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.91, Y:-4.30, Z:1.98 [[ 9.99478917e-01 2.81427274e-02 1.58076240e-02 4.39913136e+02] [-2.81322344e-02 9.99603818e-01 -8.85813454e-04 -4.29532521e+00] [-1.58262906e-02 4.40648087e-04 9.99874659e-01 1.97741637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.94, Y:-4.30, Z:1.98 [[ 9.99510846e-01 2.68036171e-02 1.61131944e-02 4.39942536e+02] [-2.67925556e-02 9.99640608e-01 -9.02007324e-04 -4.30013880e+00] [-1.61315805e-02 4.69852447e-04 9.99869767e-01 1.97698936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.97, Y:-4.30, Z:1.98 [[ 9.99514675e-01 2.67804629e-02 1.59129125e-02 4.39970973e+02] [-2.67696798e-02 9.99641231e-01 -8.90287378e-04 -4.30333554e+00] [-1.59310458e-02 4.63871725e-04 9.99872985e-01 1.97645110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.00, Y:-4.31, Z:1.98 [[ 9.99502984e-01 2.70645343e-02 1.61646742e-02 4.40000145e+02] [-2.70534593e-02 9.99633580e-01 -9.03453076e-04 -4.30653083e+00] [-1.61832027e-02 4.65693689e-04 9.99868935e-01 1.97516515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.03, Y:-4.31, Z:1.97 [[ 9.99501635e-01 2.76333595e-02 1.52603960e-02 4.40028593e+02] [-2.76235621e-02 9.99618033e-01 -8.52463703e-04 -4.30952302e+00] [-1.52781235e-02 4.30492368e-04 9.99883190e-01 1.97465345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.06, Y:-4.31, Z:1.97 [[ 9.99475663e-01 2.86674287e-02 1.50524666e-02 4.40056783e+02] [-2.86580247e-02 9.99588921e-01 -8.40123858e-04 -4.31245492e+00] [-1.50703630e-02 4.08309392e-04 9.99886352e-01 1.97392950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.09, Y:-4.32, Z:1.97 [[ 9.99394661e-01 3.13578676e-02 1.50663915e-02 4.40085541e+02] [-3.13487680e-02 9.99508154e-01 -8.39819290e-04 -4.31620029e+00] [-1.50853161e-02 3.66998103e-04 9.99886143e-01 1.97312229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.11, Y:-4.32, Z:1.97 [[ 9.99339121e-01 3.30935103e-02 1.50379522e-02 4.40114421e+02] [-3.30846578e-02 9.99452202e-01 -8.37141117e-04 -4.31872755e+00] [-1.50574184e-02 3.39062367e-04 9.99886573e-01 1.97284439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.14, Y:-4.32, Z:1.97 [[ 9.99276426e-01 3.49315731e-02 1.50469003e-02 4.40142045e+02] [-3.49229338e-02 9.99389658e-01 -8.36608506e-04 -4.32111174e+00] [-1.50669406e-02 3.10521254e-04 9.99886439e-01 1.97229339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.17, Y:-4.32, Z:1.97 [[ 9.99200183e-01 3.71783369e-02 1.47229784e-02 4.40170414e+02] [-3.71703295e-02 9.99308610e-01 -8.17234042e-04 -4.32366629e+00] [-1.47431825e-02 2.69322445e-04 9.99891277e-01 1.97167969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.20, Y:-4.33, Z:1.97 [[ 9.99019767e-01 4.17269356e-02 1.47772808e-02 4.40199513e+02] [-4.17193823e-02 9.99129032e-01 -8.19171753e-04 -4.32727173e+00] [-1.47985918e-02 2.01869745e-04 9.99890474e-01 1.97073020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.23, Y:-4.33, Z:1.97 [[ 9.98916293e-01 4.42657765e-02 1.43798756e-02 4.40226776e+02] [-4.42589005e-02 9.99019777e-01 -7.96204956e-04 -4.32996758e+00] [-1.44010248e-02 1.58904618e-04 9.99896287e-01 1.96991277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.25, Y:-4.33, Z:1.97 [[ 9.98819663e-01 4.64203025e-02 1.42981465e-02 4.40254153e+02] [-4.64137423e-02 9.98921989e-01 -7.90485167e-04 -4.33236429e+00] [-1.43194275e-02 1.25921640e-04 9.99897464e-01 1.96904667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.28, Y:-4.33, Z:1.97 [[ 9.98710807e-01 4.85994287e-02 1.46567448e-02 4.40280512e+02] [-4.85927911e-02 9.98818345e-01 -8.08868100e-04 -4.33492152e+00] [-1.46787361e-02 9.56131750e-05 9.99892257e-01 1.96778712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.31, Y:-4.34, Z:1.97 [[ 9.98534817e-01 5.22392453e-02 1.41166639e-02 4.40308207e+02] [-5.22334864e-02 9.98634598e-01 -7.76592438e-04 -4.33880844e+00] [-1.41379575e-02 3.80920181e-05 9.99900053e-01 1.96677439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.34, Y:-4.34, Z:1.97 [[ 9.98466201e-01 5.34706415e-02 1.43574563e-02 4.40336133e+02] [-5.34648340e-02 9.98569422e-01 -7.88293762e-04 -4.34172712e+00] [-1.43790674e-02 1.94656610e-05 9.99896616e-01 1.96596417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.36, Y:-4.34, Z:1.97 [[ 9.98401359e-01 5.46363960e-02 1.44772290e-02 4.40364095e+02] [-5.46306359e-02 9.98506317e-01 -7.93341565e-04 -4.34489844e+00] [-1.44989499e-02 1.17307328e-06 9.99894885e-01 1.96526072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.39, Y:-4.35, Z:1.96 [[ 9.98351869e-01 5.54158920e-02 1.49205997e-02 4.40390689e+02] [-5.54098848e-02 9.98463359e-01 -8.16026752e-04 -4.34799829e+00] [-1.49428929e-02 -1.20668765e-05 9.99888349e-01 1.96459795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.42, Y:-4.35, Z:1.96 [[ 9.98311596e-01 5.58040207e-02 1.61204587e-02 4.40418587e+02] [-5.57970954e-02 9.98441741e-01 -8.79395098e-04 -4.35252152e+00] [-1.61444126e-02 -2.15644463e-05 9.99869670e-01 1.96370083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.45, Y:-4.36, Z:1.96 [[ 9.98339900e-01 5.51793998e-02 1.65129631e-02 4.40445661e+02] [-5.51720776e-02 9.98476456e-01 -8.99002602e-04 -4.35557650e+00] [-1.65374113e-02 -1.35443155e-05 9.99863248e-01 1.96313965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.47, Y:-4.36, Z:1.96 [[ 9.98460105e-01 5.25232556e-02 1.78529251e-02 4.40474407e+02] [-5.25143165e-02 9.98619701e-01 -9.69463435e-04 -4.36139259e+00] [-1.78792021e-02 3.04364042e-05 9.99840154e-01 1.96202677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.50, Y:-4.37, Z:1.96 [[ 9.98575604e-01 5.03030157e-02 1.77867819e-02 4.40502105e+02] [-5.02938126e-02 9.98734000e-01 -9.64632504e-04 -4.36541581e+00] [-1.78127877e-02 6.86934119e-05 9.99841337e-01 1.96124206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.53, Y:-4.37, Z:1.96 [[ 9.98578169e-01 5.02520473e-02 1.77868800e-02 4.40531376e+02] [-5.02428685e-02 9.98736565e-01 -9.62819343e-04 -4.36693860e+00] [-1.78127911e-02 6.77865045e-05 9.99841337e-01 1.96068813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.56, Y:-4.37, Z:1.96 [[ 9.98702276e-01 4.74725995e-02 1.84422199e-02 4.40560349e+02] [-4.74622758e-02 9.98872533e-01 -9.97322355e-04 -4.37123441e+00] [-1.84687724e-02 1.20718376e-04 9.99829430e-01 1.95934848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.59, Y:-4.38, Z:1.96 [[ 9.98862395e-01 4.40919642e-02 1.81607864e-02 4.40588536e+02] [-4.40814175e-02 9.99027460e-01 -9.80837799e-04 -4.37525462e+00] [-1.81863714e-02 1.79168787e-04 9.99834598e-01 1.95879888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.62, Y:-4.38, Z:1.96 [[ 9.99174441e-01 3.64917417e-02 1.78546490e-02 4.40617078e+02] [-3.64803568e-02 9.99333906e-01 -9.63036266e-04 -4.38186571e+00] [-1.78778990e-02 3.10897258e-04 9.99840129e-01 1.95730956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.65, Y:-4.39, Z:1.96 [[ 9.99305504e-01 3.25797368e-02 1.80851014e-02 4.40646780e+02] [-3.25674402e-02 9.99469066e-01 -9.74107745e-04 -4.38603043e+00] [-1.81072356e-02 3.84445772e-04 9.99835977e-01 1.95653538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.68, Y:-4.39, Z:1.96 [[ 9.99424622e-01 2.86491128e-02 1.81563524e-02 4.40676741e+02] [-2.86360836e-02 9.99589426e-01 -9.77247051e-04 -4.38996396e+00] [-1.81768952e-02 4.56757939e-04 9.99834682e-01 1.95596707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.71, Y:-4.39, Z:1.96 [[ 9.99531443e-01 2.46535426e-02 1.81410134e-02 4.40706833e+02] [-2.46398779e-02 9.99695915e-01 -9.76408507e-04 -4.39396926e+00] [-1.81595689e-02 5.28958649e-04 9.99834962e-01 1.95543649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.74, Y:-4.40, Z:1.95 [[ 9.99682186e-01 1.80627108e-02 1.75859567e-02 4.40738402e+02] [-1.80488510e-02 9.99836658e-01 -9.46523776e-04 -4.40053444e+00] [-1.76001810e-02 6.28816644e-04 9.99844907e-01 1.95394347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.77, Y:-4.40, Z:1.95 [[ 9.99737643e-01 1.48502454e-02 1.74389222e-02 4.40771088e+02] [-1.48360471e-02 9.99889495e-01 -9.43272957e-04 -4.40436199e+00] [-1.74510029e-02 6.84300813e-04 9.99847485e-01 1.95310939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.80, Y:-4.41, Z:1.95 [[ 9.99776850e-01 1.21098768e-02 1.73089779e-02 4.40803905e+02] [-1.20953924e-02 9.99926405e-01 -9.41262597e-04 -4.40818197e+00] [-1.73191026e-02 7.31693675e-04 9.99849745e-01 1.95207408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.83, Y:-4.41, Z:1.95 [[ 9.99869601e-01 7.25389099e-03 1.44278438e-02 4.40834017e+02] [-7.10410842e-03 9.99920622e-01 -1.04057923e-02 -4.40803730e+00] [-1.45021810e-02 1.03019385e-02 9.99841766e-01 1.95390519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.87, Y:-4.42, Z:1.95 [[ 9.99834626e-01 3.85929025e-03 1.77715243e-02 4.40867061e+02] [-4.01286041e-03 9.99954848e-01 8.61382402e-03 -4.41998828e+00] [-1.77374787e-02 -8.68371416e-03 9.99804968e-01 1.94846417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.90, Y:-4.42, Z:1.95 [[ 9.99852625e-01 2.16074630e-03 1.70311593e-02 4.40900733e+02] [-2.14506142e-03 9.99997258e-01 -9.39166179e-04 -4.41849245e+00] [-1.70331419e-02 9.02494886e-04 9.99854518e-01 1.95023627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.93, Y:-4.42, Z:1.95 [[ 9.99858472e-01 6.03904931e-04 1.68128208e-02 4.40932336e+02] [-5.88318332e-04 9.99999393e-01 -9.31996831e-04 -4.42097284e+00] [-1.68133735e-02 9.21973637e-04 9.99858220e-01 1.94993750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.97, Y:-4.42, Z:1.95 [[ 9.99859905e-01 -1.20146560e-03 1.66951040e-02 4.40965117e+02] [ 1.21716000e-03 9.99998827e-01 -9.29930715e-04 -4.42401678e+00] [-1.66939672e-02 9.50121050e-04 9.99860195e-01 1.94868805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.00, Y:-4.43, Z:1.95 [[ 9.99863883e-01 -1.47389278e-03 1.64329611e-02 4.40997264e+02] [ 1.48921294e-03 9.99998468e-01 -9.20084063e-04 -4.42619787e+00] [-1.64315798e-02 9.44431002e-04 9.99864546e-01 1.94784338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.03, Y:-4.43, Z:1.95 [[ 9.99867992e-01 -1.55327207e-03 1.61736419e-02 4.41030072e+02] [ 1.56819929e-03 9.99998356e-01 -9.10293529e-04 -4.42828043e+00] [-1.61722013e-02 9.35536857e-04 9.99868784e-01 1.94710067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.06, Y:-4.43, Z:1.95 [[ 9.99872806e-01 -1.19098761e-03 1.59045330e-02 4.41063222e+02] [ 1.20540314e-03 9.99998871e-01 -8.96823162e-04 -4.42970971e+00] [-1.59034470e-02 9.15880465e-04 9.99873113e-01 1.94665794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.10, Y:-4.43, Z:1.95 [[ 9.99875056e-01 -5.31762085e-04 1.57984080e-02 4.41095894e+02] [ 5.45931301e-04 9.99999453e-01 -8.92576992e-04 -4.43130794e+00] [-1.57979247e-02 9.01090315e-04 9.99874799e-01 1.94580051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.13, Y:-4.43, Z:1.95 [[ 9.99880716e-01 2.96075327e-04 1.54423578e-02 4.41127580e+02] [-2.82613957e-04 9.99999578e-01 -8.73892243e-04 -4.43293088e+00] [-1.54426101e-02 8.69423776e-04 9.99880378e-01 1.94505716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.16, Y:-4.43, Z:1.95 [[ 9.99910046e-01 1.69421165e-03 1.33052124e-02 4.41159701e+02] [-1.61749080e-03 9.99982017e-01 -5.77487074e-03 -4.43224526e+00] [-1.33147570e-02 5.75283021e-03 9.99894806e-01 1.94572939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.19, Y:-4.44, Z:1.94 [[ 9.99903551e-01 2.43458643e-03 1.36733595e-02 4.41192350e+02] [-2.44720527e-03 9.99996595e-01 9.06221954e-04 -4.43677601e+00] [-1.36711067e-02 -9.39596068e-04 9.99906105e-01 1.94371908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.23, Y:-4.44, Z:1.94 [[ 9.99883905e-01 3.39436549e-03 1.48544425e-02 4.41225138e+02] [-3.43532373e-03 9.99990366e-01 2.73265842e-03 -4.43887186e+00] [-1.48450237e-02 -2.78337099e-03 9.99885933e-01 1.94255855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.26, Y:-4.44, Z:1.94 [[ 9.99881819e-01 5.42722323e-03 1.43838018e-02 4.41257794e+02] [-5.41591598e-03 9.99984994e-01 -8.24946541e-04 -4.43730895e+00] [-1.43880632e-02 7.46947586e-04 9.99896207e-01 1.94297651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.29, Y:-4.44, Z:1.94 [[ 9.99878410e-01 6.24872686e-03 1.42869964e-02 4.41291150e+02] [-6.23762418e-03 9.99980208e-01 -8.21546640e-04 -4.43830715e+00] [-1.42918473e-02 7.32329834e-04 9.99897598e-01 1.94247659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.32, Y:-4.44, Z:1.94 [[ 9.99873769e-01 6.96720033e-03 1.42795377e-02 4.41324151e+02] [-6.95612381e-03 9.99975465e-01 -8.25213261e-04 -4.43941602e+00] [-1.42849367e-02 7.25778861e-04 9.99897702e-01 1.94208693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.36, Y:-4.44, Z:1.94 [[ 9.99867954e-01 7.54945914e-03 1.43902489e-02 4.41356596e+02] [-7.53820865e-03 9.99971238e-01 -8.35895066e-04 -4.44078120e+00] [-1.43961456e-02 7.27307991e-04 9.99896106e-01 1.94156695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.39, Y:-4.44, Z:1.94 [[ 9.99856856e-01 8.20957922e-03 1.47942414e-02 4.41390039e+02] [-8.19770048e-03 9.99966026e-01 -8.63394743e-04 -4.44122964e+00] [-1.48008269e-02 7.41992394e-04 9.99890186e-01 1.94066024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.42, Y:-4.44, Z:1.94 [[ 9.99857435e-01 8.66191707e-03 1.44941398e-02 4.41423196e+02] [-8.65050273e-03 9.99962222e-01 -8.50024071e-04 -4.44236026e+00] [-1.45009550e-02 7.24521292e-04 9.99894593e-01 1.94017398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.46, Y:-4.44, Z:1.94 [[ 9.99852971e-01 9.24429862e-03 1.44422528e-02 4.41456158e+02] [-9.23296582e-03 9.99957013e-01 -8.51178025e-04 -4.44337725e+00] [-1.44495005e-02 7.17708051e-04 9.99895343e-01 1.93952066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.49, Y:-4.44, Z:1.94 [[ 9.99840611e-01 1.05179462e-02 1.44265838e-02 4.41489026e+02] [-1.05067101e-02 9.99944438e-01 -8.54425077e-04 -4.44358922e+00] [-1.44347691e-02 7.02712957e-04 9.99895566e-01 1.93886867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.52, Y:-4.44, Z:1.94 [[ 9.99827820e-01 1.15016408e-02 1.45616844e-02 4.41521344e+02] [-1.14902343e-02 9.99933609e-01 -8.66748423e-04 -4.44445628e+00] [-1.45706866e-02 6.99282022e-04 9.99893597e-01 1.93836206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.55, Y:-4.45, Z:1.94 [[ 9.99813883e-01 1.27130994e-02 1.45112639e-02 4.41554920e+02] [-1.27018437e-02 9.99918952e-01 -8.67563142e-04 -4.44531832e+00] [-1.45211172e-02 6.83081868e-04 9.99894330e-01 1.93766741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.59, Y:-4.45, Z:1.94 [[ 9.99784485e-01 1.54263559e-02 1.38928092e-02 4.41588176e+02] [-1.54162491e-02 9.99880815e-01 -8.34287688e-04 -4.44527863e+00] [-1.39040234e-02 6.19932879e-04 9.99903142e-01 1.93707813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.62, Y:-4.45, Z:1.94 [[ 9.99751703e-01 1.72430748e-02 1.41141248e-02 4.41619821e+02] [-1.72327646e-02 9.99851142e-01 -8.51787563e-04 -4.44609650e+00] [-1.41267113e-02 6.08350675e-04 9.99900028e-01 1.93640951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.65, Y:-4.45, Z:1.94 [[ 9.99720907e-01 1.89604682e-02 1.40928822e-02 4.41651618e+02] [-1.89503057e-02 9.99820062e-01 -8.54305588e-04 -4.44678579e+00] [-1.41065444e-02 5.87002731e-04 9.99900325e-01 1.93593829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.68, Y:-4.45, Z:1.94 [[ 9.99675893e-01 2.10780700e-02 1.42766790e-02 4.41684134e+02] [-2.10678038e-02 9.99777671e-01 -8.69121947e-04 -4.44768142e+00] [-1.42918243e-02 5.68061986e-04 9.99897705e-01 1.93556762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.72, Y:-4.45, Z:1.94 [[ 9.99635733e-01 2.29393775e-02 1.42192408e-02 4.41715862e+02] [-2.29293289e-02 9.99736710e-01 -8.69330346e-04 -4.44860051e+00] [-1.42354389e-02 5.42976028e-04 9.99898524e-01 1.93503186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.75, Y:-4.45, Z:1.94 [[ 9.99574765e-01 2.57115015e-02 1.37552500e-02 4.41746785e+02] [-2.57023037e-02 9.99669284e-01 -8.45063700e-04 -4.44783920e+00] [-1.37724288e-02 4.91162736e-04 9.99905035e-01 1.93511977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.78, Y:-4.45, Z:1.93 [[ 9.99542969e-01 2.69214900e-02 1.37508630e-02 4.41776786e+02] [-2.69124068e-02 9.99637438e-01 -8.45202604e-04 -4.44850314e+00] [-1.37686315e-02 4.74747502e-04 9.99905095e-01 1.93451983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.81, Y:-4.45, Z:1.93 [[ 9.99529543e-01 2.75110421e-02 1.35586073e-02 4.41806400e+02] [-2.75022674e-02 9.99621394e-01 -8.33236993e-04 -4.44923185e+00] [-1.35763972e-02 4.59952546e-04 9.99907731e-01 1.93412641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.83, Y:-4.45, Z:1.93 [[ 9.99522737e-01 2.79251911e-02 1.32091252e-02 4.41834926e+02] [-2.79169039e-02 9.99609918e-01 -8.11395248e-04 -4.44914873e+00] [-1.32266309e-02 4.42250122e-04 9.99912426e-01 1.93403849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.86, Y:-4.45, Z:1.93 [[ 9.99528517e-01 2.77551726e-02 1.31298966e-02 4.41863916e+02] [-2.77469777e-02 9.99614654e-01 -8.05926646e-04 -4.45001028e+00] [-1.31472056e-02 4.41231719e-04 9.99913474e-01 1.93354476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.89, Y:-4.45, Z:1.93 [[ 9.99550017e-01 2.70860552e-02 1.28883595e-02 4.41892980e+02] [-2.70781147e-02 9.99633008e-01 -7.90237788e-04 -4.45072581e+00] [-1.29050340e-02 4.40889716e-04 9.99916629e-01 1.93349120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.92, Y:-4.45, Z:1.93 [[ 9.99575776e-01 2.63563331e-02 1.23939925e-02 4.41922065e+02] [-2.63489461e-02 9.99652518e-01 -7.58961642e-04 -4.45156785e+00] [-1.24096893e-02 4.32071032e-04 9.99922903e-01 1.93310047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.95, Y:-4.45, Z:1.93 [[ 9.99598584e-01 2.58570303e-02 1.15794633e-02 4.41951834e+02] [-2.58505570e-02 9.99665568e-01 -7.08384435e-04 -4.45262599e+00] [-1.15939075e-02 4.08764501e-04 9.99932705e-01 1.93264788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.98, Y:-4.45, Z:1.93 [[ 9.99641344e-01 2.45174308e-02 1.07739788e-02 4.41981110e+02] [-2.45117525e-02 9.99699325e-01 -6.58787645e-04 -4.45317449e+00] [-1.07868911e-02 3.94462264e-04 9.99941742e-01 1.93252202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.01, Y:-4.45, Z:1.93 [[ 9.99651246e-01 2.39136495e-02 1.12037169e-02 4.42010170e+02] [-2.39074731e-02 9.99713941e-01 -6.84911382e-04 -4.45431099e+00] [-1.12168907e-02 4.16819957e-04 9.99937002e-01 1.93198785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.04, Y:-4.46, Z:1.93 [[ 9.99656981e-01 2.35932254e-02 1.13701596e-02 4.42038915e+02] [-2.35868544e-02 9.99721550e-01 -6.94121623e-04 -4.45557124e+00] [-1.13833702e-02 4.25697227e-04 9.99935117e-01 1.93148979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.07, Y:-4.46, Z:1.93 [[ 9.99652440e-01 2.34275449e-02 1.20892608e-02 4.42067711e+02] [-2.34203401e-02 9.99725434e-01 -7.37216616e-04 -4.45661183e+00] [-1.21032127e-02 4.53825789e-04 9.99926650e-01 1.93079495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.10, Y:-4.46, Z:1.93 [[ 9.99645306e-01 2.36769270e-02 1.21928586e-02 4.42097273e+02] [-2.36696226e-02 9.99719559e-01 -7.43053003e-04 -4.45793056e+00] [-1.22070324e-02 4.54189085e-04 9.99925388e-01 1.93037422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.13, Y:-4.46, Z:1.93 [[ 9.99635719e-01 2.40655666e-02 1.22178975e-02 4.42127286e+02] [-2.40582663e-02 9.99710281e-01 -7.44154899e-04 -4.45906815e+00] [-1.22322663e-02 4.49942386e-04 9.99925082e-01 1.92970699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.16, Y:-4.46, Z:1.93 [[ 9.99612430e-01 2.49015315e-02 1.24459972e-02 4.42155553e+02] [-2.48940253e-02 9.99689809e-01 -7.57682141e-04 -4.46023058e+00] [-1.24610040e-02 4.47557517e-04 9.99922259e-01 1.92864451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.19, Y:-4.46, Z:1.93 [[ 9.99552940e-01 2.72555201e-02 1.22904895e-02 4.42185083e+02] [-2.72483875e-02 9.99628414e-01 -7.47443696e-04 -4.46064161e+00] [-1.23062945e-02 4.12213524e-04 9.99924190e-01 1.92779644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.21, Y:-4.46, Z:1.93 [[ 9.99512920e-01 2.86986239e-02 1.22602042e-02 4.42214343e+02] [-2.86916377e-02 9.99588032e-01 -7.45371001e-04 -4.46186442e+00] [-1.22765446e-02 3.93242607e-04 9.99924563e-01 1.92695303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.24, Y:-4.46, Z:1.93 [[ 9.99464624e-01 3.03197007e-02 1.22955686e-02 4.42243320e+02] [-3.03128080e-02 9.99540182e-01 -7.46610133e-04 -4.46334379e+00] [-1.23125519e-02 3.73497207e-04 9.99924128e-01 1.92626131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.27, Y:-4.46, Z:1.93 [[ 9.99366535e-01 3.35476669e-02 1.18777910e-02 4.42271486e+02] [-3.35414708e-02 9.99437067e-01 -7.20526157e-04 -4.46453967e+00] [-1.18952766e-02 3.21671147e-04 9.99929197e-01 1.92574068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.30, Y:-4.47, Z:1.92 [[ 9.99302617e-01 3.54200879e-02 1.18193406e-02 4.42299948e+02] [-3.54140978e-02 9.99372468e-01 -7.15781072e-04 -4.46599681e+00] [-1.18372766e-02 2.96710616e-04 9.99929893e-01 1.92486903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.33, Y:-4.47, Z:1.92 [[ 9.99237805e-01 3.72629405e-02 1.16310524e-02 4.42328703e+02] [-3.72572741e-02 9.99305459e-01 -7.03555261e-04 -4.46733094e+00] [-1.16491907e-02 2.69677708e-04 9.99932110e-01 1.92443207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.36, Y:-4.47, Z:1.92 [[ 9.99066017e-01 4.16064525e-02 1.16617590e-02 4.42357211e+02] [-4.16010617e-02 9.99134053e-01 -7.04568717e-04 -4.46854654e+00] [-1.16809751e-02 2.18769107e-04 9.99931751e-01 1.92404958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.38, Y:-4.47, Z:1.92 [[ 9.98966727e-01 4.39573470e-02 1.15425466e-02 4.42384986e+02] [-4.39522293e-02 9.99033391e-01 -6.96793305e-04 -4.47011969e+00] [-1.15620186e-02 1.88752673e-04 9.99933140e-01 1.92348666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.41, Y:-4.47, Z:1.92 [[ 9.98868784e-01 4.61950774e-02 1.12768479e-02 4.42412677e+02] [-4.61903483e-02 9.98932425e-01 -6.79593636e-04 -4.47186148e+00] [-1.12962029e-02 1.57943338e-04 9.99936183e-01 1.92280140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.44, Y:-4.47, Z:1.92 [[ 9.98646596e-01 5.08907843e-02 1.07286488e-02 4.42441006e+02] [-5.08867857e-02 9.98704220e-01 -6.45530378e-04 -4.47391747e+00] [-1.07475983e-02 9.87102649e-05 9.99942238e-01 1.92267065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.47, Y:-4.48, Z:1.92 [[ 9.98651150e-01 5.08013249e-02 1.07287263e-02 4.42469426e+02] [-5.07973351e-02 9.98708774e-01 -6.44237581e-04 -4.47553590e+00] [-1.07476013e-02 9.83778943e-05 9.99942238e-01 1.92214638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.50, Y:-4.48, Z:1.92 [[ 9.98546108e-01 5.28229273e-02 1.07428532e-02 4.42496924e+02] [-5.28190528e-02 9.98603892e-01 -6.44259237e-04 -4.47759060e+00] [-1.07618866e-02 7.58952252e-05 9.99942086e-01 1.92154957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.52, Y:-4.48, Z:1.92 [[ 9.98439792e-01 5.47829256e-02 1.08080372e-02 4.42523635e+02] [-5.47791302e-02 9.98498287e-01 -6.47113080e-04 -4.47956041e+00] [-1.08272574e-02 5.40485722e-05 9.99941382e-01 1.92115332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.55, Y:-4.48, Z:1.92 [[ 9.98353981e-01 5.63150118e-02 1.08603799e-02 4.42552020e+02] [-5.63112865e-02 9.98413050e-01 -6.48748525e-04 -4.48167084e+00] [-1.08796793e-02 3.61187092e-05 9.99940814e-01 1.92079870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.58, Y:-4.48, Z:1.92 [[ 9.98250646e-01 5.81253950e-02 1.08206107e-02 4.42579857e+02] [-5.81218159e-02 9.98309290e-01 -6.45207323e-04 -4.48481718e+00] [-1.08398191e-02 1.51650839e-05 9.99941247e-01 1.92056499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.61, Y:-4.49, Z:1.92 [[ 9.98243175e-01 5.82864254e-02 1.06421432e-02 4.42606939e+02] [-5.82829832e-02 9.98299901e-01 -6.33566301e-04 -4.48753680e+00] [-1.06609788e-02 1.21973843e-05 9.99943170e-01 1.92023545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.63, Y:-4.49, Z:1.92 [[ 9.98261244e-01 5.80168966e-02 1.04176620e-02 4.42634655e+02] [-5.80135982e-02 9.98315601e-01 -6.18783304e-04 -4.49067504e+00] [-1.04360144e-02 1.33413316e-05 9.99945543e-01 1.91941229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.66, Y:-4.49, Z:1.92 [[ 9.98323027e-01 5.70071282e-02 1.00658249e-02 4.42661318e+02] [-5.70040027e-02 9.98373771e-01 -5.97369629e-04 -4.49399226e+00] [-1.00835099e-02 2.25755457e-05 9.99949160e-01 1.91883751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.69, Y:-4.50, Z:1.92 [[ 9.98504439e-01 5.36535210e-02 1.04969285e-02 4.42689222e+02] [-5.36499616e-02 9.98559611e-01 -6.20588481e-04 -4.49877010e+00] [-1.05151056e-02 5.65005444e-05 9.99944713e-01 1.91822119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.72, Y:-4.50, Z:1.92 [[ 9.98614837e-01 5.14645623e-02 1.09455558e-02 4.42717063e+02] [-5.14605745e-02 9.98674818e-01 -6.45844122e-04 -4.50220119e+00] [-1.09642890e-02 8.16849335e-05 9.99939887e-01 1.91772601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.74, Y:-4.51, Z:1.92 [[ 9.98746587e-01 4.87619725e-02 1.12926763e-02 4.42744567e+02] [-4.87575696e-02 9.98810421e-01 -6.65040189e-04 -4.50558721e+00] [-1.13116714e-02 1.13603168e-04 9.99936015e-01 1.91726915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.77, Y:-4.51, Z:1.92 [[ 9.99011261e-01 4.27616950e-02 1.21629525e-02 4.42771695e+02] [-4.27561614e-02 9.99085282e-01 -7.14738807e-04 -4.51117524e+00] [-1.21823903e-02 1.93990955e-04 9.99925773e-01 1.91660779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.80, Y:-4.51, Z:1.92 [[ 9.99144772e-01 3.95056743e-02 1.22076526e-02 4.42800634e+02] [-3.94998738e-02 9.99219319e-01 -7.15992059e-04 -4.51465162e+00] [-1.22264081e-02 2.33178984e-04 9.99925227e-01 1.91589978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.83, Y:-4.52, Z:1.92 [[ 9.99287608e-01 3.57566779e-02 1.20721175e-02 4.42829123e+02] [-3.57507423e-02 9.99360488e-01 -7.07190677e-04 -4.51803486e+00] [-1.20896840e-02 2.75099719e-04 9.99926879e-01 1.91522373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.86, Y:-4.52, Z:1.91 [[ 9.99409425e-01 3.20429674e-02 1.24116502e-02 4.42856344e+02] [-3.20364172e-02 9.99486438e-01 -7.26253624e-04 -4.52172327e+00] [-1.24285474e-02 3.28199912e-04 9.99922709e-01 1.91449135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.89, Y:-4.53, Z:1.91 [[ 9.99637253e-01 2.37809352e-02 1.26423935e-02 4.42885262e+02] [-2.37734976e-02 9.99717098e-01 -7.38285871e-04 -4.52695019e+00] [-1.26563741e-02 4.37464149e-04 9.99919809e-01 1.91362663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.92, Y:-4.53, Z:1.91 [[ 9.99725782e-01 1.96621821e-02 1.27184610e-02 4.42915221e+02] [-1.96543301e-02 9.99806560e-01 -7.42083564e-04 -4.53037245e+00] [-1.27305917e-02 4.91907242e-04 9.99918842e-01 1.91278262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.95, Y:-4.53, Z:1.91 [[ 9.99849898e-01 1.14440256e-02 1.30082799e-02 4.42945886e+02] [-1.14351199e-02 9.99934329e-01 -7.58798684e-04 -4.53498994e+00] [-1.30161093e-02 6.09933547e-04 9.99915101e-01 1.91188184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.98, Y:-4.54, Z:1.91 [[ 9.99848428e-01 1.15717275e-02 1.30082810e-02 4.42979357e+02] [-1.15628328e-02 9.99932860e-01 -7.58780789e-04 -4.53702680e+00] [-1.30161880e-02 6.08253202e-04 9.99915101e-01 1.91126506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.01, Y:-4.54, Z:1.91 [[ 9.99880568e-01 8.09518211e-03 1.31650238e-02 4.43012269e+02] [-8.08576004e-03 9.99967014e-01 -7.68759661e-04 -4.54011839e+00] [-1.31708128e-02 6.62218624e-04 9.99913042e-01 1.91044234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.05, Y:-4.54, Z:1.91 [[ 9.99915015e-01 1.85996262e-03 1.29036303e-02 4.43045138e+02] [-1.85034520e-03 9.99998001e-01 -7.57225057e-04 -4.54393525e+00] [-1.29050129e-02 7.33284534e-04 9.99916458e-01 1.90942797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.08, Y:-4.55, Z:1.91 [[ 9.99917846e-01 -1.20155359e-04 1.28174114e-02 4.43077818e+02] [ 1.29855264e-04 9.99999706e-01 -7.55946143e-04 -4.54665156e+00] [-1.28173168e-02 7.57548448e-04 9.99917568e-01 1.90849134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.11, Y:-4.55, Z:1.91 [[ 9.99916907e-01 -1.71202663e-03 1.27768916e-02 4.43111066e+02] [ 1.72184311e-03 9.99998231e-01 -7.57338604e-04 -4.54920622e+00] [-1.27755724e-02 7.79275477e-04 9.99918085e-01 1.90758274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.14, Y:-4.55, Z:1.91 [[ 9.99920458e-01 -3.24847046e-03 1.21870577e-02 4.43142584e+02] [ 3.25755756e-03 9.99994431e-01 -7.25858714e-04 -4.55147981e+00] [-1.21846319e-02 7.65501020e-04 9.99925472e-01 1.90649688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.17, Y:-4.55, Z:1.91 [[ 9.99921423e-01 -3.21462954e-03 1.21166421e-02 4.43174562e+02] [ 3.22366339e-03 9.99994540e-01 -7.26116809e-04 -4.55327491e+00] [-1.21142417e-02 7.65119729e-04 9.99926327e-01 1.90559936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.21, Y:-4.55, Z:1.91 [[ 9.99927972e-01 -2.74114513e-03 1.16848972e-02 4.43208009e+02] [ 2.74952462e-03 9.99995974e-01 -7.01117930e-04 -4.55462009e+00] [-1.16829283e-02 7.33195342e-04 9.99931483e-01 1.90509845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.24, Y:-4.56, Z:1.90 [[ 9.99928385e-01 -1.69262352e-03 1.18473562e-02 4.43240425e+02] [ 1.70118179e-03 9.99998299e-01 -7.12337431e-04 -4.55581890e+00] [-1.18461303e-02 7.32440923e-04 9.99929564e-01 1.90446982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.27, Y:-4.56, Z:1.90 [[ 9.99925579e-01 -3.25592997e-05 1.21997737e-02 4.43272082e+02] [ 4.15256573e-05 9.99999729e-01 -7.34708371e-04 -4.55663950e+00] [-1.21997465e-02 7.35160297e-04 9.99925310e-01 1.90392290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.31, Y:-4.56, Z:1.90 [[ 9.99913231e-01 4.48119143e-03 1.23875064e-02 4.43305712e+02] [-4.47227926e-03 9.99989720e-01 -7.47056022e-04 -4.55606340e+00] [-1.23907268e-02 6.91590813e-04 9.99922993e-01 1.90364912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.34, Y:-4.56, Z:1.90 [[ 9.99898251e-01 7.45900837e-03 1.21593535e-02 4.43337740e+02] [-7.45062387e-03 9.99971974e-01 -7.34705696e-04 -4.55650686e+00] [-1.21644929e-02 6.44036171e-04 9.99925802e-01 1.90333043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.37, Y:-4.56, Z:1.90 [[ 9.99866580e-01 1.05411878e-02 1.24781964e-02 4.43370185e+02] [-1.05325813e-02 9.99944246e-01 -7.55240298e-04 -4.55657567e+00] [-1.24854619e-02 6.23711915e-04 9.99921859e-01 1.90267598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.40, Y:-4.55, Z:1.90 [[ 9.99766436e-01 1.75868032e-02 1.25609249e-02 4.43401896e+02] [-1.75786239e-02 9.99845194e-01 -7.61283422e-04 -4.55449179e+00] [-1.25723690e-02 5.40301838e-04 9.99920819e-01 1.90224975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.43, Y:-4.55, Z:1.90 [[ 9.99697026e-01 2.13517699e-02 1.22457154e-02 4.43433182e+02] [-2.13442687e-02 9.99771909e-01 -7.42935979e-04 -4.55427448e+00] [-1.22587853e-02 4.81335049e-04 9.99924742e-01 1.90178240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.46, Y:-4.55, Z:1.90 [[ 9.99617706e-01 2.48372551e-02 1.21471262e-02 4.43463428e+02] [-2.48301232e-02 9.99691413e-01 -7.37611171e-04 -4.55378236e+00] [-1.21616980e-02 4.35714547e-04 9.99925949e-01 1.90104539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.49, Y:-4.55, Z:1.90 [[ 9.99438461e-01 3.13672731e-02 1.17837575e-02 4.43493252e+02] [-3.13610120e-02 9.99507866e-01 -7.15784312e-04 -4.55168123e+00] [-1.18004105e-02 3.45831810e-04 9.99930313e-01 1.90035888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.52, Y:-4.55, Z:1.90 [[ 9.99334976e-01 3.45649774e-02 1.16133083e-02 4.43521356e+02] [-3.45591124e-02 9.99402407e-01 -7.05380258e-04 -4.55134365e+00] [-1.16307497e-02 3.03565537e-04 9.99932314e-01 1.89986253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.55, Y:-4.55, Z:1.90 [[ 9.99220311e-01 3.77711663e-02 1.14939079e-02 4.43550517e+02] [-3.77656465e-02 9.99286380e-01 -6.96981509e-04 -4.55086843e+00] [-1.15120314e-02 2.62363219e-04 9.99933700e-01 1.89946591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.58, Y:-4.55, Z:1.90 [[ 9.99109408e-01 4.06654629e-02 1.12566044e-02 4.43578440e+02] [-4.06603596e-02 9.99172793e-01 -6.81948452e-04 -4.55006855e+00] [-1.12750246e-02 2.23643532e-04 9.99936410e-01 1.89913811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.61, Y:-4.55, Z:1.90 [[ 9.98816705e-01 4.72884952e-02 1.13572597e-02 4.43606438e+02] [-4.72837378e-02 9.98881262e-01 -6.87188425e-04 -4.54764103e+00] [-1.13770500e-02 1.49361591e-04 9.99935268e-01 1.89870007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.63, Y:-4.55, Z:1.90 [[ 9.98660532e-01 5.04795793e-02 1.13557949e-02 4.43634740e+02] [-5.04750432e-02 9.98725087e-01 -6.85883648e-04 -4.54724485e+00] [-1.13759404e-02 1.11780690e-04 9.99935286e-01 1.89849960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.66, Y:-4.55, Z:1.90 [[ 9.98505380e-01 5.33470318e-02 1.18785733e-02 4.43662758e+02] [-5.33422877e-02 9.98576030e-01 -7.16083024e-04 -4.54696370e+00] [-1.18998594e-02 8.13824804e-05 9.99929191e-01 1.89805301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.69, Y:-4.55, Z:1.90 [[ 9.98332716e-01 5.63174908e-02 1.26541837e-02 4.43691035e+02] [-5.63123640e-02 9.98412910e-01 -7.61373184e-04 -4.54715312e+00] [-1.26769790e-02 4.75167610e-05 9.99919643e-01 1.89748766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.72, Y:-4.55, Z:1.90 [[ 9.98086433e-01 6.02930302e-02 1.37194420e-02 4.43718779e+02] [-6.02874023e-02 9.98180720e-01 -8.23793472e-04 -4.54655138e+00] [-1.37441515e-02 -4.89243367e-06 9.99905545e-01 1.89706842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.75, Y:-4.55, Z:1.90 [[ 9.98045107e-01 6.09480041e-02 1.38312789e-02 4.43745710e+02] [-6.09423643e-02 9.98140942e-01 -8.29264300e-04 -4.54741994e+00] [-1.38561078e-02 -1.52676594e-05 9.99903999e-01 1.89659466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.77, Y:-4.55, Z:1.90 [[ 9.98044524e-01 6.08058730e-02 1.44835580e-02 4.43773525e+02] [-6.07441252e-02 9.98142464e-01 -4.66614505e-03 -4.54695693e+00] [-1.47403833e-02 3.77722946e-03 9.99884220e-01 1.89643905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.80, Y:-4.55, Z:1.89 [[ 9.98208798e-01 5.77770805e-02 1.55243086e-02 4.43801146e+02] [-5.78286210e-02 9.98322338e-01 2.89148133e-03 -4.55241223e+00] [-1.53312027e-02 -3.78405147e-03 9.99875310e-01 1.89422348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.83, Y:-4.55, Z:1.89 [[ 9.98350331e-01 5.53373539e-02 1.53098981e-02 4.43828252e+02] [-5.53299210e-02 9.98467713e-01 -9.08969002e-04 -4.55273760e+00] [-1.53367389e-02 6.03740539e-05 9.99882383e-01 1.89456474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.85, Y:-4.56, Z:1.89 [[ 9.98518479e-01 5.22039090e-02 1.53492535e-02 4.43854706e+02] [-5.21960961e-02 9.98636441e-01 -9.09447003e-04 -4.55503750e+00] [-1.53758006e-02 1.06928525e-04 9.99881780e-01 1.89396155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.88, Y:-4.56, Z:1.89 [[ 9.98869299e-01 4.49990477e-02 1.53365228e-02 4.43883530e+02] [-4.49904375e-02 9.98987007e-01 -9.06147060e-04 -4.55897405e+00] [-1.53617628e-02 2.15125607e-04 9.99881978e-01 1.89286035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.91, Y:-4.56, Z:1.89 [[ 9.99053511e-01 4.07812397e-02 1.51318731e-02 4.43911674e+02] [-4.07723897e-02 9.99168061e-01 -8.93020573e-04 -4.56163455e+00] [-1.51557028e-02 2.75212712e-04 9.99885108e-01 1.89213105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.94, Y:-4.56, Z:1.89 [[ 9.99206938e-01 3.67372371e-02 1.53580912e-02 4.43939624e+02] [-3.67276650e-02 9.99324902e-01 -9.04944223e-04 -4.56457069e+00] [-1.53809681e-02 3.40159717e-04 9.99881648e-01 1.89122631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.97, Y:-4.57, Z:1.89 [[ 9.99348457e-01 3.25693277e-02 1.55531789e-02 4.43967163e+02] [-3.25590286e-02 9.99469395e-01 -9.15008309e-04 -4.56736179e+00] [-1.55747275e-02 4.08015746e-04 9.99878623e-01 1.89039634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.00, Y:-4.57, Z:1.89 [[ 9.99542315e-01 2.55548371e-02 1.61898424e-02 4.43997079e+02] [-2.55427838e-02 9.99673278e-01 -9.50875882e-04 -4.57170883e+00] [-1.62088523e-02 5.36907037e-04 9.99868484e-01 1.88974758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.03, Y:-4.57, Z:1.89 [[ 9.99605349e-01 2.27500936e-02 1.64796594e-02 4.44027932e+02] [-2.27372363e-02 9.99741008e-01 -9.67157313e-04 -4.57483256e+00] [-1.64973942e-02 5.92073714e-04 9.99863733e-01 1.88919326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.06, Y:-4.58, Z:1.89 [[ 9.99646635e-01 2.07316605e-02 1.66374375e-02 4.44058752e+02] [-2.07182665e-02 9.99784876e-01 -9.77025531e-04 -4.57786848e+00] [-1.66541137e-02 6.31981420e-04 9.99861111e-01 1.88861579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.09, Y:-4.58, Z:1.89 [[ 9.99671203e-01 1.92607386e-02 1.69266209e-02 4.44090433e+02] [-1.92466589e-02 9.99814271e-01 -9.94328726e-04 -4.58070578e+00] [-1.69426287e-02 6.68220894e-04 9.99856240e-01 1.88805672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.12, Y:-4.58, Z:1.89 [[ 9.99681441e-01 1.82483189e-02 1.74360544e-02 4.44123717e+02] [-1.82331463e-02 9.99833233e-01 -1.02877439e-03 -4.58419404e+00] [-1.74519201e-02 7.10532530e-04 9.99847451e-01 1.88758219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.16, Y:-4.59, Z:1.89 [[ 9.99672243e-01 1.86528137e-02 1.75351043e-02 4.44156060e+02] [-1.86374387e-02 9.99825767e-01 -1.03983333e-03 -4.58668019e+00] [-1.75514449e-02 7.12683090e-04 9.99845708e-01 1.88708775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.19, Y:-4.59, Z:1.89 [[ 9.99662006e-01 1.92994672e-02 1.74184837e-02 4.44189481e+02] [-1.92843116e-02 9.99813502e-01 -1.03764506e-03 -4.58922483e+00] [-1.74352612e-02 7.01390878e-04 9.99847748e-01 1.88642436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.22, Y:-4.59, Z:1.89 [[ 9.99626151e-01 2.10862849e-02 1.74047683e-02 4.44222699e+02] [-2.10713351e-02 9.99777432e-01 -1.04191150e-03 -4.59222544e+00] [-1.74228646e-02 6.74780283e-04 9.99847983e-01 1.88555807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.25, Y:-4.59, Z:1.88 [[ 9.99612388e-01 2.18581866e-02 1.72422167e-02 4.44254895e+02] [-2.18435428e-02 9.99760863e-01 -1.03719285e-03 -4.59487448e+00] [-1.72607647e-02 6.60159717e-04 9.99850804e-01 1.88498765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.29, Y:-4.60, Z:1.88 [[ 9.99589218e-01 2.25540488e-02 1.76836164e-02 4.44287349e+02] [-2.25386730e-02 9.99745401e-01 -1.06833653e-03 -4.59763982e+00] [-1.77032095e-02 6.69332428e-04 9.99843062e-01 1.88404557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.32, Y:-4.60, Z:1.88 [[ 9.99582159e-01 2.27444728e-02 1.78380497e-02 4.44319409e+02] [-2.27287747e-02 9.99741082e-01 -1.08230267e-03 -4.60017413e+00] [-1.78580475e-02 6.76413429e-04 9.99840304e-01 1.88333140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.35, Y:-4.60, Z:1.88 [[ 9.99597694e-01 2.23012797e-02 1.75243671e-02 4.44351341e+02] [-2.22859833e-02 9.99751067e-01 -1.06769118e-03 -4.60304847e+00] [-1.75438156e-02 6.76713892e-04 9.99845866e-01 1.88288605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.38, Y:-4.61, Z:1.88 [[ 9.99595681e-01 2.23915668e-02 1.75240647e-02 4.44383967e+02] [-2.23761978e-02 9.99749046e-01 -1.07263130e-03 -4.60509817e+00] [-1.75436849e-02 6.80075673e-04 9.99845866e-01 1.88228660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.42, Y:-4.61, Z:1.88 [[ 9.99613383e-01 2.18620390e-02 1.71795377e-02 4.44415726e+02] [-2.18471674e-02 9.99760768e-01 -1.05287646e-03 -4.60754367e+00] [-1.71984458e-02 6.77145165e-04 9.99851866e-01 1.88157814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.45, Y:-4.61, Z:1.88 [[ 9.99645359e-01 2.08546242e-02 1.65602109e-02 4.44447364e+02] [-2.08405985e-02 9.99782292e-01 -1.01909603e-03 -4.60993636e+00] [-1.65778585e-02 6.73609909e-04 9.99862351e-01 1.88094999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.48, Y:-4.61, Z:1.88 [[ 9.99675589e-01 1.97207834e-02 1.61185461e-02 4.44479657e+02] [-1.97073059e-02 9.99805298e-01 -9.94577464e-04 -4.61236794e+00] [-1.61350216e-02 6.76601694e-04 9.99869593e-01 1.88002584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.51, Y:-4.61, Z:1.88 [[ 9.99706228e-01 1.85502760e-02 1.55994994e-02 4.44511188e+02] [-1.85374512e-02 9.99827700e-01 -9.66335744e-04 -4.61470663e+00] [-1.56147374e-02 6.76876903e-04 9.99877853e-01 1.87918305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.54, Y:-4.62, Z:1.88 [[ 9.99757387e-01 1.60484543e-02 1.50868590e-02 4.44543444e+02] [-1.60361142e-02 9.99870973e-01 -9.38566956e-04 -4.61718646e+00] [-1.50999749e-02 6.96404655e-04 9.99885746e-01 1.87864088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.58, Y:-4.62, Z:1.88 [[ 9.99770221e-01 1.55317788e-02 1.47739256e-02 4.44576697e+02] [-1.55198363e-02 9.99879134e-01 -9.22665579e-04 -4.61913923e+00] [-1.47864706e-02 6.93164662e-04 9.99890434e-01 1.87835791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.61, Y:-4.62, Z:1.88 [[ 9.99775034e-01 1.51161387e-02 1.48789762e-02 4.44608767e+02] [-1.51039131e-02 9.99885493e-01 -9.33700242e-04 -4.62068999e+00] [-1.48913864e-02 7.08759427e-04 9.99888866e-01 1.87792138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.64, Y:-4.62, Z:1.88 [[ 9.99774774e-01 1.43696859e-02 1.56177310e-02 4.44641510e+02] [-1.43560557e-02 9.99896462e-01 -9.84503685e-04 -4.62162112e+00] [-1.56302610e-02 7.60072933e-04 9.99877551e-01 1.87806527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.67, Y:-4.62, Z:1.88 [[ 9.99771089e-01 1.43378914e-02 1.58806237e-02 4.44673789e+02] [-1.43237179e-02 9.99896904e-01 -1.00589100e-03 -4.62323199e+00] [-1.58934089e-02 7.78191166e-04 9.99873389e-01 1.87778167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.71, Y:-4.62, Z:1.88 [[ 9.99766378e-01 1.43133167e-02 1.61962718e-02 4.44706554e+02] [-1.42984981e-02 9.99897240e-01 -1.03037914e-03 -4.62488836e+00] [-1.62093556e-02 7.98556063e-04 9.99868301e-01 1.87742188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.74, Y:-4.63, Z:1.88 [[ 9.99764462e-01 1.40519065e-02 1.65398111e-02 4.44738151e+02] [-1.40363308e-02 9.99900927e-01 -1.05742706e-03 -4.62566032e+00] [-1.65530313e-02 8.25019733e-04 9.99862649e-01 1.87725972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.77, Y:-4.63, Z:1.88 [[ 9.99762121e-01 1.41165225e-02 1.66260707e-02 4.44771594e+02] [-1.41007450e-02 9.99900012e-01 -1.06581214e-03 -4.62706396e+00] [-1.66394539e-02 8.31118617e-04 9.99861209e-01 1.87693812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.80, Y:-4.63, Z:1.88 [[ 9.99767317e-01 1.32725744e-02 1.70044587e-02 4.44803213e+02] [-1.32558585e-02 9.99911537e-01 -1.09536726e-03 -4.62747186e+00] [-1.70174928e-02 8.69703691e-04 9.99854814e-01 1.87618804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.84, Y:-4.63, Z:1.88 [[ 9.99781113e-01 1.25336024e-02 1.67521591e-02 4.44835913e+02] [-1.25172278e-02 9.99921071e-01 -1.08195968e-03 -4.62880386e+00] [-1.67643977e-02 8.72032258e-04 9.99859087e-01 1.87566440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.87, Y:-4.63, Z:1.88 [[ 9.99794500e-01 1.17027858e-02 1.65530408e-02 4.44867631e+02] [-1.16866040e-02 9.99931133e-01 -1.07396872e-03 -4.63042282e+00] [-1.65644693e-02 8.80299188e-04 9.99862412e-01 1.87501107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.90, Y:-4.63, Z:1.87 [[ 9.99803830e-01 1.09214302e-02 1.65234162e-02 4.44900946e+02] [-1.09051253e-02 9.99939958e-01 -1.07656050e-03 -4.63215968e+00] [-1.65341817e-02 8.96159391e-04 9.99862899e-01 1.87414313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.93, Y:-4.63, Z:1.87 [[ 9.99833184e-01 8.94824708e-03 1.59226935e-02 4.44934242e+02] [-8.93278678e-03 9.99959559e-01 -1.04181784e-03 -4.63304978e+00] [-1.59313720e-02 8.99410026e-04 9.99872683e-01 1.87319043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.97, Y:-4.63, Z:1.87 [[ 9.99840819e-01 8.44403706e-03 1.57173164e-02 4.44967273e+02] [-8.42883952e-03 9.99963943e-01 -1.03292283e-03 -4.63433625e+00] [-1.57254717e-02 9.00279673e-04 9.99875942e-01 1.87255274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.00, Y:-4.64, Z:1.87 [[ 9.99844620e-01 8.42418107e-03 1.54844607e-02 4.45000469e+02] [-8.40935834e-03 9.99964118e-01 -1.02212748e-03 -4.63537569e+00] [-1.54925157e-02 8.91754288e-04 9.99879586e-01 1.87222900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.03, Y:-4.64, Z:1.87 [[ 9.99839284e-01 9.01865047e-03 1.54942150e-02 4.45033649e+02] [-9.00380938e-03 9.99958937e-01 -1.02733924e-03 -4.63605663e+00] [-1.55028440e-02 8.87667176e-04 9.99879430e-01 1.87170484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.07, Y:-4.64, Z:1.87 [[ 9.99823067e-01 1.13398069e-02 1.50080818e-02 4.45067154e+02] [-1.13260800e-02 9.99935359e-01 -9.99318418e-04 -4.63512666e+00] [-1.50184437e-02 8.29158872e-04 9.99886873e-01 1.87112950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.10, Y:-4.64, Z:1.87 [[ 9.99799161e-01 1.31735598e-02 1.51028310e-02 4.45100140e+02] [-1.31598006e-02 9.99912896e-01 -1.01005596e-03 -4.63563664e+00] [-1.51148215e-02 8.11102862e-04 9.99885436e-01 1.87074283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.13, Y:-4.64, Z:1.87 [[ 9.99767779e-01 1.55245121e-02 1.49458408e-02 4.45133652e+02] [-1.55112357e-02 9.99879190e-01 -1.00382094e-03 -4.63632551e+00] [-1.49596191e-02 7.71759374e-04 9.99887801e-01 1.87012292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.17, Y:-4.64, Z:1.87 [[ 9.99727675e-01 1.80549724e-02 1.47849335e-02 4.45166916e+02] [-1.80421938e-02 9.99836729e-01 -9.97240134e-04 -4.63708977e+00] [-1.48005247e-02 7.30215924e-04 9.99890200e-01 1.86941305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.20, Y:-4.64, Z:1.87 [[ 9.99650794e-01 2.22724704e-02 1.42206840e-02 4.45198845e+02] [-2.22610167e-02 9.99751729e-01 -9.63229452e-04 -4.63633863e+00] [-1.42386069e-02 6.46326203e-04 9.99898417e-01 1.86874260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.23, Y:-4.64, Z:1.87 [[ 9.99604179e-01 2.41208886e-02 1.44799449e-02 4.45229216e+02] [-2.41091370e-02 9.99708847e-01 -9.85608517e-04 -4.63674736e+00] [-1.44995028e-02 6.36119416e-04 9.99894674e-01 1.86807508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.26, Y:-4.64, Z:1.87 [[ 9.99565215e-01 2.58562363e-02 1.41716281e-02 4.45258659e+02] [-2.58451504e-02 9.99665493e-01 -9.64873925e-04 -4.63719910e+00] [-1.41918356e-02 5.98186554e-04 9.99899112e-01 1.86767522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.29, Y:-4.64, Z:1.87 [[ 9.99495085e-01 2.85760096e-02 1.38919971e-02 4.45288484e+02] [-2.85656121e-02 9.99591472e-01 -9.46344791e-04 -4.63691645e+00] [-1.39133646e-02 5.49033565e-04 9.99903054e-01 1.86711869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.32, Y:-4.64, Z:1.87 [[ 9.99467397e-01 2.94207271e-02 1.41188732e-02 4.45316835e+02] [-2.94100766e-02 9.99566968e-01 -9.61429730e-04 -4.63787568e+00] [-1.41410452e-02 5.45680529e-04 9.99899862e-01 1.86639014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.35, Y:-4.64, Z:1.87 [[ 9.99450060e-01 3.01686580e-02 1.37633239e-02 4.45345486e+02] [-3.01586212e-02 9.99544687e-01 -9.36258797e-04 -4.63903320e+00] [-1.37853029e-02 5.20661040e-04 9.99904843e-01 1.86581498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.37, Y:-4.64, Z:1.87 [[ 9.99440330e-01 3.04652549e-02 1.38164968e-02 4.45374602e+02] [-3.04551824e-02 9.99535692e-01 -9.38883622e-04 -4.64032047e+00] [-1.38386850e-02 5.17574227e-04 9.99904107e-01 1.86503719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.40, Y:-4.64, Z:1.86 [[ 9.99429410e-01 3.11480085e-02 1.30635130e-02 4.45402388e+02] [-3.11390727e-02 9.99514668e-01 -8.86923481e-04 -4.64136276e+00] [-1.30847987e-02 4.79631732e-04 9.99914275e-01 1.86417781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.43, Y:-4.64, Z:1.86 [[ 9.99420753e-01 3.14625622e-02 1.29717012e-02 4.45431128e+02] [-3.14537945e-02 9.99504820e-01 -8.79421612e-04 -4.64256221e+00] [-1.29929467e-02 4.70902988e-04 9.99915477e-01 1.86364696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.46, Y:-4.64, Z:1.86 [[ 9.99420416e-01 3.15435169e-02 1.27999157e-02 4.45459985e+02] [-3.15349981e-02 9.99502272e-01 -8.66869453e-04 -4.64367447e+00] [-1.28208890e-02 4.62721710e-04 9.99917702e-01 1.86302322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.49, Y:-4.64, Z:1.86 [[ 9.99412260e-01 3.17960825e-02 1.28118718e-02 4.45488378e+02] [-3.17875806e-02 9.99494271e-01 -8.66739326e-04 -4.64498431e+00] [-1.28329514e-02 4.58971500e-04 9.99917549e-01 1.86233216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.52, Y:-4.65, Z:1.86 [[ 9.99406694e-01 3.19422306e-02 1.28823106e-02 4.45516757e+02] [-3.19336593e-02 9.99489612e-01 -8.70553985e-04 -4.64578096e+00] [-1.29035431e-02 4.58658161e-04 9.99916641e-01 1.86164602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.54, Y:-4.65, Z:1.86 [[ 9.99410452e-01 3.17596914e-02 1.30410933e-02 4.45544072e+02] [-3.17509035e-02 9.99495425e-01 -8.80404047e-04 -4.64727648e+00] [-1.30624744e-02 4.65818512e-04 9.99914574e-01 1.86105464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.57, Y:-4.65, Z:1.86 [[ 9.99425092e-01 3.13920276e-02 1.28072514e-02 4.45572537e+02] [-3.13835379e-02 9.99507043e-01 -8.63372039e-04 -4.64892645e+00] [-1.28280409e-02 4.60938821e-04 9.99917611e-01 1.86060523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.60, Y:-4.65, Z:1.86 [[ 9.99431700e-01 3.09689189e-02 1.33117946e-02 4.45601683e+02] [-3.09597229e-02 9.99520231e-01 -8.96386501e-04 -4.65063218e+00] [-1.33331681e-02 4.83747613e-04 9.99910992e-01 1.86002189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.63, Y:-4.65, Z:1.86 [[ 9.99442631e-01 3.04502797e-02 1.36823916e-02 4.45630203e+02] [-3.04405295e-02 9.99536156e-01 -9.20346891e-04 -4.65145020e+00] [-1.37040699e-02 5.03334674e-04 9.99905968e-01 1.85994427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.66, Y:-4.65, Z:1.86 [[ 9.99442984e-01 3.03694216e-02 1.38354724e-02 4.45659326e+02] [-3.03594594e-02 9.99538613e-01 -9.29555757e-04 -4.65251246e+00] [-1.38573190e-02 5.09000517e-04 9.99903853e-01 1.85957987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.69, Y:-4.65, Z:1.86 [[ 9.99441100e-01 3.03142325e-02 1.40902447e-02 4.45688260e+02] [-3.03039042e-02 9.99540284e-01 -9.45987417e-04 -4.65329742e+00] [-1.41124440e-02 5.18469279e-04 9.99900280e-01 1.85898949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.72, Y:-4.65, Z:1.86 [[ 9.99445354e-01 3.01903824e-02 1.40543996e-02 4.45717202e+02] [-3.01801087e-02 9.99544032e-01 -9.42561932e-04 -4.65499684e+00] [-1.40764475e-02 5.17875836e-04 9.99900788e-01 1.85870813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.75, Y:-4.66, Z:1.86 [[ 9.99442949e-01 3.00701535e-02 1.44768011e-02 4.45745075e+02] [-3.00592554e-02 9.99547648e-01 -9.69850036e-04 -4.65679202e+00] [-1.44994160e-02 5.34147918e-04 9.99894735e-01 1.85796782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.77, Y:-4.66, Z:1.86 [[ 9.99453990e-01 2.95085839e-02 1.48648886e-02 4.45773538e+02] [-2.94970535e-02 9.99564373e-01 -9.94382307e-04 -4.65847264e+00] [-1.48877559e-02 5.55368950e-04 9.99889017e-01 1.85758821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.80, Y:-4.66, Z:1.86 [[ 9.99489585e-01 2.83952600e-02 1.46382947e-02 4.45802393e+02] [-2.83839757e-02 9.99596615e-01 -9.78101726e-04 -4.66045713e+00] [-1.46601632e-02 5.62109488e-04 9.99892376e-01 1.85705310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.83, Y:-4.66, Z:1.86 [[ 9.99520460e-01 2.74601862e-02 1.43104464e-02 4.45830676e+02] [-2.74493158e-02 9.99622740e-01 -9.55511265e-04 -4.66206767e+00] [-1.43312861e-02 5.62241096e-04 9.99897144e-01 1.85673725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.86, Y:-4.66, Z:1.86 [[ 9.99552373e-01 2.62993148e-02 1.42618387e-02 4.45859085e+02] [-2.62884161e-02 9.99653947e-01 -9.51151799e-04 -4.66385573e+00] [-1.42819180e-02 5.75804889e-04 9.99897842e-01 1.85593790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.89, Y:-4.67, Z:1.86 [[ 9.99593362e-01 2.48212539e-02 1.40362213e-02 4.45887541e+02] [-2.48105624e-02 9.99691733e-01 -9.35354520e-04 -4.66571864e+00] [-1.40551111e-02 5.86727624e-04 9.99901050e-01 1.85576925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.92, Y:-4.67, Z:1.86 [[ 9.99669030e-01 2.19577215e-02 1.34048433e-02 4.45917197e+02] [-2.19477235e-02 9.99758721e-01 -8.92521371e-04 -4.66860497e+00] [-1.34212067e-02 5.98020179e-04 9.99909753e-01 1.85515988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.95, Y:-4.67, Z:1.85 [[ 9.99712446e-01 2.03746101e-02 1.26452124e-02 4.45946892e+02] [-2.03655936e-02 9.99792246e-01 -8.41415745e-04 -4.67131081e+00] [-1.26597288e-02 5.83646537e-04 9.99919692e-01 1.85451563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.98, Y:-4.67, Z:1.85 [[ 9.99750697e-01 1.87003233e-02 1.22001096e-02 4.45977568e+02] [-1.86918099e-02 9.99824964e-01 -8.11477708e-04 -4.67384283e+00] [-1.22131490e-02 5.83233276e-04 9.99925247e-01 1.85388536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.01, Y:-4.68, Z:1.85 [[ 9.99813331e-01 1.58653126e-02 1.10270589e-02 4.46008227e+02] [-1.58581872e-02 9.99873982e-01 -7.33319845e-04 -4.67670436e+00] [-1.10373036e-02 5.58313792e-04 9.99938931e-01 1.85308500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.04, Y:-4.68, Z:1.85 [[ 9.99836598e-01 1.45144893e-02 1.07752666e-02 4.46038020e+02] [-1.45076052e-02 9.99894502e-01 -7.16769927e-04 -4.67861094e+00] [-1.07845334e-02 5.60329491e-04 9.99941688e-01 1.85277152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.07, Y:-4.68, Z:1.85 [[ 9.99843218e-01 1.36627704e-02 1.12635898e-02 4.46069605e+02] [-1.36551933e-02 9.99906483e-01 -7.49338456e-04 -4.68092319e+00] [-1.12727745e-02 5.95414476e-04 9.99936283e-01 1.85208045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.10, Y:-4.68, Z:1.85 [[ 9.99850156e-01 1.32715694e-02 1.11144295e-02 4.46100342e+02] [-1.32641789e-02 9.99911754e-01 -7.38400414e-04 -4.68300424e+00] [-1.11232484e-02 5.90865989e-04 9.99937960e-01 1.85191937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.13, Y:-4.69, Z:1.85 [[ 9.99843772e-01 1.32310020e-02 1.17206035e-02 4.46131917e+02] [-1.32227313e-02 9.99912269e-01 -7.82871005e-04 -4.68514274e+00] [-1.17299334e-02 6.27770308e-04 9.99931005e-01 1.85162041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.16, Y:-4.69, Z:1.85 [[ 9.99824340e-01 1.38259217e-02 1.26543872e-02 4.46163447e+02] [-1.38163358e-02 9.99904193e-01 -8.44626643e-04 -4.68741713e+00] [-1.26648526e-02 6.69641013e-04 9.99919573e-01 1.85077713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.20, Y:-4.69, Z:1.85 [[ 9.99807063e-01 1.46394573e-02 1.30966665e-02 4.46195499e+02] [-1.46292184e-02 9.99892602e-01 -8.77257968e-04 -4.68959824e+00] [-1.31081025e-02 6.85494718e-04 9.99913850e-01 1.85033427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.23, Y:-4.69, Z:1.85 [[ 9.99785682e-01 1.57283273e-02 1.34613900e-02 4.46226860e+02] [-1.57175518e-02 9.99876061e-01 -9.05903479e-04 -4.69161593e+00] [-1.34739699e-02 6.94129233e-04 9.99908981e-01 1.85004364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.26, Y:-4.69, Z:1.85 [[ 9.99714292e-01 1.93151165e-02 1.40804735e-02 4.46257855e+02] [-1.93036569e-02 9.99813216e-01 -9.49335331e-04 -4.69331952e+00] [-1.40961800e-02 6.77259470e-04 9.99900415e-01 1.84983151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.29, Y:-4.70, Z:1.85 [[ 9.99670911e-01 2.13164940e-02 1.42715273e-02 4.46289487e+02] [-2.13048638e-02 9.99772558e-01 -9.66481576e-04 -4.69504660e+00] [-1.42888834e-02 6.62110571e-04 9.99897689e-01 1.84926273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.32, Y:-4.70, Z:1.85 [[ 9.99670519e-01 2.13348898e-02 1.42714867e-02 4.46320418e+02] [-2.13232529e-02 9.99772166e-01 -9.67081288e-04 -4.69713965e+00] [-1.42888677e-02 6.62448133e-04 9.99897689e-01 1.84869318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.35, Y:-4.70, Z:1.85 [[ 9.99557593e-01 2.63935003e-02 1.37113265e-02 4.46350525e+02] [-2.63832307e-02 9.99651470e-01 -9.29363767e-04 -4.69878743e+00] [-1.37310769e-02 5.67203520e-04 9.99905563e-01 1.84813998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.38, Y:-4.70, Z:1.85 [[ 9.99487589e-01 2.88352572e-02 1.38955672e-02 4.46379522e+02] [-2.88249360e-02 9.99584031e-01 -9.42517819e-04 -4.70034183e+00] [-1.39169649e-02 5.41496026e-04 9.99903008e-01 1.84754055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.41, Y:-4.70, Z:1.85 [[ 9.99413587e-01 3.15332972e-02 1.33466841e-02 4.46407260e+02] [-3.15240268e-02 9.99502585e-01 -9.04449919e-04 -4.70184154e+00] [-1.33685656e-02 4.83178310e-04 9.99910520e-01 1.84739880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.43, Y:-4.70, Z:1.85 [[ 9.99330759e-01 3.40659627e-02 1.33245461e-02 4.46434899e+02] [-3.40569641e-02 9.99419487e-01 -9.01733843e-04 -4.70333185e+00] [-1.33475295e-02 4.47336777e-04 9.99910818e-01 1.84685119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.46, Y:-4.71, Z:1.85 [[ 9.99189160e-01 3.81254223e-02 1.29411715e-02 4.46464109e+02] [-3.81172898e-02 9.99272889e-01 -8.74586197e-04 -4.70517744e+00] [-1.29651058e-02 3.80594665e-04 9.99915877e-01 1.84615316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.49, Y:-4.71, Z:1.85 [[ 9.99132993e-01 3.99411171e-02 1.17460338e-02 4.46492950e+02] [-3.99345513e-02 9.99201983e-01 -7.93089561e-04 -4.70712390e+00] [-1.17683372e-02 3.23329357e-04 9.99930698e-01 1.84572363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.52, Y:-4.71, Z:1.84 [[ 9.99089924e-01 4.12134344e-02 1.09898492e-02 4.46521085e+02] [-4.12077686e-02 9.99150324e-01 -7.41587064e-04 -4.70922014e+00] [-1.10110747e-02 2.88045001e-04 9.99939335e-01 1.84477584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.55, Y:-4.71, Z:1.85 [[ 9.99047895e-01 4.27360085e-02 8.77139235e-03 4.46548242e+02] [-4.26912102e-02 9.99074612e-01 -5.23263525e-03 -4.70900844e+00] [-8.98689736e-03 4.85319187e-03 9.99947840e-01 1.84539208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.58, Y:-4.72, Z:1.84 [[ 9.99003262e-01 4.33957693e-02 1.04541853e-02 4.46576909e+02] [-4.34399471e-02 9.99047886e-01 4.03640479e-03 -4.71600965e+00] [-1.02690689e-02 -4.48651081e-03 9.99937207e-01 1.84193018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.60, Y:-4.72, Z:1.84 [[ 9.98995042e-01 4.37541120e-02 9.72022757e-03 4.46604537e+02] [-4.37498318e-02 9.99042305e-01 -6.52632268e-04 -4.71590833e+00] [-9.73947390e-03 2.26718078e-04 9.99952544e-01 1.84278645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.63, Y:-4.72, Z:1.84 [[ 9.98996438e-01 4.37431075e-02 9.62583112e-03 4.46631297e+02] [-4.37389150e-02 9.99042787e-01 -6.45733502e-04 -4.71785119e+00] [-9.64486354e-03 2.24062059e-04 9.99953462e-01 1.84245751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.66, Y:-4.72, Z:1.84 [[ 9.98987049e-01 4.40410456e-02 9.23370523e-03 4.46658788e+02] [-4.40372167e-02 9.99029700e-01 -6.17669229e-04 -4.72084448e+00] [-9.25194857e-03 2.10416882e-04 9.99957178e-01 1.84146419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.69, Y:-4.72, Z:1.84 [[ 9.99001619e-01 4.36925371e-02 9.31270588e-03 4.46685211e+02] [-4.36886352e-02 9.99045002e-01 -6.22108003e-04 -4.72308288e+00] [-9.33099374e-03 2.14627493e-04 9.99956442e-01 1.84087913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.71, Y:-4.73, Z:1.84 [[ 9.99018885e-01 4.31761414e-02 9.85333879e-03 4.46711931e+02] [-4.31717615e-02 9.99067449e-01 -6.56875556e-04 -4.72553146e+00] [-9.87251140e-03 2.30845094e-04 9.99951239e-01 1.84046537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.74, Y:-4.73, Z:1.84 [[ 9.99047172e-01 4.22908666e-02 1.07810801e-02 4.46739374e+02] [-4.22855906e-02 9.99105307e-01 -7.16957385e-04 -4.72828837e+00] [-1.08017551e-02 2.60389909e-04 9.99941625e-01 1.83941035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.77, Y:-4.73, Z:1.84 [[ 9.99093758e-01 4.09806778e-02 1.14998408e-02 4.46766877e+02] [-4.09745989e-02 9.99159897e-01 -7.63820149e-04 -4.73109893e+00] [-1.15214816e-02 2.91926578e-04 9.99933583e-01 1.83880489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.79, Y:-4.74, Z:1.84 [[ 9.99209818e-01 3.76549042e-02 1.27219710e-02 4.46794487e+02] [-3.76472145e-02 9.99290736e-01 -8.43475136e-04 -4.73514490e+00] [-1.27447087e-02 3.63861867e-04 9.99918717e-01 1.83841010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.82, Y:-4.75, Z:1.84 [[ 9.99409485e-01 3.31654753e-02 8.98514027e-03 4.46819639e+02] [-3.33751563e-02 9.99147711e-01 2.42888788e-02 -4.74768522e+00] [-8.17193013e-03 -2.45744163e-02 9.99664603e-01 1.83873480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.85, Y:-4.73, Z:1.84 [[ 9.99354566e-01 3.38181020e-02 1.21155647e-02 4.46850798e+02] [-3.34975908e-02 9.99107111e-01 -2.57467050e-02 -4.72988376e+00] [-1.29754516e-02 2.53242450e-02 9.99595078e-01 1.84391412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.88, Y:-4.75, Z:1.84 [[ 9.99491578e-01 2.83139204e-02 1.46596908e-02 4.46878594e+02] [-2.83027760e-02 9.99598928e-01 -9.67156125e-04 -4.74652645e+00] [-1.46811952e-02 5.51754456e-04 9.99892073e-01 1.83535874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.91, Y:-4.75, Z:1.83 [[ 9.99545478e-01 2.61355851e-02 1.50256205e-02 4.46906976e+02] [-2.61236497e-02 9.99658229e-01 -9.90094217e-04 -4.75011297e+00] [-1.50463619e-02 5.97120150e-04 9.99886619e-01 1.83426159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.94, Y:-4.75, Z:1.83 [[ 9.99602743e-01 2.39878153e-02 1.47966358e-02 4.46935910e+02] [-2.39760219e-02 9.99712059e-01 -9.73936353e-04 -4.75341364e+00] [-1.48157379e-02 6.18784986e-04 9.99890049e-01 1.83343011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.97, Y:-4.76, Z:1.83 [[ 9.99664643e-01 2.12463101e-02 1.48052333e-02 4.46966374e+02] [-2.12341989e-02 9.99774054e-01 -9.74765101e-04 -4.75749820e+00] [-1.48225983e-02 6.60060938e-04 9.99889921e-01 1.83257075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.00, Y:-4.76, Z:1.83 [[ 9.99672684e-01 2.07761751e-02 1.49290012e-02 4.46997220e+02] [-2.07638055e-02 9.99783926e-01 -9.83103172e-04 -4.76044044e+00] [-1.49462005e-02 6.72798511e-04 9.99888073e-01 1.83155919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.03, Y:-4.76, Z:1.83 [[ 9.99686111e-01 2.04101670e-02 1.45294269e-02 4.47028454e+02] [-2.03984048e-02 9.99791473e-01 -9.57296547e-04 -4.76308656e+00] [-1.45459357e-02 6.60618930e-04 9.99893984e-01 1.83105691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.06, Y:-4.77, Z:1.83 [[ 9.99673641e-01 2.09269011e-02 1.46518428e-02 4.47059289e+02] [-2.09149989e-02 9.99780792e-01 -9.65110069e-04 -4.76570018e+00] [-1.46688277e-02 6.58351820e-04 9.99892190e-01 1.83034890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.09, Y:-4.77, Z:1.83 [[ 9.99630705e-01 2.24782097e-02 1.52703437e-02 4.47090889e+02] [-2.24653937e-02 9.99747111e-01 -1.01031490e-03 -4.76868218e+00] [-1.52891921e-02 6.66887514e-04 9.99882891e-01 1.82952690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.12, Y:-4.77, Z:1.83 [[ 9.99600298e-01 2.36135415e-02 1.55449120e-02 4.47121009e+02] [-2.36003876e-02 9.99720942e-01 -1.02911465e-03 -4.77110082e+00] [-1.55648751e-02 6.61837363e-04 9.99878641e-01 1.82868548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.15, Y:-4.77, Z:1.83 [[ 9.99563839e-01 2.51639262e-02 1.54566572e-02 4.47152062e+02] [-2.51511029e-02 9.99683137e-01 -1.02348939e-03 -4.77359478e+00] [-1.54775146e-02 6.34291009e-04 9.99880015e-01 1.82811267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.18, Y:-4.78, Z:1.83 [[ 9.99476305e-01 2.84263337e-02 1.54615402e-02 4.47182202e+02] [-2.84138823e-02 9.99595719e-01 -1.02443811e-03 -4.77544203e+00] [-1.54844105e-02 5.84579238e-04 9.99879938e-01 1.82715008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.21, Y:-4.78, Z:1.83 [[ 9.99416614e-01 3.02647920e-02 1.58263475e-02 4.47211755e+02] [-3.02519691e-02 9.99541754e-01 -1.04905691e-03 -4.77714970e+00] [-1.58508446e-02 5.69666726e-04 9.99874205e-01 1.82601961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.24, Y:-4.78, Z:1.83 [[ 9.99384686e-01 3.16029815e-02 1.52151314e-02 4.47240937e+02] [-3.15912928e-02 9.99500362e-01 -1.00802477e-03 -4.77867944e+00] [-1.52393860e-02 5.26738852e-04 9.99883735e-01 1.82561881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.27, Y:-4.78, Z:1.82 [[ 9.99348968e-01 3.27842799e-02 1.50609199e-02 4.47269781e+02] [-3.27729681e-02 9.99462324e-01 -9.97327089e-04 -4.78025106e+00] [-1.50855187e-02 5.03086747e-04 9.99886081e-01 1.82472121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.30, Y:-4.78, Z:1.82 [[ 9.99277047e-01 3.50266488e-02 1.47823474e-02 4.47298628e+02] [-3.50160074e-02 9.99386273e-01 -9.78167083e-04 -4.78183974e+00] [-1.48075370e-02 4.59841128e-04 9.99890257e-01 1.82381942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.33, Y:-4.78, Z:1.82 [[ 9.99259200e-01 3.56812818e-02 1.44186791e-02 4.47326510e+02] [-3.56712395e-02 9.99363124e-01 -9.53144632e-04 -4.78329932e+00] [-1.44435056e-02 4.38106386e-04 9.99895591e-01 1.82320807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.35, Y:-4.79, Z:1.82 [[ 9.99223789e-01 3.66025457e-02 1.45627557e-02 4.47354779e+02] [-3.65924202e-02 9.99329811e-01 -9.61245190e-04 -4.78524225e+00] [-1.45881799e-02 4.27612585e-04 9.99893495e-01 1.82249099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.38, Y:-4.79, Z:1.82 [[ 9.99171205e-01 3.77820440e-02 1.51466148e-02 4.47383906e+02] [-3.77712434e-02 9.99285913e-01 -9.98607057e-04 -4.78689728e+00] [-1.51735282e-02 4.25672943e-04 9.99884785e-01 1.82190627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.41, Y:-4.79, Z:1.82 [[ 9.99155455e-01 3.80397564e-02 1.55355727e-02 4.47411766e+02] [-3.80284426e-02 9.99276133e-01 -1.02313030e-03 -4.78805818e+00] [-1.55632467e-02 4.31472583e-04 9.99878792e-01 1.82188039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.44, Y:-4.79, Z:1.82 [[ 9.99109481e-01 3.87441828e-02 1.67072810e-02 4.47440858e+02] [-3.87312243e-02 9.99249061e-01 -1.09861266e-03 -4.78969945e+00] [-1.67372996e-02 4.50540877e-04 9.99859820e-01 1.82115479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.47, Y:-4.79, Z:1.82 [[ 9.99084471e-01 3.91776176e-02 1.71852961e-02 4.47469035e+02] [-3.91639928e-02 9.99232159e-01 -1.12877937e-03 -4.79155080e+00] [-1.72163234e-02 4.54701125e-04 9.99851685e-01 1.82067623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.50, Y:-4.79, Z:1.82 [[ 9.99062890e-01 3.93998015e-02 1.79164115e-02 4.47497392e+02] [-3.93850589e-02 9.99223417e-01 -1.17509664e-03 -4.79307359e+00] [-1.79487964e-02 4.68356523e-04 9.99838798e-01 1.82013349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.53, Y:-4.79, Z:1.82 [[ 9.99064152e-01 3.92697658e-02 1.81302590e-02 4.47526554e+02] [-3.92546707e-02 9.99228532e-01 -1.18785520e-03 -4.79467425e+00] [-1.81629189e-02 4.75046198e-04 9.99834928e-01 1.81973431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.56, Y:-4.80, Z:1.82 [[ 9.99065614e-01 3.90726147e-02 1.84723948e-02 4.47555568e+02] [-3.90569364e-02 9.99236256e-01 -1.20888896e-03 -4.79634100e+00] [-1.85055211e-02 4.86284241e-04 9.99828640e-01 1.81926916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.58, Y:-4.80, Z:1.82 [[ 9.99068660e-01 3.90096535e-02 1.84407123e-02 4.47583663e+02] [-3.89940436e-02 9.99238716e-01 -1.20544262e-03 -4.79814617e+00] [-1.84736975e-02 4.85242007e-04 9.99829229e-01 1.81870257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.61, Y:-4.80, Z:1.82 [[ 9.99073123e-01 3.88055661e-02 1.86285588e-02 4.47612447e+02] [-3.87896141e-02 9.99246659e-01 -1.21702432e-03 -4.79973112e+00] [-1.86617524e-02 4.93301678e-04 9.99825733e-01 1.81792881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.64, Y:-4.80, Z:1.82 [[ 9.99080108e-01 3.89270188e-02 1.79895966e-02 4.47641909e+02] [-3.89121792e-02 9.99241944e-01 -1.17433213e-03 -4.80154192e+00] [-1.80216728e-02 4.73237464e-04 9.99837484e-01 1.81720513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.67, Y:-4.80, Z:1.82 [[ 9.99120990e-01 3.86368960e-02 1.62615189e-02 4.47670824e+02] [-3.86247394e-02 9.99253223e-01 -1.06109374e-03 -4.80339487e+00] [-1.62903726e-02 4.32064096e-04 9.99867210e-01 1.81633071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.70, Y:-4.81, Z:1.82 [[ 9.99148065e-01 3.82747156e-02 1.54334201e-02 4.47699772e+02] [-3.82637388e-02 9.99267169e-01 -1.00600233e-03 -4.80527913e+00] [-1.54606145e-02 4.14604928e-04 9.99880392e-01 1.81552417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.73, Y:-4.81, Z:1.81 [[ 9.99168361e-01 3.78193601e-02 1.52408131e-02 4.47727717e+02] [-3.78086184e-02 9.99284506e-01 -9.92418103e-04 -4.80704343e+00] [-1.52674410e-02 4.15358681e-04 9.99883360e-01 1.81474997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.76, Y:-4.81, Z:1.81 [[ 9.99186770e-01 3.74456316e-02 1.49540710e-02 4.47756252e+02] [-3.74352692e-02 9.99298582e-01 -9.72368945e-04 -4.80891747e+00] [-1.49799929e-02 4.11768510e-04 9.99887709e-01 1.81456562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.78, Y:-4.81, Z:1.81 [[ 9.99216275e-01 3.69329277e-02 1.42406160e-02 4.47784403e+02] [-3.69234908e-02 9.99317667e-01 -9.25116064e-04 -4.81094103e+00] [-1.42650664e-02 3.98577774e-04 9.99898169e-01 1.81411362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.81, Y:-4.81, Z:1.81 [[ 9.99228203e-01 3.67270037e-02 1.39328785e-02 4.47813250e+02] [-3.67179703e-02 9.99325259e-01 -9.03692273e-04 -4.81278325e+00] [-1.39566674e-02 3.91407787e-04 9.99902524e-01 1.81347172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.84, Y:-4.81, Z:1.81 [[ 9.99241208e-01 3.65469076e-02 1.34659293e-02 4.47840793e+02] [-3.65384645e-02 9.99331866e-01 -8.72575221e-04 -4.81445193e+00] [-1.34888222e-02 3.79888738e-04 9.99908950e-01 1.81311254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.87, Y:-4.82, Z:1.81 [[ 9.99238129e-01 3.66560212e-02 1.33976488e-02 4.47869498e+02] [-3.66476904e-02 9.99327872e-01 -8.66871942e-04 -4.81622537e+00] [-1.34204200e-02 3.75218610e-04 9.99909872e-01 1.81256145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.90, Y:-4.82, Z:1.81 [[ 9.99232222e-01 3.67831457e-02 1.34895367e-02 4.47898553e+02] [-3.67747246e-02 9.99323201e-01 -8.71872810e-04 -4.81810801e+00] [-1.35124772e-02 3.75129410e-04 9.99908632e-01 1.81203681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.93, Y:-4.82, Z:1.81 [[ 9.99231718e-01 3.66720629e-02 1.38251355e-02 4.47926843e+02] [-3.66632196e-02 9.99327279e-01 -8.92645153e-04 -4.81888827e+00] [-1.38485701e-02 3.85085371e-04 9.99904030e-01 1.81203103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.96, Y:-4.82, Z:1.81 [[ 9.99242687e-01 3.64544097e-02 1.36061610e-02 4.47955698e+02] [-3.64458436e-02 9.99335245e-01 -8.77087566e-04 -4.82032329e+00] [-1.36290899e-02 3.80535321e-04 9.99907047e-01 1.81171856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.98, Y:-4.82, Z:1.81 [[ 9.99255152e-01 3.62025725e-02 1.33609859e-02 4.47983256e+02] [-3.61943011e-02 9.99344401e-01 -8.60441212e-04 -4.82143878e+00] [-1.33833767e-02 3.76208766e-04 9.99910368e-01 1.81189746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.01, Y:-4.82, Z:1.81 [[ 9.99280732e-01 3.56536335e-02 1.29165213e-02 4.48011605e+02] [-3.56458727e-02 9.99364139e-01 -8.30633713e-04 -4.82284795e+00] [-1.29379233e-02 3.69615590e-04 9.99916233e-01 1.81186679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.04, Y:-4.82, Z:1.81 [[ 9.99307914e-01 3.48757781e-02 1.29372554e-02 4.48040176e+02] [-3.48679394e-02 9.99391583e-01 -8.31032559e-04 -4.82450704e+00] [-1.29583670e-02 3.79361976e-04 9.99915965e-01 1.81097692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.07, Y:-4.83, Z:1.81 [[ 9.99350040e-01 3.38114428e-02 1.25013846e-02 4.48067514e+02] [-3.38040497e-02 9.99428158e-01 -8.02284564e-04 -4.82623266e+00] [-1.25213622e-02 3.79165684e-04 9.99921533e-01 1.81068395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.10, Y:-4.83, Z:1.81 [[ 9.99423465e-01 3.17214084e-02 1.21032730e-02 4.48096436e+02] [-3.17143392e-02 9.99496673e-01 -7.75600948e-04 -4.82798436e+00] [-1.21217842e-02 3.91306482e-04 9.99926452e-01 1.81028799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.12, Y:-4.83, Z:1.81 [[ 9.99468751e-01 3.04434757e-02 1.16366387e-02 4.48124318e+02] [-3.04368626e-02 9.99536414e-01 -7.45018264e-04 -4.82939934e+00] [-1.16539250e-02 3.90439701e-04 9.99932014e-01 1.80978096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.15, Y:-4.83, Z:1.81 [[ 9.99513263e-01 2.90171058e-02 1.14561809e-02 4.48152629e+02] [-2.90106158e-02 9.99578835e-01 -7.32312824e-04 -4.83074048e+00] [-1.14726055e-02 3.99605519e-04 9.99934108e-01 1.80939856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.18, Y:-4.83, Z:1.81 [[ 9.99514843e-01 2.89626156e-02 1.14562424e-02 4.48181883e+02] [-2.89561331e-02 9.99580416e-01 -7.31349118e-04 -4.83254879e+00] [-1.14726173e-02 3.99265821e-04 9.99934108e-01 1.80885088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.21, Y:-4.83, Z:1.81 [[ 9.99548156e-01 2.79430194e-02 1.10757539e-02 4.48209599e+02] [-2.79369012e-02 9.99609439e-01 -7.06757406e-04 -4.83397265e+00] [-1.10911771e-02 3.97015819e-04 9.99938412e-01 1.80855760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.24, Y:-4.83, Z:1.81 [[ 9.99592021e-01 2.64285979e-02 1.08314812e-02 4.48238308e+02] [-2.64226697e-02 9.99650622e-01 -6.90076223e-04 -4.83474384e+00] [-1.08459346e-02 4.03598037e-04 9.99941100e-01 1.80829915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.27, Y:-4.84, Z:1.81 [[ 9.99588013e-01 2.65289923e-02 1.09552617e-02 4.48266092e+02] [-2.65229411e-02 9.99647962e-01 -6.97298516e-04 -4.83621246e+00] [-1.09699037e-02 4.06445477e-04 9.99939746e-01 1.80776636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.29, Y:-4.84, Z:1.81 [[ 9.99553594e-01 2.77134965e-02 1.11613186e-02 4.48294293e+02] [-2.77073007e-02 9.99615827e-01 -7.09390933e-04 -4.83679183e+00] [-1.11766905e-02 3.99824245e-04 9.99937459e-01 1.80804657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.32, Y:-4.84, Z:1.81 [[ 9.99519421e-01 2.89871142e-02 1.09852093e-02 4.48322663e+02] [-2.89812009e-02 9.99579714e-01 -6.97134536e-04 -4.83784141e+00] [-1.10008003e-02 3.78434951e-04 9.99939418e-01 1.80789821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.35, Y:-4.84, Z:1.81 [[ 9.99477547e-01 3.03233530e-02 1.11859932e-02 4.48350159e+02] [-3.03173129e-02 9.99540073e-01 -7.09187124e-04 -4.83884025e+00] [-1.12023534e-02 3.69687350e-04 9.99937183e-01 1.80794103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.38, Y:-4.84, Z:1.81 [[ 9.99429173e-01 3.19039699e-02 1.11115077e-02 4.48379182e+02] [-3.18981195e-02 9.99490878e-01 -7.03393289e-04 -4.84010886e+00] [-1.11282916e-02 3.48555573e-04 9.99938018e-01 1.80760729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.41, Y:-4.84, Z:1.81 [[ 9.99374571e-01 3.35712524e-02 1.11102796e-02 4.48406760e+02] [-3.35655138e-02 9.99436272e-01 -7.02629206e-04 -4.84128131e+00] [-1.11276046e-02 3.29267518e-04 9.99938032e-01 1.80719176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.43, Y:-4.84, Z:1.81 [[ 9.99269628e-01 3.67853989e-02 1.03462297e-02 4.48434581e+02] [-3.67806034e-02 9.99323151e-01 -6.53454830e-04 -4.84133933e+00] [-1.03632645e-02 2.72436992e-04 9.99946263e-01 1.80741527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.46, Y:-4.84, Z:1.81 [[ 9.99213687e-01 3.84622090e-02 9.62637062e-03 4.48463408e+02] [-3.84581440e-02 9.99260028e-01 -6.07096016e-04 -4.84262165e+00] [-9.64259762e-03 2.36406301e-04 9.99953481e-01 1.80688744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.49, Y:-4.84, Z:1.81 [[ 9.99138547e-01 4.06190648e-02 8.50026824e-03 4.48490147e+02] [-4.06159726e-02 9.99174687e-01 -5.36156837e-04 -4.84347563e+00] [-8.51503105e-03 1.90448301e-04 9.99963728e-01 1.80646985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.52, Y:-4.84, Z:1.81 [[ 9.99110910e-01 4.14643027e-02 7.62245770e-03 4.48518031e+02] [-4.14618473e-02 9.99139973e-01 -4.79945382e-04 -4.84482020e+00] [-7.63580278e-03 1.63477490e-04 9.99970833e-01 1.80606098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.55, Y:-4.85, Z:1.81 [[ 9.99087180e-01 4.21343080e-02 7.03612948e-03 4.48545245e+02] [-4.21322353e-02 9.99111945e-01 -4.42615829e-04 -4.84610683e+00] [-7.04853033e-03 1.45763937e-04 9.99975148e-01 1.80578983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.57, Y:-4.85, Z:1.81 [[ 9.99089168e-01 4.21461149e-02 6.67377120e-03 4.48572926e+02] [-4.21442566e-02 9.99111448e-01 -4.18892679e-04 -4.84734433e+00] [-6.68549591e-03 1.37250012e-04 9.99977642e-01 1.80545665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.60, Y:-4.85, Z:1.81 [[ 9.99136035e-01 4.11178680e-02 6.04193838e-03 4.48600023e+02] [-4.11163276e-02 9.99154294e-01 -3.78984869e-04 -4.84800898e+00] [-6.05241173e-03 1.30235121e-04 9.99981676e-01 1.80608392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.63, Y:-4.85, Z:1.81 [[ 9.99172805e-01 4.02228468e-02 5.98574746e-03 4.48627539e+02] [-4.02213248e-02 9.99190725e-01 -3.74495034e-04 -4.84912904e+00] [-5.99596660e-03 1.33430561e-04 9.99982015e-01 1.80607563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.65, Y:-4.85, Z:1.81 [[ 9.99252687e-01 3.81712072e-02 6.08500913e-03 4.48654973e+02] [-3.81695991e-02 9.99271203e-01 -3.80231934e-04 -4.84976964e+00] [-6.09508830e-03 1.47685423e-04 9.99981414e-01 1.80612744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.68, Y:-4.85, Z:1.81 [[ 9.99307947e-01 3.67525737e-02 5.73379300e-03 4.48682924e+02] [-3.67511285e-02 9.99324385e-01 -3.57238789e-04 -4.85126432e+00] [-5.74304861e-03 1.46268197e-04 9.99983498e-01 1.80593635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.71, Y:-4.85, Z:1.81 [[ 9.99350221e-01 3.55222465e-02 6.10779189e-03 4.48711009e+02] [-3.55205861e-02 9.99368873e-01 -3.80156944e-04 -4.85274683e+00] [-6.11744113e-03 1.62957578e-04 9.99981275e-01 1.80541472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.74, Y:-4.85, Z:1.81 [[ 9.99430626e-01 3.31139191e-02 6.47242978e-03 4.48739353e+02] [-3.31120094e-02 9.99451566e-01 -4.02028875e-04 -4.85404676e+00] [-6.48219283e-03 1.87484815e-04 9.99978973e-01 1.80550455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.77, Y:-4.86, Z:1.81 [[ 9.99481938e-01 3.14700340e-02 6.74484773e-03 4.48766346e+02] [-3.14679268e-02 9.99504675e-01 -4.18341304e-04 -4.85526115e+00] [-6.75467205e-03 2.05878202e-04 9.99977166e-01 1.80515248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.80, Y:-4.86, Z:1.80 [[ 9.99543764e-01 2.94031352e-02 6.90796214e-03 4.48795156e+02] [-2.94008861e-02 9.99567609e-01 -4.26925926e-04 -4.85661756e+00] [-6.91752816e-03 2.23630939e-04 9.99976049e-01 1.80498662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.82, Y:-4.86, Z:1.80 [[ 9.99594790e-01 2.74662180e-02 7.47409108e-03 4.48822470e+02] [-2.74635346e-02 9.99622699e-01 -4.61452110e-04 -4.85796326e+00] [-7.48394545e-03 2.56000167e-04 9.99971962e-01 1.80452872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.85, Y:-4.86, Z:1.80 [[ 9.99704258e-01 2.29630830e-02 8.00582523e-03 4.48851176e+02] [-2.29598682e-02 9.99736266e-01 -4.93237419e-04 -4.85946481e+00] [-8.01504007e-03 3.09278855e-04 9.99967831e-01 1.80441073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.88, Y:-4.86, Z:1.80 [[ 9.99753598e-01 2.05319075e-02 8.43712491e-03 4.48879728e+02] [-2.05282563e-02 9.99789138e-01 -5.19141849e-04 -4.86118223e+00] [-8.44600482e-03 3.45814469e-04 9.99964272e-01 1.80360310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.91, Y:-4.86, Z:1.80 [[ 9.99798510e-01 1.81365098e-02 8.60270810e-03 4.48907183e+02] [-1.81326294e-02 9.99835451e-01 -5.28855481e-04 -4.86279882e+00] [-8.61088413e-03 3.72759204e-04 9.99962856e-01 1.80292004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.94, Y:-4.86, Z:1.80 [[ 9.99839131e-01 1.58492980e-02 8.39714672e-03 4.48936792e+02] [-1.58455311e-02 9.99874319e-01 -5.14938809e-04 -4.86458894e+00] [-8.40425278e-03 3.81798722e-04 9.99964611e-01 1.80227415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.97, Y:-4.87, Z:1.80 [[ 9.99869054e-01 1.38381813e-02 8.38922924e-03 4.48966276e+02] [-1.38343532e-02 9.99904169e-01 -5.14167376e-04 -4.86612677e+00] [-8.39554043e-03 3.98040487e-04 9.99964678e-01 1.80184652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.00, Y:-4.87, Z:1.80 [[ 9.99908538e-01 1.07711637e-02 8.17912832e-03 4.48995884e+02] [-1.07674265e-02 9.99941904e-01 -5.00822626e-04 -4.86700530e+00] [-8.18404759e-03 4.12708657e-04 9.99966425e-01 1.80179172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.03, Y:-4.87, Z:1.80 [[ 9.99917395e-01 9.96393216e-03 8.11931133e-03 4.49026906e+02] [-9.96022854e-03 9.99950272e-01 -4.96457722e-04 -4.86830115e+00] [-8.12385424e-03 4.15546515e-04 9.99966915e-01 1.80116335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.06, Y:-4.87, Z:1.80 [[ 9.99925033e-01 9.32260756e-03 7.93830184e-03 4.49058538e+02] [-9.31904497e-03 9.99956459e-01 -4.85656339e-04 -4.86985636e+00] [-7.94248378e-03 4.11642540e-04 9.99968373e-01 1.80035559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.09, Y:-4.87, Z:1.80 [[ 9.99934904e-01 8.70592125e-03 7.37527335e-03 4.49089876e+02] [-8.70282783e-03 9.99962028e-01 -4.51421588e-04 -4.87060576e+00] [-7.37892334e-03 3.87206468e-04 9.99972700e-01 1.79988386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.12, Y:-4.87, Z:1.80 [[ 9.99938438e-01 8.71719155e-03 6.86526084e-03 4.49120262e+02] [-8.71450863e-03 9.99961939e-01 -4.20614106e-04 -4.87190652e+00] [-6.86866612e-03 3.60760837e-04 9.99976345e-01 1.79947585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.15, Y:-4.87, Z:1.80 [[ 9.99939186e-01 8.73120646e-03 6.73722145e-03 4.49151857e+02] [-8.72862373e-03 9.99961820e-01 -4.12660000e-04 -4.87318651e+00] [-6.74056724e-03 3.53828233e-04 9.99977220e-01 1.79885844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.18, Y:-4.87, Z:1.80 [[ 9.99941168e-01 8.90855566e-03 6.18848607e-03 4.49182003e+02] [-8.90637746e-03 9.99960265e-01 -3.79446443e-04 -4.87446823e+00] [-6.19162050e-03 3.24307126e-04 9.99980779e-01 1.79880663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.21, Y:-4.88, Z:1.80 [[ 9.99938618e-01 9.36462814e-03 5.92144646e-03 4.49212566e+02] [-9.36263995e-03 9.99956104e-01 -3.63393494e-04 -4.87576666e+00] [-5.92458958e-03 3.07930817e-04 9.99982402e-01 1.79864066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.24, Y:-4.88, Z:1.80 [[ 9.99916414e-01 1.13669305e-02 6.16099882e-03 4.49242683e+02] [-1.13648161e-02 9.99935347e-01 -3.78094592e-04 -4.87604974e+00] [-6.16489827e-03 3.08044370e-04 9.99980949e-01 1.79909530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.27, Y:-4.88, Z:1.80 [[ 9.99891833e-01 1.29540279e-02 6.96528084e-03 4.49271912e+02] [-1.29513623e-02 9.99916036e-01 -4.27668428e-04 -4.87720435e+00] [-6.97023604e-03 3.37412292e-04 9.99975651e-01 1.79873965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.30, Y:-4.88, Z:1.80 [[ 9.99857572e-01 1.50856690e-02 7.56696748e-03 4.49301474e+02] [-1.50825836e-02 9.99886143e-01 -4.64646916e-04 -4.87848941e+00] [-7.57311544e-03 3.50451317e-04 9.99971262e-01 1.79861457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.33, Y:-4.88, Z:1.80 [[ 9.99758673e-01 2.01251485e-02 8.80757482e-03 4.49330445e+02] [-2.01211659e-02 9.99797403e-01 -5.40564900e-04 -4.87905149e+00] [-8.81666938e-03 3.63215773e-04 9.99961066e-01 1.79919101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.36, Y:-4.88, Z:1.80 [[ 9.99689506e-01 2.29815822e-02 9.63005649e-03 4.49358563e+02] [-2.29769562e-02 9.99735820e-01 -5.90738819e-04 -4.88015537e+00] [-9.64108854e-03 3.69286011e-04 9.99953455e-01 1.79892569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.39, Y:-4.88, Z:1.80 [[ 9.99613115e-01 2.59570065e-02 9.99274592e-03 4.49386025e+02] [-2.59521838e-02 9.99662998e-01 -6.12003975e-04 -4.88159404e+00] [-1.00052641e-02 3.52433621e-04 9.99949884e-01 1.79903248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.42, Y:-4.88, Z:1.80 [[ 9.99526612e-01 2.89687933e-02 1.03615366e-02 4.49415134e+02] [-2.89637814e-02 9.99580261e-01 -6.33471002e-04 -4.88309944e+00] [-1.03755384e-02 3.33061844e-04 9.99946117e-01 1.79863133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.44, Y:-4.88, Z:1.80 [[ 9.99344934e-01 3.47710763e-02 1.00336866e-02 4.49442388e+02] [-3.47666741e-02 9.99395269e-01 -6.12889241e-04 -4.88493506e+00] [-1.00489297e-02 2.63649847e-04 9.99949473e-01 1.79825734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.47, Y:-4.89, Z:1.80 [[ 9.99264061e-01 3.72351219e-02 9.21314577e-03 4.49470468e+02] [-3.72315196e-02 9.99306508e-01 -5.62258462e-04 -4.88669644e+00] [-9.22769230e-03 2.18825256e-04 9.99957400e-01 1.79765102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.50, Y:-4.89, Z:1.80 [[ 9.99172837e-01 3.96917923e-02 8.84328243e-03 4.49498277e+02] [-3.96885775e-02 9.99211953e-01 -5.38798845e-04 -4.88844561e+00] [-8.85769940e-03 1.87375870e-04 9.99960752e-01 1.79658216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.53, Y:-4.89, Z:1.80 [[ 9.99070543e-01 4.23569065e-02 7.99646149e-03 4.49526078e+02] [-4.23543687e-02 9.99102533e-01 -4.86523965e-04 -4.89035594e+00] [-8.00989258e-03 1.47386683e-04 9.99967909e-01 1.79576926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.55, Y:-4.89, Z:1.80 [[ 9.98864566e-01 4.71066552e-02 7.10924300e-03 4.49553168e+02] [-4.71047720e-02 9.98889861e-01 -4.32192964e-04 -4.89287771e+00] [-7.12170991e-03 9.68229671e-05 9.99974636e-01 1.79505210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.58, Y:-4.90, Z:1.79 [[ 9.98746480e-01 4.95454832e-02 7.12131020e-03 4.49580682e+02] [-4.95436633e-02 9.98771865e-01 -4.31850541e-04 -4.89541237e+00] [-7.13396051e-03 7.84934131e-05 9.99974550e-01 1.79444346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.61, Y:-4.90, Z:1.79 [[ 9.98611858e-01 5.20818582e-02 7.86362706e-03 4.49608550e+02] [-5.20797263e-02 9.98642817e-01 -4.75776172e-04 -4.89820238e+00] [-7.87773399e-03 6.55801816e-05 9.99968968e-01 1.79390567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.64, Y:-4.90, Z:1.79 [[ 9.98472714e-01 5.46138279e-02 8.34087323e-03 4.49635317e+02] [-5.46115249e-02 9.98507550e-01 -5.03786546e-04 -4.90081048e+00] [-8.35593861e-03 4.75093126e-05 9.99965087e-01 1.79331711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.66, Y:-4.90, Z:1.79 [[ 9.98340138e-01 5.68557133e-02 9.18681195e-03 4.49663303e+02] [-5.68530289e-02 9.98382405e-01 -5.53308393e-04 -4.90365296e+00] [-9.20341015e-03 3.00918919e-05 9.99957647e-01 1.79252447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.69, Y:-4.91, Z:1.79 [[ 9.98087447e-01 6.09627078e-02 1.02467471e-02 4.49690325e+02] [-6.09595971e-02 9.98140044e-01 -6.15930645e-04 -4.90796129e+00] [-1.02652374e-02 -9.88492947e-06 9.99947311e-01 1.79154817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.72, Y:-4.91, Z:1.79 [[ 9.97993443e-01 6.23730225e-02 1.08946538e-02 4.49718059e+02] [-6.23696082e-02 9.98052907e-01 -6.53195589e-04 -4.91089202e+00] [-1.09141827e-02 -2.76103750e-05 9.99940438e-01 1.79061810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.75, Y:-4.91, Z:1.79 [[ 9.97925316e-01 6.33601009e-02 1.14263288e-02 4.49745723e+02] [-6.33564250e-02 9.97990729e-01 -6.83759257e-04 -4.91420181e+00] [-1.14466932e-02 -4.15906690e-05 9.99934484e-01 1.78985568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.77, Y:-4.92, Z:1.79 [[ 9.97901909e-01 6.37400389e-02 1.13572913e-02 4.49772560e+02] [-6.37364443e-02 9.97966535e-01 -6.78534754e-04 -4.91783190e+00] [-1.13774465e-02 -4.67622378e-05 9.99935274e-01 1.78878384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.80, Y:-4.92, Z:1.79 [[ 9.98030838e-01 6.16466140e-02 1.15819560e-02 4.49798788e+02] [-6.16427524e-02 9.98098038e-01 -6.90443458e-04 -4.92443758e+00] [-1.16024911e-02 -2.48597844e-05 9.99932689e-01 1.78685023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.83, Y:-4.93, Z:1.79 [[ 9.98162214e-01 5.94649153e-02 1.16670087e-02 4.49826941e+02] [-5.94608664e-02 9.98230396e-01 -6.93922526e-04 -4.92909537e+00] [-1.16876268e-02 -1.08320012e-06 9.99931697e-01 1.78593445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.85, Y:-4.93, Z:1.78 [[ 9.98333786e-01 5.63556634e-02 1.23972083e-02 4.49854407e+02] [-5.63508696e-02 9.98410756e-01 -7.35938538e-04 -4.93382939e+00] [-1.24189804e-02 3.61188382e-05 9.99922881e-01 1.78480657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.88, Y:-4.94, Z:1.78 [[ 9.98721653e-01 4.87575286e-02 1.33328217e-02 4.49882126e+02] [-4.87513266e-02 9.98810635e-01 -7.89973813e-04 -4.94182436e+00] [-1.33554813e-02 1.38971208e-04 9.99910802e-01 1.78404428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.91, Y:-4.95, Z:1.78 [[ 9.98929769e-01 4.42483977e-02 1.34683000e-02 4.49910577e+02] [-4.42416818e-02 9.99020540e-01 -7.96328285e-04 -4.94696143e+00] [-1.34903446e-02 1.99615789e-04 9.99908981e-01 1.78350139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.94, Y:-4.95, Z:1.78 [[ 9.98937479e-01 4.40740034e-02 1.34683267e-02 4.49938970e+02] [-4.40672777e-02 9.99028249e-01 -7.95877194e-04 -4.94856493e+00] [-1.34903163e-02 2.01519066e-04 9.99908981e-01 1.78297001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.97, Y:-4.95, Z:1.78 [[ 9.99130022e-01 3.93433051e-02 1.38312442e-02 4.49967461e+02] [-3.93358004e-02 9.99225716e-01 -8.14320371e-04 -4.95345637e+00] [-1.38525730e-02 2.69548868e-04 9.99904012e-01 1.78212260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.00, Y:-4.96, Z:1.78 [[ 9.99299764e-01 3.49385488e-02 1.33895003e-02 4.49995449e+02] [-3.49311319e-02 9.99389412e-01 -7.87470646e-04 -4.95855492e+00] [-1.34088379e-02 3.19208831e-04 9.99910047e-01 1.78141259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.02, Y:-4.97, Z:1.78 [[ 9.99564184e-01 2.66226140e-02 1.27545708e-02 4.50022479e+02] [-2.66152211e-02 9.99645472e-01 -7.49044293e-04 -4.96642254e+00] [-1.27699905e-02 4.09252125e-04 9.99918377e-01 1.77990289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.05, Y:-4.97, Z:1.78 [[ 9.99641713e-01 2.33310172e-02 1.31190546e-02 4.50051997e+02] [-2.33229323e-02 9.99727688e-01 -7.68945534e-04 -4.97126916e+00] [-1.31334224e-02 4.62695209e-04 9.99913646e-01 1.77876618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.08, Y:-4.98, Z:1.78 [[ 9.99700423e-01 2.06188103e-02 1.31881880e-02 4.50082072e+02] [-2.06104143e-02 9.99787285e-01 -7.72236644e-04 -4.97610124e+00] [-1.32013053e-02 5.00191281e-04 9.99912734e-01 1.77772059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.11, Y:-4.98, Z:1.78 [[ 9.99769238e-01 1.64467428e-02 1.38194000e-02 4.50112737e+02] [-1.64371235e-02 9.99864574e-01 -8.09370123e-04 -4.98321320e+00] [-1.38308400e-02 5.82032166e-04 9.99904180e-01 1.77695600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.14, Y:-4.99, Z:1.78 [[ 9.99776727e-01 1.52392161e-02 1.46377101e-02 4.50144600e+02] [-1.52282992e-02 9.99883675e-01 -8.56979844e-04 -4.98746276e+00] [-1.46490671e-02 6.33881074e-04 9.99892496e-01 1.77587917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.18, Y:-4.99, Z:1.78 [[ 9.99787658e-01 1.39941153e-02 1.51262571e-02 4.50175996e+02] [-1.39822507e-02 9.99901848e-01 -8.89847344e-04 -4.99145300e+00] [-1.51372251e-02 6.78159273e-04 9.99885196e-01 1.77536792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.21, Y:-5.00, Z:1.77 [[ 9.99797756e-01 1.29821407e-02 1.53594034e-02 4.50207585e+02] [-1.29697447e-02 9.99915479e-01 -9.06404143e-04 -4.99547649e+00] [-1.53698722e-02 7.07013288e-04 9.99881627e-01 1.77474929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.24, Y:-5.00, Z:1.77 [[ 9.99818110e-01 1.03218079e-02 1.60377038e-02 4.50240226e+02] [-1.03079073e-02 9.99946422e-01 -9.49168393e-04 -5.00083111e+00] [-1.60466417e-02 7.83680584e-04 9.99870937e-01 1.77389424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.27, Y:-5.00, Z:1.77 [[ 9.99829420e-01 9.14115928e-03 1.60489988e-02 4.50273113e+02] [-9.12701472e-03 9.99957893e-01 -9.54361166e-04 -5.00440608e+00] [-1.60570470e-02 8.07718923e-04 9.99870751e-01 1.77330625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.31, Y:-5.01, Z:1.77 [[ 9.99836625e-01 8.10126010e-03 1.61583867e-02 4.50306129e+02] [-8.08671081e-03 9.99966836e-01 -9.65553451e-04 -5.00787418e+00] [-1.61656730e-02 8.34727503e-04 9.99868979e-01 1.77203641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.34, Y:-5.01, Z:1.77 [[ 9.99843112e-01 7.05144758e-03 1.62489545e-02 4.50338605e+02] [-7.03651889e-03 9.99974767e-01 -9.75737248e-04 -5.01105939e+00] [-1.62554249e-02 8.61248091e-04 9.99867501e-01 1.77094049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.37, Y:-5.01, Z:1.77 [[ 9.99869844e-01 4.37925294e-03 1.55279283e-02 4.50371398e+02] [-4.36523207e-03 9.99990034e-01 -9.36723965e-04 -5.01486164e+00] [-1.55318757e-02 8.68819035e-04 9.99878996e-01 1.77000223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.40, Y:-5.02, Z:1.77 [[ 9.99877062e-01 3.50228551e-03 1.52838018e-02 4.50403749e+02] [-3.48853171e-03 9.99993486e-01 -9.26461839e-04 -5.01761021e+00] [-1.52869470e-02 8.73029914e-04 9.99882767e-01 1.76919443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.44, Y:-5.02, Z:1.77 [[ 9.99882121e-01 2.96185225e-03 1.50655646e-02 4.50436748e+02] [-2.94836691e-03 9.99995233e-01 -9.17242126e-04 -5.02040764e+00] [-1.50682095e-02 8.72715191e-04 9.99886087e-01 1.76834883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.47, Y:-5.02, Z:1.77 [[ 9.99888032e-01 1.99013926e-03 1.48311599e-02 4.50469851e+02] [-1.97690320e-03 9.99997635e-01 -9.07056777e-04 -5.02298218e+00] [-1.48329299e-02 8.77635448e-04 9.99889601e-01 1.76775392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.50, Y:-5.02, Z:1.77 [[ 9.99891145e-01 1.76838338e-03 1.46482293e-02 4.50502472e+02] [-1.75538888e-03 9.99998054e-01 -8.99914141e-04 -5.02480455e+00] [-1.46497922e-02 8.74102842e-04 9.99892304e-01 1.76725234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.54, Y:-5.03, Z:1.77 [[ 9.99891720e-01 1.50994569e-03 1.46379194e-02 4.50535393e+02] [-1.49687965e-03 9.99998472e-01 -9.03530943e-04 -5.02655245e+00] [-1.46392613e-02 8.81521905e-04 9.99892452e-01 1.76663650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.57, Y:-5.03, Z:1.77 [[ 9.99889878e-01 1.43196090e-03 1.47709448e-02 4.50568416e+02] [-1.41858363e-03 9.99998574e-01 -9.16084716e-04 -5.02818551e+00] [-1.47722355e-02 8.95030014e-04 9.99890484e-01 1.76592533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.60, Y:-5.03, Z:1.77 [[ 9.99891447e-01 1.57105420e-03 1.46501358e-02 4.50601710e+02] [-1.55784793e-03 9.99998370e-01 -9.12811671e-04 -5.02994686e+00] [-1.46515459e-02 8.89889898e-04 9.99892264e-01 1.76526493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.63, Y:-5.03, Z:1.77 [[ 9.99889112e-01 1.78165374e-03 1.47847419e-02 4.50634062e+02] [-1.76816122e-03 9.99998008e-01 -9.25618850e-04 -5.03024614e+00] [-1.47863616e-02 8.99374403e-04 9.99890271e-01 1.76505763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.67, Y:-5.03, Z:1.76 [[ 9.99879329e-01 2.29231346e-03 1.53646918e-02 4.50667191e+02] [-2.27772658e-03 9.99996939e-01 -9.66809114e-04 -5.03132769e+00] [-1.53668610e-02 9.31695881e-04 9.99881489e-01 1.76451002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.70, Y:-5.03, Z:1.76 [[ 9.99871471e-01 3.31949264e-03 1.56850930e-02 4.50698933e+02] [-3.30439670e-03 9.99994052e-01 -9.88257203e-04 -5.03236005e+00] [-1.56882802e-02 9.36300414e-04 9.99876493e-01 1.76407488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.73, Y:-5.03, Z:1.76 [[ 9.99853316e-01 4.25037993e-03 1.65916041e-02 4.50731726e+02] [-4.23353116e-03 9.99990487e-01 -1.05049055e-03 -5.03308873e+00] [-1.65959113e-02 9.80095382e-04 9.99861798e-01 1.76349984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.76, Y:-5.03, Z:1.76 [[ 9.99830290e-01 5.56288316e-03 1.75626354e-02 4.50764200e+02] [-5.54417310e-03 9.99984011e-01 -1.11384282e-03 -5.03362218e+00] [-1.75685508e-02 1.01628349e-03 9.99845145e-01 1.76303715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.80, Y:-5.03, Z:1.76 [[ 9.99794905e-01 7.92544961e-03 1.86369287e-02 4.50796290e+02] [-7.90468956e-03 9.99968053e-01 -1.18732370e-03 -5.03204235e+00] [-1.86457433e-02 1.03976105e-03 9.99825612e-01 1.76269282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.83, Y:-5.03, Z:1.76 [[ 9.99780009e-01 9.39670031e-03 1.87519737e-02 4.50828834e+02] [-9.37590897e-03 9.99955330e-01 -1.19636494e-03 -5.03235139e+00] [-1.87623779e-02 1.02028495e-03 9.99823451e-01 1.76225883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.86, Y:-5.03, Z:1.76 [[ 9.99751502e-01 1.20573707e-02 1.87497502e-02 4.50861551e+02] [-1.20369580e-02 9.99926832e-01 -1.20116659e-03 -5.03126280e+00] [-1.87628613e-02 9.75178149e-04 9.99823486e-01 1.76110712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.89, Y:-5.03, Z:1.76 [[ 9.99740847e-01 1.39573954e-02 1.79841564e-02 4.50894208e+02] [-1.39388341e-02 9.99902180e-01 -1.15703337e-03 -5.03225683e+00] [-1.79985464e-02 9.06055351e-04 9.99837603e-01 1.76047537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.93, Y:-5.03, Z:1.76 [[ 9.99710033e-01 1.59587619e-02 1.80324330e-02 4.50926139e+02] [-1.59403304e-02 9.99872266e-01 -1.16540998e-03 -5.03293131e+00] [-1.80487282e-02 8.77629107e-04 9.99836723e-01 1.75940178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.96, Y:-5.03, Z:1.76 [[ 9.99677466e-01 1.82238435e-02 1.76876975e-02 4.50959561e+02] [-1.82063811e-02 9.99833591e-01 -1.14780206e-03 -5.03343060e+00] [-1.77056715e-02 8.25402898e-04 9.99842902e-01 1.75865389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.99, Y:-5.03, Z:1.76 [[ 9.99637139e-01 2.10404737e-02 1.68193110e-02 4.50992500e+02] [-2.10250038e-02 9.99778349e-01 -1.09608712e-03 -5.03376895e+00] [-1.68386452e-02 7.42063313e-04 9.99857945e-01 1.75801030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.03, Y:-5.03, Z:1.76 [[ 9.99498841e-01 2.73427669e-02 1.59511861e-02 4.51025309e+02] [-2.73295750e-02 9.99625932e-01 -1.04446087e-03 -5.03210994e+00] [-1.59737777e-02 6.07998294e-04 9.99872226e-01 1.75724937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.06, Y:-5.03, Z:1.76 [[ 9.99391678e-01 3.12487034e-02 1.54852324e-02 4.51055634e+02] [-3.12367188e-02 9.99511499e-01 -1.01525918e-03 -5.03210730e+00] [-1.55093934e-02 5.30933729e-04 9.99879581e-01 1.75653608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.08, Y:-5.03, Z:1.76 [[ 9.99265357e-01 3.52456400e-02 1.50496495e-02 4.51084427e+02] [-3.52347710e-02 9.99378575e-01 -9.86829561e-04 -5.03185869e+00] [-1.50750787e-02 4.55833639e-04 9.99886261e-01 1.75581477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.11, Y:-5.03, Z:1.75 [[ 9.98908529e-01 4.44096837e-02 1.44751621e-02 4.51112502e+02] [-4.44005939e-02 9.99013357e-01 -9.48883639e-04 -5.03014031e+00] [-1.45030199e-02 3.05142167e-04 9.99894779e-01 1.75495205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.14, Y:-5.03, Z:1.75 [[ 9.98684561e-01 4.91057436e-02 1.47571333e-02 4.51140329e+02] [-4.90968271e-02 9.98793556e-01 -9.66114008e-04 -5.02994322e+00] [-1.47867714e-02 2.40314721e-04 9.99890641e-01 1.75446606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.17, Y:-5.03, Z:1.75 [[ 9.98429882e-01 5.39102543e-02 1.52136610e-02 4.51168677e+02] [-5.39013626e-02 9.98545770e-01 -9.94196001e-04 -5.02982016e+00] [-1.52451342e-02 1.72597937e-04 9.99883771e-01 1.75413102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.20, Y:-5.03, Z:1.75 [[ 9.98172220e-01 5.83177805e-02 1.58510573e-02 4.51196159e+02] [-5.83087044e-02 9.98298064e-01 -1.03452931e-03 -5.02968564e+00] [-1.58844113e-02 1.08383803e-04 9.99873829e-01 1.75405609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.22, Y:-5.03, Z:1.75 [[ 9.97925682e-01 6.22487701e-02 1.64141191e-02 4.51223836e+02] [-6.22396165e-02 9.98060664e-01 -1.06841219e-03 -5.02965060e+00] [-1.64487940e-02 4.45874838e-05 9.99864708e-01 1.75406929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.25, Y:-5.03, Z:1.75 [[ 9.97699695e-01 6.55858456e-02 1.71410215e-02 4.51251490e+02] [-6.55763891e-02 9.97846931e-01 -1.11377664e-03 -5.03020220e+00] [-1.71771637e-02 -1.28316809e-05 9.99852462e-01 1.75351651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.28, Y:-5.03, Z:1.75 [[ 9.97426416e-01 6.94261774e-02 1.79039444e-02 4.51278509e+02] [-6.94165150e-02 9.97587088e-01 -1.16133216e-03 -5.03094547e+00] [-1.79413706e-02 -8.44860536e-05 9.99839037e-01 1.75329795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.31, Y:-5.03, Z:1.75 [[ 9.97393615e-01 6.97658919e-02 1.84037187e-02 4.51305937e+02] [-6.97557841e-02 9.97563387e-01 -1.19137397e-03 -5.03270891e+00] [-1.84419932e-02 -9.54970324e-05 9.99829927e-01 1.75237103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.33, Y:-5.03, Z:1.75 [[ 9.97425448e-01 6.94091918e-02 1.80232995e-02 4.51333280e+02] [-6.93994728e-02 9.97588270e-01 -1.16489500e-03 -5.03494091e+00] [-1.80606865e-02 -8.89115637e-05 9.99836889e-01 1.75207326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.36, Y:-5.04, Z:1.75 [[ 9.97677393e-01 6.57058228e-02 1.79600943e-02 4.51360702e+02] [-6.56956112e-02 9.97839037e-01 -1.15861522e-03 -5.03804627e+00] [-1.79974110e-02 -2.39751648e-05 9.99838033e-01 1.75114220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.39, Y:-5.04, Z:1.75 [[ 9.97846035e-01 6.30810188e-02 1.80021145e-02 4.51388366e+02] [-6.30703672e-02 9.98008409e-01 -1.15938504e-03 -5.04080260e+00] [-1.80393968e-02 2.14877971e-05 9.99837277e-01 1.75020731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.42, Y:-5.04, Z:1.75 [[ 9.98047632e-01 6.00793254e-02 1.70704072e-02 4.51416060e+02] [-6.00693385e-02 9.98193603e-01 -1.09764878e-03 -5.04375147e+00] [-1.71055173e-02 7.00976930e-05 9.99853687e-01 1.75004494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.44, Y:-5.05, Z:1.75 [[ 9.98234505e-01 5.68775972e-02 1.71117331e-02 4.51444020e+02] [-5.68671236e-02 9.98381152e-01 -1.09842931e-03 -5.04697192e+00] [-1.71465078e-02 1.23395003e-04 9.99852980e-01 1.74904348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.47, Y:-5.05, Z:1.75 [[ 9.98425396e-01 5.34533399e-02 1.70138056e-02 4.51473059e+02] [-5.34425148e-02 9.98570332e-01 -1.09060798e-03 -5.05009202e+00] [-1.70477782e-02 1.79630148e-04 9.99854660e-01 1.74849219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.50, Y:-5.06, Z:1.75 [[ 9.98729093e-01 4.75525661e-02 1.67018479e-02 4.51501541e+02] [-4.75413290e-02 9.98868699e-01 -1.06943123e-03 -5.05504453e+00] [-1.67338073e-02 2.74044039e-04 9.99859942e-01 1.74753614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.53, Y:-5.06, Z:1.75 [[ 9.98840291e-01 4.51163418e-02 1.68103609e-02 4.51528800e+02] [-4.51046333e-02 9.98981690e-01 -1.07519059e-03 -5.05846672e+00] [-1.68417514e-02 3.15718523e-04 9.99858118e-01 1.74719138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.56, Y:-5.06, Z:1.75 [[ 9.98939309e-01 4.28497684e-02 1.68568497e-02 4.51557065e+02] [-4.28376985e-02 9.99081464e-01 -1.07661713e-03 -5.06163018e+00] [-1.68874988e-02 3.53366528e-04 9.99857334e-01 1.74656277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.59, Y:-5.07, Z:1.75 [[ 9.99095892e-01 3.88547522e-02 1.72541593e-02 4.51585213e+02] [-3.88415328e-02 9.99244777e-01 -1.10073603e-03 -5.06586086e+00] [-1.72838974e-02 4.29562845e-04 9.99850530e-01 1.74612633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.61, Y:-5.07, Z:1.75 [[ 9.99152440e-01 3.72688841e-02 1.74766183e-02 4.51613607e+02] [-3.72551019e-02 9.99305167e-01 -1.11363511e-03 -5.06894591e+00] [-1.75059789e-02 4.61598039e-04 9.99846652e-01 1.74520554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.64, Y:-5.07, Z:1.74 [[ 9.99211597e-01 3.58529842e-02 1.70513486e-02 4.51642784e+02] [-3.58396696e-02 9.99356963e-01 -1.08588747e-03 -5.07201231e+00] [-1.70793163e-02 4.73916655e-04 9.99854026e-01 1.74473187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.67, Y:-5.08, Z:1.74 [[ 9.99329243e-01 3.29462423e-02 1.59877714e-02 4.51671298e+02] [-3.29341734e-02 9.99457005e-01 -1.01765693e-03 -5.07659759e+00] [-1.60126181e-02 4.90430295e-04 9.99871670e-01 1.74351403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.70, Y:-5.08, Z:1.74 [[ 9.99393405e-01 3.13234526e-02 1.52205026e-02 4.51700453e+02] [-3.13123393e-02 9.99509180e-01 -9.67969291e-04 -5.07987511e+00] [-1.52433522e-02 4.90792585e-04 9.99883693e-01 1.74256888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.73, Y:-5.08, Z:1.74 [[ 9.99455334e-01 2.95135422e-02 1.47643304e-02 4.51730348e+02] [-2.95028954e-02 9.99564254e-01 -9.38453299e-04 -5.08292252e+00] [-1.47855940e-02 5.02351660e-04 9.99890561e-01 1.74176417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.76, Y:-5.09, Z:1.74 [[ 9.99509821e-01 2.76547152e-02 1.46743124e-02 4.51759508e+02] [-2.76440065e-02 9.99617397e-01 -9.32135547e-04 -5.08625219e+00] [-1.46944759e-02 5.26021847e-04 9.99891892e-01 1.74076949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.79, Y:-5.09, Z:1.74 [[ 9.99601695e-01 2.43237582e-02 1.43110322e-02 4.51789383e+02] [-2.43132369e-02 9.99703977e-01 -9.08734788e-04 -5.09041623e+00] [-1.43288996e-02 5.60425319e-04 9.99897179e-01 1.74009626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.82, Y:-5.09, Z:1.74 [[ 9.99635981e-01 2.30070864e-02 1.40918549e-02 4.51819975e+02] [-2.29967555e-02 9.99735139e-01 -8.94734802e-04 -5.09329677e+00] [-1.41087077e-02 5.70342161e-04 9.99900305e-01 1.73950980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.85, Y:-5.10, Z:1.74 [[ 9.99660532e-01 2.22923720e-02 1.34859891e-02 4.51850935e+02] [-2.22828436e-02 9.99751340e-01 -8.56405601e-04 -5.09595010e+00] [-1.35017269e-02 5.55608693e-04 9.99908693e-01 1.73892781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.88, Y:-5.10, Z:1.74 [[ 9.99665035e-01 2.26855306e-02 1.24572944e-02 4.51881537e+02] [-2.26774246e-02 9.99742521e-01 -7.91588252e-04 -5.09880550e+00] [-1.24720445e-02 5.08823744e-04 9.99922092e-01 1.73827822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.91, Y:-5.10, Z:1.74 [[ 9.99664638e-01 2.27030327e-02 1.24572802e-02 4.51912475e+02] [-2.26949254e-02 9.99742123e-01 -7.91811013e-04 -5.10077039e+00] [-1.24720443e-02 5.08828425e-04 9.99922092e-01 1.73769946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.94, Y:-5.10, Z:1.74 [[ 9.99643394e-01 2.37752329e-02 1.21582883e-02 4.51942872e+02] [-2.37675854e-02 9.99717212e-01 -7.73126085e-04 -5.10292942e+00] [-1.21732314e-02 4.83877227e-04 9.99925786e-01 1.73727027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.97, Y:-5.10, Z:1.74 [[ 9.99598335e-01 2.57113940e-02 1.19202668e-02 4.51972671e+02] [-2.57041790e-02 9.99669306e-01 -7.58111177e-04 -5.10489511e+00] [-1.19358170e-02 4.51405998e-04 9.99928664e-01 1.73701967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.00, Y:-5.11, Z:1.74 [[ 9.99528655e-01 2.82032580e-02 1.21261873e-02 4.52002763e+02] [-2.81959759e-02 9.99602117e-01 -7.71100871e-04 -5.10670344e+00] [-1.21431100e-02 4.28827732e-04 9.99926178e-01 1.73680127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.03, Y:-5.11, Z:1.74 [[ 9.99306579e-01 3.47923508e-02 1.32609569e-02 4.52032030e+02] [-3.47842286e-02 9.99394490e-01 -8.42721332e-04 -5.10733489e+00] [-1.32822475e-02 3.80864816e-04 9.99911715e-01 1.73715477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.06, Y:-5.11, Z:1.74 [[ 9.99165823e-01 3.86166828e-02 1.32819378e-02 4.52060947e+02] [-3.86088761e-02 9.99254043e-01 -8.43775070e-04 -5.10826060e+00] [-1.33046139e-02 3.30270521e-04 9.99911435e-01 1.73738089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.09, Y:-5.11, Z:1.74 [[ 9.99012162e-01 4.22303039e-02 1.38311545e-02 4.52088592e+02] [-4.22221979e-02 9.99107860e-01 -8.77682182e-04 -5.10903625e+00] [-1.38558800e-02 2.92833430e-04 9.99903960e-01 1.73722599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.12, Y:-5.11, Z:1.74 [[ 9.98692246e-01 4.91387952e-02 1.41129718e-02 4.52117759e+02] [-4.91310646e-02 9.98791940e-01 -8.94169047e-04 -5.11038807e+00] [-1.41398609e-02 1.99614365e-04 9.99900007e-01 1.73683899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.15, Y:-5.11, Z:1.74 [[ 9.98564572e-01 5.17915238e-02 1.36540912e-02 4.52145948e+02] [-5.17845474e-02 9.98657906e-01 -8.64237483e-04 -5.11233450e+00] [-1.36805263e-02 1.55925999e-04 9.99906405e-01 1.73658883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.17, Y:-5.11, Z:1.74 [[ 9.98456885e-01 5.38174025e-02 1.36943665e-02 4.52173906e+02] [-5.38105909e-02 9.98550785e-01 -8.65650429e-04 -5.11418844e+00] [-1.37211075e-02 1.27412676e-04 9.99905853e-01 1.73612783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.20, Y:-5.12, Z:1.74 [[ 9.98375251e-01 5.54274372e-02 1.32158167e-02 4.52201023e+02] [-5.54212492e-02 9.98462713e-01 -8.34287659e-04 -5.11611832e+00] [-1.32417426e-02 1.00495082e-04 9.99912319e-01 1.73575691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.23, Y:-5.12, Z:1.74 [[ 9.98316399e-01 5.65620602e-02 1.28491360e-02 4.52229132e+02] [-5.65563344e-02 9.98399082e-01 -8.08836033e-04 -5.11828859e+00] [-1.28743150e-02 8.07742430e-05 9.99917119e-01 1.73533327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.26, Y:-5.12, Z:1.73 [[ 9.98267566e-01 5.75560233e-02 1.22135492e-02 4.52257256e+02] [-5.75509351e-02 9.98342276e-01 -7.67952783e-04 -5.12086974e+00] [-1.22375028e-02 6.37211805e-05 9.99925117e-01 1.73497281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.29, Y:-5.12, Z:1.73 [[ 9.98292659e-01 5.71696850e-02 1.19747118e-02 4.52285516e+02] [-5.71647813e-02 9.98364474e-01 -7.51666603e-04 -5.12296073e+00] [-1.19980994e-02 6.58514712e-05 9.99928018e-01 1.73472071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.31, Y:-5.13, Z:1.73 [[ 9.98331230e-01 5.65622100e-02 1.16392008e-02 4.52312345e+02] [-5.65575486e-02 9.98399074e-01 -7.29523339e-04 -5.12546708e+00] [-1.16618307e-02 7.00212707e-05 9.99931996e-01 1.73444142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.34, Y:-5.13, Z:1.73 [[ 9.98385280e-01 5.56099985e-02 1.15914325e-02 4.52340526e+02] [-5.56053291e-02 9.98452564e-01 -7.24975848e-04 -5.12833914e+00] [-1.16138114e-02 7.92597943e-05 9.99932554e-01 1.73378743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.37, Y:-5.13, Z:1.73 [[ 9.98557470e-01 5.25228699e-02 1.11502197e-02 4.52367765e+02] [-5.25183711e-02 9.98619715e-01 -6.96098513e-04 -5.13270883e+00] [-1.11713903e-02 1.09502995e-04 9.99937592e-01 1.73332009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.40, Y:-5.14, Z:1.73 [[ 9.98663979e-01 5.04289357e-02 1.12773947e-02 4.52396092e+02] [-5.04242103e-02 9.98727643e-01 -7.03143904e-04 -5.13573152e+00] [-1.12985047e-02 1.33550766e-04 9.99936161e-01 1.73279333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.42, Y:-5.14, Z:1.73 [[ 9.98771581e-01 4.82632670e-02 1.12243861e-02 4.52423868e+02] [-4.82584645e-02 9.98834637e-01 -6.98476574e-04 -5.13872371e+00] [-1.12450164e-02 1.55946914e-04 9.99936761e-01 1.73252227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.45, Y:-5.14, Z:1.73 [[ 9.98965790e-01 4.41748237e-02 1.07673199e-02 4.52451273e+02] [-4.41701768e-02 9.99023797e-01 -6.69110231e-04 -5.14343110e+00] [-1.07863667e-02 1.92823806e-04 9.99941807e-01 1.73166920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.48, Y:-5.15, Z:1.73 [[ 9.99059569e-01 4.20274435e-02 1.06616571e-02 4.52480109e+02] [-4.20227765e-02 9.99116434e-01 -6.61481076e-04 -5.14675040e+00] [-1.06800372e-02 2.12826567e-04 9.99942944e-01 1.73089424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.51, Y:-5.15, Z:1.73 [[ 9.99128089e-01 4.03067546e-02 1.08824031e-02 4.52508787e+02] [-4.03017992e-02 9.99187325e-01 -6.74361476e-04 -5.14994534e+00] [-1.09007405e-02 2.35193069e-04 9.99940558e-01 1.73070192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.54, Y:-5.15, Z:1.73 [[ 9.99186172e-01 3.87907218e-02 1.10577650e-02 4.52537403e+02] [-3.87855216e-02 9.99247324e-01 -6.84410283e-04 -5.15277359e+00] [-1.10759909e-02 2.54972107e-04 9.99938627e-01 1.73038889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.57, Y:-5.16, Z:1.73 [[ 9.99219513e-01 3.78966644e-02 1.11448239e-02 4.52565282e+02] [-3.78913341e-02 9.99281628e-01 -6.89118148e-04 -5.15633362e+00] [-1.11629330e-02 2.66288056e-04 9.99937657e-01 1.73058361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.59, Y:-5.16, Z:1.73 [[ 9.99207614e-01 3.81800224e-02 1.12440860e-02 4.52593258e+02] [-3.81746256e-02 9.99270842e-01 -6.94281435e-04 -5.15913548e+00] [-1.12623950e-02 2.64492521e-04 9.99936542e-01 1.72986644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.62, Y:-5.16, Z:1.73 [[ 9.99175444e-01 3.89233685e-02 1.15500131e-02 4.52622260e+02] [-3.89177389e-02 9.99242164e-01 -7.11857836e-04 -5.16181438e+00] [-1.15689680e-02 2.61770477e-04 9.99933043e-01 1.72943373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.65, Y:-5.16, Z:1.73 [[ 9.99130438e-01 4.01222542e-02 1.13390142e-02 4.52650015e+02] [-4.01169129e-02 9.99194749e-01 -6.98208861e-04 -5.16429271e+00] [-1.13578972e-02 2.42715480e-04 9.99935468e-01 1.72907795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.68, Y:-5.17, Z:1.73 [[ 9.99070733e-01 4.15513346e-02 1.14523474e-02 4.52678906e+02] [-4.15459925e-02 9.99136344e-01 -7.04078714e-04 -5.16696605e+00] [-1.14717119e-02 2.27625301e-04 9.99934172e-01 1.72862619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.71, Y:-5.17, Z:1.73 [[ 9.98871932e-01 4.60594893e-02 1.15493519e-02 4.52707410e+02] [-4.60543673e-02 9.98938683e-01 -7.09199904e-04 -5.17017828e+00] [-1.15697597e-02 1.76501786e-04 9.99933053e-01 1.72847689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.74, Y:-5.17, Z:1.73 [[ 9.98764941e-01 4.83225265e-02 1.15553874e-02 4.52735072e+02] [-4.83175582e-02 9.98831773e-01 -7.08901874e-04 -5.17199751e+00] [-1.15761440e-02 1.49698235e-04 9.99932983e-01 1.72808322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.76, Y:-5.17, Z:1.73 [[ 9.98646031e-01 5.07766690e-02 1.13063983e-02 4.52764137e+02] [-5.07720839e-02 9.98710026e-01 -6.92385292e-04 -5.17412213e+00] [-1.13269703e-02 1.17398422e-04 9.99935841e-01 1.72790061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.79, Y:-5.18, Z:1.73 [[ 9.98433863e-01 5.50107600e-02 1.01802726e-02 4.52791547e+02] [-5.50072675e-02 9.98485760e-01 -6.22957643e-04 -5.17687850e+00] [-1.01991265e-02 6.19930296e-05 9.99947986e-01 1.72713573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.82, Y:-5.18, Z:1.73 [[ 9.98367739e-01 5.63104993e-02 9.53859609e-03 4.52819242e+02] [-5.63074985e-02 9.98413304e-01 -5.83068475e-04 -5.17914321e+00] [-9.55629411e-03 4.50222706e-05 9.99954337e-01 1.72685443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.85, Y:-5.18, Z:1.73 [[ 9.98306803e-01 5.73775832e-02 9.55720000e-03 4.52846712e+02] [-5.73746292e-02 9.98352549e-01 -5.83201243e-04 -5.18143416e+00] [-9.57491765e-03 3.38729621e-05 9.99954159e-01 1.72620064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.87, Y:-5.18, Z:1.73 [[ 9.98299954e-01 5.76312673e-02 8.70859773e-03 4.52874775e+02] [-5.76288311e-02 9.98337937e-01 -5.30635015e-04 -5.18488698e+00] [-8.72470466e-03 2.78666033e-05 9.99961939e-01 1.72640922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.90, Y:-5.19, Z:1.73 [[ 9.98344045e-01 5.69254553e-02 8.28609626e-03 4.52901240e+02] [-5.69232307e-02 9.98378431e-01 -5.04260177e-04 -5.18767756e+00] [-8.30136502e-03 3.17537760e-05 9.99965543e-01 1.72603298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.93, Y:-5.19, Z:1.73 [[ 9.98423342e-01 5.55284597e-02 8.21099418e-03 4.52928916e+02] [-5.55262380e-02 9.98457104e-01 -4.98470867e-04 -5.19040457e+00] [-8.22600479e-03 4.17593310e-05 9.99966165e-01 1.72568078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.96, Y:-5.19, Z:1.73 [[ 9.98514035e-01 5.38612004e-02 8.28817455e-03 4.52956913e+02] [-5.38588867e-02 9.98548431e-01 -5.02266575e-04 -5.19344592e+00] [-8.30319637e-03 5.51283702e-05 9.99965526e-01 1.72555635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.98, Y:-5.20, Z:1.73 [[ 9.98765358e-01 4.89443316e-02 8.49772362e-03 4.52984327e+02] [-4.89417315e-02 9.98801503e-01 -5.13788255e-04 -5.19758459e+00] [-8.51268615e-03 9.72606034e-05 9.99963762e-01 1.72552204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.01, Y:-5.20, Z:1.72 [[ 9.98902576e-01 4.58687882e-02 9.47088080e-03 4.53013258e+02] [-4.58654318e-02 9.98947464e-01 -5.71394202e-04 -5.20102021e+00] [-9.48712152e-03 1.36381102e-04 9.99954987e-01 1.72490013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.04, Y:-5.20, Z:1.72 [[ 9.99052668e-01 4.23203951e-02 1.01365595e-02 4.53041646e+02] [-4.23163760e-02 9.99104074e-01 -6.10743200e-04 -5.20449847e+00] [-1.01533248e-02 1.81222161e-04 9.99948437e-01 1.72441862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.07, Y:-5.21, Z:1.72 [[ 9.99189087e-01 3.87058347e-02 1.10917148e-02 4.53069495e+02] [-3.87008086e-02 9.99250620e-01 -6.67502908e-04 -5.20828509e+00] [-1.11092391e-02 2.37703292e-04 9.99938262e-01 1.72358723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.10, Y:-5.21, Z:1.72 [[ 9.99465711e-01 3.04506804e-02 1.18763712e-02 4.53098314e+02] [-3.04443508e-02 9.99536209e-01 -7.13426496e-04 -5.21404772e+00] [-1.18925874e-02 3.51476909e-04 9.99929219e-01 1.72309460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.13, Y:-5.22, Z:1.72 [[ 9.99581117e-01 2.63058434e-02 1.20661852e-02 4.53128052e+02] [-2.62990214e-02 9.99653859e-01 -7.23732877e-04 -5.21759159e+00] [-1.20810470e-02 4.06100856e-04 9.99926939e-01 1.72264481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.16, Y:-5.22, Z:1.72 [[ 9.99683506e-01 2.20447585e-02 1.21209458e-02 4.53158549e+02] [-2.20375715e-02 9.99756879e-01 -7.26198982e-04 -5.22113240e+00] [-1.21340078e-02 4.58852934e-04 9.99926275e-01 1.72202566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.19, Y:-5.23, Z:1.72 [[ 9.99817701e-01 1.49365588e-02 1.18938482e-02 4.53189167e+02] [-1.49291513e-02 9.99888301e-01 -7.11352602e-04 -5.22620441e+00] [-1.19031448e-02 5.33657865e-04 9.99929013e-01 1.72121640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.22, Y:-5.23, Z:1.72 [[ 9.99853904e-01 1.19354663e-02 1.22358391e-02 4.53222459e+02] [-1.19273702e-02 9.99928597e-01 -7.34428081e-04 -5.22973096e+00] [-1.22437311e-02 5.88379401e-04 9.99924870e-01 1.72079280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.25, Y:-5.23, Z:1.72 [[ 9.99877429e-01 9.20600743e-03 1.26640129e-02 4.53253938e+02] [-9.19706564e-03 9.99957414e-01 -7.64136590e-04 -5.23312550e+00] [-1.26705083e-02 6.47571170e-04 9.99919516e-01 1.71998389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.29, Y:-5.24, Z:1.72 [[ 9.99901482e-01 4.04049336e-03 1.34424714e-02 4.53286366e+02] [-4.02990101e-03 9.99991548e-01 -8.14970091e-04 -5.23769677e+00] [-1.34456507e-02 7.60717973e-04 9.99909314e-01 1.71920940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.32, Y:-5.24, Z:1.72 [[ 9.99907276e-01 2.19913049e-03 1.34389056e-02 4.53319375e+02] [-2.18832564e-03 9.99997271e-01 -8.18650047e-04 -5.24045204e+00] [-1.34406692e-02 7.89165437e-04 9.99909359e-01 1.71854016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.35, Y:-5.24, Z:1.72 [[ 9.99905953e-01 5.67356902e-04 1.37026458e-02 4.53352048e+02] [-5.55914764e-04 9.99999494e-01 -8.38825767e-04 -5.24300776e+00] [-1.37031147e-02 8.31129375e-04 9.99905762e-01 1.71772421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.39, Y:-5.25, Z:1.72 [[ 9.99902569e-01 -7.51147981e-04 1.39387248e-02 4.53385488e+02] [ 7.63172990e-04 9.99999341e-01 -8.57406062e-04 -5.24554239e+00] [-1.39380716e-02 8.67960183e-04 9.99902484e-01 1.71681480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.42, Y:-5.25, Z:1.72 [[ 9.99903237e-01 -2.46334810e-03 1.36911747e-02 4.53418436e+02] [ 2.47516314e-03 9.99996579e-01 -8.46090115e-04 -5.24736128e+00] [-1.36890436e-02 8.79896135e-04 9.99905914e-01 1.71563786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.45, Y:-5.25, Z:1.72 [[ 9.99906142e-01 -2.87522744e-03 1.33954952e-02 4.53451399e+02] [ 2.88663764e-03 9.99995487e-01 -8.32536912e-04 -5.24894051e+00] [-1.33930410e-02 8.71126713e-04 9.99909930e-01 1.71525988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.48, Y:-5.25, Z:1.71 [[ 9.99905896e-01 -2.75195817e-03 1.34397419e-02 4.53483924e+02] [ 2.76345268e-03 9.99995832e-01 -8.36766770e-04 -5.25052060e+00] [-1.34373831e-02 8.73828117e-04 9.99909332e-01 1.71447173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.52, Y:-5.25, Z:1.71 [[ 9.99903414e-01 -2.57029803e-03 1.36585945e-02 4.53517218e+02] [ 2.58217390e-03 9.99996303e-01 -8.51915192e-04 -5.25187615e+00] [-1.36563543e-02 8.87101775e-04 9.99906354e-01 1.71383568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.55, Y:-5.25, Z:1.71 [[ 9.99899775e-01 -7.80655693e-04 1.41361405e-02 4.53550164e+02] [ 7.93221317e-04 9.99999295e-01 -8.83315546e-04 -5.25205105e+00] [-1.41354410e-02 8.94440104e-04 9.99899690e-01 1.71329751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.58, Y:-5.25, Z:1.71 [[ 9.99894462e-01 5.80298099e-04 1.45165023e-02 4.53582678e+02] [-5.67164628e-04 9.99999426e-01 -9.08827412e-04 -5.25311942e+00] [-1.45170213e-02 9.00498249e-04 9.99894217e-01 1.71264109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.62, Y:-5.25, Z:1.71 [[ 9.99887623e-01 2.31047171e-03 1.48122828e-02 4.53615859e+02] [-2.29696691e-03 9.99996931e-01 -9.28677480e-04 -5.25437416e+00] [-1.48143830e-02 8.94549794e-04 9.99889861e-01 1.71226340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.65, Y:-5.25, Z:1.71 [[ 9.99847825e-01 5.91314106e-03 1.64122631e-02 4.53648786e+02] [-5.89701160e-03 9.99982081e-01 -1.03099057e-03 -5.25377377e+00] [-1.64180654e-02 9.34050369e-04 9.99864778e-01 1.71148756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.68, Y:-5.25, Z:1.71 [[ 9.99827926e-01 7.99572544e-03 1.67387861e-02 4.53682179e+02] [-7.97920788e-03 9.99967611e-01 -1.05333778e-03 -5.25440576e+00] [-1.67466661e-02 9.19594275e-04 9.99859342e-01 1.71104490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.71, Y:-5.25, Z:1.71 [[ 9.99807465e-01 1.03489070e-02 1.66713338e-02 4.53713958e+02] [-1.03328232e-02 9.99946063e-01 -1.05060939e-03 -5.25482124e+00] [-1.66813073e-02 8.78145163e-04 9.99860472e-01 1.71054609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.75, Y:-5.26, Z:1.71 [[ 9.99806155e-01 1.04752161e-02 1.66710291e-02 4.53747413e+02] [-1.04590698e-02 9.99944745e-01 -1.05542242e-03 -5.25702305e+00] [-1.66811637e-02 8.80854374e-04 9.99860472e-01 1.70992110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.78, Y:-5.26, Z:1.71 [[ 9.99778100e-01 1.26339623e-02 1.68562924e-02 4.53780915e+02] [-1.26177294e-02 9.99919822e-01 -1.06902324e-03 -5.25768983e+00] [-1.68684469e-02 8.56097892e-04 9.99857351e-01 1.70915523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.81, Y:-5.26, Z:1.71 [[ 9.99751980e-01 1.47036020e-02 1.67266927e-02 4.53813768e+02] [-1.46878260e-02 9.99891560e-01 -1.06562877e-03 -5.25863114e+00] [-1.67405475e-02 8.19685718e-04 9.99859531e-01 1.70829034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.85, Y:-5.26, Z:1.71 [[ 9.99709260e-01 1.79877597e-02 1.60572576e-02 4.53845959e+02] [-1.79735719e-02 9.99837934e-01 -1.02746423e-03 -5.25778735e+00] [-1.60731371e-02 7.38559226e-04 9.99870546e-01 1.70773347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.88, Y:-5.26, Z:1.71 [[ 9.99673451e-01 1.97134596e-02 1.62595043e-02 4.53879363e+02] [-1.96990683e-02 9.99805409e-01 -1.04479806e-03 -5.25829345e+00] [-1.62769369e-02 7.24159800e-04 9.99867260e-01 1.70679231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.91, Y:-5.26, Z:1.71 [[ 9.99638365e-01 2.14702848e-02 1.61915166e-02 4.53912564e+02] [-2.14561683e-02 9.99769244e-01 -1.04507994e-03 -5.25877039e+00] [-1.62102185e-02 6.97294097e-04 9.99868363e-01 1.70594261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.95, Y:-5.26, Z:1.71 [[ 9.99604870e-01 2.32345360e-02 1.58196290e-02 4.53945579e+02] [-2.32212095e-02 9.99729825e-01 -1.02559568e-03 -5.25955684e+00] [-1.58391842e-02 6.57839516e-04 9.99874336e-01 1.70510596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.98, Y:-5.26, Z:1.70 [[ 9.99558935e-01 2.51456869e-02 1.57996920e-02 4.53977847e+02] [-2.51325588e-02 9.99683598e-01 -1.02894944e-03 -5.26043745e+00] [-1.58205666e-02 6.31408916e-04 9.99874648e-01 1.70417031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.01, Y:-5.26, Z:1.70 [[ 9.99463994e-01 2.84699339e-02 1.61613079e-02 4.54010284e+02] [-2.84565585e-02 9.99594471e-01 -1.05702491e-03 -5.25993557e+00] [-1.61848475e-02 5.96563135e-04 9.99868839e-01 1.70353936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.04, Y:-5.26, Z:1.70 [[ 9.99417951e-01 3.00417907e-02 1.61632600e-02 4.54041651e+02] [-3.00285464e-02 9.99548478e-01 -1.06153213e-03 -5.26010992e+00] [-1.61878523e-02 5.75555058e-04 9.99868802e-01 1.70333554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.07, Y:-5.26, Z:1.70 [[ 9.99351275e-01 3.19267796e-02 1.66646332e-02 4.54073062e+02] [-3.19129186e-02 9.99490051e-01 -1.09709166e-03 -5.26053583e+00] [-1.66911617e-02 5.64562867e-04 9.99860533e-01 1.70259012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.10, Y:-5.26, Z:1.70 [[ 9.99290161e-01 3.38502811e-02 1.65327637e-02 4.54103589e+02] [-3.38366322e-02 9.99426767e-01 -1.10467281e-03 -5.26060941e+00] [-1.65606800e-02 5.44475624e-04 9.99862714e-01 1.70130177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.13, Y:-5.26, Z:1.70 [[ 9.99194095e-01 3.68873829e-02 1.58266074e-02 4.54133289e+02] [-3.68763598e-02 9.99319347e-01 -9.87859150e-04 -5.25980601e+00] [-1.58522745e-02 4.03435359e-04 9.99874263e-01 1.70193319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.16, Y:-5.26, Z:1.70 [[ 9.99155174e-01 3.80290932e-02 1.55797048e-02 4.54163200e+02] [-3.80176626e-02 9.99276537e-01 -1.02930257e-03 -5.26046135e+00] [-1.56075769e-02 4.36129024e-04 9.99878099e-01 1.70125929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.19, Y:-5.26, Z:1.70 [[ 9.99085848e-01 3.98625146e-02 1.54417802e-02 4.54192499e+02] [-3.98515109e-02 9.99205093e-01 -1.01977022e-03 -5.26028254e+00] [-1.54701560e-02 4.03459728e-04 9.99880249e-01 1.70057196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.22, Y:-5.26, Z:1.70 [[ 9.99052731e-01 4.06552702e-02 1.55173827e-02 4.54222246e+02] [-4.06442733e-02 9.99173156e-01 -1.02352425e-03 -5.26122491e+00] [-1.55461639e-02 3.91861955e-04 9.99879074e-01 1.70040963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.25, Y:-5.26, Z:1.70 [[ 9.99028601e-01 4.10967310e-02 1.59032208e-02 4.54251145e+02] [-4.10852449e-02 9.99155095e-01 -1.04842879e-03 -5.26202771e+00] [-1.59328711e-02 3.94022626e-04 9.99872986e-01 1.70018642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.28, Y:-5.26, Z:1.70 [[ 9.99002143e-01 4.16680339e-02 1.60777170e-02 4.54281092e+02] [-4.16563832e-02 9.99131435e-01 -1.05900997e-03 -5.26314037e+00] [-1.61078793e-02 3.88213690e-04 9.99870184e-01 1.69980052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.31, Y:-5.26, Z:1.70 [[ 9.98968128e-01 4.25017903e-02 1.60086846e-02 4.54310029e+02] [-4.24903542e-02 9.99096321e-01 -1.05397464e-03 -5.26357870e+00] [-1.60390137e-02 3.72672391e-04 9.99871297e-01 1.69944236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.34, Y:-5.26, Z:1.70 [[ 9.98950188e-01 4.28982258e-02 1.60706084e-02 4.54339022e+02] [-4.28867713e-02 9.99079380e-01 -1.05687118e-03 -5.26493895e+00] [-1.61011514e-02 3.66545159e-04 9.99870301e-01 1.69856160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.37, Y:-5.27, Z:1.70 [[ 9.98950582e-01 4.30808705e-02 1.55490418e-02 4.54367928e+02] [-4.30701867e-02 9.99071527e-01 -1.02147502e-03 -5.26654985e+00] [-1.55786110e-02 3.50702928e-04 9.99878585e-01 1.69803758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.40, Y:-5.27, Z:1.70 [[ 9.98952901e-01 4.29826803e-02 1.56713489e-02 4.54396824e+02] [-4.29718337e-02 9.99075755e-01 -1.02836044e-03 -5.26820663e+00] [-1.57010664e-02 3.53857050e-04 9.99876668e-01 1.69699396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.43, Y:-5.27, Z:1.70 [[ 9.98986985e-01 4.24471950e-02 1.49412328e-02 4.54425282e+02] [-4.24372911e-02 9.99098652e-01 -9.79428711e-04 -5.26994847e+00] [-1.49693395e-02 3.44371090e-04 9.99887894e-01 1.69573438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.45, Y:-5.27, Z:1.70 [[ 9.99033831e-01 4.15818439e-02 1.42251407e-02 4.54453517e+02] [-4.15727914e-02 9.99135043e-01 -9.31617584e-04 -5.27149693e+00] [-1.42515749e-02 3.39338677e-04 9.99898384e-01 1.69509339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.48, Y:-5.27, Z:1.69 [[ 9.99060249e-01 4.09907233e-02 1.40847392e-02 4.54482654e+02] [-4.09818093e-02 9.99159468e-01 -9.21047887e-04 -5.27331126e+00] [-1.41106550e-02 3.42964234e-04 9.99900381e-01 1.69432498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.51, Y:-5.27, Z:1.69 [[ 9.99124990e-01 3.93951017e-02 1.40456325e-02 4.54511815e+02] [-3.93860936e-02 9.99223646e-01 -9.17493021e-04 -5.27499861e+00] [-1.40708729e-02 3.63487608e-04 9.99900934e-01 1.69340691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.54, Y:-5.28, Z:1.69 [[ 9.99152006e-01 3.87211058e-02 1.39980180e-02 4.54539528e+02] [-3.87121053e-02 9.99249988e-01 -9.13475677e-04 -5.27684088e+00] [-1.40228901e-02 3.70808309e-04 9.99901606e-01 1.69304323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.57, Y:-5.28, Z:1.69 [[ 9.99171602e-01 3.81407451e-02 1.41912965e-02 4.54568313e+02] [-3.81314550e-02 9.99272304e-01 -9.24739040e-04 -5.27869265e+00] [-1.42162398e-02 3.82838206e-04 9.99898871e-01 1.69236078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.60, Y:-5.28, Z:1.69 [[ 9.99175822e-01 3.79539010e-02 1.43936604e-02 4.54597027e+02] [-3.79443404e-02 9.99279415e-01 -9.36835883e-04 -5.28073381e+00] [-1.44188451e-02 3.89905813e-04 9.99895967e-01 1.69179198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.63, Y:-5.28, Z:1.69 [[ 9.99185361e-01 3.75530225e-02 1.47778443e-02 4.54626457e+02] [-3.75429133e-02 9.99294554e-01 -9.60994934e-04 -5.28281436e+00] [-1.48035075e-02 4.05408744e-04 9.99890340e-01 1.69137259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.66, Y:-5.28, Z:1.69 [[ 9.99191006e-01 3.74155033e-02 1.47449805e-02 4.54655920e+02] [-3.74054319e-02 9.99299712e-01 -9.58329612e-04 -5.28452025e+00] [-1.47705112e-02 4.06011963e-04 9.99890828e-01 1.69085754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.69, Y:-5.29, Z:1.69 [[ 9.99186424e-01 3.77139981e-02 1.42879272e-02 4.54685737e+02] [-3.77045791e-02 9.99288499e-01 -9.28122969e-04 -5.28666315e+00] [-1.43127646e-02 3.88647587e-04 9.99897492e-01 1.69047435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.71, Y:-5.29, Z:1.69 [[ 9.99171152e-01 3.80284320e-02 1.45205758e-02 4.54714114e+02] [-3.80187439e-02 9.99276581e-01 -9.42760818e-04 -5.28878612e+00] [-1.45459231e-02 3.89925359e-04 9.99894126e-01 1.68958512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.74, Y:-5.29, Z:1.69 [[ 9.99139682e-01 3.89763694e-02 1.41682082e-02 4.54744002e+02] [-3.89672530e-02 9.99240066e-01 -9.19043025e-04 -5.29161968e+00] [-1.41932623e-02 3.66156203e-04 9.99899204e-01 1.68853340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.77, Y:-5.29, Z:1.69 [[ 9.99118152e-01 3.96314904e-02 1.38658851e-02 4.54772439e+02] [-3.96228262e-02 9.99214303e-01 -8.99120566e-04 -5.29380371e+00] [-1.38906242e-02 3.48922123e-04 9.99903460e-01 1.68774924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.80, Y:-5.30, Z:1.69 [[ 9.99074490e-01 4.06778737e-02 1.39812230e-02 4.54799912e+02] [-4.06691804e-02 9.99172256e-01 -9.05652146e-04 -5.29585234e+00] [-1.40064901e-02 3.36209074e-04 9.99901848e-01 1.68712245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.83, Y:-5.30, Z:1.69 [[ 9.98944002e-01 4.38914049e-02 1.35803082e-02 4.54828469e+02] [-4.38835169e-02 9.99036268e-01 -8.78424546e-04 -5.29794602e+00] [-1.36057757e-02 2.81545248e-04 9.99907398e-01 1.68707959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.86, Y:-5.30, Z:1.69 [[ 9.98843658e-01 4.62086644e-02 1.32704754e-02 4.54856003e+02] [-4.62013481e-02 9.98931780e-01 -8.57526028e-04 -5.29984778e+00] [-1.32959248e-02 2.43420580e-04 9.99911576e-01 1.68633389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.89, Y:-5.30, Z:1.69 [[ 9.98745202e-01 4.84359117e-02 1.27273171e-02 4.54885231e+02] [-4.84293783e-02 9.98826272e-01 -8.21218740e-04 -5.30165157e+00] [-1.27521552e-02 2.03812220e-04 9.99918667e-01 1.68561694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.91, Y:-5.30, Z:1.69 [[ 9.98434572e-01 5.44946774e-02 1.25990450e-02 4.54913108e+02] [-5.44887673e-02 9.98514053e-01 -8.12135971e-04 -5.30390980e+00] [-1.26245806e-02 1.24358201e-04 9.99920299e-01 1.68524157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.94, Y:-5.31, Z:1.68 [[ 9.98260387e-01 5.75264135e-02 1.29194422e-02 4.54940534e+02] [-5.75204673e-02 9.98343981e-01 -8.31672646e-04 -5.30594670e+00] [-1.29458905e-02 8.70935064e-05 9.99916195e-01 1.68483510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.97, Y:-5.31, Z:1.68 [[ 9.98077158e-01 6.05821229e-02 1.31069595e-02 4.54968708e+02] [-6.05762867e-02 9.98163215e-01 -8.42182335e-04 -5.30814697e+00] [-1.31339060e-02 4.65920169e-05 9.99913745e-01 1.68465402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.00, Y:-5.31, Z:1.68 [[ 9.97888756e-01 6.35526125e-02 1.33826950e-02 4.54996907e+02] [-6.35468105e-02 9.97978489e-01 -8.58759541e-04 -5.31031374e+00] [-1.34102181e-02 6.51890928e-06 9.99910079e-01 1.68424419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.02, Y:-5.31, Z:1.68 [[ 9.97601889e-01 6.78967856e-02 1.34349456e-02 4.55023888e+02] [-6.78913507e-02 9.97692349e-01 -8.60727691e-04 -5.31312988e+00] [-1.34623831e-02 -5.34530369e-05 9.99909377e-01 1.68364282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.05, Y:-5.32, Z:1.68 [[ 9.97508919e-01 6.93189006e-02 1.30708658e-02 4.55051822e+02] [-6.93139006e-02 9.97594549e-01 -8.35701378e-04 -5.31568492e+00] [-1.30973544e-02 -7.23731165e-05 9.99914223e-01 1.68302564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.08, Y:-5.32, Z:1.68 [[ 9.97469888e-01 6.99242280e-02 1.28228620e-02 4.55079276e+02] [-6.99194826e-02 9.97552302e-01 -8.18551456e-04 -5.31836757e+00] [-1.28487121e-02 -8.00874487e-05 9.99917449e-01 1.68237436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.11, Y:-5.32, Z:1.68 [[ 9.97486754e-01 6.97293663e-02 1.25694239e-02 4.55107261e+02] [-6.97248079e-02 9.97565942e-01 -8.01049235e-04 -5.32119164e+00] [-1.25946859e-02 -7.73646660e-05 9.99920681e-01 1.68161790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.13, Y:-5.33, Z:1.68 [[ 9.97661395e-01 6.72507613e-02 1.22097062e-02 4.55133899e+02] [-6.72462858e-02 9.97736104e-01 -7.77195872e-04 -5.32617703e+00] [-1.22343317e-02 -4.56790771e-05 9.99925157e-01 1.68069504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.16, Y:-5.33, Z:1.68 [[ 9.97805531e-01 6.50194313e-02 1.25138429e-02 4.55162128e+02] [-6.50145855e-02 9.97883998e-01 -7.94080738e-04 -5.32988425e+00] [-1.25389943e-02 -2.12441584e-05 9.99921383e-01 1.68021230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.19, Y:-5.34, Z:1.68 [[ 9.98196636e-01 5.86177555e-02 1.29396672e-02 4.55189302e+02] [-5.86120549e-02 9.98280499e-01 -8.19662452e-04 -5.33549560e+00] [-1.29654642e-02 5.97638183e-05 9.99915943e-01 1.67984520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.22, Y:-5.34, Z:1.68 [[ 9.98393980e-01 5.49699605e-02 1.37027181e-02 4.55217735e+02] [-5.49632479e-02 9.98488002e-01 -8.66270651e-04 -5.33925343e+00] [-1.37296185e-02 1.11733511e-04 9.99905738e-01 1.67922452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.25, Y:-5.34, Z:1.68 [[ 9.98601651e-01 5.10378776e-02 1.37796419e-02 4.55246173e+02] [-5.10307287e-02 9.98696705e-01 -8.70146257e-04 -5.34316246e+00] [-1.38060934e-02 1.65744322e-04 9.99904678e-01 1.67895177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.27, Y:-5.35, Z:1.68 [[ 9.98972967e-01 4.28439386e-02 1.47447884e-02 4.55274761e+02] [-4.28348776e-02 9.99081733e-01 -9.29932764e-04 -5.34922136e+00] [-1.47710908e-02 2.97386484e-04 9.99890857e-01 1.67825034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.30, Y:-5.35, Z:1.68 [[ 9.99151936e-01 3.83932011e-02 1.48785375e-02 4.55302889e+02] [-3.83834990e-02 9.99262642e-01 -9.37210402e-04 -5.35294756e+00] [-1.49035492e-02 3.65325261e-04 9.99888869e-01 1.67782055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.33, Y:-5.36, Z:1.68 [[ 9.99301616e-01 3.41410409e-02 1.51878432e-02 4.55332632e+02] [-3.41304541e-02 9.99416929e-01 -9.55791483e-04 -5.35669191e+00] [-1.52116193e-02 4.36755988e-04 9.99884201e-01 1.67689533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.36, Y:-5.36, Z:1.68 [[ 9.99437311e-01 2.99260033e-02 1.51490888e-02 4.55363120e+02] [-2.99149966e-02 9.99551992e-01 -9.52688945e-04 -5.36011462e+00] [-1.51708121e-02 4.98967938e-04 9.99884792e-01 1.67618592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.39, Y:-5.36, Z:1.68 [[ 9.99650232e-01 2.18270523e-02 1.49329529e-02 4.55394486e+02] [-2.18154570e-02 9.99761574e-01 -9.38962891e-04 -5.36481993e+00] [-1.49498873e-02 6.12865280e-04 9.99888056e-01 1.67536816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.43, Y:-5.37, Z:1.67 [[ 9.99731486e-01 1.79981753e-02 1.45952496e-02 4.55426227e+02] [-1.79866976e-02 9.99837805e-01 -9.17295533e-04 -5.36768483e+00] [-1.46093920e-02 6.54528884e-04 9.99893063e-01 1.67492665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.46, Y:-5.37, Z:1.67 [[ 9.99782250e-01 1.47584205e-02 1.47526849e-02 4.55459424e+02] [-1.47462833e-02 9.99890834e-01 -9.31159862e-04 -5.37057393e+00] [-1.47648168e-02 7.13409831e-04 9.99890740e-01 1.67418291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.49, Y:-5.37, Z:1.67 [[ 9.99855658e-01 8.73898668e-03 1.45703199e-02 4.55491079e+02] [-8.72644849e-03 9.99961497e-01 -9.23885135e-04 -5.37325483e+00] [-1.45778328e-02 7.96604632e-04 9.99893420e-01 1.67379301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.52, Y:-5.38, Z:1.67 [[ 9.99865891e-01 6.88485839e-03 1.48593171e-02 4.55522649e+02] [-6.87155250e-03 9.99975943e-01 -9.46329157e-04 -5.37531986e+00] [-1.48654750e-02 8.44095668e-04 9.99889146e-01 1.67311208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.56, Y:-5.38, Z:1.67 [[ 9.99876648e-01 5.80590654e-03 1.45938240e-02 4.55555995e+02] [-5.79290315e-03 9.99982786e-01 -9.33135266e-04 -5.37725503e+00] [-1.45989905e-02 8.48479553e-04 9.99893069e-01 1.67268395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.59, Y:-5.38, Z:1.67 [[ 9.99877574e-01 5.30606688e-03 1.47201201e-02 4.55589391e+02] [-5.29272120e-03 9.99985547e-01 -9.45437711e-04 -5.37890142e+00] [-1.47249239e-02 8.67412474e-04 9.99891206e-01 1.67220484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.62, Y:-5.38, Z:1.67 [[ 9.99879559e-01 4.66102430e-03 1.48034340e-02 4.55621103e+02] [-4.64739240e-03 9.99988745e-01 -9.55127812e-04 -5.37864896e+00] [-1.48077192e-02 8.86215409e-04 9.99889967e-01 1.67124302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.65, Y:-5.38, Z:1.67 [[ 9.99877583e-01 5.34610444e-03 1.47050320e-02 4.55653988e+02] [-5.33267085e-03 9.99985327e-01 -9.52596331e-04 -5.37961353e+00] [-1.47099089e-02 8.74062622e-04 9.99891421e-01 1.67047928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.69, Y:-5.38, Z:1.67 [[ 9.99876922e-01 5.46920171e-03 1.47047232e-02 4.55687438e+02] [-5.45571191e-03 9.99984659e-01 -9.57337176e-04 -5.38188073e+00] [-1.47097335e-02 8.76994615e-04 9.99891421e-01 1.66985433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.72, Y:-5.38, Z:1.67 [[ 9.99875710e-01 6.16862344e-03 1.45090478e-02 4.55720039e+02] [-6.15554767e-03 9.99980607e-01 -9.45700320e-04 -5.38267155e+00] [-1.45146001e-02 8.56271643e-04 9.99894291e-01 1.66890954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.75, Y:-5.38, Z:1.67 [[ 9.99878535e-01 7.82593034e-03 1.34784910e-02 4.55752599e+02] [-7.81474844e-03 9.99969075e-01 -8.82079660e-04 -5.38168148e+00] [-1.34849772e-02 7.76641502e-04 9.99908772e-01 1.66792654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.79, Y:-5.38, Z:1.67 [[ 9.99870768e-01 9.23866089e-03 1.31565457e-02 4.55785918e+02] [-9.22808628e-03 9.99957047e-01 -8.64234965e-04 -5.38224076e+00] [-1.31639650e-02 7.42713539e-04 9.99913075e-01 1.66708178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.82, Y:-5.38, Z:1.67 [[ 9.99863576e-01 1.07103822e-02 1.25744557e-02 4.55818197e+02] [-1.07007947e-02 9.99942401e-01 -8.29496733e-04 -5.38242748e+00] [-1.25826157e-02 6.94826901e-04 9.99920594e-01 1.66647576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.85, Y:-5.38, Z:1.67 [[ 9.99824020e-01 1.37487480e-02 1.27632916e-02 4.55851694e+02] [-1.37390608e-02 9.99905256e-01 -8.46363429e-04 -5.38002623e+00] [-1.27737187e-02 6.70858848e-04 9.99918188e-01 1.66620364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.88, Y:-5.38, Z:1.67 [[ 9.99799311e-01 1.56434180e-02 1.25148753e-02 4.55883869e+02] [-1.56342479e-02 9.99877433e-01 -8.30242571e-04 -5.37951906e+00] [-1.25263293e-02 6.34415287e-04 9.99921341e-01 1.66607698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.92, Y:-5.38, Z:1.67 [[ 9.99757913e-01 1.78462604e-02 1.28696074e-02 4.55916303e+02] [-1.78366966e-02 9.99840546e-01 -8.57531528e-04 -5.37927765e+00] [-1.28828591e-02 6.27772647e-04 9.99916815e-01 1.66557313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.95, Y:-5.38, Z:1.66 [[ 9.99715014e-01 1.99144775e-02 1.31644827e-02 4.55948390e+02] [-1.99046035e-02 9.99801496e-01 -8.80658245e-04 -5.37883988e+00] [-1.31794073e-02 6.18373462e-04 9.99912957e-01 1.66483715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.98, Y:-5.38, Z:1.66 [[ 9.99614939e-01 2.45869153e-02 1.28630253e-02 4.55979962e+02] [-2.45778246e-02 9.99697546e-01 -8.64353271e-04 -5.37597711e+00] [-1.28803866e-02 5.47875261e-04 9.99916894e-01 1.66439251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.01, Y:-5.38, Z:1.66 [[ 9.99550888e-01 2.72425589e-02 1.24846425e-02 4.56010431e+02] [-2.72341697e-02 9.99628727e-01 -8.41512597e-04 -5.37566152e+00] [-1.25029322e-02 5.01125791e-04 9.99921710e-01 1.66373308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.04, Y:-5.38, Z:1.66 [[ 9.99478841e-01 2.98499387e-02 1.22893640e-02 4.56039881e+02] [-2.98420039e-02 9.99554285e-01 -8.28580168e-04 -5.37509902e+00] [-1.23086195e-02 4.61409097e-04 9.99924140e-01 1.66308923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.07, Y:-5.37, Z:1.66 [[ 9.99396928e-01 3.26164511e-02 1.19141663e-02 4.56068690e+02] [-3.26091943e-02 9.99467856e-01 -8.02899154e-04 -5.37453318e+00] [-1.19340140e-02 4.13903585e-04 9.99928701e-01 1.66277916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.10, Y:-5.37, Z:1.66 [[ 9.99217173e-01 3.78744463e-02 1.14266521e-02 4.56097876e+02] [-3.78681170e-02 9.99282449e-01 -7.69837826e-04 -5.37130385e+00] [-1.14476101e-02 3.36529376e-04 9.99934417e-01 1.66212094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.13, Y:-5.37, Z:1.66 [[ 9.99115304e-01 4.04809847e-02 1.13973702e-02 4.56126705e+02] [-4.04748666e-02 9.99180262e-01 -7.67050322e-04 -5.37091073e+00] [-1.14190783e-02 3.05064676e-04 9.99934754e-01 1.66162201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.16, Y:-5.37, Z:1.66 [[ 9.99019351e-01 4.28385392e-02 1.11890763e-02 4.56155118e+02] [-4.28327991e-02 9.99081971e-01 -7.52257106e-04 -5.37046813e+00] [-1.12110300e-02 2.72259947e-04 9.99937117e-01 1.66115685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.18, Y:-5.37, Z:1.66 [[ 9.98865790e-01 4.63366929e-02 1.09564919e-02 4.56182540e+02] [-4.63168580e-02 9.98924680e-01 -2.05732956e-03 -5.36966155e+00] [-1.10400400e-02 1.54752584e-03 9.99937859e-01 1.66086752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.21, Y:-5.37, Z:1.66 [[ 9.98777205e-01 4.80700264e-02 1.15484895e-02 4.56212957e+02] [-4.80794800e-02 9.98843366e-01 5.42210523e-04 -5.36941178e+00] [-1.15090680e-02 -1.09679288e-03 9.99933167e-01 1.65989007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.24, Y:-5.37, Z:1.66 [[ 9.98733644e-01 4.88907050e-02 1.18662276e-02 4.56241390e+02] [-4.88846724e-02 9.98804111e-01 -7.98077386e-04 -5.36919950e+00] [-1.18910554e-02 2.16990089e-04 9.99929275e-01 1.65975308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.27, Y:-5.37, Z:1.66 [[ 9.98704548e-01 4.94606239e-02 1.19529326e-02 4.56269626e+02] [-4.94545608e-02 9.98776052e-01 -8.02479195e-04 -5.36995269e+00] [-1.19779939e-02 2.10312590e-04 9.99928239e-01 1.65916538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.30, Y:-5.37, Z:1.66 [[ 9.98703974e-01 4.93975427e-02 1.22578490e-02 4.56297110e+02] [-4.93911755e-02 9.98779173e-01 -8.21806792e-04 -5.36961500e+00] [-1.22834796e-02 2.15312136e-04 9.99924532e-01 1.65854924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.32, Y:-5.37, Z:1.66 [[ 9.98709178e-01 4.91663558e-02 1.27533593e-02 4.56324872e+02] [-4.91594582e-02 9.98790578e-01 -8.53959908e-04 -5.37094081e+00] [-1.27799212e-02 2.25909365e-04 9.99918308e-01 1.65776923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.35, Y:-5.37, Z:1.66 [[ 9.98673048e-01 4.98796276e-02 1.28127183e-02 4.56350529e+02] [-4.98577470e-02 9.98754283e-01 -2.02170707e-03 -5.37178672e+00] [-1.28975992e-02 1.38021109e-03 9.99915870e-01 1.65706703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.38, Y:-5.38, Z:1.66 [[ 9.98734183e-01 4.81434010e-02 1.45686232e-02 4.56379463e+02] [-4.81524707e-02 9.98839960e-01 2.72213997e-04 -5.37504904e+00] [-1.45386177e-02 -9.73384624e-04 9.99893835e-01 1.65542725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.41, Y:-5.38, Z:1.65 [[ 9.98758321e-01 4.75579200e-02 1.48344464e-02 4.56407890e+02] [-4.75485118e-02 9.98868443e-01 -9.86466906e-04 -5.37643699e+00] [-1.48645747e-02 2.79886181e-04 9.99889477e-01 1.65491247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.44, Y:-5.38, Z:1.65 [[ 9.98789564e-01 4.68451722e-02 1.49979183e-02 4.56436589e+02] [-4.68354911e-02 9.98902119e-01 -9.96276084e-04 -5.37865733e+00] [-1.50281231e-02 2.92635287e-04 9.99887029e-01 1.65426526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.46, Y:-5.38, Z:1.65 [[ 9.98840566e-01 4.57510394e-02 1.49788670e-02 4.56464436e+02] [-4.57412753e-02 9.98952826e-01 -9.93984610e-04 -5.38086517e+00] [-1.50086573e-02 3.07679672e-04 9.99887316e-01 1.65358560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.49, Y:-5.38, Z:1.65 [[ 9.98873912e-01 4.50893491e-02 1.47600174e-02 4.56493219e+02] [-4.50798164e-02 9.98982910e-01 -9.78085314e-04 -5.38296897e+00] [-1.47891064e-02 3.11605029e-04 9.99890587e-01 1.65280266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.52, Y:-5.39, Z:1.65 [[ 9.98898096e-01 4.46660519e-02 1.44061732e-02 4.56521578e+02] [-4.46569415e-02 9.99001926e-01 -9.53623044e-04 -5.38548876e+00] [-1.44343894e-02 3.09236608e-04 9.99895771e-01 1.65196854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.55, Y:-5.39, Z:1.65 [[ 9.98906398e-01 4.44877237e-02 1.43823084e-02 4.56550391e+02] [-4.44786401e-02 9.99009883e-01 -9.50995907e-04 -5.38822693e+00] [-1.44103759e-02 3.10250376e-04 9.99896117e-01 1.65106982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.58, Y:-5.39, Z:1.65 [[ 9.98911690e-01 4.44675722e-02 1.40737855e-02 4.56578655e+02] [-4.44588862e-02 9.99010782e-01 -9.29598988e-04 -5.39166163e+00] [-1.41012005e-02 3.02882467e-04 9.99900527e-01 1.65041651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.61, Y:-5.39, Z:1.65 [[ 9.98906031e-01 4.46935344e-02 1.37560366e-02 4.56606801e+02] [-4.46852697e-02 9.99000702e-01 -9.07728089e-04 -5.39412188e+00] [-1.37828598e-02 2.92042857e-04 9.99904969e-01 1.65026365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.64, Y:-5.40, Z:1.65 [[ 9.98889826e-01 4.50177499e-02 1.38750665e-02 4.56635387e+02] [-4.50093916e-02 9.98986145e-01 -9.14232459e-04 -5.39648807e+00] [-1.39021559e-02 2.88709199e-04 9.99903319e-01 1.64946314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.66, Y:-5.40, Z:1.65 [[ 9.98857585e-01 4.57933526e-02 1.36562533e-02 4.56662863e+02] [-4.57853403e-02 9.98950897e-01 -8.98940220e-04 -5.39884152e+00] [-1.36830920e-02 2.72657053e-04 9.99906345e-01 1.64905198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.69, Y:-5.40, Z:1.65 [[ 9.98770758e-01 4.76771428e-02 1.35596180e-02 4.56691866e+02] [-4.76694344e-02 9.98862769e-01 -8.91299645e-04 -5.40174429e+00] [-1.35866922e-02 2.43824699e-04 9.99907667e-01 1.64836765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.72, Y:-5.40, Z:1.65 [[ 9.98706105e-01 4.91171077e-02 1.31766837e-02 4.56719819e+02] [-4.91099648e-02 9.98793003e-01 -8.65302864e-04 -5.40425102e+00] [-1.32032807e-02 2.17076779e-04 9.99912809e-01 1.64767892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.75, Y:-5.41, Z:1.65 [[ 9.98629956e-01 5.07711774e-02 1.26687676e-02 4.56747794e+02] [-5.07647203e-02 9.98710295e-01 -8.30955253e-04 -5.40672766e+00] [-1.26946172e-02 1.86690364e-04 9.99919403e-01 1.64722498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.78, Y:-5.41, Z:1.65 [[ 9.98444719e-01 5.40967106e-02 1.34792225e-02 4.56776025e+02] [-5.40897240e-02 9.98535689e-01 -8.82617930e-04 -5.40984596e+00] [-1.35072315e-02 1.52157784e-04 9.99908762e-01 1.64683878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.80, Y:-5.41, Z:1.65 [[ 9.98356285e-01 5.57205947e-02 1.34143185e-02 4.56803284e+02] [-5.57138380e-02 9.98446393e-01 -8.77155111e-04 -5.41256634e+00] [-1.34423535e-02 1.28350150e-04 9.99909639e-01 1.64658218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.83, Y:-5.42, Z:1.65 [[ 9.98261909e-01 5.73705428e-02 1.34826284e-02 4.56831396e+02] [-5.73638997e-02 9.98352949e-01 -8.79244423e-04 -5.41533328e+00] [-1.35108645e-02 1.04300074e-04 9.99908719e-01 1.64602601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.86, Y:-5.42, Z:1.65 [[ 9.98065662e-01 6.07572334e-02 1.31716740e-02 4.56859419e+02] [-6.07512063e-02 9.98152571e-01 -8.57581854e-04 -5.41983800e+00] [-1.31994446e-02 5.57279136e-05 9.99912882e-01 1.64547628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.89, Y:-5.42, Z:1.65 [[ 9.97973240e-01 6.22809941e-02 1.30571476e-02 4.56887133e+02] [-6.22752202e-02 9.98058654e-01 -8.48716104e-04 -5.42309057e+00] [-1.30846580e-02 3.38592204e-05 9.99914392e-01 1.64517763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.91, Y:-5.43, Z:1.64 [[ 9.97899568e-01 6.34211920e-02 1.31986775e-02 4.56914219e+02] [-6.34154102e-02 9.97986850e-01 -8.56534665e-04 -5.42629056e+00] [-1.32264290e-02 1.77360242e-05 9.99912527e-01 1.64435647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.94, Y:-5.43, Z:1.64 [[ 9.97780914e-01 6.52734966e-02 1.31384476e-02 4.56942007e+02] [-6.52679513e-02 9.97867411e-01 -8.50867396e-04 -5.43148285e+00] [-1.31659678e-02 -8.54030938e-06 9.99913325e-01 1.64356150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.97, Y:-5.44, Z:1.64 [[ 9.97734297e-01 6.59227640e-02 1.34335718e-02 4.56969354e+02] [-6.59170458e-02 9.97824729e-01 -8.68469941e-04 -5.43524297e+00] [-1.34616020e-02 -1.89991201e-05 9.99909388e-01 1.64269703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.00, Y:-5.44, Z:1.64 [[ 9.97726508e-01 6.60514344e-02 1.33799267e-02 4.56996233e+02] [-6.60457895e-02 9.97816219e-01 -8.63805433e-04 -5.43881403e+00] [-1.34077634e-02 -2.18462411e-05 9.99910112e-01 1.64265064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.02, Y:-5.44, Z:1.64 [[ 9.97712124e-01 6.62409353e-02 1.35150470e-02 4.57023716e+02] [-6.62352266e-02 9.97803657e-01 -8.70053637e-04 -5.44449638e+00] [-1.35429965e-02 -2.71091416e-05 9.99908289e-01 1.64162597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.05, Y:-5.45, Z:1.64 [[ 9.97737228e-01 6.60435571e-02 1.25965601e-02 4.57050491e+02] [-6.60385965e-02 9.97816741e-01 -8.09797129e-04 -5.44795904e+00] [-1.26225404e-02 -2.38944063e-05 9.99920332e-01 1.64147824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.08, Y:-5.45, Z:1.64 [[ 9.97792031e-01 6.52858323e-02 1.21992657e-02 4.57078099e+02] [-6.52811424e-02 9.97866604e-01 -7.82682533e-04 -5.45128939e+00] [-1.22243379e-02 -1.54276039e-05 9.99925280e-01 1.64116470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.11, Y:-5.45, Z:1.64 [[ 9.97827398e-01 6.46519030e-02 1.26734296e-02 4.57105431e+02] [-6.46468086e-02 9.97907877e-01 -8.11661680e-04 -5.45480916e+00] [-1.26993907e-02 -9.39851752e-06 9.99919359e-01 1.64051945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.13, Y:-5.46, Z:1.64 [[ 9.97954881e-01 6.27471141e-02 1.22006179e-02 4.57131341e+02] [-6.26957064e-02 9.98022310e-01 -4.55169816e-03 -5.45852336e+00] [-1.24620948e-02 3.77746304e-03 9.99915210e-01 1.64122609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.16, Y:-5.47, Z:1.64 [[ 9.98099834e-01 6.00343503e-02 1.38779860e-02 4.57161046e+02] [-6.00797817e-02 9.98189424e-01 2.87985473e-03 -5.46646071e+00] [-1.36799687e-02 -3.70816889e-03 9.99899549e-01 1.63942436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.19, Y:-5.47, Z:1.64 [[ 9.98387471e-01 5.49915737e-02 1.40848860e-02 4.57188601e+02] [-5.49843749e-02 9.98486811e-01 -8.98130455e-04 -5.47072762e+00] [-1.41129626e-02 1.22233540e-04 9.99900400e-01 1.64018567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.22, Y:-5.47, Z:1.64 [[ 9.98534010e-01 5.21054230e-02 1.46579627e-02 4.57217695e+02] [-5.20973388e-02 9.98641576e-01 -9.33084024e-04 -5.47496061e+00] [-1.46866697e-02 1.68075283e-04 9.99892131e-01 1.63941860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.25, Y:-5.48, Z:1.64 [[ 9.98701426e-01 4.88343456e-02 1.45144428e-02 4.57246404e+02] [-4.88260884e-02 9.98806869e-01 -9.22923582e-04 -5.47913376e+00] [-1.45421955e-02 2.13041631e-04 9.99894234e-01 1.63900344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.27, Y:-5.48, Z:1.64 [[ 9.98852808e-01 4.56420961e-02 1.44867633e-02 4.57274165e+02] [-4.56335487e-02 9.98957823e-01 -9.20199795e-04 -5.48327933e+00] [-1.45136653e-02 2.58061733e-04 9.99894638e-01 1.63847116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.30, Y:-5.49, Z:1.64 [[ 9.99098136e-01 4.01876953e-02 1.37063478e-02 4.57302832e+02] [-4.01795475e-02 9.99192098e-01 -8.69414421e-04 -5.48896946e+00] [-1.37302141e-02 3.17915475e-04 9.99905686e-01 1.63794458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.33, Y:-5.49, Z:1.64 [[ 9.99176770e-01 3.82612693e-02 1.34854694e-02 4.57331931e+02] [-3.82532218e-02 9.99267712e-01 -8.54286730e-04 -5.49251319e+00] [-1.35082802e-02 3.37720805e-04 9.99908702e-01 1.63734287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.36, Y:-5.50, Z:1.64 [[ 9.99237640e-01 3.69306905e-02 1.26594800e-02 4.57361231e+02] [-3.69234973e-02 9.99317774e-01 -8.01543791e-04 -5.49586847e+00] [-1.26804449e-02 3.33500452e-04 9.99919544e-01 1.63719275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.39, Y:-5.50, Z:1.64 [[ 9.99283087e-01 3.58993402e-02 1.20228612e-02 4.57390386e+02] [-3.58927825e-02 9.99355357e-01 -7.60835749e-04 -5.49908427e+00] [-1.20424242e-02 3.28756354e-04 9.99927433e-01 1.63682273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.42, Y:-5.50, Z:1.64 [[ 9.99294335e-01 3.58533680e-02 1.11967930e-02 4.57419150e+02] [-3.58476802e-02 9.99357014e-01 -7.08332422e-04 -5.50363465e+00] [-1.12149897e-02 3.06453522e-04 9.99937063e-01 1.63701967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.45, Y:-5.51, Z:1.64 [[ 9.99284151e-01 3.61058519e-02 1.12939049e-02 4.57449149e+02] [-3.61000895e-02 9.99347924e-01 -7.13729003e-04 -5.50645716e+00] [-1.13123102e-02 3.05507104e-04 9.99935967e-01 1.63673318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.48, Y:-5.51, Z:1.64 [[ 9.99284789e-01 3.60881804e-02 1.12939382e-02 4.57479248e+02] [-3.60824229e-02 9.99348563e-01 -7.13200561e-04 -5.50832647e+00] [-1.13123191e-02 3.05177816e-04 9.99935967e-01 1.63617165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.51, Y:-5.51, Z:1.64 [[ 9.99266443e-01 3.65472340e-02 1.14400922e-02 4.57508806e+02] [-3.65413574e-02 9.99331881e-01 -7.22354400e-04 -5.51103167e+00] [-1.14588489e-02 3.03788014e-04 9.99934299e-01 1.63622820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.54, Y:-5.51, Z:1.64 [[ 9.99218825e-01 3.78817778e-02 1.12566117e-02 4.57537371e+02] [-3.78761759e-02 9.99282188e-01 -7.10501221e-04 -5.51415470e+00] [-1.12754466e-02 2.83588790e-04 9.99936390e-01 1.63621611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.57, Y:-5.52, Z:1.64 [[ 9.99196902e-01 3.86441740e-02 1.05914346e-02 4.57566541e+02] [-3.86392645e-02 9.99253002e-01 -6.67850651e-04 -5.51653839e+00] [-1.06093313e-02 2.58069060e-04 9.99943686e-01 1.63605328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.60, Y:-5.52, Z:1.64 [[ 9.99176175e-01 3.91705401e-02 1.06131928e-02 4.57595752e+02] [-3.91656408e-02 9.99232508e-01 -6.69150973e-04 -5.51896216e+00] [-1.06312582e-02 2.52927214e-04 9.99943455e-01 1.63527453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.62, Y:-5.52, Z:1.64 [[ 9.99158081e-01 4.02696391e-02 7.84125255e-03 4.57624772e+02] [-4.02103942e-02 9.99162543e-01 -7.57209496e-03 -5.51800189e+00] [-8.13961137e-03 7.25042001e-03 9.99940587e-01 1.63588442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.65, Y:-5.53, Z:1.63 [[ 9.99151518e-01 3.99945542e-02 9.83259740e-03 4.57653593e+02] [-4.00588767e-02 9.99176605e-01 6.43417536e-03 -5.52823150e+00] [-9.56716931e-03 -6.82259889e-03 9.99930958e-01 1.63291901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.68, Y:-5.53, Z:1.63 [[ 9.99151923e-01 4.01518851e-02 9.12471745e-03 4.57681856e+02] [-4.01483004e-02 9.99193566e-01 -5.75767057e-04 -5.52744970e+00] [-9.14047710e-03 2.08936865e-04 9.99958203e-01 1.63391567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.71, Y:-5.53, Z:1.63 [[ 9.99167360e-01 3.98356818e-02 8.81501131e-03 4.57711040e+02] [-3.98323318e-02 9.99206223e-01 -5.55344208e-04 -5.52983604e+00] [-8.83013668e-03 2.03759351e-04 9.99960993e-01 1.63337344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.74, Y:-5.53, Z:1.63 [[ 9.99181572e-01 3.94751958e-02 8.82581544e-03 4.57739352e+02] [-3.94718289e-02 9.99220529e-01 -5.55413998e-04 -5.53193506e+00] [-8.84086105e-03 2.06588355e-04 9.99960897e-01 1.63311941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.77, Y:-5.53, Z:1.63 [[ 9.99217287e-01 3.85473294e-02 8.88355271e-03 4.57767192e+02] [-3.85438860e-02 9.99256752e-01 -5.58557400e-04 -5.53466783e+00] [-8.89848093e-03 2.15713567e-04 9.99960384e-01 1.63312395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.80, Y:-5.54, Z:1.63 [[ 9.99244738e-01 3.78345416e-02 8.86010206e-03 4.57796188e+02] [-3.78310970e-02 9.99283993e-01 -5.56109939e-04 -5.53723338e+00] [-8.87479833e-03 2.20502550e-04 9.99960594e-01 1.63315491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.82, Y:-5.54, Z:1.63 [[ 9.99268587e-01 3.73818279e-02 8.05537733e-03 4.57824034e+02] [-3.73450537e-02 9.99291526e-01 -4.66828261e-03 -5.53773031e+00] [-8.22417924e-03 4.36403967e-03 9.99956658e-01 1.63303882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.85, Y:-5.54, Z:1.63 [[ 9.99312386e-01 3.61107876e-02 8.41223145e-03 4.57852665e+02] [-3.60947519e-02 9.99346269e-01 -2.05036864e-03 -5.54160205e+00] [-8.48077254e-03 1.74532137e-03 9.99962514e-01 1.63200494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.88, Y:-5.55, Z:1.63 [[ 9.99335020e-01 3.49188414e-02 1.04972133e-02 4.57880758e+02] [-3.49723697e-02 9.99375973e-01 4.95966993e-03 -5.54781068e+00] [-1.03174768e-02 -5.32348427e-03 9.99932603e-01 1.63057124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.91, Y:-5.55, Z:1.63 [[ 9.99416454e-01 3.24242596e-02 1.07433267e-02 4.57909969e+02] [-3.24189157e-02 9.99474143e-01 -6.71240140e-04 -5.54849369e+00] [-1.07594417e-02 3.22561439e-04 9.99942064e-01 1.63110002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.94, Y:-5.55, Z:1.63 [[ 9.99443552e-01 3.14686892e-02 1.10592928e-02 4.57939182e+02] [-3.14629723e-02 9.99504680e-01 -6.90577259e-04 -5.55104462e+00] [-1.10755465e-02 3.42234765e-04 9.99938606e-01 1.63030058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.97, Y:-5.55, Z:1.63 [[ 9.99474997e-01 3.06641245e-02 1.04614328e-02 4.57968479e+02] [-3.06589686e-02 9.99529690e-01 -6.52904260e-04 -5.55313440e+00] [-1.04765334e-02 3.31824744e-04 9.99945065e-01 1.63007147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.00, Y:-5.56, Z:1.63 [[ 9.99451345e-01 3.15865585e-02 9.96485469e-03 4.57998252e+02] [-3.15819311e-02 9.99500973e-01 -6.21433519e-04 -5.55560519e+00] [-9.97951090e-03 3.06383212e-04 9.99950157e-01 1.62931407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.03, Y:-5.56, Z:1.63 [[ 9.99398294e-01 3.32397353e-02 9.90809505e-03 4.58027990e+02] [-3.32352417e-02 9.99447366e-01 -6.17878034e-04 -5.55794768e+00] [-9.92315760e-03 2.88208319e-04 9.99950723e-01 1.62864527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.06, Y:-5.56, Z:1.63 [[ 9.99324145e-01 3.53730726e-02 9.99994006e-03 4.58057310e+02] [-3.53686058e-02 9.99374141e-01 -6.23234921e-04 -5.56003919e+00] [-1.00157272e-02 2.69129767e-04 9.99949805e-01 1.62847764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.09, Y:-5.56, Z:1.63 [[ 9.99222900e-01 3.80123464e-02 1.04239422e-02 4.58086278e+02] [-3.80076373e-02 9.99277238e-01 -6.49553718e-04 -5.56172720e+00] [-1.04410993e-02 2.52859534e-04 9.99945458e-01 1.62832312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.11, Y:-5.56, Z:1.63 [[ 9.98953030e-01 4.41375549e-02 1.20300065e-02 4.58114158e+02] [-4.41317386e-02 9.99025440e-01 -7.48649718e-04 -5.56271220e+00] [-1.20513261e-02 2.16960800e-04 9.99927357e-01 1.62910318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.14, Y:-5.56, Z:1.63 [[ 9.98817522e-01 4.68254162e-02 1.30742958e-02 4.58143147e+02] [-4.68187952e-02 9.98903069e-01 -8.12191807e-04 -5.56415873e+00] [-1.30979854e-02 1.99108630e-04 9.99914198e-01 1.62929514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.17, Y:-5.57, Z:1.63 [[ 9.98702678e-01 4.93301461e-02 1.26292043e-02 4.58172283e+02] [-4.93241794e-02 9.98782514e-01 -7.83680888e-04 -5.56573617e+00] [-1.26524875e-02 1.59739065e-04 9.99919941e-01 1.62890371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.20, Y:-5.57, Z:1.63 [[ 9.98622754e-01 5.11901877e-02 1.14960618e-02 4.58201371e+02] [-5.11853752e-02 9.98688915e-01 -7.12654088e-04 -5.56769250e+00] [-1.15174704e-02 1.23242350e-04 9.99933664e-01 1.62785553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.23, Y:-5.57, Z:1.63 [[ 9.98501556e-01 5.37959369e-02 1.00319807e-02 4.58230171e+02] [-5.37924091e-02 9.98551947e-01 -6.21348386e-04 -5.57016754e+00] [-1.00508799e-02 8.07729189e-05 9.99949485e-01 1.62641903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.26, Y:-5.57, Z:1.63 [[ 9.98488635e-01 5.40111347e-02 1.01608627e-02 4.58258222e+02] [-5.40075329e-02 9.98540330e-01 -6.28733596e-04 -5.57255306e+00] [-1.01799898e-02 7.90202261e-05 9.99948179e-01 1.62582747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.29, Y:-5.58, Z:1.63 [[ 9.98505572e-01 5.37399713e-02 9.93164321e-03 4.58286725e+02] [-5.37365271e-02 9.98554961e-01 -6.13506557e-04 -5.57512910e+00] [-9.95026142e-03 7.88977010e-05 9.99950492e-01 1.62571450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.31, Y:-5.58, Z:1.63 [[ 9.98636169e-01 5.11973468e-02 1.02290184e-02 4.58314725e+02] [-5.11935663e-02 9.98688550e-01 -6.31252071e-04 -5.57876864e+00] [-1.02479220e-02 1.06731220e-04 9.99947483e-01 1.62531136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.34, Y:-5.58, Z:1.62 [[ 9.98756074e-01 4.88035934e-02 1.02232398e-02 4.58343804e+02] [-4.87997025e-02 9.98808386e-01 -6.29853637e-04 -5.58166375e+00] [-1.02417968e-02 1.30179084e-04 9.99947543e-01 1.62487852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.37, Y:-5.58, Z:1.62 [[ 9.98879444e-01 4.60688965e-02 1.08403696e-02 4.58371272e+02] [-4.60643683e-02 9.98938251e-01 -6.67164965e-04 -5.58478186e+00] [-1.08595954e-02 1.67062594e-04 9.99941019e-01 1.62430936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.40, Y:-5.59, Z:1.62 [[ 9.99027383e-01 4.27559516e-02 1.07803845e-02 4.58399664e+02] [-4.27512919e-02 9.99085526e-01 -6.62414424e-04 -5.58779628e+00] [-1.07988483e-02 2.00894783e-04 9.99941671e-01 1.62433335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.43, Y:-5.59, Z:1.62 [[ 9.99314658e-01 3.52735182e-02 1.12246745e-02 4.58428750e+02] [-3.52680069e-02 9.99377653e-01 -6.88624806e-04 -5.59193566e+00] [-1.12419791e-02 2.92280964e-04 9.99936764e-01 1.62429428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.46, Y:-5.59, Z:1.62 [[ 9.99432393e-01 3.14897067e-02 1.19704020e-02 4.58458424e+02] [-3.14831732e-02 9.99504013e-01 -7.33906524e-04 -5.59480576e+00] [-1.19875754e-02 3.56623713e-04 9.99928083e-01 1.62398898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.49, Y:-5.60, Z:1.62 [[ 9.99538988e-01 2.76853531e-02 1.24632564e-02 4.58488357e+02] [-2.76779848e-02 9.99616600e-01 -7.63330045e-04 -5.59790570e+00] [-1.24796111e-02 4.18020319e-04 9.99922039e-01 1.62360202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.52, Y:-5.60, Z:1.62 [[ 9.99670399e-01 2.17215971e-02 1.36844913e-02 4.58519799e+02] [-2.17121533e-02 9.99763912e-01 -8.38315425e-04 -5.60279956e+00] [-1.36994702e-02 5.40919341e-04 9.99906012e-01 1.62242396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.55, Y:-5.61, Z:1.62 [[ 9.99727344e-01 1.89597241e-02 1.36296409e-02 4.58552641e+02] [-1.89501095e-02 9.99820083e-01 -8.34234578e-04 -5.60566583e+00] [-1.36430055e-02 5.75723932e-04 9.99906764e-01 1.62161789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.59, Y:-5.61, Z:1.62 [[ 9.99776987e-01 1.64665423e-02 1.32223271e-02 4.58585561e+02] [-1.64572280e-02 9.99864240e-01 -8.12937292e-04 -5.60818175e+00] [-1.32339183e-02 5.95153145e-04 9.99912251e-01 1.62087223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.62, Y:-5.61, Z:1.62 [[ 9.99815180e-01 1.41521693e-02 1.30124140e-02 4.58618093e+02] [-1.41429056e-02 9.99899661e-01 -8.03664563e-04 -5.61031857e+00] [-1.30224820e-02 6.19482686e-04 9.99915012e-01 1.62008834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.65, Y:-5.61, Z:1.62 [[ 9.99854582e-01 1.16494664e-02 1.24541219e-02 4.58650791e+02] [-1.16407456e-02 9.99931946e-01 -7.72496600e-04 -5.61210644e+00] [-1.24622735e-02 6.27409000e-04 9.99922146e-01 1.61979091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.68, Y:-5.61, Z:1.62 [[ 9.99871859e-01 9.49374617e-03 1.28892911e-02 4.58683955e+02] [-9.48417819e-03 9.99954702e-01 -8.03243591e-04 -5.61393834e+00] [-1.28963330e-02 6.80896329e-04 9.99916607e-01 1.61902242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.72, Y:-5.62, Z:1.62 [[ 9.99904943e-01 4.78995585e-03 1.29290726e-02 4.58716094e+02] [-4.77988627e-03 9.99988249e-01 -8.09621404e-04 -5.61539578e+00] [-1.29327987e-02 7.47744947e-04 9.99916088e-01 1.61853190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.75, Y:-5.62, Z:1.62 [[ 9.99902721e-01 2.89903942e-03 1.36434419e-02 4.58749049e+02] [-2.88759691e-03 9.99995463e-01 -8.58306389e-04 -5.61721017e+00] [-1.36458682e-02 8.18826133e-04 9.99906556e-01 1.61803487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.78, Y:-5.62, Z:1.62 [[ 9.99897692e-01 1.14008821e-03 1.42585503e-02 4.58781990e+02] [-1.12735357e-03 9.99998959e-01 -9.01128536e-04 -5.61856732e+00] [-1.42595628e-02 8.84961916e-04 9.99897936e-01 1.61694990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.81, Y:-5.62, Z:1.62 [[ 9.99899205e-01 -3.12100462e-04 1.41944321e-02 4.58814879e+02] [ 3.24925199e-04 9.99999541e-01 -9.01207533e-04 -5.61930516e+00] [-1.41941443e-02 9.05728825e-04 9.99898848e-01 1.61633971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.85, Y:-5.62, Z:1.62 [[ 9.99894936e-01 -2.14286357e-03 1.43361377e-02 4.58848103e+02] [ 2.15619422e-03 9.99997257e-01 -9.14471391e-04 -5.61770624e+00] [-1.43341388e-02 9.45286810e-04 9.99896814e-01 1.61541295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.88, Y:-5.62, Z:1.61 [[ 9.99901846e-01 -2.64889770e-03 1.37580037e-02 4.58881125e+02] [ 2.66128773e-03 9.99996070e-01 -8.82339332e-04 -5.61790165e+00] [-1.37556124e-02 9.18866733e-04 9.99904965e-01 1.61495278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.91, Y:-5.62, Z:1.61 [[ 9.99896906e-01 -2.76859231e-03 1.40894290e-02 4.58913771e+02] [ 2.78162126e-03 9.99995722e-01 -9.05219271e-04 -5.61800933e+00] [-1.40868625e-02 9.44317404e-04 9.99900329e-01 1.61384130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.95, Y:-5.62, Z:1.61 [[ 9.99901761e-01 -2.21137835e-03 1.38411860e-02 4.58946603e+02] [ 2.22391992e-03 9.99997130e-01 -8.90779287e-04 -5.61575498e+00] [-1.38391764e-02 9.21473467e-04 9.99903809e-01 1.61319007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.98, Y:-5.62, Z:1.61 [[ 9.99900660e-01 -1.46418036e-03 1.40188061e-02 4.58979559e+02] [ 1.47699504e-03 9.99998501e-01 -9.03796596e-04 -5.61558780e+00] [-1.40174618e-02 9.24412520e-04 9.99901323e-01 1.61202367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.01, Y:-5.62, Z:1.61 [[ 9.99914943e-01 -8.62191524e-05 1.30421864e-02 4.59011543e+02] [ 9.72121960e-05 9.99999641e-01 -8.42251877e-04 -5.61504221e+00] [-1.30421091e-02 8.43448098e-04 9.99914592e-01 1.61177117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.05, Y:-5.61, Z:1.61 [[ 9.99903849e-01 3.15975397e-03 1.35021644e-02 4.59045039e+02] [-3.14825002e-03 9.99994663e-01 -8.73178712e-04 -5.61021568e+00] [-1.35048513e-02 8.30586566e-04 9.99908460e-01 1.61159358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.80509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.08, Y:-5.61, Z:1.61 [[ 9.99892052e-01 5.29620588e-03 1.37052392e-02 4.59078385e+02] [-5.28453215e-03 9.99985643e-01 -8.87846012e-04 -5.60882242e+00] [-1.37097447e-02 8.15324394e-04 9.99905685e-01 1.61117631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.11, Y:-5.60, Z:1.61 [[ 9.99836474e-01 1.01306615e-02 1.49798122e-02 4.59110267e+02] [-1.01172275e-02 9.99948347e-01 -9.72318474e-04 -5.60468463e+00] [-1.49888886e-02 8.20605307e-04 9.99887324e-01 1.61095734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.14, Y:-5.60, Z:1.61 [[ 9.99796739e-01 1.30409755e-02 1.53757206e-02 4.59143478e+02] [-1.30271436e-02 9.99914644e-01 -9.99410532e-04 -5.60386545e+00] [-1.53874414e-02 7.98905671e-04 9.99881287e-01 1.61031355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.18, Y:-5.60, Z:1.61 [[ 9.99707414e-01 1.81961706e-02 1.59369620e-02 4.59175699e+02] [-1.81819344e-02 9.99834156e-01 -1.03772953e-03 -5.60021178e+00] [-1.59532016e-02 7.47661110e-04 9.99872460e-01 1.60893522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.21, Y:-5.60, Z:1.61 [[ 9.99603828e-01 2.34049639e-02 1.56331176e-02 4.59208930e+02] [-2.33918883e-02 9.99725853e-01 -1.01876055e-03 -5.59621092e+00] [-1.56526759e-02 6.52668810e-04 9.99877276e-01 1.60809765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.24, Y:-5.60, Z:1.61 [[ 9.99544531e-01 2.56254201e-02 1.59395485e-02 4.59240885e+02] [-2.56120304e-02 9.99671413e-01 -1.04363439e-03 -5.59540621e+00] [-1.59610545e-02 6.34914843e-04 9.99872413e-01 1.60710815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.27, Y:-5.59, Z:1.61 [[ 9.99492616e-01 2.75183340e-02 1.60390773e-02 4.59273641e+02] [-2.75049771e-02 9.99621112e-01 -1.05281281e-03 -5.59480269e+00] [-1.60619719e-02 6.11124179e-04 9.99870811e-01 1.60612842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.31, Y:-5.60, Z:1.61 [[ 9.99491116e-01 2.75729341e-02 1.60387763e-02 4.59305413e+02] [-2.75595111e-02 9.99619605e-01 -1.05737742e-03 -5.59692118e+00] [-1.60618302e-02 6.14818507e-04 9.99870811e-01 1.60554086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.34, Y:-5.60, Z:1.60 [[ 9.99436112e-01 2.91790735e-02 1.66144337e-02 4.59336721e+02] [-2.91648748e-02 9.99574013e-01 -1.09630857e-03 -5.59677934e+00] [-1.66393455e-02 6.11132500e-04 9.99861370e-01 1.60476820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.37, Y:-5.60, Z:1.60 [[ 9.99388493e-01 3.06070503e-02 1.69070505e-02 4.59368037e+02] [-3.05925404e-02 9.99531315e-01 -1.11624426e-03 -5.59695968e+00] [-1.69332914e-02 5.98332043e-04 9.99856443e-01 1.60379198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.40, Y:-5.60, Z:1.60 [[ 9.99271730e-01 3.32245664e-02 1.87653320e-02 4.59399638e+02] [-3.32071378e-02 9.99447722e-01 -1.23968597e-03 -5.59531063e+00] [-1.87961563e-02 6.15640179e-04 9.99823147e-01 1.60250169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.43, Y:-5.60, Z:1.60 [[ 9.99213388e-01 3.48885500e-02 1.88518929e-02 4.59430626e+02] [-3.48712416e-02 9.99391036e-01 -1.24617205e-03 -5.59538042e+00] [-1.88838899e-02 5.87802883e-04 9.99821511e-01 1.60167566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.46, Y:-5.60, Z:1.60 [[ 9.99212790e-01 3.49058219e-02 1.88516079e-02 4.59461558e+02] [-3.48884356e-02 9.99390431e-01 -1.25046908e-03 -5.59742871e+00] [-1.88837652e-02 5.91781595e-04 9.99821511e-01 1.60110363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.49, Y:-5.60, Z:1.60 [[ 9.99149161e-01 3.66268679e-02 1.89585609e-02 4.59492913e+02] [-3.66095867e-02 9.99328853e-01 -1.25790278e-03 -5.59727273e+00] [-1.89919100e-02 5.62767427e-04 9.99819479e-01 1.60014511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.52, Y:-5.60, Z:1.60 [[ 9.99092010e-01 3.81779907e-02 1.89102334e-02 4.59523640e+02] [-3.81610625e-02 9.99270813e-01 -1.25536064e-03 -5.59686048e+00] [-1.89443714e-02 5.32586186e-04 9.99820397e-01 1.59930156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.55, Y:-5.60, Z:1.60 [[ 9.98929700e-01 4.21732309e-02 1.89966671e-02 4.59553869e+02] [-4.21568693e-02 9.99110208e-01 -1.26109856e-03 -5.59517681e+00] [-1.90329486e-02 4.58908798e-04 9.99818752e-01 1.59792281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.58, Y:-5.60, Z:1.60 [[ 9.98845366e-01 4.39293982e-02 1.94458969e-02 4.59582296e+02] [-4.39125872e-02 9.99034543e-01 -1.29086637e-03 -5.59556650e+00] [-1.94838297e-02 4.35456247e-04 9.99810077e-01 1.59716715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.61, Y:-5.60, Z:1.60 [[ 9.98749027e-01 4.59002232e-02 1.98381222e-02 4.59611270e+02] [-4.58831373e-02 9.98945948e-01 -1.31581274e-03 -5.59637936e+00] [-1.98776079e-02 4.03931404e-04 9.99802339e-01 1.59604311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.64, Y:-5.60, Z:1.59 [[ 9.98566747e-01 4.93568748e-02 2.06966352e-02 4.59640793e+02] [-4.93390421e-02 9.98781146e-01 -1.37168269e-03 -5.59633507e+00] [-2.07391110e-02 3.48564567e-04 9.99784861e-01 1.59486514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.67, Y:-5.60, Z:1.59 [[ 9.98488819e-01 5.08170997e-02 2.09212905e-02 4.59669842e+02] [-5.07992146e-02 9.98707925e-01 -1.38578239e-03 -5.59725932e+00] [-2.09646801e-02 3.20903092e-04 9.99780165e-01 1.59412937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.70, Y:-5.60, Z:1.59 [[ 9.98417910e-01 5.20156564e-02 2.13553095e-02 4.59698287e+02] [-5.19973212e-02 9.98646224e-01 -1.41332824e-03 -5.59798247e+00] [-2.13999144e-02 3.00673338e-04 9.99770950e-01 1.59337379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.73, Y:-5.60, Z:1.59 [[ 9.98359297e-01 5.27120510e-02 2.23640976e-02 4.59726675e+02] [-5.26921552e-02 9.98609709e-01 -1.47839221e-03 -5.59889368e+00] [-2.24109341e-02 2.97554106e-04 9.99748799e-01 1.59267804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.76, Y:-5.60, Z:1.59 [[ 9.98332370e-01 5.30522885e-02 2.27581631e-02 4.59755589e+02] [-5.30318103e-02 9.98591693e-01 -1.50283635e-03 -5.59999727e+00] [-2.28058415e-02 2.93423590e-04 9.99739870e-01 1.59142478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.78, Y:-5.60, Z:1.59 [[ 9.98357879e-01 5.27172120e-02 2.24152136e-02 4.59784625e+02] [-5.26972906e-02 9.98609437e-01 -1.47891551e-03 -5.60216271e+00] [-2.24620082e-02 2.95265925e-04 9.99747654e-01 1.59074093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.81, Y:-5.60, Z:1.59 [[ 9.98387029e-01 5.19842930e-02 2.28248465e-02 4.59813029e+02] [-5.19634837e-02 9.98647853e-01 -1.50425994e-03 -5.60437611e+00] [-2.28721818e-02 3.15775071e-04 9.99738348e-01 1.58960274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.55509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.84, Y:-5.61, Z:1.59 [[ 9.98507525e-01 4.96288310e-02 2.27969720e-02 4.59841679e+02] [-4.96074953e-02 9.98767663e-01 -1.50082111e-03 -5.60700591e+00] [-2.28433625e-02 3.67680487e-04 9.99738989e-01 1.58791329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.87, Y:-5.61, Z:1.59 [[ 9.98578067e-01 4.82808810e-02 2.26008778e-02 4.59871542e+02] [-4.82595920e-02 9.98833721e-01 -1.48675441e-03 -5.60947928e+00] [-2.26463007e-02 3.93931206e-04 9.99743462e-01 1.58711934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.90, Y:-5.61, Z:1.59 [[ 9.98648122e-01 4.66637078e-02 2.29003762e-02 4.59901201e+02] [-4.66414449e-02 9.98910561e-01 -1.50561518e-03 -5.61198139e+00] [-2.29456852e-02 4.35473132e-04 9.99736618e-01 1.58581900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.93, Y:-5.61, Z:1.58 [[ 9.98728148e-01 4.46701249e-02 2.33809015e-02 4.59930732e+02] [-4.46463918e-02 9.99001671e-01 -1.53634706e-03 -5.61459366e+00] [-2.34261885e-02 4.90520160e-04 9.99725449e-01 1.58459118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.96, Y:-5.62, Z:1.58 [[ 9.98927461e-01 4.01778267e-02 2.30145475e-02 4.59961368e+02] [-4.01536457e-02 9.99192373e-01 -1.51203116e-03 -5.61834236e+00] [-2.30567105e-02 5.86291465e-04 9.99733987e-01 1.58338232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.99, Y:-5.62, Z:1.58 [[ 9.99022735e-01 3.73609537e-02 2.36163883e-02 4.59992400e+02] [-3.73346600e-02 9.99301611e-01 -1.55345936e-03 -5.62151045e+00] [-2.36579336e-02 6.70231392e-04 9.99719887e-01 1.58200034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.02, Y:-5.62, Z:1.58 [[ 9.99115713e-01 3.48487003e-02 2.35236003e-02 4.60024649e+02] [-3.48218804e-02 9.99392334e-01 -1.54891467e-03 -5.62476950e+00] [-2.35632835e-02 7.28408987e-04 9.99722082e-01 1.58086851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.06, Y:-5.63, Z:1.58 [[ 9.99188925e-01 3.24104726e-02 2.38967136e-02 4.60057381e+02] [-3.23819813e-02 9.99474320e-01 -1.57837042e-03 -5.62790580e+00] [-2.39353073e-02 8.03267312e-04 9.99713187e-01 1.57971165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.09, Y:-5.63, Z:1.58 [[ 9.99326089e-01 2.76450876e-02 2.41478095e-02 4.60089976e+02] [-2.76144362e-02 9.99617365e-01 -1.60193000e-03 -5.63130920e+00] [-2.41828552e-02 9.34022299e-04 9.99707116e-01 1.57857643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.12, Y:-5.63, Z:1.58 [[ 9.99382549e-01 2.57648792e-02 2.38891513e-02 4.60122206e+02] [-2.57341833e-02 9.99667554e-01 -1.59152223e-03 -5.63394752e+00] [-2.39222149e-02 9.75771750e-04 9.99713347e-01 1.57781970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.15, Y:-5.64, Z:1.58 [[ 9.99424364e-01 2.35265290e-02 2.44426326e-02 4.60154869e+02] [-2.34935578e-02 9.99722651e-01 -1.63524941e-03 -5.63625752e+00] [-2.44743252e-02 1.06006369e-03 9.99699897e-01 1.57710555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.19, Y:-5.64, Z:1.58 [[ 9.99542561e-01 1.89572929e-02 2.35645887e-02 4.60186947e+02] [-1.89252245e-02 9.99819648e-01 -1.58315898e-03 -5.63863991e+00] [-2.35903512e-02 1.13646965e-03 9.99721063e-01 1.57664325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.22, Y:-5.64, Z:1.58 [[ 9.99587450e-01 1.68545381e-02 2.32562630e-02 4.60219673e+02] [-1.68225864e-02 9.99857259e-01 -1.56886659e-03 -5.64089319e+00] [-2.32793860e-02 1.17698886e-03 9.99728306e-01 1.57597233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.25, Y:-5.64, Z:1.58 [[ 9.99624822e-01 1.53513657e-02 2.26837306e-02 4.60252052e+02] [-1.53204352e-02 9.99881454e-01 -1.53671975e-03 -5.64301714e+00] [-2.27046323e-02 1.18861858e-03 9.99741510e-01 1.57560129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.29, Y:-5.64, Z:1.58 [[ 9.99647415e-01 1.43429583e-02 2.23456055e-02 4.60285110e+02] [-1.43125551e-02 9.99896415e-01 -1.51993654e-03 -5.64492893e+00] [-2.23650913e-02 1.19957792e-03 9.99749150e-01 1.57506707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.32, Y:-5.65, Z:1.57 [[ 9.99675474e-01 1.30574853e-02 2.18734820e-02 4.60316735e+02] [-1.30279117e-02 9.99914017e-01 -1.49399409e-03 -5.64582788e+00] [-2.18911090e-02 1.20854346e-03 9.99759630e-01 1.57470658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.35, Y:-5.65, Z:1.57 [[ 9.99670979e-01 1.32232382e-02 2.19790909e-02 4.60350216e+02] [-1.31932859e-02 9.99911829e-01 -1.50721593e-03 -5.64745757e+00] [-2.19970833e-02 1.21674359e-03 9.99757294e-01 1.57432288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.38, Y:-5.65, Z:1.57 [[ 9.99676509e-01 1.36262090e-02 2.14756442e-02 4.60383100e+02] [-1.35975779e-02 9.99906455e-01 -1.47865865e-03 -5.64880678e+00] [-2.14937838e-02 1.18616357e-03 9.99768278e-01 1.57425973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.42, Y:-5.65, Z:1.57 [[ 9.99663315e-01 1.46095610e-02 2.14433632e-02 4.60415850e+02] [-1.45811094e-02 9.99892591e-01 -1.48258669e-03 -5.64996848e+00] [-2.14627199e-02 1.16941950e-03 9.99768965e-01 1.57362497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.45, Y:-5.65, Z:1.57 [[ 9.99642233e-01 1.69791517e-02 2.06667568e-02 4.60449163e+02] [-1.69531100e-02 9.99855256e-01 -1.43464207e-03 -5.64984563e+00] [-2.06881244e-02 1.08376301e-03 9.99785390e-01 1.57297727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.48, Y:-5.65, Z:1.57 [[ 9.99627626e-01 1.83994159e-02 2.01512110e-02 4.60480943e+02] [-1.83748309e-02 9.99830182e-01 -1.40451483e-03 -5.65071350e+00] [-2.01736312e-02 1.03371672e-03 9.99795957e-01 1.57248954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.51, Y:-5.65, Z:1.57 [[ 9.99600503e-01 1.98923627e-02 2.00780784e-02 4.60513572e+02] [-1.98681473e-02 9.99801622e-01 -1.40483778e-03 -5.65147610e+00] [-2.01020409e-02 1.00536233e-03 9.99797428e-01 1.57171422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.55, Y:-5.65, Z:1.57 [[ 9.99569594e-01 2.21262052e-02 1.92628754e-02 4.60546098e+02] [-2.21042257e-02 9.99754756e-01 -1.35322641e-03 -5.65011111e+00] [-1.92880931e-02 9.26853030e-04 9.99813538e-01 1.57153739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.58, Y:-5.65, Z:1.57 [[ 9.99544436e-01 2.35204430e-02 1.89132026e-02 4.60579326e+02] [-2.34994069e-02 9.99722961e-01 -1.33375273e-03 -5.65051337e+00] [-1.89393334e-02 8.88696076e-04 9.99820240e-01 1.57107408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.61, Y:-5.65, Z:1.57 [[ 9.99511889e-01 2.51631716e-02 1.85148199e-02 4.60611300e+02] [-2.51431952e-02 9.99683000e-01 -1.31097181e-03 -5.65106925e+00] [-1.85419390e-02 8.44810178e-04 9.99827727e-01 1.57045449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.30509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.64, Y:-5.65, Z:1.57 [[ 9.99479638e-01 2.67473258e-02 1.80286810e-02 4.60643950e+02] [-2.67285554e-02 9.99641907e-01 -1.28134364e-03 -5.65153748e+00] [-1.80564976e-02 7.98796279e-04 9.99836649e-01 1.57005338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.68, Y:-5.65, Z:1.57 [[ 9.99373131e-01 3.04546932e-02 1.80515176e-02 4.60676104e+02] [-3.04363949e-02 9.99535876e-01 -1.28760517e-03 -5.65051512e+00] [-1.80823530e-02 7.37374895e-04 9.99836229e-01 1.56928186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.71, Y:-5.65, Z:1.57 [[ 9.99303442e-01 3.27278185e-02 1.79310060e-02 4.60706229e+02] [-3.27100455e-02 9.99464059e-01 -1.28366058e-03 -5.65099205e+00] [-1.79634075e-02 6.96242415e-04 9.99838403e-01 1.56913732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.74, Y:-5.65, Z:1.57 [[ 9.99205980e-01 3.53094591e-02 1.84567524e-02 4.60737148e+02] [-3.52910618e-02 9.99376203e-01 -1.32164041e-03 -5.65133951e+00] [-1.84919055e-02 6.69232610e-04 9.99828786e-01 1.56873132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.77, Y:-5.65, Z:1.57 [[ 9.98975982e-01 4.12044564e-02 1.86863680e-02 4.60766602e+02] [-4.11866284e-02 9.99150575e-01 -1.33807347e-03 -5.64952542e+00] [-1.87256299e-02 5.67074760e-04 9.99824499e-01 1.56892610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.80, Y:-5.65, Z:1.57 [[ 9.98863234e-01 4.40099773e-02 1.83128654e-02 4.60795358e+02] [-4.39933378e-02 9.99030965e-01 -1.31068453e-03 -5.64936482e+00] [-1.83528028e-02 5.03550512e-04 9.99831446e-01 1.56848469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.82, Y:-5.65, Z:1.57 [[ 9.98746423e-01 4.67073734e-02 1.80000907e-02 4.60822972e+02] [-4.66917582e-02 9.98908516e-01 -1.28702121e-03 -5.64952823e+00] [-1.80405572e-02 4.44951950e-04 9.99837157e-01 1.56788950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.85, Y:-5.65, Z:1.57 [[ 9.98531621e-01 5.14429430e-02 1.69771975e-02 4.60851064e+02] [-5.14297605e-02 9.98675878e-01 -1.21245758e-03 -5.64819730e+00] [-1.70170900e-02 3.37544030e-04 9.99855142e-01 1.56708790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.88, Y:-5.65, Z:1.57 [[ 9.98450956e-01 5.32187848e-02 1.62311273e-02 4.60879316e+02] [-5.32069939e-02 9.98582834e-01 -1.15771448e-03 -5.64908067e+00] [-1.62697372e-02 2.92311643e-04 9.99867596e-01 1.56635552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.91, Y:-5.65, Z:1.57 [[ 9.98379716e-01 5.46148993e-02 1.59735642e-02 4.60906785e+02] [-5.46036850e-02 9.98507458e-01 -1.13767259e-03 -5.65007116e+00] [-1.60118569e-02 2.63613772e-04 9.99871767e-01 1.56551949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.93, Y:-5.65, Z:1.57 [[ 9.98336552e-01 5.55071704e-02 1.55911212e-02 4.60934660e+02] [-5.54966207e-02 9.98458259e-01 -1.10881967e-03 -5.65115805e+00] [-1.56286312e-02 2.41720661e-04 9.99877836e-01 1.56509548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.96, Y:-5.65, Z:1.56 [[ 9.98309821e-01 5.60259501e-02 1.54464910e-02 4.60962731e+02] [-5.60156824e-02 9.98429286e-01 -1.09691308e-03 -5.65221709e+00] [-1.54836846e-02 2.29813362e-04 9.99880094e-01 1.56473610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.99, Y:-5.65, Z:1.56 [[ 9.98287286e-01 5.63324946e-02 1.57843067e-02 4.60990367e+02] [-5.63218390e-02 9.98412038e-01 -1.11914581e-03 -5.65274303e+00] [-1.58222861e-02 2.28227849e-04 9.99874794e-01 1.56466846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.02, Y:-5.65, Z:1.56 [[ 9.98290761e-01 5.60987602e-02 1.63855162e-02 4.61018725e+02] [-5.60872698e-02 9.98425196e-01 -1.16031492e-03 -5.65412259e+00] [-1.64248045e-02 2.39312791e-04 9.99865075e-01 1.56415516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.05, Y:-5.66, Z:1.56 [[ 9.98328460e-01 5.54353630e-02 1.63464549e-02 4.61047036e+02] [-5.54238657e-02 9.98462247e-01 -1.15588216e-03 -5.65583862e+00] [-1.63853948e-02 2.47966333e-04 9.99865720e-01 1.56351008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.08, Y:-5.66, Z:1.56 [[ 9.98420542e-01 5.36165036e-02 1.67836610e-02 4.61076195e+02] [-5.36041592e-02 9.98561561e-01 -1.18483214e-03 -5.65801241e+00] [-1.68230453e-02 2.83286717e-04 9.99858442e-01 1.56231519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.10, Y:-5.66, Z:1.56 [[ 9.98483148e-01 5.24501652e-02 1.67446677e-02 4.61103944e+02] [-5.24377343e-02 9.98623497e-01 -1.18088289e-03 -5.66007643e+00] [-1.67835561e-02 3.01039235e-04 9.99859101e-01 1.56190282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.13, Y:-5.67, Z:1.56 [[ 9.98752086e-01 4.83212613e-02 1.26224955e-02 4.61127973e+02] [-4.86496534e-02 9.98446763e-01 2.71527833e-02 -5.67257380e+00] [-1.12908330e-02 -2.77329790e-02 9.99551599e-01 1.56233930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.16, Y:-5.65, Z:1.57 [[ 9.98633732e-01 4.98115413e-02 1.57948978e-02 4.61161170e+02] [-4.93348958e-02 9.98353806e-01 -2.92531551e-02 -5.65122929e+00] [-1.72260411e-02 2.84339479e-02 9.99447234e-01 1.56844284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.19, Y:-5.67, Z:1.56 [[ 9.98792999e-01 4.54942294e-02 1.85154140e-02 4.61189823e+02] [-4.54917405e-02 9.98964560e-01 -5.55803604e-04 -5.66839854e+00] [-1.85215282e-02 -2.87165660e-04 9.99828421e-01 1.55959884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.22, Y:-5.67, Z:1.56 [[ 9.98957366e-01 4.19954802e-02 1.79042154e-02 4.61216912e+02] [-4.19650853e-02 9.99116933e-01 -2.07014813e-03 -5.66951573e+00] [-1.79753417e-02 1.31663780e-03 9.99837564e-01 1.55945508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.25, Y:-5.67, Z:1.56 [[ 9.99083884e-01 3.88122188e-02 1.80278922e-02 4.61245445e+02] [-3.87956802e-02 9.99246362e-01 -1.26634573e-03 -5.67286154e+00] [-1.80634554e-02 5.65781264e-04 9.99836682e-01 1.55819725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.27, Y:-5.68, Z:1.56 [[ 9.99209476e-01 3.55938036e-02 1.77060361e-02 4.61274833e+02] [-3.55773684e-02 9.99366153e-01 -1.24245272e-03 -5.67602263e+00] [-1.77390368e-02 6.11536369e-04 9.99842464e-01 1.55727113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.30, Y:-5.68, Z:1.56 [[ 9.99415543e-01 2.92301556e-02 1.77248795e-02 4.61302843e+02] [-2.92126969e-02 9.99572445e-01 -1.24315532e-03 -5.68021288e+00] [-1.77536388e-02 7.24637211e-04 9.99842129e-01 1.55608268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.33, Y:-5.68, Z:1.56 [[ 9.99415030e-01 2.92476461e-02 1.77249505e-02 4.61333768e+02] [-2.92302080e-02 9.99571934e-01 -1.24214253e-03 -5.68237878e+00] [-1.77536928e-02 7.23311926e-04 9.99842129e-01 1.55550111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.05509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.36, Y:-5.69, Z:1.55 [[ 9.99504282e-01 2.62915285e-02 1.73189187e-02 4.61364671e+02] [-2.62744327e-02 9.99654030e-01 -1.21396091e-03 -5.68571781e+00] [-1.73448438e-02 7.58314364e-04 9.99849279e-01 1.55452129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.40, Y:-5.69, Z:1.55 [[ 9.99582955e-01 2.33999406e-02 1.69221349e-02 4.61396104e+02] [-2.33832016e-02 9.99725872e-01 -1.18638973e-03 -5.68886343e+00] [-1.69452575e-02 7.90201264e-04 9.99856107e-01 1.55359963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.43, Y:-5.69, Z:1.55 [[ 9.99638992e-01 2.09501981e-02 1.68218521e-02 4.61427969e+02] [-2.09332471e-02 9.99780176e-01 -1.18314692e-03 -5.69195213e+00] [-1.68429414e-02 8.30583809e-04 9.99857803e-01 1.55260929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.46, Y:-5.70, Z:1.55 [[ 9.99717340e-01 1.70862517e-02 1.65317984e-02 4.61460616e+02] [-1.70692858e-02 9.99853628e-01 -1.16682303e-03 -5.69521696e+00] [-1.65493153e-02 8.84307220e-04 9.99862660e-01 1.55128362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.49, Y:-5.70, Z:1.55 [[ 9.99736368e-01 1.58542234e-02 1.66084038e-02 4.61493236e+02] [-1.58368494e-02 9.99873896e-01 -1.17710437e-03 -5.69769404e+00] [-1.66249715e-02 9.13769259e-04 9.99861378e-01 1.55072548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.53, Y:-5.70, Z:1.55 [[ 9.99753311e-01 1.57215735e-02 1.56891481e-02 4.61525435e+02] [-1.56575301e-02 9.99868607e-01 -4.19654739e-03 -5.69868452e+00] [-1.57530629e-02 3.94985884e-03 9.99868111e-01 1.55076337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.56, Y:-5.70, Z:1.55 [[ 9.99750244e-01 1.37880980e-02 1.75880235e-02 4.61557705e+02] [-1.38232353e-02 9.99902691e-01 1.87778661e-03 -5.70319477e+00] [-1.75604210e-02 -2.12044101e-03 9.99843555e-01 1.54899001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.59, Y:-5.70, Z:1.55 [[ 9.99747813e-01 1.38623289e-02 1.76676558e-02 4.61590085e+02] [-1.38421328e-02 9.99903393e-01 -1.26489674e-03 -5.70378273e+00] [-1.76834834e-02 1.02001971e-03 9.99843115e-01 1.54897163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.62, Y:-5.71, Z:1.55 [[ 9.99750715e-01 1.38676647e-02 1.74984491e-02 4.61623294e+02] [-1.38477742e-02 9.99903324e-01 -1.25736180e-03 -5.70587117e+00] [-1.75141941e-02 1.01473378e-03 9.99846100e-01 1.54822171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.66, Y:-5.71, Z:1.55 [[ 9.99775299e-01 1.34423170e-02 1.63907147e-02 4.61656701e+02] [-1.34247383e-02 9.99909185e-01 -1.18204087e-03 -5.70698239e+00] [-1.64051155e-02 9.61734213e-04 9.99864965e-01 1.54736370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.69, Y:-5.71, Z:1.55 [[ 9.99788520e-01 1.32854022e-02 1.56975409e-02 4.61689381e+02] [-1.32691940e-02 9.99911315e-01 -1.13623784e-03 -5.70898078e+00] [-1.57112441e-02 9.27703836e-04 9.99876140e-01 1.54619328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.72, Y:-5.71, Z:1.55 [[ 9.99802381e-01 1.33613220e-02 1.47198332e-02 4.61722710e+02] [-1.33470225e-02 9.99910353e-01 -1.06926022e-03 -5.71126959e+00] [-1.47328004e-02 8.72582966e-04 9.99891086e-01 1.54504295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.76, Y:-5.71, Z:1.54 [[ 9.99814007e-01 1.34061173e-02 1.38645804e-02 4.61755624e+02] [-1.33933862e-02 9.99909794e-01 -1.01069744e-03 -5.71345552e+00] [-1.38768792e-02 8.24815779e-04 9.99903371e-01 1.54406058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.79, Y:-5.71, Z:1.54 [[ 9.99836783e-01 1.26756433e-02 1.28738460e-02 4.61788801e+02] [-1.26645536e-02 9.99919357e-01 -9.42578497e-04 -5.71412168e+00] [-1.28847556e-02 7.79383139e-04 9.99916684e-01 1.54300724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.82, Y:-5.72, Z:1.54 [[ 9.99812234e-01 1.44292479e-02 1.29342346e-02 4.61820495e+02] [-1.44181885e-02 9.99895603e-01 -9.47894562e-04 -5.71584374e+00] [-1.29465618e-02 7.61228346e-04 9.99915900e-01 1.54226082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.85, Y:-5.72, Z:1.54 [[ 9.99799004e-01 1.57556915e-02 1.23979832e-02 4.61853079e+02] [-1.57455850e-02 9.99875614e-01 -9.12370754e-04 -5.71676663e+00] [-1.24108161e-02 7.16973873e-04 9.99922726e-01 1.54211890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.89, Y:-5.72, Z:1.54 [[ 9.99769845e-01 1.74071980e-02 1.25397763e-02 4.61885719e+02] [-1.73969500e-02 9.99848233e-01 -9.25867354e-04 -5.71737298e+00] [-1.25539900e-02 7.07500400e-04 9.99920945e-01 1.54192288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.92, Y:-5.72, Z:1.54 [[ 9.99729975e-01 1.95911103e-02 1.24966050e-02 4.61917021e+02] [-1.95810490e-02 9.99807843e-01 -9.26980863e-04 -5.71728129e+00] [-1.25123643e-02 6.82033922e-04 9.99921485e-01 1.54183721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.95, Y:-5.71, Z:1.54 [[ 9.99592344e-01 2.52894224e-02 1.32510985e-02 4.61947549e+02] [-2.52786008e-02 9.99679961e-01 -9.83542960e-04 -5.71457520e+00] [-1.32717308e-02 6.48172784e-04 9.99911717e-01 1.54247288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.98, Y:-5.71, Z:1.54 [[ 9.99501184e-01 2.84988326e-02 1.36088038e-02 4.61977581e+02] [-2.84877087e-02 9.99593632e-01 -1.01059459e-03 -5.71450132e+00] [-1.36320744e-02 6.22406850e-04 9.99906885e-01 1.54193501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.01, Y:-5.71, Z:1.54 [[ 9.99399355e-01 3.15911329e-02 1.42453436e-02 4.62006079e+02] [-3.15792623e-02 9.99500691e-01 -1.05752222e-03 -5.71438791e+00] [-1.42716391e-02 6.07029585e-04 9.99897971e-01 1.54156357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.03, Y:-5.71, Z:1.54 [[ 9.99288399e-01 3.48829774e-02 1.43482706e-02 4.62034811e+02] [-3.48712880e-02 9.99391245e-01 -1.06415147e-03 -5.71452779e+00] [-1.43766568e-02 5.63051543e-04 9.99896492e-01 1.54133703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.06, Y:-5.71, Z:1.54 [[ 9.99165237e-01 3.80431232e-02 1.48845248e-02 4.62062759e+02] [-3.80309096e-02 9.99275955e-01 -1.10285178e-03 -5.71441175e+00] [-1.49157037e-02 5.35859147e-04 9.99888611e-01 1.54077157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.09, Y:-5.71, Z:1.54 [[ 9.98895014e-01 4.46559877e-02 1.46490048e-02 4.62091624e+02] [-4.46448878e-02 9.99002332e-01 -1.08403176e-03 -5.71242123e+00] [-1.46827985e-02 4.28830740e-04 9.99892110e-01 1.54002860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.12, Y:-5.71, Z:1.54 [[ 9.98768029e-01 4.75717826e-02 1.41191399e-02 4.62119659e+02] [-4.75617749e-02 9.98867753e-01 -1.04392884e-03 -5.71231978e+00] [-1.41528151e-02 3.71111395e-04 9.99899775e-01 1.53977597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.805099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.15, Y:-5.71, Z:1.54 [[ 9.98652548e-01 5.01093748e-02 1.34958861e-02 4.62147734e+02] [-5.01004769e-02 9.98743685e-01 -9.96807069e-04 -5.71217732e+00] [-1.35288804e-02 3.19313588e-04 9.99908430e-01 1.53912648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.18, Y:-5.71, Z:1.54 [[ 9.98511712e-01 5.29328324e-02 1.31330246e-02 4.62175742e+02] [-5.29246684e-02 9.98598038e-01 -9.68649422e-04 -5.71232196e+00] [-1.31658859e-02 2.72146823e-04 9.99913289e-01 1.53850604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.20, Y:-5.71, Z:1.54 [[ 9.98295206e-01 5.72274992e-02 1.14758820e-02 4.62203977e+02] [-5.72215603e-02 9.98361146e-01 -8.45463921e-04 -5.71095814e+00] [-1.15054585e-02 1.87354706e-04 9.99933792e-01 1.53813164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.23, Y:-5.71, Z:1.54 [[ 9.98187051e-01 5.91659135e-02 1.10456065e-02 4.62230983e+02] [-5.91605413e-02 9.98248150e-01 -8.12766066e-04 -5.71153012e+00] [-1.10743444e-02 1.57828500e-04 9.99938665e-01 1.53773857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.26, Y:-5.71, Z:1.54 [[ 9.98095412e-01 6.07257621e-02 1.08595913e-02 4.62258468e+02] [-6.07206778e-02 9.98154479e-01 -7.97586886e-04 -5.71217119e+00] [-1.08879838e-02 1.36666067e-04 9.99940715e-01 1.53725151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.29, Y:-5.71, Z:1.54 [[ 9.97928186e-01 6.34755521e-02 1.04971294e-02 4.62286141e+02] [-6.34709645e-02 9.97983389e-01 -7.69939154e-04 -5.71168125e+00] [-1.05248331e-02 1.02081058e-04 9.99944607e-01 1.53705642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.31, Y:-5.71, Z:1.54 [[ 9.97862582e-01 6.45609137e-02 1.01072688e-02 4.62313980e+02] [-6.45567266e-02 9.97913764e-01 -7.40317176e-04 -5.71261861e+00] [-1.01339782e-02 8.62426191e-05 9.99948646e-01 1.53695308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.34, Y:-5.71, Z:1.54 [[ 9.97802296e-01 6.54959878e-02 1.00426028e-02 4.62342420e+02] [-6.54919120e-02 9.97852830e-01 -7.34531770e-04 -5.71376834e+00] [-1.00691485e-02 7.52082274e-05 9.99949302e-01 1.53642750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.37, Y:-5.71, Z:1.54 [[ 9.97782468e-01 6.58423388e-02 9.74334341e-03 4.62369602e+02] [-6.58385271e-02 9.97830036e-01 -7.11791273e-04 -5.71473392e+00] [-9.76906671e-03 6.87254737e-05 9.99952279e-01 1.53631204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.40, Y:-5.72, Z:1.54 [[ 9.97807016e-01 6.55362975e-02 9.28186448e-03 4.62396066e+02] [-6.55328353e-02 9.97850184e-01 -6.76977931e-04 -5.71578700e+00] [-9.30627680e-03 6.72264327e-05 9.99956693e-01 1.53566289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.42, Y:-5.72, Z:1.53 [[ 9.97877306e-01 6.44787260e-02 9.13099897e-03 4.62424395e+02] [-6.44753423e-02 9.97919079e-01 -6.64757889e-04 -5.71764754e+00] [-9.15486082e-03 7.46225279e-05 9.99958091e-01 1.53474662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.45, Y:-5.72, Z:1.53 [[ 9.97981265e-01 6.29147243e-02 8.66789840e-03 4.62451861e+02] [-6.29116234e-02 9.98018903e-01 -6.30204628e-04 -5.71965768e+00] [-8.69037560e-03 8.36208514e-05 9.99962234e-01 1.53412538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.48, Y:-5.72, Z:1.53 [[ 9.98116642e-01 6.07566867e-02 8.47313285e-03 4.62479637e+02] [-6.07536534e-02 9.98152601e-01 -6.15162421e-04 -5.72137153e+00] [-8.49485483e-03 9.92300737e-05 9.99963913e-01 1.53396839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.51, Y:-5.72, Z:1.53 [[ 9.98445851e-01 5.48965227e-02 9.60491858e-03 4.62506665e+02] [-5.48923649e-02 9.98492035e-01 -6.96168630e-04 -5.72341012e+00] [-9.62865193e-03 1.67849984e-04 9.99953629e-01 1.53399402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.53, Y:-5.73, Z:1.53 [[ 9.98635650e-01 5.12890223e-02 9.81200716e-03 4.62534847e+02] [-5.12845235e-02 9.98683831e-01 -7.09716215e-04 -5.72594441e+00] [-9.83549355e-03 2.05543801e-04 9.99951609e-01 1.53376093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.56, Y:-5.73, Z:1.53 [[ 9.98833692e-01 4.71457002e-02 1.04181715e-02 4.62562250e+02] [-4.71404161e-02 9.98887989e-01 -7.52321141e-04 -5.72845956e+00] [-1.04420551e-02 2.60326762e-04 9.99945446e-01 1.53336868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.59, Y:-5.73, Z:1.53 [[ 9.99206858e-01 3.82915957e-02 1.09273882e-02 4.62589213e+02] [-3.82852627e-02 9.99266540e-01 -7.88226421e-04 -5.73163633e+00] [-1.09495558e-02 3.69243318e-04 9.99939984e-01 1.53285550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.62, Y:-5.73, Z:1.53 [[ 9.99369358e-01 3.37748285e-02 1.09611646e-02 4.62617776e+02] [-3.37682121e-02 9.99429381e-01 -7.88190406e-04 -5.73447498e+00] [-1.09815309e-02 4.17554411e-04 9.99939614e-01 1.53200336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.65, Y:-5.74, Z:1.53 [[ 9.99510579e-01 2.94676310e-02 1.05005084e-02 4.62645045e+02] [-2.94613274e-02 9.99565636e-01 -7.54526742e-04 -5.73730345e+00] [-1.05181815e-02 4.44798544e-04 9.99944583e-01 1.53108975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.67, Y:-5.74, Z:1.53 [[ 9.99622144e-01 2.53994204e-02 1.05089933e-02 4.62674122e+02] [-2.53928933e-02 9.99677264e-01 -7.54085236e-04 -5.74010778e+00] [-1.05247550e-02 4.86946553e-04 9.99944495e-01 1.53008375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.70, Y:-5.74, Z:1.53 [[ 9.99778952e-01 1.83032748e-02 1.03458715e-02 4.62702863e+02] [-1.82965766e-02 9.99832329e-01 -7.41721223e-04 -5.74314612e+00] [-1.03577127e-02 5.52263237e-04 9.99946205e-01 1.52875499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.73, Y:-5.75, Z:1.53 [[ 9.99827731e-01 1.55915384e-02 1.00703648e-02 4.62732370e+02] [-1.55850670e-02 9.99878286e-01 -7.20779418e-04 -5.74544874e+00] [-1.00803772e-02 5.63707939e-04 9.99949033e-01 1.52835906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.76, Y:-5.75, Z:1.53 [[ 9.99855853e-01 1.33527583e-02 1.04869660e-02 4.62762314e+02] [-1.33456289e-02 9.99910662e-01 -7.49520811e-04 -5.74729674e+00] [-1.04960373e-02 6.09457614e-04 9.99944729e-01 1.52789085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.79, Y:-5.75, Z:1.53 [[ 9.99878839e-01 1.16953484e-02 1.02725698e-02 4.62793689e+02] [-1.16884071e-02 9.99931418e-01 -7.35490932e-04 -5.74903168e+00] [-1.02804671e-02 6.15331842e-04 9.99946965e-01 1.52750755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.82, Y:-5.75, Z:1.53 [[ 9.99897473e-01 9.70032751e-03 1.05331169e-02 4.62824608e+02] [-9.69293224e-03 9.99952739e-01 -7.52920738e-04 -5.74979285e+00] [-1.05399227e-02 6.50746755e-04 9.99944242e-01 1.52716496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.555099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.86, Y:-5.75, Z:1.53 [[ 9.99900291e-01 9.17161043e-03 1.07372959e-02 4.62856751e+02] [-9.16386876e-03 9.99957714e-01 -7.69985861e-04 -5.75121726e+00] [-1.07439038e-02 6.71513917e-04 9.99942057e-01 1.52659430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.89, Y:-5.75, Z:1.53 [[ 9.99903426e-01 8.85147354e-03 1.07140376e-02 4.62888527e+02] [-8.84371931e-03 9.99960596e-01 -7.70906947e-04 -5.75263999e+00] [-1.07204391e-02 6.76080556e-04 9.99942306e-01 1.52601876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.92, Y:-5.75, Z:1.53 [[ 9.99905178e-01 8.55481959e-03 1.07912081e-02 4.62920240e+02] [-8.54689608e-03 9.99963170e-01 -7.80159978e-04 -5.75407196e+00] [-1.07974848e-02 6.87854667e-04 9.99941469e-01 1.52519585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.95, Y:-5.75, Z:1.52 [[ 9.99907260e-01 8.59883806e-03 1.05608447e-02 4.62953200e+02] [-8.59124205e-03 9.99962802e-01 -7.64418392e-04 -5.75463778e+00] [-1.05670249e-02 6.73616727e-04 9.99943941e-01 1.52404237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.99, Y:-5.76, Z:1.52 [[ 9.99904587e-01 9.13176876e-03 1.03646954e-02 4.62985609e+02] [-9.12444902e-03 9.99958088e-01 -7.53286927e-04 -5.75616446e+00] [-1.03711398e-02 6.58642919e-04 9.99946001e-01 1.52330914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.02, Y:-5.75, Z:1.52 [[ 9.99915854e-01 9.39095688e-03 8.94961081e-03 4.63015826e+02] [-9.36322878e-03 9.99951249e-01 -3.13512679e-03 -5.75469337e+00] [-8.97861635e-03 3.05106573e-03 9.99955037e-01 1.52237952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.05, Y:-5.76, Z:1.52 [[ 9.99902866e-01 1.04144577e-02 9.26270005e-03 4.63046876e+02] [-1.04322415e-02 9.99943827e-01 1.87369398e-03 -5.75796706e+00] [-9.24266624e-03 -1.97014270e-03 9.99955345e-01 1.52114608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.08, Y:-5.76, Z:1.52 [[ 9.99908812e-01 1.05905714e-02 8.37902588e-03 4.63078425e+02] [-1.05857881e-02 9.99943780e-01 -6.15016397e-04 -5.75758136e+00] [-8.38506819e-03 5.26261722e-04 9.99964706e-01 1.52127122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.11, Y:-5.76, Z:1.52 [[ 9.99912073e-01 1.07901227e-02 7.70841050e-03 4.63108988e+02] [-1.07860830e-02 9.99941669e-01 -5.65449122e-04 -5.75873712e+00] [-7.71406212e-03 4.82255849e-04 9.99970130e-01 1.52024103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.14, Y:-5.76, Z:1.52 [[ 9.99918638e-01 1.07364647e-02 6.88801695e-03 4.63139332e+02] [-1.07332277e-02 9.99942269e-01 -5.06737695e-04 -5.75988709e+00] [-6.89305987e-03 4.32765812e-04 9.99976149e-01 1.51927816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.17, Y:-5.76, Z:1.52 [[ 9.99923170e-01 1.05404544e-02 6.52321665e-03 4.63170177e+02] [-1.05375471e-02 9.99944363e-01 -4.79900064e-04 -5.76095383e+00] [-6.52791209e-03 4.11124490e-04 9.99978608e-01 1.51825268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.20, Y:-5.76, Z:1.52 [[ 9.99927531e-01 9.76514208e-03 7.04088192e-03 4.63200602e+02] [-9.76173585e-03 9.99952219e-01 -5.17983667e-04 -5.76050811e+00] [-7.04560368e-03 4.49214900e-04 9.99975079e-01 1.51769080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.23, Y:-5.76, Z:1.52 [[ 9.99921930e-01 9.92482709e-03 7.59158886e-03 4.63231280e+02] [-9.92087903e-03 9.99950631e-01 -5.57539898e-04 -5.76161421e+00] [-7.59674756e-03 4.82181136e-04 9.99971028e-01 1.51715987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.26, Y:-5.76, Z:1.52 [[ 9.99916526e-01 9.88894493e-03 8.31564524e-03 4.63262097e+02] [-9.88419188e-03 9.99950963e-01 -6.12483330e-04 -5.76254662e+00] [-8.32129428e-03 5.30238770e-04 9.99965237e-01 1.51690708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.29, Y:-5.76, Z:1.52 [[ 9.99916350e-01 9.90670577e-03 8.31565882e-03 4.63293014e+02] [-9.90195486e-03 9.99950787e-01 -6.12298980e-04 -5.76482206e+00] [-8.32131545e-03 5.29906483e-04 9.99965237e-01 1.51632592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.32, Y:-5.77, Z:1.52 [[ 9.99910114e-01 1.00115988e-02 8.91810375e-03 4.63323553e+02] [-1.00061371e-02 9.99949722e-01 -6.56843014e-04 -5.76542692e+00] [-8.92423141e-03 5.67548205e-04 9.99960017e-01 1.51629719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.35, Y:-5.76, Z:1.52 [[ 9.99901546e-01 1.05125974e-02 9.29427704e-03 4.63354661e+02] [-1.04616177e-02 9.99930057e-01 -5.51677181e-03 -5.76220236e+00] [-9.35162257e-03 5.41899549e-03 9.99941589e-01 1.51791865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.39, Y:-5.77, Z:1.51 [[ 9.99855231e-01 1.14051578e-02 1.26269458e-02 4.63385958e+02] [-1.14543214e-02 9.99927069e-01 3.82810201e-03 -5.76808444e+00] [-1.25823648e-02 -3.97218092e-03 9.99912949e-01 1.51414170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.42, Y:-5.77, Z:1.52 [[ 9.99840352e-01 1.19521487e-02 1.32822162e-02 4.63418037e+02] [-1.19401751e-02 9.99928233e-01 -9.80418199e-04 -5.76689656e+00] [-1.32929811e-02 8.21669690e-04 9.99911307e-01 1.51545309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.45, Y:-5.77, Z:1.52 [[ 9.99812502e-01 1.20474509e-02 1.51598071e-02 4.63450490e+02] [-1.20317952e-02 9.99926984e-01 -1.12349460e-03 -5.76696365e+00] [-1.51722354e-02 9.40884256e-04 9.99884452e-01 1.51612884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.48, Y:-5.77, Z:1.52 [[ 9.99799799e-01 1.20074810e-02 1.60056714e-02 4.63483868e+02] [-1.19899575e-02 9.99927409e-01 -1.19034457e-03 -5.76849577e+00] [-1.60188026e-02 9.98198945e-04 9.99871192e-01 1.51547498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.52, Y:-5.77, Z:1.52 [[ 9.99802669e-01 1.17873138e-02 1.59900470e-02 4.63515798e+02] [-1.17697202e-02 9.99930022e-01 -1.19394284e-03 -5.77045672e+00] [-1.60030015e-02 1.00550885e-03 9.99871438e-01 1.51503508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.55, Y:-5.77, Z:1.51 [[ 9.99832780e-01 1.03760512e-02 1.50582002e-02 4.63548210e+02] [-1.03602311e-02 9.99945695e-01 -1.12822579e-03 -5.77235432e+00] [-1.50690889e-02 9.72030691e-04 9.99885982e-01 1.51395189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.58, Y:-5.77, Z:1.51 [[ 9.99849583e-01 9.50324164e-03 1.45085887e-02 4.63581028e+02] [-9.48841120e-03 9.99954389e-01 -1.09067837e-03 -5.77430905e+00] [-1.45182919e-02 9.52850857e-04 9.99894150e-01 1.51301719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.61, Y:-5.78, Z:1.51 [[ 9.99867538e-01 8.61288714e-03 1.38102875e-02 4.63613488e+02] [-8.59931341e-03 9.99962482e-01 -1.04195352e-03 -5.77614821e+00] [-1.38187436e-02 9.23056507e-04 9.99904091e-01 1.51231615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.305099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.65, Y:-5.78, Z:1.51 [[ 9.99883642e-01 7.71744149e-03 1.31583679e-02 4.63646228e+02] [-7.70500059e-03 9.99969820e-01 -9.95907709e-04 -5.77826480e+00] [-1.31656567e-02 8.94406595e-04 9.99912929e-01 1.51147757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.68, Y:-5.78, Z:1.51 [[ 9.99897753e-01 7.27192928e-03 1.23126626e-02 4.63679156e+02] [-7.26096442e-03 9.99973202e-01 -9.35004113e-04 -5.78025137e+00] [-1.23191319e-02 8.45506707e-04 9.99923759e-01 1.51049506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.71, Y:-5.78, Z:1.51 [[ 9.99895120e-01 7.91702020e-03 1.21272684e-02 4.63711026e+02] [-7.90638677e-03 9.99968317e-01 -9.24513045e-04 -5.78264695e+00] [-1.21342035e-02 8.28533208e-04 9.99926035e-01 1.50992427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.74, Y:-5.78, Z:1.51 [[ 9.99885946e-01 8.40615719e-03 1.25471827e-02 4.63743679e+02] [-8.39476925e-03 9.99964302e-01 -9.60001883e-04 -5.78486467e+00] [-1.25548047e-02 8.54561688e-04 9.99920820e-01 1.50959161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.78, Y:-5.79, Z:1.51 [[ 9.99863202e-01 9.73618074e-03 1.33709873e-02 4.63775545e+02] [-9.72330858e-03 9.99952200e-01 -1.02736556e-03 -5.78728490e+00] [-1.33803508e-02 8.97214784e-04 9.99910077e-01 1.50909534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.81, Y:-5.79, Z:1.51 [[ 9.99813456e-01 1.20722441e-02 1.50769466e-02 4.63807831e+02] [-1.20560704e-02 9.99926646e-01 -1.16317604e-03 -5.78908101e+00] [-1.50898828e-02 9.81190323e-04 9.99885660e-01 1.50904743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.84, Y:-5.79, Z:1.51 [[ 9.99784110e-01 1.34633657e-02 1.58262974e-02 4.63840772e+02] [-1.34456475e-02 9.99908852e-01 -1.22541991e-03 -5.79164650e+00] [-1.58413531e-02 1.01236054e-03 9.99874005e-01 1.50871392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.87, Y:-5.79, Z:1.51 [[ 9.99756827e-01 1.46711501e-02 1.64634026e-02 4.63873707e+02] [-1.46520596e-02 9.99891834e-01 -1.27959667e-03 -5.79458887e+00] [-1.64803950e-02 1.03806275e-03 9.99863650e-01 1.50809715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.91, Y:-5.80, Z:1.51 [[ 9.99729091e-01 1.63937589e-02 1.65223983e-02 4.63906835e+02] [-1.63746892e-02 9.99865095e-01 -1.28880799e-03 -5.79852842e+00] [-1.65412978e-02 1.01790970e-03 9.99862665e-01 1.50737248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.94, Y:-5.80, Z:1.51 [[ 9.99719437e-01 1.73446470e-02 1.61310229e-02 4.63938414e+02] [-1.73265200e-02 9.99849087e-01 -1.26282392e-03 -5.80195092e+00] [-1.61504918e-02 9.82975129e-04 9.99869089e-01 1.50635959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.97, Y:-5.81, Z:1.51 [[ 9.99724743e-01 1.77809050e-02 1.53061483e-02 4.63970315e+02] [-1.77645767e-02 9.99841475e-01 -1.20209353e-03 -5.80550413e+00] [-1.53250962e-02 9.29855402e-04 9.99882131e-01 1.50544433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.00, Y:-5.81, Z:1.50 [[ 9.99738777e-01 1.78684628e-02 1.42511416e-02 4.64001318e+02] [-1.78542556e-02 9.99839969e-01 -1.12353086e-03 -5.80887197e+00] [-1.42689368e-02 8.68793847e-04 9.99897816e-01 1.50466634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.03, Y:-5.81, Z:1.50 [[ 9.99754380e-01 1.80963412e-02 1.27946189e-02 4.64030975e+02] [-1.80849070e-02 9.99835946e-01 -1.00882031e-03 -5.81281307e+00] [-1.28107758e-02 7.77183026e-04 9.99917637e-01 1.50428807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.06, Y:-5.82, Z:1.50 [[ 9.99755225e-01 1.85714573e-02 1.20246193e-02 4.64061848e+02] [-1.85613744e-02 9.99827272e-01 -9.49595484e-04 -5.81568508e+00] [-1.20401777e-02 7.26169586e-04 9.99927251e-01 1.50428217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.09, Y:-5.82, Z:1.50 [[ 9.99747083e-01 1.91424370e-02 1.18041063e-02 4.64090958e+02] [-1.91327572e-02 9.99816517e-01 -9.32433123e-04 -5.81839364e+00] [-1.18197895e-02 7.06352195e-04 9.99929894e-01 1.50407487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.12, Y:-5.82, Z:1.50 [[ 9.99741535e-01 1.98422359e-02 1.10972101e-02 4.64120181e+02] [-1.98337325e-02 9.99802909e-01 -8.75809807e-04 -5.82134929e+00] [-1.11124009e-02 6.55484345e-04 9.99938041e-01 1.50418640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.15, Y:-5.83, Z:1.50 [[ 9.99704600e-01 2.16169782e-02 1.11094169e-02 4.64149154e+02] [-2.16085585e-02 9.99766123e-01 -8.77378059e-04 -5.82502806e+00] [-1.11257850e-02 6.37060396e-04 9.99937904e-01 1.50441459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.18, Y:-5.83, Z:1.50 [[ 9.99665725e-01 2.31849050e-02 1.14411203e-02 4.64178239e+02] [-2.31760792e-02 9.99730990e-01 -9.03408808e-04 -5.82805140e+00] [-1.14589879e-02 6.37946512e-04 9.99934140e-01 1.50402641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.21, Y:-5.83, Z:1.50 [[ 9.99615075e-01 2.53252250e-02 1.13285328e-02 4.64206030e+02] [-2.53167168e-02 9.99679081e-01 -8.93840184e-04 -5.83117291e+00] [-1.13475340e-02 6.06694865e-04 9.99935431e-01 1.50397498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.23, Y:-5.83, Z:1.50 [[ 9.99483974e-01 2.96243278e-02 1.24171397e-02 4.64234831e+02] [-2.96144538e-02 9.99560917e-01 -9.78351156e-04 -5.83472442e+00] [-1.24406705e-02 6.10119492e-04 9.99922426e-01 1.50353490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.26, Y:-5.84, Z:1.50 [[ 9.99416537e-01 3.15836374e-02 1.30022552e-02 4.64263861e+02] [-3.15729892e-02 9.99500925e-01 -1.02345823e-03 -5.83784354e+00] [-1.30280907e-02 6.12341013e-04 9.99914943e-01 1.50322528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.29, Y:-5.84, Z:1.50 [[ 9.99344886e-01 3.37003554e-02 1.31941072e-02 4.64292417e+02] [-3.36895875e-02 9.99431806e-01 -1.03758968e-03 -5.84088157e+00] [-1.32215776e-02 5.92405909e-04 9.99912416e-01 1.50260839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.32, Y:-5.84, Z:1.50 [[ 9.99275981e-01 3.57817895e-02 1.29296796e-02 4.64321503e+02] [-3.57716346e-02 9.99359474e-01 -1.01588607e-03 -5.84401772e+00] [-1.29577480e-02 5.52634774e-04 9.99915892e-01 1.50201143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.35, Y:-5.85, Z:1.50 [[ 9.99145628e-01 3.95885004e-02 1.18644530e-02 4.64349650e+02] [-3.95802238e-02 9.99215962e-01 -9.31686020e-04 -5.84742317e+00] [-1.18920349e-02 4.61292307e-04 9.99929181e-01 1.50159247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.38, Y:-5.85, Z:1.50 [[ 9.99100992e-01 4.09404019e-02 1.10041054e-02 4.64376132e+02] [-4.09333725e-02 9.99161505e-01 -8.63366184e-04 -5.85011915e+00] [-1.10302250e-02 4.12154867e-04 9.99939080e-01 1.50109234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.055099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.40, Y:-5.85, Z:1.50 [[ 9.99045432e-01 4.24421432e-02 1.03387399e-02 4.64404147e+02] [-4.24360368e-02 9.99098858e-01 -8.09395421e-04 -5.85300890e+00] [-1.03637757e-02 3.69887652e-04 9.99946226e-01 1.50032061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.43, Y:-5.86, Z:1.50 [[ 9.98999559e-01 4.36869853e-02 9.55654144e-03 4.64431900e+02] [-4.36818330e-02 9.99045214e-01 -7.47297150e-04 -5.85585403e+00] [-9.58006415e-03 3.29102276e-04 9.99954056e-01 1.49971089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.46, Y:-5.85, Z:1.50 [[ 9.98831368e-01 4.70914259e-02 1.08764246e-02 4.64461174e+02] [-4.68912325e-02 9.98738151e-01 -1.79810629e-02 -5.85177057e+00] [-1.17094541e-02 1.74500407e-02 9.99779168e-01 1.49828539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.49, Y:-5.87, Z:1.49 [[ 9.98900965e-01 4.58928412e-02 9.52419325e-03 4.64487719e+02] [-4.60427217e-02 9.98808684e-01 1.61641785e-02 -5.87007458e+00] [-8.77102685e-03 -1.65849332e-02 9.99823989e-01 1.49309747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.52, Y:-5.86, Z:1.50 [[ 9.98851676e-01 4.71652342e-02 8.41251167e-03 4.64516498e+02] [-4.71613965e-02 9.98887068e-01 -6.54092989e-04 -5.86472791e+00] [-8.43399956e-03 2.56596079e-04 9.99964400e-01 1.49791959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.54, Y:-5.87, Z:1.50 [[ 9.98763654e-01 4.87516040e-02 9.71829366e-03 4.64544293e+02] [-4.87465709e-02 9.98810894e-01 -7.54246284e-04 -5.86831604e+00] [-9.74350830e-03 2.79580284e-04 9.99952492e-01 1.49748721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.57, Y:-5.87, Z:1.50 [[ 9.98742389e-01 4.90421092e-02 1.04168772e-02 4.64571343e+02] [-4.90363542e-02 9.98796668e-01 -8.07320166e-04 -5.87079209e+00] [-1.04439350e-02 2.95499190e-04 9.99945417e-01 1.49720555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.60, Y:-5.87, Z:1.50 [[ 9.98719929e-01 4.93983185e-02 1.08770295e-02 4.64598878e+02] [-4.93920826e-02 9.98779112e-01 -8.41360167e-04 -5.87343864e+00] [-1.09053117e-02 3.03044026e-04 9.99940489e-01 1.49687088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.63, Y:-5.88, Z:1.50 [[ 9.98755197e-01 4.85003594e-02 1.16521201e-02 4.64625709e+02] [-4.84931569e-02 9.98823109e-01 -9.00034328e-04 -5.87627353e+00] [-1.16820588e-02 3.33865874e-04 9.99931707e-01 1.49695251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.65, Y:-5.88, Z:1.50 [[ 9.98806056e-01 4.72464034e-02 1.24193001e-02 4.64653956e+02] [-4.72381466e-02 9.98883197e-01 -9.57510483e-04 -5.87898930e+00] [-1.24506691e-02 3.69702552e-04 9.99922419e-01 1.49673972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.68, Y:-5.88, Z:1.50 [[ 9.98877303e-01 4.55635925e-02 1.29650614e-02 4.64680989e+02] [-4.55544709e-02 9.98961358e-01 -9.98155373e-04 -5.88205539e+00] [-1.29970748e-02 4.06418236e-04 9.99915452e-01 1.49693634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.71, Y:-5.89, Z:1.50 [[ 9.98981029e-01 4.30963816e-02 1.34016864e-02 4.64709043e+02] [-4.30864404e-02 9.99070817e-01 -1.02977138e-03 -5.88529933e+00] [-1.34336132e-02 4.51291113e-04 9.99909663e-01 1.49693022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.74, Y:-5.89, Z:1.50 [[ 9.99235097e-01 3.71705150e-02 1.21480036e-02 4.64736518e+02] [-3.71619210e-02 9.99308822e-01 -9.32487077e-04 -5.88968317e+00] [-1.21742682e-02 4.80330665e-04 9.99925775e-01 1.49667410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.77, Y:-5.89, Z:1.50 [[ 9.99366071e-01 3.39408724e-02 1.07458515e-02 4.64765436e+02] [-3.39339712e-02 9.99423737e-01 -8.23947940e-04 -5.89305813e+00] [-1.07676246e-02 4.58776199e-04 9.99941922e-01 1.49614763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.79, Y:-5.90, Z:1.49 [[ 9.99551941e-01 2.92182375e-02 6.49700054e-03 4.64792735e+02] [-2.92156136e-02 9.99573009e-01 -4.98430837e-04 -5.89718338e+00] [-6.50878964e-03 3.08393654e-04 9.99978770e-01 1.49360431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.82, Y:-5.90, Z:1.49 [[ 9.99606163e-01 2.76186127e-02 4.97300061e-03 4.64820992e+02] [-2.76170569e-02 9.99618504e-01 -3.81252795e-04 -5.89986449e+00] [-4.98163311e-03 2.43763002e-04 9.99987562e-01 1.49273067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.85, Y:-5.90, Z:1.49 [[ 9.99636047e-01 2.66229346e-02 4.35807082e-03 4.64849078e+02] [-2.66217300e-02 9.99645523e-01 -3.34207381e-04 -5.90213260e+00] [-4.36542357e-03 2.18066361e-04 9.99990448e-01 1.49226501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.88, Y:-5.90, Z:1.49 [[ 9.99658350e-01 2.57763867e-02 4.33147821e-03 4.64878262e+02] [-2.57751916e-02 9.99667710e-01 -3.31505431e-04 -5.90426413e+00] [-4.33858392e-03 2.19747491e-04 9.99990564e-01 1.49184520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.91, Y:-5.91, Z:1.49 [[ 9.99680524e-01 2.50472426e-02 3.38891530e-03 4.64907247e+02] [-2.50465067e-02 9.99686253e-01 -2.59432316e-04 -5.90627245e+00] [-3.39435010e-03 1.74468944e-04 9.99994224e-01 1.49295857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.94, Y:-5.91, Z:1.49 [[ 9.99677976e-01 2.51957662e-02 3.01948021e-03 4.64935008e+02] [-2.51951821e-02 9.99682524e-01 -2.31351247e-04 -5.90845918e+00] [-3.02435067e-03 1.55200393e-04 9.99995415e-01 1.49288446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.96, Y:-5.91, Z:1.49 [[ 9.99660776e-01 2.59567831e-02 2.13988807e-03 4.64962981e+02] [-2.59564901e-02 9.99663060e-01 -1.64568413e-04 -5.91051872e+00] [-2.14343872e-03 1.08968604e-04 9.99997697e-01 1.49266269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.99, Y:-5.91, Z:1.49 [[ 9.99595783e-01 2.83022658e-02 2.69315322e-03 4.64990634e+02] [-2.83018125e-02 9.99599402e-01 -2.06285154e-04 -5.91201199e+00] [-2.69791268e-03 1.29980653e-04 9.99996352e-01 1.49271609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.02, Y:-5.91, Z:1.49 [[ 9.99565189e-01 2.92192867e-02 3.95814941e-03 4.65018770e+02] [-2.92183203e-02 9.99573008e-01 -3.01776179e-04 -5.91350429e+00] [-3.96527699e-03 1.85994487e-04 9.99992121e-01 1.49313830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.05, Y:-5.92, Z:1.49 [[ 9.99537570e-01 2.99303117e-02 5.36867842e-03 4.65046299e+02] [-2.99285509e-02 9.99551957e-01 -4.08022505e-04 -5.91536947e+00] [-5.37848527e-03 2.47157057e-04 9.99985505e-01 1.49337990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.07, Y:-5.92, Z:1.49 [[ 9.99504568e-01 3.07303101e-02 6.80194607e-03 4.65074504e+02] [-3.07275109e-02 9.99527666e-01 -5.15674979e-04 -5.91728303e+00] [-6.81458013e-03 3.06412625e-04 9.99976734e-01 1.49347345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.805099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.10, Y:-5.92, Z:1.49 [[ 9.99469588e-01 3.17961050e-02 7.03915850e-03 4.65102249e+02] [-3.17931411e-02 9.99494328e-01 -5.32589466e-04 -5.91992623e+00] [-7.05253327e-03 3.08510015e-04 9.99975083e-01 1.49325579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.13, Y:-5.92, Z:1.49 [[ 9.99475339e-01 3.16148198e-02 7.03912830e-03 4.65130603e+02] [-3.16118486e-02 9.99500079e-01 -5.32992332e-04 -5.92198942e+00] [-7.05245975e-03 3.10192834e-04 9.99975083e-01 1.49272717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.16, Y:-5.92, Z:1.49 [[ 9.99462370e-01 3.19141857e-02 7.51375243e-03 4.65158297e+02] [-3.19108274e-02 9.99490559e-01 -5.66443041e-04 -5.92485850e+00] [-7.52800219e-03 3.26368447e-04 9.99971611e-01 1.49233590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.19, Y:-5.93, Z:1.49 [[ 9.99423459e-01 3.26985895e-02 9.14071900e-03 4.65185691e+02] [-3.26936636e-02 9.99465183e-01 -6.87838523e-04 -5.92857971e+00] [-9.15832174e-03 3.88598363e-04 9.99957986e-01 1.49136865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.21, Y:-5.93, Z:1.49 [[ 9.99429351e-01 3.24613880e-02 9.33976584e-03 4.65213166e+02] [-3.24562466e-02 9.99472911e-01 -7.01567392e-04 -5.93095158e+00] [-9.35761680e-03 3.98033300e-04 9.99956137e-01 1.49135358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.24, Y:-5.93, Z:1.49 [[ 9.99453233e-01 3.14810742e-02 1.01082936e-02 4.65242215e+02] [-3.14750140e-02 9.99504252e-01 -7.58085454e-04 -5.93370352e+00] [-1.01271478e-02 4.39512274e-04 9.99948623e-01 1.49118092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.27, Y:-5.94, Z:1.49 [[ 9.99476434e-01 3.06993763e-02 1.02179693e-02 4.65269659e+02] [-3.06931495e-02 9.99528561e-01 -7.65695086e-04 -5.93604375e+00] [-1.02366585e-02 4.51672534e-04 9.99947502e-01 1.49075707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.30, Y:-5.94, Z:1.49 [[ 9.99505732e-01 2.96464757e-02 1.04583741e-02 4.65297428e+02] [-2.96399055e-02 9.99560335e-01 -7.82697681e-04 -5.93872691e+00] [-1.04769801e-02 4.72325600e-04 9.99945003e-01 1.49005906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.33, Y:-5.94, Z:1.49 [[ 9.99542244e-01 2.84401261e-02 1.03180282e-02 4.65326567e+02] [-2.84336774e-02 9.99595384e-01 -7.71184210e-04 -5.94178859e+00] [-1.03357859e-02 4.77451712e-04 9.99946470e-01 1.48938107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.36, Y:-5.95, Z:1.49 [[ 9.99605187e-01 2.62993749e-02 9.89003646e-03 4.65355595e+02] [-2.62933521e-02 9.99653997e-01 -7.38538088e-04 -5.94516531e+00] [-9.90603757e-03 4.78204293e-04 9.99950820e-01 1.48829316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.38, Y:-5.95, Z:1.49 [[ 9.99617561e-01 2.57360611e-02 1.01186460e-02 4.65384571e+02] [-2.57297354e-02 9.99668651e-01 -7.54856529e-04 -5.94717368e+00] [-1.01347203e-02 4.94217757e-04 9.99948520e-01 1.48755215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.41, Y:-5.95, Z:1.49 [[ 9.99616683e-01 2.56858311e-02 1.03307852e-02 4.65412765e+02] [-2.56792412e-02 9.99669937e-01 -7.70047463e-04 -5.94878275e+00] [-1.03471547e-02 5.04465566e-04 9.99946340e-01 1.48728336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.44, Y:-5.95, Z:1.49 [[ 9.99596405e-01 2.61619010e-02 1.10716586e-02 4.65440624e+02] [-2.61543736e-02 9.99657576e-01 -8.24144876e-04 -5.95023931e+00] [-1.10894285e-02 5.34239961e-04 9.99938368e-01 1.48678309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.47, Y:-5.95, Z:1.49 [[ 9.99569279e-01 2.74038331e-02 1.05017812e-02 4.65469035e+02] [-2.73971396e-02 9.99624323e-01 -7.80725573e-04 -5.95155260e+00] [-1.05192308e-02 4.92670533e-04 9.99944550e-01 1.48622602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.50, Y:-5.95, Z:1.49 [[ 9.99659783e-01 2.43005010e-02 9.47650225e-03 4.65497678e+02] [-2.42949166e-02 9.99704587e-01 -7.03983252e-04 -5.95230373e+00] [-9.49080991e-03 4.73512913e-04 9.99954849e-01 1.48528696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.53, Y:-5.95, Z:1.48 [[ 9.99699064e-01 2.29846919e-02 8.57236019e-03 4.65526419e+02] [-2.29800781e-02 9.99735721e-01 -6.36335853e-04 -5.95410207e+00] [-8.58472068e-03 4.39150850e-04 9.99963054e-01 1.48456217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.56, Y:-5.95, Z:1.48 [[ 9.99705389e-01 2.26215039e-02 8.79791974e-03 4.65555624e+02] [-2.25737245e-02 9.99730092e-01 -5.49268307e-03 -5.95419393e+00] [-8.91979787e-03 5.29246305e-03 9.99946212e-01 1.48303510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.58, Y:-5.96, Z:1.48 [[ 9.99707015e-01 2.24393251e-02 9.07525590e-03 4.65584687e+02] [-2.24339343e-02 9.99748086e-01 -6.95379927e-04 -5.95858373e+00] [-9.08857357e-03 4.91582496e-04 9.99958577e-01 1.48103800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.61, Y:-5.96, Z:1.48 [[ 9.99774056e-01 2.00490104e-02 7.06217770e-03 4.65612617e+02] [-2.00798659e-02 9.99789022e-01 4.32564091e-03 -5.96148233e+00] [-6.97396291e-03 -4.46647114e-03 9.99965707e-01 1.48148665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.64, Y:-5.96, Z:1.48 [[ 9.99775767e-01 2.00857575e-02 6.70661083e-03 4.65642049e+02] [-2.00828839e-02 9.99798196e-01 -4.95545170e-04 -5.96127034e+00] [-6.71521081e-03 3.60745966e-04 9.99977388e-01 1.48244154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.67, Y:-5.96, Z:1.48 [[ 9.99803808e-01 1.88422375e-02 6.10863811e-03 4.65670369e+02] [-1.88398306e-02 9.99822413e-01 -4.51335969e-04 -5.96280830e+00] [-6.11605747e-03 3.36161714e-04 9.99981240e-01 1.48127368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.70, Y:-5.96, Z:1.48 [[ 9.99804802e-01 1.87893932e-02 6.10868581e-03 4.65699603e+02] [-1.87869892e-02 9.99823407e-01 -4.50688771e-04 -5.96490086e+00] [-6.11607523e-03 3.35836984e-04 9.99981240e-01 1.48073228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.73, Y:-5.97, Z:1.48 [[ 9.99831390e-01 1.76114170e-02 5.19905453e-03 4.65728428e+02] [-1.76096592e-02 9.99844864e-01 -3.83695877e-04 -5.96673408e+00] [-5.20500540e-03 2.92077603e-04 9.99986411e-01 1.47992910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.76, Y:-5.97, Z:1.48 [[ 9.99832334e-01 1.75577323e-02 5.19909932e-03 4.65757662e+02] [-1.75559769e-02 9.99845809e-01 -3.83087232e-04 -5.96882403e+00] [-5.20502380e-03 2.91747733e-04 9.99986411e-01 1.47938770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.79, Y:-5.97, Z:1.48 [[ 9.99833275e-01 1.75040536e-02 5.19911985e-03 4.65786896e+02] [-1.75022989e-02 9.99846750e-01 -3.82808105e-04 -5.97091225e+00] [-5.20502378e-03 2.91747732e-04 9.99986411e-01 1.47884640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.555099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.81, Y:-5.97, Z:1.48 [[ 9.99852094e-01 1.64904483e-02 4.88427145e-03 4.65814726e+02] [-1.64888863e-02 9.99863984e-01 -3.59899865e-04 -5.97265241e+00] [-4.88954202e-03 2.79310437e-04 9.99988007e-01 1.47823548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.84, Y:-5.97, Z:1.48 [[ 9.99859937e-01 1.59586745e-02 5.04248218e-03 4.65843188e+02] [-1.59570066e-02 9.99872610e-01 -3.70818191e-04 -5.97434945e+00] [-5.04775758e-03 2.90303332e-04 9.99987218e-01 1.47757582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.87, Y:-5.98, Z:1.48 [[ 9.99859367e-01 1.58086306e-02 5.59766469e-03 4.65870866e+02] [-1.58065748e-02 9.99874984e-01 -4.11320348e-04 -5.97595131e+00] [-5.60346731e-03 3.22782597e-04 9.99984248e-01 1.47714752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.90, Y:-5.98, Z:1.48 [[ 9.99848632e-01 1.61176953e-02 6.55236387e-03 4.65899412e+02] [-1.61148922e-02 9.99870031e-01 -4.80376674e-04 -5.97722308e+00] [-6.55925483e-03 3.74713323e-04 9.99978418e-01 1.47677828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.93, Y:-5.98, Z:1.48 [[ 9.99801251e-01 1.79961527e-02 8.57888431e-03 4.65928129e+02] [-1.79914248e-02 9.99837944e-01 -6.27980292e-04 -5.97670365e+00] [-8.58879528e-03 4.73509130e-04 9.99963004e-01 1.47693878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.96, Y:-5.98, Z:1.48 [[ 9.99766518e-01 1.94641626e-02 9.38378603e-03 4.65956512e+02] [-1.94585775e-02 9.99810429e-01 -6.86128358e-04 -5.97737647e+00] [-9.39536205e-03 5.03373032e-04 9.99955736e-01 1.47657438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.99, Y:-5.98, Z:1.48 [[ 9.99731505e-01 2.08538866e-02 1.01011650e-02 4.65985252e+02] [-2.08474941e-02 9.99782395e-01 -7.37744550e-04 -5.97818220e+00] [-1.01143518e-02 5.26962491e-04 9.99948710e-01 1.47651592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.01, Y:-5.98, Z:1.48 [[ 9.99693030e-01 2.21804061e-02 1.10397566e-02 4.66014326e+02] [-2.21728627e-02 9.99753828e-01 -8.05235993e-04 -5.97930586e+00] [-1.10548994e-02 5.60205802e-04 9.99938736e-01 1.47605059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.04, Y:-5.98, Z:1.48 [[ 9.99646453e-01 2.39607575e-02 1.15261335e-02 4.66043276e+02] [-2.39526590e-02 9.99712741e-01 -8.40169810e-04 -5.98010735e+00] [-1.15429536e-02 5.63791224e-04 9.99933219e-01 1.47547128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.07, Y:-5.98, Z:1.47 [[ 9.99639911e-01 2.44145188e-02 1.11346431e-02 4.66071195e+02] [-2.44069963e-02 9.99701776e-01 -8.11005290e-04 -5.98148457e+00] [-1.11511228e-02 5.38950063e-04 9.99937679e-01 1.47479421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.10, Y:-5.98, Z:1.47 [[ 9.99642628e-01 2.43597002e-02 1.10100683e-02 4.66100381e+02] [-2.43523539e-02 9.99703117e-01 -8.00831744e-04 -5.98298806e+00] [-1.10263076e-02 5.32424471e-04 9.99939067e-01 1.47423075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.13, Y:-5.98, Z:1.47 [[ 9.99688096e-01 2.27982415e-02 1.01956511e-02 4.66128731e+02] [-2.27918669e-02 9.99739957e-01 -7.40995697e-04 -5.98413832e+00] [-1.02098932e-02 5.08386656e-04 9.99947748e-01 1.47368117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.16, Y:-5.99, Z:1.47 [[ 9.99722944e-01 2.14486878e-02 9.69476180e-03 4.66156038e+02] [-2.14428650e-02 9.99769827e-01 -7.04171067e-04 -5.98601197e+00] [-9.70763387e-03 4.96092504e-04 9.99952757e-01 1.47286948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.19, Y:-5.99, Z:1.47 [[ 9.99764907e-01 1.96303591e-02 9.20758762e-03 4.66185088e+02] [-1.96250394e-02 9.99807187e-01 -6.67756213e-04 -5.98819773e+00] [-9.21892058e-03 4.86899958e-04 9.99957386e-01 1.47207771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.21, Y:-5.99, Z:1.47 [[ 9.99844767e-01 1.60450061e-02 7.28013929e-03 4.66213539e+02] [-1.60415873e-02 9.99871186e-01 -5.27756148e-04 -5.99052225e+00] [-7.28766936e-03 4.10889232e-04 9.99973360e-01 1.47092434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.24, Y:-5.99, Z:1.47 [[ 9.99873015e-01 1.46095905e-02 6.36508895e-03 4.66242270e+02] [-1.46069515e-02 9.99893207e-01 -4.60899360e-04 -5.99271405e+00] [-6.37114275e-03 3.67866287e-04 9.99979636e-01 1.47033811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.27, Y:-5.99, Z:1.47 [[ 9.99903917e-01 1.27425673e-02 5.45753068e-03 4.66271426e+02] [-1.27405992e-02 9.99918757e-01 -3.95231293e-04 -5.99435579e+00] [-5.46212355e-03 3.25661107e-04 9.99985029e-01 1.46978380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.30, Y:-6.00, Z:1.47 [[ 9.99906850e-01 1.26124006e-02 5.21710771e-03 4.66299991e+02] [-1.26106033e-02 9.99920412e-01 -3.77272885e-04 -5.99581684e+00] [-5.22145081e-03 3.11446867e-04 9.99986320e-01 1.46931522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.33, Y:-6.00, Z:1.47 [[ 9.99904200e-01 1.29211174e-02 4.96345813e-03 4.66328466e+02] [-1.29194943e-02 9.99916475e-01 -3.58935085e-04 -5.99673965e+00] [-4.96768140e-03 2.94775330e-04 9.99987618e-01 1.46953351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.36, Y:-6.00, Z:1.47 [[ 9.99889223e-01 1.39095935e-02 5.29762089e-03 4.66357610e+02] [-1.39077604e-02 9.99903209e-01 -3.82697910e-04 -5.99761654e+00] [-5.30243130e-03 3.08977474e-04 9.99985894e-01 1.46958787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.38, Y:-6.00, Z:1.47 [[ 9.99863348e-01 1.54757429e-02 5.81267344e-03 4.66384971e+02] [-1.54735642e-02 9.99880189e-01 -4.19610494e-04 -5.99825587e+00] [-5.81847080e-03 3.29610378e-04 9.99983018e-01 1.46976265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.41, Y:-6.00, Z:1.47 [[ 9.99777446e-01 1.97901873e-02 7.30805104e-03 4.66414074e+02] [-1.97868533e-02 9.99804082e-01 -5.28243703e-04 -5.99777011e+00] [-7.31707330e-03 3.83522807e-04 9.99973156e-01 1.47054071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.44, Y:-6.00, Z:1.47 [[ 9.99718593e-01 2.23318826e-02 8.00132608e-03 4.66443086e+02] [-2.23280022e-02 9.99750534e-01 -5.73981603e-04 -5.99837059e+00] [-8.01214811e-03 3.95166455e-04 9.99967824e-01 1.47062032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.47, Y:-5.99, Z:1.47 [[ 9.99549668e-01 2.71912785e-02 1.26923428e-02 4.66473034e+02] [-2.68289380e-02 9.99250765e-01 -2.78947580e-02 -5.98754416e+00] [-1.34413274e-02 2.75416740e-02 9.99530283e-01 1.47070327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.50, Y:-6.01, Z:1.46 [[ 9.99485720e-01 2.99036342e-02 1.15788194e-02 4.66498252e+02] [-3.01968270e-02 9.99204881e-01 2.60337559e-02 -6.01167046e+00] [-1.07911089e-02 -2.63700109e-02 9.99594005e-01 1.46252619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.305099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.53, Y:-6.00, Z:1.47 [[ 9.99412885e-01 3.28598155e-02 9.70138855e-03 4.66528198e+02] [-3.28546362e-02 9.99459901e-01 -6.92802142e-04 -6.00008307e+00] [-9.71891419e-03 3.73659797e-04 9.99952700e-01 1.47094201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.56, Y:-6.00, Z:1.47 [[ 9.99354426e-01 3.46426966e-02 9.51915226e-03 4.66555731e+02] [-3.46377941e-02 9.99399701e-01 -6.79455615e-04 -6.00135287e+00] [-9.53697609e-03 3.49294541e-04 9.99954461e-01 1.47071426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.58, Y:-6.00, Z:1.47 [[ 9.99311291e-01 3.59650134e-02 9.13574598e-03 4.66583753e+02] [-3.59605613e-02 9.99352998e-01 -6.51183425e-04 -6.00293983e+00] [-9.15325495e-03 3.22208395e-04 9.99958056e-01 1.46988919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.61, Y:-6.00, Z:1.47 [[ 9.99282857e-01 3.68932320e-02 8.52414587e-03 4.66611471e+02] [-3.68893964e-02 9.99319170e-01 -6.06813629e-04 -6.00479102e+00] [-8.54072969e-03 2.91927861e-04 9.99963485e-01 1.46913174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.64, Y:-6.01, Z:1.47 [[ 9.99256799e-01 3.78514106e-02 7.28836460e-03 4.66639165e+02] [-3.78486357e-02 9.99283349e-01 -5.18332757e-04 -6.00682470e+00] [-7.30276101e-03 2.42092875e-04 9.99973305e-01 1.46852518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.67, Y:-6.01, Z:1.47 [[ 9.99264507e-01 3.77522075e-02 6.72421734e-03 4.66666513e+02] [-3.77498458e-02 9.99287106e-01 -4.77840292e-04 -6.00861916e+00] [-6.73746321e-03 2.23650676e-04 9.99977278e-01 1.46769011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.69, Y:-6.01, Z:1.47 [[ 9.99272054e-01 3.76264570e-02 6.29385253e-03 4.66694197e+02] [-3.76243910e-02 9.99291852e-01 -4.46369611e-04 -6.01051921e+00] [-6.30619086e-03 2.09242310e-04 9.99980094e-01 1.46724818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.72, Y:-6.01, Z:1.47 [[ 9.99281531e-01 3.74648883e-02 5.72743382e-03 4.66721816e+02] [-3.74631769e-02 9.99297926e-01 -4.05836847e-04 -6.01238582e+00] [-5.73861737e-03 1.90977400e-04 9.99983516e-01 1.46666487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.75, Y:-6.01, Z:1.47 [[ 9.99293792e-01 3.73246069e-02 4.33489673e-03 4.66749329e+02] [-3.73139810e-02 9.99300447e-01 -2.50680802e-03 -6.01282835e+00] [-4.42542986e-03 2.34328544e-03 9.99987462e-01 1.46679029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.78, Y:-6.02, Z:1.46 [[ 9.99293296e-01 3.71345291e-02 5.82539103e-03 4.66777335e+02] [-3.71459179e-02 9.99308123e-01 1.85913436e-03 -6.01695614e+00] [-5.75232250e-03 -2.07421000e-03 9.99981304e-01 1.46476937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.81, Y:-6.02, Z:1.46 [[ 9.99288304e-01 3.72508253e-02 5.93809210e-03 4.66805266e+02] [-3.72489985e-02 9.99305928e-01 -4.17974457e-04 -6.01762996e+00] [-5.94954053e-03 1.96489003e-04 9.99982282e-01 1.46481027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.83, Y:-6.02, Z:1.46 [[ 9.99262937e-01 3.77930926e-02 6.72786662e-03 4.66833195e+02] [-3.77907660e-02 9.99285562e-01 -4.72651631e-04 -6.01944098e+00] [-6.74092295e-03 2.18052024e-04 9.99977256e-01 1.46419069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.665099893 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:466.86, Y:-6.02, Z:1.47 [[ 9.99190797e-01 3.99765156e-02 4.43056805e-03 4.66857932e+02] [-3.99379311e-02 9.99166182e-01 -8.47954848e-03 -6.01788852e+00] [-4.76585656e-03 8.29573908e-03 9.99954233e-01 1.46689476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.89, Y:-6.03, Z:1.46 [[ 9.99267788e-01 3.73999350e-02 8.07049602e-03 4.66888328e+02] [-3.74627133e-02 9.99267795e-01 7.77301779e-03 -6.02723755e+00] [-7.77387640e-03 -8.06966897e-03 9.99937222e-01 1.46040751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.92, Y:-6.03, Z:1.46 [[ 9.99261225e-01 3.76554961e-02 7.68556619e-03 4.66916632e+02] [-3.76524909e-02 9.99290750e-01 -5.35386752e-04 -6.02537697e+00] [-7.70027546e-03 2.45610510e-04 9.99970322e-01 1.46278721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.94, Y:-6.03, Z:1.46 [[ 9.99264425e-01 3.73965211e-02 8.49167755e-03 4.66943274e+02] [-3.73928491e-02 9.99300468e-01 -5.90828483e-04 -6.02735329e+00] [-8.50783229e-03 2.72865867e-04 9.99963771e-01 1.46227644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.97, Y:-6.03, Z:1.46 [[ 9.99267723e-01 3.73082749e-02 8.49180600e-03 4.66971673e+02] [-3.73046156e-02 9.99303767e-01 -5.88974270e-04 -6.02923103e+00] [-8.50786734e-03 2.71759420e-04 9.99963771e-01 1.46174130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.00, Y:-6.03, Z:1.46 [[ 9.99284482e-01 3.68886265e-02 8.35183876e-03 4.66999877e+02] [-3.68850764e-02 9.99319346e-01 -5.78747403e-04 -6.03125089e+00] [-8.36750325e-03 2.70275088e-04 9.99964955e-01 1.46139552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.03, Y:-6.03, Z:1.46 [[ 9.99299390e-01 3.61995117e-02 9.50394713e-03 4.67027314e+02] [-3.61948959e-02 9.99344534e-01 -6.57281310e-04 -6.03356964e+00] [-9.52151088e-03 3.12826435e-04 9.99954620e-01 1.46107860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.05, Y:-6.04, Z:1.46 [[ 9.99295429e-01 3.61828639e-02 9.97227238e-03 4.67054496e+02] [-3.61777886e-02 9.99345132e-01 -6.88921012e-04 -6.03559062e+00] [-9.99066899e-03 3.27660856e-04 9.99950038e-01 1.46065918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.08, Y:-6.04, Z:1.46 [[ 9.99294137e-01 3.62482738e-02 9.86363211e-03 4.67081953e+02] [-3.62433306e-02 9.99342764e-01 -6.79498584e-04 -6.03779558e+00] [-9.88178003e-03 3.21528071e-04 9.99951122e-01 1.46009823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.11, Y:-6.04, Z:1.46 [[ 9.99254668e-01 3.71790108e-02 1.03840775e-02 4.67109029e+02] [-3.71735906e-02 9.99308568e-01 -7.14564016e-04 -6.04060400e+00] [-1.04034644e-02 3.28017985e-04 9.99945829e-01 1.45929397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.14, Y:-6.04, Z:1.46 [[ 9.99228596e-01 3.76929332e-02 1.10206824e-02 4.67136905e+02] [-3.76868849e-02 9.99289311e-01 -7.56047670e-04 -6.04282950e+00] [-1.10413478e-02 3.40129262e-04 9.99938985e-01 1.45848551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.16, Y:-6.04, Z:1.46 [[ 9.99203912e-01 3.84356363e-02 1.06884883e-02 4.67164045e+02] [-3.84299998e-02 9.99261026e-01 -7.32300456e-04 -6.04477109e+00] [-1.07087362e-02 3.20958877e-04 9.99942608e-01 1.45799397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.19, Y:-6.05, Z:1.46 [[ 9.99174516e-01 3.92400994e-02 1.05119864e-02 4.67191615e+02] [-3.92347072e-02 9.99229764e-01 -7.18772340e-04 -6.04689488e+00] [-1.05320944e-02 3.05744296e-04 9.99944489e-01 1.45675358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.055099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.22, Y:-6.05, Z:1.46 [[ 9.99131118e-01 4.07801165e-02 8.60183082e-03 4.67219514e+02] [-4.07765678e-02 9.99168117e-01 -5.87604175e-04 -6.04970719e+00] [-8.61863767e-03 2.36340479e-04 9.99962831e-01 1.45517817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.25, Y:-6.05, Z:1.45 [[ 9.99111435e-01 4.13862818e-02 7.96971892e-03 4.67247749e+02] [-4.13832603e-02 9.99143198e-01 -5.43733413e-04 -6.05175621e+00] [-7.98539355e-03 2.13437318e-04 9.99968093e-01 1.45429520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.27, Y:-6.05, Z:1.45 [[ 9.99066961e-01 4.25824830e-02 7.20694926e-03 4.67274953e+02] [-4.25800417e-02 9.99092938e-01 -4.91908947e-04 -6.05398370e+00] [-7.22135882e-03 1.84577777e-04 9.99973909e-01 1.45344020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.30, Y:-6.06, Z:1.45 [[ 9.99056181e-01 4.28313326e-02 7.22656406e-03 4.67302296e+02] [-4.28288982e-02 9.99082301e-01 -4.91349759e-04 -6.05586458e+00] [-7.24097741e-03 1.81380237e-04 9.99973767e-01 1.45240908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.33, Y:-6.06, Z:1.45 [[ 9.99048679e-01 4.30222022e-02 7.12934626e-03 4.67330669e+02] [-4.30198452e-02 9.99074101e-01 -4.83705091e-04 -6.05763074e+00] [-7.14355526e-03 1.76541560e-04 9.99974469e-01 1.45195543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.36, Y:-6.06, Z:1.45 [[ 9.99032451e-01 4.32850075e-02 7.78264589e-03 4.67358107e+02] [-4.32822142e-02 9.99062747e-01 -5.27067883e-04 -6.05960968e+00] [-7.79816572e-03 1.89707773e-04 9.99969576e-01 1.45149930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.39, Y:-6.06, Z:1.45 [[ 9.99016867e-01 4.35373898e-02 8.35434467e-03 4.67386375e+02] [-4.35341886e-02 9.99051778e-01 -5.64732257e-04 -6.06151827e+00] [-8.37100987e-03 2.00477433e-04 9.99964942e-01 1.45096731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.41, Y:-6.06, Z:1.45 [[ 9.98996404e-01 4.38660119e-02 9.05310109e-03 4.67413670e+02] [-4.38622709e-02 9.99037400e-01 -6.11453432e-04 -6.06327256e+00] [-9.07120860e-03 2.13750206e-04 9.99958833e-01 1.45063934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.44, Y:-6.06, Z:1.45 [[ 9.98914423e-01 4.51112474e-02 1.16168436e-02 4.67443376e+02] [-4.49434726e-02 9.98886894e-01 -1.43197964e-02 -6.05944568e+00] [-1.22498967e-02 1.37821498e-02 9.99829982e-01 1.44962035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.47, Y:-6.07, Z:1.45 [[ 9.99005231e-01 4.34497615e-02 1.00333252e-02 4.67469451e+02] [-4.35778433e-02 9.98966479e-01 1.29207573e-02 -6.07350140e+00] [-9.46155174e-03 -1.33451348e-02 9.99866184e-01 1.44592620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.50, Y:-6.07, Z:1.45 [[ 9.99023335e-01 4.31660341e-02 9.43770573e-03 4.67497590e+02] [-4.31619881e-02 9.99067887e-01 -6.32052709e-04 -6.06890939e+00] [-9.45619194e-03 2.24085262e-04 9.99955264e-01 1.44960860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.53, Y:-6.07, Z:1.45 [[ 9.99092969e-01 4.13815477e-02 1.00402860e-02 4.67525130e+02] [-4.13768909e-02 9.99143384e-01 -6.71180076e-04 -6.07122786e+00] [-1.00594598e-02 2.55135476e-04 9.99949370e-01 1.44893776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.55, Y:-6.07, Z:1.45 [[ 9.99148223e-01 3.99062331e-02 1.05034252e-02 4.67552124e+02] [-3.99010639e-02 9.99203389e-01 -7.01321039e-04 -6.07339548e+00] [-1.05230452e-02 2.81625828e-04 9.99944592e-01 1.44844977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.58, Y:-6.08, Z:1.45 [[ 9.99214652e-01 3.80447719e-02 1.10758743e-02 4.67580029e+02] [-3.80389349e-02 9.99275986e-01 -7.37262069e-04 -6.07583937e+00] [-1.10959041e-02 3.15368602e-04 9.99938389e-01 1.44791453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.61, Y:-6.08, Z:1.45 [[ 9.99335797e-01 3.43185532e-02 1.22557180e-02 4.67608107e+02] [-3.43111471e-02 9.99410868e-01 -8.14108429e-04 -6.07876317e+00] [-1.22764368e-02 3.93059952e-04 9.99924564e-01 1.44741026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.64, Y:-6.08, Z:1.45 [[ 9.99383748e-01 3.26185923e-02 1.29673246e-02 4.67636101e+02] [-3.26101749e-02 9.99467777e-01 -8.60092480e-04 -6.08098053e+00] [-1.29884781e-02 4.36695724e-04 9.99915551e-01 1.44690724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.66, Y:-6.08, Z:1.45 [[ 9.99431478e-01 3.09274803e-02 1.34242964e-02 4.67664640e+02] [-3.09183250e-02 9.99521519e-01 -8.89046450e-04 -6.08319605e+00] [-1.34453691e-02 4.73484250e-04 9.99909495e-01 1.44633119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.69, Y:-6.09, Z:1.45 [[ 9.99500390e-01 2.85789065e-02 1.34987777e-02 4.67693141e+02] [-2.85694485e-02 9.99591411e-01 -8.93010271e-04 -6.08543532e+00] [-1.35187835e-02 5.06911480e-04 9.99908489e-01 1.44606916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.72, Y:-6.09, Z:1.45 [[ 9.99533616e-01 2.76016367e-02 1.30652081e-02 4.67722345e+02] [-2.75927046e-02 9.99618876e-01 -8.63459325e-04 -6.08738946e+00] [-1.30840615e-02 5.02552194e-04 9.99914274e-01 1.44556840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.75, Y:-6.09, Z:1.44 [[ 9.99546848e-01 2.69328215e-02 1.34433116e-02 4.67750049e+02] [-2.69233170e-02 9.99637108e-01 -8.87519261e-04 -6.08933193e+00] [-1.34623365e-02 5.25178540e-04 9.99909241e-01 1.44475540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.78, Y:-6.09, Z:1.44 [[ 9.99572475e-01 2.59524892e-02 1.34660606e-02 4.67778398e+02] [-2.59428838e-02 9.99663033e-01 -8.87525818e-04 -6.09168518e+00] [-1.34845565e-02 5.37797934e-04 9.99908935e-01 1.44449101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.81, Y:-6.09, Z:1.44 [[ 9.99580697e-01 2.58270611e-02 1.30917564e-02 4.67806867e+02] [-2.58179752e-02 9.99666288e-01 -8.62576330e-04 -6.09372966e+00] [-1.31096653e-02 5.24212008e-04 9.99913927e-01 1.44372707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.84, Y:-6.10, Z:1.44 [[ 9.99587049e-01 2.57797859e-02 1.26938705e-02 4.67835338e+02] [-2.57712512e-02 9.99667517e-01 -8.35492055e-04 -6.09573791e+00] [-1.27111888e-02 5.08010113e-04 9.99919081e-01 1.44308039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.86, Y:-6.10, Z:1.44 [[ 9.99577067e-01 2.61851066e-02 1.26502298e-02 4.67864251e+02] [-2.61766743e-02 9.99656986e-01 -8.31719856e-04 -6.09722998e+00] [-1.26676693e-02 5.00227148e-04 9.99919637e-01 1.44256814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.89, Y:-6.09, Z:1.44 [[ 9.99540291e-01 2.68851647e-02 1.40141079e-02 4.67892641e+02] [-2.67518954e-02 9.99595892e-01 -9.61194964e-03 -6.09387417e+00] [-1.42668635e-02 9.23262699e-03 9.99855597e-01 1.44098496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.805099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.92, Y:-6.10, Z:1.44 [[ 9.99544082e-01 2.74608401e-02 1.25511186e-02 4.67920577e+02] [-2.75620796e-02 9.99588356e-01 7.96562355e-03 -6.10402060e+00] [-1.23272093e-02 -8.30792681e-03 9.99889503e-01 1.43870997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.95, Y:-6.10, Z:1.44 [[ 9.99525710e-01 2.85779233e-02 1.14741684e-02 4.67949020e+02] [-2.85711591e-02 9.99591477e-01 -7.53034823e-04 -6.10091809e+00] [-1.14910011e-02 4.24847375e-04 9.99933886e-01 1.44109973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.98, Y:-6.10, Z:1.44 [[ 9.99422114e-01 3.18673421e-02 1.18283685e-02 4.67977786e+02] [-3.18603979e-02 9.99492028e-01 -7.75098632e-04 -6.10133113e+00] [-1.18470604e-02 3.97794185e-04 9.99929742e-01 1.44044245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.01, Y:-6.10, Z:1.44 [[ 9.99346302e-01 3.39912327e-02 1.23111339e-02 4.68006990e+02] [-3.39838824e-02 9.99422056e-01 -8.05816244e-04 -6.10267978e+00] [-1.23314094e-02 3.86909359e-04 9.99923890e-01 1.43983523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.04, Y:-6.10, Z:1.44 [[ 9.99259251e-01 3.62541776e-02 1.29067514e-02 4.68036074e+02] [-3.62463000e-02 9.99342531e-01 -8.43826921e-04 -6.10355505e+00] [-1.29288578e-02 3.75379875e-04 9.99916348e-01 1.43965289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.06, Y:-6.10, Z:1.44 [[ 9.99168050e-01 3.84733239e-02 1.35281435e-02 4.68064863e+02] [-3.84648861e-02 9.99259562e-01 -8.83457488e-04 -6.10437335e+00] [-1.35521163e-02 3.62363998e-04 9.99908100e-01 1.43935945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.09, Y:-6.10, Z:1.44 [[ 9.98965628e-01 4.32274294e-02 1.41089995e-02 4.68092080e+02] [-4.32187352e-02 9.99065210e-01 -9.20679089e-04 -6.10448269e+00] [-1.41356091e-02 3.09953651e-04 9.99900039e-01 1.43922649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.12, Y:-6.10, Z:1.44 [[ 9.98777445e-01 4.76425286e-02 1.31835283e-02 4.68119422e+02] [-4.76353459e-02 9.98864424e-01 -8.58482635e-04 -6.10410673e+00] [-1.32094577e-02 2.29431161e-04 9.99912725e-01 1.43926663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.15, Y:-6.10, Z:1.44 [[ 9.98670222e-01 4.98817518e-02 1.30230196e-02 4.68147416e+02] [-4.98749654e-02 9.98755112e-01 -8.45571179e-04 -6.10499650e+00] [-1.30489860e-02 1.94924106e-04 9.99914839e-01 1.43908528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.18, Y:-6.11, Z:1.44 [[ 9.98674586e-01 4.97942766e-02 1.30231147e-02 4.68175823e+02] [-4.97875019e-02 9.98759477e-01 -8.44102906e-04 -6.10674759e+00] [-1.30489907e-02 1.94595771e-04 9.99914839e-01 1.43855514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.20, Y:-6.11, Z:1.44 [[ 9.98443205e-01 5.41944443e-02 1.31957786e-02 4.68203357e+02] [-5.41878871e-02 9.98530392e-01 -8.54210534e-04 -6.10777202e+00] [-1.32226795e-02 1.37829341e-04 9.99912567e-01 1.43837795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.23, Y:-6.11, Z:1.44 [[ 9.98311353e-01 5.65513438e-02 1.32811079e-02 4.68230311e+02] [-5.65449278e-02 9.98399687e-01 -8.58398235e-04 -6.10917883e+00] [-1.33083975e-02 1.05969417e-04 9.99911434e-01 1.43817817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.26, Y:-6.11, Z:1.44 [[ 9.98156083e-01 5.91382885e-02 1.36783381e-02 4.68258040e+02] [-5.91317512e-02 9.98249797e-01 -8.82220956e-04 -6.11090270e+00] [-1.37065713e-02 7.17701296e-05 9.99906058e-01 1.43748863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.29, Y:-6.11, Z:1.44 [[ 9.97847297e-01 6.41543008e-02 1.36013474e-02 4.68286315e+02] [-6.41483213e-02 9.97939991e-01 -8.75894746e-04 -6.11284519e+00] [-1.36295209e-02 1.50560204e-06 9.99907114e-01 1.43775726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.31, Y:-6.11, Z:1.44 [[ 9.97692324e-01 6.64776538e-02 1.38111319e-02 4.68314645e+02] [-6.64717319e-02 9.97787914e-01 -8.87894846e-04 -6.11476119e+00] [-1.38396057e-02 -3.22039863e-05 9.99904228e-01 1.43711161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.34, Y:-6.12, Z:1.44 [[ 9.97529779e-01 6.88193613e-02 1.40795800e-02 4.68342635e+02] [-6.88134618e-02 9.97629135e-01 -9.03613626e-04 -6.11678285e+00] [-1.41083853e-02 -6.74831410e-05 9.99900470e-01 1.43675017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.37, Y:-6.12, Z:1.44 [[ 9.97369025e-01 7.11373178e-02 1.39466828e-02 4.68370541e+02] [-7.11317762e-02 9.97466527e-01 -8.93613164e-04 -6.11909507e+00] [-1.39749185e-02 -1.00790230e-04 9.99902341e-01 1.43627077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.40, Y:-6.12, Z:1.44 [[ 9.97141338e-01 7.42997749e-02 1.37366736e-02 4.68397352e+02] [-7.42947181e-02 9.97235941e-01 -8.78764188e-04 -6.12285483e+00] [-1.37639967e-02 -1.44310199e-04 9.99905261e-01 1.43543969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.43, Y:-6.13, Z:1.43 [[ 9.97093247e-01 7.49604491e-02 1.36377105e-02 4.68425037e+02] [-7.49555514e-02 9.97186496e-01 -8.70627851e-04 -6.12641529e+00] [-1.36646034e-02 -1.54124957e-04 9.99906623e-01 1.43475203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.45, Y:-6.13, Z:1.43 [[ 9.97103622e-01 7.47886631e-02 1.38211357e-02 4.68452731e+02] [-7.47836374e-02 9.97199394e-01 -8.80813331e-04 -6.12989267e+00] [-1.38483030e-02 -1.55332638e-04 9.99904096e-01 1.43388523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.48, Y:-6.13, Z:1.43 [[ 9.97181589e-01 7.37311585e-02 1.38778680e-02 4.68479309e+02] [-7.37260044e-02 9.97278144e-01 -8.83330777e-04 -6.13331764e+00] [-1.39052234e-02 -1.42318569e-04 9.99903308e-01 1.43330404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.51, Y:-6.14, Z:1.43 [[ 9.97454811e-01 6.98944324e-02 1.40949431e-02 4.68506727e+02] [-6.98887781e-02 9.97554389e-01 -8.93925816e-04 -6.13916302e+00] [-1.41229528e-02 -9.34277473e-05 9.99900262e-01 1.43272294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.53, Y:-6.14, Z:1.43 [[ 9.97652172e-01 6.70365055e-02 1.40089415e-02 4.68534363e+02] [-6.70306594e-02 9.97750522e-01 -8.86964769e-04 -6.14350114e+00] [-1.40368877e-02 -5.41462565e-05 9.99901477e-01 1.43223012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.56, Y:-6.15, Z:1.43 [[ 9.97866095e-01 6.38164190e-02 1.38101817e-02 4.68562308e+02] [-6.38104494e-02 9.97961655e-01 -8.72921485e-04 -6.14817788e+00] [-1.38377385e-02 -1.01751437e-05 9.99904254e-01 1.43129071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.59, Y:-6.16, Z:1.43 [[ 9.98345952e-01 5.59496145e-02 1.32287494e-02 4.68589687e+02] [-5.59434639e-02 9.98433589e-01 -8.34822454e-04 -6.15613178e+00] [-1.32547358e-02 9.33795526e-05 9.99912148e-01 1.42985963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.555099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.62, Y:-6.16, Z:1.43 [[ 9.98575192e-01 5.17511226e-02 1.30156326e-02 4.68616640e+02] [-5.17448286e-02 9.98660002e-01 -8.20095813e-04 -6.16074932e+00] [-1.30406325e-02 1.45435658e-04 9.99914957e-01 1.42922699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.64, Y:-6.17, Z:1.43 [[ 9.98782625e-01 4.76157694e-02 1.28843654e-02 4.68644054e+02] [-4.76092793e-02 9.98865707e-01 -8.10147925e-04 -6.16547345e+00] [-1.29083265e-02 1.95746322e-04 9.99916665e-01 1.42821183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.67, Y:-6.17, Z:1.43 [[ 9.98977495e-01 4.33042437e-02 1.29887503e-02 4.68671981e+02] [-4.32973038e-02 9.99061899e-01 -8.15163495e-04 -6.16995968e+00] [-1.30118656e-02 2.51952118e-04 9.99915310e-01 1.42747595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.70, Y:-6.17, Z:1.43 [[ 9.98981334e-01 4.32155696e-02 1.29888243e-02 4.68700395e+02] [-4.32086375e-02 9.99065739e-01 -8.13982276e-04 -6.17165094e+00] [-1.30118661e-02 2.51923699e-04 9.99915310e-01 1.42694590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.73, Y:-6.18, Z:1.43 [[ 9.99266975e-01 3.58408477e-02 1.34516108e-02 4.68729029e+02] [-3.58327629e-02 9.99357446e-01 -8.41637545e-04 -6.17885001e+00] [-1.34731324e-02 3.59012223e-04 9.99909169e-01 1.42588156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.76, Y:-6.18, Z:1.43 [[ 9.99381818e-01 3.24913646e-02 1.34272918e-02 4.68757908e+02] [-3.24830197e-02 9.99471935e-01 -8.39164596e-04 -6.18312842e+00] [-1.34474669e-02 4.02486855e-04 9.99909498e-01 1.42507267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.79, Y:-6.19, Z:1.42 [[ 9.99471182e-01 2.94709565e-02 1.37411191e-02 4.68785297e+02] [-2.94619449e-02 9.99565535e-01 -8.57823228e-04 -6.18700638e+00] [-1.37604299e-02 4.52529501e-04 9.99905218e-01 1.42441360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.81, Y:-6.19, Z:1.42 [[ 9.99543917e-01 2.66956708e-02 1.41173226e-02 4.68814110e+02] [-2.66859038e-02 9.99643481e-01 -8.79800466e-04 -6.19080198e+00] [-1.41357764e-02 5.02665691e-04 9.99899959e-01 1.42365559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.84, Y:-6.20, Z:1.42 [[ 9.99653829e-01 2.21632317e-02 1.41779418e-02 4.68843165e+02] [-2.21529368e-02 9.99754204e-01 -8.82775170e-04 -6.19591294e+00] [-1.41940221e-02 5.68386529e-04 9.99899098e-01 1.42284319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.87, Y:-6.20, Z:1.42 [[ 9.99698206e-01 2.02130705e-02 1.39616795e-02 4.68873212e+02] [-2.02029080e-02 9.99795523e-01 -8.68556739e-04 -6.19925317e+00] [-1.39763808e-02 5.86228087e-04 9.99902154e-01 1.42210977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.90, Y:-6.20, Z:1.42 [[ 9.99759978e-01 1.66222615e-02 1.42718958e-02 4.68904317e+02] [-1.66112744e-02 9.99861629e-01 -8.88045107e-04 -6.20330435e+00] [-1.42846823e-02 6.50757580e-04 9.99897757e-01 1.42127917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.94, Y:-6.21, Z:1.42 [[ 9.99758475e-01 1.67124403e-02 1.42718783e-02 4.68936942e+02] [-1.67014584e-02 9.99860126e-01 -8.88325793e-04 -6.20539116e+00] [-1.42847281e-02 6.49750057e-04 9.99897757e-01 1.42067118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.97, Y:-6.21, Z:1.42 [[ 9.99785316e-01 1.36103428e-02 1.56230591e-02 4.68968792e+02] [-1.35967878e-02 9.99907086e-01 -9.73521979e-04 -6.20903968e+00] [-1.56348575e-02 7.60889560e-04 9.99877479e-01 1.41993344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.00, Y:-6.21, Z:1.42 [[ 9.99795711e-01 1.23556739e-02 1.59960634e-02 4.69001970e+02] [-1.23412384e-02 9.99923343e-01 -1.00084250e-03 -6.21176313e+00] [-1.60072033e-02 8.03226806e-04 9.99871554e-01 1.41923304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.03, Y:-6.21, Z:1.42 [[ 9.99809392e-01 1.14683605e-02 1.58005106e-02 4.69034099e+02] [-1.14540933e-02 9.99933907e-01 -9.93164856e-04 -6.21418080e+00] [-1.58108562e-02 8.11995029e-04 9.99874671e-01 1.41839783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.07, Y:-6.22, Z:1.42 [[ 9.99830844e-01 9.31813414e-03 1.58573731e-02 4.69067412e+02] [-9.30342691e-03 9.99956221e-01 -1.00098690e-03 -6.21649760e+00] [-1.58660062e-02 8.53289662e-04 9.99873763e-01 1.41697047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.10, Y:-6.22, Z:1.42 [[ 9.99846006e-01 8.75579270e-03 1.52085477e-02 4.69100724e+02] [-8.74213774e-03 9.99961322e-01 -9.64098349e-04 -6.21826669e+00] [-1.52164009e-02 8.30994666e-04 9.99883879e-01 1.41610145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.13, Y:-6.22, Z:1.42 [[ 9.99861265e-01 8.33331960e-03 1.44224033e-02 4.69133989e+02] [-8.32094166e-03 9.99964959e-01 -9.18038791e-04 -6.21980793e+00] [-1.44295482e-02 7.97903451e-04 9.99895570e-01 1.41531214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.17, Y:-6.22, Z:1.41 [[ 9.99877959e-01 7.61656147e-03 1.36402240e-02 4.69166177e+02] [-7.60537266e-03 9.99970699e-01 -8.71965324e-04 -6.22107094e+00] [-1.36464657e-02 7.68119921e-04 9.99906588e-01 1.41455849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.20, Y:-6.22, Z:1.41 [[ 9.99895271e-01 6.66264928e-03 1.28473889e-02 4.69198270e+02] [-6.65260431e-03 9.99977531e-01 -8.24446849e-04 -6.22215095e+00] [-1.28525932e-02 7.38891912e-04 9.99917129e-01 1.41338628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.23, Y:-6.22, Z:1.41 [[ 9.99901250e-01 6.06371703e-03 1.26776152e-02 4.69230987e+02] [-6.05384915e-03 9.99981342e-01 -8.16601518e-04 -6.22360307e+00] [-1.26823303e-02 7.39772509e-04 9.99919302e-01 1.41265514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.26, Y:-6.22, Z:1.41 [[ 9.99906260e-01 5.49516451e-03 1.25408785e-02 4.69263139e+02] [-5.48540976e-03 9.99984625e-01 -8.12101776e-04 -6.22467320e+00] [-1.25451483e-02 7.43233792e-04 9.99921030e-01 1.41208563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.30, Y:-6.22, Z:1.41 [[ 9.99905463e-01 4.59715734e-03 1.29587965e-02 4.69296281e+02] [-4.58664236e-03 9.99989128e-01 -8.41019775e-04 -6.22422736e+00] [-1.29625219e-02 7.81502903e-04 9.99915678e-01 1.41177948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.33, Y:-6.22, Z:1.41 [[ 9.99902517e-01 4.53076255e-03 1.32071553e-02 4.69327907e+02] [-4.51978053e-03 9.99989415e-01 -8.61250318e-04 -6.22482456e+00] [-1.32109176e-02 8.01472918e-04 9.99912411e-01 1.41136061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.36, Y:-6.23, Z:1.41 [[ 9.99897554e-01 4.87930820e-03 1.34563678e-02 4.69360517e+02] [-4.86788893e-03 9.99987763e-01 -8.81237550e-04 -6.22571085e+00] [-1.34605030e-02 8.15643167e-04 9.99909071e-01 1.41089589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.305099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.39, Y:-6.23, Z:1.41 [[ 9.99883121e-01 5.77455094e-03 1.41562041e-02 4.69393976e+02] [-5.76194186e-03 9.99982966e-01 -9.31334601e-04 -6.22630823e+00] [-1.41613410e-02 8.49658523e-04 9.99899362e-01 1.41006098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.335099893 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:469.43, Y:-6.23, Z:1.41 [[ 9.99868459e-01 7.12609685e-03 1.45699442e-02 4.69426028e+02] [-7.11281618e-03 9.99974240e-01 -9.63128367e-04 -6.22663959e+00] [-1.45764322e-02 8.59368342e-04 9.99893389e-01 1.40950079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.365099893 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:469.46, Y:-6.23, Z:1.41 [[ 9.99825013e-01 1.03017801e-02 1.56146389e-02 4.69458652e+02] [-1.02868306e-02 9.99946551e-01 -1.03742072e-03 -6.22522606e+00] [-1.56244916e-02 8.76614040e-04 9.99877546e-01 1.40938872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.49, Y:-6.23, Z:1.41 [[ 9.99792417e-01 1.23777898e-02 1.61837107e-02 4.69491368e+02] [-1.23619847e-02 9.99923009e-01 -1.07628354e-03 -6.22551345e+00] [-1.61957867e-02 8.75997334e-04 9.99868456e-01 1.40906374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.52, Y:-6.23, Z:1.41 [[ 9.99752485e-01 1.50802975e-02 1.63570501e-02 4.69523073e+02] [-1.50644322e-02 9.99885928e-01 -1.09272229e-03 -6.22567501e+00] [-1.63716628e-02 8.46042156e-04 9.99865617e-01 1.40873351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.56, Y:-6.22, Z:1.41 [[ 9.99642207e-01 2.06993005e-02 1.69410013e-02 4.69555701e+02] [-2.06829997e-02 9.99785438e-01 -1.13687159e-03 -6.22451097e+00] [-1.69608989e-02 7.86074102e-04 9.99855845e-01 1.40840492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.59, Y:-6.23, Z:1.41 [[ 9.99574938e-01 2.33251180e-02 1.74894847e-02 4.69588122e+02] [-2.33081254e-02 9.99727638e-01 -1.17482593e-03 -6.22509449e+00] [-1.75121242e-02 7.66679453e-04 9.99846357e-01 1.40785363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.62, Y:-6.23, Z:1.41 [[ 9.99509668e-01 2.59246074e-02 1.75595566e-02 4.69619279e+02] [-2.59077953e-02 9.99663635e-01 -1.18427495e-03 -6.22569846e+00] [-1.75843520e-02 7.28764864e-04 9.99845118e-01 1.40753323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.65, Y:-6.23, Z:1.41 [[ 9.99386086e-01 3.07506983e-02 1.67882423e-02 4.69649875e+02] [-3.07360023e-02 9.99526896e-01 -1.13274994e-03 -6.22571775e+00] [-1.68151325e-02 6.16051072e-04 9.99858426e-01 1.40703773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.68, Y:-6.23, Z:1.41 [[ 9.99319457e-01 3.32080967e-02 1.60575348e-02 4.69678762e+02] [-3.31949424e-02 9.99448307e-01 -1.08511177e-03 -6.22667076e+00] [-1.60847104e-02 5.51344360e-04 9.99870481e-01 1.40626195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.71, Y:-6.23, Z:1.41 [[ 9.99247397e-01 3.57428344e-02 1.50694864e-02 4.69707560e+02] [-3.57315519e-02 9.99360906e-01 -1.01736528e-03 -6.22764922e+00] [-1.50962192e-02 4.78143475e-04 9.99885931e-01 1.40544782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.74, Y:-6.23, Z:1.40 [[ 9.99159167e-01 3.85451941e-02 1.39723530e-02 4.69735805e+02] [-3.85357804e-02 9.99256777e-01 -9.42447308e-04 -6.22897609e+00] [-1.39982952e-02 4.03219341e-04 9.99901938e-01 1.40471513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.76, Y:-6.23, Z:1.40 [[ 9.99068055e-01 4.11613086e-02 1.29910532e-02 4.69763565e+02] [-4.11534059e-02 9.99152456e-01 -8.75174831e-04 -6.23008793e+00] [-1.30160660e-02 3.39733132e-04 9.99915230e-01 1.40425116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.79, Y:-6.23, Z:1.40 [[ 9.98780961e-01 4.78340773e-02 1.21858017e-02 4.69791732e+02] [-4.78276307e-02 9.98855267e-01 -8.20056889e-04 -6.23075787e+00] [-1.22110789e-02 2.36239184e-04 9.99925414e-01 1.40364405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.82, Y:-6.23, Z:1.40 [[ 9.98576989e-01 5.20265277e-02 1.17148024e-02 4.69819504e+02] [-5.20208716e-02 9.98645688e-01 -7.87220160e-04 -6.23199151e+00] [-1.17398932e-02 1.76685705e-04 9.99931069e-01 1.40353776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.85, Y:-6.23, Z:1.40 [[ 9.98364289e-01 5.59821809e-02 1.16078315e-02 4.69846790e+02] [-5.59769079e-02 9.98431760e-01 -7.78916896e-04 -6.23289998e+00] [-1.16332331e-02 1.27872297e-04 9.99932323e-01 1.40347879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.87, Y:-6.23, Z:1.40 [[ 9.97811921e-01 6.49494609e-02 1.23667982e-02 4.69874589e+02] [-6.49441860e-02 9.97888554e-01 -8.28073074e-04 -6.23313298e+00] [-1.23944693e-02 2.31095396e-05 9.99923185e-01 1.40389206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.90, Y:-6.23, Z:1.40 [[ 9.97534860e-01 6.89726284e-02 1.29220399e-02 4.69901426e+02] [-6.89672252e-02 9.97618552e-01 -8.63825719e-04 -6.23432871e+00] [-1.29508470e-02 -2.95009655e-05 9.99916134e-01 1.40415860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.93, Y:-6.24, Z:1.40 [[ 9.97268726e-01 7.26458286e-02 1.33293696e-02 4.69928359e+02] [-7.26404312e-02 9.97357798e-01 -8.89266829e-04 -6.23598948e+00] [-1.33587522e-02 -8.14131565e-05 9.99910765e-01 1.40376188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.96, Y:-6.24, Z:1.40 [[ 9.96865556e-01 7.79815012e-02 1.33397441e-02 4.69955752e+02] [-7.79765968e-02 9.96954794e-01 -8.88169283e-04 -6.23854118e+00] [-1.33683826e-02 -1.54802481e-04 9.99910627e-01 1.40377232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.98, Y:-6.24, Z:1.40 [[ 9.96763738e-01 7.92305565e-02 1.35856581e-02 4.69982806e+02] [-7.92256001e-02 9.96856303e-01 -9.03475518e-04 -6.24115315e+00] [-1.36145317e-02 -1.75780279e-04 9.99907303e-01 1.40337258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.01, Y:-6.24, Z:1.40 [[ 9.96753864e-01 7.93587406e-02 1.35619248e-02 4.70010458e+02] [-7.93538554e-02 9.96846105e-01 -8.98807118e-04 -6.24400016e+00] [-1.35904801e-02 -1.80301550e-04 9.99907629e-01 1.40306291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.04, Y:-6.25, Z:1.40 [[ 9.96811951e-01 7.85689379e-02 1.38872545e-02 4.70038156e+02] [-7.85637599e-02 9.96908668e-01 -9.18856456e-04 -6.24720234e+00] [-1.39165180e-02 -1.75107835e-04 9.99903145e-01 1.40258880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.06, Y:-6.25, Z:1.40 [[ 9.96965435e-01 7.65257333e-02 1.42735214e-02 4.70064489e+02] [-7.65200757e-02 9.97067595e-01 -9.42887256e-04 -6.25083417e+00] [-1.43038208e-02 -1.52184933e-04 9.99897684e-01 1.40227685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.09, Y:-6.26, Z:1.40 [[ 9.97442987e-01 6.99071897e-02 1.48483450e-02 4.70091901e+02] [-6.99003635e-02 9.97553498e-01 -9.78843081e-04 -6.25754631e+00] [-1.48804466e-02 -6.15645461e-05 9.99889278e-01 1.40154393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.055099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.12, Y:-6.26, Z:1.40 [[ 9.97738237e-01 6.56721663e-02 1.43379534e-02 4.70119691e+02] [-6.56653852e-02 9.97841253e-01 -9.43724754e-04 -6.26221323e+00] [-1.43689778e-02 8.30403125e-08 9.99896761e-01 1.40102324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.15, Y:-6.27, Z:1.40 [[ 9.98067391e-01 6.05301001e-02 1.40566562e-02 4.70146787e+02] [-6.05230923e-02 9.98166370e-01 -9.23791785e-04 -6.26670372e+00] [-1.40867987e-02 7.12541581e-05 9.99900774e-01 1.40033772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.17, Y:-6.27, Z:1.40 [[ 9.98643484e-01 5.03449854e-02 1.32881505e-02 4.70174604e+02] [-5.03378428e-02 9.98731867e-01 -8.71641775e-04 -6.27470791e+00] [-1.33151822e-02 2.01562546e-04 9.99911329e-01 1.39928508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.20, Y:-6.28, Z:1.40 [[ 9.98888787e-01 4.52243930e-02 1.32644292e-02 4.70202142e+02] [-4.52168438e-02 9.98976818e-01 -8.68637445e-04 -6.27984949e+00] [-1.32901409e-02 2.67896580e-04 9.99911646e-01 1.39835225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.23, Y:-6.29, Z:1.40 [[ 9.99100161e-01 4.02839970e-02 1.32690363e-02 4.70230938e+02] [-4.02760288e-02 9.99188215e-01 -8.67296348e-04 -6.28518217e+00] [-1.32932029e-02 3.32091833e-04 9.99911586e-01 1.39712535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.26, Y:-6.29, Z:1.40 [[ 9.99278743e-01 3.55644388e-02 1.33103163e-02 4.70259053e+02] [-3.55560154e-02 9.99367307e-01 -8.69029284e-04 -6.29038672e+00] [-1.33328015e-02 3.95140677e-04 9.99911036e-01 1.39649702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.29, Y:-6.30, Z:1.40 [[ 9.99540930e-01 2.71510220e-02 1.34444102e-02 4.70286489e+02] [-2.71416793e-02 9.99631212e-01 -8.76919312e-04 -6.29811671e+00] [-1.34632613e-02 5.11612876e-04 9.99909235e-01 1.39557647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.32, Y:-6.30, Z:1.39 [[ 9.99632899e-01 2.36184435e-02 1.32754009e-02 4.70315530e+02] [-2.36090444e-02 9.99720894e-01 -8.64300346e-04 -6.30233834e+00] [-1.32921091e-02 5.50563531e-04 9.99911504e-01 1.39482712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.35, Y:-6.31, Z:1.39 [[ 9.99697103e-01 2.09577170e-02 1.29025912e-02 4.70345440e+02] [-2.09486257e-02 9.99780201e-01 -8.39370341e-04 -6.30654132e+00] [-1.29173465e-02 5.68824544e-04 9.99916406e-01 1.39415476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.38, Y:-6.31, Z:1.39 [[ 9.99798156e-01 1.64319406e-02 1.15602008e-02 4.70375047e+02] [-1.64243423e-02 9.99864829e-01 -7.51914437e-04 -6.31184486e+00] [-1.15709936e-02 5.61893972e-04 9.99932896e-01 1.39350692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.41, Y:-6.32, Z:1.39 [[ 9.99825745e-01 1.48539113e-02 1.13066703e-02 4.70405996e+02] [-1.48465412e-02 9.99889514e-01 -7.35493922e-04 -6.31533616e+00] [-1.13163460e-02 5.67500812e-04 9.99935807e-01 1.39302006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.44, Y:-6.32, Z:1.39 [[ 9.99850162e-01 1.36375820e-02 1.06615874e-02 4.70437519e+02] [-1.36309564e-02 9.99906853e-01 -6.93872934e-04 -6.31863829e+00] [-1.06700571e-02 5.48441333e-04 9.99942923e-01 1.39279390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.47, Y:-6.32, Z:1.39 [[ 9.99876377e-01 1.21303584e-02 1.00042579e-02 4.70468124e+02] [-1.21244632e-02 9.99926285e-01 -6.49716004e-04 -6.32339437e+00] [-1.00114018e-02 5.28339428e-04 9.99949745e-01 1.39204610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.50, Y:-6.33, Z:1.39 [[ 9.99888218e-01 1.14670669e-02 9.59468576e-03 4.70500094e+02] [-1.14615958e-02 9.99934118e-01 -6.25014351e-04 -6.32664994e+00] [-9.60122073e-03 5.14974075e-04 9.99953775e-01 1.39157704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.53, Y:-6.33, Z:1.39 [[ 9.99891471e-01 1.12255350e-02 9.54115295e-03 4.70531242e+02] [-1.12200811e-02 9.99936858e-01 -6.24955487e-04 -6.32980585e+00] [-9.54756595e-03 5.17835151e-04 9.99954287e-01 1.39101137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.56, Y:-6.33, Z:1.39 [[ 9.99902582e-01 1.06953596e-02 8.96856709e-03 4.70563313e+02] [-1.06905192e-02 9.99942682e-01 -5.87474839e-04 -6.33227823e+00] [-8.97433628e-03 4.91538970e-04 9.99959609e-01 1.39064374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.59, Y:-6.34, Z:1.39 [[ 9.99911351e-01 1.03090621e-02 8.42691573e-03 4.70594711e+02] [-1.03047577e-02 9.99946751e-01 -5.54059803e-04 -6.33518191e+00] [-8.43217884e-03 4.67173362e-04 9.99964339e-01 1.39043692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.63, Y:-6.33, Z:1.39 [[ 9.99918086e-01 1.16897893e-02 5.21247987e-03 4.70626122e+02] [-1.16409736e-02 9.99889000e-01 -9.29916496e-03 -6.33295370e+00] [-5.32060657e-03 9.23772489e-03 9.99943176e-01 1.39192988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.66, Y:-6.34, Z:1.39 [[ 9.99916929e-01 1.15773707e-02 5.66562085e-03 4.70655975e+02] [-1.15752411e-02 9.99932921e-01 -4.08519674e-04 -6.33920745e+00] [-5.66997039e-03 3.42904811e-04 9.99983867e-01 1.38910907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.69, Y:-6.35, Z:1.39 [[ 9.99910555e-01 1.06017710e-02 8.15380766e-03 4.70686762e+02] [-1.06674297e-02 9.99910685e-01 8.05162642e-03 -6.34549774e+00] [-8.06771790e-03 -8.13788641e-03 9.99934341e-01 1.38684750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.72, Y:-6.34, Z:1.39 [[ 9.99913822e-01 1.07022152e-02 7.60339357e-03 4.70717475e+02] [-1.06986623e-02 9.99942639e-01 -5.07797463e-04 -6.34335857e+00] [-7.60839198e-03 4.26407562e-04 9.99970965e-01 1.38877396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.75, Y:-6.35, Z:1.39 [[ 9.99911694e-01 1.06506566e-02 7.94776587e-03 4.70747489e+02] [-1.06467717e-02 9.99943181e-01 -5.30957614e-04 -6.34509831e+00] [-7.95296933e-03 4.46292679e-04 9.99968275e-01 1.38845170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.78, Y:-6.35, Z:1.39 [[ 9.99911266e-01 1.04233428e-02 8.29541730e-03 4.70778374e+02] [-1.04191029e-02 9.99945566e-01 -5.54174049e-04 -6.34682473e+00] [-8.30074209e-03 4.67694069e-04 9.99965439e-01 1.38844885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.81, Y:-6.35, Z:1.39 [[ 9.99912693e-01 9.81865266e-03 8.84306986e-03 4.70809961e+02] [-9.81380763e-03 9.99951669e-01 -5.91117106e-04 -6.34831723e+00] [-8.84844643e-03 5.04281311e-04 9.99960725e-01 1.38833344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.84, Y:-6.35, Z:1.39 [[ 9.99909769e-01 9.29123981e-03 9.70187753e-03 4.70842196e+02] [-9.28539689e-03 9.99956680e-01 -6.47117400e-04 -6.34941340e+00] [-9.70746977e-03 5.56973226e-04 9.99952726e-01 1.38802780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.805099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.87, Y:-6.35, Z:1.39 [[ 9.99911595e-01 8.63462231e-03 1.01116857e-02 4.70874209e+02] [-8.62821536e-03 9.99962547e-01 -6.77071652e-04 -6.35099057e+00] [-1.01171532e-02 5.89765994e-04 9.99948646e-01 1.38752901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.91, Y:-6.35, Z:1.39 [[ 9.99914067e-01 8.01005118e-03 1.03777669e-02 4.70906386e+02] [-8.00323741e-03 9.99967730e-01 -6.97937174e-04 -6.35260296e+00] [-1.03830226e-02 6.14821465e-04 9.99945906e-01 1.38692879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.94, Y:-6.35, Z:1.39 [[ 9.99919015e-01 7.48578451e-03 1.02920786e-02 4.70939332e+02] [-7.47903231e-03 9.99971791e-01 -6.94390226e-04 -6.35461766e+00] [-1.02969863e-02 6.17359203e-04 9.99946794e-01 1.38595876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.97, Y:-6.36, Z:1.39 [[ 9.99941646e-01 5.29555589e-03 9.41598396e-03 4.70971499e+02] [-5.28978399e-03 9.99985806e-01 -6.37789033e-04 -6.35628478e+00] [-9.41922776e-03 5.87943295e-04 9.99955465e-01 1.38517791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.00, Y:-6.36, Z:1.38 [[ 9.99947149e-01 4.05019336e-03 9.44957396e-03 4.71003741e+02] [-4.04429984e-03 9.99991615e-01 -6.42706470e-04 -6.35801570e+00] [-9.45209782e-03 6.04455592e-04 9.99955145e-01 1.38458288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.04, Y:-6.36, Z:1.38 [[ 9.99952081e-01 3.04494517e-03 9.30399660e-03 4.71036714e+02] [-3.03916720e-03 9.99995180e-01 -6.35095618e-04 -6.35972584e+00] [-9.30588559e-03 6.06788784e-04 9.99956515e-01 1.38420357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.07, Y:-6.36, Z:1.38 [[ 9.99957776e-01 1.02388559e-03 9.13229794e-03 4.71068363e+02] [-1.01820994e-03 9.99999286e-01 -6.26120621e-04 -6.36006176e+00] [-9.13293249e-03 6.16795587e-04 9.99958104e-01 1.38383033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.10, Y:-6.36, Z:1.38 [[ 9.99957975e-01 4.47309582e-04 9.15681952e-03 4.71101308e+02] [-4.41557815e-04 9.99999704e-01 -6.30152213e-04 -6.36152209e+00] [-9.15709869e-03 6.26082466e-04 9.99957877e-01 1.38356721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.13, Y:-6.36, Z:1.38 [[ 9.99959107e-01 6.33430491e-04 9.02120522e-03 4.71134152e+02] [-6.27818072e-04 9.99999608e-01 -6.24954616e-04 -6.36282023e+00] [-9.02159754e-03 6.19265385e-04 9.99959113e-01 1.38323199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.17, Y:-6.36, Z:1.38 [[ 9.99958053e-01 1.17701059e-03 9.08332469e-03 4.71167266e+02] [-1.17133390e-03 9.99999115e-01 -6.30251094e-04 -6.36388975e+00] [-9.08405847e-03 6.19585050e-04 9.99958547e-01 1.38289308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.20, Y:-6.36, Z:1.38 [[ 9.99943683e-01 3.51765406e-03 1.00128549e-02 4.71199096e+02] [-3.51086092e-03 9.99993595e-01 -6.95938713e-04 -6.36324287e+00] [-1.00152389e-02 6.60745778e-04 9.99949628e-01 1.38274182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.23, Y:-6.36, Z:1.38 [[ 9.99923960e-01 5.69146403e-03 1.09399380e-02 4.71231692e+02] [-5.68346344e-03 9.99983558e-01 -7.62269336e-04 -6.36423001e+00] [-1.09440966e-02 7.00034635e-04 9.99939867e-01 1.38229236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.27, Y:-6.36, Z:1.38 [[ 9.99903907e-01 7.84059274e-03 1.14325005e-02 4.71265113e+02] [-7.83198818e-03 9.99969012e-01 -7.97218518e-04 -6.36472415e+00] [-1.14383969e-02 7.07602702e-04 9.99934329e-01 1.38235972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.30, Y:-6.37, Z:1.38 [[ 9.99873225e-01 1.03580449e-02 1.20932053e-02 4.71297786e+02] [-1.03485810e-02 9.99946095e-01 -8.44894731e-04 -6.36521664e+00] [-1.21013049e-02 7.19640104e-04 9.99926518e-01 1.38227244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.33, Y:-6.36, Z:1.38 [[ 9.99803771e-01 1.54860164e-02 1.23532423e-02 4.71329318e+02] [-1.54765184e-02 9.99879858e-01 -8.64097883e-04 -6.36380536e+00] [-1.23651396e-02 6.72743140e-04 9.99923322e-01 1.38208523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.36, Y:-6.36, Z:1.38 [[ 9.99761456e-01 1.78444419e-02 1.25939507e-02 4.71360963e+02] [-1.78347465e-02 9.99840559e-01 -8.81740468e-04 -6.36463156e+00] [-1.26076769e-02 6.56920215e-04 9.99920304e-01 1.38143892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.39, Y:-6.37, Z:1.38 [[ 9.99681822e-01 2.18262148e-02 1.26440195e-02 4.71392798e+02] [-2.18167541e-02 9.99761594e-01 -8.85698243e-04 -6.36513022e+00] [-1.26603365e-02 6.09564969e-04 9.99919669e-01 1.38096425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.42, Y:-6.37, Z:1.38 [[ 9.99637933e-01 2.38028605e-02 1.25470176e-02 4.71423577e+02] [-2.37936919e-02 9.99716503e-01 -8.79533124e-04 -6.36657344e+00] [-1.25643959e-02 5.80674803e-04 9.99920896e-01 1.38030437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.45, Y:-6.37, Z:1.38 [[ 9.99586083e-01 2.59690116e-02 1.23803293e-02 4.71453521e+02] [-2.59602483e-02 9.99662599e-01 -8.68046070e-04 -6.36795992e+00] [-1.23986944e-02 5.46290350e-04 9.99922984e-01 1.37947379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.48, Y:-6.37, Z:1.38 [[ 9.99536530e-01 2.81387187e-02 1.16163129e-02 4.71482253e+02] [-2.81311515e-02 9.99603909e-01 -8.14342492e-04 -6.36914117e+00] [-1.16346263e-02 4.87184811e-04 9.99932197e-01 1.37920120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.51, Y:-6.37, Z:1.38 [[ 9.99461587e-01 3.08496244e-02 1.11730135e-02 4.71510154e+02] [-3.08427999e-02 9.99523941e-01 -7.82630521e-04 -6.37021448e+00] [-1.11918384e-02 4.37602123e-04 9.99937274e-01 1.37839992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.54, Y:-6.37, Z:1.38 [[ 9.99254906e-01 3.72357436e-02 1.01553599e-02 4.71538659e+02] [-3.72304441e-02 9.99306454e-01 -7.10456850e-04 -6.37009391e+00] [-1.01747711e-02 3.31838935e-04 9.99948181e-01 1.37811465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.57, Y:-6.37, Z:1.38 [[ 9.99118088e-01 4.07446213e-02 1.01450369e-02 4.71566464e+02] [-4.07395177e-02 9.99169549e-01 -7.09296748e-04 -6.37104420e+00] [-1.01655120e-02 2.95367299e-04 9.99948286e-01 1.37764473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.59, Y:-6.37, Z:1.38 [[ 9.98978630e-01 4.41074520e-02 9.80963695e-03 4.71594380e+02] [-4.41028520e-02 9.99026761e-01 -6.84857217e-04 -6.37194799e+00] [-9.83029714e-03 2.51524757e-04 9.99951650e-01 1.37733792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.62, Y:-6.37, Z:1.38 [[ 9.98669358e-01 5.06924495e-02 9.47568769e-03 4.71620926e+02] [-5.06884615e-02 9.98714295e-01 -6.60713298e-04 -6.37241539e+00] [-9.49699793e-03 1.79526095e-04 9.99954886e-01 1.37754467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.555099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.65, Y:-6.36, Z:1.37 [[ 9.98253559e-01 5.68922806e-02 1.59091589e-02 4.71653872e+02] [-5.64241006e-02 9.98000804e-01 -2.84730729e-02 -6.36496951e+00] [-1.74972514e-02 2.75256863e-02 9.99467950e-01 1.37397632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.68, Y:-6.39, Z:1.37 [[ 9.98447208e-01 5.45437571e-02 1.13203956e-02 4.71676368e+02] [-5.48286376e-02 9.98141416e-01 2.65995305e-02 -6.38854440e+00] [-9.84851732e-03 -2.71789088e-02 9.99582069e-01 1.36911225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.71, Y:-6.38, Z:1.38 [[ 9.98268749e-01 5.80152740e-02 9.68156810e-03 4.71705314e+02] [-5.80115099e-02 9.98315690e-01 -6.69406204e-04 -6.37752438e+00] [-9.70409712e-03 1.06604911e-04 9.99952908e-01 1.37654554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.73, Y:-6.38, Z:1.38 [[ 9.98220553e-01 5.88079537e-02 9.86675091e-03 4.71732769e+02] [-5.88040937e-02 9.98269310e-01 -6.81116862e-04 -6.37962154e+00] [-9.88972971e-03 9.96995054e-05 9.99951090e-01 1.37590009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.76, Y:-6.38, Z:1.38 [[ 9.98213922e-01 5.88488617e-02 1.02848315e-02 4.71760642e+02] [-5.88446821e-02 9.98266899e-01 -7.08791479e-04 -6.38209491e+00] [-1.03087184e-02 1.02317884e-04 9.99946859e-01 1.37523860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.79, Y:-6.38, Z:1.37 [[ 9.98252524e-01 5.82086457e-02 1.01809855e-02 4.71787949e+02] [-5.82045265e-02 9.98304434e-01 -7.00685464e-04 -6.38448462e+00] [-1.02045089e-02 1.06881594e-04 9.99947927e-01 1.37474200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.82, Y:-6.39, Z:1.37 [[ 9.98352576e-01 5.62764334e-02 1.11846824e-02 4.71815058e+02] [-5.62713588e-02 9.98415216e-01 -7.68140310e-04 -6.38854529e+00] [-1.12101853e-02 1.37497578e-04 9.99937154e-01 1.37395428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.84, Y:-6.39, Z:1.37 [[ 9.98452403e-01 5.43820258e-02 1.16359127e-02 4.71842854e+02] [-5.43764238e-02 9.98520189e-01 -7.97504232e-04 -6.39160971e+00] [-1.16620636e-02 1.63550698e-04 9.99931982e-01 1.37311241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.87, Y:-6.39, Z:1.37 [[ 9.98571882e-01 5.20958435e-02 1.18414129e-02 4.71870917e+02] [-5.20898966e-02 9.98642071e-01 -8.10290723e-04 -6.39454566e+00] [-1.18675459e-02 1.92315561e-04 9.99929560e-01 1.37256112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.90, Y:-6.40, Z:1.37 [[ 9.98717357e-01 4.92169215e-02 1.18884447e-02 4.71898717e+02] [-4.92107388e-02 9.98788087e-01 -8.12208239e-04 -6.39769921e+00] [-1.19140113e-02 2.26127318e-04 9.99929000e-01 1.37185808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.93, Y:-6.40, Z:1.37 [[ 9.99018092e-01 4.26117866e-02 1.21279468e-02 4.71926362e+02] [-4.26048837e-02 9.99091657e-01 -8.27084588e-04 -6.40235508e+00] [-1.21521740e-02 3.09562703e-04 9.99926112e-01 1.37066948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.95, Y:-6.41, Z:1.37 [[ 9.99177372e-01 3.87683660e-02 1.18993122e-02 4.71954001e+02] [-3.87614599e-02 9.99248164e-01 -8.10544692e-04 -6.40575729e+00] [-1.19217894e-02 3.48643203e-04 9.99928872e-01 1.36983620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.98, Y:-6.41, Z:1.37 [[ 9.99321624e-01 3.49353632e-02 1.16538304e-02 4.71982497e+02] [-3.49284957e-02 9.99389500e-01 -7.92361686e-04 -6.40937632e+00] [-1.16743972e-02 3.84773402e-04 9.99931778e-01 1.36894195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.01, Y:-6.41, Z:1.37 [[ 9.99552960e-01 2.76240356e-02 1.14364388e-02 4.72010452e+02] [-2.76169519e-02 9.99618277e-01 -7.76887659e-04 -6.41415782e+00] [-1.14535341e-02 4.60700778e-04 9.99934300e-01 1.36753570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.04, Y:-6.42, Z:1.37 [[ 9.99652937e-01 2.39041272e-02 1.10724341e-02 4.72038656e+02] [-2.38972739e-02 9.99714137e-01 -7.50866230e-04 -6.41710817e+00] [-1.10872177e-02 4.86004642e-04 9.99938417e-01 1.36683311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.07, Y:-6.42, Z:1.37 [[ 9.99727981e-01 2.04964531e-02 1.11292249e-02 4.72068430e+02] [-2.04893236e-02 9.99789787e-01 -7.54262037e-04 -6.42029657e+00] [-1.11423451e-02 5.26026572e-04 9.99937784e-01 1.36548746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.10, Y:-6.42, Z:1.36 [[ 9.99831987e-01 1.43456102e-02 1.14106141e-02 4.72098932e+02] [-1.43377232e-02 9.99896911e-01 -7.72705602e-04 -6.42428182e+00] [-1.14205228e-02 6.08973550e-04 9.99934598e-01 1.36448048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.13, Y:-6.43, Z:1.36 [[ 9.99856916e-01 1.17552717e-02 1.21639054e-02 4.72130190e+02] [-1.17461202e-02 9.99930673e-01 -8.23518241e-04 -6.42724344e+00] [-1.21727428e-02 6.80521714e-04 9.99925678e-01 1.36365432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.16, Y:-6.43, Z:1.36 [[ 9.99879689e-01 9.63758457e-03 1.21542211e-02 4.72162980e+02] [-9.62830348e-03 9.99953309e-01 -8.21895590e-04 -6.43022316e+00] [-1.21615747e-02 7.04772177e-04 9.99925797e-01 1.36308000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.20, Y:-6.43, Z:1.36 [[ 9.99892478e-01 7.82578282e-03 1.24011532e-02 4.72196070e+02] [-7.81593756e-03 9.99969100e-01 -8.42165765e-04 -6.43319806e+00] [-1.24073606e-02 7.45148575e-04 9.99922748e-01 1.36222238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.23, Y:-6.44, Z:1.36 [[ 9.99908605e-01 4.82462526e-03 1.26294949e-02 4.72228913e+02] [-4.81412980e-03 9.99988041e-01 -8.61297679e-04 -6.43632374e+00] [-1.26334993e-02 8.00418933e-04 9.99919874e-01 1.36104048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.26, Y:-6.44, Z:1.36 [[ 9.99918385e-01 3.65479620e-03 1.22419628e-02 4.72260945e+02] [-3.64480504e-03 9.99993006e-01 -8.38351574e-04 -6.43860246e+00] [-1.22449411e-02 7.93663585e-04 9.99924713e-01 1.36061268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.29, Y:-6.44, Z:1.36 [[ 9.99921667e-01 3.05205539e-03 1.21385461e-02 4.72294140e+02] [-3.04214987e-03 9.99995025e-01 -8.34418800e-04 -6.44085830e+00] [-1.21410324e-02 7.97426161e-04 9.99925977e-01 1.36009317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.33, Y:-6.44, Z:1.36 [[ 9.99921664e-01 2.51458081e-03 1.22614568e-02 4.72326691e+02] [-2.50439074e-03 9.99996506e-01 -8.46348196e-04 -6.44293105e+00] [-1.22635422e-02 8.15574417e-04 9.99924467e-01 1.35969687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.36, Y:-6.44, Z:1.36 [[ 9.99926774e-01 2.21609255e-03 1.18969003e-02 4.72358529e+02] [-2.20643861e-03 9.99997226e-01 -8.24531113e-04 -6.44483124e+00] [-1.18986945e-02 7.98220956e-04 9.99928889e-01 1.35929229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.305099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.39, Y:-6.45, Z:1.36 [[ 9.99927668e-01 2.55431643e-03 1.17530621e-02 4.72391268e+02] [-2.54488303e-03 9.99996428e-01 -8.17518884e-04 -6.44666177e+00] [-1.17551083e-02 7.87549583e-04 9.99930596e-01 1.35877153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.42, Y:-6.45, Z:1.36 [[ 9.99930412e-01 3.48049413e-03 1.12719368e-02 4.72423099e+02] [-3.47182851e-03 9.99993663e-01 -7.88254707e-04 -6.44862200e+00] [-1.12746089e-02 7.49065622e-04 9.99936159e-01 1.35835810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.46, Y:-6.45, Z:1.36 [[ 9.99915281e-01 5.83786026e-03 1.16340372e-02 4.72455777e+02] [-5.82877411e-03 9.99982681e-01 -8.14751066e-04 -6.44899080e+00] [-1.16385921e-02 7.46869866e-04 9.99931990e-01 1.35808235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.49, Y:-6.45, Z:1.36 [[ 9.99901505e-01 7.71187591e-03 1.17263444e-02 4.72487864e+02] [-7.70277105e-03 9.99969996e-01 -8.21411652e-04 -6.45019155e+00] [-1.17323271e-02 7.31005401e-04 9.99930907e-01 1.35766507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.52, Y:-6.45, Z:1.36 [[ 9.99881620e-01 1.01086714e-02 1.16000523e-02 4.72520857e+02] [-1.00998946e-02 9.99948663e-01 -8.14948298e-04 -6.45154998e+00] [-1.16076949e-02 6.97692518e-04 9.99932385e-01 1.35730512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.55, Y:-6.45, Z:1.36 [[ 9.99849720e-01 1.27731893e-02 1.17210625e-02 4.72553253e+02] [-1.27644014e-02 9.99918192e-01 -8.24264766e-04 -6.45267550e+00] [-1.17306321e-02 6.74528549e-04 9.99930966e-01 1.35648388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.59, Y:-6.45, Z:1.36 [[ 9.99849080e-01 1.28233212e-02 1.17208723e-02 4.72585016e+02] [-1.28145052e-02 9.99917549e-01 -8.26959571e-04 -6.45494818e+00] [-1.17305102e-02 6.76637588e-04 9.99930966e-01 1.35591554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.62, Y:-6.45, Z:1.36 [[ 9.99760491e-01 1.85597659e-02 1.15972145e-02 4.72616301e+02] [-1.85515129e-02 9.99827571e-01 -8.18810193e-04 -6.45364053e+00] [-1.16104117e-02 6.03468205e-04 9.99932415e-01 1.35580834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.65, Y:-6.45, Z:1.36 [[ 9.99694451e-01 2.17018697e-02 1.18335762e-02 4.72647008e+02] [-2.16934857e-02 9.99764319e-01 -8.36411762e-04 -6.45375893e+00] [-1.18489390e-02 5.79444680e-04 9.99929631e-01 1.35565667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.68, Y:-6.45, Z:1.36 [[ 9.99619527e-01 2.46987915e-02 1.22789173e-02 4.72676322e+02] [-2.46899878e-02 9.99694779e-01 -8.68071427e-04 -6.45381068e+00] [-1.22966098e-02 5.64574830e-04 9.99924234e-01 1.35580605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.71, Y:-6.45, Z:1.36 [[ 9.99532633e-01 2.78064705e-02 1.27010452e-02 4.72705531e+02] [-2.77973049e-02 9.99613177e-01 -8.97642715e-04 -6.45377790e+00] [-1.27210924e-02 5.44168362e-04 9.99918936e-01 1.35576268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.73, Y:-6.45, Z:1.36 [[ 9.99334240e-01 3.38424049e-02 1.36296670e-02 4.72733740e+02] [-3.38324227e-02 9.99427056e-01 -9.62362859e-04 -6.45222702e+00] [-1.36544266e-02 5.00597502e-04 9.99906649e-01 1.35630919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.76, Y:-6.45, Z:1.36 [[ 9.99243575e-01 3.64238271e-02 1.36229032e-02 4.72762758e+02] [-3.64141104e-02 9.99336325e-01 -9.60710958e-04 -6.45253096e+00] [-1.36488548e-02 4.63918351e-04 9.99906742e-01 1.35610970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.79, Y:-6.45, Z:1.36 [[ 9.99142253e-01 3.90553684e-02 1.37636143e-02 4.72791653e+02] [-3.90457112e-02 9.99236955e-01 -9.69772961e-04 -6.45340637e+00] [-1.37909868e-02 4.31531034e-04 9.99904807e-01 1.35583808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.82, Y:-6.45, Z:1.36 [[ 9.99043226e-01 4.16394402e-02 1.33712329e-02 4.72820375e+02] [-4.16305693e-02 9.99132629e-01 -9.41204911e-04 -6.45433187e+00] [-1.33988263e-02 3.83652354e-04 9.99910158e-01 1.35521532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.85, Y:-6.45, Z:1.36 [[ 9.98960019e-01 4.38258114e-02 1.25769316e-02 4.72848081e+02] [-4.38181444e-02 9.99039132e-01 -8.84654429e-04 -6.45495988e+00] [-1.26036175e-02 3.32636600e-04 9.99920516e-01 1.35500716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.88, Y:-6.45, Z:1.35 [[ 9.98760831e-01 4.76650210e-02 1.43125534e-02 4.72877302e+02] [-4.75087998e-02 9.98809546e-01 -1.10636881e-02 -6.45235105e+00] [-1.48228659e-02 1.03700061e-02 9.99836359e-01 1.35213313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.90, Y:-6.46, Z:1.35 [[ 9.98707604e-01 4.94107548e-02 1.19037397e-02 4.72904460e+02] [-4.95199906e-02 9.98732008e-01 9.06343734e-03 -6.46067975e+00] [-1.14408146e-02 -9.64119687e-03 9.99888071e-01 1.35151891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.93, Y:-6.45, Z:1.35 [[ 9.98527045e-01 5.25867172e-02 1.33558421e-02 4.72934223e+02] [-5.24510440e-02 9.98570238e-01 -1.03134500e-02 -6.45441641e+00] [-1.38790969e-02 9.59773093e-03 9.99857617e-01 1.35206036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.96, Y:-6.46, Z:1.35 [[ 9.98539390e-01 5.27559277e-02 1.16575681e-02 4.72960755e+02] [-5.28576815e-02 9.98565025e-01 8.59980119e-03 -6.46391355e+00] [-1.11871493e-02 -9.20343225e-03 9.99895067e-01 1.35174910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.99, Y:-6.46, Z:1.35 [[ 9.98487367e-01 5.38512715e-02 1.10913306e-02 4.72988780e+02] [-5.38459976e-02 9.98548952e-01 -7.73793617e-04 -6.46149957e+00] [-1.11169063e-02 1.75399393e-04 9.99938190e-01 1.35447401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.02, Y:-6.46, Z:1.35 [[ 9.98447844e-01 5.45915098e-02 1.10304314e-02 4.73016726e+02] [-5.45863517e-02 9.98508758e-01 -7.68371586e-04 -6.46325567e+00] [-1.10559289e-02 1.65067947e-04 9.99938868e-01 1.35479893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.965099893 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:473.04, Y:-6.46, Z:1.36 [[ 9.98374443e-01 5.62521390e-02 9.17428799e-03 4.73043731e+02] [-5.61915163e-02 9.98397278e-01 -6.73715940e-03 -6.46216305e+00] [-9.53856378e-03 6.21069061e-03 9.99935219e-01 1.35663572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.07, Y:-6.47, Z:1.35 [[ 9.98288633e-01 5.72828736e-02 1.17676557e-02 4.73072901e+02] [-5.73474109e-02 9.98340627e-01 5.22181940e-03 -6.47048507e+00] [-1.14490079e-02 -5.88772753e-03 9.99917124e-01 1.35286839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.10, Y:-6.47, Z:1.35 [[ 9.98225765e-01 5.85296871e-02 1.09360986e-02 4.73101344e+02] [-5.85249097e-02 9.98285662e-01 -7.56636141e-04 -6.47011536e+00] [-1.09616361e-02 1.15259507e-04 9.99939913e-01 1.35444669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.055099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.13, Y:-6.47, Z:1.35 [[ 9.98182668e-01 5.92839899e-02 1.08060161e-02 4.73127680e+02] [-5.92793764e-02 9.98241152e-01 -7.47013418e-04 -6.47258631e+00] [-1.08312959e-02 1.05081949e-04 9.99941334e-01 1.35425528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.16, Y:-6.48, Z:1.35 [[ 9.98126078e-01 6.01995570e-02 1.09702047e-02 4.73155486e+02] [-6.01948859e-02 9.98186358e-01 -7.55788487e-04 -6.47545149e+00] [-1.09958068e-02 9.40219808e-05 9.99939540e-01 1.35393647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.18, Y:-6.48, Z:1.35 [[ 9.98106834e-01 6.06037584e-02 1.04848435e-02 4.73182125e+02] [-6.05995237e-02 9.98161899e-01 -7.21401677e-04 -6.47826332e+00] [-1.05092910e-02 8.46594187e-05 9.99944772e-01 1.35392759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.21, Y:-6.48, Z:1.35 [[ 9.98118491e-01 6.04095763e-02 1.04957460e-02 4.73209600e+02] [-6.04053375e-02 9.98173670e-01 -7.20685353e-04 -6.48122635e+00] [-1.05201136e-02 8.53302981e-05 9.99944658e-01 1.35365387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.24, Y:-6.49, Z:1.35 [[ 9.98167209e-01 5.96287164e-02 1.03266266e-02 4.73236541e+02] [-5.96245814e-02 9.98220621e-01 -7.08101129e-04 -6.48589708e+00] [-1.03504747e-02 9.10825409e-05 9.99946428e-01 1.35369708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.26, Y:-6.49, Z:1.35 [[ 9.98233545e-01 5.85754107e-02 9.93532817e-03 4.73263913e+02] [-5.85715439e-02 9.98282982e-01 -6.79969426e-04 -6.48932544e+00] [-9.95809852e-03 9.68407800e-05 9.99950412e-01 1.35366620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.29, Y:-6.49, Z:1.35 [[ 9.98316153e-01 5.71603574e-02 9.87686550e-03 4.73290445e+02] [-5.71564760e-02 9.98365004e-01 -6.75033347e-04 -6.49268018e+00] [-9.89930202e-03 1.09369867e-04 9.99950995e-01 1.35315360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.32, Y:-6.50, Z:1.35 [[ 9.98396745e-01 5.58209590e-02 9.37871087e-03 4.73318293e+02] [-5.58174117e-02 9.98440788e-01 -6.39758940e-04 -6.49604689e+00] [-9.39979943e-03 1.15237877e-04 9.99955814e-01 1.35293292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.35, Y:-6.50, Z:1.35 [[ 9.98539853e-01 5.33844956e-02 8.26182571e-03 4.73346303e+02] [-5.33816649e-02 9.98574024e-01 -5.62919729e-04 -6.50120702e+00] [-8.28009573e-03 1.21067772e-04 9.99965712e-01 1.35297140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.38, Y:-6.51, Z:1.35 [[ 9.98468481e-01 5.43643834e-02 1.02570347e-02 4.73376764e+02] [-5.43181854e-02 9.98512473e-01 -4.73030033e-03 -6.50527337e+00] [-1.04989369e-02 4.16591227e-03 9.99936207e-01 1.35058732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.40, Y:-6.51, Z:1.35 [[ 9.98644139e-01 5.13966513e-02 8.26238899e-03 4.73400907e+02] [-5.14263697e-02 9.98670914e-01 3.42538820e-03 -6.50992011e+00] [-8.07535409e-03 -3.84564852e-03 9.99959999e-01 1.35106396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.43, Y:-6.51, Z:1.35 [[ 9.98685452e-01 5.06608329e-02 7.80053318e-03 4.73429030e+02] [-5.06582481e-02 9.98715907e-01 -5.28715815e-04 -6.51143436e+00] [-7.81730175e-03 1.32859447e-04 9.99969436e-01 1.35186755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.46, Y:-6.51, Z:1.35 [[ 9.98711971e-01 5.01329096e-02 7.81600661e-03 4.73455748e+02] [-5.01303004e-02 9.98742546e-01 -5.29503530e-04 -6.51489353e+00] [-7.83272390e-03 1.37002755e-04 9.99969314e-01 1.35150890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.48, Y:-6.52, Z:1.35 [[ 9.98732507e-01 4.96780255e-02 8.09151966e-03 4.73483764e+02] [-4.96752315e-02 9.98765274e-01 -5.46042699e-04 -6.51863627e+00] [-8.10865518e-03 1.43402481e-04 9.99967114e-01 1.35079558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.51, Y:-6.52, Z:1.35 [[ 9.98768978e-01 4.89819114e-02 7.82949638e-03 4.73511374e+02] [-4.89792798e-02 9.98799655e-01 -5.27611614e-04 -6.52461115e+00] [-7.84594171e-03 1.43479018e-04 9.99969210e-01 1.35037223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.54, Y:-6.53, Z:1.35 [[ 9.98800398e-01 4.84128341e-02 7.34590598e-03 4.73538621e+02] [-4.84105059e-02 9.98827402e-01 -4.94523881e-04 -6.52823920e+00] [-7.36123349e-03 1.38311624e-04 9.99972896e-01 1.35025125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.57, Y:-6.53, Z:1.35 [[ 9.98823799e-01 4.79332498e-02 7.30910816e-03 4.73566720e+02] [-4.79309397e-02 9.98850531e-01 -4.91002432e-04 -6.53191118e+00] [-7.32424191e-03 1.40092491e-04 9.99973168e-01 1.34999006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.59, Y:-6.54, Z:1.35 [[ 9.98860647e-01 4.72878149e-02 6.42426791e-03 4.73594056e+02] [-4.72860199e-02 9.98881297e-01 -4.31095883e-04 -6.53718737e+00] [-6.43746665e-03 1.26826652e-04 9.99979271e-01 1.34994578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.62, Y:-6.54, Z:1.35 [[ 9.98877315e-01 4.70225633e-02 5.74360362e-03 4.73621790e+02] [-4.70211266e-02 9.98893821e-01 -3.84998186e-04 -6.54071704e+00] [-5.75535377e-03 1.14495241e-04 9.99983431e-01 1.34937258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.65, Y:-6.54, Z:1.35 [[ 9.98873689e-01 4.71333294e-02 5.45925462e-03 4.73649979e+02] [-4.71320359e-02 9.98888601e-01 -3.65428909e-04 -6.54437175e+00] [-5.47041109e-03 1.07711537e-04 9.99985031e-01 1.34826548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.68, Y:-6.55, Z:1.35 [[ 9.98877975e-01 4.71346702e-02 4.59496886e-03 4.73678025e+02] [-4.71337545e-02 9.98888540e-01 -3.07425999e-04 -6.54780289e+00] [-4.60435216e-03 9.05029250e-05 9.99989396e-01 1.34791063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.70, Y:-6.55, Z:1.35 [[ 9.98856189e-01 4.76528219e-02 3.93990746e-03 4.73704764e+02] [-4.76521496e-02 9.98863956e-01 -2.64410162e-04 -6.55121454e+00] [-3.94803144e-03 7.63626668e-05 9.99992204e-01 1.34738096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.73, Y:-6.55, Z:1.35 [[ 9.98813628e-01 4.85288614e-02 4.03555471e-03 4.73732875e+02] [-4.85281708e-02 9.98821778e-01 -2.68943740e-04 -6.55451778e+00] [-4.04385146e-03 7.27865848e-05 9.99991821e-01 1.34685557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.76, Y:-6.56, Z:1.35 [[ 9.98687129e-01 5.10920117e-02 3.69120038e-03 4.73760571e+02] [-5.10914520e-02 9.98693949e-01 -2.45827313e-04 -6.55893512e+00] [-3.69893930e-03 5.69157864e-05 9.99993157e-01 1.34700965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.79, Y:-6.56, Z:1.35 [[ 9.98600524e-01 5.27435321e-02 3.88747196e-03 4.73788655e+02] [-5.27429259e-02 9.98608090e-01 -2.58363306e-04 -6.56175184e+00] [-3.89568794e-03 5.29650870e-05 9.99992410e-01 1.34667239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.805099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.82, Y:-6.56, Z:1.35 [[ 9.98503972e-01 5.45465765e-02 3.80633155e-03 4.73816639e+02] [-5.45460099e-02 9.98511226e-01 -2.52594111e-04 -6.56441901e+00] [-3.81444293e-03 4.45960252e-05 9.99992724e-01 1.34696756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.84, Y:-6.57, Z:1.35 [[ 9.98317696e-01 5.78423111e-02 4.00560000e-03 4.73844248e+02] [-5.78417123e-02 9.98325731e-01 -2.65275392e-04 -6.56816113e+00] [-4.01423769e-03 3.31383550e-05 9.99991942e-01 1.34718554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.87, Y:-6.57, Z:1.35 [[ 9.98226852e-01 5.93565797e-02 4.46638669e-03 4.73871247e+02] [-5.93558525e-02 9.98236843e-01 -2.95312611e-04 -6.57116248e+00] [-4.47604050e-03 2.96827886e-05 9.99989982e-01 1.34663609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.90, Y:-6.57, Z:1.35 [[ 9.98161759e-01 6.04554484e-02 4.27112020e-03 4.73898664e+02] [-6.04547964e-02 9.98170896e-01 -2.81720176e-04 -6.57406230e+00] [-4.28033939e-03 2.29926051e-05 9.99990839e-01 1.34632601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.93, Y:-6.58, Z:1.35 [[ 9.98115930e-01 6.11853330e-02 4.57655071e-03 4.73925167e+02] [-6.11845940e-02 9.98126422e-01 -3.01458352e-04 -6.57715832e+00] [-4.58642102e-03 2.08759862e-05 9.99989482e-01 1.34616323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.95, Y:-6.58, Z:1.35 [[ 9.98109015e-01 6.12716628e-02 4.91706300e-03 4.73952474e+02] [-6.12708146e-02 9.98121126e-01 -3.23096491e-04 -6.58034646e+00] [-4.92762112e-03 2.12130646e-05 9.99987859e-01 1.34602726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.98, Y:-6.58, Z:1.35 [[ 9.98119350e-01 6.10679548e-02 5.33551113e-03 4.73980306e+02] [-6.10669587e-02 9.98133610e-01 -3.49575563e-04 -6.58384774e+00] [-5.34690085e-03 2.30946963e-05 9.99985705e-01 1.34555723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.01, Y:-6.59, Z:1.34 [[ 9.98224710e-01 5.93169946e-02 5.37804026e-03 4.74007229e+02] [-5.93159591e-02 9.98239196e-01 -3.51976746e-04 -6.58955631e+00] [-5.38944879e-03 3.23482688e-05 9.99985476e-01 1.34482268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.04, Y:-6.59, Z:1.34 [[ 9.98316269e-01 5.77834571e-02 5.06937245e-03 4.74035175e+02] [-5.77825211e-02 9.98329139e-01 -3.31024999e-04 -6.59356681e+00] [-5.08003000e-03 3.75465219e-05 9.99987096e-01 1.34430535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.06, Y:-6.60, Z:1.34 [[ 9.98418405e-01 5.61423018e-02 2.95465208e-03 4.74063588e+02] [-5.61248912e-02 9.98407610e-01 -5.67816132e-03 -6.59519719e+00] [-3.26873217e-03 5.50335125e-03 9.99979514e-01 1.34474285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.09, Y:-6.60, Z:1.34 [[ 9.98539113e-01 5.37946723e-02 5.07678693e-03 4.74090233e+02] [-5.38206335e-02 9.98537475e-01 5.12359773e-03 -6.60428868e+00] [-4.79373974e-03 -5.38934862e-03 9.99973987e-01 1.34179539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.12, Y:-6.61, Z:1.34 [[ 9.98744383e-01 4.98667246e-02 4.79235417e-03 4.74117784e+02] [-4.98658070e-02 9.98755878e-01 -3.10863265e-04 -6.60771940e+00] [-4.80189363e-03 7.14983317e-05 9.99988468e-01 1.34245237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.14, Y:-6.61, Z:1.34 [[ 9.98839944e-01 4.78981277e-02 4.95336373e-03 4.74144965e+02] [-4.78971251e-02 9.98852223e-01 -3.20916976e-04 -6.61135177e+00] [-4.96304970e-03 8.32928124e-05 9.99987681e-01 1.34174593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.17, Y:-6.62, Z:1.34 [[ 9.98919998e-01 4.62298022e-02 4.65216918e-03 4.74172478e+02] [-4.62289041e-02 9.98930828e-01 -3.00458133e-04 -6.61506292e+00] [-4.66108533e-03 8.50689549e-05 9.99989133e-01 1.34157709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.20, Y:-6.62, Z:1.34 [[ 9.98989165e-01 4.46757126e-02 4.97273758e-03 4.74200494e+02] [-4.46746688e-02 9.99001537e-01 -3.20833951e-04 -6.61851436e+00] [-4.98210597e-03 9.83542365e-05 9.99987584e-01 1.34106932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.23, Y:-6.62, Z:1.34 [[ 9.99055217e-01 4.30815235e-02 5.71452407e-03 4.74228501e+02] [-4.30801240e-02 9.99071553e-01 -3.67823377e-04 -6.62326874e+00] [-5.72506483e-03 1.21293458e-04 9.99983604e-01 1.34026745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.26, Y:-6.63, Z:1.34 [[ 9.99070174e-01 4.27481977e-02 5.60168569e-03 4.74256348e+02] [-4.27468510e-02 9.99085871e-01 -3.59987759e-04 -6.62614607e+00] [-5.61195386e-03 1.20198609e-04 9.99984246e-01 1.34005020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.28, Y:-6.63, Z:1.34 [[ 9.99048842e-01 4.31831979e-02 6.05171007e-03 4.74283365e+02] [-4.31816357e-02 9.99067163e-01 -3.88634359e-04 -6.62888480e+00] [-6.06284728e-03 1.26941967e-04 9.99981613e-01 1.33929792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.31, Y:-6.63, Z:1.34 [[ 9.99028543e-01 4.36673160e-02 5.92748403e-03 4.74310856e+02] [-4.36658340e-02 9.99046121e-01 -3.79274632e-04 -6.63151893e+00] [-5.93839183e-03 1.20077649e-04 9.99982360e-01 1.33903273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.34, Y:-6.63, Z:1.34 [[ 9.98991684e-01 4.44492068e-02 6.31530798e-03 4.74338099e+02] [-4.44475418e-02 9.99011638e-01 -4.03817780e-04 -6.63420038e+00] [-6.32701555e-03 1.22710688e-04 9.99979977e-01 1.33863393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.37, Y:-6.64, Z:1.34 [[ 9.98996622e-01 4.43380730e-02 6.31540533e-03 4.74367343e+02] [-4.43364155e-02 9.99016577e-01 -4.02285871e-04 -6.63600409e+00] [-6.32703119e-03 1.21879791e-04 9.99979977e-01 1.33812177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.40, Y:-6.64, Z:1.34 [[ 9.98964936e-01 4.49776880e-02 6.78705153e-03 4.74395038e+02] [-4.49757950e-02 9.98987984e-01 -4.31357557e-04 -6.63871708e+00] [-6.79958439e-03 1.25658037e-04 9.99976875e-01 1.33764484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.42, Y:-6.64, Z:1.34 [[ 9.98896514e-01 4.63268367e-02 7.71865109e-03 4.74422551e+02] [-4.63244367e-02 9.98926327e-01 -4.89520412e-04 -6.64270995e+00] [-7.73304171e-03 1.31418069e-04 9.99970091e-01 1.33771754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.45, Y:-6.65, Z:1.34 [[ 9.98882043e-01 4.65235519e-02 8.37991617e-03 4.74450119e+02] [-4.65207388e-02 9.98917184e-01 -5.30406225e-04 -6.64552854e+00] [-8.39551864e-03 1.39973362e-04 9.99964747e-01 1.33717407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.48, Y:-6.65, Z:1.34 [[ 9.98880750e-01 4.65013506e-02 8.65285353e-03 4.74478913e+02] [-4.64983618e-02 9.98918217e-01 -5.46376847e-04 -6.64877179e+00] [-8.66890028e-03 1.43421801e-04 9.99962414e-01 1.33709842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.555099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.51, Y:-6.65, Z:1.34 [[ 9.98897610e-01 4.61290758e-02 8.69902466e-03 4.74505992e+02] [-4.61260451e-02 9.98935477e-01 -5.48808794e-04 -6.65351152e+00] [-8.71508039e-03 1.46952189e-04 9.99962012e-01 1.33692960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.53, Y:-6.66, Z:1.34 [[ 9.98917796e-01 4.57151090e-02 8.56538908e-03 4.74534762e+02] [-4.57121633e-02 9.98954507e-01 -5.39473136e-04 -6.65687971e+00] [-8.58109610e-03 1.47346851e-04 9.99963171e-01 1.33603801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.56, Y:-6.66, Z:1.34 [[ 9.98957525e-01 4.49099608e-02 8.18287565e-03 4.74562402e+02] [-4.49072483e-02 9.98991028e-01 -5.15014548e-04 -6.66001400e+00] [-8.19774864e-03 1.47007229e-04 9.99966387e-01 1.33525519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.59, Y:-6.66, Z:1.33 [[ 9.99003825e-01 4.39690852e-02 7.62080941e-03 4.74591008e+02] [-4.39667108e-02 9.99032882e-01 -4.78901350e-04 -6.66340842e+00] [-7.63449604e-03 1.43362357e-04 9.99970847e-01 1.33458841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.62, Y:-6.67, Z:1.33 [[ 9.99055545e-01 4.28349090e-02 7.29309923e-03 4.74619410e+02] [-4.28327075e-02 9.99082154e-01 -4.57856739e-04 -6.66682347e+00] [-7.30601754e-03 1.45041127e-04 9.99973300e-01 1.33390618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.65, Y:-6.67, Z:1.33 [[ 9.99161652e-01 4.03028421e-02 7.18844918e-03 4.74647264e+02] [-4.03006401e-02 9.99187497e-01 -4.50970114e-04 -6.67192781e+00] [-7.20078393e-03 1.60892941e-04 9.99974061e-01 1.33290446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.68, Y:-6.68, Z:1.33 [[ 9.99231031e-01 3.85713072e-02 7.04273050e-03 4.74675558e+02] [-3.85691560e-02 9.99255836e-01 -4.41059918e-04 -6.67508902e+00] [-7.05450181e-03 1.69088585e-04 9.99975102e-01 1.33237130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.70, Y:-6.68, Z:1.33 [[ 9.99277799e-01 3.72549886e-02 7.47978110e-03 4.74704456e+02] [-3.72525298e-02 9.99305774e-01 -4.67834112e-04 -6.67850131e+00] [-7.49201760e-03 1.88855473e-04 9.99971917e-01 1.33164929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.73, Y:-6.68, Z:1.33 [[ 9.99321710e-01 3.60793030e-02 7.37589421e-03 4.74732555e+02] [-3.60768825e-02 9.99348911e-01 -4.61000066e-04 -6.68154499e+00] [-7.38772441e-03 1.94588105e-04 9.99972691e-01 1.33151420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.76, Y:-6.69, Z:1.33 [[ 9.99363918e-01 3.45599480e-02 8.79600743e-03 4.74760446e+02] [-3.45564564e-02 9.99402597e-01 -5.48677564e-04 -6.68543179e+00] [-8.80971493e-03 2.44369713e-04 9.99961164e-01 1.33099622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.79, Y:-6.69, Z:1.33 [[ 9.99375909e-01 3.40420943e-02 9.43017446e-03 4.74789615e+02] [-3.40380681e-02 9.99420365e-01 -5.87163474e-04 -6.68813766e+00] [-9.44469667e-03 2.65812110e-04 9.99955363e-01 1.33036409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.82, Y:-6.69, Z:1.33 [[ 9.99374594e-01 3.40729350e-02 9.45811333e-03 4.74819330e+02] [-3.40688953e-02 9.99419314e-01 -5.87949806e-04 -6.69078276e+00] [-9.47265431e-03 2.65354626e-04 9.99955098e-01 1.32994509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.85, Y:-6.69, Z:1.33 [[ 9.99375772e-01 3.39568240e-02 9.74677394e-03 4.74849120e+02] [-3.39525320e-02 9.99423263e-01 -6.05533307e-04 -6.69332187e+00] [-9.76171460e-03 2.74227663e-04 9.99952316e-01 1.32914375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.88, Y:-6.70, Z:1.33 [[ 9.99379387e-01 3.38332288e-02 9.80576895e-03 4.74878236e+02] [-3.38288822e-02 9.99427454e-01 -6.08838287e-04 -6.69575461e+00] [-9.82075366e-03 2.76742232e-04 9.99951737e-01 1.32857009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.91, Y:-6.70, Z:1.33 [[ 9.99388625e-01 3.35998332e-02 9.66582480e-03 4.74906753e+02] [-3.35956009e-02 9.99435328e-01 -5.99945662e-04 -6.69828376e+00] [-9.68052485e-03 2.74849678e-04 9.99953105e-01 1.32805496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.94, Y:-6.70, Z:1.33 [[ 9.99439270e-01 3.20014616e-02 9.85152010e-03 4.74935106e+02] [-3.19969930e-02 9.99487778e-01 -6.10918827e-04 -6.70182458e+00] [-9.86602423e-03 2.95357247e-04 9.99951286e-01 1.32707558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.96, Y:-6.70, Z:1.33 [[ 9.99486451e-01 3.05352470e-02 9.71761518e-03 4.74964839e+02] [-3.05308360e-02 9.99533644e-01 -6.01976289e-04 -6.70444325e+00] [-9.73146481e-03 3.04980229e-04 9.99952602e-01 1.32635055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.99, Y:-6.71, Z:1.33 [[ 9.99528426e-01 2.90784230e-02 9.86764336e-03 4.74994050e+02] [-2.90738074e-02 9.99577081e-01 -6.10906759e-04 -6.70725147e+00] [-9.88123435e-03 3.23728709e-04 9.99951127e-01 1.32553032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.02, Y:-6.71, Z:1.33 [[ 9.99580769e-01 2.71756146e-02 9.98856408e-03 4.75023606e+02] [-2.71707940e-02 9.99630615e-01 -6.18026826e-04 -6.71011023e+00] [-1.00016697e-02 3.46370514e-04 9.99949922e-01 1.32504302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.05, Y:-6.71, Z:1.32 [[ 9.99666603e-01 2.34621927e-02 1.07799982e-02 4.75053695e+02] [-2.34563694e-02 9.99724639e-01 -6.66320211e-04 -6.71348563e+00] [-1.07926632e-02 4.13238441e-04 9.99941672e-01 1.32386865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.08, Y:-6.72, Z:1.32 [[ 9.99694432e-01 2.20417973e-02 1.11893498e-02 4.75084748e+02] [-2.20354372e-02 9.99756951e-01 -6.91390045e-04 -6.71602134e+00] [-1.12018698e-02 4.44616563e-04 9.99937158e-01 1.32313369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.12, Y:-6.72, Z:1.32 [[ 9.99715605e-01 2.10105959e-02 1.12811494e-02 4.75116337e+02] [-2.10040681e-02 9.99779147e-01 -6.96826320e-04 -6.71848628e+00] [-1.12932987e-02 4.59678115e-04 9.99936123e-01 1.32223490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.15, Y:-6.72, Z:1.32 [[ 9.99731342e-01 2.02252083e-02 1.13218974e-02 4.75147362e+02] [-2.02185640e-02 9.99795338e-01 -7.01012889e-04 -6.72075173e+00] [-1.13337584e-02 4.71912047e-04 9.99935660e-01 1.32150021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.18, Y:-6.72, Z:1.32 [[ 9.99739975e-01 1.97017136e-02 1.14814904e-02 4.75179320e+02] [-1.96948346e-02 9.99805784e-01 -7.11903925e-04 -6.72282581e+00] [-1.14932863e-02 4.85592757e-04 9.99933832e-01 1.32092315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.21, Y:-6.72, Z:1.32 [[ 9.99741221e-01 1.95882231e-02 1.15669066e-02 4.75211810e+02] [-1.95811999e-02 9.99808011e-01 -7.20126324e-04 -6.72481260e+00] [-1.15787919e-02 4.93446059e-04 9.99932842e-01 1.32020008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.305099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.24, Y:-6.73, Z:1.32 [[ 9.99735645e-01 1.97753457e-02 1.17292671e-02 4.75242558e+02] [-1.97680931e-02 9.99804323e-01 -7.33958742e-04 -6.72596746e+00] [-1.17414863e-02 5.01899472e-04 9.99930940e-01 1.31915191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.27, Y:-6.73, Z:1.32 [[ 9.99729287e-01 2.00375117e-02 1.18258972e-02 4.75274485e+02] [-2.00301432e-02 9.99799102e-01 -7.41202518e-04 -6.72754058e+00] [-1.18383733e-02 5.04127450e-04 9.99929797e-01 1.31866539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.31, Y:-6.73, Z:1.32 [[ 9.99709172e-01 2.04708433e-02 1.27482073e-02 4.75306287e+02] [-2.04622725e-02 9.99790304e-01 -8.02398348e-04 -6.72849408e+00] [-1.27619598e-02 5.41307696e-04 9.99918416e-01 1.31779250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.34, Y:-6.73, Z:1.32 [[ 9.99703619e-01 2.06472363e-02 1.28983245e-02 4.75338573e+02] [-2.06384333e-02 9.99786672e-01 -8.15233095e-04 -6.73006695e+00] [-1.29124052e-02 5.48790265e-04 9.99916481e-01 1.31705771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.37, Y:-6.73, Z:1.32 [[ 9.99689939e-01 2.09419377e-02 1.34707347e-02 4.75370672e+02] [-2.09323139e-02 9.99780529e-01 -8.55040054e-04 -6.73176080e+00] [-1.34856844e-02 5.72801293e-04 9.99908900e-01 1.31639673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.40, Y:-6.73, Z:1.32 [[ 9.99686373e-01 2.09923333e-02 1.36556598e-02 4.75402977e+02] [-2.09823942e-02 9.99779466e-01 -8.70719245e-04 -6.73350514e+00] [-1.36709267e-02 5.83917727e-04 9.99906378e-01 1.31583772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.43, Y:-6.74, Z:1.31 [[ 9.99690788e-01 2.01399541e-02 1.45845754e-02 4.75434677e+02] [-2.01284693e-02 9.99796966e-01 -9.33837461e-04 -6.73504393e+00] [-1.46004217e-02 6.39983528e-04 9.99893203e-01 1.31466553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.47, Y:-6.74, Z:1.31 [[ 9.99697486e-01 1.97560504e-02 1.46504033e-02 4.75467813e+02] [-1.97443674e-02 9.99804618e-01 -9.41679147e-04 -6.73679763e+00] [-1.46661447e-02 6.52131331e-04 9.99892234e-01 1.31404300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.50, Y:-6.74, Z:1.31 [[ 9.99708324e-01 1.93032146e-02 1.45138821e-02 4.75499875e+02] [-1.92916397e-02 9.99813460e-01 -9.37102857e-04 -6.73873427e+00] [-1.45292638e-02 6.56832942e-04 9.99894229e-01 1.31360105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.53, Y:-6.74, Z:1.31 [[ 9.99724414e-01 1.84831754e-02 1.44730079e-02 4.75533166e+02] [-1.84715248e-02 9.99828947e-01 -9.38262249e-04 -6.74065394e+00] [-1.44878743e-02 6.70665153e-04 9.99894820e-01 1.31284450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.57, Y:-6.74, Z:1.31 [[ 9.99744402e-01 1.77027694e-02 1.40621185e-02 4.75565131e+02] [-1.76916368e-02 9.99843071e-01 -9.15681851e-04 -6.74261647e+00] [-1.40761219e-02 6.66665911e-04 9.99900704e-01 1.31219636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.60, Y:-6.74, Z:1.31 [[ 9.99763688e-01 1.67474341e-02 1.38596816e-02 4.75597895e+02] [-1.67364773e-02 9.99859525e-01 -9.06165872e-04 -6.74450299e+00] [-1.38729106e-02 6.73989487e-04 9.99903539e-01 1.31183703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.63, Y:-6.75, Z:1.31 [[ 9.99786411e-01 1.52206182e-02 1.39809046e-02 4.75630610e+02] [-1.52092629e-02 9.99883911e-01 -9.18176895e-04 -6.74636621e+00] [-1.39932568e-02 7.05341529e-04 9.99901841e-01 1.31108378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.66, Y:-6.75, Z:1.31 [[ 9.99798989e-01 1.43516078e-02 1.40004660e-02 4.75662272e+02] [-1.43400740e-02 9.99896749e-01 -9.23861900e-04 -6.74789782e+00] [-1.40122793e-02 7.22908476e-04 9.99901562e-01 1.31072802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.70, Y:-6.75, Z:1.31 [[ 9.99796668e-01 1.40705174e-02 1.44444652e-02 4.75695692e+02] [-1.40581772e-02 9.99900722e-01 -9.55505565e-04 -6.74952429e+00] [-1.44564756e-02 7.52248429e-04 9.99895217e-01 1.31011098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.73, Y:-6.75, Z:1.31 [[ 9.99789298e-01 1.40196663e-02 1.49936153e-02 4.75728181e+02] [-1.40062950e-02 9.99901411e-01 -9.96442804e-04 -6.75091898e+00] [-1.50061069e-02 7.86227853e-04 9.99887093e-01 1.30963522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.76, Y:-6.75, Z:1.31 [[ 9.99773551e-01 1.49287309e-02 1.51651141e-02 4.75761636e+02] [-1.49150935e-02 9.99888252e-01 -1.01197073e-03 -6.75116742e+00] [-1.51785269e-02 7.85552473e-04 9.99884491e-01 1.30953838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.79, Y:-6.75, Z:1.31 [[ 9.99757986e-01 1.60630230e-02 1.50315763e-02 4.75794175e+02] [-1.60496875e-02 9.99870688e-01 -1.00738866e-03 -6.75221326e+00] [-1.50458143e-02 7.65892755e-04 9.99886512e-01 1.30885696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.83, Y:-6.75, Z:1.31 [[ 9.99739143e-01 1.75268372e-02 1.46442852e-02 4.75827539e+02] [-1.75142819e-02 9.99846128e-01 -9.85172976e-04 -6.75319631e+00] [-1.46592988e-02 7.28431848e-04 9.99892281e-01 1.30849836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.86, Y:-6.75, Z:1.31 [[ 9.99708876e-01 1.93015650e-02 1.44780106e-02 4.75860535e+02] [-1.92894193e-02 9.99813463e-01 -9.78093272e-04 -6.75394498e+00] [-1.44941886e-02 6.98536108e-04 9.99894710e-01 1.30817243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.89, Y:-6.75, Z:1.31 [[ 9.99628598e-01 2.43909393e-02 1.21551612e-02 4.75893911e+02] [-2.43827092e-02 9.99702357e-01 -8.24846261e-04 -6.75395967e+00] [-1.21716621e-02 5.28164151e-04 9.99925783e-01 1.30853760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.92, Y:-6.75, Z:1.31 [[ 9.99579303e-01 2.54866256e-02 1.38437126e-02 4.75924036e+02] [-2.54760243e-02 9.99674990e-01 -9.41621768e-04 -6.75319201e+00] [-1.38632120e-02 5.88542873e-04 9.99903728e-01 1.30682521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.96, Y:-6.75, Z:1.31 [[ 9.99523322e-01 2.79960433e-02 1.30134384e-02 4.75955561e+02] [-2.79868972e-02 9.99607899e-01 -8.84437392e-04 -6.75370907e+00] [-1.30330965e-02 5.19810038e-04 9.99914930e-01 1.30687540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.99, Y:-6.75, Z:1.31 [[ 9.99462708e-01 3.01872286e-02 1.27681889e-02 4.75986272e+02] [-3.01785522e-02 9.99544144e-01 -8.71708646e-04 -6.75424725e+00] [-1.27886829e-02 4.85914830e-04 9.99918103e-01 1.30644672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.02, Y:-6.75, Z:1.31 [[ 9.99333554e-01 3.43920283e-02 1.22326278e-02 4.76016626e+02] [-3.43843790e-02 9.99408333e-01 -8.35144866e-04 -6.75313228e+00] [-1.22541125e-02 4.13976977e-04 9.99924830e-01 1.30641775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.055099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.05, Y:-6.75, Z:1.31 [[ 9.99263726e-01 3.63903975e-02 1.21550204e-02 4.76045474e+02] [-3.63829902e-02 9.99337575e-01 -8.30045209e-04 -6.75374019e+00] [-1.21771742e-02 3.87198081e-04 9.99925780e-01 1.30643189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.07, Y:-6.75, Z:1.31 [[ 9.99194203e-01 3.83018534e-02 1.19963560e-02 4.76074718e+02] [-3.82947789e-02 9.99266150e-01 -8.18958302e-04 -6.75439647e+00] [-1.20189201e-02 3.58900587e-04 9.99927706e-01 1.30643074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.10, Y:-6.75, Z:1.31 [[ 9.99137787e-01 3.98732147e-02 1.15676333e-02 4.76102186e+02] [-3.98667501e-02 9.99204694e-01 -7.88991349e-04 -6.75468395e+00] [-1.15898931e-02 3.27147123e-04 9.99932781e-01 1.30641833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.13, Y:-6.75, Z:1.31 [[ 9.99039220e-01 4.24149119e-02 1.10277943e-02 4.76130169e+02] [-4.24092020e-02 9.99100043e-01 -7.51218475e-04 -6.75412111e+00] [-1.10497326e-02 2.82816763e-04 9.99938910e-01 1.30608199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.16, Y:-6.75, Z:1.31 [[ 9.99016064e-01 4.30269224e-02 1.07512176e-02 4.76158833e+02] [-4.30215414e-02 9.99073877e-01 -7.31379161e-04 -6.75494596e+00] [-1.07727297e-02 2.68125576e-04 9.99941937e-01 1.30579053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.19, Y:-6.76, Z:1.31 [[ 9.98995536e-01 4.35161375e-02 1.06894564e-02 4.76186940e+02] [-4.35108526e-02 9.99052690e-01 -7.26574561e-04 -6.75586305e+00] [-1.07109479e-02 2.60737383e-04 9.99942602e-01 1.30512221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.22, Y:-6.76, Z:1.30 [[ 9.98988006e-01 4.37511436e-02 1.04307528e-02 4.76215186e+02] [-4.37461349e-02 9.99042429e-01 -7.07970642e-04 -6.75673481e+00] [-1.04517391e-02 2.50949062e-04 9.99945348e-01 1.30491630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.24, Y:-6.76, Z:1.30 [[ 9.98962978e-01 4.41219219e-02 1.12349367e-02 4.76244364e+02] [-4.41161482e-02 9.99026119e-01 -7.61339379e-04 -6.75644911e+00] [-1.12575870e-02 2.64907721e-04 9.99936596e-01 1.30410941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.27, Y:-6.76, Z:1.30 [[ 9.98965386e-01 4.40673591e-02 1.12349998e-02 4.76273616e+02] [-4.40615924e-02 9.99028527e-01 -7.60406968e-04 -6.75837001e+00] [-1.12575944e-02 2.64588259e-04 9.99936596e-01 1.30359731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.30, Y:-6.76, Z:1.30 [[ 9.98965404e-01 4.39583343e-02 1.16527615e-02 4.76301055e+02] [-4.39521288e-02 9.99033327e-01 -7.88213912e-04 -6.75913613e+00] [-1.16761457e-02 2.75234755e-04 9.99931794e-01 1.30366357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.33, Y:-6.76, Z:1.30 [[ 9.98961265e-01 4.39259695e-02 1.21202774e-02 4.76329571e+02] [-4.39192690e-02 9.99034748e-01 -8.18571288e-04 -6.75988855e+00] [-1.21445348e-02 2.85407286e-04 9.99926212e-01 1.30332195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.36, Y:-6.76, Z:1.30 [[ 9.98959692e-01 4.37969487e-02 1.27027665e-02 4.76358700e+02] [-4.37895906e-02 9.99040408e-01 -8.56948439e-04 -6.76077070e+00] [-1.27281087e-02 2.99808006e-04 9.99918949e-01 1.30286145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.39, Y:-6.76, Z:1.30 [[ 9.98950173e-01 4.38618080e-02 1.32171383e-02 4.76387759e+02] [-4.38538608e-02 9.99037560e-01 -8.90650693e-04 -6.76200289e+00] [-1.32434832e-02 3.10093120e-04 9.99912253e-01 1.30220786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.42, Y:-6.76, Z:1.30 [[ 9.98914922e-01 4.43071576e-02 1.43476590e-02 4.76416508e+02] [-4.42978548e-02 9.99017901e-01 -9.65694509e-04 -6.76251314e+00] [-1.43763554e-02 3.29076138e-04 9.99896601e-01 1.30157753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.45, Y:-6.76, Z:1.30 [[ 9.98879501e-01 4.49116412e-02 1.49226682e-02 4.76445293e+02] [-4.49016621e-02 9.98990908e-01 -1.00326270e-03 -6.76350384e+00] [-1.49526680e-02 3.32085936e-04 9.99888147e-01 1.30085497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.47, Y:-6.76, Z:1.30 [[ 9.98831501e-01 4.58645443e-02 1.52340642e-02 4.76472843e+02] [-4.58542717e-02 9.98947616e-01 -1.02311589e-03 -6.76457183e+00] [-1.52649569e-02 3.23373458e-04 9.99883431e-01 1.30011580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.50, Y:-6.77, Z:1.30 [[ 9.98807468e-01 4.63848149e-02 1.52345150e-02 4.76501821e+02] [-4.63746256e-02 9.98923596e-01 -1.02160730e-03 -6.76522855e+00] [-1.52655036e-02 3.13894072e-04 9.99883426e-01 1.29937912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.53, Y:-6.77, Z:1.30 [[ 9.98742089e-01 4.78626315e-02 1.49468536e-02 4.76530721e+02] [-4.78530045e-02 9.98853887e-01 -1.00126972e-03 -6.76595949e+00] [-1.49776462e-02 2.84758362e-04 9.99887788e-01 1.29792180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.56, Y:-6.77, Z:1.30 [[ 9.98719124e-01 4.84820924e-02 1.44775254e-02 4.76559704e+02] [-4.84731402e-02 9.98824017e-01 -9.68825942e-04 -6.76744409e+00] [-1.45074708e-02 2.65813879e-04 9.99894726e-01 1.29695995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.59, Y:-6.77, Z:1.30 [[ 9.98677097e-01 4.94585990e-02 1.40678051e-02 4.76587511e+02] [-4.94502559e-02 9.98776145e-01 -9.40501712e-04 -6.76908599e+00] [-1.40971041e-02 2.43600956e-04 9.99900601e-01 1.29565482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.61, Y:-6.77, Z:1.29 [[ 9.98638510e-01 5.03352250e-02 1.36927232e-02 4.76614959e+02] [-5.03274208e-02 9.98732354e-01 -9.14152931e-04 -6.77051207e+00] [-1.37213797e-02 2.23788882e-04 9.99905832e-01 1.29448235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.64, Y:-6.77, Z:1.29 [[ 9.98531801e-01 5.25101664e-02 1.33013367e-02 4.76643301e+02] [-5.25030109e-02 9.98620372e-01 -8.86820630e-04 -6.77160718e+00] [-1.33295529e-02 1.87158375e-04 9.99911140e-01 1.29361615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.67, Y:-6.77, Z:1.29 [[ 9.98457798e-01 5.38281377e-02 1.35851796e-02 4.76670795e+02] [-5.38208083e-02 9.98550200e-01 -9.04807941e-04 -6.77286650e+00] [-1.36141879e-02 1.72247198e-04 9.99907308e-01 1.29326386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.70, Y:-6.77, Z:1.29 [[ 9.98391463e-01 5.51101313e-02 1.33176491e-02 4.76698610e+02] [-5.51032161e-02 9.98480271e-01 -8.85911865e-04 -6.77416148e+00] [-1.33462326e-02 1.50641549e-04 9.99910924e-01 1.29292533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.73, Y:-6.78, Z:1.29 [[ 9.98327135e-01 5.63441181e-02 1.29719538e-02 4.76726279e+02] [-5.63376791e-02 9.98411400e-01 -8.61554821e-04 -6.77584800e+00] [-1.29998901e-02 1.29303784e-04 9.99915489e-01 1.29252905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.805099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.75, Y:-6.78, Z:1.29 [[ 9.98179824e-01 5.89392784e-02 1.27749759e-02 4.76754219e+02] [-5.89332643e-02 9.98261565e-01 -8.47039226e-04 -6.77765753e+00] [-1.28026913e-02 9.26264361e-05 9.99918038e-01 1.29177683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.78, Y:-6.78, Z:1.29 [[ 9.98121927e-01 5.99072252e-02 1.27961876e-02 4.76781975e+02] [-5.99012841e-02 9.98203946e-01 -8.47392465e-04 -6.77922852e+00] [-1.28239698e-02 7.92929344e-05 9.99917766e-01 1.29128822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.81, Y:-6.78, Z:1.29 [[ 9.98064720e-01 6.08856029e-02 1.26395681e-02 4.76808571e+02] [-6.08798990e-02 9.98144749e-01 -8.35898274e-04 -6.78091057e+00] [-1.26670126e-02 6.47849499e-05 9.99919768e-01 1.29082528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.84, Y:-6.78, Z:1.29 [[ 9.98016539e-01 6.16480087e-02 1.27479972e-02 4.76836350e+02] [-6.16422969e-02 9.98097951e-01 -8.40866359e-04 -6.78244929e+00] [-1.27755876e-02 5.33827054e-05 9.99918387e-01 1.29043094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.86, Y:-6.78, Z:1.29 [[ 9.97984276e-01 6.21910619e-02 1.26355342e-02 4.76863491e+02] [-6.21855079e-02 9.98064261e-01 -8.32346359e-04 -6.78409884e+00] [-1.26628396e-02 4.49214689e-05 9.99919822e-01 1.29001901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.89, Y:-6.79, Z:1.29 [[ 9.97969145e-01 6.23579123e-02 1.30029334e-02 4.76891780e+02] [-6.23520745e-02 9.98053851e-01 -8.54273764e-04 -6.78587653e+00] [-1.30308984e-02 4.17789888e-05 9.99915093e-01 1.28936746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.92, Y:-6.79, Z:1.29 [[ 9.97983744e-01 6.21070879e-02 1.30826452e-02 4.76918880e+02] [-6.21011739e-02 9.98069490e-01 -8.58202275e-04 -6.78788391e+00] [-1.31106895e-02 4.40242920e-05 9.99914050e-01 1.28924584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.95, Y:-6.79, Z:1.29 [[ 9.98028049e-01 6.13470808e-02 1.32871930e-02 4.76946665e+02] [-6.13409358e-02 9.98116493e-01 -8.69909321e-04 -6.79012978e+00] [-1.33155328e-02 5.31450522e-05 9.99911343e-01 1.28871806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.97, Y:-6.79, Z:1.29 [[ 9.98099511e-01 6.01901165e-02 1.32104553e-02 4.76974851e+02] [-6.01839588e-02 9.98186929e-01 -8.63535368e-04 -6.79215929e+00] [-1.32384801e-02 6.68367290e-05 9.99912365e-01 1.28839911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.00, Y:-6.79, Z:1.29 [[ 9.98331613e-01 5.62919652e-02 1.28532024e-02 4.77003215e+02] [-5.62858322e-02 9.98414344e-01 -8.38688029e-04 -6.79455067e+00] [-1.28800330e-02 1.13835582e-04 9.99917042e-01 1.28829569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.03, Y:-6.80, Z:1.29 [[ 9.98472936e-01 5.37373608e-02 1.28098621e-02 4.77032054e+02] [-5.37310708e-02 9.98555094e-01 -8.34929792e-04 -6.79695146e+00] [-1.28362200e-02 1.45367193e-04 9.99917602e-01 1.28774476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.06, Y:-6.80, Z:1.29 [[ 9.98629751e-01 5.07625098e-02 1.27196319e-02 4.77060391e+02] [-5.07560784e-02 9.98710736e-01 -8.28137049e-04 -6.79949439e+00] [-1.27452713e-02 1.81403659e-04 9.99918759e-01 1.28721535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.09, Y:-6.80, Z:1.29 [[ 9.98962011e-01 4.37434569e-02 1.27047383e-02 4.77088131e+02] [-4.37364836e-02 9.99042760e-01 -8.26327973e-04 -6.80280493e+00] [-1.27287233e-02 2.69809675e-04 9.99918950e-01 1.28680367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.12, Y:-6.81, Z:1.29 [[ 9.99120603e-01 4.00102887e-02 1.25378679e-02 4.77116807e+02] [-4.00032186e-02 9.99199219e-01 -8.14282018e-04 -6.80575589e+00] [-1.25604075e-02 3.12010867e-04 9.99921066e-01 1.28626031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.14, Y:-6.81, Z:1.29 [[ 9.99274341e-01 3.60317980e-02 1.23491451e-02 4.77144326e+02] [-3.60246454e-02 9.99350581e-01 -8.01228083e-04 -6.80838456e+00] [-1.23699950e-02 3.55773091e-04 9.99923425e-01 1.28587736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.17, Y:-6.81, Z:1.29 [[ 9.99416250e-01 3.21087576e-02 1.16699147e-02 4.77173722e+02] [-3.21021181e-02 9.99484308e-01 -7.55867167e-04 -6.81089535e+00] [-1.16881665e-02 3.80796951e-04 9.99931619e-01 1.28580494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.20, Y:-6.81, Z:1.29 [[ 9.99653586e-01 2.40646893e-02 1.06582305e-02 4.77203157e+02] [-2.40586979e-02 9.99710310e-01 -6.90011662e-04 -6.81292613e+00] [-1.06717479e-02 4.33349483e-04 9.99942961e-01 1.28588657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.23, Y:-6.82, Z:1.29 [[ 9.99741014e-01 2.01499038e-02 1.05775888e-02 4.77233891e+02] [-2.01437907e-02 9.99796859e-01 -6.84165757e-04 -6.81508486e+00] [-1.05892259e-02 4.70915834e-04 9.99943822e-01 1.28553453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.26, Y:-6.82, Z:1.29 [[ 9.99811719e-01 1.66400802e-02 9.98172329e-03 4.77264040e+02] [-1.66344632e-02 9.99861429e-01 -6.45491382e-04 -6.81717888e+00] [-9.99108115e-03 4.79329240e-04 9.99949973e-01 1.28568769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.30, Y:-6.82, Z:1.29 [[ 9.99863429e-01 1.31756398e-02 9.97622272e-03 4.77295822e+02] [-1.31698564e-02 9.99913066e-01 -6.45184805e-04 -6.81909797e+00] [-9.98385617e-03 5.13711271e-04 9.99950028e-01 1.28556345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.33, Y:-6.82, Z:1.29 [[ 9.99897797e-01 1.03281525e-02 9.88555028e-03 4.77326934e+02] [-1.03223460e-02 9.99946520e-01 -6.38212797e-04 -6.82073368e+00] [-9.89161316e-03 5.36105500e-04 9.99950933e-01 1.28589643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.36, Y:-6.82, Z:1.29 [[ 9.99917796e-01 8.29490945e-03 9.77728527e-03 4.77359206e+02] [-8.28911311e-03 9.99965444e-01 -6.33212522e-04 -6.82238230e+00] [-9.78219985e-03 5.52115446e-04 9.99952001e-01 1.28595736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.39, Y:-6.82, Z:1.29 [[ 9.99937978e-01 5.67492787e-03 9.58303180e-03 4.77392080e+02] [-5.66921997e-03 9.99983736e-01 -6.22685724e-04 -6.82240995e+00] [-9.58640963e-03 5.68318789e-04 9.99953888e-01 1.28702389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.43, Y:-6.82, Z:1.29 [[ 9.99941201e-01 5.51748095e-03 9.33550197e-03 4.77425006e+02] [-5.51203350e-03 9.99984623e-01 -6.09148407e-04 -6.82315587e+00] [-9.33871938e-03 5.57654990e-04 9.99956238e-01 1.28697526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.46, Y:-6.82, Z:1.29 [[ 9.99941025e-01 5.91179346e-03 9.11025633e-03 4.77457103e+02] [-5.90659709e-03 9.99982378e-01 -5.97187114e-04 -6.82341129e+00] [-9.11362623e-03 5.43341282e-04 9.99958322e-01 1.28673018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.555099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.49, Y:-6.82, Z:1.29 [[ 9.99935974e-01 7.18709518e-03 8.74029660e-03 4.77489793e+02] [-7.18234290e-03 9.99974041e-01 -5.74987551e-04 -6.82383820e+00] [-8.74420221e-03 5.12174930e-04 9.99961638e-01 1.28650962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.52, Y:-6.82, Z:1.28 [[ 9.99867498e-01 1.21589883e-02 1.08233543e-02 4.77522611e+02] [-1.19997620e-02 9.99820577e-01 -1.46567014e-02 -6.81621770e+00] [-1.09996230e-02 1.45248817e-02 9.99834004e-01 1.28394004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.55, Y:-6.83, Z:1.28 [[ 9.99883685e-01 1.25585357e-02 8.65448750e-03 4.77552926e+02] [-1.26752472e-02 9.99827644e-01 1.35654126e-02 -6.82806323e+00] [-8.48263413e-03 -1.36735325e-02 9.99870531e-01 1.28336715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.58, Y:-6.82, Z:1.29 [[ 9.99856220e-01 1.51229403e-02 7.67042595e-03 4.77583874e+02] [-1.51194724e-02 9.99885564e-01 -5.09904987e-04 -6.82123462e+00] [-7.67725944e-03 3.93858880e-04 9.99970452e-01 1.28635251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.61, Y:-6.82, Z:1.29 [[ 9.99819990e-01 1.74950000e-02 7.34248480e-03 4.77614522e+02] [-1.74918861e-02 9.99846886e-01 -4.88104526e-04 -6.82082303e+00] [-7.34989996e-03 3.59582754e-04 9.99972924e-01 1.28617733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.64, Y:-6.82, Z:1.29 [[ 9.99771378e-01 2.00266411e-02 7.49171041e-03 4.77644389e+02] [-2.00234717e-02 9.99799386e-01 -4.97829380e-04 -6.82023758e+00] [-7.50017732e-03 3.47705514e-04 9.99971813e-01 1.28602891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.67, Y:-6.82, Z:1.29 [[ 9.99663411e-01 2.45391326e-02 8.41992897e-03 4.77673696e+02] [-2.45352804e-02 9.99698808e-01 -5.60514127e-04 -6.81678955e+00] [-8.43114749e-03 3.53740145e-04 9.99964395e-01 1.28633149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.70, Y:-6.82, Z:1.29 [[ 9.99616194e-01 2.61993509e-02 9.00328130e-03 4.77703038e+02] [-2.61950201e-02 9.99656672e-01 -5.98639004e-04 -6.81624745e+00] [-9.01587418e-03 3.62568108e-04 9.99959290e-01 1.28589916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.73, Y:-6.82, Z:1.29 [[ 9.99562986e-01 2.79673152e-02 9.57421770e-03 4.77731954e+02] [-2.79625057e-02 9.99608770e-01 -6.35862799e-04 -6.81615882e+00] [-9.58825536e-03 3.67865802e-04 9.99953964e-01 1.28539293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.76, Y:-6.82, Z:1.28 [[ 9.99523882e-01 2.91880671e-02 1.00033350e-02 4.77759863e+02] [-2.91828842e-02 9.99573869e-01 -6.63720671e-04 -6.81619224e+00] [-1.00184450e-02 3.71478495e-04 9.99949745e-01 1.28463488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.79, Y:-6.82, Z:1.28 [[ 9.99494632e-01 3.00123999e-02 1.04754942e-02 4.77789198e+02] [-3.00067731e-02 9.99549455e-01 -6.93935071e-04 -6.81634114e+00] [-1.04916012e-02 3.79248601e-04 9.99944890e-01 1.28381127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.82, Y:-6.82, Z:1.28 [[ 9.99463363e-01 3.09458285e-02 1.07397162e-02 4.77817981e+02] [-3.09399764e-02 9.99520992e-01 -7.10661266e-04 -6.81509787e+00] [-1.07565638e-02 3.77993333e-04 9.99942075e-01 1.28251682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.85, Y:-6.82, Z:1.28 [[ 9.99457370e-01 3.11668336e-02 1.06580875e-02 4.77846189e+02] [-3.11610897e-02 9.99514127e-01 -7.04604804e-04 -6.81543254e+00] [-1.06748693e-02 3.72104845e-04 9.99942953e-01 1.28180139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.88, Y:-6.82, Z:1.28 [[ 9.99441165e-01 3.17260135e-02 1.05270141e-02 4.77875516e+02] [-3.17204523e-02 9.99496538e-01 -6.94869353e-04 -6.81579175e+00] [-1.05437596e-02 3.60559387e-04 9.99944348e-01 1.28123989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.90, Y:-6.82, Z:1.28 [[ 9.99434183e-01 3.19515940e-02 1.05075881e-02 4.77904604e+02] [-3.19460734e-02 9.99489354e-01 -6.92865411e-04 -6.81600779e+00] [-1.05243606e-02 3.56797194e-04 9.99944554e-01 1.28062237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.93, Y:-6.82, Z:1.28 [[ 9.99413652e-01 3.26442182e-02 1.03299308e-02 4.77933226e+02] [-3.26389273e-02 9.99466977e-01 -6.80408300e-04 -6.81662078e+00] [-1.03466361e-02 3.42851484e-04 9.99946413e-01 1.27993799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.96, Y:-6.82, Z:1.28 [[ 9.99362220e-01 3.40454624e-02 1.07731259e-02 4.77961836e+02] [-3.40397981e-02 9.99420227e-01 -7.08766292e-04 -6.81636152e+00] [-1.07910102e-02 3.41599226e-04 9.99941717e-01 1.27908284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.99, Y:-6.82, Z:1.28 [[ 9.99310824e-01 3.53154478e-02 1.14322769e-02 4.77989214e+02] [-3.53091614e-02 9.99376155e-01 -7.51308698e-04 -6.81731331e+00] [-1.14516777e-02 3.47126804e-04 9.99934367e-01 1.27829726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.02, Y:-6.82, Z:1.28 [[ 9.99243767e-01 3.69748591e-02 1.20313683e-02 4.78017554e+02] [-3.69680324e-02 9.99316137e-01 -7.89385504e-04 -6.81854486e+00] [-1.20523279e-02 3.44012531e-04 9.99927309e-01 1.27761474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.05, Y:-6.82, Z:1.28 [[ 9.99169555e-01 3.88506461e-02 1.22812029e-02 4.78046576e+02] [-3.88436857e-02 9.99244975e-01 -8.04868243e-04 -6.81956686e+00] [-1.23031999e-02 3.27152661e-04 9.99924259e-01 1.27724499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.08, Y:-6.82, Z:1.28 [[ 9.98989774e-01 4.31295282e-02 1.26204438e-02 4.78075288e+02] [-4.31225313e-02 9.99069449e-01 -8.26140215e-04 -6.81974752e+00] [-1.26443309e-02 2.81080145e-04 9.99920018e-01 1.27658403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.10, Y:-6.82, Z:1.28 [[ 9.98881238e-01 4.55009876e-02 1.28814900e-02 4.78104025e+02] [-4.54939076e-02 9.98964261e-01 -8.42270065e-04 -6.82119491e+00] [-1.29064722e-02 2.55298450e-04 9.99916675e-01 1.27541177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.13, Y:-6.82, Z:1.27 [[ 9.98885354e-01 4.54105280e-02 1.28815458e-02 4.78132437e+02] [-4.54034515e-02 9.98968377e-01 -8.41415570e-04 -6.82296390e+00] [-1.29064660e-02 2.55611050e-04 9.99916675e-01 1.27491889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.16, Y:-6.82, Z:1.27 [[ 9.98797508e-01 4.72950335e-02 1.29119358e-02 4.78160823e+02] [-4.72880952e-02 9.98880937e-01 -8.42298834e-04 -6.82457271e+00] [-1.29373231e-02 2.30705126e-04 9.99916283e-01 1.27413206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.19, Y:-6.83, Z:1.27 [[ 9.98721369e-01 4.87677254e-02 1.33167790e-02 4.78189090e+02] [-4.87604961e-02 9.98810123e-01 -8.67208489e-04 -6.82649752e+00] [-1.33432254e-02 2.16766900e-04 9.99910952e-01 1.27317636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.305099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.22, Y:-6.83, Z:1.27 [[ 9.98668709e-01 4.97897763e-02 1.34828659e-02 4.78216666e+02] [-4.97824798e-02 9.98759699e-01 -8.76456842e-04 -6.82853673e+00] [-1.35097816e-02 2.04079525e-04 9.99908718e-01 1.27278740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.24, Y:-6.83, Z:1.27 [[ 9.98624241e-01 5.04492231e-02 1.43004207e-02 4.78244635e+02] [-5.04411016e-02 9.98726606e-01 -9.28268499e-04 -6.83142058e+00] [-1.43290411e-02 2.05662450e-04 9.99897313e-01 1.27182521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.27, Y:-6.83, Z:1.27 [[ 9.98659789e-01 4.97896148e-02 1.41286636e-02 4.78272418e+02] [-4.97816424e-02 9.98759706e-01 -9.15620097e-04 -6.83395336e+00] [-1.41567283e-02 2.11044893e-04 9.99899766e-01 1.27114791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.30, Y:-6.84, Z:1.27 [[ 9.98730842e-01 4.85008563e-02 1.35783918e-02 4.78300411e+02] [-4.84933925e-02 9.98823117e-01 -8.78583015e-04 -6.83649453e+00] [-1.36050237e-02 2.19005670e-04 9.99907423e-01 1.27078444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.33, Y:-6.84, Z:1.27 [[ 9.98827545e-01 4.64933745e-02 1.34871194e-02 4.78327967e+02] [-4.64858472e-02 9.98918569e-01 -8.71236422e-04 -6.83890639e+00] [-1.35130407e-02 2.43254764e-04 9.99908665e-01 1.27014845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.36, Y:-6.84, Z:1.27 [[ 9.99035511e-01 4.18819667e-02 1.31889925e-02 4.78355941e+02] [-4.18743860e-02 9.99122521e-01 -8.50525713e-04 -6.84267916e+00] [-1.32130412e-02 2.97424426e-04 9.99912660e-01 1.26871173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.39, Y:-6.85, Z:1.27 [[ 9.99150701e-01 3.91122351e-02 1.29656916e-02 4.78385020e+02] [-3.91046915e-02 9.99234770e-01 -8.34917056e-04 -6.84577012e+00] [-1.29884254e-02 3.27188591e-04 9.99915593e-01 1.26776668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.41, Y:-6.85, Z:1.27 [[ 9.99238887e-01 3.66821435e-02 1.32690054e-02 4.78413670e+02] [-3.66740415e-02 9.99326917e-01 -8.53491011e-04 -6.84907498e+00] [-1.32913821e-02 3.66213354e-04 9.99911599e-01 1.26634482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.44, Y:-6.85, Z:1.26 [[ 9.99321893e-01 3.41576951e-02 1.37479597e-02 4.78442535e+02] [-3.41487726e-02 9.99416370e-01 -8.83302409e-04 -6.85217557e+00] [-1.37701075e-02 4.13227487e-04 9.99905102e-01 1.26497886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.47, Y:-6.85, Z:1.27 [[ 9.99400249e-01 3.25689127e-02 1.17647323e-02 4.78471445e+02] [-3.24837194e-02 9.99445155e-01 -7.36139167e-03 -6.85193546e+00] [-1.19979572e-02 6.97481440e-03 9.99903696e-01 1.26569300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.50, Y:-6.86, Z:1.26 [[ 9.99470796e-01 2.96275728e-02 1.34289133e-02 4.78499417e+02] [-2.96244673e-02 9.99561007e-01 -4.30159137e-04 -6.85733656e+00] [-1.34357627e-02 3.21070913e-05 9.99909736e-01 1.26252132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.53, Y:-6.86, Z:1.26 [[ 9.99544068e-01 2.56526476e-02 1.59247742e-02 4.78528637e+02] [-2.57287786e-02 9.99658403e-01 4.59430280e-03 -6.86301869e+00] [-1.58014783e-02 -5.00193309e-03 9.99862638e-01 1.26001841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.56, Y:-6.86, Z:1.26 [[ 9.99591370e-01 2.38575286e-02 1.57451737e-02 4.78558725e+02] [-2.38446505e-02 9.99715171e-01 -1.00515650e-03 -6.86292371e+00] [-1.57646695e-02 6.29307602e-04 9.99875532e-01 1.26063343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.59, Y:-6.87, Z:1.26 [[ 9.99620049e-01 2.17992544e-02 1.68686102e-02 4.78590384e+02] [-2.17841751e-02 9.99762116e-01 -1.07718198e-03 -6.86546236e+00] [-1.68880792e-02 7.09303942e-04 9.99857135e-01 1.25951043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.62, Y:-6.87, Z:1.26 [[ 9.99686876e-01 1.75392796e-02 1.78472329e-02 4.78622394e+02] [-1.75217096e-02 9.99845833e-01 -1.14037646e-03 -6.86888163e+00] [-1.78644828e-02 8.27305348e-04 9.99840075e-01 1.25791876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.65, Y:-6.87, Z:1.26 [[ 9.99709443e-01 1.53584747e-02 1.85781518e-02 4.78654527e+02] [-1.53389718e-02 9.99881641e-01 -1.19182393e-03 -6.87178762e+00] [-1.85942575e-02 9.06507889e-04 9.99826701e-01 1.25700793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.69, Y:-6.87, Z:1.26 [[ 9.99740150e-01 1.33665578e-02 1.84653052e-02 4.78687279e+02] [-1.33468905e-02 9.99910221e-01 -1.18792867e-03 -6.87441538e+00] [-1.84795260e-02 9.41165582e-04 9.99828796e-01 1.25610117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.72, Y:-6.88, Z:1.26 [[ 9.99753141e-01 1.16614342e-02 1.89120974e-02 4.78719982e+02] [-1.16403949e-02 9.99931501e-01 -1.22218133e-03 -6.87677903e+00] [-1.89250544e-02 1.00173534e-03 9.99820403e-01 1.25501728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.75, Y:-6.88, Z:1.25 [[ 9.99769284e-01 9.96938110e-03 1.90260239e-02 4.78751868e+02] [-9.94767584e-03 9.99949758e-01 -1.23512208e-03 -6.87895098e+00] [-1.90373813e-02 1.04557240e-03 9.99818226e-01 1.25405652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.78, Y:-6.88, Z:1.25 [[ 9.99789871e-01 7.97810925e-03 1.88828688e-02 4.78784042e+02] [-7.95628110e-03 9.99967591e-01 -1.23082095e-03 -6.88082657e+00] [-1.88920765e-02 1.08032491e-03 9.99820945e-01 1.25281124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.82, Y:-6.88, Z:1.25 [[ 9.99794776e-01 7.68152992e-03 1.87456680e-02 4.78817123e+02] [-7.65990220e-03 9.99969912e-01 -1.22527461e-03 -6.88262092e+00] [-1.87545160e-02 1.08143317e-03 9.99823534e-01 1.25164980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.85, Y:-6.88, Z:1.25 [[ 9.99798915e-01 8.08312419e-03 1.83519067e-02 4.78848829e+02] [-8.06236789e-03 9.99966773e-01 -1.20472175e-03 -6.88441192e+00] [-1.83610349e-02 1.05651968e-03 9.99830864e-01 1.25085534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.88, Y:-6.89, Z:1.25 [[ 9.99794633e-01 9.05163571e-03 1.81317272e-02 4.78880452e+02] [-9.03144576e-03 9.99958502e-01 -1.19509192e-03 -6.88598599e+00] [-1.81417923e-02 1.03109078e-03 9.99834892e-01 1.24982735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.91, Y:-6.89, Z:1.25 [[ 9.99766281e-01 1.19007528e-02 1.80486805e-02 4.78913796e+02] [-1.18811252e-02 9.99928704e-01 -1.19432358e-03 -6.88537150e+00] [-1.80616070e-02 9.79605816e-04 9.99836396e-01 1.24908928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.95, Y:-6.89, Z:1.25 [[ 9.99730964e-01 1.44379831e-02 1.81533509e-02 4.78946256e+02] [-1.44185071e-02 9.99895324e-01 -1.20328776e-03 -6.88560432e+00] [-1.81688237e-02 9.41219812e-04 9.99834490e-01 1.24845650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.055099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.98, Y:-6.89, Z:1.25 [[ 9.99678125e-01 1.79355368e-02 1.79433127e-02 4.78979212e+02] [-1.79170127e-02 9.99838766e-01 -1.19260257e-03 -6.88569732e+00] [-1.79618096e-02 8.70728136e-04 9.99838295e-01 1.24821241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.01, Y:-6.89, Z:1.25 [[ 9.99598046e-01 2.15106224e-02 1.84672550e-02 4.79011460e+02] [-2.14915085e-02 9.99768271e-01 -1.23287874e-03 -6.88544906e+00] [-1.84894956e-02 8.35494014e-04 9.99828706e-01 1.24772518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.04, Y:-6.89, Z:1.25 [[ 9.99490443e-01 2.57917528e-02 1.88053007e-02 4.79044329e+02] [-2.57726210e-02 9.99667038e-01 -1.25904367e-03 -6.88522239e+00] [-1.88315122e-02 7.73740228e-04 9.99822372e-01 1.24754125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.08, Y:-6.89, Z:1.25 [[ 9.99341280e-01 3.03914627e-02 1.98334535e-02 4.79076389e+02] [-3.03709654e-02 9.99537806e-01 -1.33393242e-03 -6.88513913e+00] [-1.98648267e-02 7.30692597e-04 9.99802408e-01 1.24693970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.11, Y:-6.88, Z:1.25 [[ 9.99016993e-01 3.88995180e-02 2.12573693e-02 4.79107174e+02] [-3.88777900e-02 9.99242943e-01 -1.43460829e-03 -6.88266995e+00] [-2.12970818e-02 6.06758525e-04 9.99773007e-01 1.24670505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.14, Y:-6.88, Z:1.25 [[ 9.98838232e-01 4.28723566e-02 2.20033518e-02 4.79136522e+02] [-4.28500358e-02 9.99080412e-01 -1.48512555e-03 -6.88243779e+00] [-2.20467886e-02 5.40555769e-04 9.99756794e-01 1.24607535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.16, Y:-6.88, Z:1.25 [[ 9.98681710e-01 4.62403638e-02 2.22860940e-02 4.79164332e+02] [-4.62183274e-02 9.98930231e-01 -1.50313717e-03 -6.88223531e+00] [-2.23317586e-02 4.71129610e-04 9.99750504e-01 1.24573983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.19, Y:-6.88, Z:1.25 [[ 9.98536920e-01 4.91286421e-02 2.25919332e-02 4.79193343e+02] [-4.91067801e-02 9.98792375e-01 -1.52178699e-03 -6.88221663e+00] [-2.26394140e-02 4.10143398e-04 9.99743611e-01 1.24506015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.22, Y:-6.88, Z:1.24 [[ 9.98325798e-01 5.30282056e-02 2.31000272e-02 4.79221605e+02] [-5.30064342e-02 9.98592961e-01 -1.55420521e-03 -6.88155259e+00] [-2.31499413e-02 3.27153087e-04 9.99731951e-01 1.24401268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.25, Y:-6.88, Z:1.24 [[ 9.98276056e-01 5.40055325e-02 2.29851789e-02 4.79250303e+02] [-5.39842814e-02 9.98540591e-01 -1.54450597e-03 -6.88240638e+00] [-2.30350460e-02 3.01004961e-04 9.99734613e-01 1.24309897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.28, Y:-6.88, Z:1.24 [[ 9.98268339e-01 5.43733802e-02 2.24468098e-02 4.79279133e+02] [-5.43532419e-02 9.98520633e-01 -1.50673884e-03 -6.88343205e+00] [-2.24955292e-02 2.84072800e-04 9.99746903e-01 1.24240941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.31, Y:-6.88, Z:1.24 [[ 9.98253026e-01 5.47547712e-02 2.21993547e-02 4.79308134e+02] [-5.47352040e-02 9.98499796e-01 -1.48854695e-03 -6.88481863e+00] [-2.22475562e-02 2.70860295e-04 9.99752456e-01 1.24152586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.34, Y:-6.89, Z:1.24 [[ 9.98248494e-01 5.49545428e-02 2.19075996e-02 4.79335636e+02] [-5.49355706e-02 9.98488823e-01 -1.46735095e-03 -6.88594296e+00] [-2.19551309e-02 2.61274393e-04 9.99758923e-01 1.24098842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.36, Y:-6.89, Z:1.24 [[ 9.98247021e-01 5.51933760e-02 2.13676414e-02 4.79363632e+02] [-5.51754222e-02 9.98475653e-01 -1.42932357e-03 -6.88711288e+00] [-2.14139589e-02 2.47849359e-04 9.99770664e-01 1.24054966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.39, Y:-6.89, Z:1.24 [[ 9.98227767e-01 5.57723534e-02 2.07550025e-02 4.79391475e+02] [-5.57555779e-02 9.98443485e-01 -1.38650450e-03 -6.88809947e+00] [-2.08000256e-02 2.26840129e-04 9.99783630e-01 1.23969881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.42, Y:-6.89, Z:1.24 [[ 9.98217118e-01 5.60219761e-02 2.05942464e-02 4.79419001e+02] [-5.60055585e-02 9.98429512e-01 -1.37354505e-03 -6.88942573e+00] [-2.06388521e-02 2.17703912e-04 9.99786973e-01 1.23877204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.45, Y:-6.89, Z:1.24 [[ 9.98199878e-01 5.64604463e-02 2.02292185e-02 4.79445885e+02] [-5.64447428e-02 9.98404816e-01 -1.34687012e-03 -6.89099260e+00] [-2.02729940e-02 2.02612554e-04 9.99794461e-01 1.23805000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.47, Y:-6.89, Z:1.24 [[ 9.98184679e-01 5.68009714e-02 2.00249106e-02 4.79474181e+02] [-5.67857128e-02 9.98385503e-01 -1.33023683e-03 -6.89254174e+00] [-2.00681392e-02 1.90693200e-04 9.99798596e-01 1.23709108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.50, Y:-6.89, Z:1.24 [[ 9.98166666e-01 5.71325103e-02 1.99795476e-02 4.79501882e+02] [-5.71174305e-02 9.98366588e-01 -1.32506333e-03 -6.89420202e+00] [-2.00226170e-02 1.81453620e-04 9.99799511e-01 1.23621040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.53, Y:-6.90, Z:1.23 [[ 9.98125542e-01 5.78486218e-02 1.99734765e-02 4.79529449e+02] [-5.78337372e-02 9.98325353e-01 -1.32253056e-03 -6.89603799e+00] [-2.00165345e-02 1.64910737e-04 9.99799636e-01 1.23477859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.57, Y:-6.89, Z:1.23 [[ 9.97596534e-01 6.36288321e-02 2.74322112e-02 4.79565175e+02] [-6.26918722e-02 9.97461749e-01 -3.37607401e-02 -6.88894193e+00] [-2.95107378e-02 3.19598206e-02 9.99053395e-01 1.23019657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.59, Y:-6.92, Z:1.22 [[ 9.98123432e-01 5.70395184e-02 2.22734624e-02 4.79587270e+02] [-5.77073873e-02 9.97864739e-01 3.05911708e-02 -6.91558966e+00] [-2.04809971e-02 -3.18191077e-02 9.99283780e-01 1.22471459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.62, Y:-6.90, Z:1.23 [[ 9.98184171e-01 5.66105785e-02 2.05816033e-02 4.79617060e+02] [-5.65946864e-02 9.98396318e-01 -1.35426438e-03 -6.90305122e+00] [-2.06252626e-02 1.86995885e-04 9.99787259e-01 1.23312953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.65, Y:-6.91, Z:1.23 [[ 9.98237332e-01 5.55260501e-02 2.09543918e-02 4.79646128e+02] [-5.55093699e-02 9.98457216e-01 -1.37727893e-03 -6.90562689e+00] [-2.09985385e-02 2.11686157e-04 9.99779484e-01 1.23246092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.68, Y:-6.91, Z:1.23 [[ 9.98316291e-01 5.40404962e-02 2.10762417e-02 4.79675230e+02] [-5.40233224e-02 9.98538715e-01 -1.38377757e-03 -6.90851884e+00] [-2.11202233e-02 2.42839094e-04 9.99776914e-01 1.23208609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.805099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.70, Y:-6.91, Z:1.23 [[ 9.98409843e-01 5.21368779e-02 2.14366926e-02 4.79702914e+02] [-5.21187081e-02 9.98639907e-01 -1.40580438e-03 -6.91131986e+00] [-2.14808309e-02 2.86316207e-04 9.99769219e-01 1.23109595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.73, Y:-6.91, Z:1.23 [[ 9.98535783e-01 4.97583436e-02 2.12225505e-02 4.79731489e+02] [-4.97400365e-02 9.98761231e-01 -1.38994781e-03 -6.91471767e+00] [-2.12654221e-02 3.32302189e-04 9.99773810e-01 1.23021763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.76, Y:-6.92, Z:1.23 [[ 9.98667628e-01 4.70957122e-02 2.10941348e-02 4.79758664e+02] [-4.70770662e-02 9.98890307e-01 -1.37992389e-03 -6.91776160e+00] [-2.11357153e-02 3.85035335e-04 9.99776542e-01 1.22927737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.79, Y:-6.92, Z:1.23 [[ 9.98928496e-01 4.14116635e-02 2.06623703e-02 4.79786844e+02] [-4.13925967e-02 9.99142047e-01 -1.34978983e-03 -6.92220654e+00] [-2.07005400e-02 4.93074366e-04 9.99785599e-01 1.22801011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.82, Y:-6.93, Z:1.23 [[ 9.99051395e-01 3.85066926e-02 2.03357983e-02 4.79816426e+02] [-3.84876494e-02 9.99258195e-01 -1.32713634e-03 -6.92517861e+00] [-2.03718168e-02 5.43200339e-04 9.99792325e-01 1.22727231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.84, Y:-6.93, Z:1.23 [[ 9.99151021e-01 3.59525154e-02 2.01159962e-02 4.79844797e+02] [-3.59333801e-02 9.99353326e-01 -1.31201413e-03 -6.92808664e+00] [-2.01501579e-02 5.88064524e-04 9.99796792e-01 1.22628915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.87, Y:-6.93, Z:1.23 [[ 9.99241039e-01 3.35823086e-02 1.97376231e-02 4.79874465e+02] [-3.35634443e-02 9.99435761e-01 -1.28633246e-03 -6.93104174e+00] [-1.97696843e-02 6.22893573e-04 9.99804367e-01 1.22561775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.90, Y:-6.94, Z:1.22 [[ 9.99367926e-01 2.94119049e-02 1.99671646e-02 4.79904489e+02] [-2.93917797e-02 9.99567122e-01 -1.30069651e-03 -6.93510238e+00] [-1.99967772e-02 7.13003866e-04 9.99799790e-01 1.22464687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.94, Y:-6.94, Z:1.22 [[ 9.99409605e-01 2.78873335e-02 2.00683584e-02 4.79935360e+02] [-2.78666947e-02 9.99610793e-01 -1.30739133e-03 -6.93803182e+00] [-2.00970073e-02 7.47380636e-04 9.99797755e-01 1.22376412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.97, Y:-6.94, Z:1.22 [[ 9.99448593e-01 2.67293821e-02 1.96990100e-02 4.79966117e+02] [-2.67092481e-02 9.99642419e-01 -1.28452111e-03 -6.94086367e+00] [-1.97263004e-02 7.57667070e-04 9.99805131e-01 1.22277889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.00, Y:-6.94, Z:1.22 [[ 9.99447176e-01 2.67824936e-02 1.96987384e-02 4.79997893e+02] [-2.67622882e-02 9.99640995e-01 -1.28867315e-03 -6.94296775e+00] [-1.97261803e-02 7.60777424e-04 9.99805131e-01 1.22222986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.03, Y:-6.95, Z:1.22 [[ 9.99465553e-01 2.60020506e-02 1.98116641e-02 4.80029747e+02] [-2.59814286e-02 9.99661584e-01 -1.29762545e-03 -6.94563936e+00] [-1.98387004e-02 7.82196597e-04 9.99802888e-01 1.22143971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.06, Y:-6.95, Z:1.22 [[ 9.99476517e-01 2.54508279e-02 1.99736713e-02 4.80062269e+02] [-2.54296567e-02 9.99675751e-01 -1.31326594e-03 -6.94812850e+00] [-2.00006186e-02 8.04654862e-04 9.99799644e-01 1.22051997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.09, Y:-6.95, Z:1.22 [[ 9.99488883e-01 2.51898052e-02 1.96836764e-02 4.80094564e+02] [-2.51690941e-02 9.99682364e-01 -1.29926322e-03 -6.95037864e+00] [-1.97101523e-02 8.03178845e-04 9.99805413e-01 1.22024962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.13, Y:-6.95, Z:1.22 [[ 9.99485047e-01 2.49130098e-02 2.02233072e-02 4.80126346e+02] [-2.48909767e-02 9.99689273e-01 -1.34051467e-03 -6.95260356e+00] [-2.02504195e-02 8.36446499e-04 9.99794589e-01 1.21912114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.16, Y:-6.95, Z:1.22 [[ 9.99504102e-01 2.56432944e-02 1.82748843e-02 4.80158926e+02] [-2.55429807e-02 9.99657465e-01 -5.70163121e-03 -6.95280528e+00] [-1.84148331e-02 5.23200877e-03 9.99816743e-01 1.21979986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.19, Y:-6.96, Z:1.22 [[ 9.99469382e-01 2.59499115e-02 1.96864396e-02 4.80189736e+02] [-2.60179695e-02 9.99656325e-01 3.20884454e-03 -6.95931245e+00] [-1.95964046e-02 -3.71934306e-03 9.99801054e-01 1.21638056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.22, Y:-6.96, Z:1.22 [[ 9.99458500e-01 2.67747938e-02 1.91263670e-02 4.80222501e+02] [-2.67552106e-02 9.99641197e-01 -1.27908348e-03 -6.95888942e+00] [-1.91537516e-02 7.66660876e-04 9.99816256e-01 1.21691504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.25, Y:-6.95, Z:1.22 [[ 9.99472194e-01 2.94863033e-02 1.36342253e-02 4.80254226e+02] [-2.92928262e-02 9.99470303e-01 -1.41789701e-02 -6.95352160e+00] [-1.40450887e-02 1.37721014e-02 9.99806514e-01 1.22038159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.28, Y:-6.97, Z:1.21 [[ 9.99386262e-01 2.96413364e-02 1.86678851e-02 4.80283389e+02] [-2.98645078e-02 9.99484401e-01 1.17916674e-02 -6.96724711e+00] [-1.83087392e-02 -1.23419376e-02 9.99756204e-01 1.21220992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.31, Y:-6.96, Z:1.22 [[ 9.99372139e-01 3.09121907e-02 1.73137272e-02 4.80314383e+02] [-3.08966164e-02 9.99521905e-01 -1.16636749e-03 -6.96199773e+00] [-1.73415046e-02 6.30699582e-04 9.99849426e-01 1.21547627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.34, Y:-6.96, Z:1.22 [[ 9.99350515e-01 3.38502317e-02 1.23576149e-02 4.80343369e+02] [-3.36724465e-02 9.99330299e-01 -1.43219737e-02 -6.95651496e+00] [-1.28341411e-02 1.38965606e-02 9.99821069e-01 1.21892204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.37, Y:-6.97, Z:1.21 [[ 9.99301809e-01 3.27491599e-02 1.79829738e-02 4.80374353e+02] [-3.29717840e-02 9.99381503e-01 1.22259452e-02 -6.97106417e+00] [-1.75714619e-02 -1.28103398e-02 9.99763542e-01 1.21079339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.40, Y:-6.97, Z:1.21 [[ 9.99257290e-01 3.47660162e-02 1.66190261e-02 4.80403506e+02] [-3.47521793e-02 9.99395332e-01 -1.12075198e-03 -6.96533077e+00] [-1.66479412e-02 5.42372213e-04 9.99861266e-01 1.21356448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.43, Y:-6.97, Z:1.21 [[ 9.99229023e-01 3.57662489e-02 1.61906023e-02 4.80433577e+02] [-3.57532576e-02 9.99360052e-01 -1.09122919e-03 -6.96643434e+00] [-1.62192703e-02 5.11521106e-04 9.99868328e-01 1.21300085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.555099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.46, Y:-6.97, Z:1.21 [[ 9.99197355e-01 3.66882382e-02 1.60816115e-02 4.80462256e+02] [-3.66755490e-02 9.99326639e-01 -1.08336213e-03 -6.96717430e+00] [-1.61105294e-02 4.92690650e-04 9.99870096e-01 1.21245572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.49, Y:-6.97, Z:1.21 [[ 9.99154114e-01 3.78164474e-02 1.61546766e-02 4.80491236e+02] [-3.78038089e-02 9.99284589e-01 -1.08710932e-03 -6.96789018e+00] [-1.61842300e-02 4.75481441e-04 9.99868914e-01 1.21202372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.52, Y:-6.97, Z:1.21 [[ 9.99058742e-01 4.04374202e-02 1.56985638e-02 4.80519253e+02] [-4.04258259e-02 9.99181985e-01 -1.05531486e-03 -6.96716201e+00] [-1.57283964e-02 4.19694127e-04 9.99876213e-01 1.21198264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.55, Y:-6.97, Z:1.21 [[ 9.99017082e-01 4.16252355e-02 1.52384143e-02 4.80548386e+02] [-4.16144702e-02 9.99133219e-01 -1.02300244e-03 -6.96779227e+00] [-1.52677887e-02 3.87858377e-04 9.99883365e-01 1.21165318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.58, Y:-6.97, Z:1.21 [[ 9.98955013e-01 4.30922875e-02 1.52294740e-02 4.80576685e+02] [-4.30817216e-02 9.99071030e-01 -1.02132634e-03 -6.96868081e+00] [-1.52593375e-02 3.64147106e-04 9.99883503e-01 1.21135991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.61, Y:-6.97, Z:1.21 [[ 9.98890113e-01 4.45594474e-02 1.52642860e-02 4.80605384e+02] [-4.45490258e-02 9.99006676e-01 -1.02225438e-03 -6.96973713e+00] [-1.52946747e-02 3.41110723e-04 9.99882971e-01 1.21100143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.63, Y:-6.97, Z:1.21 [[ 9.98857647e-01 4.53683984e-02 1.50036535e-02 4.80634313e+02] [-4.53584369e-02 9.98970272e-01 -1.00373412e-03 -6.97057404e+00] [-1.50337416e-02 3.22045230e-04 9.99886935e-01 1.21093051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.66, Y:-6.97, Z:1.21 [[ 9.98839523e-01 4.58582805e-02 1.47182035e-02 4.80663378e+02] [-4.58487631e-02 9.98947908e-01 -9.83597965e-04 -6.97139841e+00] [-1.47478247e-02 3.07645097e-04 9.99891198e-01 1.21077812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.69, Y:-6.97, Z:1.21 [[ 9.98871839e-01 4.52732187e-02 1.43312743e-02 4.80691825e+02] [-4.52641481e-02 9.98974595e-01 -9.56820035e-04 -6.97108221e+00] [-1.43598973e-02 3.07047664e-04 9.99896844e-01 1.21108923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.72, Y:-6.97, Z:1.21 [[ 9.98916983e-01 4.41311522e-02 1.47412089e-02 4.80719653e+02] [-4.41214560e-02 9.99025691e-01 -9.82492424e-04 -6.97200098e+00] [-1.47702050e-02 3.31024766e-04 9.99890860e-01 1.21073593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.75, Y:-6.97, Z:1.21 [[ 9.98989784e-01 4.25824391e-02 1.43578336e-02 4.80748086e+02] [-4.25730996e-02 9.99092898e-01 -9.55641990e-04 -6.97324700e+00] [-1.43855032e-02 3.43419105e-04 9.99896464e-01 1.21039781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.78, Y:-6.97, Z:1.21 [[ 9.99122129e-01 4.04487433e-02 1.09027712e-02 4.80775063e+02] [-4.03769627e-02 9.99161884e-01 -6.72541706e-03 -6.97090282e+00] [-1.11656680e-02 6.27929223e-03 9.99917946e-01 1.21202764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.80, Y:-6.98, Z:1.21 [[ 9.99203036e-01 3.78312574e-02 1.27313744e-02 4.80804905e+02] [-3.78975338e-02 9.99269095e-01 5.00531375e-03 -6.97810051e+00] [-1.25327117e-02 -5.48381239e-03 9.99906425e-01 1.20844570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.83, Y:-6.98, Z:1.21 [[ 9.99256887e-01 3.66166736e-02 1.20371609e-02 4.80833278e+02] [-3.66096838e-02 9.99329320e-01 -8.00592278e-04 -6.97632156e+00] [-1.20584028e-02 3.59320693e-04 9.99927230e-01 1.20999591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.86, Y:-6.98, Z:1.21 [[ 9.99312203e-01 3.52460155e-02 1.15255780e-02 4.80861877e+02] [-3.52395286e-02 9.99378602e-01 -7.65494511e-04 -6.97695661e+00] [-1.15453966e-02 3.58812072e-04 9.99933285e-01 1.21046955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.89, Y:-6.97, Z:1.21 [[ 9.99351510e-01 3.41036494e-02 1.15542146e-02 4.80889625e+02] [-3.39956786e-02 9.99377625e-01 -9.41573822e-03 -6.97266727e+00] [-1.18681346e-02 9.01683884e-03 9.99888916e-01 1.21108540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.92, Y:-6.97, Z:1.21 [[ 9.99440434e-01 3.12547883e-02 1.19146169e-02 4.80915911e+02] [-3.12400621e-02 9.99510901e-01 -1.42014116e-03 -6.97493031e+00] [-1.19531757e-02 1.04713313e-03 9.99928010e-01 1.20884205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.95, Y:-6.98, Z:1.21 [[ 9.99465988e-01 3.07977254e-02 1.09196572e-02 4.80945568e+02] [-3.08928427e-02 9.99485258e-01 8.65164534e-03 -6.98238948e+00] [-1.06475854e-02 -8.98436451e-03 9.99902950e-01 1.20843957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.98, Y:-6.97, Z:1.21 [[ 9.99448125e-01 3.10027647e-02 1.19278980e-02 4.80975162e+02] [-3.07732507e-02 9.99346420e-01 -1.89668126e-02 -6.97071478e+00] [-1.25081258e-02 1.85892850e-02 9.99748961e-01 1.21040890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.00, Y:-6.99, Z:1.21 [[ 9.99559672e-01 2.79793696e-02 9.88015180e-03 4.81001960e+02] [-2.81504366e-02 9.99448360e-01 1.76218074e-02 -6.98860923e+00] [-9.38165446e-03 -1.78921786e-02 9.99795906e-01 1.20553515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.03, Y:-6.98, Z:1.21 [[ 9.99605207e-01 2.68643637e-02 8.23022240e-03 4.81030516e+02] [-2.68608152e-02 9.99639037e-01 -5.41404740e-04 -6.98102458e+00] [-8.24179609e-03 3.20120514e-04 9.99965985e-01 1.21052210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.06, Y:-6.98, Z:1.21 [[ 9.99668341e-01 2.44143085e-02 8.19443469e-03 4.81059394e+02] [-2.44107159e-02 9.99701869e-01 -5.38169219e-04 -6.98170679e+00] [-8.20513071e-03 3.37958713e-04 9.99966280e-01 1.20997353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.09, Y:-6.98, Z:1.21 [[ 9.99698825e-01 2.33620327e-02 7.51491028e-03 4.81088073e+02] [-2.33589848e-02 9.99727020e-01 -4.93097563e-04 -6.98252442e+00] [-7.52437862e-03 3.17408379e-04 9.99971641e-01 1.20999865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.12, Y:-6.98, Z:1.21 [[ 9.99719293e-01 2.25420112e-02 7.29330698e-03 4.81117012e+02] [-2.25391222e-02 9.99745847e-01 -4.78078320e-04 -6.98324038e+00] [-7.30223021e-03 3.13559383e-04 9.99973289e-01 1.20975029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.15, Y:-6.97, Z:1.21 [[ 9.99642067e-01 2.48060262e-02 1.00199766e-02 4.81146535e+02] [-2.45447999e-02 9.99375941e-01 -2.54023801e-02 -6.97364836e+00] [-1.06438556e-02 2.51473495e-02 9.99627090e-01 1.20710618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.305099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.17, Y:-6.98, Z:1.20 [[ 9.99677181e-01 2.31000635e-02 1.05792500e-02 4.81173180e+02] [-2.30653593e-02 9.99728209e-01 -3.39076973e-03 -6.98273366e+00] [-1.06547017e-02 3.14566093e-03 9.99938289e-01 1.19951904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.20, Y:-7.00, Z:1.20 [[ 9.99707016e-01 2.23210488e-02 9.36232531e-03 4.81201816e+02] [-2.25471408e-02 9.99438581e-01 2.47820350e-02 -6.99650903e+00] [-8.80390811e-03 -2.49858679e-02 9.99649037e-01 1.19845593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.23, Y:-6.98, Z:1.21 [[ 9.99683636e-01 2.42537070e-02 6.66229613e-03 4.81230248e+02] [-2.42513455e-02 9.99705798e-01 -4.35023159e-04 -6.98343699e+00] [-6.67088700e-03 2.73315888e-04 9.99977712e-01 1.20573963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.26, Y:-6.98, Z:1.21 [[ 9.99663516e-01 2.50586121e-02 6.70234820e-03 4.81259247e+02] [-2.50562456e-02 9.99685948e-01 -4.36830763e-04 -6.98404465e+00] [-6.71118969e-03 2.68748094e-04 9.99977444e-01 1.20547840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.29, Y:-6.98, Z:1.21 [[ 9.99650797e-01 2.56103458e-02 6.51110640e-03 4.81287858e+02] [-2.56081267e-02 9.99671968e-01 -4.23966850e-04 -6.98492946e+00] [-6.51982849e-03 2.57081562e-04 9.99978713e-01 1.20515147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.32, Y:-6.99, Z:1.20 [[ 9.99622091e-01 2.66084296e-02 6.90412248e-03 4.81316915e+02] [-2.66059624e-02 9.99645898e-01 -4.48967767e-04 -6.98565463e+00] [-6.91362404e-03 2.65107275e-04 9.99976065e-01 1.20454286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.35, Y:-6.99, Z:1.20 [[ 9.99585168e-01 2.78419310e-02 7.37017886e-03 4.81345453e+02] [-2.78391576e-02 9.99612301e-01 -4.78655243e-04 -6.98636772e+00] [-7.38064813e-03 2.73277111e-04 9.99972725e-01 1.20431491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.37, Y:-6.99, Z:1.20 [[ 9.99538821e-01 2.93471052e-02 7.80341258e-03 4.81373182e+02] [-2.93440455e-02 9.99569243e-01 -5.06333644e-04 -6.98679904e+00] [-7.81491063e-03 2.77116440e-04 9.99969425e-01 1.20373277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.40, Y:-6.99, Z:1.20 [[ 9.99384615e-01 3.43523518e-02 7.09277561e-03 4.81401753e+02] [-3.43499517e-02 9.99409760e-01 -4.59962807e-04 -6.98570659e+00] [-7.10438998e-03 2.16043253e-04 9.99974740e-01 1.20356872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.43, Y:-6.99, Z:1.20 [[ 9.99281148e-01 3.72293073e-02 7.15306271e-03 4.81428841e+02] [-3.72269442e-02 9.99306730e-01 -4.63270765e-04 -6.98579903e+00] [-7.16535095e-03 1.96651075e-04 9.99974309e-01 1.20322596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.46, Y:-6.99, Z:1.20 [[ 9.99147769e-01 4.06693603e-02 7.05251673e-03 4.81456719e+02] [-4.06671565e-02 9.99172645e-01 -4.55677580e-04 -6.98614576e+00] [-7.06521391e-03 1.68483436e-04 9.99975027e-01 1.20331423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.48, Y:-6.99, Z:1.20 [[ 9.98829569e-01 4.78794228e-02 6.85952563e-03 4.81484912e+02] [-4.78775122e-02 9.98853116e-01 -4.42566702e-04 -6.98540404e+00] [-6.87284839e-03 1.13631687e-04 9.99976375e-01 1.20371884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.665099893 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:481.51, Y:-6.99, Z:1.20 [[ 9.98654657e-01 5.13744952e-02 7.03826441e-03 4.81511480e+02] [-5.13725749e-02 9.98679455e-01 -4.53479428e-04 -6.98629629e+00] [-7.05226734e-03 9.12955773e-05 9.99975128e-01 1.20368441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.54, Y:-6.99, Z:1.20 [[ 9.98492561e-01 5.43509086e-02 7.65402429e-03 4.81538949e+02] [-5.43487354e-02 9.98521894e-01 -4.91802358e-04 -6.98741497e+00] [-7.66944074e-03 7.50744551e-05 9.99970587e-01 1.20353116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.57, Y:-6.99, Z:1.20 [[ 9.98347151e-01 5.69306886e-02 7.86524049e-03 4.81567046e+02] [-5.69284808e-02 9.98378132e-01 -5.04483599e-04 -6.98875179e+00] [-7.88120470e-03 5.58935716e-05 9.99968941e-01 1.20332159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.59, Y:-6.99, Z:1.20 [[ 9.98254066e-01 5.85225328e-02 7.99584953e-03 4.81593660e+02] [-5.85203020e-02 9.98286087e-01 -5.12884252e-04 -6.99009107e+00] [-8.01216063e-03 4.40692603e-05 9.99967901e-01 1.20277635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.62, Y:-6.99, Z:1.20 [[ 9.98196373e-01 5.95575677e-02 7.54300216e-03 4.81621421e+02] [-5.95556287e-02 9.98224872e-01 -4.81609164e-04 -6.99178018e+00] [-7.55829584e-03 3.15122848e-05 9.99971435e-01 1.20222306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.65, Y:-6.99, Z:1.20 [[ 9.98186926e-01 5.97518452e-02 7.25104784e-03 4.81649427e+02] [-5.97500634e-02 9.98213262e-01 -4.62300974e-04 -6.99452334e+00] [-7.26571546e-03 2.82122195e-05 9.99973604e-01 1.20103033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.68, Y:-7.00, Z:1.20 [[ 9.98244605e-01 5.88204058e-02 6.91876881e-03 4.81676783e+02] [-5.88187657e-02 9.98268580e-01 -4.40473070e-04 -6.99716522e+00] [-6.93269832e-03 3.27464245e-05 9.99975968e-01 1.20031217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.70, Y:-7.00, Z:1.20 [[ 9.98339891e-01 5.72310764e-02 6.48589706e-03 4.81704864e+02] [-5.72296053e-02 9.98360958e-01 -4.12345759e-04 -6.99986905e+00] [-6.49886539e-03 4.04758911e-05 9.99978881e-01 1.19959857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.73, Y:-7.00, Z:1.20 [[ 9.98579169e-01 5.28422668e-02 6.88021176e-03 4.81731176e+02] [-5.28405118e-02 9.98602869e-01 -4.36742358e-04 -7.00398076e+00] [-6.89367765e-03 7.25679106e-05 9.99976236e-01 1.19872383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.76, Y:-7.01, Z:1.20 [[ 9.98717575e-01 5.00675774e-02 7.51286363e-03 4.81759243e+02] [-5.00654164e-02 9.98745828e-01 -4.75547843e-04 -7.00675393e+00] [-7.52725073e-03 9.88033420e-05 9.99971665e-01 1.19791761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.79, Y:-7.01, Z:1.20 [[ 9.98862206e-01 4.70128989e-02 8.00509309e-03 4.81787003e+02] [-4.70103553e-02 9.98894274e-01 -5.05708777e-04 -7.00945201e+00] [-8.02001649e-03 1.28811113e-04 9.99967831e-01 1.19747752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.82, Y:-7.01, Z:1.20 [[ 9.99000273e-01 4.38189286e-02 8.85186935e-03 4.81815052e+02] [-4.38157033e-02 9.99039475e-01 -5.58060045e-04 -7.01232656e+00] [-8.86782050e-03 1.69651257e-04 9.99960666e-01 1.19660480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.84, Y:-7.01, Z:1.20 [[ 9.99004205e-01 4.37291935e-02 8.85194030e-03 4.81843464e+02] [-4.37259746e-02 9.99043407e-01 -5.56931240e-04 -7.01402485e+00] [-8.86782675e-03 1.69316934e-04 9.99960666e-01 1.19607717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.055099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.87, Y:-7.02, Z:1.20 [[ 9.99141992e-01 4.04430363e-02 8.92416782e-03 4.81871408e+02] [-4.04396394e-02 9.99181826e-01 -5.60835853e-04 -7.01692339e+00] [-8.93954820e-03 1.99464523e-04 9.99960022e-01 1.19579039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.90, Y:-7.02, Z:1.20 [[ 9.99273784e-01 3.69479360e-02 9.31425495e-03 4.81899361e+02] [-3.69440958e-02 9.99317163e-01 -5.84077254e-04 -7.02009966e+00] [-9.32947528e-03 2.39546361e-04 9.99956451e-01 1.19524133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.93, Y:-7.02, Z:1.19 [[ 9.99513993e-01 2.97950644e-02 9.16694833e-03 4.81927278e+02] [-2.97910513e-02 9.99555983e-01 -5.74055258e-04 -7.02470716e+00] [-9.17998206e-03 3.00683235e-04 9.99957818e-01 1.19449060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.96, Y:-7.03, Z:1.19 [[ 9.99615418e-01 2.61704555e-02 9.17188601e-03 4.81955582e+02] [-2.61662951e-02 9.99657439e-01 -5.73329631e-04 -7.02777325e+00] [-9.18374838e-03 3.33114863e-04 9.99957773e-01 1.19384718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.98, Y:-7.03, Z:1.19 [[ 9.99699252e-01 2.25938072e-02 9.53547771e-03 4.81983193e+02] [-2.25891534e-02 9.99744655e-01 -5.95480818e-04 -7.03069045e+00] [-9.54649706e-03 3.79903360e-04 9.99954359e-01 1.19327203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.01, Y:-7.03, Z:1.19 [[ 9.99813513e-01 1.60788741e-02 1.06962247e-02 4.82011678e+02] [-1.60726597e-02 9.99870604e-01 -6.66708377e-04 -7.03462589e+00] [-1.07055606e-02 4.94667264e-04 9.99942571e-01 1.19291123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.04, Y:-7.04, Z:1.19 [[ 9.99841221e-01 1.36545064e-02 1.14493020e-02 4.82041957e+02] [-1.36472455e-02 9.99906618e-01 -7.12070788e-04 -7.03759915e+00] [-1.14579559e-02 5.55706291e-04 9.99934201e-01 1.19234505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.07, Y:-7.04, Z:1.19 [[ 9.99861521e-01 1.15241949e-02 1.20054956e-02 4.82072863e+02] [-1.15160568e-02 9.99933409e-01 -7.46778307e-04 -7.04023651e+00] [-1.20133022e-02 6.08418925e-04 9.99927653e-01 1.19216488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.10, Y:-7.04, Z:1.19 [[ 9.99868675e-01 9.80418696e-03 1.29039258e-02 4.82104442e+02] [-9.79464603e-03 9.99951709e-01 -8.02373886e-04 -7.04275963e+00] [-1.29111693e-02 6.75879128e-04 9.99916419e-01 1.19161661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.14, Y:-7.05, Z:1.19 [[ 9.99870923e-01 8.56152542e-03 1.35955007e-02 4.82137574e+02] [-8.55079089e-03 9.99963082e-01 -8.47498062e-04 -7.04516963e+00] [-1.36022547e-02 7.31136385e-04 9.99907218e-01 1.19101834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.17, Y:-7.05, Z:1.19 [[ 9.99870038e-01 7.90217993e-03 1.40521313e-02 4.82170345e+02] [-7.89058689e-03 9.99968481e-01 -8.80253871e-04 -7.04776090e+00] [-1.40586443e-02 7.69259909e-04 9.99900876e-01 1.19047555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.20, Y:-7.05, Z:1.19 [[ 9.99872445e-01 7.08171381e-03 1.43158200e-02 4.82202628e+02] [-7.06953493e-03 9.99974604e-01 -9.01155943e-04 -7.05010098e+00] [-1.43218382e-02 7.99834806e-04 9.99897117e-01 1.18972659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.23, Y:-7.05, Z:1.19 [[ 9.99872309e-01 7.01209280e-03 1.43595506e-02 4.82234922e+02] [-6.99977031e-03 9.99975089e-01 -9.08218899e-04 -7.05201740e+00] [-1.43655614e-02 8.07589372e-04 9.99896484e-01 1.18909080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.27, Y:-7.05, Z:1.19 [[ 9.99869702e-01 7.77481971e-03 1.41467490e-02 4.82267877e+02] [-7.76290656e-03 9.99969466e-01 -8.96830911e-04 -7.05409788e+00] [-1.41532897e-02 7.86894166e-04 9.99899528e-01 1.18845445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.30, Y:-7.06, Z:1.19 [[ 9.99851386e-01 9.11578175e-03 1.46324752e-02 4.82300455e+02] [-9.10311708e-03 9.99958132e-01 -9.31889761e-04 -7.05612826e+00] [-1.46403575e-02 7.98550134e-04 9.99892505e-01 1.18740623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.33, Y:-7.06, Z:1.19 [[ 9.99821474e-01 1.22046679e-02 1.44244781e-02 4.82333162e+02] [-1.21926122e-02 9.99925241e-01 -9.23430896e-04 -7.05710457e+00] [-1.44346699e-02 7.47393973e-04 9.99895535e-01 1.18626437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.37, Y:-7.06, Z:1.19 [[ 9.99807055e-01 1.38579761e-02 1.39215120e-02 4.82365605e+02] [-1.38468906e-02 9.99903729e-01 -8.92358605e-04 -7.05813033e+00] [-1.39325380e-02 6.99416775e-04 9.99902693e-01 1.18563977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.40, Y:-7.06, Z:1.18 [[ 9.99778513e-01 1.60060004e-02 1.36650461e-02 4.82398146e+02] [-1.59954915e-02 9.99871678e-01 -8.77988306e-04 -7.05918698e+00] [-1.36773457e-02 6.59214714e-04 9.99906243e-01 1.18468703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.43, Y:-7.06, Z:1.18 [[ 9.99755980e-01 1.77909084e-02 1.30944437e-02 4.82429760e+02] [-1.77813568e-02 9.99841542e-01 -8.45508150e-04 -7.06033897e+00] [-1.31074111e-02 6.12464853e-04 9.99913907e-01 1.18386320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.46, Y:-7.06, Z:1.18 [[ 9.99715735e-01 1.97648905e-02 1.33341388e-02 4.82460982e+02] [-1.97551546e-02 9.99804477e-01 -8.61481877e-04 -7.06140118e+00] [-1.33485588e-02 5.97819013e-04 9.99910725e-01 1.18265801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.49, Y:-7.06, Z:1.18 [[ 9.99623259e-01 2.42510474e-02 1.28540351e-02 4.82491198e+02] [-2.42423633e-02 9.99705765e-01 -8.31004965e-04 -7.06145523e+00] [-1.28704058e-02 5.19079703e-04 9.99917038e-01 1.18131703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.52, Y:-7.06, Z:1.18 [[ 9.99556054e-01 2.67174313e-02 1.31861501e-02 4.82519753e+02] [-2.67084973e-02 9.99642900e-01 -8.53189515e-04 -7.06230298e+00] [-1.32042364e-02 5.00628489e-04 9.99912695e-01 1.18067997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.55, Y:-7.06, Z:1.18 [[ 9.99466952e-01 2.92279076e-02 1.45444465e-02 4.82548192e+02] [-2.92173204e-02 9.99572641e-01 -9.39914590e-04 -7.06319962e+00] [-1.45657025e-02 5.14463817e-04 9.99893782e-01 1.17986222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.58, Y:-7.06, Z:1.18 [[ 9.99367327e-01 3.21836130e-02 1.51380666e-02 4.82576299e+02] [-3.21724991e-02 9.99481853e-01 -9.77189245e-04 -7.06404253e+00] [-1.51616723e-02 4.89541570e-04 9.99884935e-01 1.17956415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.60, Y:-7.06, Z:1.18 [[ 9.99257399e-01 3.51922471e-02 1.56893463e-02 4.82604681e+02] [-3.51807031e-02 9.99380456e-01 -1.01126026e-03 -7.06465175e+00] [-1.57152146e-02 4.58547063e-04 9.99876403e-01 1.17915492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.805099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.63, Y:-7.06, Z:1.18 [[ 9.98980837e-01 4.18361517e-02 1.69417610e-02 4.82633751e+02] [-4.18236675e-02 9.99124412e-01 -1.09068135e-03 -7.06397651e+00] [-1.69725569e-02 3.81003191e-04 9.99855883e-01 1.17849695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.66, Y:-7.06, Z:1.18 [[ 9.98842845e-01 4.48397424e-02 1.73887563e-02 4.82661534e+02] [-4.48270670e-02 9.98994136e-01 -1.11822225e-03 -7.06415924e+00] [-1.74214064e-02 3.37441347e-04 9.99848179e-01 1.17774011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.69, Y:-7.06, Z:1.18 [[ 9.98689197e-01 4.79530218e-02 1.78995826e-02 4.82689350e+02] [-4.79401192e-02 9.98849550e-01 -1.14947623e-03 -7.06448010e+00] [-1.79341108e-02 2.89861369e-04 9.99839129e-01 1.17655596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.72, Y:-7.06, Z:1.18 [[ 9.98580145e-01 5.04466693e-02 1.71121782e-02 4.82717495e+02] [-5.04352720e-02 9.98726729e-01 -1.09722154e-03 -7.06463530e+00] [-1.71457409e-02 2.32606285e-04 9.99852974e-01 1.17639748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.75, Y:-7.06, Z:1.17 [[ 9.98300977e-01 5.45369500e-02 2.05153887e-02 4.82748226e+02] [-5.42631610e-02 9.98433039e-01 -1.36739337e-02 -7.06135275e+00] [-2.12289765e-02 1.25374715e-02 9.99696025e-01 1.17240516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.77, Y:-7.07, Z:1.17 [[ 9.98392428e-01 5.42103439e-02 1.65468599e-02 4.82774792e+02] [-5.43873350e-02 9.98465331e-01 1.04403211e-02 -7.07174389e+00] [-1.59554926e-02 -1.13234771e-02 9.99808582e-01 1.17068683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.81, Y:-7.06, Z:1.17 [[ 9.97982208e-01 6.03909302e-02 1.96073392e-02 4.82805531e+02] [-6.01608099e-02 9.98115090e-01 -1.21220361e-02 -7.06342535e+00] [-2.03024422e-02 1.09179829e-02 9.99734269e-01 1.17032171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.83, Y:-7.07, Z:1.17 [[ 9.98060596e-01 5.98945968e-02 1.69612570e-02 4.82830653e+02] [-6.00661227e-02 9.98146388e-01 9.79023803e-03 -7.07281408e+00] [-1.63434350e-02 -1.07900477e-02 9.99808215e-01 1.16867077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.86, Y:-7.07, Z:1.17 [[ 9.97626926e-01 6.59579567e-02 1.97500316e-02 4.82861956e+02] [-6.57796899e-02 9.97788523e-01 -9.54440552e-03 -7.06652241e+00] [-2.03358843e-02 8.22260499e-03 9.99759391e-01 1.16898037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.89, Y:-7.07, Z:1.17 [[ 9.97750294e-01 6.47684812e-02 1.73030512e-02 4.82887170e+02] [-6.48996662e-02 9.97866320e-01 7.13024467e-03 -7.07290984e+00] [-1.68043170e-02 -8.23716596e-03 9.99824867e-01 1.16807837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.91, Y:-7.07, Z:1.17 [[ 9.97662526e-01 6.62087279e-02 1.69082657e-02 4.82913941e+02] [-6.62002493e-02 9.97805793e-01 -1.06127433e-03 -7.07025027e+00] [-1.69414311e-02 -6.05377797e-05 9.99856482e-01 1.16989149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.94, Y:-7.07, Z:1.17 [[ 9.97595564e-01 6.74225351e-02 1.60403342e-02 4.82941651e+02] [-6.74151088e-02 9.97724509e-01 -1.00386011e-03 -7.07202508e+00] [-1.60715174e-02 -7.99144877e-05 9.99870842e-01 1.17001912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.97, Y:-7.07, Z:1.17 [[ 9.97575374e-01 6.74164728e-02 1.72740503e-02 4.82968463e+02] [-6.74078962e-02 9.97724918e-01 -1.07893185e-03 -7.07373795e+00] [-1.73074882e-02 -8.80915448e-05 9.99850210e-01 1.16792562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.99, Y:-7.08, Z:1.17 [[ 9.97582493e-01 6.72873426e-02 1.73661522e-02 4.82994873e+02] [-6.72786950e-02 9.97733635e-01 -1.08236932e-03 -7.07542601e+00] [-1.73996239e-02 -8.86193698e-05 9.99848611e-01 1.16713432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.02, Y:-7.08, Z:1.17 [[ 9.97657309e-01 6.61037199e-02 1.76122758e-02 4.83023203e+02] [-6.60946995e-02 9.97812754e-01 -1.09440038e-03 -7.07790266e+00] [-1.76460974e-02 -7.22415429e-05 9.99844293e-01 1.16586426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.05, Y:-7.08, Z:1.17 [[ 9.97784365e-01 6.50774152e-02 1.38307875e-02 4.83050186e+02] [-6.49194395e-02 9.97823316e-01 -1.15799989e-02 -7.07510042e+00] [-1.45542786e-02 1.06564549e-02 9.99837293e-01 1.16896264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.285099893 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:483.08, Y:-7.08, Z:1.16 [[ 9.97928570e-01 6.25778713e-02 1.49190634e-02 4.83076809e+02] [-6.25855250e-02 9.98039603e-01 4.62256578e-05 -7.08343977e+00] [-1.48869234e-02 -9.79847320e-04 9.99888704e-01 1.16397099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.11, Y:-7.09, Z:1.16 [[ 9.98106091e-01 5.90162674e-02 1.73583299e-02 4.83105107e+02] [-5.91682688e-02 9.98212874e-01 8.37704875e-03 -7.09033069e+00] [-1.68329263e-02 -9.38824572e-03 9.99814239e-01 1.16027523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.13, Y:-7.09, Z:1.16 [[ 9.98503286e-01 5.23096642e-02 1.59651794e-02 4.83132331e+02] [-5.23006420e-02 9.98630902e-01 -9.82407189e-04 -7.08976031e+00] [-1.59947109e-02 1.45947675e-04 9.99872066e-01 1.16205950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.16, Y:-7.09, Z:1.16 [[ 9.98713733e-01 4.83186792e-02 1.53682945e-02 4.83159241e+02] [-4.83098750e-02 9.98831950e-01 -9.43822628e-04 -7.09278056e+00] [-1.53959479e-02 2.00168232e-04 9.99881455e-01 1.16115021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.19, Y:-7.09, Z:1.16 [[ 9.98908929e-01 4.51030809e-02 1.21104692e-02 4.83187208e+02] [-4.49911132e-02 9.98943498e-01 -9.36418992e-03 -7.09176668e+00] [-1.25200283e-02 8.80910943e-03 9.99882817e-01 1.16316247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.22, Y:-7.10, Z:1.16 [[ 9.99082414e-01 4.02498524e-02 1.46382590e-02 4.83215228e+02] [-4.03641060e-02 9.99156170e-01 7.59517615e-03 -7.10315129e+00] [-1.43202021e-02 -8.17906717e-03 9.99864008e-01 1.15679571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.24, Y:-7.10, Z:1.16 [[ 9.99227083e-01 3.66714775e-02 1.41576749e-02 4.83243808e+02] [-3.66628921e-02 9.99327315e-01 -8.65574378e-04 -7.10205173e+00] [-1.41798932e-02 3.45844053e-04 9.99899400e-01 1.15853726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.27, Y:-7.11, Z:1.16 [[ 9.99445270e-01 3.02268082e-02 1.39818657e-02 4.83272223e+02] [-3.02178182e-02 9.99542973e-01 -8.53836628e-04 -7.10629320e+00] [-1.40012844e-02 4.30861501e-04 9.99901884e-01 1.15754485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.30, Y:-7.11, Z:1.16 [[ 9.99591464e-01 2.70515826e-02 9.22590592e-03 4.83299114e+02] [-2.71519941e-02 9.99571475e-01 1.09378110e-02 -7.11259748e+00] [-8.92606729e-03 -1.11838443e-02 9.99897618e-01 1.15948197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.555099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.33, Y:-7.11, Z:1.16 [[ 9.99640007e-01 2.50564069e-02 9.59337956e-03 4.83328396e+02] [-2.50038958e-02 9.99671919e-01 -5.55506374e-03 -7.10734741e+00] [-9.72942210e-03 5.31319209e-03 9.99938552e-01 1.16238617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.36, Y:-7.11, Z:1.16 [[ 9.99628370e-01 2.36150028e-02 1.36181202e-02 4.83357045e+02] [-2.35150211e-02 9.99695681e-01 -7.45580919e-03 -7.10975411e+00] [-1.37900450e-02 7.13280800e-03 9.99879472e-01 1.15822931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.39, Y:-7.11, Z:1.16 [[ 9.99661847e-01 2.17189675e-02 1.42996102e-02 4.83386358e+02] [-2.17087244e-02 9.99763958e-01 -8.71176386e-04 -7.11473303e+00] [-1.43151559e-02 5.60455499e-04 9.99897376e-01 1.15556024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.42, Y:-7.12, Z:1.16 [[ 9.99730754e-01 1.83199037e-02 1.42408022e-02 4.83416805e+02] [-1.83094046e-02 9.99831993e-01 -8.67291742e-04 -7.11656341e+00] [-1.42542983e-02 6.06317618e-04 9.99898218e-01 1.15527346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.45, Y:-7.12, Z:1.15 [[ 9.99757828e-01 1.67787079e-02 1.42394042e-02 4.83447827e+02] [-1.67680609e-02 9.99859030e-01 -8.66782494e-04 -7.11859428e+00] [-1.42519403e-02 6.27805388e-04 9.99898239e-01 1.15440400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.48, Y:-7.12, Z:1.15 [[ 9.99783861e-01 1.51500014e-02 1.42375527e-02 4.83479850e+02] [-1.51391688e-02 9.99885019e-01 -8.68319283e-04 -7.12053403e+00] [-1.42490707e-02 6.52586891e-04 9.99898264e-01 1.15367325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.51, Y:-7.12, Z:1.15 [[ 9.99832101e-01 1.18550544e-02 1.39724018e-02 4.83511974e+02] [-1.18442496e-02 9.99929488e-01 -8.55793878e-04 -7.12236061e+00] [-1.39815620e-02 6.90157576e-04 9.99902015e-01 1.15304777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.54, Y:-7.12, Z:1.15 [[ 9.99857258e-01 1.04966587e-02 1.32394790e-02 4.83544730e+02] [-1.04868161e-02 9.99944682e-01 -8.12635825e-04 -7.12400874e+00] [-1.32472766e-02 6.73679846e-04 9.99912024e-01 1.15291257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.58, Y:-7.13, Z:1.15 [[ 9.99873548e-01 9.62396864e-03 1.26596564e-02 4.83576728e+02] [-9.61485461e-03 9.99953472e-01 -7.80594499e-04 -7.12549411e+00] [-1.26665797e-02 6.58775036e-04 9.99919559e-01 1.15256191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.61, Y:-7.13, Z:1.15 [[ 9.99885312e-01 8.76688728e-03 1.23492357e-02 4.83608853e+02] [-8.75810963e-03 9.99961355e-01 -7.64686617e-04 -7.12655010e+00] [-1.23554623e-02 6.56442957e-04 9.99923453e-01 1.15251125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.64, Y:-7.13, Z:1.15 [[ 9.99897263e-01 8.33938832e-03 1.16584124e-02 4.83642188e+02] [-8.33150432e-03 9.99965030e-01 -7.24654478e-04 -7.12783418e+00] [-1.16640479e-02 6.27447916e-04 9.99931776e-01 1.15228863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.68, Y:-7.13, Z:1.15 [[ 9.99899046e-01 8.21983831e-03 1.15901472e-02 4.83675547e+02] [-8.21200067e-03 9.99966019e-01 -7.23662333e-04 -7.12924261e+00] [-1.15957018e-02 6.28410980e-04 9.99932570e-01 1.15191296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.71, Y:-7.13, Z:1.15 [[ 9.99898325e-01 8.30751850e-03 1.15898739e-02 4.83708173e+02] [-8.29963647e-03 9.99965292e-01 -7.28011174e-04 -7.13135003e+00] [-1.15955196e-02 6.31745413e-04 9.99932570e-01 1.15134836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.74, Y:-7.13, Z:1.15 [[ 9.99902731e-01 8.35268314e-03 1.11696450e-02 4.83741441e+02] [-8.34536806e-03 9.99964931e-01 -7.01356297e-04 -7.13189399e+00] [-1.11751115e-02 6.08073278e-04 9.99937372e-01 1.15078007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.77, Y:-7.13, Z:1.15 [[ 9.99907086e-01 8.84412280e-03 1.03731261e-02 4.83774305e+02] [-8.83781411e-03 9.99960732e-01 -6.53858525e-04 -7.13323223e+00] [-1.03785016e-02 5.62122012e-04 9.99945984e-01 1.15047437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.81, Y:-7.13, Z:1.15 [[ 9.99903681e-01 9.58072940e-03 1.00418622e-02 4.83805972e+02] [-9.57482502e-03 9.99953958e-01 -6.35888227e-04 -7.13447734e+00] [-1.00474922e-02 5.39677905e-04 9.99949377e-01 1.14971029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.84, Y:-7.13, Z:1.15 [[ 9.99901592e-01 1.09353642e-02 8.78769730e-03 4.83837916e+02] [-1.09308771e-02 9.99940100e-01 -5.58480937e-04 -7.13462107e+00] [-8.79327812e-03 4.62368739e-04 9.99961231e-01 1.14928816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.87, Y:-7.14, Z:1.15 [[ 9.99892514e-01 1.17617164e-02 8.75339614e-03 4.83868249e+02] [-1.17572602e-02 9.99930724e-01 -5.60371434e-04 -7.13543988e+00] [-8.75938067e-03 4.57395246e-04 9.99961531e-01 1.14872438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.90, Y:-7.14, Z:1.15 [[ 9.99883204e-01 1.26296962e-02 8.60634444e-03 4.83899241e+02] [-1.26254180e-02 9.99920144e-01 -5.51252445e-04 -7.13591271e+00] [-8.61261933e-03 4.42529365e-04 9.99962813e-01 1.14845653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.93, Y:-7.14, Z:1.15 [[ 9.99864328e-01 1.38099151e-02 8.97840372e-03 4.83929711e+02] [-1.38053065e-02 9.99904537e-01 -5.75083537e-04 -7.13639131e+00] [-8.98548847e-03 4.51055900e-04 9.99959528e-01 1.14788287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.96, Y:-7.14, Z:1.15 [[ 9.99809814e-01 1.70880853e-02 9.39854475e-03 4.83959912e+02] [-1.70831796e-02 9.99853891e-01 -6.01994355e-04 -7.13537932e+00] [-9.40745846e-03 4.41322836e-04 9.99955651e-01 1.14795508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.99, Y:-7.13, Z:1.15 [[ 9.99765807e-01 1.93722234e-02 9.64613343e-03 4.83988705e+02] [-1.93550575e-02 9.99810925e-01 -1.86975483e-03 -7.13481130e+00] [-9.68053089e-03 1.68261548e-03 9.99951727e-01 1.14811851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.02, Y:-7.13, Z:1.15 [[ 9.99690856e-01 2.16833829e-02 1.21665152e-02 4.84018037e+02] [-2.15067008e-02 9.99663990e-01 -1.44696194e-02 -7.12838448e+00] [-1.24761774e-02 1.42034846e-02 9.99821287e-01 1.14728742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.05, Y:-7.14, Z:1.14 [[ 9.99663367e-01 2.28081725e-02 1.23668744e-02 4.84046353e+02] [-2.29814955e-02 9.99637033e-01 1.40589511e-02 -7.14259716e+00] [-1.20417267e-02 -1.43384276e-02 9.99824688e-01 1.14221537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.08, Y:-7.14, Z:1.15 [[ 9.99617689e-01 2.48627545e-02 1.20962201e-02 4.84076822e+02] [-2.48551824e-02 9.99690761e-01 -7.75938572e-04 -7.13543470e+00] [-1.21117714e-02 4.74988166e-04 9.99926537e-01 1.14675436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.305099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.11, Y:-7.14, Z:1.15 [[ 9.99566499e-01 2.66593475e-02 1.24937081e-02 4.84105731e+02] [-2.66514133e-02 9.99644467e-01 -8.01152913e-04 -7.13556918e+00] [-1.25106244e-02 4.67830635e-04 9.99921630e-01 1.14647089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.13, Y:-7.13, Z:1.15 [[ 9.99474488e-01 2.99306414e-02 1.24460705e-02 4.84134284e+02] [-2.99230312e-02 9.99551888e-01 -7.97263875e-04 -7.13497538e+00] [-1.24643559e-02 4.24420746e-04 9.99922227e-01 1.14556033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.16, Y:-7.14, Z:1.14 [[ 9.99426144e-01 3.16172790e-02 1.21544495e-02 4.84162020e+02] [-3.16101550e-02 9.99499972e-01 -7.77837945e-04 -7.13569276e+00] [-1.21729650e-02 3.93187546e-04 9.99925829e-01 1.14464407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.19, Y:-7.14, Z:1.14 [[ 9.99379864e-01 3.32558422e-02 1.15730548e-02 4.84190818e+02] [-3.32495053e-02 9.99446809e-01 -7.39585824e-04 -7.13640141e+00] [-1.15912482e-02 3.54328833e-04 9.99932756e-01 1.14383164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.22, Y:-7.14, Z:1.14 [[ 9.99360136e-01 3.42767817e-02 1.02186776e-02 4.84217081e+02] [-3.42894504e-02 9.99411374e-01 1.06710121e-03 -7.13547197e+00] [-1.01760859e-02 -1.41681125e-03 9.99947219e-01 1.14270463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.25, Y:-7.14, Z:1.14 [[ 9.99144513e-01 4.00723436e-02 1.02200672e-02 4.84247885e+02] [-4.00513172e-02 9.99195082e-01 -2.25388569e-03 -7.13580604e+00] [-1.03021593e-02 1.84263037e-03 9.99945234e-01 1.14269909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.27, Y:-7.13, Z:1.14 [[ 9.98914912e-01 4.59624374e-02 7.51351204e-03 4.84271892e+02] [-4.59022113e-02 9.98913897e-01 -8.00079833e-03 -7.13328364e+00] [-7.87308779e-03 7.64722995e-03 9.99939765e-01 1.14495540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.30, Y:-7.14, Z:1.14 [[ 9.98915404e-01 4.55061461e-02 9.85927798e-03 4.84302845e+02] [-4.55755817e-02 9.98936812e-01 6.93621372e-03 -7.14017373e+00] [-9.53315537e-03 -7.37803307e-03 9.99927339e-01 1.13922721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.33, Y:-7.14, Z:1.14 [[ 9.98772703e-01 4.86949087e-02 9.04948194e-03 4.84331462e+02] [-4.86917191e-02 9.98813691e-01 -5.72584790e-04 -7.13673377e+00] [-9.06662842e-03 1.31247226e-04 9.99958889e-01 1.14157865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.36, Y:-7.14, Z:1.14 [[ 9.98719549e-01 5.00248583e-02 7.53494180e-03 4.84355943e+02] [-5.00492405e-02 9.98741994e-01 3.08272830e-03 -7.13601463e+00] [-7.37124975e-03 -3.45589913e-03 9.99966860e-01 1.14186241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.39, Y:-7.14, Z:1.14 [[ 9.98493446e-01 5.42021266e-02 8.54206558e-03 4.84387311e+02] [-5.41697172e-02 9.98523807e-01 -3.98102206e-03 -7.13661942e+00] [-8.74523570e-03 3.51230316e-03 9.99955591e-01 1.14208971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.41, Y:-7.14, Z:1.14 [[ 9.98212190e-01 5.90707512e-02 9.11428674e-03 4.84413777e+02] [-5.90679887e-02 9.98253798e-01 -5.72225918e-04 -7.13805024e+00] [-9.13217317e-03 3.28403008e-05 9.99958300e-01 1.14052723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.44, Y:-7.14, Z:1.14 [[ 9.98061666e-01 6.16288026e-02 8.64875252e-03 4.84441609e+02] [-6.16196187e-02 9.98098827e-01 -1.32461090e-03 -7.13870894e+00] [-8.71394392e-03 7.89110527e-04 9.99961722e-01 1.14058434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.47, Y:-7.14, Z:1.14 [[ 9.97992145e-01 6.26733312e-02 9.15049632e-03 4.84470779e+02] [-6.26779843e-02 9.98033777e-01 2.22336963e-04 -7.14056020e+00] [-9.11856980e-03 -7.95425207e-04 9.99958109e-01 1.13924295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.50, Y:-7.14, Z:1.14 [[ 9.97921633e-01 6.37998717e-02 9.05484957e-03 4.84498035e+02] [-6.37973803e-02 9.97962713e-01 -5.64017614e-04 -7.14121265e+00] [-9.07238649e-03 -1.48303030e-05 9.99958845e-01 1.13925011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.53, Y:-7.14, Z:1.14 [[ 9.97868137e-01 6.47272354e-02 8.34059847e-03 4.84525629e+02] [-6.47251622e-02 9.97902994e-01 -5.18541558e-04 -7.14145566e+00] [-8.35667194e-03 -2.24104901e-05 9.99965082e-01 1.13935544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.55, Y:-7.14, Z:1.14 [[ 9.97908957e-01 6.41168281e-02 8.16976021e-03 4.84552493e+02] [-6.41148188e-02 9.97942399e-01 -5.07879854e-04 -7.14263376e+00] [-8.18551375e-03 -1.69848397e-05 9.99966498e-01 1.13916036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.58, Y:-7.14, Z:1.14 [[ 9.97966144e-01 6.32574451e-02 7.87857399e-03 4.84579398e+02] [-6.32555669e-02 9.97997242e-01 -4.87600474e-04 -7.14436321e+00] [-7.89363947e-03 -1.17548992e-05 9.99968845e-01 1.13901511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.61, Y:-7.15, Z:1.14 [[ 9.98071661e-01 6.16291696e-02 7.40304276e-03 4.84607060e+02] [-6.16274734e-02 9.98099116e-01 -4.57238137e-04 -7.14631898e+00] [-7.41714964e-03 1.25605542e-07 9.99972493e-01 1.13903211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.63, Y:-7.15, Z:1.14 [[ 9.98366626e-01 5.65407131e-02 8.19922724e-03 4.84634083e+02] [-5.65384615e-02 9.98400293e-01 -5.06323949e-04 -7.14875039e+00] [-8.21473880e-03 4.19252391e-05 9.99966258e-01 1.13925972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.905099893 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:484.66, Y:-7.15, Z:1.14 [[ 9.98649407e-01 5.15481744e-02 6.49219523e-03 4.84658671e+02] [-5.15603178e-02 9.98668406e-01 1.71707808e-03 -7.14941044e+00] [-6.39503803e-03 -2.04949866e-03 9.99977451e-01 1.13908229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.93509989300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:484.69, Y:-7.15, Z:1.14 [[ 9.98803227e-01 4.84652692e-02 6.57503566e-03 4.84686312e+02] [-4.84441187e-02 9.98820314e-01 -3.33888684e-03 -7.14978768e+00] [-6.72909924e-03 3.01636915e-03 9.99972810e-01 1.13985207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.72, Y:-7.16, Z:1.14 [[ 9.98912162e-01 4.60672377e-02 7.23199454e-03 4.84716011e+02] [-4.60717627e-02 9.98938027e-01 4.60250050e-04 -7.15665162e+00] [-7.20311191e-03 -7.92940109e-04 9.99973743e-01 1.13804579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.74, Y:-7.15, Z:1.14 [[ 9.99087757e-01 4.19138066e-02 8.17838945e-03 4.84742006e+02] [-4.18421937e-02 9.99086009e-01 -8.73940470e-03 -7.15331395e+00] [-8.53721620e-03 8.38923049e-03 9.99928366e-01 1.13802285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.77, Y:-7.17, Z:1.13 [[ 9.99308493e-01 3.61467100e-02 8.71501023e-03 4.84770542e+02] [-3.62141973e-02 9.99314274e-01 7.71446910e-03 -7.16650100e+00] [-8.43018145e-03 -8.02474159e-03 9.99932265e-01 1.13398616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.055099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.80, Y:-7.17, Z:1.14 [[ 9.99405088e-01 3.34126378e-02 8.54786952e-03 4.84798669e+02] [-3.34094579e-02 9.99441616e-01 -5.14570441e-04 -7.16522198e+00] [-8.56028968e-03 2.28684630e-04 9.99963334e-01 1.13626564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.83, Y:-7.16, Z:1.14 [[ 9.99467254e-01 3.07481746e-02 1.09434253e-02 4.84826500e+02] [-3.05914580e-02 9.99430944e-01 -1.42109685e-02 -7.15999360e+00] [-1.13741593e-02 1.38686223e-02 9.99839132e-01 1.13583316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.86, Y:-7.18, Z:1.13 [[ 9.99543913e-01 2.86037510e-02 9.68463565e-03 4.84855439e+02] [-2.87282699e-02 9.99503082e-01 1.29720964e-02 -7.17659510e+00] [-9.30877257e-03 -1.32444029e-02 9.99868958e-01 1.13035478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.88, Y:-7.17, Z:1.13 [[ 9.99598395e-01 2.69962507e-02 8.61689758e-03 4.84884199e+02] [-2.69928062e-02 9.99635495e-01 -5.15807522e-04 -7.17212523e+00] [-8.62768154e-03 2.83006124e-04 9.99962741e-01 1.13448887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.91, Y:-7.17, Z:1.13 [[ 9.99687142e-01 2.34338851e-02 8.74472598e-03 4.84911643e+02] [-2.34302058e-02 9.99725338e-01 -5.22965334e-04 -7.17416703e+00] [-8.75457925e-03 3.17910991e-04 9.99961627e-01 1.13365800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.94, Y:-7.18, Z:1.13 [[ 9.99732018e-01 2.14921296e-02 8.60125095e-03 4.84940321e+02] [-2.14885060e-02 9.99768964e-01 -5.13498903e-04 -7.17597065e+00] [-8.61029993e-03 3.28533261e-04 9.99962877e-01 1.13302270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.97, Y:-7.18, Z:1.13 [[ 9.99768823e-01 1.96117055e-02 8.81367089e-03 4.84969406e+02] [-1.96078335e-02 9.99807610e-01 -5.25527457e-04 -7.17803331e+00] [-8.82228171e-03 3.52588976e-04 9.99961021e-01 1.13221227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.00, Y:-7.18, Z:1.13 [[ 9.99801354e-01 1.79388147e-02 8.68625961e-03 4.84998200e+02] [-1.79349959e-02 9.99839021e-01 -5.17334083e-04 -7.18042740e+00] [-8.69414166e-03 3.61443287e-04 9.99962140e-01 1.13120579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.03, Y:-7.18, Z:1.13 [[ 9.99858499e-01 1.44961476e-02 8.53484422e-03 4.85025747e+02] [-1.44923389e-02 9.99894852e-01 -5.07931464e-04 -7.18294991e+00] [-8.54130984e-03 3.84169736e-04 9.99963449e-01 1.12949831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.06, Y:-7.18, Z:1.13 [[ 9.99880468e-01 1.31056395e-02 8.20314458e-03 4.85055443e+02] [-1.31020852e-02 9.99914045e-01 -4.86880175e-04 -7.18480087e+00] [-8.20882036e-03 3.79343678e-04 9.99966235e-01 1.12872920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.09, Y:-7.19, Z:1.13 [[ 9.99897447e-01 1.18045010e-02 8.10860388e-03 4.85085206e+02] [-1.18009877e-02 9.99930250e-01 -4.80984546e-04 -7.18622336e+00] [-8.11371609e-03 3.85245685e-04 9.99967009e-01 1.12760132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.12, Y:-7.19, Z:1.13 [[ 9.99913328e-01 1.07641548e-02 7.58084434e-03 4.85115220e+02] [-1.07610585e-02 9.99941997e-01 -4.49101256e-04 -7.18729687e+00] [-7.58523882e-03 3.67484422e-04 9.99971164e-01 1.12718099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.15, Y:-7.19, Z:1.13 [[ 9.99924963e-01 9.73506183e-03 7.43614104e-03 4.85145818e+02] [-9.73205429e-03 9.99952545e-01 -4.40528803e-04 -7.18825005e+00] [-7.44007674e-03 3.68126819e-04 9.99972254e-01 1.12670486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.18, Y:-7.19, Z:1.13 [[ 9.99931086e-01 8.98495839e-03 7.55602744e-03 4.85175835e+02] [-8.98183172e-03 9.99959562e-01 -4.47631063e-04 -7.18916497e+00] [-7.55974384e-03 3.79733248e-04 9.99971353e-01 1.12628104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.21, Y:-7.19, Z:1.13 [[ 9.99932329e-01 8.45887422e-03 7.98659013e-03 4.85205763e+02] [-8.45536563e-03 9.99964141e-01 -4.72973215e-04 -7.18911370e+00] [-7.99030456e-03 4.05411668e-04 9.99967995e-01 1.12567893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.24, Y:-7.19, Z:1.13 [[ 9.99931069e-01 8.30366531e-03 8.30098155e-03 4.85236627e+02] [-8.29986970e-03 9.99965435e-01 -4.91594013e-04 -7.18980564e+00] [-8.30477665e-03 4.22663062e-04 9.99965425e-01 1.12514761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.27, Y:-7.19, Z:1.12 [[ 9.99930984e-01 7.91901667e-03 8.67845498e-03 4.85268256e+02] [-7.91486503e-03 9.99968546e-01 -5.12626271e-04 -7.18934498e+00] [-8.68224150e-03 4.43902092e-04 9.99962210e-01 1.12482549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.30, Y:-7.19, Z:1.12 [[ 9.99920046e-01 8.50324866e-03 9.35933279e-03 4.85299306e+02] [-8.49842261e-03 9.99963734e-01 -5.55290781e-04 -7.19010785e+00] [-9.36371514e-03 4.75706818e-04 9.99956046e-01 1.12404907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.33, Y:-7.19, Z:1.12 [[ 9.99910139e-01 8.73800233e-03 1.01666292e-02 4.85330558e+02] [-8.73227952e-03 9.99961689e-01 -6.07156480e-04 -7.19060594e+00] [-1.01715450e-02 5.18324072e-04 9.99948134e-01 1.12352269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.36, Y:-7.19, Z:1.12 [[ 9.99898600e-01 9.37438008e-03 1.07196783e-02 4.85362895e+02] [-9.36806439e-03 9.99955914e-01 -6.39230088e-04 -7.19129056e+00] [-1.07251981e-02 5.38742634e-04 9.99942338e-01 1.12311018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.39, Y:-7.19, Z:1.12 [[ 9.99868152e-01 1.05712212e-02 1.23259213e-02 4.85394289e+02] [-1.05629163e-02 9.99943938e-01 -7.38689616e-04 -7.19082268e+00] [-1.23330391e-02 6.08394547e-04 9.99923760e-01 1.12237323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.43, Y:-7.19, Z:1.12 [[ 9.99867255e-01 1.06559019e-02 1.23257166e-02 4.85426923e+02] [-1.06475615e-02 9.99943038e-01 -7.42087191e-04 -7.19284984e+00] [-1.23329221e-02 6.10749857e-04 9.99923760e-01 1.12180717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.46, Y:-7.19, Z:1.12 [[ 9.99852237e-01 1.12639075e-02 1.29857157e-02 4.85459537e+02] [-1.12546953e-02 9.99936358e-01 -7.82272515e-04 -7.19227953e+00] [-1.29937007e-02 6.36006651e-04 9.99915376e-01 1.12161335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.49, Y:-7.19, Z:1.12 [[ 9.99843846e-01 1.18899567e-02 1.30733461e-02 4.85491210e+02] [-1.18806302e-02 9.99929110e-01 -7.90834443e-04 -7.19315670e+00] [-1.30818223e-02 6.35391361e-04 9.99914227e-01 1.12102327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.52, Y:-7.19, Z:1.12 [[ 9.99842052e-01 1.22211435e-02 1.29040307e-02 4.85523731e+02] [-1.22120392e-02 9.99925123e-01 -7.84098126e-04 -7.19407001e+00] [-1.29126471e-02 6.26389750e-04 9.99916432e-01 1.12042595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.805099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.56, Y:-7.20, Z:1.12 [[ 9.99841398e-01 1.22748557e-02 1.29037802e-02 4.85555520e+02] [-1.22657031e-02 9.99924463e-01 -7.88197824e-04 -7.19603727e+00] [-1.29124805e-02 6.29798877e-04 9.99916432e-01 1.11987478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.59, Y:-7.20, Z:1.12 [[ 9.99837348e-01 1.24765613e-02 1.30235752e-02 4.85587737e+02] [-1.24672571e-02 9.99921964e-01 -7.95357535e-04 -7.19702472e+00] [-1.30324823e-02 6.32859908e-04 9.99914873e-01 1.11928594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.62, Y:-7.20, Z:1.12 [[ 9.99854664e-01 1.19836388e-02 1.21261212e-02 4.85619480e+02] [-1.19755014e-02 9.99928015e-01 -7.43451444e-04 -7.19713407e+00] [-1.21341575e-02 5.98127013e-04 9.99926200e-01 1.11862764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.65, Y:-7.20, Z:1.12 [[ 9.99867247e-01 1.16362704e-02 1.14055505e-02 4.85651259e+02] [-1.16290075e-02 9.99932134e-01 -7.02905890e-04 -7.19814936e+00] [-1.14129556e-02 5.70177345e-04 9.99934708e-01 1.11794244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.68, Y:-7.20, Z:1.12 [[ 9.99871910e-01 1.16445660e-02 1.09803563e-02 4.85682282e+02] [-1.16378310e-02 9.99932049e-01 -6.77062105e-04 -7.19969127e+00] [-1.09874942e-02 5.49187849e-04 9.99939485e-01 1.11717544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.71, Y:-7.20, Z:1.12 [[ 9.99872662e-01 1.16286020e-02 1.09286658e-02 4.85713406e+02] [-1.16219252e-02 9.99932236e-01 -6.74260033e-04 -7.20112064e+00] [-1.09357659e-02 5.47162038e-04 9.99940053e-01 1.11633286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.74, Y:-7.20, Z:1.12 [[ 9.99858764e-01 1.26760661e-02 1.10349507e-02 4.85743673e+02] [-1.26693166e-02 9.99919509e-01 -6.81335155e-04 -7.20202410e+00] [-1.10426992e-02 5.41433641e-04 9.99938881e-01 1.11536748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.78, Y:-7.20, Z:1.12 [[ 9.99844988e-01 1.36281274e-02 1.11478107e-02 4.85775484e+02] [-1.36212972e-02 9.99906989e-01 -6.88395066e-04 -7.20331477e+00] [-1.11561554e-02 5.36440714e-04 9.99937624e-01 1.11508884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.81, Y:-7.20, Z:1.11 [[ 9.99822246e-01 1.49027404e-02 1.15492142e-02 4.85806230e+02] [-1.48954881e-02 9.99888801e-01 -7.13723744e-04 -7.20436023e+00] [-1.15585664e-02 5.41565695e-04 9.99933051e-01 1.11447679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.84, Y:-7.21, Z:1.11 [[ 9.99795450e-01 1.61962605e-02 1.21136328e-02 4.85836363e+02] [-1.61883727e-02 9.99868679e-01 -7.48926718e-04 -7.20578768e+00] [-1.21241718e-02 5.52673523e-04 9.99926347e-01 1.11426017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.87, Y:-7.21, Z:1.11 [[ 9.99771289e-01 1.73186052e-02 1.25473250e-02 4.85866872e+02] [-1.73102306e-02 9.99849866e-01 -7.75739791e-04 -7.20699667e+00] [-1.25588760e-02 5.58365281e-04 9.99920978e-01 1.11376284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.90, Y:-7.21, Z:1.11 [[ 9.99755796e-01 1.80154993e-02 1.27980595e-02 4.85896314e+02] [-1.80068447e-02 9.99837551e-01 -7.91162057e-04 -7.20848097e+00] [-1.28102336e-02 5.60516182e-04 9.99917788e-01 1.11338622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.93, Y:-7.21, Z:1.11 [[ 9.99761760e-01 1.76904128e-02 1.27856297e-02 4.85925734e+02] [-1.76817425e-02 9.99843353e-01 -7.90857898e-04 -7.21045313e+00] [-1.27976175e-02 5.64597272e-04 9.99917948e-01 1.11270794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.96, Y:-7.21, Z:1.11 [[ 9.99766899e-01 1.74250734e-02 1.27480793e-02 4.85955712e+02] [-1.74164403e-02 9.99848012e-01 -7.87924736e-04 -7.21293937e+00] [-1.27598714e-02 5.65714908e-04 9.99918429e-01 1.11186999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.99, Y:-7.22, Z:1.11 [[ 9.99787616e-01 1.65953061e-02 1.22196010e-02 4.85985429e+02] [-1.65873133e-02 9.99862136e-01 -7.55161368e-04 -7.21656713e+00] [-1.22304485e-02 5.52310633e-04 9.99925053e-01 1.11050434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.02, Y:-7.22, Z:1.11 [[ 9.99805431e-01 1.54792188e-02 1.22267729e-02 4.86015539e+02] [-1.54711292e-02 9.99880029e-01 -7.55942869e-04 -7.21934544e+00] [-1.22370075e-02 5.66633802e-04 9.99924964e-01 1.10994796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.05, Y:-7.22, Z:1.11 [[ 9.99826124e-01 1.45503315e-02 1.16623492e-02 4.86045638e+02] [-1.45429097e-02 9.99893986e-01 -7.20947250e-04 -7.22225942e+00] [-1.16716029e-02 5.51217403e-04 9.99931733e-01 1.10956227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.08, Y:-7.22, Z:1.11 [[ 9.99841149e-01 1.36288455e-02 1.14861472e-02 4.86076219e+02] [-1.36215822e-02 9.99906970e-01 -7.10353527e-04 -7.22495083e+00] [-1.14947600e-02 5.53781188e-04 9.99933780e-01 1.10898105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.11, Y:-7.23, Z:1.11 [[ 9.99861666e-01 1.22491534e-02 1.12519776e-02 4.86107810e+02] [-1.22420986e-02 9.99924821e-01 -6.95649725e-04 -7.22760067e+00] [-1.12596528e-02 5.57805674e-04 9.99936453e-01 1.10878337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.14, Y:-7.23, Z:1.11 [[ 9.99879481e-01 1.12455778e-02 1.07032607e-02 4.86138306e+02] [-1.12391318e-02 9.99936620e-01 -6.62207490e-04 -7.23061719e+00] [-1.07100293e-02 5.41832324e-04 9.99942499e-01 1.10856289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.17, Y:-7.23, Z:1.11 [[ 9.99892742e-01 1.03956722e-02 1.03167365e-02 4.86169166e+02] [-1.03896519e-02 9.99945823e-01 -6.36977386e-04 -7.23382913e+00] [-1.03227994e-02 5.29721764e-04 9.99946578e-01 1.10787545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.20, Y:-7.24, Z:1.11 [[ 9.99913207e-01 8.05822094e-03 1.04232376e-02 4.86200559e+02] [-8.05190942e-03 9.99967373e-01 -6.47347844e-04 -7.23834095e+00] [-1.04281140e-02 5.63364693e-04 9.99945467e-01 1.10724277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.23, Y:-7.24, Z:1.11 [[ 9.99918978e-01 7.00184078e-03 1.06307068e-02 4.86232239e+02] [-6.99522201e-03 9.99975316e-01 -6.59664791e-04 -7.24142148e+00] [-1.06350632e-02 5.85247190e-04 9.99943275e-01 1.10691044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.27, Y:-7.24, Z:1.11 [[ 9.99923169e-01 6.26207213e-03 1.06977984e-02 4.86265662e+02] [-6.25531405e-03 9.99980214e-01 -6.65070446e-04 -7.24439334e+00] [-1.07017514e-02 5.98101259e-04 9.99942556e-01 1.10654066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.30, Y:-7.25, Z:1.11 [[ 9.99925849e-01 5.06780205e-03 1.10731285e-02 4.86297203e+02] [-5.06044953e-03 9.99986956e-01 -6.91913757e-04 -7.24808757e+00] [-1.10764905e-02 6.35827443e-04 9.99938452e-01 1.10679136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.555099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.33, Y:-7.25, Z:1.11 [[ 9.99918568e-01 4.66287794e-03 1.18791880e-02 4.86330102e+02] [-4.65434651e-03 9.99988890e-01 -7.45727578e-04 -7.25116351e+00] [-1.18825333e-02 6.90376995e-04 9.99929162e-01 1.10625493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.36, Y:-7.25, Z:1.11 [[ 9.99917339e-01 4.62994257e-03 1.19949890e-02 4.86361813e+02] [-4.62119841e-03 9.99989036e-01 -7.56598723e-04 -7.25446486e+00] [-1.19983605e-02 7.01104958e-04 9.99927771e-01 1.10618770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.39, Y:-7.26, Z:1.11 [[ 9.99911684e-01 4.50817499e-03 1.25020097e-02 4.86394313e+02] [-4.49862318e-03 9.99989567e-01 -7.92038268e-04 -7.25792769e+00] [-1.25054499e-02 7.35726488e-04 9.99921533e-01 1.10561499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.43, Y:-7.26, Z:1.11 [[ 9.99906792e-01 4.52461334e-03 1.28815525e-02 4.86427116e+02] [-4.51442498e-03 9.99989474e-01 -8.19893701e-04 -7.26173875e+00] [-1.28851266e-02 7.61664479e-04 9.99916693e-01 1.10509633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.46, Y:-7.27, Z:1.10 [[ 9.99905048e-01 4.49893024e-03 1.30251830e-02 4.86459718e+02] [-4.48846231e-03 9.99989580e-01 -8.32789942e-04 -7.26562118e+00] [-1.30287939e-02 7.74247824e-04 9.99914822e-01 1.10440424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.49, Y:-7.27, Z:1.10 [[ 9.99914713e-01 3.34828423e-03 1.26236417e-02 4.86492520e+02] [-3.33831735e-03 9.99994099e-01 -8.10529488e-04 -7.27074020e+00] [-1.26262811e-02 7.68318638e-04 9.99919990e-01 1.10357710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.53, Y:-7.27, Z:1.10 [[ 9.99920698e-01 2.70488540e-03 1.22996263e-02 4.86525508e+02] [-2.69533433e-03 9.99996053e-01 -7.93043932e-04 -7.27455292e+00] [-1.23017229e-02 7.59829437e-04 9.99924042e-01 1.10234787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.56, Y:-7.28, Z:1.10 [[ 9.99929025e-01 2.50932670e-03 1.16468402e-02 4.86557349e+02] [-2.50071262e-03 9.99996589e-01 -7.54111070e-04 -7.27815130e+00] [-1.16486928e-02 7.24932147e-04 9.99931889e-01 1.10153596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.59, Y:-7.28, Z:1.10 [[ 9.99934759e-01 2.37235549e-03 1.11736000e-02 4.86590318e+02] [-2.36438936e-03 9.99996941e-01 -7.26097994e-04 -7.28196457e+00] [-1.11752884e-02 6.99631881e-04 9.99937310e-01 1.10043973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.62, Y:-7.29, Z:1.10 [[ 9.99944480e-01 2.20772294e-03 1.03035543e-02 4.86622854e+02] [-2.20091442e-03 9.99997352e-01 -6.72085245e-04 -7.28731523e+00] [-1.03050108e-02 6.49370690e-04 9.99946691e-01 1.09934776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.66, Y:-7.29, Z:1.10 [[ 9.99942618e-01 2.86078060e-03 1.03236006e-02 4.86655156e+02] [-2.85394797e-03 9.99995699e-01 -6.76516907e-04 -7.29095243e+00] [-1.03254916e-02 6.47015068e-04 9.99946481e-01 1.09857259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.69, Y:-7.29, Z:1.10 [[ 9.99939236e-01 3.75571151e-03 1.03642957e-02 4.86686957e+02] [-3.74884338e-03 9.99992740e-01 -6.82020412e-04 -7.29429109e+00] [-1.03667820e-02 6.43124848e-04 9.99946057e-01 1.09803090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.72, Y:-7.30, Z:1.10 [[ 9.99932254e-01 4.68419088e-03 1.06557445e-02 4.86719691e+02] [-4.67694156e-03 9.99988814e-01 -7.05138227e-04 -7.29760858e+00] [-1.06589283e-02 6.55254163e-04 9.99942977e-01 1.09747650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.75, Y:-7.30, Z:1.10 [[ 9.99919488e-01 6.49196184e-03 1.09028259e-02 4.86753015e+02] [-6.48446628e-03 9.99978714e-01 -7.22698650e-04 -7.30191745e+00] [-1.09072855e-02 6.51941458e-04 9.99940301e-01 1.09725502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.79, Y:-7.30, Z:1.10 [[ 9.99912392e-01 7.49781966e-03 1.09083442e-02 4.86785008e+02] [-7.49037433e-03 9.99971685e-01 -7.23230949e-04 -7.30487038e+00] [-1.09134580e-02 6.41460006e-04 9.99940241e-01 1.09671712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.82, Y:-7.31, Z:1.10 [[ 9.99908670e-01 8.51553784e-03 1.04946377e-02 4.86817499e+02] [-8.50867565e-03 9.99963557e-01 -6.98352470e-04 -7.30803548e+00] [-1.05002021e-02 6.08993220e-04 9.99944686e-01 1.09619250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.85, Y:-7.31, Z:1.10 [[ 9.99905037e-01 9.38846485e-03 1.00882552e-02 4.86850034e+02] [-9.38213893e-03 9.99955759e-01 -6.74201549e-04 -7.31143133e+00] [-1.00941386e-02 5.79488113e-04 9.99948885e-01 1.09538764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.88, Y:-7.32, Z:1.09 [[ 9.99898014e-01 1.02964632e-02 9.89668097e-03 4.86881732e+02] [-1.02903963e-02 9.99946832e-01 -6.63758059e-04 -7.31502779e+00] [-9.90298914e-03 5.61849596e-04 9.99950806e-01 1.09484559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.91, Y:-7.32, Z:1.09 [[ 9.99876645e-01 1.21846981e-02 9.91097501e-03 4.86912781e+02] [-1.21786797e-02 9.99925614e-01 -6.67372314e-04 -7.32009151e+00] [-9.91836951e-03 5.46587400e-04 9.99950662e-01 1.09413960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.94, Y:-7.32, Z:1.09 [[ 9.99860154e-01 1.32274842e-02 1.02326031e-02 4.86943595e+02] [-1.32210832e-02 9.99912358e-01 -6.92941916e-04 -7.32349157e+00] [-1.02408721e-02 5.57558914e-04 9.99947405e-01 1.09393113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.97, Y:-7.33, Z:1.09 [[ 9.99836844e-01 1.46855309e-02 1.05176139e-02 4.86974487e+02] [-1.46788447e-02 9.99892006e-01 -7.12634249e-04 -7.32694687e+00] [-1.05269434e-02 5.58131558e-04 9.99944434e-01 1.09346301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.00, Y:-7.33, Z:1.09 [[ 9.99790459e-01 1.75001785e-02 1.06198455e-02 4.87004320e+02] [-1.74935132e-02 9.99846717e-01 -7.20197562e-04 -7.33157758e+00] [-1.06308213e-02 5.34268243e-04 9.99943348e-01 1.09333831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.03, Y:-7.33, Z:1.09 [[ 9.99766641e-01 1.88200878e-02 1.06051110e-02 4.87033947e+02] [-1.88135138e-02 9.99822751e-01 -7.19318736e-04 -7.33469718e+00] [-1.06167689e-02 5.19631475e-04 9.99943506e-01 1.09281212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.06, Y:-7.34, Z:1.09 [[ 9.99734868e-01 2.03806468e-02 1.07155411e-02 4.87063761e+02] [-2.03740255e-02 9.99792164e-01 -7.26728937e-04 -7.33782343e+00] [-1.07281253e-02 5.08217549e-04 9.99942323e-01 1.09231459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.09, Y:-7.34, Z:1.09 [[ 9.99700718e-01 2.20110741e-02 1.06764556e-02 4.87093395e+02] [-2.20045978e-02 9.99757608e-01 -7.23700144e-04 -7.34104634e+00] [-1.06897971e-02 4.88552443e-04 9.99942743e-01 1.09197041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.305099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.12, Y:-7.34, Z:1.09 [[ 9.99616659e-01 2.62232511e-02 8.88119884e-03 4.87121473e+02] [-2.61593407e-02 9.99631586e-01 -7.23746442e-03 -7.34274975e+00] [-9.06771673e-03 7.00236370e-03 9.99934370e-01 1.09371691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.16, Y:-7.35, Z:1.09 [[ 9.99458201e-01 2.98030422e-02 1.39672144e-02 4.87155194e+02] [-2.96776848e-02 9.99518114e-01 -9.09809515e-03 -7.34865454e+00] [-1.42316347e-02 8.67865122e-03 9.99861061e-01 1.08847723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.18, Y:-7.36, Z:1.09 [[ 9.99563051e-01 2.75284207e-02 1.07654096e-02 4.87180179e+02] [-2.76830483e-02 9.99511750e-01 1.44882854e-02 -7.35864400e+00] [-1.03613138e-02 -1.47799741e-02 9.99837084e-01 1.08785366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.21, Y:-7.35, Z:1.09 [[ 9.99520403e-01 2.93282206e-02 9.94075741e-03 4.87209546e+02] [-2.93230646e-02 9.99569766e-01 -6.64056308e-04 -7.35421029e+00] [-9.95595615e-03 3.72244357e-04 9.99950369e-01 1.09214113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.24, Y:-7.36, Z:1.09 [[ 9.99424478e-01 3.23177192e-02 1.03091581e-02 4.87237737e+02] [-3.23123409e-02 9.99477583e-01 -6.87883721e-04 -7.35836595e+00] [-1.03260032e-02 3.54374798e-04 9.99946623e-01 1.09170303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.27, Y:-7.36, Z:1.09 [[ 9.99389588e-01 3.34076035e-02 1.02167944e-02 4.87265859e+02] [-3.34023846e-02 9.99441753e-01 -6.81075660e-04 -7.36112841e+00] [-1.02338440e-02 3.39394628e-04 9.99947575e-01 1.09134966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.29, Y:-7.36, Z:1.09 [[ 9.99343472e-01 3.47600496e-02 1.02158690e-02 4.87294562e+02] [-3.47549126e-02 9.99395634e-01 -6.79996915e-04 -7.36391992e+00] [-1.02333316e-02 3.24498845e-04 9.99947585e-01 1.09049520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.32, Y:-7.37, Z:1.09 [[ 9.99321277e-01 3.54042987e-02 1.01745577e-02 4.87322677e+02] [-3.53992432e-02 9.99373021e-01 -6.76599696e-04 -7.36650881e+00] [-1.01921330e-02 3.15968829e-04 9.99948009e-01 1.09019128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.35, Y:-7.37, Z:1.09 [[ 9.99294879e-01 3.61064648e-02 1.02988914e-02 4.87351094e+02] [-3.61013330e-02 9.99347900e-01 -6.83819578e-04 -7.36945574e+00] [-1.03168658e-02 3.11533694e-04 9.99946731e-01 1.08937796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.38, Y:-7.37, Z:1.09 [[ 9.99305944e-01 3.58706351e-02 1.00462939e-02 4.87378361e+02] [-3.58657461e-02 9.99356395e-01 -6.66448655e-04 -7.37371675e+00] [-1.00637340e-02 3.05668276e-04 9.99949313e-01 1.08823700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.41, Y:-7.38, Z:1.09 [[ 9.99332441e-01 3.50716268e-02 1.02299990e-02 4.87407264e+02] [-3.50665260e-02 9.99384751e-01 -6.77618203e-04 -7.37706267e+00] [-1.02474702e-02 3.18435328e-04 9.99947443e-01 1.08745369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.44, Y:-7.37, Z:1.09 [[ 9.99227171e-01 3.67816212e-02 1.38626367e-02 4.87438919e+02] [-3.64914050e-02 9.99120862e-01 -2.06368896e-02 -7.37336890e+00] [-1.46095077e-02 2.01150738e-02 9.99690925e-01 1.08504755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.46, Y:-7.39, Z:1.08 [[ 9.99402615e-01 3.28359957e-02 1.07801071e-02 4.87463801e+02] [-3.30378584e-02 9.99271307e-01 1.91142596e-02 -7.39327979e+00] [-1.01446160e-02 -1.94589927e-02 9.99759188e-01 1.08054088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.49, Y:-7.39, Z:1.09 [[ 9.99500034e-01 3.04188503e-02 8.62415275e-03 4.87491614e+02] [-3.04150568e-02 9.99537192e-01 -5.70711670e-04 -7.38809265e+00] [-8.63752182e-03 3.08122238e-04 9.99962648e-01 1.08593812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.52, Y:-7.39, Z:1.09 [[ 9.99501595e-01 3.03674940e-02 8.62421722e-03 4.87520866e+02] [-3.03637070e-02 9.99538754e-01 -5.69735322e-04 -7.38996128e+00] [-8.63754077e-03 3.07588158e-04 9.99962648e-01 1.08548921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.55, Y:-7.39, Z:1.08 [[ 9.99537320e-01 2.91098487e-02 8.81826999e-03 4.87549282e+02] [-2.91058437e-02 9.99576166e-01 -5.82192507e-04 -7.39290108e+00] [-8.83148004e-03 3.25259951e-04 9.99960949e-01 1.08480305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.58, Y:-7.40, Z:1.08 [[ 9.99566580e-01 2.82373675e-02 8.32485005e-03 4.87577896e+02] [-2.82337721e-02 9.99601197e-01 -5.49122311e-04 -7.39578038e+00] [-8.33703584e-03 3.13842392e-04 9.99965197e-01 1.08486024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.61, Y:-7.40, Z:1.08 [[ 9.99593092e-01 2.72176733e-02 8.53511602e-03 4.87606388e+02] [-2.72138623e-02 9.99629476e-01 -5.62351855e-04 -7.39855591e+00] [-8.54725946e-03 3.29849558e-04 9.99963417e-01 1.08441343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.63, Y:-7.40, Z:1.08 [[ 9.99615291e-01 2.61383054e-02 9.27679682e-03 4.87634887e+02] [-2.61337639e-02 9.99658268e-01 -6.10461774e-04 -7.40113968e+00] [-9.28958308e-03 3.67789306e-04 9.99956783e-01 1.08422957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.66, Y:-7.40, Z:1.08 [[ 9.99638083e-01 2.50930196e-02 9.69764503e-03 4.87663801e+02] [-2.50880147e-02 9.99685043e-01 -6.37424633e-04 -7.40396089e+00] [-9.71058560e-03 3.93899277e-04 9.99952774e-01 1.08413320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.69, Y:-7.41, Z:1.08 [[ 9.99677573e-01 2.29161770e-02 1.09361470e-02 4.87691874e+02] [-2.29096937e-02 9.99737281e-01 -7.17760267e-04 -7.40750619e+00] [-1.09497221e-02 4.66985064e-04 9.99939941e-01 1.08383705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.72, Y:-7.41, Z:1.08 [[ 9.99692250e-01 2.18822770e-02 1.16863676e-02 4.87720951e+02] [-2.18748084e-02 9.99760424e-01 -7.66542942e-04 -7.41015888e+00] [-1.17003415e-02 5.10669986e-04 9.99931418e-01 1.08391816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.75, Y:-7.41, Z:1.08 [[ 9.99715738e-01 2.05200218e-02 1.21396913e-02 4.87750554e+02] [-2.05118676e-02 9.99789293e-01 -7.95834898e-04 -7.41259682e+00] [-1.21534640e-02 5.46600930e-04 9.99925995e-01 1.08378373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.78, Y:-7.42, Z:1.08 [[ 9.99764565e-01 1.79124201e-02 1.22458475e-02 4.87781136e+02] [-1.79039341e-02 9.99839390e-01 -8.02260458e-04 -7.41575455e+00] [-1.22582511e-02 5.82822732e-04 9.99924695e-01 1.08267311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.81, Y:-7.42, Z:1.08 [[ 9.99795486e-01 1.66888953e-02 1.14222506e-02 4.87812265e+02] [-1.66814344e-02 9.99860575e-01 -7.48162045e-04 -7.41824665e+00] [-1.14331441e-02 5.57469511e-04 9.99934484e-01 1.08190807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.055099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.84, Y:-7.42, Z:1.08 [[ 9.99827052e-01 1.51868174e-02 1.07344056e-02 4.87842169e+02] [-1.51801402e-02 9.99884528e-01 -7.03250319e-04 -7.42040837e+00] [-1.07438462e-02 5.40178912e-04 9.99942137e-01 1.08103966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.87, Y:-7.42, Z:1.08 [[ 9.99853506e-01 1.40604990e-02 9.76061081e-03 4.87873621e+02] [-1.40549151e-02 9.99901020e-01 -6.40440544e-04 -7.42289897e+00] [-9.76864962e-03 5.03162167e-04 9.99952159e-01 1.08034919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.90, Y:-7.42, Z:1.08 [[ 9.99892397e-01 1.18625700e-02 8.62976837e-03 4.87903495e+02] [-1.18581202e-02 9.99929529e-01 -5.66615799e-04 -7.42472627e+00] [-8.63588174e-03 4.64221999e-04 9.99962602e-01 1.07926487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.93, Y:-7.43, Z:1.08 [[ 9.99906750e-01 1.11208723e-02 7.92576863e-03 4.87934144e+02] [-1.11170947e-02 9.99938068e-01 -5.20518420e-04 -7.42640153e+00] [-7.93106639e-03 4.32358360e-04 9.99968455e-01 1.07906336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.97, Y:-7.42, Z:1.08 [[ 9.99821685e-01 1.34119293e-02 1.32935212e-02 4.87967101e+02] [-1.29907578e-02 9.99426302e-01 -3.12779111e-02 -7.41524068e+00] [-1.37053919e-02 3.10996409e-02 9.99422320e-01 1.07694993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.99, Y:-7.44, Z:1.07 [[ 9.99902754e-01 9.77508900e-03 9.94633763e-03 4.87993403e+02] [-1.00695120e-02 9.99499335e-01 2.99947382e-02 -7.44409589e+00] [-9.64815661e-03 -3.00919761e-02 9.99500568e-01 1.06976721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.03, Y:-7.41, Z:1.08 [[ 9.99760121e-01 1.50594164e-02 1.59032882e-02 4.88030956e+02] [-1.42291655e-02 9.98592768e-01 -5.10883109e-02 -7.41057378e+00] [-1.66502687e-02 5.08497654e-02 9.98567509e-01 1.07612850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.06, Y:-7.44, Z:1.06 [[ 9.99842496e-01 1.14007998e-02 1.36016719e-02 4.88055688e+02] [-1.17553496e-02 9.99585556e-01 2.62778964e-02 -7.44459916e+00] [-1.32964458e-02 -2.64336499e-02 9.99562137e-01 1.06224799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.09, Y:-7.44, Z:1.07 [[ 9.99911709e-01 1.04532864e-02 8.20380892e-03 4.88085935e+02] [-1.06359535e-02 9.99689191e-01 2.25477003e-02 -7.44262214e+00] [-7.96556153e-03 -2.26329648e-02 9.99712108e-01 1.07158286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.12, Y:-7.43, Z:1.08 [[ 9.99907560e-01 1.15233296e-02 7.21694474e-03 4.88117140e+02] [-1.15202276e-02 9.99933529e-01 -4.71238400e-04 -7.43259105e+00] [-7.22189526e-03 3.88053993e-04 9.99973846e-01 1.07791306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.15, Y:-7.43, Z:1.08 [[ 9.99893623e-01 1.21109281e-02 8.12819958e-03 4.88147504e+02] [-1.21070026e-02 9.99926566e-01 -5.31974507e-04 -7.43362212e+00] [-8.13404540e-03 4.33509783e-04 9.99966824e-01 1.07739273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.18, Y:-7.43, Z:1.08 [[ 9.99881116e-01 1.25996030e-02 8.88844491e-03 4.88177779e+02] [-1.25949281e-02 9.99920512e-01 -5.81731052e-04 -7.43469501e+00] [-8.89506796e-03 4.69712569e-04 9.99960328e-01 1.07728066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.21, Y:-7.43, Z:1.08 [[ 9.99869318e-01 1.30979269e-02 9.47579588e-03 4.88209491e+02] [-1.30926374e-02 9.99914096e-01 -6.20029412e-04 -7.43460706e+00] [-9.48310297e-03 4.95885226e-04 9.99954911e-01 1.07743388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.24, Y:-7.44, Z:1.08 [[ 9.99874991e-01 1.28792527e-02 9.17210543e-03 4.88240316e+02] [-1.28742840e-02 9.99916943e-01 -6.00555797e-04 -7.43550605e+00] [-9.17907833e-03 4.82396432e-04 9.99957755e-01 1.07719810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.27, Y:-7.44, Z:1.08 [[ 9.99879514e-01 1.25809536e-02 9.09270796e-03 4.88271341e+02] [-1.25760575e-02 9.99920741e-01 -5.95441781e-04 -7.43660901e+00] [-9.09947851e-03 4.81019621e-04 9.99958483e-01 1.07683016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.30, Y:-7.44, Z:1.08 [[ 9.99910346e-01 1.05905335e-02 8.19399217e-03 4.88302495e+02] [-1.05864888e-02 9.99943817e-01 -5.36840589e-04 -7.43729313e+00] [-8.19921724e-03 4.50046853e-04 9.99966285e-01 1.07606908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.33, Y:-7.44, Z:1.08 [[ 9.99929864e-01 9.31934268e-03 7.30866623e-03 4.88332667e+02] [-9.31608855e-03 9.99956490e-01 -4.79162042e-04 -7.43890707e+00] [-7.31281371e-03 4.11040254e-04 9.99973177e-01 1.07569514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.36, Y:-7.44, Z:1.08 [[ 9.99942722e-01 8.13788288e-03 6.95175532e-03 4.88363775e+02] [-8.13491034e-03 9.99966807e-01 -4.55765707e-04 -7.44072600e+00] [-6.95523354e-03 3.99187696e-04 9.99975732e-01 1.07506861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.40, Y:-7.44, Z:1.07 [[ 9.99955370e-01 6.64741032e-03 6.71339477e-03 4.88395439e+02] [-6.64460321e-03 9.99977827e-01 -4.40353593e-04 -7.44240284e+00] [-6.71617313e-03 3.95726096e-04 9.99977368e-01 1.07442947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.43, Y:-7.44, Z:1.07 [[ 9.99960971e-01 5.80893494e-03 6.65684505e-03 4.88426613e+02] [-5.80615951e-03 9.99983049e-01 -4.36179211e-04 -7.44401084e+00] [-6.65926595e-03 3.97511483e-04 9.99977748e-01 1.07397909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.46, Y:-7.44, Z:1.07 [[ 9.99969283e-01 4.12133338e-03 6.66692225e-03 4.88457851e+02] [-4.11850117e-03 9.99991423e-01 -4.38487958e-04 -7.44424944e+00] [-6.66867223e-03 4.11016762e-04 9.99977680e-01 1.07384976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.49, Y:-7.45, Z:1.07 [[ 9.99969150e-01 4.10329984e-03 6.69791349e-03 4.88488826e+02] [-4.10044793e-03 9.99991497e-01 -4.39468045e-04 -7.44558704e+00] [-6.69965980e-03 4.11990042e-04 9.99977472e-01 1.07329433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.52, Y:-7.45, Z:1.07 [[ 9.99971506e-01 4.51686558e-03 6.04854139e-03 4.88520857e+02] [-4.51454152e-03 9.99989730e-01 -3.97834252e-04 -7.44675789e+00] [-6.05027623e-03 3.70516525e-04 9.99981628e-01 1.07332414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.55, Y:-7.45, Z:1.07 [[ 9.99967749e-01 5.39325669e-03 5.95097173e-03 4.88552789e+02] [-5.39101398e-03 9.99985391e-01 -3.92840552e-04 -7.44792403e+00] [-5.95300348e-03 3.60746110e-04 9.99982216e-01 1.07273899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.58, Y:-7.45, Z:1.07 [[ 9.99949600e-01 7.82998126e-03 6.28397859e-03 4.88584004e+02] [-7.82750894e-03 9.99969277e-01 -4.17929984e-04 -7.44802672e+00] [-6.28705791e-03 3.68721022e-04 9.99980168e-01 1.07196022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.805099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.62, Y:-7.45, Z:1.07 [[ 9.99934574e-01 9.60258099e-03 6.21588451e-03 4.88615736e+02] [-9.60019337e-03 9.99953831e-01 -4.13841086e-04 -7.44896242e+00] [-6.21957147e-03 3.54140317e-04 9.99980596e-01 1.07179794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.65, Y:-7.45, Z:1.07 [[ 9.99913139e-01 1.15239845e-02 6.39625039e-03 4.88646481e+02] [-1.15214924e-02 9.99933535e-01 -4.26341164e-04 -7.44949217e+00] [-6.40073841e-03 3.52609782e-04 9.99979453e-01 1.07164610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.68, Y:-7.45, Z:1.07 [[ 9.99890293e-01 1.33518647e-02 6.41326782e-03 4.88676321e+02] [-1.33493951e-02 9.99910801e-01 -4.27726504e-04 -7.44985173e+00] [-6.41840671e-03 3.42066333e-04 9.99979343e-01 1.07144083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.71, Y:-7.45, Z:1.07 [[ 9.99840568e-01 1.63290212e-02 7.22513840e-03 4.88705625e+02] [-1.63259667e-02 9.99866607e-01 -4.81554968e-04 -7.44920218e+00] [-7.23203794e-03 3.63520824e-04 9.99973782e-01 1.07124874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.73, Y:-7.45, Z:1.07 [[ 9.99819036e-01 1.73377754e-02 7.82925123e-03 4.88734059e+02] [-1.73342220e-02 9.99849615e-01 -5.21503666e-04 -7.45010314e+00] [-7.83711555e-03 3.85695314e-04 9.99969215e-01 1.07096465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.76, Y:-7.45, Z:1.07 [[ 9.99807618e-01 1.76227708e-02 8.61190849e-03 4.88762889e+02] [-1.76184851e-02 9.99844618e-01 -5.73262783e-04 -7.45130037e+00] [-8.62067283e-03 4.21423715e-04 9.99962753e-01 1.07076230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.79, Y:-7.45, Z:1.07 [[ 9.99803733e-01 1.72597461e-02 9.72607763e-03 4.88792766e+02] [-1.72542675e-02 9.99850925e-01 -6.46923335e-04 -7.45284213e+00] [-9.73579345e-03 4.78980020e-04 9.99952491e-01 1.07035910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.82, Y:-7.45, Z:1.07 [[ 9.99812074e-01 1.66838712e-02 9.87249392e-03 4.88822290e+02] [-1.66782019e-02 9.99860694e-01 -6.56310414e-04 -7.45463949e+00] [-9.88206842e-03 4.91531629e-04 9.99951050e-01 1.06991617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.86, Y:-7.44, Z:1.07 [[ 9.99641500e-01 2.04317985e-02 1.73035601e-02 4.88857599e+02] [-1.96427292e-02 9.98811562e-01 -4.46052289e-02 -7.43995585e+00] [-1.81943610e-02 4.42493488e-02 9.98854824e-01 1.06742667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.88, Y:-7.48, Z:1.06 [[ 9.99828171e-01 1.41717727e-02 1.19494698e-02 4.88881822e+02] [-1.46706260e-02 9.98978177e-01 4.27477986e-02 -7.47965829e+00] [-1.13314475e-02 -4.29157595e-02 9.99014432e-01 1.05591406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.91, Y:-7.46, Z:1.07 [[ 9.99865488e-01 1.39185277e-02 8.67643644e-03 4.88912713e+02] [-1.39140681e-02 9.99903030e-01 -5.74137271e-04 -7.46025686e+00] [-8.68358623e-03 4.53335515e-04 9.99962194e-01 1.06850535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.94, Y:-7.46, Z:1.07 [[ 9.99897789e-01 1.23067165e-02 7.27705044e-03 4.88942811e+02] [-1.23035384e-02 9.99924193e-01 -4.81340424e-04 -7.46228826e+00] [-7.28242251e-03 3.91757757e-04 9.99973406e-01 1.06743239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.97, Y:-7.46, Z:1.07 [[ 9.99908241e-01 1.18094352e-02 6.63683696e-03 4.88972122e+02] [-1.18067800e-02 9.99930201e-01 -4.39106643e-04 -7.46425434e+00] [-6.64155932e-03 3.60706677e-04 9.99977880e-01 1.06696157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.00, Y:-7.47, Z:1.07 [[ 9.99915673e-01 1.13180015e-02 6.36788371e-03 4.89001353e+02] [-1.13155471e-02 9.99935888e-01 -4.21329117e-04 -7.46608675e+00] [-6.37224406e-03 3.49237499e-04 9.99979636e-01 1.06663492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.03, Y:-7.47, Z:1.07 [[ 9.99920294e-01 1.09522433e-02 6.28121764e-03 4.89031287e+02] [-1.09498502e-02 9.99939962e-01 -4.15248690e-04 -7.46777390e+00] [-6.28538844e-03 3.46437200e-04 9.99980187e-01 1.06596507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.06, Y:-7.47, Z:1.07 [[ 9.99923339e-01 1.08486264e-02 5.96861473e-03 4.89060482e+02] [-1.08464644e-02 9.99941098e-01 -3.94484835e-04 -7.46937803e+00] [-5.97254279e-03 3.29716226e-04 9.99982110e-01 1.06572117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.09, Y:-7.47, Z:1.07 [[ 9.99923287e-01 1.07165401e-02 6.21097545e-03 4.89089979e+02] [-1.07141964e-02 9.99942517e-01 -4.10506951e-04 -7.47017172e+00] [-6.21501764e-03 3.43929850e-04 9.99980627e-01 1.06594742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.12, Y:-7.47, Z:1.07 [[ 9.99914946e-01 1.10924412e-02 6.85991039e-03 4.89120901e+02] [-1.10895945e-02 9.99938406e-01 -4.52874866e-04 -7.47189620e+00] [-6.86451135e-03 3.76762723e-04 9.99976368e-01 1.06546746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.15, Y:-7.47, Z:1.07 [[ 9.99910874e-01 1.13049205e-02 7.10237878e-03 4.89150244e+02] [-1.13018736e-02 9.99936022e-01 -4.68987338e-04 -7.47353799e+00] [-7.10722624e-03 3.88675351e-04 9.99974668e-01 1.06507165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.18, Y:-7.47, Z:1.06 [[ 9.99864219e-01 1.33939464e-02 9.59920822e-03 4.89181446e+02] [-1.33227745e-02 9.99883566e-01 -7.44034603e-03 -7.47232359e+00] [-9.69774614e-03 7.31144769e-03 9.99926246e-01 1.06352547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.21, Y:-7.48, Z:1.06 [[ 9.99876816e-01 1.31195417e-02 8.61575584e-03 4.89210856e+02] [-1.31741659e-02 9.99893281e-01 6.31418071e-03 -7.48018827e+00] [-8.53199721e-03 -6.42690830e-03 9.99942948e-01 1.06205238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.24, Y:-7.48, Z:1.06 [[ 9.99866683e-01 1.39800294e-02 8.43656806e-03 4.89241426e+02] [-1.39758205e-02 9.99902178e-01 -5.57646245e-04 -7.47839842e+00] [-8.44353869e-03 4.39663941e-04 9.99964256e-01 1.06399990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.27, Y:-7.48, Z:1.06 [[ 9.99855813e-01 1.45840853e-02 8.69812103e-03 4.89272142e+02] [-1.45796341e-02 9.99893546e-01 -5.74934558e-04 -7.47995660e+00] [-8.70557998e-03 4.48036238e-04 9.99962005e-01 1.06402915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.30, Y:-7.48, Z:1.06 [[ 9.99844472e-01 1.53601012e-02 8.66593890e-03 4.89302191e+02] [-1.53557107e-02 9.99881930e-01 -5.72954492e-04 -7.48158882e+00] [-8.67371635e-03 4.39793731e-04 9.99962286e-01 1.06362531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.33, Y:-7.48, Z:1.06 [[ 9.99835623e-01 1.61937940e-02 8.15407984e-03 4.89331993e+02] [-1.61899373e-02 9.99868789e-01 -5.38770027e-04 -7.48328751e+00] [-8.16173467e-03 4.06667424e-04 9.99966610e-01 1.06293961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.555099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.36, Y:-7.49, Z:1.06 [[ 9.99840672e-01 1.62026105e-02 7.49040566e-03 4.89361348e+02] [-1.61993564e-02 9.99868659e-01 -4.94910121e-04 -7.48509425e+00] [-7.49744070e-03 3.73491517e-04 9.99971824e-01 1.06235052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.39, Y:-7.49, Z:1.06 [[ 9.99849448e-01 1.60231835e-02 6.65870353e-03 4.89390036e+02] [-1.60206085e-02 9.99871565e-01 -4.39876285e-04 -7.48692571e+00] [-6.66489654e-03 3.33133578e-04 9.99977734e-01 1.06171161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.42, Y:-7.49, Z:1.06 [[ 9.99850284e-01 1.59709576e-02 6.65872820e-03 4.89419288e+02] [-1.59683839e-02 9.99872401e-01 -4.39502375e-04 -7.48879299e+00] [-6.66489783e-03 3.33107445e-04 9.99977734e-01 1.06133355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.45, Y:-7.49, Z:1.06 [[ 9.99862013e-01 1.55099990e-02 5.94943105e-03 4.89448301e+02] [-1.55079368e-02 9.99879668e-01 -3.92592830e-04 -7.49106346e+00] [-5.95480426e-03 3.00275257e-04 9.99982225e-01 1.06072739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.48, Y:-7.50, Z:1.06 [[ 9.99888246e-01 1.46373983e-02 3.04017390e-03 4.89475248e+02] [-1.46626616e-02 9.99856700e-01 8.46079978e-03 -7.49544254e+00] [-2.91589415e-03 -8.50443129e-03 9.99959585e-01 1.06057906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.50, Y:-7.49, Z:1.06 [[ 9.99887493e-01 1.45295582e-02 3.72743886e-03 4.89504991e+02] [-1.45165313e-02 9.99888509e-01 -3.49842926e-03 -7.49196662e+00] [-3.77785392e-03 3.44392618e-03 9.99986934e-01 1.06196347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.53, Y:-7.49, Z:1.06 [[ 9.99881482e-01 1.49530047e-02 3.66460236e-03 4.89533202e+02] [-1.49336590e-02 9.99874700e-01 -5.25076630e-03 -7.49347247e+00] [-3.74265791e-03 5.19541807e-03 9.99979500e-01 1.06087986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.56, Y:-7.50, Z:1.06 [[ 9.99878534e-01 1.50670213e-02 3.98775133e-03 4.89560674e+02] [-1.50660880e-02 9.99886465e-01 -2.63980302e-04 -7.49706145e+00] [-3.99127598e-03 2.03868425e-04 9.99992014e-01 1.05919224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.59, Y:-7.50, Z:1.06 [[ 9.99870833e-01 1.56419293e-02 3.69433821e-03 4.89589876e+02] [-1.56411344e-02 9.99877640e-01 -2.43976846e-04 -7.49830300e+00] [-3.69770244e-03 1.86161692e-04 9.99993146e-01 1.05925484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.62, Y:-7.50, Z:1.06 [[ 9.99862926e-01 1.60791863e-02 3.94833989e-03 4.89618840e+02] [-1.60782830e-02 9.99870702e-01 -2.60398070e-04 -7.49941193e+00] [-3.95201637e-03 1.96879850e-04 9.99992171e-01 1.05903112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.65, Y:-7.50, Z:1.06 [[ 9.99849087e-01 1.68718756e-02 4.14053508e-03 4.89648097e+02] [-1.68708904e-02 9.99857639e-01 -2.72744432e-04 -7.50050491e+00] [-4.14454734e-03 2.02848758e-04 9.99991391e-01 1.05930430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.68, Y:-7.49, Z:1.06 [[ 9.99740932e-01 2.10195811e-02 8.73193642e-03 4.89678782e+02] [-2.08452439e-02 9.99590605e-01 -1.95984319e-02 -7.49321375e+00] [-9.14031243e-03 1.94113352e-02 9.99769801e-01 1.05935791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.71, Y:-7.50, Z:1.05 [[ 9.99693856e-01 2.22393593e-02 1.08446301e-02 4.89708416e+02] [-2.21333214e-02 9.99706977e-01 -9.80183141e-03 -7.49983714e+00] [-1.10594388e-02 9.55880295e-03 9.99893153e-01 1.05399615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.74, Y:-7.52, Z:1.05 [[ 9.99772993e-01 2.02824201e-02 6.52576881e-03 4.89735014e+02] [-2.04504619e-02 9.99431441e-01 2.68062266e-02 -7.51598813e+00] [-5.97836338e-03 -2.69335964e-02 9.99619348e-01 1.05128669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.76, Y:-7.50, Z:1.06 [[ 9.99736734e-01 2.22845130e-02 5.46479751e-03 4.89764702e+02] [-2.22828994e-02 9.99751642e-01 -3.55988590e-04 -7.50326216e+00] [-5.47137332e-03 2.34123337e-04 9.99985005e-01 1.06007490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.79, Y:-7.50, Z:1.06 [[ 9.99723785e-01 2.28377421e-02 5.54897276e-03 4.89792291e+02] [-2.28360886e-02 9.99739157e-01 -3.61168081e-04 -7.50464208e+00] [-5.55577362e-03 2.34351487e-04 9.99984539e-01 1.05974115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.82, Y:-7.51, Z:1.06 [[ 9.99712118e-01 2.33513205e-02 5.51342173e-03 4.89820275e+02] [-2.33496987e-02 9.99727294e-01 -3.58348327e-04 -7.50623178e+00] [-5.52028609e-03 2.29508429e-04 9.99984737e-01 1.05949653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.85, Y:-7.50, Z:1.06 [[ 9.99565738e-01 2.75293541e-02 1.05104877e-02 4.89853735e+02] [-2.72014905e-02 9.99174979e-01 -3.01569151e-02 -7.49778384e+00] [-1.13320168e-02 2.98579181e-02 9.99489915e-01 1.05747629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.88, Y:-7.51, Z:1.05 [[ 9.99589464e-01 2.66993885e-02 1.03945298e-02 4.89882279e+02] [-2.66642664e-02 9.99638308e-01 -3.50297091e-03 -7.51185485e+00] [-1.04842974e-02 3.22437030e-03 9.99939840e-01 1.04864895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.91, Y:-7.53, Z:1.05 [[ 9.99672166e-01 2.53900242e-02 3.30262763e-03 4.89907540e+02] [-2.54784690e-02 9.99216953e-01 3.02709300e-02 -7.52599163e+00] [-2.53146187e-03 -3.03451520e-02 9.99536274e-01 1.04857673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.94, Y:-7.51, Z:1.06 [[ 9.99636743e-01 2.69318077e-02 1.02947105e-03 4.89936683e+02] [-2.69317537e-02 9.99637272e-01 -6.63222288e-05 -7.51246250e+00] [-1.03088381e-03 3.85726760e-05 9.99999468e-01 1.05818702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.96, Y:-7.51, Z:1.06 [[ 9.99604308e-01 2.81149656e-02 8.81490059e-04 4.89964508e+02] [-2.81149262e-02 9.99604696e-01 -5.69922072e-05 -7.51394702e+00] [-8.82743936e-04 3.21866278e-05 9.99999610e-01 1.05816202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.99, Y:-7.52, Z:1.06 [[ 9.99573370e-01 2.91919016e-02 9.54474486e-04 4.89992568e+02] [-2.91918561e-02 9.99573825e-01 -6.15196068e-05 -7.51525661e+00] [-9.55863587e-04 3.36304788e-05 9.99999543e-01 1.05784509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.02, Y:-7.52, Z:1.06 [[ 9.99516590e-01 3.10754544e-02 9.49966193e-04 4.90019820e+02] [-3.10754102e-02 9.99517041e-01 -6.12769364e-05 -7.51645786e+00] [-9.51411607e-04 3.17267254e-05 9.99999547e-01 1.05776632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.05, Y:-7.52, Z:1.06 [[ 9.99496486e-01 3.17086549e-02 1.15607975e-03 4.90046701e+02] [-3.17085903e-02 9.99497153e-01 -7.41574748e-05 -7.51806139e+00] [-1.15784986e-03 3.74624762e-05 9.99999329e-01 1.05754693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.305099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.07, Y:-7.52, Z:1.06 [[ 9.99484551e-01 3.20791117e-02 1.25033132e-03 4.90074705e+02] [-3.20790369e-02 9.99485332e-01 -7.98093594e-05 -7.51975392e+00] [-1.25224803e-03 3.96587972e-05 9.99999215e-01 1.05750980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.10, Y:-7.52, Z:1.06 [[ 9.99487811e-01 3.19728114e-02 1.36198099e-03 4.90101666e+02] [-3.19727221e-02 9.99488738e-01 -8.72961646e-05 -7.52097622e+00] [-1.36407577e-03 4.37052127e-05 9.99999069e-01 1.05711845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.13, Y:-7.52, Z:1.06 [[ 9.99530787e-01 3.06023253e-02 1.30518609e-03 4.90128078e+02] [-3.06022430e-02 9.99531638e-01 -8.30151280e-05 -7.52308133e+00] [-1.30711525e-03 4.30345543e-05 9.99999145e-01 1.05663682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.16, Y:-7.53, Z:1.06 [[ 9.99568395e-01 2.93459304e-02 1.35641596e-03 4.90155784e+02] [-2.93458408e-02 9.99569314e-01 -8.59151536e-05 -7.52520668e+00] [-1.35835303e-03 4.60729054e-05 9.99999076e-01 1.05601675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.18, Y:-7.53, Z:1.06 [[ 9.99615164e-01 2.77037211e-02 1.42398567e-03 4.90183655e+02] [-2.77036209e-02 9.99616177e-01 -8.99920175e-05 -7.52745118e+00] [-1.42593223e-03 5.05078260e-05 9.99998982e-01 1.05557191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.21, Y:-7.53, Z:1.05 [[ 9.99727030e-01 2.33296982e-02 1.26145180e-03 4.90211908e+02] [-2.33296162e-02 9.99727824e-01 -7.97250307e-05 -7.53034135e+00] [-1.26296842e-03 5.02740819e-05 9.99999201e-01 1.05464935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.24, Y:-7.53, Z:1.05 [[ 9.99787850e-01 2.05736958e-02 9.88878669e-04 4.90239991e+02] [-2.05736439e-02 9.99788338e-01 -6.26090766e-05 -7.53266458e+00] [-9.89957461e-04 4.22509565e-05 9.99999509e-01 1.05461774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.27, Y:-7.54, Z:1.05 [[ 9.99839901e-01 1.78705047e-02 9.04498262e-04 4.90268101e+02] [-1.78704604e-02 9.99840309e-01 -5.70998471e-05 -7.53513712e+00] [-9.05374225e-04 4.09269051e-05 9.99999589e-01 1.05422199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.30, Y:-7.54, Z:1.05 [[ 9.99892602e-01 1.46155324e-02 1.08229940e-03 4.90296975e+02] [-1.46154674e-02 9.99893186e-01 -6.79464035e-05 -7.53769170e+00] [-1.08317686e-03 5.21207946e-05 9.99999412e-01 1.05405237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.33, Y:-7.54, Z:1.05 [[ 9.99919531e-01 1.24656660e-02 2.35353335e-03 4.90326221e+02] [-1.24474487e-02 9.99893625e-01 -7.60257187e-03 -7.53711388e+00] [-2.44805412e-03 7.57266461e-03 9.99968330e-01 1.05285687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.35, Y:-7.55, Z:1.05 [[ 9.99985849e-01 4.99287013e-03 1.83641171e-03 4.90353930e+02] [-5.00634383e-03 9.99960035e-01 7.40705015e-03 -7.54729680e+00] [-1.79935588e-03 -7.41613905e-03 9.99970881e-01 1.05140504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.38, Y:-7.55, Z:1.05 [[ 9.99996618e-01 2.19181004e-03 1.40027953e-03 4.90383366e+02] [-2.19169003e-03 9.99997594e-01 -8.72340252e-05 -7.54625030e+00] [-1.40046736e-03 8.41647514e-05 9.99999016e-01 1.05379580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.41, Y:-7.54, Z:1.05 [[ 9.99987998e-01 1.72011110e-03 4.58747379e-03 4.90414242e+02] [-1.64676287e-03 9.99871515e-01 -1.59449383e-02 -7.54253889e+00] [-4.61431143e-03 1.59371925e-02 9.99862348e-01 1.05222283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.44, Y:-7.56, Z:1.05 [[ 9.99990907e-01 -2.32641464e-03 3.57400189e-03 4.90443519e+02] [ 2.27038489e-03 9.99875705e-01 1.56019039e-02 -7.55918171e+00] [-3.60985416e-03 -1.55936477e-02 9.99871895e-01 1.04811588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.48, Y:-7.55, Z:1.05 [[ 9.99989863e-01 -3.64732781e-03 2.64033460e-03 4.90476480e+02] [ 3.64776856e-03 9.99993334e-01 -1.62131745e-04 -7.55416578e+00] [-2.63972566e-03 1.71761431e-04 9.99996501e-01 1.05299267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.51, Y:-7.56, Z:1.05 [[ 9.99982399e-01 -5.09024269e-03 3.04812845e-03 4.90508578e+02] [ 5.09084006e-03 9.99987024e-01 -1.88253635e-04 -7.55716657e+00] [-3.04713064e-03 2.03767856e-04 9.99995337e-01 1.05257803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.54, Y:-7.56, Z:1.05 [[ 9.99981690e-01 -5.35375036e-03 2.82095900e-03 4.90539772e+02] [ 5.35426833e-03 9.99985650e-01 -1.76095696e-04 -7.55964061e+00] [-2.81997575e-03 1.91196643e-04 9.99996006e-01 1.05193516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.57, Y:-7.56, Z:1.05 [[ 9.99981485e-01 -5.72221628e-03 2.07047829e-03 4.90572053e+02] [ 5.72249578e-03 9.99983618e-01 -1.29090303e-04 -7.56206536e+00] [-2.06970569e-03 1.40936216e-04 9.99997848e-01 1.05149901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.60, Y:-7.57, Z:1.05 [[ 9.99980040e-01 -6.24583601e-03 9.53151892e-04 4.90604303e+02] [ 6.24589520e-03 9.99980492e-01 -5.91316973e-05 -7.56511281e+00] [-9.52763972e-04 6.50838039e-05 9.99999544e-01 1.05071733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.64, Y:-7.57, Z:1.05 [[ 9.99976427e-01 -6.85999305e-03 2.93336260e-04 4.90635085e+02] [ 6.85999860e-03 9.99976470e-01 -1.79153845e-05 -7.56767429e+00] [-2.93206459e-04 1.99272485e-05 9.99999957e-01 1.05042897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.67, Y:-7.57, Z:1.05 [[ 9.99969519e-01 -7.80598688e-03 -1.64379539e-04 4.90667404e+02] [ 7.80598879e-03 9.99969533e-01 1.10054184e-05 -7.57061011e+00] [ 1.64288622e-04 -1.22882278e-05 9.99999986e-01 1.04998633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.70, Y:-7.57, Z:1.05 [[ 9.99960975e-01 -8.82243393e-03 -4.60656916e-04 4.90699687e+02] [ 8.82244853e-03 9.99961081e-01 2.96788773e-05 -7.57344074e+00] [ 4.60377147e-04 -3.37418411e-05 9.99999893e-01 1.04968274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.73, Y:-7.58, Z:1.05 [[ 9.99947993e-01 -1.01535866e-02 -9.57205439e-04 4.90731160e+02] [ 1.01536494e-02 9.99948449e-01 6.08169953e-05 -7.57743497e+00] [ 9.56538582e-04 -7.05329609e-05 9.99999540e-01 1.04919830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.76, Y:-7.58, Z:1.05 [[ 9.99942794e-01 -1.06315394e-02 -1.17410849e-03 4.90763189e+02] [ 1.06316345e-02 9.99943480e-01 7.47446800e-05 -7.58035397e+00] [ 1.17324748e-03 -8.72230965e-05 9.99999308e-01 1.04906429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.79, Y:-7.58, Z:1.05 [[ 9.99941519e-01 -1.07133431e-02 -1.47725299e-03 4.90794549e+02] [ 1.07134932e-02 9.99942604e-01 9.37731414e-05 -7.58326915e+00] [ 1.47616358e-03 -1.09594197e-04 9.99998904e-01 1.04890970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.055099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.83, Y:-7.59, Z:1.05 [[ 9.99946529e-01 -1.02710678e-02 -1.20186062e-03 4.90826643e+02] [ 1.02711673e-02 9.99947247e-01 7.66527759e-05 -7.58610909e+00] [ 1.20100991e-03 -8.89931886e-05 9.99999275e-01 1.04877863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.86, Y:-7.59, Z:1.05 [[ 9.99953287e-01 -9.59427624e-03 -1.17196275e-03 4.90858430e+02] [ 9.59437052e-03 9.99953970e-01 7.48528458e-05 -7.58896114e+00] [ 1.17119064e-03 -8.60935941e-05 9.99999310e-01 1.04839098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.89, Y:-7.59, Z:1.05 [[ 9.99961245e-01 -8.75292041e-03 -9.46214163e-04 4.90889279e+02] [ 8.75298150e-03 9.99961690e-01 6.04428832e-05 -7.59170244e+00] [ 9.45648862e-04 -6.87227357e-05 9.99999551e-01 1.04852242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.92, Y:-7.59, Z:1.05 [[ 9.99971331e-01 -7.54048539e-03 -6.91549589e-04 4.90920268e+02] [ 7.54051785e-03 9.99971569e-01 4.43387851e-05 -7.59495404e+00] [ 6.91195591e-04 -4.95521559e-05 9.99999760e-01 1.04883337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.95, Y:-7.60, Z:1.05 [[ 9.99973852e-01 -7.22318965e-03 -3.48434942e-04 4.90952810e+02] [ 7.22319803e-03 9.99973912e-01 2.27840799e-05 -7.59775804e+00] [ 3.48261279e-04 -2.53002987e-05 9.99999939e-01 1.04875939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.99, Y:-7.60, Z:1.05 [[ 9.99975068e-01 -7.05088480e-03 -3.86336456e-04 4.90985245e+02] [ 7.05089506e-03 9.99975142e-01 2.52140897e-05 -7.60082370e+00] [ 3.86149070e-04 -2.79374789e-05 9.99999925e-01 1.04872520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.02, Y:-7.60, Z:1.05 [[ 9.99974987e-01 -7.06650193e-03 -3.01312345e-04 4.91016972e+02] [ 7.06650823e-03 9.99975032e-01 1.98488639e-05 -7.60391977e+00] [ 3.01164560e-04 -2.19775936e-05 9.99999954e-01 1.04845595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.05, Y:-7.61, Z:1.05 [[ 9.99970396e-01 -7.66905714e-03 -6.26689693e-04 4.91047722e+02] [ 7.66908396e-03 9.99970591e-01 4.04049532e-05 -7.60831713e+00] [ 6.26361395e-04 -4.52098929e-05 9.99999803e-01 1.04873944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.08, Y:-7.61, Z:1.05 [[ 9.99969163e-01 -7.82463585e-03 -6.69261063e-04 4.91079434e+02] [ 7.82466659e-03 9.99969386e-01 4.33247410e-05 -7.61158230e+00] [ 6.68901574e-04 -4.85601497e-05 9.99999775e-01 1.04876502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.11, Y:-7.61, Z:1.05 [[ 9.99968463e-01 -7.92929706e-03 -4.46567764e-04 4.91111264e+02] [ 7.92931088e-03 9.99968562e-01 2.91648964e-05 -7.61493645e+00] [ 4.46322468e-04 -3.27049513e-05 9.99999900e-01 1.04854381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.14, Y:-7.62, Z:1.05 [[ 9.99964546e-01 -8.41783188e-03 -2.16264621e-04 4.91142319e+02] [ 8.41783518e-03 9.99964569e-01 1.43103753e-05 -7.61822515e+00] [ 2.16136496e-04 -1.61303478e-05 9.99999977e-01 1.04827368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.17, Y:-7.62, Z:1.05 [[ 9.99945151e-01 -1.04713418e-02 -2.16282792e-04 4.91174053e+02] [ 1.04713452e-02 9.99945174e-01 1.44917028e-05 -7.62337696e+00] [ 2.16119187e-04 -1.67556797e-05 9.99999977e-01 1.04821960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.21, Y:-7.63, Z:1.05 [[ 9.99932183e-01 -1.16386526e-02 -4.14335291e-04 4.91206455e+02] [ 1.16386649e-02 9.99932268e-01 2.71889253e-05 -7.62676065e+00] [ 4.13990785e-04 -3.20093910e-05 9.99999914e-01 1.04827460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.24, Y:-7.63, Z:1.05 [[ 9.99920552e-01 -1.26040656e-02 1.66951169e-04 4.91237015e+02] [ 1.26040675e-02 9.99920566e-01 -1.01951785e-05 -7.63041427e+00] [-1.66809406e-04 1.22986323e-05 9.99999986e-01 1.04756032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.27, Y:-7.63, Z:1.05 [[ 9.99905997e-01 -1.37112294e-02 -8.96038088e-06 4.91269134e+02] [ 1.37112294e-02 9.99905997e-01 1.24858473e-06 -7.63413738e+00] [ 8.94241876e-06 -1.37132520e-06 1.00000000e+00 1.04757291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.30, Y:-7.64, Z:1.05 [[ 9.99868485e-01 -1.62123207e-02 4.15537596e-04 4.91299889e+02] [ 1.62123329e-02 9.99868571e-01 -2.61679826e-05 -7.63994232e+00] [-4.15058738e-04 3.29013750e-05 9.99999913e-01 1.04738356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.33, Y:-7.64, Z:1.05 [[ 9.99869919e-01 -1.61236506e-02 4.15556203e-04 4.91332513e+02] [ 1.61236628e-02 9.99870005e-01 -2.58786173e-05 -7.64209545e+00] [-4.15084925e-04 3.25755390e-05 9.99999913e-01 1.04707835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.36, Y:-7.65, Z:1.05 [[ 9.99849634e-01 -1.73197740e-02 8.57800892e-04 4.91364123e+02] [ 1.73198271e-02 9.99849999e-01 -5.45027340e-05 -7.64590661e+00] [-8.56728247e-04 6.93515018e-05 9.99999631e-01 1.04665370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.40, Y:-7.65, Z:1.05 [[ 9.99826004e-01 -1.86049541e-02 1.34799395e-03 4.91396415e+02] [ 1.86050871e-02 9.99826907e-01 -8.61430417e-05 -7.64965238e+00] [-1.34615793e-03 1.11207598e-04 9.99999088e-01 1.04637352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.43, Y:-7.65, Z:1.05 [[ 9.99803682e-01 -1.97263930e-02 1.86188095e-03 4.91429087e+02] [ 1.97266488e-02 9.99805404e-01 -1.19111683e-04 -7.65327693e+00] [-1.85916899e-03 1.55816971e-04 9.99998260e-01 1.04623649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.46, Y:-7.66, Z:1.05 [[ 9.99755851e-01 -2.20205884e-02 1.82518255e-03 4.91461296e+02] [ 2.20208386e-02 9.99757505e-01 -1.17090871e-04 -7.65827098e+00] [-1.82216154e-03 1.57254334e-04 9.99998327e-01 1.04634144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.49, Y:-7.66, Z:1.05 [[ 9.99727056e-01 -2.32908557e-02 1.83004274e-03 4.91493907e+02] [ 2.32911094e-02 9.99728718e-01 -1.17425734e-04 -7.66194291e+00] [-1.82681133e-03 1.60017409e-04 9.99998319e-01 1.04618556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.53, Y:-7.65, Z:1.04 [[ 9.99769783e-01 -1.97676818e-02 8.34382497e-03 4.91531112e+02] [ 2.00362402e-02 9.99240068e-01 -3.34340488e-02 -7.65443414e+00] [-7.67657059e-03 3.35935306e-02 9.99406096e-01 1.04267329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.56, Y:-7.68, Z:1.04 [[ 9.99673158e-01 -2.53203548e-02 3.52934673e-03 4.91555163e+02] [ 2.51901968e-02 9.99137152e-01 3.30212809e-02 -7.68486898e+00] [-4.36241199e-03 -3.29215833e-02 9.99448417e-01 1.03651920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.59, Y:-7.67, Z:1.05 [[ 9.99670911e-01 -2.56339055e-02 9.86332789e-04 4.91588366e+02] [ 2.56339794e-02 9.99671394e-01 -6.24231166e-05 -7.67210267e+00] [-9.84408526e-04 8.76862083e-05 9.99999512e-01 1.04515057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.805099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.62, Y:-7.68, Z:1.05 [[ 9.99647172e-01 -2.65617910e-02 -4.39486260e-05 4.91620897e+02] [ 2.65617912e-02 9.99647173e-01 3.85687861e-06 -7.67630421e+00] [ 4.38306739e-05 -5.02287202e-06 9.99999999e-01 1.04502581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.65, Y:-7.68, Z:1.04 [[ 9.99641434e-01 -2.67746499e-02 -3.48280802e-04 4.91653814e+02] [ 2.67746598e-02 9.99641494e-01 2.37028983e-05 -7.67933176e+00] [ 3.47521304e-04 -3.30194992e-05 9.99999939e-01 1.04481976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.69, Y:-7.68, Z:1.04 [[ 9.99638309e-01 -2.68772265e-02 -9.30772299e-04 4.91685854e+02] [ 2.68772955e-02 9.99638738e-01 6.15962262e-05 -7.68206347e+00] [ 9.28780511e-04 -8.65905895e-05 9.99999565e-01 1.04474106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.72, Y:-7.69, Z:1.04 [[ 9.99646899e-01 -2.65518630e-02 -1.03682478e-03 4.91719262e+02] [ 2.65519485e-02 9.99647433e-01 6.87894587e-05 -7.68501344e+00] [ 1.03463274e-03 -9.62948873e-05 9.99999460e-01 1.04453678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.75, Y:-7.69, Z:1.04 [[ 9.99664836e-01 -2.58803352e-02 -6.51613849e-04 4.91752586e+02] [ 2.58803691e-02 9.99665046e-01 4.36964916e-05 -7.68808285e+00] [ 6.50264709e-04 -6.05458530e-05 9.99999787e-01 1.04441877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.79, Y:-7.69, Z:1.04 [[ 9.99698748e-01 -2.45411312e-02 3.82441173e-04 4.91785539e+02] [ 2.45411422e-02 9.99698821e-01 -2.40906492e-05 -7.69199880e+00] [-3.81734778e-04 3.34689351e-05 9.99999927e-01 1.04417012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.82, Y:-7.69, Z:1.04 [[ 9.99732916e-01 -2.30945060e-02 8.60957453e-04 4.91818661e+02] [ 2.30945624e-02 9.99733283e-01 -5.55765151e-05 -7.69484987e+00] [-8.59444310e-04 7.54451071e-05 9.99999628e-01 1.04404943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.85, Y:-7.70, Z:1.04 [[ 9.99768660e-01 -2.14729870e-02 1.23976222e-03 4.91850336e+02] [ 2.14731036e-02 9.99769423e-01 -8.07683882e-05 -7.69739626e+00] [-1.23774203e-03 1.07371246e-04 9.99999228e-01 1.04376505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.88, Y:-7.70, Z:1.04 [[ 9.99838149e-01 -1.79394988e-02 1.35993211e-03 4.91881935e+02] [ 1.79396361e-02 9.99839068e-01 -8.88109820e-05 -7.70010074e+00] [-1.35812003e-03 1.13193295e-04 9.99999071e-01 1.04364114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.91, Y:-7.70, Z:1.04 [[ 9.99869367e-01 -1.60956228e-02 1.47657784e-03 4.91914066e+02] [ 1.60957832e-02 9.99870450e-01 -9.67800702e-05 -7.70255536e+00] [-1.47482882e-03 1.20534104e-04 9.99998905e-01 1.04324799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.95, Y:-7.71, Z:1.04 [[ 9.99898205e-01 -1.41761454e-02 1.61742429e-03 4.91946439e+02] [ 1.41763356e-02 9.99899505e-01 -1.06197882e-04 -7.70510091e+00] [-1.61575627e-03 1.29116221e-04 9.99998686e-01 1.04291745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.98, Y:-7.71, Z:1.04 [[ 9.99949887e-01 -9.89827910e-03 1.49890981e-03 4.91977430e+02] [ 9.89843798e-03 9.99951004e-01 -9.86190378e-05 -7.70849484e+00] [-1.49786021e-03 1.13450962e-04 9.99998872e-01 1.04230753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.01, Y:-7.71, Z:1.04 [[ 9.99967133e-01 -7.93368779e-03 1.67037785e-03 4.92009521e+02] [ 7.93388240e-03 9.99968520e-01 -1.09909977e-04 -7.71095156e+00] [-1.66945327e-03 1.23158946e-04 9.99998599e-01 1.04198982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.04, Y:-7.71, Z:1.04 [[ 9.99984662e-01 -5.35088185e-03 1.42937479e-03 4.92040260e+02] [ 5.35102194e-03 9.99985679e-01 -9.42026944e-05 -7.71342576e+00] [-1.42885025e-03 1.01849865e-04 9.99998974e-01 1.04184564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.07, Y:-7.72, Z:1.04 [[ 9.99995367e-01 -2.65314881e-03 1.49244062e-03 4.92072850e+02] [ 2.65329852e-03 9.99996475e-01 -9.83392323e-05 -7.71567080e+00] [-1.49217445e-03 1.02298667e-04 9.99998881e-01 1.04184548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.10, Y:-7.72, Z:1.04 [[ 9.99993447e-01 3.55554111e-03 6.81770236e-04 4.92103787e+02] [-3.55551132e-03 9.99993678e-01 -4.49096198e-05 -7.71716590e+00] [-6.81925604e-04 4.24852837e-05 9.99999767e-01 1.04244947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.13, Y:-7.72, Z:1.04 [[ 9.99974551e-01 7.11935016e-03 4.60390596e-04 4.92133322e+02] [-7.11933677e-03 9.99974657e-01 -3.07046293e-05 -7.71899494e+00] [-4.60597526e-04 2.74261722e-05 9.99999894e-01 1.04229636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.16, Y:-7.72, Z:1.04 [[ 9.99943716e-01 1.06091972e-02 1.02579325e-04 4.92161702e+02] [-1.06091963e-02 9.99943721e-01 -9.01507753e-06 -7.72081340e+00] [-1.02669195e-04 7.92628593e-06 9.99999995e-01 1.04237064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.19, Y:-7.72, Z:1.04 [[ 9.99894337e-01 1.45361825e-02 1.16334956e-04 4.92189592e+02] [-1.45361814e-02 9.99894344e-01 -1.02418383e-05 -7.72267750e+00] [-1.16471542e-04 8.54969015e-06 9.99999993e-01 1.04239964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.375099893 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:492.22, Y:-7.72, Z:1.04 [[ 9.99838700e-01 1.79024123e-02 -1.44133027e-03 4.92217996e+02] [-1.79105383e-02 9.99822552e-01 -5.83756293e-03 -7.72135522e+00] [ 1.33656805e-03 5.86243634e-03 9.99981923e-01 1.04455875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.25, Y:-7.73, Z:1.04 [[ 9.99695957e-01 2.46211658e-02 1.33832879e-03 4.92245721e+02] [-2.46282068e-02 9.99681400e-01 5.52728784e-03 -7.72861764e+00] [-1.20181413e-03 -5.55856795e-03 9.99983829e-01 1.04259688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.27, Y:-7.73, Z:1.04 [[ 9.99613709e-01 2.77779879e-02 9.03039907e-04 4.92274127e+02] [-2.77779452e-02 9.99614117e-01 -5.97334529e-05 -7.72793989e+00] [-9.04350714e-04 3.46257854e-05 9.99999590e-01 1.04463978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.30, Y:-7.73, Z:1.05 [[ 9.99538166e-01 3.03734009e-02 9.54130599e-04 4.92302027e+02] [-3.03733545e-02 9.99538621e-01 -6.31316026e-05 -7.72991064e+00] [-9.55607905e-04 3.41222994e-05 9.99999543e-01 1.04509922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.33, Y:-7.73, Z:1.05 [[ 9.99453693e-01 3.30259783e-02 1.26473842e-03 4.92328429e+02] [-3.30258992e-02 9.99454493e-01 -8.33602988e-05 -7.73198564e+00] [-1.26680155e-03 4.15456349e-05 9.99999197e-01 1.04541574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.36, Y:-7.73, Z:1.05 [[ 9.99392376e-01 3.48447182e-02 8.51646461e-04 4.92356093e+02] [-3.48446829e-02 9.99392738e-01 -5.62211442e-05 -7.73440057e+00] [-8.53088298e-04 2.65116320e-05 9.99999636e-01 1.04571091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.555099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.38, Y:-7.74, Z:1.05 [[ 9.99290439e-01 3.76641435e-02 -1.77341067e-04 4.92383808e+02] [-3.76641422e-02 9.99290454e-01 1.05607829e-05 -7.73841799e+00] [ 1.77612998e-04 -3.87389018e-06 9.99999984e-01 1.04570378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.41, Y:-7.74, Z:1.05 [[ 9.99258604e-01 3.84965245e-02 -5.10111161e-04 4.92411334e+02] [-3.84965131e-02 9.99258734e-01 3.20672518e-05 -7.74145446e+00] [ 5.10967511e-04 -1.24059763e-05 9.99999869e-01 1.04534302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.44, Y:-7.74, Z:1.05 [[ 9.99240533e-01 3.89485116e-02 -1.17068518e-03 4.92438694e+02] [-3.89484508e-02 9.99241218e-01 7.46909259e-05 -7.74412203e+00] [ 1.17270599e-03 -2.90378265e-05 9.99999312e-01 1.04523540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.47, Y:-7.75, Z:1.05 [[ 9.99234602e-01 3.90717827e-02 -1.89874106e-03 4.92466077e+02] [-3.90716223e-02 9.99236405e-01 1.21504847e-04 -7.74818447e+00] [ 1.90203860e-03 -4.72249538e-05 9.99998190e-01 1.04574676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.49, Y:-7.75, Z:1.05 [[ 9.99246629e-01 3.87714196e-02 -1.71825449e-03 4.92493824e+02] [-3.87712883e-02 9.99248105e-01 1.09673777e-04 -7.75132853e+00] [ 1.72121475e-03 -4.29722117e-05 9.99998518e-01 1.04561319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.52, Y:-7.75, Z:1.05 [[ 9.99286591e-01 3.76981343e-02 -2.27137263e-03 4.92521928e+02] [-3.76979019e-02 9.99289171e-01 1.45041122e-04 -7.75425589e+00] [ 2.27522585e-03 -5.93116661e-05 9.99997410e-01 1.04566208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.55, Y:-7.76, Z:1.05 [[ 9.99324081e-01 3.66890312e-02 -2.30128137e-03 4.92548283e+02] [-3.66887910e-02 9.99326729e-01 1.46522668e-04 -7.75711111e+00] [ 2.30510776e-03 -6.19923996e-05 9.99997341e-01 1.04563024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.57, Y:-7.76, Z:1.05 [[ 9.99366080e-01 3.55179793e-02 -2.43127983e-03 4.92574890e+02] [-3.55177095e-02 9.99369035e-01 1.54073946e-04 -7.76005003e+00] [ 2.43521818e-03 -6.76227844e-05 9.99997033e-01 1.04568893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.60, Y:-7.76, Z:1.05 [[ 9.99436895e-01 3.34630825e-02 -2.47282234e-03 4.92602650e+02] [-3.34627963e-02 9.99439951e-01 1.57013949e-04 -7.76411607e+00] [ 2.47669161e-03 -7.41779830e-05 9.99996930e-01 1.04547458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.63, Y:-7.77, Z:1.05 [[ 9.99465144e-01 3.26301402e-02 -2.16803282e-03 4.92630401e+02] [-3.26299191e-02 9.99467493e-01 1.37296786e-04 -7.76699403e+00] [ 2.17135834e-03 -6.64806164e-05 9.99997640e-01 1.04544475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.66, Y:-7.77, Z:1.05 [[ 9.99491973e-01 3.18234748e-02 -1.74999982e-03 4.92658130e+02] [-3.18233302e-02 9.99493503e-01 1.10456828e-04 -7.76950684e+00] [ 1.75262857e-03 -5.47098907e-05 9.99998463e-01 1.04509254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.69, Y:-7.77, Z:1.05 [[ 9.99511822e-01 3.11983155e-02 -1.66802419e-03 4.92685196e+02] [-3.11981839e-02 9.99513213e-01 1.04881721e-04 -7.77199794e+00] [ 1.67048435e-03 -5.27911949e-05 9.99998603e-01 1.04506166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.71, Y:-7.78, Z:1.04 [[ 9.99544915e-01 3.01216338e-02 -1.62807270e-03 4.92712608e+02] [-3.01215071e-02 9.99546239e-01 1.02302443e-04 -7.77543926e+00] [ 1.63041546e-03 -5.32158835e-05 9.99998669e-01 1.04463427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.74, Y:-7.78, Z:1.04 [[ 9.99552545e-01 2.98411693e-02 -2.05298303e-03 4.92739152e+02] [-2.98409675e-02 9.99554651e-01 1.28843830e-04 -7.77785168e+00] [ 2.05591358e-03 -6.75231784e-05 9.99997884e-01 1.04441380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.77, Y:-7.78, Z:1.04 [[ 9.99563404e-01 2.94589810e-02 -2.27382638e-03 4.92767415e+02] [-2.94587324e-02 9.99565987e-01 1.42734570e-04 -7.78044449e+00] [ 2.27704432e-03 -7.56882099e-05 9.99997405e-01 1.04414172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.80, Y:-7.78, Z:1.04 [[ 9.99582260e-01 2.88329584e-02 -1.99150266e-03 4.92795201e+02] [-2.88327672e-02 9.99584242e-01 1.24673239e-04 -7.78298162e+00] [ 1.99426938e-03 -6.72006255e-05 9.99998009e-01 1.04368850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.82, Y:-7.79, Z:1.04 [[ 9.99596701e-01 2.83200026e-02 -2.10085535e-03 4.92822055e+02] [-2.83197903e-02 9.99598906e-01 1.30760109e-04 -7.78553821e+00] [ 2.10371584e-03 -7.12115904e-05 9.99997785e-01 1.04358300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.85, Y:-7.79, Z:1.04 [[ 9.99606992e-01 2.79464795e-02 -2.20374047e-03 4.92850355e+02] [-2.79462442e-02 9.99609418e-01 1.37498123e-04 -7.78893658e+00] [ 2.20672232e-03 -7.58578159e-05 9.99997562e-01 1.04420142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.88, Y:-7.79, Z:1.04 [[ 9.99603628e-01 2.80871742e-02 -1.92305776e-03 4.92878192e+02] [-2.80869960e-02 9.99605475e-01 1.19632844e-04 -7.79135658e+00] [ 1.92565922e-03 -6.55725092e-05 9.99998144e-01 1.04423315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.91, Y:-7.79, Z:1.04 [[ 9.99585101e-01 2.87481845e-02 -1.77990416e-03 4.92905784e+02] [-2.87480333e-02 9.99586684e-01 1.10471314e-04 -7.79373771e+00] [ 1.78234434e-03 -5.92567353e-05 9.99998410e-01 1.04390919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.93, Y:-7.80, Z:1.04 [[ 9.99558890e-01 2.96502678e-02 -1.69891640e-03 4.92932553e+02] [-2.96501320e-02 9.99560333e-01 1.05041792e-04 -7.79568711e+00] [ 1.70128396e-03 -5.46223612e-05 9.99998551e-01 1.04385612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.96, Y:-7.80, Z:1.04 [[ 9.99450578e-01 3.31100872e-02 -1.50493588e-03 4.92959310e+02] [-3.31099851e-02 9.99451710e-01 9.27453850e-05 -7.79775512e+00] [ 1.50718154e-03 -4.28660242e-05 9.99998863e-01 1.04356593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.99, Y:-7.80, Z:1.04 [[ 9.99387387e-01 3.49524819e-02 -1.78169816e-03 4.92987483e+02] [-3.49523413e-02 9.99388974e-01 1.09974891e-04 -7.79929171e+00] [ 1.78445339e-03 -4.76329965e-05 9.99998407e-01 1.04373293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.01, Y:-7.80, Z:1.04 [[ 9.99315474e-01 3.69360493e-02 -2.07632814e-03 4.93014966e+02] [-3.69358629e-02 9.99317630e-01 1.28053651e-04 -7.80084367e+00] [ 2.07964111e-03 -5.12750237e-05 9.99997836e-01 1.04364626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.04, Y:-7.80, Z:1.04 [[ 9.99175225e-01 4.05124249e-02 -2.75922679e-03 4.93042137e+02] [-4.05121119e-02 9.99179033e-01 1.69267913e-04 -7.80215961e+00] [ 2.76381901e-03 -5.73462009e-05 9.99996179e-01 1.04375393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.305099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.07, Y:-7.80, Z:1.04 [[ 9.99117915e-01 4.18945894e-02 -2.86984434e-03 4.93070098e+02] [-4.18942552e-02 9.99122035e-01 1.76511624e-04 -7.80385016e+00] [ 2.87471960e-03 -5.61259348e-05 9.99995866e-01 1.04338224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.10, Y:-7.81, Z:1.04 [[ 9.99076246e-01 4.28672572e-02 -3.00868523e-03 4.93097729e+02] [-4.28668951e-02 9.99080775e-01 1.84755666e-04 -7.80550464e+00] [ 3.01383954e-03 -5.56120034e-05 9.99995457e-01 1.04348485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.12, Y:-7.81, Z:1.04 [[ 9.99025610e-01 4.40890978e-02 -1.99547676e-03 4.93124840e+02] [-4.40889424e-02 9.99027602e-01 1.21806126e-04 -7.80809710e+00] [ 1.99890668e-03 -3.37089790e-05 9.99998002e-01 1.04376277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.15, Y:-7.81, Z:1.04 [[ 9.99031181e-01 4.39930873e-02 -1.14346525e-03 4.93152669e+02] [-4.39930367e-02 9.99031835e-01 6.93676006e-05 -7.81039996e+00] [ 1.14540989e-03 -1.89958871e-05 9.99999344e-01 1.04375529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.18, Y:-7.81, Z:1.04 [[ 9.99035117e-01 4.39036150e-02 -1.14346185e-03 4.93181094e+02] [-4.39035643e-02 9.99035771e-01 6.94223361e-05 -7.81206045e+00] [ 1.14540718e-03 -1.91533009e-05 9.99999344e-01 1.04350430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.21, Y:-7.81, Z:1.04 [[ 9.99058742e-01 4.33763065e-02 -3.55847861e-04 4.93208571e+02] [-4.33763018e-02 9.99058805e-01 2.08672167e-05 -7.81427706e+00] [ 3.56418082e-04 -5.41221102e-06 9.99999936e-01 1.04314708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.24, Y:-7.82, Z:1.04 [[ 9.99086732e-01 4.27281745e-02 -7.18094515e-05 4.93235632e+02] [-4.27281744e-02 9.99086735e-01 3.29824600e-06 -7.81681395e+00] [ 7.18847982e-05 -2.26947048e-07 9.99999997e-01 1.04322630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.26, Y:-7.82, Z:1.04 [[ 9.99197028e-01 4.00641208e-02 4.07387032e-04 4.93262938e+02] [-4.00641136e-02 9.99197111e-01 -2.58069761e-05 -7.82077986e+00] [-4.08093880e-04 9.46465344e-06 9.99999917e-01 1.04248759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.29, Y:-7.82, Z:1.04 [[ 9.99277335e-01 3.80035564e-02 7.32479952e-04 4.93290323e+02] [-3.80035332e-02 9.99277604e-01 -4.55842681e-05 -7.82357038e+00] [-7.33683176e-04 1.77144998e-05 9.99999731e-01 1.04164656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.32, Y:-7.83, Z:1.04 [[ 9.99337576e-01 3.63856673e-02 7.01219954e-04 4.93317959e+02] [-3.63856456e-02 9.99337822e-01 -4.36108085e-05 -7.82675914e+00] [-7.02342430e-04 1.80675789e-05 9.99999753e-01 1.04097959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.34, Y:-7.83, Z:1.04 [[ 9.99502249e-01 3.15446598e-02 4.34106008e-04 4.93344271e+02] [-3.15446507e-02 9.99502343e-01 -2.76886923e-05 -7.83036322e+00] [-4.34763403e-04 1.39811879e-05 9.99999905e-01 1.04078930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.37, Y:-7.83, Z:1.04 [[ 9.99505015e-01 3.14568972e-02 4.34142440e-04 4.93372698e+02] [-3.14568884e-02 9.99505109e-01 -2.70890334e-05 -7.83199851e+00] [-4.34779724e-04 1.34188545e-05 9.99999905e-01 1.04053822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.40, Y:-7.84, Z:1.04 [[ 9.99655209e-01 2.62523541e-02 5.25584841e-04 4.93400432e+02] [-2.62523406e-02 9.99655347e-01 -3.25798302e-05 -7.83580718e+00] [-5.26258994e-04 1.87707647e-05 9.99999861e-01 1.04027771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.43, Y:-7.84, Z:1.04 [[ 9.99728917e-01 2.32717633e-02 7.19515120e-04 4.93428480e+02] [-2.32717374e-02 9.99729175e-01 -4.42479113e-05 -7.83856066e+00] [-7.20349984e-04 2.74915495e-05 9.99999740e-01 1.03994367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.46, Y:-7.84, Z:1.04 [[ 9.99795457e-01 2.02077443e-02 8.31324514e-04 4.93457284e+02] [-2.02077090e-02 9.99795802e-01 -5.08091719e-05 -7.84122504e+00] [-8.32181498e-04 3.39996153e-05 9.99999653e-01 1.03966154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.48, Y:-7.84, Z:1.04 [[ 9.99896587e-01 1.43708589e-02 5.41293947e-04 4.93484860e+02] [-1.43708429e-02 9.99896734e-01 -3.34037223e-05 -7.84448241e+00] [-5.41718090e-04 2.56214176e-05 9.99999853e-01 1.03943740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.51, Y:-7.85, Z:1.04 [[ 9.99934842e-01 1.14117447e-02 2.91073727e-04 4.93513827e+02] [-1.14117399e-02 9.99934884e-01 -1.81485897e-05 -7.84685597e+00] [-2.91261881e-04 1.48257495e-05 9.99999957e-01 1.03946375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.54, Y:-7.85, Z:1.04 [[ 9.99961953e-01 8.70418857e-03 5.73878335e-04 4.93542340e+02] [-8.70416984e-03 9.99962117e-01 -3.51392065e-05 -7.84928947e+00] [-5.74162453e-04 3.01427351e-05 9.99999835e-01 1.03882294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.57, Y:-7.85, Z:1.04 [[ 9.99981469e-01 6.06163084e-03 5.63919732e-04 4.93571049e+02] [-6.06161234e-03 9.99981628e-01 -3.45067513e-05 -7.85133698e+00] [-5.64118539e-04 3.10878490e-05 9.99999840e-01 1.03881680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.60, Y:-7.85, Z:1.04 [[ 9.99997755e-01 2.10095874e-03 2.75149715e-04 4.93601067e+02] [-2.10095418e-03 9.99997793e-01 -1.68407487e-05 -7.85341414e+00] [-2.75184490e-04 1.62626340e-05 9.99999962e-01 1.03883327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.63, Y:-7.86, Z:1.04 [[ 9.99999902e-01 4.42853138e-04 -2.21478976e-05 4.93631310e+02] [-4.42853108e-04 9.99999902e-01 1.32948237e-06 -7.85506355e+00] [ 2.21484840e-05 -1.31967398e-06 1.00000000e+00 1.03869116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.66, Y:-7.86, Z:1.04 [[ 9.99999688e-01 -5.99529567e-04 -5.14436235e-04 4.93660556e+02] [ 5.99545630e-04 9.99999820e-01 3.10701329e-05 -7.85641556e+00] [ 5.14417514e-04 -3.13785512e-05 9.99999867e-01 1.03874552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.69, Y:-7.86, Z:1.04 [[ 9.99998871e-01 -1.35323661e-03 -6.53178668e-04 4.93691521e+02] [ 1.35326251e-03 9.99999084e-01 3.92219915e-05 -7.85784383e+00] [ 6.53124993e-04 -4.01058695e-05 9.99999786e-01 1.03873722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.72, Y:-7.86, Z:1.04 [[ 9.99997946e-01 -1.92235025e-03 -6.41879994e-04 4.93722029e+02] [ 1.92237539e-03 9.99998152e-01 3.85435301e-05 -7.85880873e+00] [ 6.41804713e-04 -3.97773852e-05 9.99999793e-01 1.03851758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.75, Y:-7.86, Z:1.04 [[ 9.99997441e-01 -1.93072407e-03 -1.17927387e-03 4.93752119e+02] [ 1.93080891e-03 9.99998133e-01 7.08128908e-05 -7.85887514e+00] [ 1.17913495e-03 -7.30896620e-05 9.99999302e-01 1.03875009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.055099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.78, Y:-7.86, Z:1.04 [[ 9.99998274e-01 -1.66089836e-03 -8.32950482e-04 4.93781903e+02] [ 1.66094044e-03 9.99998619e-01 4.98399449e-05 -7.85991896e+00] [ 8.32866552e-04 -5.12233400e-05 9.99999652e-01 1.03864950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.81, Y:-7.86, Z:1.04 [[ 9.99998787e-01 -1.24906690e-03 -9.30950921e-04 4.93812188e+02] [ 1.24911947e-03 9.99999218e-01 5.58845065e-05 -7.86057629e+00] [ 9.30880389e-04 -5.70473076e-05 9.99999565e-01 1.03855981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.84, Y:-7.86, Z:1.04 [[ 9.99999753e-01 -5.71627595e-04 -4.09300484e-04 4.93842703e+02] [ 5.71637700e-04 9.99999836e-01 2.45700982e-05 -7.86141394e+00] [ 4.09286372e-04 -2.48040637e-05 9.99999916e-01 1.03836280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.87, Y:-7.86, Z:1.04 [[ 9.99999876e-01 2.74638541e-04 -4.15670718e-04 4.93873205e+02] [-2.74628192e-04 9.99999962e-01 2.49525001e-05 -7.86185291e+00] [ 4.15677555e-04 -2.48383421e-05 9.99999913e-01 1.03800381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.90, Y:-7.86, Z:1.04 [[ 9.99995913e-01 2.66878492e-03 -1.02591503e-03 4.93903408e+02] [-2.66872314e-03 9.99996437e-01 6.15851533e-05 -7.86001015e+00] [ 1.02607573e-03 -5.88470184e-05 9.99999472e-01 1.03768146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.93, Y:-7.86, Z:1.04 [[ 9.99991080e-01 3.95419132e-03 -1.48448128e-03 4.93932473e+02] [-3.95406443e-03 9.99992179e-01 8.83986718e-05 -7.85972575e+00] [ 1.48481921e-03 -8.25281487e-05 9.99998894e-01 1.03746260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.96, Y:-7.86, Z:1.04 [[ 9.99984410e-01 5.35608469e-03 -1.57844104e-03 4.93960837e+02] [-5.35594612e-03 9.99985653e-01 9.19998002e-05 -7.85914294e+00] [ 1.57891115e-03 -8.35443208e-05 9.99998750e-01 1.03737807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.99, Y:-7.86, Z:1.04 [[ 9.99972161e-01 7.43260474e-03 -6.57835751e-04 4.93988562e+02] [-7.43258136e-03 9.99972377e-01 3.79822230e-05 -7.85573618e+00] [ 6.58099886e-04 -3.30917479e-05 9.99999783e-01 1.03855181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.02, Y:-7.85, Z:1.04 [[ 9.99965363e-01 8.27303273e-03 -9.11404793e-04 4.94017655e+02] [-8.27298730e-03 9.99965777e-01 5.35974826e-05 -7.85497649e+00] [ 9.11817016e-04 -4.60555859e-05 9.99999583e-01 1.03872585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.05, Y:-7.85, Z:1.04 [[ 9.99956036e-01 9.15671014e-03 -2.02019950e-03 4.94046874e+02] [-9.15648755e-03 9.99958071e-01 1.19407765e-04 -7.85430043e+00] [ 2.02120818e-03 -1.00904584e-04 9.99997952e-01 1.03816619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.07, Y:-7.85, Z:1.04 [[ 9.99945589e-01 9.90572148e-03 -3.27051778e-03 4.94074489e+02] [-9.90514253e-03 9.99950924e-01 1.93171020e-04 -7.85379684e+00] [ 3.27227077e-03 -1.60765564e-04 9.99994633e-01 1.03743328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.10, Y:-7.85, Z:1.04 [[ 9.99939616e-01 1.04440992e-02 -3.41828330e-03 4.94103655e+02] [-1.04434698e-02 9.99945445e-01 2.01901324e-04 -7.85316883e+00] [ 3.42020550e-03 -1.66190394e-04 9.99994137e-01 1.03724128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.13, Y:-7.85, Z:1.04 [[ 9.99912807e-01 1.30983586e-02 -1.67684784e-03 4.94130411e+02] [-1.30982126e-02 9.99914210e-01 9.80286020e-05 -7.85077358e+00] [ 1.67798799e-03 -7.60563451e-05 9.99998589e-01 1.03680519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.16, Y:-7.85, Z:1.04 [[ 9.99895392e-01 1.43853324e-02 -1.50578330e-03 4.94159650e+02] [-1.43852157e-02 9.99896524e-01 8.82759747e-05 -7.85010622e+00] [ 1.50689736e-03 -6.66057228e-05 9.99998862e-01 1.03688542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.19, Y:-7.85, Z:1.04 [[ 9.99866265e-01 1.62765235e-02 -1.58969388e-03 4.94187622e+02] [-1.62763963e-02 9.99867526e-01 9.29325325e-05 -7.84946058e+00] [ 1.59099591e-03 -6.70456165e-05 9.99998732e-01 1.03703208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.22, Y:-7.85, Z:1.04 [[ 9.99824146e-01 1.86091681e-02 -2.31880273e-03 4.94215349e+02] [-1.86089033e-02 9.99826830e-01 1.35727148e-04 -7.84867432e+00] [ 2.32092695e-03 -9.25529041e-05 9.99997302e-01 1.03725063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.24, Y:-7.85, Z:1.04 [[ 9.99703598e-01 2.41136924e-02 -3.35355077e-03 4.94243535e+02] [-2.41131774e-02 9.99709216e-01 1.93939232e-04 -7.84585053e+00] [ 3.35725220e-03 -1.13016984e-04 9.99994358e-01 1.03701351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.27, Y:-7.84, Z:1.04 [[ 9.99627883e-01 2.69957396e-02 -3.91471282e-03 4.94271686e+02] [-2.69950537e-02 9.99635541e-01 2.27970837e-04 -7.84497206e+00] [ 3.91944031e-03 -1.22208123e-04 9.99992311e-01 1.03703225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.30, Y:-7.84, Z:1.04 [[ 9.99548325e-01 2.97589455e-02 -4.18930449e-03 4.94299344e+02] [-2.97581859e-02 9.99557097e-01 2.43551640e-04 -7.84372987e+00] [ 4.19469688e-03 -1.18775532e-04 9.99991195e-01 1.03740149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.33, Y:-7.84, Z:1.04 [[ 9.99450780e-01 3.28420146e-02 -4.42051083e-03 4.94326036e+02] [-3.28412019e-02 9.99460549e-01 2.56332949e-04 -7.84275778e+00] [ 4.42654467e-03 -1.11017277e-04 9.99990197e-01 1.03754906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.35, Y:-7.84, Z:1.04 [[ 9.99264728e-01 3.81864522e-02 -3.43478853e-03 4.94354127e+02] [-3.81859946e-02 9.99270629e-01 1.98720323e-04 -7.84036385e+00] [ 3.43987172e-03 -6.74133929e-05 9.99994081e-01 1.03803540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.38, Y:-7.84, Z:1.04 [[ 9.99183658e-01 4.02845079e-02 -3.02911834e-03 4.94381224e+02] [-4.02841636e-02 9.99188248e-01 1.74611039e-04 -7.84027753e+00] [ 3.03369357e-03 -5.24429978e-05 9.99995397e-01 1.03855098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.41, Y:-7.84, Z:1.04 [[ 9.99116660e-01 4.19643326e-02 -2.21223651e-03 4.94408990e+02] [-4.19641539e-02 9.99119109e-01 1.27150146e-04 -7.84053290e+00] [ 2.21562355e-03 -3.42031961e-05 9.99997545e-01 1.03840352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.44, Y:-7.84, Z:1.04 [[ 9.99068722e-01 4.31301940e-02 -1.21469850e-03 4.94437398e+02] [-4.31301417e-02 9.99069460e-01 6.92618898e-05 -7.84109000e+00] [ 1.21655545e-03 -1.68072694e-05 9.99999260e-01 1.03811832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.46, Y:-7.84, Z:1.04 [[ 9.99038105e-01 4.38504399e-02 5.80941704e-05 4.94464884e+02] [-4.38504398e-02 9.99038107e-01 -4.29928697e-06 -7.84146173e+00] [-5.82268158e-05 1.74769659e-06 9.99999998e-01 1.03758170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.805099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.49, Y:-7.84, Z:1.04 [[ 9.99067937e-01 4.31640356e-02 3.50379576e-04 4.94491664e+02] [-4.31640308e-02 9.99067999e-01 -2.12648088e-05 -7.84256706e+00] [-3.50970897e-04 6.12119387e-06 9.99999938e-01 1.03680132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.52, Y:-7.84, Z:1.04 [[ 9.99126342e-01 4.17915909e-02 1.27462582e-04 4.94519644e+02] [-4.17915902e-02 9.99126350e-01 -8.25731900e-06 -7.84367602e+00] [-1.27696311e-04 2.92324096e-06 9.99999992e-01 1.03658588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.55, Y:-7.85, Z:1.04 [[ 9.99193815e-01 4.01459176e-02 -1.58394790e-04 4.94547135e+02] [-4.01459168e-02 9.99193828e-01 8.15551987e-06 -7.84514298e+00] [ 1.58594507e-04 -1.79004096e-06 9.99999987e-01 1.03568667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.58, Y:-7.85, Z:1.03 [[ 9.99379808e-01 3.52112378e-02 -4.10375948e-04 4.94575044e+02] [-3.52112315e-02 9.99379892e-01 2.25548496e-05 -7.84731782e+00] [ 4.10915655e-04 -8.09101870e-06 9.99999916e-01 1.03419236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.60, Y:-7.85, Z:1.03 [[ 9.99479003e-01 3.22738973e-02 -3.42644214e-04 4.94602996e+02] [-3.22738928e-02 9.99479062e-01 1.86476787e-05 -7.84942990e+00] [ 3.43067551e-04 -7.57950065e-06 9.99999941e-01 1.03339482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.63, Y:-7.85, Z:1.03 [[ 9.99566236e-01 2.94501011e-02 1.77225121e-04 4.94631339e+02] [-2.94500996e-02 9.99566252e-01 -1.10537332e-05 -7.85157202e+00] [-1.77473783e-04 5.82964099e-06 9.99999984e-01 1.03275962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.66, Y:-7.85, Z:1.03 [[ 9.99644702e-01 2.66067536e-02 1.59700375e-03 4.94657961e+02] [-2.66066405e-02 9.99645976e-01 -9.19724803e-05 -7.85379325e+00] [-1.59888547e-03 4.94488978e-05 9.99998721e-01 1.03178237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.69, Y:-7.86, Z:1.03 [[ 9.99751613e-01 2.20121253e-02 3.48992788e-03 4.94685387e+02] [-2.20115640e-02 9.99757696e-01 -1.99169638e-04 -7.85672777e+00] [-3.49346640e-03 1.22301396e-04 9.99993890e-01 1.03133981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.71, Y:-7.86, Z:1.03 [[ 9.99790785e-01 1.99695309e-02 4.42763048e-03 4.94713200e+02] [-1.99686110e-02 9.99800576e-01 -2.51862376e-04 -7.85859226e+00] [-4.43177708e-03 1.63396052e-04 9.99990166e-01 1.03101081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.74, Y:-7.86, Z:1.03 [[ 9.99837721e-01 1.74143669e-02 4.61220920e-03 4.94741950e+02] [-1.74133440e-02 9.99848342e-01 -2.61842717e-04 -7.86086574e+00] [-4.61606955e-03 1.81486240e-04 9.99989329e-01 1.02985815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.77, Y:-7.86, Z:1.03 [[ 9.99851378e-01 1.65613028e-02 4.79018985e-03 4.94769210e+02] [-1.65601912e-02 9.99862834e-01 -2.71641449e-04 -7.86286286e+00] [-4.79403154e-03 1.92274617e-04 9.99988490e-01 1.02881206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.80, Y:-7.86, Z:1.03 [[ 9.99863910e-01 1.58319866e-02 4.63792625e-03 4.94797475e+02] [-1.58309389e-02 9.99874648e-01 -2.62531768e-04 -7.86475798e+00] [-4.64150128e-03 1.89073313e-04 9.99989210e-01 1.02792378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.83, Y:-7.87, Z:1.03 [[ 9.99871221e-01 1.52956273e-02 4.85640379e-03 4.94825976e+02] [-1.52944741e-02 9.99882995e-01 -2.74515824e-04 -7.86654180e+00] [-4.86003446e-03 2.00204330e-04 9.99988170e-01 1.02706534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.85, Y:-7.87, Z:1.03 [[ 9.99879298e-01 1.47278058e-02 4.94785820e-03 4.94854621e+02] [-1.47266039e-02 9.99891519e-01 -2.79247382e-04 -7.86857589e+00] [-4.95143415e-03 2.06348528e-04 9.99987720e-01 1.02612564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.88, Y:-7.87, Z:1.03 [[ 9.99899638e-01 1.32848950e-02 4.92201689e-03 4.94883761e+02] [-1.32836892e-02 9.99911729e-01 -2.77593025e-04 -7.87020193e+00] [-4.92527021e-03 2.12182623e-04 9.99987848e-01 1.02585471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.91, Y:-7.87, Z:1.03 [[ 9.99912947e-01 1.22091720e-02 5.00337397e-03 4.94912547e+02] [-1.22079147e-02 9.99925441e-01 -2.81751789e-04 -7.87159432e+00] [-5.00644088e-03 2.20646500e-04 9.99987443e-01 1.02565931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.94, Y:-7.87, Z:1.03 [[ 9.99963043e-01 7.93690206e-03 3.30414622e-03 4.94941859e+02] [-7.93633082e-03 9.99968490e-01 -1.85962596e-04 -7.87283704e+00] [-3.30551807e-03 1.59732926e-04 9.99994524e-01 1.02555537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.97, Y:-7.87, Z:1.03 [[ 9.99976757e-01 6.27059517e-03 2.67665840e-03 4.94971248e+02] [-6.27021474e-03 9.99980331e-01 -1.50496572e-04 -7.87466010e+00] [-2.67754946e-03 1.33709851e-04 9.99996406e-01 1.02525059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.00, Y:-7.88, Z:1.02 [[ 9.99976870e-01 6.25263176e-03 2.67666122e-03 4.95001362e+02] [-6.25225140e-03 9.99980443e-01 -1.50446370e-04 -7.87632029e+00] [-2.67754956e-03 1.33707732e-04 9.99996406e-01 1.02498492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.03, Y:-7.88, Z:1.02 [[ 9.99987688e-01 4.49904766e-03 2.09357850e-03 4.95032129e+02] [-4.49881139e-03 9.99989873e-01 -1.17549265e-04 -7.87810380e+00] [-2.09408616e-03 1.08129202e-04 9.99997802e-01 1.02484363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.06, Y:-7.88, Z:1.02 [[ 9.99987768e-01 4.48107605e-03 2.09357174e-03 4.95062243e+02] [-4.48083949e-03 9.99989954e-01 -1.17669671e-04 -7.87976340e+00] [-2.09407800e-03 1.08287273e-04 9.99997802e-01 1.02457801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.09, Y:-7.88, Z:1.02 [[ 9.99987849e-01 4.46310305e-03 2.09357386e-03 4.95092356e+02] [-4.46286653e-03 9.99990034e-01 -1.17632043e-04 -7.88142252e+00] [-2.09407800e-03 1.08287273e-04 9.99997802e-01 1.02431235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.12, Y:-7.88, Z:1.02 [[ 9.99993497e-01 2.94294836e-03 2.08461995e-03 4.95123078e+02] [-2.94271090e-03 9.99995663e-01 -1.16971093e-04 -7.88296116e+00] [-2.08495515e-03 1.10835899e-04 9.99997820e-01 1.02398529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.15, Y:-7.88, Z:1.02 [[ 9.99996685e-01 1.40485673e-03 2.15791936e-03 4.95153963e+02] [-1.40459871e-03 9.99999006e-01 -1.21084031e-04 -7.88425688e+00] [-2.15808732e-03 1.18052619e-04 9.99997664e-01 1.02379165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.18, Y:-7.88, Z:1.02 [[ 9.99997406e-01 -3.59494660e-04 2.24938849e-03 4.95184085e+02] [ 3.59778229e-04 9.99999927e-01 -1.25661439e-04 -7.88473960e+00] [-2.24934316e-03 1.26470394e-04 9.99997462e-01 1.02429204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.555099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.22, Y:-7.89, Z:1.02 [[ 9.99996777e-01 -8.90670970e-04 2.37733720e-03 4.95215918e+02] [ 8.90990526e-04 9.99999594e-01 -1.33361798e-04 -7.88566512e+00] [-2.37721745e-03 1.35479553e-04 9.99997165e-01 1.02449454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.25, Y:-7.89, Z:1.02 [[ 9.99994372e-01 -1.41298569e-03 3.04302087e-03 4.95246830e+02] [ 1.41351229e-03 9.99998986e-01 -1.70908799e-04 -7.88583557e+00] [-3.04277630e-03 1.75209185e-04 9.99995355e-01 1.02487555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.28, Y:-7.89, Z:1.02 [[ 9.99993910e-01 -1.50859954e-03 3.14716531e-03 4.95277801e+02] [ 1.50916335e-03 9.99998846e-01 -1.76781442e-04 -7.88708562e+00] [-3.14689499e-03 1.81529952e-04 9.99995032e-01 1.02487964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.31, Y:-7.89, Z:1.02 [[ 9.99991465e-01 -1.49163546e-03 3.85296941e-03 4.95309827e+02] [ 1.49248127e-03 9.99998863e-01 -2.16654042e-04 -7.88845641e+00] [-3.85264186e-03 2.22402678e-04 9.99992554e-01 1.02455627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.34, Y:-7.89, Z:1.02 [[ 9.99990926e-01 -1.32770647e-03 4.04797527e-03 4.95341664e+02] [ 1.32864005e-03 9.99999091e-01 -2.27948800e-04 -7.88972453e+00] [-4.04766895e-03 2.33325033e-04 9.99991781e-01 1.02481595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.37, Y:-7.89, Z:1.02 [[ 9.99987846e-01 -7.35990925e-04 4.87495942e-03 4.95373261e+02] [ 7.37339366e-04 9.99999690e-01 -2.74814184e-04 -7.89082070e+00] [-4.87475565e-03 2.78405344e-04 9.99988080e-01 1.02430615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.40, Y:-7.89, Z:1.02 [[ 9.99989252e-01 -6.96042006e-05 4.63583063e-03 4.95404314e+02] [ 7.08201123e-05 9.99999963e-01 -2.62121961e-04 -7.89178782e+00] [-4.63581221e-03 2.62447454e-04 9.99989220e-01 1.02420589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.44, Y:-7.89, Z:1.02 [[ 9.99985233e-01 2.41888041e-03 4.86640518e-03 4.95436448e+02] [-2.41756885e-03 9.99997040e-01 -2.75376292e-04 -7.89194075e+00] [-4.86705688e-03 2.63607356e-04 9.99988121e-01 1.02388861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.47, Y:-7.89, Z:1.02 [[ 9.99979119e-01 4.39223442e-03 4.74025091e-03 4.95467280e+02] [-4.39101023e-03 9.99990323e-01 -2.68630403e-04 -7.89268443e+00] [-4.74138493e-03 2.47810303e-04 9.99988729e-01 1.02376009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.50, Y:-7.89, Z:1.02 [[ 9.99967750e-01 6.59021446e-03 4.59003958e-03 4.95498939e+02] [-6.58908834e-03 9.99978258e-01 -2.60420095e-04 -7.89328989e+00] [-4.59165601e-03 2.30167520e-04 9.99989432e-01 1.02350153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.53, Y:-7.89, Z:1.02 [[ 9.99946792e-01 9.41498590e-03 4.21558800e-03 4.95529337e+02] [-9.41405988e-03 9.99955658e-01 -2.39456768e-04 -7.89387161e+00] [-4.21765556e-03 1.99758229e-04 9.99991086e-01 1.02319313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.56, Y:-7.89, Z:1.02 [[ 9.99865022e-01 1.60732392e-02 3.40432578e-03 4.95559144e+02] [-1.60726735e-02 9.99870808e-01 -1.93467741e-04 -7.89283178e+00] [-3.40699562e-03 1.38725010e-04 9.99994187e-01 1.02296875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.59, Y:-7.89, Z:1.02 [[ 9.99803646e-01 1.96138940e-02 2.82225242e-03 4.95588071e+02] [-1.96135185e-02 9.99807624e-01 -1.60678589e-04 -7.89263367e+00] [-2.82486102e-03 1.05292739e-04 9.99996005e-01 1.02299047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.62, Y:-7.89, Z:1.02 [[ 9.99718427e-01 2.35821104e-02 2.63654044e-03 4.95616552e+02] [-2.35817962e-02 9.99721900e-01 -1.50175098e-04 -7.89256514e+00] [-2.63934866e-03 8.79584537e-05 9.99996513e-01 1.02270907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.64, Y:-7.89, Z:1.02 [[ 9.99481523e-01 3.21194508e-02 2.24181210e-03 4.95643365e+02] [-3.21192451e-02 9.99484036e-01 -1.27701863e-04 -7.89120246e+00] [-2.24475712e-03 5.56303407e-05 9.99997479e-01 1.02250065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.67, Y:-7.89, Z:1.02 [[ 9.99346828e-01 3.60922310e-02 1.80793491e-03 4.95671757e+02] [-3.60921039e-02 9.99348462e-01 -1.02879311e-04 -7.89159777e+00] [-1.81047011e-03 3.75599390e-05 9.99998360e-01 1.02213820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.70, Y:-7.89, Z:1.02 [[ 9.99179499e-01 4.04570610e-02 1.88532787e-03 4.95699054e+02] [-4.04569308e-02 9.99181277e-01 -1.07157199e-04 -7.89216576e+00] [-1.88811957e-03 3.07946973e-05 9.99998217e-01 1.02154148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.73, Y:-7.89, Z:1.02 [[ 9.99006434e-01 4.45388415e-02 1.56093120e-03 4.95727381e+02] [-4.45387574e-02 9.99007653e-01 -8.86045565e-05 -7.89250463e+00] [-1.56332856e-03 1.89945861e-05 9.99998778e-01 1.02150360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.76, Y:-7.89, Z:1.02 [[ 9.98655358e-01 5.18089108e-02 1.81984759e-03 4.95755951e+02] [-5.18088092e-02 9.98657017e-01 -1.02941056e-04 -7.89142353e+00] [-1.82273683e-03 8.51850079e-06 9.99998339e-01 1.02183608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.78, Y:-7.89, Z:1.02 [[ 9.98502809e-01 5.46726032e-02 1.74528836e-03 4.95783475e+02] [-5.46725144e-02 9.98504335e-01 -9.85697839e-05 -7.89182213e+00] [-1.74806706e-03 3.00290323e-06 9.99998472e-01 1.02196598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.81, Y:-7.89, Z:1.02 [[ 9.98372073e-01 5.70151744e-02 1.57291731e-03 4.95811278e+02] [-5.70151053e-02 9.98373312e-01 -8.87568717e-05 -7.89272075e+00] [-1.57541916e-03 -1.06766424e-06 9.99998759e-01 1.02188517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.84, Y:-7.89, Z:1.02 [[ 9.98302960e-01 5.82114548e-02 1.62038951e-03 4.95839325e+02] [-5.82113834e-02 9.98304276e-01 -9.12307209e-05 -7.89413801e+00] [-1.62295245e-03 -3.24921638e-06 9.99998683e-01 1.02166357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.87, Y:-7.90, Z:1.02 [[ 9.98272178e-01 5.87409867e-02 1.46773372e-03 4.95867678e+02] [-5.87409288e-02 9.98273257e-01 -8.25673632e-05 -7.89597468e+00] [-1.47004941e-03 -3.79134057e-06 9.99998919e-01 1.02141757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.90, Y:-7.90, Z:1.02 [[ 9.98289858e-01 5.84316362e-02 1.76145588e-03 4.95895307e+02] [-5.84315530e-02 9.98291412e-01 -9.87120737e-05 -7.89802642e+00] [-1.76421419e-03 -4.38134036e-06 9.99998444e-01 1.02082897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.92, Y:-7.90, Z:1.02 [[ 9.98442592e-01 5.57766175e-02 1.16573333e-03 4.95922994e+02] [-5.57765790e-02 9.98443273e-01 -6.55287264e-05 -7.90124007e+00] [-1.16757357e-03 4.06054588e-07 9.99999318e-01 1.02116720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.305099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.95, Y:-7.90, Z:1.02 [[ 9.98546804e-01 5.38792254e-02 1.14407721e-03 4.95949379e+02] [-5.38791871e-02 9.98547460e-01 -6.43373456e-05 -7.90372999e+00] [-1.14588183e-03 2.60190112e-06 9.99999343e-01 1.02118414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.98, Y:-7.91, Z:1.02 [[ 9.98668655e-01 5.15699199e-02 1.20893649e-03 4.95976828e+02] [-5.15698758e-02 9.98669386e-01 -6.76347400e-05 -7.90654297e+00] [-1.21081578e-03 5.19999022e-06 9.99999267e-01 1.02104971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.00, Y:-7.91, Z:1.02 [[ 9.98907402e-01 4.67072547e-02 1.56026354e-03 4.96004987e+02] [-4.67071760e-02 9.98908621e-01 -8.68632873e-05 -7.91140873e+00] [-1.56261784e-03 1.38928770e-05 9.99998779e-01 1.02106341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.03, Y:-7.91, Z:1.02 [[ 9.99026484e-01 4.40888491e-02 1.50258676e-03 4.96032769e+02] [-4.40887734e-02 9.99027614e-01 -8.35264144e-05 -7.91449152e+00] [-1.50480825e-03 1.71978928e-05 9.99998868e-01 1.02079866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.06, Y:-7.92, Z:1.02 [[ 9.99137023e-01 4.15148084e-02 1.31512892e-03 4.96059325e+02] [-4.15147479e-02 9.99137889e-01 -7.32087353e-05 -7.91755419e+00] [-1.31703438e-03 1.85483122e-05 9.99999133e-01 1.02061844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.09, Y:-7.92, Z:1.02 [[ 9.99218288e-01 3.95213127e-02 9.37461680e-04 4.96086189e+02] [-3.95212810e-02 9.99218728e-01 -5.23708478e-05 -7.92086027e+00] [-9.38799032e-04 1.52802224e-05 9.99999559e-01 1.02050402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.11, Y:-7.93, Z:1.02 [[ 9.99344274e-01 3.62072365e-02 2.40712925e-04 4.96114035e+02] [-3.62072341e-02 9.99344303e-01 -1.40857809e-05 -7.92544034e+00] [-2.41065098e-04 5.36099521e-06 9.99999971e-01 1.02041583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.14, Y:-7.93, Z:1.02 [[ 9.99386947e-01 3.50103950e-02 -4.30264678e-05 4.96142286e+02] [-3.50103950e-02 9.99386948e-01 1.39218996e-06 -7.92831187e+00] [ 4.30488312e-05 1.15037161e-07 9.99999999e-01 1.02047078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.17, Y:-7.93, Z:1.02 [[ 9.99406436e-01 3.44495201e-02 -8.02441943e-05 4.96169248e+02] [-3.44495200e-02 9.99406439e-01 3.25902990e-06 -7.93134074e+00] [ 8.03088363e-05 -4.92721478e-07 9.99999997e-01 1.02030373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.20, Y:-7.93, Z:1.02 [[ 9.99428796e-01 3.37905717e-02 -5.28233470e-04 4.96197234e+02] [-3.37905617e-02 9.99428936e-01 2.76866757e-05 -7.93419227e+00] [ 5.28867363e-04 -9.82155532e-06 9.99999860e-01 1.02043084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.22, Y:-7.94, Z:1.02 [[ 9.99429264e-01 3.37791267e-02 -3.40929239e-04 4.96224080e+02] [-3.37791227e-02 9.99429322e-01 1.73278452e-05 -7.93721534e+00] [ 3.41319998e-04 -5.80166493e-06 9.99999942e-01 1.02012697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.25, Y:-7.94, Z:1.02 [[ 9.99402894e-01 3.45521408e-02 -6.41475670e-05 4.96252269e+02] [-3.45521407e-02 9.99402897e-01 2.50627120e-06 -7.94186892e+00] [ 6.41958611e-05 -2.88338926e-07 9.99999998e-01 1.02012010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.28, Y:-7.94, Z:1.02 [[ 9.99380787e-01 3.51854500e-02 -1.64618570e-04 4.96279320e+02] [-3.51854491e-02 9.99380800e-01 7.76201528e-06 -7.94469067e+00] [ 1.64789748e-04 -1.96503062e-06 9.99999986e-01 1.01996119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.31, Y:-7.95, Z:1.02 [[ 9.99365605e-01 3.56135143e-02 -2.54879264e-04 4.96306811e+02] [-3.56135122e-02 9.99365638e-01 1.27347651e-05 -7.94732372e+00] [ 2.55171108e-04 -3.64954048e-06 9.99999967e-01 1.01986409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.33, Y:-7.95, Z:1.02 [[ 9.99341143e-01 3.62921249e-02 -4.01809474e-04 4.96333859e+02] [-3.62921196e-02 9.99341224e-01 2.04310821e-05 -7.95017392e+00] [ 4.02286259e-04 -5.83510349e-06 9.99999919e-01 1.01965755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.36, Y:-7.95, Z:1.02 [[ 9.99327823e-01 3.66534785e-02 -6.51712339e-04 4.96361353e+02] [-3.66534642e-02 9.99328035e-01 3.39201546e-05 -7.95289360e+00] [ 6.52517703e-04 -1.00098394e-05 9.99999787e-01 1.01909149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.39, Y:-7.96, Z:1.02 [[ 9.99307206e-01 3.71649360e-02 -1.96890563e-03 4.96388267e+02] [-3.71648032e-02 9.99309145e-01 1.04039830e-04 -7.95690231e+00] [ 1.97141204e-03 -3.07937618e-05 9.99998056e-01 1.01868555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.42, Y:-7.96, Z:1.02 [[ 9.99314672e-01 3.69513258e-02 -2.18768058e-03 4.96415451e+02] [-3.69511615e-02 9.99317066e-01 1.15466408e-04 -7.95959180e+00] [ 2.19045318e-03 -3.45499369e-05 9.99997600e-01 1.01847495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.44, Y:-7.96, Z:1.02 [[ 9.99373335e-01 3.53186993e-02 -2.35071507e-03 4.96443613e+02] [-3.53185052e-02 9.99376099e-01 1.24061782e-04 -7.96359687e+00] [ 2.35363015e-03 -4.09602944e-05 9.99997229e-01 1.01850393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.47, Y:-7.97, Z:1.02 [[ 9.99425955e-01 3.38121134e-02 -2.12183522e-03 4.96471592e+02] [-3.38119526e-02 9.99428206e-01 1.11655781e-04 -7.96610229e+00] [ 2.12439729e-03 -3.98482933e-05 9.99997743e-01 1.01841210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.50, Y:-7.97, Z:1.02 [[ 9.99484437e-01 3.20541538e-02 -1.84144034e-03 4.96499878e+02] [-3.20540302e-02 9.99486133e-01 9.65833817e-05 -7.96874520e+00] [ 1.84358999e-03 -3.75080025e-05 9.99998300e-01 1.01865374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.53, Y:-7.97, Z:1.02 [[ 9.99544218e-01 3.01600274e-02 -1.31528639e-03 4.96526667e+02] [-3.01599635e-02 9.99545082e-01 6.84026331e-05 -7.97118646e+00] [ 1.31675107e-03 -2.87024668e-05 9.99999133e-01 1.01870221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.55, Y:-7.97, Z:1.02 [[ 9.99604270e-01 2.81223009e-02 -6.63052809e-04 4.96554912e+02] [-2.81222845e-02 9.99604490e-01 3.40358720e-05 -7.97390514e+00] [ 6.63747732e-04 -1.53758432e-05 9.99999780e-01 1.01827712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.58, Y:-7.98, Z:1.02 [[ 9.99723636e-01 2.35050441e-02 4.06184346e-04 4.96582812e+02] [-2.35050370e-02 9.99723718e-01 -2.23105045e-05 -7.97775596e+00] [-4.06596534e-04 1.27569606e-05 9.99999917e-01 1.01806617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.61, Y:-7.98, Z:1.02 [[ 9.99782638e-01 2.08213109e-02 1.07198728e-03 4.96611906e+02] [-2.08212618e-02 9.99783212e-01 -5.69622769e-05 -7.98042951e+00] [-1.07294092e-03 3.46297676e-05 9.99999424e-01 1.01739207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.055099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.64, Y:-7.98, Z:1.02 [[ 9.99836514e-01 1.80310046e-02 1.35246542e-03 4.96640779e+02] [-1.80309242e-02 9.99837427e-01 -7.16051239e-05 -7.98303237e+00] [-1.35353666e-03 4.72072158e-05 9.99999083e-01 1.01702341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.67, Y:-7.99, Z:1.02 [[ 9.99922224e-01 1.23891983e-02 1.43322088e-03 4.96669907e+02] [-1.23891024e-02 9.99923249e-01 -7.57596872e-05 -7.98656145e+00] [-1.43404948e-03 5.79974747e-05 9.99998970e-01 1.01680497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.70, Y:-7.99, Z:1.02 [[ 9.99952855e-01 9.53878291e-03 1.81621852e-03 4.96697685e+02] [-9.53862457e-03 9.99954502e-01 -9.58245284e-05 -7.98875486e+00] [-1.81704994e-03 7.84957842e-05 9.99998346e-01 1.01629297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.73, Y:-7.99, Z:1.02 [[ 9.99973663e-01 6.87085145e-03 2.33787457e-03 4.96726799e+02] [-6.87058314e-03 9.99976390e-01 -1.22780031e-04 -7.99108776e+00] [-2.33866297e-03 1.06714236e-04 9.99997260e-01 1.01571801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.76, Y:-7.99, Z:1.02 [[ 9.99986684e-01 4.11118018e-03 3.11940252e-03 4.96756086e+02] [-4.11069105e-03 9.99991538e-01 -1.63196497e-04 -7.99311200e+00] [-3.12004705e-03 1.50371423e-04 9.99995121e-01 1.01530909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.79, Y:-8.00, Z:1.01 [[ 9.99992402e-01 1.67313589e-03 3.52085323e-03 4.96786997e+02] [-1.67249893e-03 9.99998584e-01 -1.83847266e-04 -7.99522922e+00] [-3.52115585e-03 1.77957246e-04 9.99993785e-01 1.01491489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.82, Y:-8.00, Z:1.01 [[ 9.99992309e-01 1.72768259e-03 3.52086826e-03 4.96818801e+02] [-1.72704697e-03 9.99998492e-01 -1.83559569e-04 -7.99691607e+00] [-3.52118008e-03 1.77477453e-04 9.99993785e-01 1.01463439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.85, Y:-8.00, Z:1.01 [[ 9.99986946e-01 -1.95211071e-03 4.72197284e-03 4.96849635e+02] [ 1.95329339e-03 9.99998062e-01 -2.45865095e-04 -7.99928673e+00] [-4.72148374e-03 2.55085283e-04 9.99988821e-01 1.01389181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.88, Y:-8.00, Z:1.01 [[ 9.99984712e-01 -3.13747507e-03 4.55321205e-03 4.96883146e+02] [ 3.13859051e-03 9.99995046e-01 -2.37854196e-04 -8.00108712e+00] [-4.55244324e-03 2.52141228e-04 9.99989606e-01 1.01373657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.92, Y:-8.00, Z:1.01 [[ 9.99977207e-01 -4.34968925e-03 5.16389851e-03 4.96916111e+02] [ 4.35114954e-03 9.99990497e-01 -2.71587963e-04 -8.00293677e+00] [-5.16266811e-03 2.94050667e-04 9.99986630e-01 1.01295508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.95, Y:-8.01, Z:1.01 [[ 9.99974199e-01 -5.39853571e-03 4.73900134e-03 4.96949252e+02] [ 5.39978618e-03 9.99985390e-01 -2.51113971e-04 -8.00505105e+00] [-4.73757645e-03 2.76697086e-04 9.99988739e-01 1.01236062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.98, Y:-8.01, Z:1.01 [[ 9.99964547e-01 -7.31026869e-03 4.17913914e-03 4.96982708e+02] [ 7.31125583e-03 9.99973248e-01 -2.20976671e-04 -8.00724554e+00] [-4.17741194e-03 2.51523592e-04 9.99991243e-01 1.01096004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.01, Y:-8.01, Z:1.01 [[ 9.99958165e-01 -8.29658094e-03 3.85161463e-03 4.97014175e+02] [ 8.29743450e-03 9.99965555e-01 -2.05684404e-04 -8.00898882e+00] [-3.84977548e-03 2.37634319e-04 9.99992561e-01 1.00995317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.05, Y:-8.01, Z:1.01 [[ 9.99951345e-01 -9.22961506e-03 3.48178865e-03 4.97045592e+02] [ 9.23031758e-03 9.99957382e-01 -1.85755400e-04 -8.01057057e+00] [-3.47992582e-03 2.17884377e-04 9.99993921e-01 1.00917614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.08, Y:-8.01, Z:1.01 [[ 9.99941066e-01 -1.02037580e-02 3.70791722e-03 4.97078022e+02] [ 1.02045640e-02 9.99947912e-01 -1.98514722e-04 -8.01212637e+00] [-3.70569849e-03 2.36340701e-04 9.99993106e-01 1.00831734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.11, Y:-8.01, Z:1.01 [[ 9.99925363e-01 -1.17352324e-02 3.39881187e-03 4.97110451e+02] [ 1.17359187e-02 9.99931115e-01 -1.82060669e-04 -8.01270276e+00] [-3.39644122e-03 2.21935261e-04 9.99994207e-01 1.00788846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.14, Y:-8.01, Z:1.01 [[ 9.99922672e-01 -1.18750061e-02 3.69239856e-03 4.97141487e+02] [ 1.18758192e-02 9.99929460e-01 -1.98361595e-04 -8.01392630e+00] [-3.68978256e-03 2.42196514e-04 9.99993163e-01 1.00757158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.17, Y:-8.01, Z:1.01 [[ 9.99915907e-01 -1.22200686e-02 4.34161926e-03 4.97173511e+02] [ 1.22211970e-02 9.99925291e-01 -2.33468064e-04 -8.01496393e+00] [-4.33844190e-03 2.86508215e-04 9.99990548e-01 1.00703757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.21, Y:-8.01, Z:1.01 [[ 9.99918735e-01 -1.15494107e-02 5.39770836e-03 4.97205631e+02] [ 1.15511476e-02 9.99933241e-01 -2.90720349e-04 -8.01467561e+00] [-5.39399036e-03 3.53046450e-04 9.99985390e-01 1.00675917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.24, Y:-8.02, Z:1.01 [[ 9.99921023e-01 -1.08382996e-02 6.36226945e-03 4.97237712e+02] [ 1.08407030e-02 9.99941179e-01 -3.43391756e-04 -8.01523928e+00] [-6.35817343e-03 4.12336109e-04 9.99979702e-01 1.00630205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.27, Y:-8.02, Z:1.01 [[ 9.99925884e-01 -9.79095508e-03 7.23630125e-03 4.97271055e+02] [ 9.79404073e-03 9.99951961e-01 -3.91097530e-04 -8.01570175e+00] [-7.23212440e-03 4.61941173e-04 9.99973741e-01 1.00607939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.30, Y:-8.02, Z:1.01 [[ 9.99932676e-01 -8.54886504e-03 7.84600319e-03 4.97302996e+02] [ 8.55246130e-03 9.99963337e-01 -4.24917471e-04 -8.01617843e+00] [-7.84208297e-03 4.91991503e-04 9.99969129e-01 1.00592197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.34, Y:-8.02, Z:1.01 [[ 9.99935894e-01 -7.47088978e-03 8.50846963e-03 4.97336341e+02] [ 7.47509440e-03 9.99971954e-01 -4.62474037e-04 -8.01653600e+00] [-8.50477591e-03 5.26046003e-04 9.99963695e-01 1.00556776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.37, Y:-8.02, Z:1.00 [[ 9.99942011e-01 -5.06599419e-03 9.50321030e-03 4.97368465e+02] [ 5.07114227e-03 9.99987008e-01 -5.17701484e-04 -8.01567252e+00] [-9.50046416e-03 5.65863594e-04 9.99954709e-01 1.00492453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.40, Y:-8.02, Z:1.00 [[ 9.99947081e-01 -3.97331480e-03 9.48931676e-03 4.97401259e+02] [ 3.97840723e-03 9.99991952e-01 -5.17831614e-04 -8.01625713e+00] [-9.48718288e-03 5.55556577e-04 9.99954841e-01 1.00431987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.805099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.43, Y:-8.02, Z:1.00 [[ 9.99952408e-01 -2.93142726e-03 9.30528239e-03 4.97433458e+02] [ 2.93628865e-03 9.99995560e-01 -5.08814397e-04 -8.01700532e+00] [-9.30374952e-03 5.36113177e-04 9.99956575e-01 1.00411597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.47, Y:-8.02, Z:1.00 [[ 9.99956716e-01 -2.07993116e-03 9.06860531e-03 4.97465855e+02] [ 2.08452100e-03 9.99997704e-01 -4.96701398e-04 -8.01750506e+00] [-9.06755138e-03 5.15583597e-04 9.99958756e-01 1.00359425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.50, Y:-8.02, Z:1.00 [[ 9.99960387e-01 -1.08796836e-03 8.83406478e-03 4.97498485e+02] [ 1.09229225e-03 9.99999286e-01 -4.84646275e-04 -8.01801686e+00] [-8.83353119e-03 4.94276458e-04 9.99960861e-01 1.00321459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.53, Y:-8.02, Z:1.00 [[ 9.99969491e-01 6.22248997e-04 7.78654937e-03 4.97530882e+02] [-6.18936159e-04 9.99999717e-01 -4.27858907e-04 -8.01676934e+00] [-7.78681340e-03 4.23026476e-04 9.99969593e-01 1.00253515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.56, Y:-8.02, Z:1.00 [[ 9.99972041e-01 1.27298924e-03 7.36858867e-03 4.97563076e+02] [-1.27003007e-03 9.99999111e-01 -4.06257061e-04 -8.01714708e+00] [-7.36909928e-03 3.96887373e-04 9.99972769e-01 1.00181218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.60, Y:-8.02, Z:1.00 [[ 9.99972340e-01 2.22534870e-03 7.09692297e-03 4.97595769e+02] [-2.22262414e-03 9.99997453e-01 -3.91771509e-04 -8.01775124e+00] [-7.09777673e-03 3.75986880e-04 9.99974740e-01 1.00126450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.63, Y:-8.02, Z:1.00 [[ 9.99970759e-01 3.21129603e-03 6.94040786e-03 4.97627668e+02] [-3.20871083e-03 9.99994779e-01 -3.83588183e-04 -8.01828460e+00] [-6.94160343e-03 3.61307204e-04 9.99975842e-01 1.00055985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.66, Y:-8.02, Z:1.00 [[ 9.99962668e-01 5.56298890e-03 6.61175431e-03 4.97660376e+02] [-5.56069005e-03 9.99984472e-01 -3.66023285e-04 -8.01712664e+00] [-6.61368783e-03 3.29243704e-04 9.99978075e-01 1.00033202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.69, Y:-8.02, Z:1.00 [[ 9.99949205e-01 7.40499363e-03 6.83764251e-03 4.97691980e+02] [-7.40257419e-03 9.99972529e-01 -3.79083160e-04 -8.01748171e+00] [-6.84026178e-03 3.28447748e-04 9.99976551e-01 9.99840243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.72, Y:-8.02, Z:1.00 [[ 9.99933138e-01 9.19034425e-03 7.01834257e-03 4.97723436e+02] [-9.18783613e-03 9.99957715e-01 -3.89525075e-04 -8.01752177e+00] [-7.02162567e-03 3.25015649e-04 9.99975295e-01 9.99362372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.75, Y:-8.02, Z:1.00 [[ 9.99910428e-01 1.10281883e-02 7.58386498e-03 4.97754088e+02] [-1.10253099e-02 9.99939131e-01 -4.21235162e-04 -8.01730340e+00] [-7.58804882e-03 3.37582969e-04 9.99971153e-01 9.99031246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.78, Y:-8.02, Z:1.00 [[ 9.99884244e-01 1.31240759e-02 7.69782738e-03 4.97784322e+02] [-1.31211712e-02 9.99913822e-01 -4.27725749e-04 -8.01707089e+00] [-7.70277751e-03 3.26671727e-04 9.99970280e-01 9.98899163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.82, Y:-8.02, Z:1.00 [[ 9.99809685e-01 1.75509276e-02 8.51818344e-03 4.97815086e+02] [-1.75475312e-02 9.99845918e-01 -4.73308404e-04 -8.01522391e+00] [-8.52517794e-03 3.23745237e-04 9.99963608e-01 9.98365384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.84, Y:-8.02, Z:1.00 [[ 9.99774645e-01 1.93691860e-02 8.68868466e-03 4.97844079e+02] [-1.93657207e-02 9.99812350e-01 -4.82787920e-04 -8.01530832e+00] [-8.69640544e-03 3.14416481e-04 9.99962136e-01 9.98223783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.87, Y:-8.02, Z:1.00 [[ 9.99734286e-01 2.11314311e-02 9.20980783e-03 4.97873148e+02] [-2.11276173e-02 9.99776656e-01 -5.11205588e-04 -8.01547973e+00] [-9.21855338e-03 3.16488459e-04 9.99957458e-01 9.97851391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.90, Y:-8.01, Z:1.00 [[ 9.99644099e-01 2.50457054e-02 9.18633512e-03 4.97901704e+02] [-2.50420823e-02 9.99686268e-01 -5.09233883e-04 -8.01478608e+00] [-9.19620720e-03 2.79007686e-04 9.99957675e-01 9.97301905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.93, Y:-8.02, Z:1.00 [[ 9.99596216e-01 2.69882419e-02 8.89042796e-03 4.97930872e+02] [-2.69849308e-02 9.99635719e-01 -4.92199652e-04 -8.01527692e+00] [-8.90047295e-03 2.52093327e-04 9.99960358e-01 9.96758739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.96, Y:-8.02, Z:1.00 [[ 9.99555193e-01 2.85905165e-02 8.48522542e-03 4.97959883e+02] [-2.85875631e-02 9.99591182e-01 -4.69173211e-04 -8.01578851e+00] [-8.49517041e-03 2.26392603e-04 9.99963890e-01 9.96674007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.99, Y:-8.02, Z:1.00 [[ 9.99506415e-01 3.02852259e-02 8.35052288e-03 4.97989168e+02] [-3.02824296e-02 9.99541276e-01 -4.61124599e-04 -8.01634309e+00] [-8.36065755e-03 2.08022873e-04 9.99965027e-01 9.96147579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.02, Y:-8.02, Z:1.00 [[ 9.99460917e-01 3.17653701e-02 8.29677914e-03 4.98016498e+02] [-3.17626656e-02 9.99495335e-01 -4.57557340e-04 -8.01683926e+00] [-8.30712652e-03 1.93782857e-04 9.99965476e-01 9.95755482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.04, Y:-8.02, Z:1.00 [[ 9.99364669e-01 3.46518244e-02 8.33721830e-03 4.98044257e+02] [-3.46492004e-02 9.99399431e-01 -4.59019558e-04 -8.01718935e+00] [-8.34811709e-03 1.69849981e-04 9.99965139e-01 9.95041643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.07, Y:-8.02, Z:0.99 [[ 9.99315368e-01 3.60371040e-02 8.37394642e-03 4.98072599e+02] [-3.60345117e-02 9.99350440e-01 -4.60293718e-04 -8.01849569e+00] [-8.38509469e-03 1.58227516e-04 9.99964832e-01 9.94583545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.10, Y:-8.02, Z:0.99 [[ 9.99267635e-01 3.73642704e-02 8.25253774e-03 4.98099899e+02] [-3.73618051e-02 9.99301701e-01 -4.52760344e-04 -8.01965551e+00] [-8.26369206e-03 1.44099053e-04 9.99965845e-01 9.94437016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.13, Y:-8.02, Z:0.99 [[ 9.99210297e-01 3.88520797e-02 8.32453562e-03 4.98127689e+02] [-3.88496333e-02 9.99244964e-01 -4.55442215e-04 -8.02081596e+00] [-8.33594517e-03 1.31677395e-04 9.99965247e-01 9.94229775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.16, Y:-8.02, Z:0.99 [[ 9.99161884e-01 4.00700374e-02 8.36195462e-03 4.98155837e+02] [-4.00676191e-02 9.99196866e-01 -4.56591685e-04 -8.02197293e+00] [-8.37353449e-03 1.21165395e-04 9.99964934e-01 9.93805859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.555099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.18, Y:-8.02, Z:0.99 [[ 9.99059996e-01 4.24659363e-02 8.70451013e-03 4.98183963e+02] [-4.24634152e-02 9.99097910e-01 -4.74325875e-04 -8.02342555e+00] [-8.71680057e-03 1.04256778e-04 9.99962003e-01 9.93388020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.21, Y:-8.03, Z:0.99 [[ 9.99029671e-01 4.31420630e-02 8.85882749e-03 4.98212012e+02] [-4.31394869e-02 9.99068943e-01 -4.81769214e-04 -8.02513090e+00] [-8.87136393e-03 9.91364668e-05 9.99960644e-01 9.92977876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.24, Y:-8.03, Z:0.99 [[ 9.99012016e-01 4.35674154e-02 8.76763969e-03 4.98239058e+02] [-4.35649166e-02 9.99050485e-01 -4.75875360e-04 -8.02709995e+00] [-8.78004735e-03 9.34437105e-05 9.99961450e-01 9.92736409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.27, Y:-8.03, Z:0.99 [[ 9.99025091e-01 4.32290326e-02 8.95086755e-03 4.98266918e+02] [-4.32264277e-02 9.99065184e-01 -4.84368719e-04 -8.02997494e+00] [-8.96343892e-03 9.69824750e-05 9.99959823e-01 9.91631746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.30, Y:-8.03, Z:0.99 [[ 9.99071824e-01 4.22640406e-02 8.32118673e-03 4.98295186e+02] [-4.22617629e-02 9.99106472e-01 -4.49451120e-04 -8.03224016e+00] [-8.33274713e-03 9.73659289e-05 9.99965277e-01 9.91257473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.32, Y:-8.03, Z:0.99 [[ 9.99127444e-01 4.09930140e-02 7.99524525e-03 4.98322402e+02] [-4.09908771e-02 9.99159428e-01 -4.31028252e-04 -8.03462904e+00] [-8.00619382e-03 1.02920040e-04 9.99967945e-01 9.90745199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.35, Y:-8.04, Z:0.99 [[ 9.99196388e-01 3.93255633e-02 7.75100917e-03 4.98350400e+02] [-3.93235123e-02 9.99226445e-01 -4.16900718e-04 -8.03691490e+00] [-7.76140819e-03 1.11768787e-04 9.99969874e-01 9.90361353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.38, Y:-8.04, Z:0.99 [[ 9.99336185e-01 3.57611430e-02 6.95204242e-03 4.98378436e+02] [-3.57594113e-02 9.99360358e-01 -3.73283779e-04 -8.04056463e+00] [-6.96094465e-03 1.24435044e-04 9.99975765e-01 9.90087991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.40, Y:-8.04, Z:0.99 [[ 9.99393459e-01 3.39562539e-02 7.72573880e-03 4.98404945e+02] [-3.39540687e-02 9.99423309e-01 -4.13881671e-04 -8.04354680e+00] [-7.73533731e-03 1.51310369e-04 9.99970070e-01 9.89288635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.43, Y:-8.05, Z:0.99 [[ 9.99452793e-01 3.22557517e-02 7.32679048e-03 4.98432999e+02] [-3.22537474e-02 9.99479636e-01 -3.91583280e-04 -8.04668071e+00] [-7.33560869e-03 1.55052554e-04 9.99973082e-01 9.89166462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.46, Y:-8.05, Z:0.99 [[ 9.99535404e-01 2.97067418e-02 6.81808094e-03 4.98461153e+02] [-2.97049514e-02 9.99558644e-01 -3.63734780e-04 -8.05130609e+00] [-6.82587711e-03 1.61035027e-04 9.99976690e-01 9.87809226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.49, Y:-8.05, Z:0.99 [[ 9.99566796e-01 2.87313879e-02 6.38190020e-03 4.98489960e+02] [-2.87298020e-02 9.99587156e-01 -3.40049524e-04 -8.05401807e+00] [-6.38903556e-03 1.56551484e-04 9.99979578e-01 9.87482224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.52, Y:-8.06, Z:0.99 [[ 9.99583732e-01 2.80680189e-02 6.67456633e-03 4.98518950e+02] [-2.80662728e-02 9.99606001e-01 -3.55134750e-04 -8.05653534e+00] [-6.68190449e-03 1.67656719e-04 9.99977662e-01 9.86894543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.55, Y:-8.06, Z:0.99 [[ 9.99607561e-01 2.72934975e-02 6.30789876e-03 4.98546643e+02] [-2.72919250e-02 9.99627450e-01 -3.35242482e-04 -8.05873190e+00] [-6.31469869e-03 1.62956220e-04 9.99980049e-01 9.86707554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.57, Y:-8.06, Z:0.99 [[ 9.99622207e-01 2.68243369e-02 5.99156700e-03 4.98573856e+02] [-2.68229128e-02 9.99640150e-01 -3.17925120e-04 -8.06197682e+00] [-5.99793907e-03 1.57093730e-04 9.99982000e-01 9.86450862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.60, Y:-8.06, Z:0.99 [[ 9.99632239e-01 2.64757831e-02 5.86678426e-03 4.98602603e+02] [-2.64744151e-02 9.99649443e-01 -3.10737893e-04 -8.06437904e+00] [-5.87295464e-03 1.55303934e-04 9.99982742e-01 9.86363246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.63, Y:-8.07, Z:0.99 [[ 9.99644546e-01 2.59606339e-02 6.06857994e-03 4.98631149e+02] [-2.59591633e-02 9.99662953e-01 -3.20974156e-04 -8.06700181e+00] [-6.07486723e-03 1.63324807e-04 9.99981534e-01 9.85931612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.66, Y:-8.07, Z:0.99 [[ 9.99664296e-01 2.51500385e-02 6.22661489e-03 4.98659108e+02] [-2.51484774e-02 9.99683673e-01 -3.28905563e-04 -8.06957550e+00] [-6.23291724e-03 1.72205265e-04 9.99980560e-01 9.85937584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.69, Y:-8.07, Z:0.99 [[ 9.99689031e-01 2.40475742e-02 6.59962642e-03 4.98687618e+02] [-2.40458009e-02 9.99710797e-01 -3.47923230e-04 -8.07221831e+00] [-6.60608451e-03 1.89121733e-04 9.99978162e-01 9.85887049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.72, Y:-8.08, Z:0.99 [[ 9.99771692e-01 2.03147101e-02 6.62388567e-03 4.98715574e+02] [-2.03128448e-02 9.99793612e-01 -3.48759146e-04 -8.07605114e+00] [-6.62960352e-03 2.14129560e-04 9.99978001e-01 9.86346257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.74, Y:-8.08, Z:0.99 [[ 9.99774088e-01 2.01964303e-02 6.62391339e-03 4.98744830e+02] [-2.01945659e-02 9.99796008e-01 -3.48231775e-04 -8.07753440e+00] [-6.62959521e-03 2.14386050e-04 9.99978001e-01 9.86088052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.77, Y:-8.08, Z:0.99 [[ 9.99823019e-01 1.76234471e-02 6.58370159e-03 4.98774004e+02] [-1.76215554e-02 9.99844669e-01 -3.45237900e-04 -8.08032334e+00] [-6.58876322e-03 2.29161737e-04 9.99978268e-01 9.85908495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.80, Y:-8.08, Z:0.99 [[ 9.99868392e-01 1.50258159e-02 6.11743073e-03 4.98802900e+02] [-1.50241365e-02 9.99887080e-01 -3.20397390e-04 -8.08331747e+00] [-6.12155418e-03 2.28446108e-04 9.99981237e-01 9.85510459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.83, Y:-8.09, Z:0.99 [[ 9.99911467e-01 1.21506730e-02 5.42389728e-03 4.98832090e+02] [-1.21493129e-02 9.99926154e-01 -2.83640688e-04 -8.08605757e+00] [-5.42694317e-03 2.17718951e-04 9.99985250e-01 9.85515664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.86, Y:-8.09, Z:0.99 [[ 9.99945083e-01 9.41936635e-03 4.59421859e-03 4.98861414e+02] [-9.41836264e-03 9.99955617e-01 -2.40058551e-04 -8.08883908e+00] [-4.59627588e-03 1.96775351e-04 9.99989418e-01 9.85101337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.305099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.89, Y:-8.09, Z:0.99 [[ 9.99984660e-01 4.24992976e-03 3.55203982e-03 4.98892011e+02] [-4.24929766e-03 9.99990955e-01 -1.85479993e-04 -8.09256708e+00] [-3.55279597e-03 1.70383473e-04 9.99993674e-01 9.85172977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.92, Y:-8.09, Z:0.99 [[ 9.99993485e-01 1.80515120e-03 3.12604224e-03 4.98923466e+02] [-1.80465034e-03 9.99998358e-01 -1.63034682e-04 -8.09487210e+00] [-3.12633141e-03 1.57392206e-04 9.99995101e-01 9.85273845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.95, Y:-8.10, Z:0.99 [[ 9.99996468e-01 -8.44747983e-05 2.65634026e-03 4.98954477e+02] [ 8.48400767e-05 9.99999987e-01 -1.37399492e-04 -8.09736019e+00] [-2.65632861e-03 1.37624371e-04 9.99996462e-01 9.85470750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.99, Y:-8.10, Z:0.99 [[ 9.99994812e-01 -1.78320115e-03 2.68272767e-03 4.98985587e+02] [ 1.78358469e-03 9.99998400e-01 -1.40580063e-04 -8.09978277e+00] [-2.68247269e-03 1.45364205e-04 9.99996392e-01 9.85180471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.02, Y:-8.10, Z:0.99 [[ 9.99989936e-01 -3.85882847e-03 2.28849329e-03 4.99018156e+02] [ 3.85910984e-03 9.99992547e-01 -1.18548571e-04 -8.10274372e+00] [-2.28801877e-03 1.27378925e-04 9.99997374e-01 9.85197985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.05, Y:-8.10, Z:0.99 [[ 9.99987643e-01 -4.44385122e-03 2.22845992e-03 4.99048846e+02] [ 4.44412348e-03 9.99990118e-01 -1.17238943e-04 -8.10482983e+00] [-2.22791690e-03 1.27141046e-04 9.99997510e-01 9.85427202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.08, Y:-8.11, Z:0.99 [[ 9.99983906e-01 -4.94445449e-03 2.78216922e-03 4.99081435e+02] [ 4.94488124e-03 9.99987763e-01 -1.46531305e-04 -8.10667732e+00] [-2.78141066e-03 1.60286443e-04 9.99996119e-01 9.85472681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.11, Y:-8.11, Z:0.99 [[ 9.99984656e-01 -4.74751866e-03 2.85476780e-03 4.99113388e+02] [ 4.74796780e-03 9.99988717e-01 -1.50575488e-04 -8.10844385e+00] [-2.85402073e-03 1.64127523e-04 9.99995914e-01 9.85578267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.15, Y:-8.11, Z:0.99 [[ 9.99991490e-01 -3.26248318e-03 2.52509353e-03 4.99145479e+02] [ 3.26283013e-03 9.99994668e-01 -1.33294286e-04 -8.11006802e+00] [-2.52464519e-03 1.41532103e-04 9.99996803e-01 9.85503861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.18, Y:-8.11, Z:0.99 [[ 9.99994924e-01 -2.26549215e-03 2.24055286e-03 4.99177678e+02] [ 2.26576302e-03 9.99997426e-01 -1.18360529e-04 -8.11163705e+00] [-2.24027894e-03 1.23436490e-04 9.99997483e-01 9.85417322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.21, Y:-8.11, Z:0.99 [[ 9.99997573e-01 -1.01286038e-03 1.95678249e-03 4.99209434e+02] [ 1.01306471e-03 9.99999482e-01 -1.03431808e-04 -8.11314939e+00] [-1.95667672e-03 1.05413904e-04 9.99998080e-01 9.85304439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.24, Y:-8.11, Z:0.99 [[ 9.99997829e-01 8.40114918e-06 2.08352817e-03 4.99240540e+02] [-8.17081278e-06 9.99999994e-01 -1.10559550e-04 -8.11420749e+00] [-2.08352909e-03 1.10542286e-04 9.99997823e-01 9.85225946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.27, Y:-8.12, Z:0.99 [[ 9.99996048e-01 1.26458657e-03 2.51077368e-03 4.99270853e+02] [-1.26425536e-03 9.99999192e-01 -1.33498925e-04 -8.11545569e+00] [-2.51094047e-03 1.30324139e-04 9.99996839e-01 9.85023196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.30, Y:-8.12, Z:0.99 [[ 9.99992448e-01 3.32687945e-03 2.00878892e-03 4.99301677e+02] [-3.32667157e-03 9.99994461e-01 -1.06815189e-04 -8.11589609e+00] [-2.00913316e-03 1.00131802e-04 9.99997977e-01 9.85066745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.33, Y:-8.12, Z:0.98 [[ 9.99990272e-01 4.19915894e-03 1.35006752e-03 4.99332307e+02] [-4.19906570e-03 9.99991181e-01 -7.18912110e-05 -8.11690207e+00] [-1.35035750e-03 6.62214894e-05 9.99999086e-01 9.84979793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.36, Y:-8.12, Z:0.98 [[ 9.99985962e-01 5.21383680e-03 9.44236697e-04 4.99362820e+02] [-5.21379164e-03 9.99986407e-01 -5.02806850e-05 -8.11792073e+00] [-9.44486017e-04 4.53569258e-05 9.99999553e-01 9.84647219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.39, Y:-8.12, Z:0.98 [[ 9.99972603e-01 7.40178813e-03 -8.59208689e-05 4.99392033e+02] [-7.40178779e-03 9.99972606e-01 4.25465962e-06 -8.11815543e+00] [ 8.59500071e-05 -3.61857501e-06 9.99999996e-01 9.84188254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.42, Y:-8.12, Z:0.98 [[ 9.99959237e-01 9.02066749e-03 -3.90006407e-04 4.99420644e+02] [-9.02066034e-03 9.99959313e-01 2.00843801e-05 -8.11878414e+00] [ 3.90171713e-04 -1.65654460e-05 9.99999924e-01 9.84061528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.45, Y:-8.12, Z:0.98 [[ 9.99937593e-01 1.11333237e-02 -9.27169248e-04 4.99448380e+02] [-1.11332838e-02 9.99938022e-01 4.82001206e-05 -8.11917142e+00] [ 9.27648411e-04 -3.78746742e-05 9.99999569e-01 9.84115057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.48, Y:-8.12, Z:0.98 [[ 9.99856736e-01 1.68929629e-02 -1.06562770e-03 4.99475305e+02] [-1.68929136e-02 9.99857303e-01 5.52548129e-05 -8.11809851e+00] [ 1.06640906e-03 -3.72453402e-05 9.99999431e-01 9.84369658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.50, Y:-8.12, Z:0.98 [[ 9.99790718e-01 2.04168498e-02 -1.29361713e-03 4.99503107e+02] [-2.04167797e-02 9.99791554e-01 6.73184443e-05 -8.11801422e+00] [ 1.29472191e-03 -4.08928597e-05 9.99999161e-01 9.84547765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.53, Y:-8.12, Z:0.98 [[ 9.99707022e-01 2.41793855e-02 -1.10795574e-03 4.99530118e+02] [-2.41793369e-02 9.99707635e-01 5.72195143e-05 -8.11810092e+00] [ 1.10901535e-03 -3.04131151e-05 9.99999385e-01 9.84644273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.56, Y:-8.12, Z:0.98 [[ 9.99618837e-01 2.75861480e-02 -1.08874022e-03 4.99557959e+02] [-2.75861031e-02 9.99619429e-01 5.62606237e-05 -8.11828035e+00] [ 1.08987789e-03 -2.62050793e-05 9.99999406e-01 9.84640509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.59, Y:-8.12, Z:0.98 [[ 9.99522971e-01 3.08635626e-02 -1.12779503e-03 4.99585851e+02] [-3.08635166e-02 9.99523607e-01 5.81791085e-05 -8.11872290e+00] [ 1.12905337e-03 -2.33436347e-05 9.99999362e-01 9.84519629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.61, Y:-8.12, Z:0.98 [[ 9.99431941e-01 3.36929690e-02 -7.61447778e-04 4.99613019e+02] [-3.36929496e-02 9.99432231e-01 3.82496349e-05 -8.11932074e+00] [ 7.62304195e-04 -1.25724852e-05 9.99999709e-01 9.84034033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.055099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.64, Y:-8.12, Z:0.98 [[ 9.99266276e-01 3.82798250e-02 -1.25078178e-03 4.99641388e+02] [-3.82797746e-02 9.99267059e-01 6.42847209e-05 -8.11952109e+00] [ 1.25232584e-03 -1.63579090e-05 9.99999216e-01 9.84001174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.67, Y:-8.12, Z:0.98 [[ 9.99233757e-01 3.91097056e-02 -1.52621212e-03 4.99669659e+02] [-3.91096313e-02 9.99234923e-01 7.84924848e-05 -8.12033477e+00] [ 1.52811427e-03 -1.87427472e-05 9.99998832e-01 9.83855139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.70, Y:-8.12, Z:0.98 [[ 9.99209158e-01 3.97339955e-02 -1.50596891e-03 4.99697232e+02] [-3.97339242e-02 9.99210293e-01 7.72638837e-05 -8.12175109e+00] [ 1.50784964e-03 -1.73647255e-05 9.99998863e-01 9.83406317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.72, Y:-8.12, Z:0.98 [[ 9.99224034e-01 3.93573761e-02 -1.52547195e-03 4.99724453e+02] [-3.93573041e-02 9.99225198e-01 7.72223830e-05 -8.12318611e+00] [ 1.52732928e-03 -1.71239976e-05 9.99998833e-01 9.82933127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.75, Y:-8.13, Z:0.98 [[ 9.99301062e-01 3.73508510e-02 -1.51706319e-03 4.99752686e+02] [-3.73507765e-02 9.99302213e-01 7.73952113e-05 -8.12543936e+00] [ 1.51889538e-03 -2.06776288e-05 9.99998846e-01 9.82716121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.78, Y:-8.13, Z:0.98 [[ 9.99363227e-01 3.56485605e-02 -1.52316642e-03 4.99780950e+02] [-3.56484837e-02 9.99364388e-01 7.75514342e-05 -8.12746776e+00] [ 1.52496288e-03 -2.32034782e-05 9.99998837e-01 9.82582888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.81, Y:-8.13, Z:0.98 [[ 9.99419261e-01 3.40489138e-02 -1.34594438e-03 4.99808461e+02] [-3.40488527e-02 9.99420167e-01 6.82534528e-05 -8.12944094e+00] [ 1.34748792e-03 -2.23859534e-05 9.99999092e-01 9.82377481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.84, Y:-8.13, Z:0.98 [[ 9.99538251e-01 3.03684494e-02 -1.02120205e-03 4.99835646e+02] [-3.03684128e-02 9.99538772e-01 5.12735989e-05 -8.13208762e+00] [ 1.02228814e-03 -2.02376380e-05 9.99999477e-01 9.81871561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.86, Y:-8.13, Z:0.98 [[ 9.99591615e-01 2.85296072e-02 -1.63234650e-03 4.99863517e+02] [-2.85295103e-02 9.99592947e-01 8.26200581e-05 -8.13422534e+00] [ 1.63403917e-03 -3.60162709e-05 9.99998664e-01 9.81714817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.89, Y:-8.14, Z:0.98 [[ 9.99642492e-01 2.66723125e-02 -1.86447647e-03 4.99891144e+02] [-2.66721830e-02 9.99644230e-01 9.42815469e-05 -8.13639071e+00] [ 1.86632785e-03 -4.45181829e-05 9.99998257e-01 9.81552323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.92, Y:-8.14, Z:0.98 [[ 9.99685680e-01 2.50207448e-02 -1.58218031e-03 4.99918463e+02] [-2.50206503e-02 9.99686931e-01 7.95094509e-05 -8.13856862e+00] [ 1.58367437e-03 -3.98972793e-05 9.99998745e-01 9.81313156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.94, Y:-8.14, Z:0.98 [[ 9.99770076e-01 2.14236262e-02 -9.07915632e-04 4.99944978e+02] [-2.14235941e-02 9.99770487e-01 4.50793230e-05 -8.14170287e+00] [ 9.08673017e-04 -2.56181422e-05 9.99999587e-01 9.80995891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.97, Y:-8.14, Z:0.98 [[ 9.99801765e-01 1.99027545e-02 -5.58633621e-04 4.99973322e+02] [-1.99027421e-02 9.99801920e-01 2.77372098e-05 -8.14406642e+00] [ 5.59075014e-04 -1.66133704e-05 9.99999844e-01 9.80964944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.00, Y:-8.15, Z:0.98 [[ 9.99827945e-01 1.85493633e-02 -5.02010968e-05 5.00000784e+02] [-1.85493633e-02 9.99827946e-01 1.77447105e-06 -8.14641977e+00] [ 5.02253746e-05 -8.42967363e-07 9.99999999e-01 9.80720129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.03, Y:-8.15, Z:0.98 [[ 9.99850952e-01 1.72588807e-02 4.52285448e-04 5.00029851e+02] [-1.72588719e-02 9.99851054e-01 -2.35200725e-05 -8.14853240e+00] [-4.52624012e-04 1.57106303e-05 9.99999897e-01 9.80867795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.06, Y:-8.15, Z:0.98 [[ 9.99879089e-01 1.55103439e-02 1.11231664e-03 5.00058337e+02] [-1.55102903e-02 9.99879707e-01 -5.68497222e-05 -8.15153265e+00] [-1.11306460e-03 3.95904944e-05 9.99999380e-01 9.80407293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.09, Y:-8.15, Z:0.98 [[ 9.99892142e-01 1.46562485e-02 9.47999935e-04 5.00085977e+02] [-1.46562090e-02 9.99892591e-01 -4.86154931e-05 -8.15398462e+00] [-9.48610632e-04 3.47161643e-05 9.99999549e-01 9.79830827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.11, Y:-8.16, Z:0.98 [[ 9.99909616e-01 1.34334286e-02 5.50322691e-04 5.00114774e+02] [-1.34334151e-02 9.99909767e-01 -2.83486855e-05 -8.15644360e+00] [-5.50653854e-04 2.09534101e-05 9.99999848e-01 9.78966990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.14, Y:-8.16, Z:0.98 [[ 9.99926584e-01 1.21171150e-02 5.54641249e-05 5.00143662e+02] [-1.21171148e-02 9.99926585e-01 -3.42164923e-06 -8.15870038e+00] [-5.55015137e-05 2.74933286e-06 9.99999998e-01 9.78525670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.17, Y:-8.16, Z:0.98 [[ 9.99944158e-01 1.05672048e-02 -1.23535097e-04 5.00172321e+02] [-1.05672042e-02 9.99944166e-01 5.56343101e-06 -8.16110506e+00] [ 1.23586990e-04 -4.25769973e-06 9.99999992e-01 9.77655351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.20, Y:-8.16, Z:0.98 [[ 9.99976300e-01 6.87550946e-03 -3.56289410e-04 5.00200148e+02] [-6.87550382e-03 9.99976363e-01 1.70667807e-05 -8.16436920e+00] [ 3.56398331e-04 -1.46167070e-05 9.99999936e-01 9.76529545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.23, Y:-8.17, Z:0.98 [[ 9.99988981e-01 4.67749684e-03 -3.98413702e-04 5.00229210e+02] [-4.67748951e-03 9.99989060e-01 1.93257261e-05 -8.16651863e+00] [ 3.98499739e-04 -1.74619372e-05 9.99999920e-01 9.75935374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.26, Y:-8.17, Z:0.98 [[ 9.99997362e-01 2.27968839e-03 -2.79446018e-04 5.00259264e+02] [-2.27968466e-03 9.99997401e-01 1.36589639e-05 -8.16857894e+00] [ 2.79476430e-04 -1.30218791e-05 9.99999961e-01 9.75319863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.29, Y:-8.17, Z:0.97 [[ 9.99999951e-01 -2.45882516e-04 -1.92876680e-04 5.00288975e+02] [ 2.45884318e-04 9.99999970e-01 9.31698735e-06 -8.17052045e+00] [ 1.92874383e-04 -9.36441224e-06 9.99999981e-01 9.74987210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.32, Y:-8.17, Z:0.97 [[ 9.99988940e-01 -4.69836954e-03 2.13244059e-04 5.00318065e+02] [ 4.69837196e-03 9.99988963e-01 -1.08170283e-05 -8.17270180e+00] [-2.13190883e-04 1.18188086e-05 9.99999977e-01 9.73925224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.805099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.35, Y:-8.17, Z:0.97 [[ 9.99978153e-01 -6.60600861e-03 2.31878337e-04 5.00349377e+02] [ 6.60601100e-03 9.99978180e-01 -9.57350176e-06 -8.17440764e+00] [-2.31810035e-04 1.11050835e-05 9.99999973e-01 9.73496422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.38, Y:-8.18, Z:0.97 [[ 9.99965772e-01 -8.25549752e-03 5.49305174e-04 5.00381565e+02] [ 8.25551358e-03 9.99965922e-01 -2.69709071e-05 -8.17606367e+00] [-5.49063797e-04 3.15047802e-05 9.99999849e-01 9.72936246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.41, Y:-8.18, Z:0.97 [[ 9.99952901e-01 -9.65568320e-03 9.81546827e-04 5.00413428e+02] [ 9.65573572e-03 9.99953381e-01 -4.87762883e-05 -8.17748164e+00] [-9.81030100e-04 5.82515477e-05 9.99999517e-01 9.72740629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.44, Y:-8.18, Z:0.97 [[ 9.99931148e-01 -1.16455442e-02 1.44240332e-03 5.00444608e+02] [ 1.16456605e-02 9.99932184e-01 -7.22254812e-05 -8.17850355e+00] [-1.44146440e-03 8.90182478e-05 9.99998957e-01 9.72379983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.48, Y:-8.18, Z:0.97 [[ 9.99923411e-01 -1.21572693e-02 2.31799697e-03 5.00476467e+02] [ 1.21575716e-02 9.99926087e-01 -1.16369829e-04 -8.17981125e+00] [-2.31641090e-03 1.44542130e-04 9.99997307e-01 9.71679585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.51, Y:-8.18, Z:0.97 [[ 9.99919182e-01 -1.24548399e-02 2.55092368e-03 5.00507629e+02] [ 1.24552079e-02 9.99922423e-01 -1.28431345e-04 -8.18104933e+00] [-2.54912619e-03 1.60193250e-04 9.99996738e-01 9.71405969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.54, Y:-8.18, Z:0.97 [[ 9.99914786e-01 -1.27465520e-02 2.81880399e-03 5.00539002e+02] [ 1.27470020e-02 9.99918744e-01 -1.41747601e-04 -8.18225907e+00] [-2.81676815e-03 1.77666823e-04 9.99996017e-01 9.71041925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.57, Y:-8.18, Z:0.97 [[ 9.99916483e-01 -1.24721262e-02 3.38726818e-03 5.00571417e+02] [ 1.24727774e-02 9.99922197e-01 -1.71185437e-04 -8.18368627e+00] [-3.38486960e-03 2.13419782e-04 9.99994249e-01 9.70930007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.60, Y:-8.19, Z:0.97 [[ 9.99917591e-01 -1.23829669e-02 3.38726082e-03 5.00604065e+02] [ 1.23836180e-02 9.99923305e-01 -1.71330962e-04 -8.18540011e+00] [-3.38487945e-03 2.13263387e-04 9.99994249e-01 9.70642235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.64, Y:-8.19, Z:0.97 [[ 9.99917703e-01 -1.22180497e-02 3.91225394e-03 5.00636032e+02] [ 1.22189193e-02 9.99925327e-01 -1.98442772e-04 -8.18638006e+00] [-3.90953722e-03 2.46229956e-04 9.99992327e-01 9.70201306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.67, Y:-8.19, Z:0.97 [[ 9.99923308e-01 -1.09327178e-02 5.81843407e-03 5.00668036e+02] [ 1.09346237e-02 9.99940171e-01 -2.95854801e-04 -8.18657380e+00] [-5.81485146e-03 3.59454499e-04 9.99983029e-01 9.69250468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.70, Y:-8.19, Z:0.97 [[ 9.99929729e-01 -9.86583269e-03 6.57287542e-03 5.00700821e+02] [ 9.86824510e-03 9.99951252e-01 -3.34692651e-04 -8.18738354e+00] [-6.56925298e-03 3.99531878e-04 9.99978342e-01 9.68868272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.73, Y:-8.19, Z:0.97 [[ 9.99944772e-01 -7.24581351e-03 7.61253837e-03 5.00732727e+02] [ 7.24898153e-03 9.99973650e-01 -3.88648841e-04 -8.18645753e+00] [-7.60952170e-03 4.43810527e-04 9.99970949e-01 9.68299116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.77, Y:-8.19, Z:0.97 [[ 9.99954537e-01 -5.55149232e-03 7.75273594e-03 5.00765717e+02] [ 5.55473281e-03 9.99984494e-01 -3.96510740e-04 -8.18678914e+00] [-7.75041450e-03 4.39557090e-04 9.99969868e-01 9.67559757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.80, Y:-8.19, Z:0.97 [[ 9.99966475e-01 -3.43494778e-03 7.43307720e-03 5.00797424e+02] [ 3.43787327e-03 9.99994018e-01 -3.80836592e-04 -8.18736228e+00] [-7.43172458e-03 4.06377802e-04 9.99972302e-01 9.66878508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.83, Y:-8.19, Z:0.97 [[ 9.99969828e-01 -1.53751872e-03 7.61436475e-03 5.00829886e+02] [ 1.54054550e-03 9.99998737e-01 -3.91659178e-04 -8.18788955e+00] [-7.61375295e-03 4.03377636e-04 9.99970934e-01 9.65941693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.86, Y:-8.19, Z:0.96 [[ 9.99966437e-01 7.47733011e-04 8.15874816e-03 5.00862302e+02] [-7.44328874e-04 9.99999635e-01 -4.20266145e-04 -8.18856468e+00] [-8.15905943e-03 4.14179248e-04 9.99966629e-01 9.64886046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.89, Y:-8.19, Z:0.96 [[ 9.99963378e-01 3.35987195e-03 7.87107551e-03 5.00893933e+02] [-3.35677983e-03 9.99994284e-01 -4.06025137e-04 -8.18906141e+00] [-7.87239471e-03 3.79588800e-04 9.99968940e-01 9.64314308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.93, Y:-8.19, Z:0.96 [[ 9.99924471e-01 9.46416948e-03 7.84109284e-03 5.00925879e+02] [-9.46128490e-03 9.99955159e-01 -4.04892192e-04 -8.18796410e+00] [-7.84457320e-03 3.30674798e-04 9.99969176e-01 9.62764785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.96, Y:-8.19, Z:0.96 [[ 9.99885714e-01 1.29304389e-02 7.83337533e-03 5.00957094e+02] [-1.29276615e-02 9.99916352e-01 -4.05098952e-04 -8.18784774e+00] [-7.83795819e-03 3.03785431e-04 9.99969237e-01 9.62195507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.99, Y:-8.19, Z:0.96 [[ 9.99825852e-01 1.68546455e-02 8.01163867e-03 5.00987669e+02] [-1.68518637e-02 9.99857911e-01 -4.14605383e-04 -8.18762576e+00] [-8.01748833e-03 2.79522138e-04 9.99967820e-01 9.61646702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.02, Y:-8.19, Z:0.96 [[ 9.99751978e-01 2.08333334e-02 7.87115825e-03 5.01017653e+02] [-2.08307673e-02 9.99782933e-01 -4.07857143e-04 -8.18742422e+00] [-7.87794671e-03 2.43793719e-04 9.99968939e-01 9.61253141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.05, Y:-8.19, Z:0.96 [[ 9.99546024e-01 2.90636526e-02 7.94039046e-03 5.01045865e+02] [-2.90613026e-02 9.99577547e-01 -4.11199579e-04 -8.18627751e+00] [-7.94898698e-03 1.80254814e-04 9.99968390e-01 9.60317075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.07, Y:-8.19, Z:0.96 [[ 9.99416507e-01 3.31741430e-02 8.13150184e-03 5.01074251e+02] [-3.31718207e-02 9.99449575e-01 -4.20334849e-04 -8.18646227e+00] [-8.14097031e-03 1.50352865e-04 9.99966850e-01 9.60066639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.10, Y:-8.19, Z:0.96 [[ 9.99282599e-01 3.68989897e-02 8.52942259e-03 5.01102339e+02] [-3.68965757e-02 9.99318993e-01 -4.40259856e-04 -8.18630062e+00] [-8.53985914e-03 1.25237527e-04 9.99963527e-01 9.59908682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.555099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.13, Y:-8.19, Z:0.96 [[ 9.99151362e-01 4.01370772e-02 9.25040477e-03 5.01129152e+02] [-4.01343850e-02 9.99194177e-01 -4.76560692e-04 -8.18630244e+00] [-9.26207834e-03 1.04896958e-04 9.99957101e-01 9.59783392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.16, Y:-8.19, Z:0.96 [[ 9.98917106e-01 4.53333512e-02 1.04643667e-02 5.01156285e+02] [-4.53302061e-02 9.98971913e-01 -5.37664982e-04 -8.18609807e+00] [-1.04779825e-02 6.27308496e-05 9.99945102e-01 9.59435798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.18, Y:-8.19, Z:0.96 [[ 9.98848222e-01 4.67501719e-02 1.08005365e-02 5.01184120e+02] [-4.67469186e-02 9.98906612e-01 -5.53609199e-04 -8.18711865e+00] [-1.08146087e-02 4.80797608e-05 9.99941519e-01 9.59266746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.21, Y:-8.19, Z:0.96 [[ 9.98815114e-01 4.73493470e-02 1.12430683e-02 5.01212243e+02] [-4.73458737e-02 9.98878390e-01 -5.75040540e-04 -8.18842483e+00] [-1.12576857e-02 4.20462933e-05 9.99936629e-01 9.59228764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.24, Y:-8.19, Z:0.96 [[ 9.98817351e-01 4.72034942e-02 1.16502680e-02 5.01240495e+02] [-4.71997699e-02 9.98885293e-01 -5.94571665e-04 -8.18997143e+00] [-1.16653472e-02 4.39785281e-05 9.99931957e-01 9.58884452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.27, Y:-8.19, Z:0.96 [[ 9.98856974e-01 4.64286135e-02 1.13635301e-02 5.01267980e+02] [-4.64250341e-02 9.98921609e-01 -5.78716297e-04 -8.19185514e+00] [-1.13781447e-02 5.05025385e-05 9.99935266e-01 9.58543321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.30, Y:-8.19, Z:0.96 [[ 9.99050620e-01 4.20470883e-02 1.13974384e-02 5.01295802e+02] [-4.20432159e-02 9.99115625e-01 -5.79248040e-04 -8.19471012e+00] [-1.14117145e-02 9.95131509e-05 9.99934879e-01 9.57935037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.32, Y:-8.20, Z:0.96 [[ 9.99178644e-01 3.88334496e-02 1.15758849e-02 5.01323903e+02] [-3.88292522e-02 9.99245688e-01 -5.87216608e-04 -8.19704757e+00] [-1.15899567e-02 1.37251342e-04 9.99932825e-01 9.57654565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.35, Y:-8.20, Z:0.96 [[ 9.99319531e-01 3.50648159e-02 1.14426479e-02 5.01352126e+02] [-3.50604803e-02 9.99385024e-01 -5.79339406e-04 -8.19962253e+00] [-1.14559254e-02 1.77760452e-04 9.99934363e-01 9.57434522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.38, Y:-8.20, Z:0.96 [[ 9.99465782e-01 3.06942328e-02 1.12256470e-02 5.01379519e+02] [-3.06897940e-02 9.99528796e-01 -5.67501649e-04 -8.20211224e+00] [-1.12377764e-02 2.22685686e-04 9.99936829e-01 9.57076275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.41, Y:-8.21, Z:0.96 [[ 9.99703987e-01 2.16611176e-02 1.10785749e-02 5.01408358e+02] [-2.16562505e-02 9.99765320e-01 -5.59114046e-04 -8.20633291e+00] [-1.10880860e-02 3.19028148e-04 9.99938474e-01 9.56421166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.44, Y:-8.21, Z:0.96 [[ 9.99789467e-01 1.73092469e-02 1.10186794e-02 5.01437977e+02] [-1.73041761e-02 9.99850117e-01 -5.55379878e-04 -8.20927744e+00] [-1.10266411e-02 3.64593784e-04 9.99939138e-01 9.56016458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.47, Y:-8.21, Z:0.96 [[ 9.99855426e-01 1.33263283e-02 1.05610577e-02 5.01467978e+02] [-1.33214497e-02 9.99911124e-01 -5.32158532e-04 -8.21201741e+00] [-1.05672108e-02 3.91392996e-04 9.99944089e-01 9.55768795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.50, Y:-8.22, Z:0.96 [[ 9.99930832e-01 5.76734227e-03 1.02503521e-02 5.01499052e+02] [-5.76234216e-03 9.99983264e-01 -5.17265955e-04 -8.21571921e+00] [-1.02531638e-02 4.58164141e-04 9.99947330e-01 9.55410992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.53, Y:-8.22, Z:0.96 [[ 9.99949527e-01 2.71638555e-03 9.67289926e-03 5.01530574e+02] [-2.71178604e-03 9.99996204e-01 -4.88588648e-04 -8.21830110e+00] [-9.67418974e-03 4.62333154e-04 9.99953097e-01 9.55179520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.56, Y:-8.22, Z:0.95 [[ 9.99953965e-01 1.52600305e-04 9.59396993e-03 5.01563696e+02] [-1.47940400e-04 9.99999871e-01 -4.86419681e-04 -8.22093235e+00] [-9.59404292e-03 4.84977953e-04 9.99953859e-01 9.54795561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.60, Y:-8.22, Z:0.95 [[ 9.99952520e-01 -2.01692367e-03 9.53358546e-03 5.01596424e+02] [ 2.02164945e-03 9.99997838e-01 -4.86087126e-04 -8.22329867e+00] [-9.53258445e-03 5.05337615e-04 9.99954436e-01 9.54752818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.63, Y:-8.23, Z:0.95 [[ 9.99936129e-01 -6.03022704e-03 9.55897792e-03 5.01629561e+02] [ 6.03518793e-03 9.99981668e-01 -4.90216214e-04 -8.22629743e+00] [-9.55584657e-03 5.47875131e-04 9.99954192e-01 9.54758487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.66, Y:-8.23, Z:0.95 [[ 9.99924989e-01 -7.52808115e-03 9.66145633e-03 5.01662773e+02] [ 7.53324489e-03 9.99971501e-01 -4.98187112e-04 -8.22881071e+00] [-9.65743059e-03 5.70931859e-04 9.99953203e-01 9.54833951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.70, Y:-8.23, Z:0.96 [[ 9.99915514e-01 -8.96171677e-03 9.41554058e-03 5.01695983e+02] [ 8.96669403e-03 9.99959680e-01 -4.86539253e-04 -8.23092613e+00] [-9.41080072e-03 5.70924419e-04 9.99955554e-01 9.55040161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.73, Y:-8.23, Z:0.96 [[ 9.99904941e-01 -1.03721913e-02 9.08445274e-03 5.01727893e+02] [ 1.03768915e-02 9.99946048e-01 -4.70403093e-04 -8.23263612e+00] [-9.07908351e-03 5.64626757e-04 9.99958625e-01 9.55216356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.76, Y:-8.23, Z:0.96 [[ 9.99888626e-01 -1.23864174e-02 8.32541861e-03 5.01760951e+02] [ 1.23904402e-02 9.99923142e-01 -4.31791939e-04 -8.23469176e+00] [-8.31943038e-03 5.34899450e-04 9.99965250e-01 9.55367145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.79, Y:-8.24, Z:0.96 [[ 9.99882332e-01 -1.33312240e-02 7.58945929e-03 5.01793610e+02] [ 1.33345997e-02 9.99911013e-01 -3.94365025e-04 -8.23628607e+00] [-7.58352656e-03 4.95521023e-04 9.99971122e-01 9.55402352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.82, Y:-8.24, Z:0.96 [[ 9.99898664e-01 -1.32571309e-02 5.18751414e-03 5.01824909e+02] [ 1.32880132e-02 9.99893920e-01 -5.96472674e-03 -8.23523962e+00] [-5.10788868e-03 6.03305405e-03 9.99968755e-01 9.56737979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.86, Y:-8.24, Z:0.96 [[ 9.99904860e-01 -1.35891159e-02 2.36795347e-03 5.01856822e+02] [ 1.35960538e-02 9.99903250e-01 -2.93889506e-03 -8.23778096e+00] [-2.32778739e-03 2.97081027e-03 9.99992878e-01 9.55769117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.305099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.89, Y:-8.24, Z:0.95 [[ 9.99919607e-01 -1.15947375e-02 5.13235546e-03 5.01891821e+02] [ 1.16072748e-02 9.99929705e-01 -2.41979943e-03 -8.24223941e+00] [-5.10393775e-03 2.47917756e-03 9.99983902e-01 9.51525280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.92, Y:-8.25, Z:0.95 [[ 9.99895890e-01 -1.39623751e-02 3.64172386e-03 5.01922994e+02] [ 1.39242693e-02 9.99850133e-01 1.02871602e-02 -8.24654093e+00] [-3.78481128e-03 -1.02353808e-02 9.99940454e-01 9.52538966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.96, Y:-8.24, Z:0.96 [[ 9.99915512e-01 -1.28007153e-02 2.26077372e-03 5.01956796e+02] [ 1.28010148e-02 9.99918057e-01 -1.18067833e-04 -8.24236887e+00] [-2.25907711e-03 1.46998055e-04 9.99997437e-01 9.55795707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.99, Y:-8.24, Z:0.96 [[ 9.99941113e-01 -1.08266585e-02 -7.44112371e-04 5.01987277e+02] [ 1.08192171e-02 9.99897600e-01 -9.36664075e-03 -8.23821237e+00] [ 8.45445594e-04 9.35803846e-03 9.99955855e-01 9.58597801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.02, Y:-8.25, Z:0.95 [[ 9.99968207e-01 -7.54552308e-03 2.57893149e-03 5.02017617e+02] [ 7.51708847e-03 9.99912739e-01 1.08630967e-02 -8.24711548e+00] [-2.66067420e-03 -1.08433653e-02 9.99937669e-01 9.53829201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.05, Y:-8.24, Z:0.96 [[ 9.99985858e-01 -5.23486885e-03 9.37817647e-04 5.02051150e+02] [ 5.23604426e-03 9.99985504e-01 -1.25530912e-03 -8.24202115e+00] [-9.31232674e-04 1.26020182e-03 9.99998772e-01 9.57882830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.08, Y:-8.24, Z:0.96 [[ 9.99999053e-01 -1.18262928e-03 -7.03707694e-04 5.02080442e+02] [ 1.17862210e-03 9.99983243e-01 -5.66780447e-03 -8.23999249e+00] [ 7.10398813e-04 5.66696970e-03 9.99983690e-01 9.59196665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.11, Y:-8.24, Z:0.96 [[ 9.99997538e-01 2.05409646e-03 -8.39267625e-04 5.02111026e+02] [-2.05279779e-03 9.99996699e-01 1.54532696e-03 -8.24346889e+00] [ 8.42439105e-04 -1.54360031e-03 9.99998454e-01 9.57671598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.14, Y:-8.24, Z:0.96 [[ 9.99984494e-01 5.56857689e-03 5.15113464e-05 5.02140785e+02] [-5.56874559e-03 9.99975453e-01 4.25236956e-03 -8.24451766e+00] [-2.78304353e-05 -4.25259047e-03 9.99990957e-01 9.57298622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.17, Y:-8.24, Z:0.96 [[ 9.99892105e-01 1.46866884e-02 -2.80680103e-04 5.02169958e+02] [-1.46866850e-02 9.99892145e-01 1.43076746e-05 -8.24044500e+00] [ 2.80859962e-04 -1.01838706e-05 9.99999961e-01 9.59311276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.20, Y:-8.24, Z:0.96 [[ 9.99815746e-01 1.91928440e-02 3.29512220e-04 5.02197536e+02] [-1.91928386e-02 9.99815800e-01 -1.96352829e-05 -8.24045161e+00] [-3.29828381e-04 1.33073902e-05 9.99999946e-01 9.59380465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.23, Y:-8.24, Z:0.96 [[ 9.99714286e-01 2.38996357e-02 3.93281305e-04 5.02225812e+02] [-2.38996291e-02 9.99714363e-01 -2.14182940e-05 -8.24074872e+00] [-3.93680859e-04 1.20128972e-05 9.99999922e-01 9.59443805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.25, Y:-8.24, Z:0.96 [[ 9.99599098e-01 2.83102151e-02 4.17565845e-04 5.02253593e+02] [-2.83102082e-02 9.99599185e-01 -2.26350151e-05 -8.24096123e+00] [-4.18039281e-04 1.08045647e-05 9.99999913e-01 9.59760675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.29, Y:-8.23, Z:0.95 [[ 9.99034041e-01 4.28949746e-02 9.53966293e-03 5.02289527e+02] [-4.24851205e-02 9.98309475e-01 -3.96636666e-02 -8.22946648e+00] [-1.12249079e-02 3.92200594e-02 9.99167548e-01 9.54744359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.31, Y:-8.26, Z:0.95 [[ 9.99171352e-01 4.06601970e-02 1.83225093e-03 5.02309305e+02] [-4.07008426e-02 9.98391060e-01 3.94807816e-02 -8.26077416e+00] [-2.24006586e-04 -3.95226401e-02 9.99218650e-01 9.48766321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.34, Y:-8.24, Z:0.96 [[ 9.99003952e-01 4.46129849e-02 -8.86140114e-04 5.02338472e+02] [-4.46129627e-02 9.99004345e-01 4.48790151e-05 -8.24281051e+00] [ 8.87260011e-04 -5.30097760e-06 9.99999606e-01 9.60235720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.37, Y:-8.24, Z:0.96 [[ 9.98844623e-01 4.80426851e-02 -1.14850500e-03 5.02366243e+02] [-4.80426498e-02 9.98845284e-01 5.82944666e-05 -8.24412299e+00] [ 1.14997943e-03 -3.04989102e-06 9.99999339e-01 9.59654437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.39, Y:-8.25, Z:0.96 [[ 9.98677461e-01 5.13851701e-02 -1.70096645e-03 5.02394186e+02] [-5.13850971e-02 9.98678910e-01 8.65672495e-05 -8.24579591e+00] [ 1.70316759e-03 9.51565181e-07 9.99998550e-01 9.59357456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.42, Y:-8.25, Z:0.96 [[ 9.98361473e-01 5.71840550e-02 -2.08651406e-03 5.02421518e+02] [-5.71839584e-02 9.98363653e-01 1.05987276e-04 -8.24764671e+00] [ 2.08916058e-03 1.35015206e-05 9.99997818e-01 9.58698630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.45, Y:-8.25, Z:0.96 [[ 9.98218555e-01 5.96292627e-02 -2.01672282e-03 5.02449067e+02] [-5.96291776e-02 9.98220592e-01 1.02331338e-04 -8.24944343e+00] [ 2.01923619e-03 1.81064835e-05 9.99997961e-01 9.58212126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.48, Y:-8.25, Z:0.96 [[ 9.98099063e-01 6.15951353e-02 -2.07347203e-03 5.02476855e+02] [-6.15950500e-02 9.98101217e-01 1.05014914e-04 -8.25133072e+00] [ 2.07600336e-03 2.29003258e-05 9.99997845e-01 9.57836134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.50, Y:-8.25, Z:0.96 [[ 9.97959300e-01 6.38184561e-02 -2.10697869e-03 5.02503331e+02] [-6.38183738e-02 9.97961524e-01 1.06329092e-04 -8.25466805e+00] [ 2.10946943e-03 2.83518471e-05 9.99997775e-01 9.56585652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.53, Y:-8.26, Z:0.96 [[ 9.97976050e-01 6.35559898e-02 -2.10706248e-03 5.02531704e+02] [-6.35559104e-02 9.97978274e-01 1.04677295e-04 -8.25604829e+00] [ 2.10945544e-03 2.94508409e-05 9.99997775e-01 9.56360408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.56, Y:-8.26, Z:0.96 [[ 9.97964139e-01 6.37469433e-02 -1.97598230e-03 5.02559590e+02] [-6.37468720e-02 9.97966095e-01 9.90707434e-05 -8.25877870e+00] [ 1.97827879e-03 2.70936415e-05 9.99998043e-01 9.55658663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.59, Y:-8.26, Z:0.96 [[ 9.98021467e-01 6.28513791e-02 -1.69006390e-03 5.02586764e+02] [-6.28513265e-02 9.98022897e-01 8.42738942e-05 -8.26149245e+00] [ 1.69201920e-03 2.21156027e-05 9.99998568e-01 9.55073426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.055099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.61, Y:-8.26, Z:0.95 [[ 9.98095029e-01 6.16850230e-02 -1.12760093e-03 5.02614460e+02] [-6.16849992e-02 9.98095666e-01 5.58859578e-05 -8.26473309e+00] [ 1.12890093e-03 1.37765661e-05 9.99999363e-01 9.54629944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.64, Y:-8.27, Z:0.95 [[ 9.98319426e-01 5.79474181e-02 6.48806069e-04 5.02642434e+02] [-5.79474086e-02 9.98319637e-01 -3.34469474e-05 -8.27079524e+00] [-6.49654003e-04 -4.20589303e-06 9.99999789e-01 9.54310286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.67, Y:-8.27, Z:0.95 [[ 9.98460151e-01 5.54442170e-02 1.80727056e-03 5.02669213e+02] [-5.54441421e-02 9.98461786e-01 -9.15348994e-05 -8.27479119e+00] [-1.80956568e-03 -8.80861651e-06 9.99998363e-01 9.54037896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.70, Y:-8.28, Z:0.95 [[ 9.98607223e-01 5.26957223e-02 2.60288392e-03 5.02695652e+02] [-5.26955597e-02 9.98610615e-01 -1.31054129e-04 -8.27886478e+00] [-2.60617351e-03 -6.28882551e-06 9.99996604e-01 9.53789400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.72, Y:-8.31, Z:0.96 [[ 9.98934186e-01 4.55675327e-02 -7.35471187e-03 5.02718054e+02] [-4.50610992e-02 9.97271034e-01 5.84806102e-02 -8.30589502e+00] [ 9.99945823e-03 -5.80868694e-02 9.98261452e-01 9.57124125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.75, Y:-8.26, Z:0.97 [[ 9.98849934e-01 4.79209812e-02 1.54562153e-03 5.02754702e+02] [-4.77480379e-02 9.97136552e-01 -5.86414717e-02 -8.26101451e+00] [-4.35135259e-03 5.85002298e-02 9.98277912e-01 9.69098872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.78, Y:-8.30, Z:0.95 [[ 9.99070598e-01 4.27940358e-02 5.15849756e-03 5.02781220e+02] [-4.27932770e-02 9.99083915e-01 -2.57430767e-04 -8.29601188e+00] [-5.16478844e-03 3.64424955e-05 9.99986662e-01 9.52202311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.265099893 meters Centerline goodness : 0.995622 Centerline is valid? [True, True] Translation: X:502.81, Y:-8.29, Z:0.96 [[ 9.99196965e-01 4.00386149e-02 1.52801685e-03 5.02809940e+02] [-4.00194335e-02 9.99138290e-01 -1.10055827e-02 -8.29497365e+00] [-1.96734843e-03 1.09355945e-02 9.99938269e-01 9.55418885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.84, Y:-8.31, Z:0.95 [[ 9.99244608e-01 3.85666603e-02 4.77765765e-03 5.02835398e+02] [-3.86155691e-02 9.99197846e-01 1.06067200e-02 -8.30977296e+00] [-4.36475946e-03 -1.07831998e-02 9.99932333e-01 9.48601232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.86, Y:-8.31, Z:0.95 [[ 9.99281428e-01 3.77321224e-02 3.59359863e-03 5.02863513e+02] [-3.77317277e-02 9.99287889e-01 -1.77582092e-04 -8.30903358e+00] [-3.59774014e-03 4.18618018e-05 9.99993527e-01 9.51105827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.89, Y:-8.32, Z:0.95 [[ 9.99298904e-01 3.73133337e-02 3.06848764e-03 5.02890496e+02] [-3.73130443e-02 9.99303614e-01 -1.51527320e-04 -8.31602781e+00] [-3.07200478e-03 3.69264692e-05 9.99995281e-01 9.50020805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.92, Y:-8.32, Z:0.95 [[ 9.99281500e-01 3.78187729e-02 2.49487623e-03 5.02918225e+02] [-3.78185837e-02 9.99284614e-01 -1.22987448e-04 -8.31982849e+00] [-2.49774266e-03 2.85463955e-05 9.99996880e-01 9.50029221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.94, Y:-8.32, Z:0.95 [[ 9.99241015e-01 3.89033577e-02 1.98080424e-03 5.02944793e+02] [-3.89032404e-02 9.99242978e-01 -9.77321344e-05 -8.32336503e+00] [-1.98310684e-03 2.05982535e-05 9.99998033e-01 9.49523846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.97, Y:-8.33, Z:0.95 [[ 9.99188946e-01 4.02470535e-02 1.27449662e-03 5.02971790e+02] [-4.02470057e-02 9.99189759e-01 -6.30927447e-05 -8.32663481e+00] [-1.27600327e-03 1.17469002e-05 9.99999186e-01 9.49372895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.00, Y:-8.33, Z:0.95 [[ 9.99033448e-01 4.39516241e-02 6.52081617e-04 5.03000011e+02] [-4.39516122e-02 9.99033660e-01 -3.25625789e-05 -8.33161943e+00] [-6.52882663e-04 3.87106711e-06 9.99999787e-01 9.48801649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.03, Y:-8.33, Z:0.95 [[ 9.98946905e-01 4.58808626e-02 1.63447443e-04 5.03027521e+02] [-4.58808618e-02 9.98946919e-01 -8.81337466e-06 -8.33453510e+00] [-1.63679685e-04 1.30498380e-06 9.99999987e-01 9.48503643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.06, Y:-8.34, Z:0.95 [[ 9.98855286e-01 4.78331315e-02 -3.31926835e-04 5.03055322e+02] [-4.78331291e-02 9.98855341e-01 1.51644165e-05 -8.33727555e+00] [ 3.32272253e-04 7.30041547e-07 9.99999945e-01 9.48001404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.08, Y:-8.34, Z:0.95 [[ 9.98626354e-01 5.23928751e-02 -6.25829845e-04 5.03082761e+02] [-5.23928670e-02 9.98626550e-01 2.92995754e-05 -8.34175686e+00] [ 6.26505388e-04 3.52969170e-06 9.99999804e-01 9.47912664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.11, Y:-8.34, Z:0.95 [[ 9.98509700e-01 5.45734857e-02 -3.37744715e-04 5.03110399e+02] [-5.45734837e-02 9.98509757e-01 1.53326102e-05 -8.34465701e+00] [ 3.38078147e-04 3.12214562e-06 9.99999943e-01 9.47806968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.14, Y:-8.35, Z:0.95 [[ 9.98395120e-01 5.66299147e-02 4.86691158e-04 5.03136741e+02] [-5.66299092e-02 9.98395239e-01 -2.49818521e-05 -8.34759024e+00] [-4.87324856e-04 -2.61951687e-06 9.99999881e-01 9.47564919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.16, Y:-8.35, Z:0.95 [[ 9.98273661e-01 5.87324854e-02 4.40292220e-04 5.03164820e+02] [-5.87324814e-02 9.98273758e-01 -2.19719504e-05 -8.35083500e+00] [-4.40822636e-04 -3.92543529e-06 9.99999903e-01 9.47753057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.19, Y:-8.36, Z:0.95 [[ 9.98090950e-01 6.17504180e-02 1.15793631e-03 5.03191489e+02] [-6.17503937e-02 9.98091622e-01 -5.67767897e-05 -8.35647091e+00] [-1.15923252e-03 -1.48346227e-05 9.99999328e-01 9.47705555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.22, Y:-8.36, Z:0.95 [[ 9.98042668e-01 6.25232096e-02 1.29695938e-03 5.03219418e+02] [-6.25231810e-02 9.98043510e-01 -6.25719593e-05 -8.36021292e+00] [-1.29833409e-03 -1.86405410e-05 9.99999157e-01 9.47632209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.25, Y:-8.36, Z:0.95 [[ 9.98025000e-01 6.28036998e-02 1.33955555e-03 5.03247566e+02] [-6.28036699e-02 9.98025899e-01 -6.44506815e-05 -8.36429787e+00] [-1.34095888e-03 -1.98056133e-05 9.99999101e-01 9.47639962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.27, Y:-8.37, Z:0.95 [[ 9.98041644e-01 6.25391182e-02 1.31725108e-03 5.03274790e+02] [-6.25390890e-02 9.98042513e-01 -6.33723168e-05 -8.36860391e+00] [-1.31863583e-03 -1.91314712e-05 9.99999130e-01 9.47373749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.805099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.30, Y:-8.38, Z:0.95 [[ 9.98143239e-01 6.08994641e-02 1.15347193e-03 5.03302046e+02] [-6.08994408e-02 9.98143905e-01 -5.53647121e-05 -8.37607494e+00] [-1.15470265e-03 -1.49838822e-05 9.99999333e-01 9.47314304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.33, Y:-8.38, Z:0.95 [[ 9.98223777e-01 5.95687705e-02 9.23639788e-04 5.03330298e+02] [-5.95687549e-02 9.98224204e-01 -4.44285559e-05 -8.38049813e+00] [-9.24646147e-04 -1.06704312e-05 9.99999572e-01 9.47419132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.36, Y:-8.38, Z:0.95 [[ 9.98310549e-01 5.80895191e-02 1.28670000e-03 5.03356930e+02] [-5.80894881e-02 9.98311378e-01 -6.15145709e-05 -8.38494586e+00] [-1.28810060e-03 -1.33330992e-05 9.99999170e-01 9.47197451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.38, Y:-8.39, Z:0.95 [[ 9.98409515e-01 5.63761652e-02 4.11297374e-04 5.03384086e+02] [-5.63761617e-02 9.98409599e-01 -2.03265607e-05 -8.38924333e+00] [-4.11789180e-04 -2.89313564e-06 9.99999915e-01 9.47496577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.41, Y:-8.40, Z:0.95 [[ 9.98601252e-01 5.28660615e-02 8.47494449e-04 5.03411398e+02] [-5.28660462e-02 9.98601612e-01 -4.05359012e-05 -8.39664579e+00] [-8.48452297e-04 -4.32447891e-06 9.99999640e-01 9.47236073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.44, Y:-8.40, Z:0.95 [[ 9.98702467e-01 5.09244621e-02 2.85059710e-04 5.03438318e+02] [-5.09244600e-02 9.98702508e-01 -1.43533715e-05 -8.40078206e+00] [-2.85420786e-04 -1.81764346e-07 9.99999959e-01 9.47218128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.47, Y:-8.40, Z:0.95 [[ 9.98816533e-01 4.86365668e-02 1.33123457e-04 5.03465977e+02] [-4.86365663e-02 9.98816542e-01 -7.10553703e-06 -8.40486167e+00] [-1.33311501e-04 6.22460002e-07 9.99999991e-01 9.47464012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.49, Y:-8.41, Z:0.95 [[ 9.98930284e-01 4.62382639e-02 5.58182379e-04 5.03494245e+02] [-4.62382561e-02 9.98930440e-01 -2.68251222e-05 -8.40893345e+00] [-5.58825717e-04 9.87047112e-07 9.99999844e-01 9.47241776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.52, Y:-8.41, Z:0.95 [[ 9.99037147e-01 4.38572516e-02 1.14943274e-03 5.03521849e+02] [-4.38572184e-02 9.99037808e-01 -5.41487155e-05 -8.41273503e+00] [-1.15070158e-03 3.68565572e-06 9.99999338e-01 9.46883476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.55, Y:-8.42, Z:0.95 [[ 9.99237704e-01 3.90208935e-02 1.17510737e-03 5.03548943e+02] [-3.90208557e-02 9.99238395e-01 -5.50690948e-05 -8.41857550e+00] [-1.17636125e-03 9.17342086e-06 9.99999308e-01 9.46537220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.58, Y:-8.42, Z:0.95 [[ 9.99341181e-01 3.62603179e-02 1.54679716e-03 5.03576680e+02] [-3.62602495e-02 9.99342378e-01 -7.22185427e-05 -8.42180028e+00] [-1.54839862e-03 1.60837129e-05 9.99998801e-01 9.46268266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.61, Y:-8.43, Z:0.95 [[ 9.99447576e-01 3.31983049e-02 1.55412491e-03 5.03605284e+02] [-3.31982328e-02 9.99448784e-01 -7.21463061e-05 -8.42524627e+00] [-1.55566339e-03 2.05122500e-05 9.99998790e-01 9.46129225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.63, Y:-8.43, Z:0.95 [[ 9.99563321e-01 2.94989542e-02 1.72594074e-03 5.03633449e+02] [-2.94988599e-02 9.99564811e-01 -8.00472736e-05 -8.42831382e+00] [-1.72755094e-03 2.90990345e-05 9.99998507e-01 9.45555931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.66, Y:-8.43, Z:0.94 [[ 9.99788121e-01 2.05094019e-02 1.75446369e-03 5.03662168e+02] [-2.05092912e-02 9.99789659e-01 -8.10641308e-05 -8.43379514e+00] [-1.75575723e-03 4.50641484e-05 9.99998458e-01 9.44296359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.69, Y:-8.44, Z:0.94 [[ 9.99885173e-01 1.50993494e-02 1.28478656e-03 5.03691204e+02] [-1.50992854e-02 9.99885998e-01 -5.94393405e-05 -8.43703779e+00] [-1.28553759e-03 4.00331563e-05 9.99999173e-01 9.44146027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.72, Y:-8.44, Z:0.94 [[ 9.99954385e-01 9.42003710e-03 1.57801806e-03 5.03720335e+02] [-9.41993438e-03 9.99955629e-01 -7.25111036e-05 -8.44012934e+00] [-1.57863110e-03 5.76429695e-05 9.99998752e-01 9.43525354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.75, Y:-8.44, Z:0.94 [[ 9.99991767e-01 3.68751557e-03 1.69340686e-03 5.03749631e+02] [-3.68738943e-03 9.99993199e-01 -7.76052273e-05 -8.44299742e+00] [-1.69368151e-03 7.13603379e-05 9.99998563e-01 9.43516185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.78, Y:-8.45, Z:0.94 [[ 9.99975191e-01 -6.61062395e-03 2.43246243e-03 5.03779897e+02] [ 6.61091409e-03 9.99978141e-01 -1.11254682e-04 -8.44680408e+00] [-2.43167380e-03 1.27332722e-04 9.99997035e-01 9.43384854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.81, Y:-8.45, Z:0.94 [[ 9.99937829e-01 -1.06887426e-02 3.17622525e-03 5.03811571e+02] [ 1.06892536e-02 9.99942858e-01 -1.43935907e-04 -8.44906359e+00] [-3.17450527e-03 1.77878436e-04 9.99994945e-01 9.42993864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.84, Y:-8.45, Z:0.94 [[ 9.99899148e-01 -1.37796762e-02 3.43712917e-03 5.03844290e+02] [ 1.37802956e-02 9.99905035e-01 -1.56591229e-04 -8.45082904e+00] [-3.43464499e-03 2.03940092e-04 9.99994081e-01 9.43127481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.88, Y:-8.45, Z:0.94 [[ 9.99866281e-01 -1.59822971e-02 3.46210595e-03 5.03876615e+02] [ 1.59829460e-02 9.99872252e-01 -1.59858796e-04 -8.45220402e+00] [-3.45910876e-03 2.15172072e-04 9.99993994e-01 9.43140111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.91, Y:-8.45, Z:0.94 [[ 9.99841818e-01 -1.73433793e-02 3.94288056e-03 5.03909038e+02] [ 1.73442331e-02 9.99849561e-01 -1.82430801e-04 -8.45333854e+00] [-3.93912343e-03 2.50788183e-04 9.99992210e-01 9.42614870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.94, Y:-8.45, Z:0.94 [[ 9.99840515e-01 -1.73433137e-02 4.26065940e-03 5.03940935e+02] [ 1.73443121e-02 9.99849557e-01 -1.97502483e-04 -8.45338897e+00] [-4.25659307e-03 2.71369191e-04 9.99990904e-01 9.42332570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.97, Y:-8.45, Z:0.94 [[ 9.99858625e-01 -1.62586038e-02 4.28805231e-03 5.03972594e+02] [ 1.62596069e-02 9.99867784e-01 -1.99175213e-04 -8.45336627e+00] [-4.28424705e-03 2.68869099e-04 9.99990786e-01 9.42139631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.00, Y:-8.45, Z:0.94 [[ 9.99879446e-01 -1.47915720e-02 4.72260479e-03 5.04004347e+02] [ 1.47927736e-02 9.99890557e-01 -2.19603404e-04 -8.45290442e+00] [-4.71883965e-03 2.89437353e-04 9.99988824e-01 9.41693537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.555099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.04, Y:-8.45, Z:0.94 [[ 9.99923570e-01 -1.12756261e-02 5.07100897e-03 5.04037092e+02] [ 1.12769685e-02 9.99936385e-01 -2.36214719e-04 -8.45028525e+00] [-5.06802291e-03 2.93382273e-04 9.99987114e-01 9.41349264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.07, Y:-8.45, Z:0.94 [[ 9.99945243e-01 -9.17537251e-03 5.03220065e-03 5.04068457e+02] [ 9.17667017e-03 9.99957866e-01 -2.34841922e-04 -8.44982586e+00] [-5.02983387e-03 2.81007909e-04 9.99987311e-01 9.41195257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.10, Y:-8.45, Z:0.94 [[ 9.99964936e-01 -7.00885832e-03 4.58278604e-03 5.04100185e+02] [ 7.00991285e-03 9.99975407e-01 -2.14084047e-04 -8.44928063e+00] [-4.58117285e-03 2.46201471e-04 9.99989476e-01 9.41097091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.13, Y:-8.45, Z:0.94 [[ 9.99975451e-01 -5.20866613e-03 4.68695985e-03 5.04131953e+02] [ 5.20975037e-03 9.99986405e-01 -2.19150068e-04 -8.44874010e+00] [-4.68575465e-03 2.43562579e-04 9.99988992e-01 9.40366111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.16, Y:-8.45, Z:0.94 [[ 9.99989187e-01 -2.23842547e-03 4.07630663e-03 5.04164631e+02] [ 2.23922183e-03 9.99997475e-01 -1.90809823e-04 -8.44593580e+00] [-4.07586922e-03 1.99935514e-04 9.99991674e-01 9.39461053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.20, Y:-8.45, Z:0.94 [[ 9.99993078e-01 -6.39853922e-04 3.66539528e-03 5.04197094e+02] [ 6.40487851e-04 9.99999780e-01 -1.71778300e-04 -8.44507615e+00] [-3.66528456e-03 1.74124752e-04 9.99993268e-01 9.39122641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.23, Y:-8.44, Z:0.94 [[ 9.99994023e-01 2.67528936e-04 3.44695743e-03 5.04229752e+02] [-2.66972975e-04 9.99999951e-01 -1.61749445e-04 -8.44415794e+00] [-3.44700054e-03 1.60828234e-04 9.99994046e-01 9.38860370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.26, Y:-8.44, Z:0.94 [[ 9.99994024e-01 1.05435702e-03 3.29243259e-03 5.04262351e+02] [-1.05385338e-03 9.99999433e-01 -1.54699579e-04 -8.44324811e+00] [-3.29259383e-03 1.51228913e-04 9.99994568e-01 9.38382421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.29, Y:-8.44, Z:0.94 [[ 9.99993490e-01 1.69762943e-03 3.18390885e-03 5.04293885e+02] [-1.69716070e-03 9.99998549e-01 -1.49916773e-04 -8.44254077e+00] [-3.18415873e-03 1.44512193e-04 9.99994920e-01 9.38032134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.33, Y:-8.44, Z:0.94 [[ 9.99988770e-01 2.87264064e-03 3.76923485e-03 5.04325207e+02] [-2.87199093e-03 9.99995860e-01 -1.77774462e-04 -8.43989824e+00] [-3.76972993e-03 1.66947257e-04 9.99992881e-01 9.37533398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.36, Y:-8.44, Z:0.94 [[ 9.99988614e-01 2.92658627e-03 3.76922494e-03 5.04357016e+02] [-2.92593615e-03 9.99995704e-01 -1.77984237e-04 -8.44142897e+00] [-3.76972963e-03 1.66953699e-04 9.99992881e-01 9.37262624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.39, Y:-8.44, Z:0.94 [[ 9.99984225e-01 3.58125285e-03 4.32715901e-03 5.04388555e+02] [-3.58040050e-03 9.99993569e-01 -2.04708140e-04 -8.44086833e+00] [-4.32786429e-03 1.89211949e-04 9.99990617e-01 9.36762426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.42, Y:-8.44, Z:0.94 [[ 9.99980864e-01 4.58317286e-03 4.15516437e-03 5.04420327e+02] [-4.58239501e-03 9.99989481e-01 -1.96703586e-04 -8.44041754e+00] [-4.15602219e-03 1.77659217e-04 9.99991348e-01 9.36637916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.45, Y:-8.44, Z:0.94 [[ 9.99971815e-01 6.06093538e-03 4.43097205e-03 5.04451234e+02] [-6.06006482e-03 9.99981616e-01 -2.09869816e-04 -8.44016054e+00] [-4.43216259e-03 1.83011923e-04 9.99990161e-01 9.35964013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.48, Y:-8.43, Z:0.94 [[ 9.99927428e-01 1.20026351e-02 1.03689438e-03 5.04479548e+02] [-1.19910329e-02 9.99872427e-01 -1.05519732e-02 -8.43248599e+00] [-1.16341359e-03 1.05387740e-02 9.99943789e-01 9.37673903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.51, Y:-8.44, Z:0.93 [[ 9.99918311e-01 1.18283711e-02 4.84356919e-03 5.04511274e+02] [-1.18758587e-02 9.99880512e-01 9.89577302e-03 -8.44176938e+00] [-4.72593957e-03 -9.95248619e-03 9.99939305e-01 9.33986105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.54, Y:-8.44, Z:0.94 [[ 9.99887708e-01 1.44048432e-02 4.13189302e-03 5.04541115e+02] [-1.44041486e-02 9.99896235e-01 -1.97829836e-04 -8.43646050e+00] [-4.13431398e-03 1.38291220e-04 9.99991444e-01 9.36047078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.57, Y:-8.43, Z:0.94 [[ 9.99806245e-01 1.91275366e-02 4.64863002e-03 5.04570998e+02] [-1.91267085e-02 9.99817043e-01 -2.22530765e-04 -8.43406991e+00] [-4.65203599e-03 1.33574657e-04 9.99989170e-01 9.35888155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.60, Y:-8.43, Z:0.94 [[ 9.99760568e-01 2.14492242e-02 4.32872508e-03 5.04599886e+02] [-2.14485279e-02 9.99769932e-01 -2.07224179e-04 -8.43353672e+00] [-4.33217398e-03 1.14329783e-04 9.99990610e-01 9.36243918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.63, Y:-8.43, Z:0.94 [[ 9.99711187e-01 2.35270701e-02 4.90106422e-03 5.04627710e+02] [-2.35262043e-02 9.99723193e-01 -2.34245349e-04 -8.43312898e+00] [-4.90521868e-03 1.18874258e-04 9.99987962e-01 9.35972560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.66, Y:-8.43, Z:0.94 [[ 9.99664140e-01 2.55229475e-02 4.49291442e-03 5.04656249e+02] [-2.55222419e-02 9.99674232e-01 -2.14324561e-04 -8.43289883e+00] [-4.49692096e-03 9.95833290e-05 9.99989884e-01 9.36025341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.69, Y:-8.43, Z:0.94 [[ 9.99614657e-01 2.73223314e-02 4.90187562e-03 5.04685622e+02] [-2.73215150e-02 9.99626670e-01 -2.33435301e-04 -8.43179405e+00] [-4.90642360e-03 9.94186795e-05 9.99987958e-01 9.35446367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.71, Y:-8.43, Z:0.94 [[ 9.99596927e-01 2.80109360e-02 4.62289278e-03 5.04714848e+02] [-2.80102187e-02 9.99607613e-01 -2.19849416e-04 -8.43235542e+00] [-4.62723701e-03 9.02725631e-05 9.99989290e-01 9.35482622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.74, Y:-8.43, Z:0.94 [[ 9.99592916e-01 2.81014737e-02 4.93046591e-03 5.04742392e+02] [-2.81006606e-02 9.99605071e-01 -2.34138545e-04 -8.43301908e+00] [-4.93509837e-03 9.54938819e-05 9.99987818e-01 9.35029347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.77, Y:-8.43, Z:0.93 [[ 9.99602957e-01 2.78047824e-02 4.56324448e-03 5.04771281e+02] [-2.78040847e-02 9.99613368e-01 -2.16277492e-04 -8.43401601e+00] [-4.56749373e-03 8.93147844e-05 9.99989565e-01 9.34910323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.305099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.80, Y:-8.44, Z:0.93 [[ 9.99624264e-01 2.69409070e-02 5.05157522e-03 5.04800475e+02] [-2.69400430e-02 9.99637023e-01 -2.39015711e-04 -8.43513337e+00] [-5.05618092e-03 1.02836250e-04 9.99987212e-01 9.34145437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.83, Y:-8.44, Z:0.93 [[ 9.99648389e-01 2.60551754e-02 4.92193210e-03 5.04829758e+02] [-2.60543461e-02 9.99660501e-01 -2.32547565e-04 -8.43616678e+00] [-4.92632018e-03 1.04228076e-04 9.99987860e-01 9.33910174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.86, Y:-8.44, Z:0.93 [[ 9.99725849e-01 2.29773418e-02 4.50217659e-03 5.04857972e+02] [-2.29766177e-02 9.99735980e-01 -2.12501547e-04 -8.43739835e+00] [-4.50587064e-03 1.08998499e-04 9.99989843e-01 9.33636780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.89, Y:-8.44, Z:0.93 [[ 9.99775746e-01 2.07781032e-02 4.08990702e-03 5.04886669e+02] [-2.07774888e-02 9.99784106e-01 -1.92666873e-04 -8.43887718e+00] [-4.09302729e-03 1.07645669e-04 9.99991618e-01 9.33654360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.92, Y:-8.44, Z:0.93 [[ 9.99827102e-01 1.81729799e-02 3.93817784e-03 5.04915539e+02] [-1.81723911e-02 9.99834851e-01 -1.85262319e-04 -8.44034540e+00] [-3.94089422e-03 1.13664179e-04 9.99992228e-01 9.33403642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.94, Y:-8.44, Z:0.93 [[ 9.99869934e-01 1.56810826e-02 3.77070954e-03 5.04942839e+02] [-1.56805256e-02 9.99877037e-01 -1.77242871e-04 -8.44198328e+00] [-3.77302525e-03 1.18093110e-04 9.99992875e-01 9.33007479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.97, Y:-8.44, Z:0.93 [[ 9.99939105e-01 1.03161757e-02 3.91947739e-03 5.04972305e+02] [-1.03155354e-02 9.99946777e-01 -1.83551622e-04 -8.44428213e+00] [-3.92116233e-03 1.43108937e-04 9.99992302e-01 9.32710558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.00, Y:-8.45, Z:0.93 [[ 9.99961972e-01 7.66015138e-03 4.16844314e-03 5.05003017e+02] [-7.65940539e-03 9.99970647e-01 -1.94896130e-04 -8.44598302e+00] [-4.16981372e-03 1.62960923e-04 9.99991293e-01 9.31998629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.03, Y:-8.45, Z:0.93 [[ 9.99977799e-01 5.24329325e-03 4.11219918e-03 5.05033853e+02] [-5.24254685e-03 9.99986239e-01 -1.92266436e-04 -8.44774660e+00] [-4.11315070e-03 1.70703771e-04 9.99991526e-01 9.31959705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.07, Y:-8.45, Z:0.93 [[ 9.99988471e-01 1.08852021e-03 4.67679068e-03 5.05065017e+02] [-1.08751003e-03 9.99999385e-01 -2.18536249e-04 -8.44945112e+00] [-4.67702569e-03 2.13447673e-04 9.99989040e-01 9.31384792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.10, Y:-8.45, Z:0.93 [[ 9.99991506e-01 -8.11630545e-04 4.04105616e-03 5.05096212e+02] [ 8.12398855e-04 9.99999652e-01 -1.88488289e-04 -8.45079346e+00] [-4.04090177e-03 1.91769638e-04 9.99991817e-01 9.31400267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.13, Y:-8.45, Z:0.93 [[ 9.99988414e-01 -2.46121429e-03 4.13695597e-03 5.05128872e+02] [ 2.46203442e-03 9.99996951e-01 -1.93163075e-04 -8.45272832e+00] [-4.13646794e-03 2.03346165e-04 9.99991424e-01 9.30797323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.16, Y:-8.45, Z:0.93 [[ 9.99983648e-01 -4.16708067e-03 3.91665087e-03 5.05160998e+02] [ 4.16783225e-03 9.99991298e-01 -1.83752600e-04 -8.45438540e+00] [-3.91585107e-03 2.00073539e-04 9.99992313e-01 9.30393947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.19, Y:-8.46, Z:0.93 [[ 9.99977793e-01 -5.69953864e-03 3.45391154e-03 5.05194439e+02] [ 5.70013382e-03 9.99983741e-01 -1.62501764e-04 -8.45636311e+00] [-3.45292920e-03 1.82185913e-04 9.99994022e-01 9.30066985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.23, Y:-8.46, Z:0.93 [[ 9.99956011e-01 -9.00092557e-03 2.63812097e-03 5.05226909e+02] [ 9.00128509e-03 9.99959480e-01 -1.24437873e-04 -8.45781555e+00] [-2.63689402e-03 1.48178878e-04 9.99996512e-01 9.29376791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.26, Y:-8.46, Z:0.93 [[ 9.99943146e-01 -1.04829405e-02 1.95264161e-03 5.05259439e+02] [ 1.04831425e-02 9.99945046e-01 -9.32794387e-05 -8.45880099e+00] [-1.95155646e-03 1.13743956e-04 9.99998089e-01 9.29380439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.29, Y:-8.46, Z:0.93 [[ 9.99935874e-01 -1.12075625e-02 1.62443064e-03 5.05292025e+02] [ 1.12077033e-02 9.99937189e-01 -7.76209860e-05 -8.45987048e+00] [-1.62345867e-03 9.58221451e-05 9.99998678e-01 9.29158693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.32, Y:-8.46, Z:0.93 [[ 9.99926702e-01 -1.20330405e-02 1.34019626e-03 5.05324144e+02] [ 1.20331371e-02 9.99927597e-01 -6.40286051e-05 -8.46051297e+00] [-1.33932877e-03 8.01506774e-05 9.99999100e-01 9.28942128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.36, Y:-8.47, Z:0.93 [[ 9.99913342e-01 -1.30752053e-02 -1.53236365e-03 5.05356326e+02] [ 1.30954567e-02 9.99815549e-01 1.40491118e-02 -8.46685896e+00] [ 1.34838598e-03 -1.40679613e-02 9.99900132e-01 9.31311654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.39, Y:-8.45, Z:0.93 [[ 9.99936028e-01 -1.12065302e-02 1.53393650e-03 5.05387070e+02] [ 1.12272805e-02 9.99835245e-01 -1.42629492e-02 -8.45357660e+00] [-1.37384561e-03 1.42792587e-02 9.99897102e-01 9.31747277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.42, Y:-8.46, Z:0.93 [[ 9.99942762e-01 -1.04641748e-02 2.23023881e-03 5.05417666e+02] [ 1.04644401e-02 9.99945241e-01 -1.07307986e-04 -8.46027128e+00] [-2.22899379e-03 1.30640044e-04 9.99997507e-01 9.28461949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.45, Y:-8.46, Z:0.93 [[ 9.99955585e-01 -9.23400876e-03 1.88697024e-03 5.05450040e+02] [ 9.23419630e-03 9.99957360e-01 -9.07004451e-05 -8.46013529e+00] [-1.88605225e-03 1.08121070e-04 9.99998216e-01 9.28424960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.48, Y:-8.46, Z:0.93 [[ 9.99975846e-01 -6.76590904e-03 1.59050240e-03 5.05482298e+02] [ 6.76603918e-03 9.99977107e-01 -7.64565719e-05 -8.45812175e+00] [-1.58994869e-03 8.72161268e-05 9.99998732e-01 9.28127044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.51, Y:-8.46, Z:0.93 [[ 9.99982720e-01 -5.81741187e-03 8.47028458e-04 5.05513475e+02] [ 5.81744794e-03 9.99983078e-01 -4.01312671e-05 -8.45790501e+00] [-8.46780664e-04 4.50581176e-05 9.99999640e-01 9.28051039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.54, Y:-8.46, Z:0.93 [[ 9.99987676e-01 -4.94000037e-03 4.94535353e-04 5.05544966e+02] [ 4.94001265e-03 9.99987798e-01 -2.36108030e-05 -8.45818331e+00] [-4.94412681e-04 2.60535229e-05 9.99999877e-01 9.27633696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.055099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.58, Y:-8.46, Z:0.93 [[ 9.99990968e-01 -4.23400462e-03 3.71491511e-04 5.05575895e+02] [ 4.23401151e-03 9.99991036e-01 -1.77779717e-05 -8.45837812e+00] [-3.71412909e-04 1.93507104e-05 9.99999931e-01 9.27405891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.61, Y:-8.46, Z:0.93 [[ 9.99993254e-01 -3.67230840e-03 7.26224840e-05 5.05607005e+02] [ 3.67230865e-03 9.99993257e-01 -3.23110512e-06 -8.45863801e+00] [-7.26101289e-05 3.49777550e-06 9.99999997e-01 9.27063787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.64, Y:-8.46, Z:0.93 [[ 9.99995103e-01 -3.11084725e-03 3.41113132e-04 5.05638204e+02] [ 3.11085300e-03 9.99995161e-01 -1.63217257e-05 -8.45897262e+00] [-3.41060707e-04 1.73827986e-05 9.99999942e-01 9.26821922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.67, Y:-8.46, Z:0.93 [[ 9.99996567e-01 -2.39560974e-03 1.06152025e-03 5.05668847e+02] [ 2.39566587e-03 9.99997129e-01 -5.16060563e-05 -8.45783402e+00] [-1.06139357e-03 5.41489270e-05 9.99999435e-01 9.27151418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.70, Y:-8.46, Z:0.93 [[ 9.99997478e-01 -1.85146308e-03 1.27146757e-03 5.05700382e+02] [ 1.85154292e-03 9.99998284e-01 -6.16187942e-05 -8.45801672e+00] [-1.27135131e-03 6.39728156e-05 9.99999190e-01 9.26853314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.73, Y:-8.46, Z:0.93 [[ 9.99998165e-01 -1.18888279e-03 1.50240281e-03 5.05731895e+02] [ 1.18899394e-03 9.99999290e-01 -7.30876845e-05 -8.45827029e+00] [-1.50231486e-03 7.48738982e-05 9.99998869e-01 9.26738304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.76, Y:-8.46, Z:0.93 [[ 9.99998688e-01 -2.22712740e-04 1.60426506e-03 5.05762622e+02] [ 2.22838161e-04 9.99999972e-01 -7.80014018e-05 -8.45830120e+00] [-1.60424765e-03 7.83587910e-05 9.99998710e-01 9.26584291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.79, Y:-8.46, Z:0.93 [[ 9.99995392e-01 2.78837721e-03 1.19998823e-03 5.05794464e+02] [-2.78830910e-03 9.99996111e-01 -5.84209668e-05 -8.45666337e+00] [-1.20014647e-03 5.50747595e-05 9.99999278e-01 9.26346174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.295099893 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:505.82, Y:-8.45, Z:0.93 [[ 9.99992662e-01 3.82254853e-03 -2.54793149e-04 5.05824965e+02] [-3.82357759e-03 9.99984001e-01 -4.16872321e-03 -8.45440555e+00] [ 2.38853925e-04 4.16966684e-03 9.99991278e-01 9.27374885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.85, Y:-8.46, Z:0.92 [[ 9.99977605e-01 6.56250548e-03 1.31292019e-03 5.05854398e+02] [-6.56774516e-03 9.99970323e-01 4.02716706e-03 -8.45836815e+00] [-1.28645292e-03 -4.03569979e-03 9.99991029e-01 9.24913906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.88, Y:-8.46, Z:0.93 [[ 9.99960976e-01 8.78525268e-03 9.30775769e-04 5.05884314e+02] [-8.78521398e-03 9.99961408e-01 -4.56578941e-05 -8.45631558e+00] [-9.31140965e-04 3.74790480e-05 9.99999566e-01 9.25760945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.91, Y:-8.45, Z:0.93 [[ 9.99904461e-01 1.37410775e-02 1.50043335e-03 5.05913675e+02] [-1.37409807e-02 9.99905585e-01 -7.48425350e-05 -8.45469550e+00] [-1.50132011e-03 5.42179589e-05 9.99998872e-01 9.25879071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.94, Y:-8.45, Z:0.93 [[ 9.99872611e-01 1.58874115e-02 1.53366681e-03 5.05941197e+02] [-1.58873151e-02 9.99873786e-01 -7.49952652e-05 -8.45411850e+00] [-1.53466472e-03 5.06198637e-05 9.99998821e-01 9.25430066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.97, Y:-8.45, Z:0.93 [[ 9.99830500e-01 1.83177600e-02 1.85237838e-03 5.05969519e+02] [-1.83176243e-02 9.99832214e-01 -9.02262625e-05 -8.45406247e+00] [-1.85372032e-03 5.62797981e-05 9.99998280e-01 9.25023258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.00, Y:-8.45, Z:0.92 [[ 9.99779478e-01 2.09002447e-02 2.04339429e-03 5.05998569e+02] [-2.09000858e-02 9.99781564e-01 -9.90960274e-05 -8.45420363e+00] [-2.04501907e-03 5.63670586e-05 9.99997907e-01 9.24505593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.03, Y:-8.45, Z:0.92 [[ 9.99725994e-01 2.33200808e-02 2.02740510e-03 5.06026945e+02] [-2.33199296e-02 9.99728049e-01 -9.81775501e-05 -8.45420346e+00] [-2.02914326e-03 5.08717046e-05 9.99997940e-01 9.24174603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.05, Y:-8.45, Z:0.92 [[ 9.99589211e-01 2.86023205e-02 1.82113396e-03 5.06054266e+02] [-2.86022068e-02 9.99590869e-01 -8.84575855e-05 -8.45337110e+00] [-1.82291897e-03 3.63327980e-05 9.99998338e-01 9.23368103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.08, Y:-8.45, Z:0.92 [[ 9.99508135e-01 3.12997256e-02 1.95308171e-03 5.06082243e+02] [-3.12996008e-02 9.99510043e-01 -9.44595236e-05 -8.45342795e+00] [-1.95508135e-03 3.32823844e-05 9.99998088e-01 9.22955078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.11, Y:-8.45, Z:0.92 [[ 9.99428627e-01 3.37352326e-02 2.08647002e-03 5.06109504e+02] [-3.37350958e-02 9.99430805e-01 -1.00725718e-04 -8.45362168e+00] [-2.08868041e-03 3.02809007e-05 9.99997818e-01 9.23029514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.14, Y:-8.45, Z:0.92 [[ 9.99353784e-01 3.58486211e-02 2.62518254e-03 5.06137019e+02] [-3.58484137e-02 9.99357231e-01 -1.26023611e-04 -8.45382647e+00] [-2.62801293e-03 3.18335432e-05 9.99996546e-01 9.22723476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.16, Y:-8.45, Z:0.92 [[ 9.99205053e-01 3.96919183e-02 3.71676201e-03 5.06164270e+02] [-3.96915318e-02 9.99211965e-01 -1.77721813e-04 -8.45424565e+00] [-3.72088719e-03 3.00565563e-05 9.99993077e-01 9.22402666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.19, Y:-8.46, Z:0.92 [[ 9.99136019e-01 4.13835376e-02 3.82333285e-03 5.06191602e+02] [-4.13831424e-02 9.99143334e-01 -1.82451593e-04 -8.45534863e+00] [-3.82760802e-03 2.40724309e-05 9.99992674e-01 9.22269684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.22, Y:-8.46, Z:0.92 [[ 9.99078114e-01 4.27504325e-02 3.91449825e-03 5.06219495e+02] [-4.27500321e-02 9.99085782e-01 -1.85926618e-04 -8.45647607e+00] [-3.91886799e-03 1.84102885e-05 9.99992321e-01 9.21932011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.25, Y:-8.46, Z:0.92 [[ 9.99029188e-01 4.39147547e-02 3.48937431e-03 5.06246792e+02] [-4.39144444e-02 9.99035282e-01 -1.65533268e-04 -8.45755819e+00] [-3.49327740e-03 1.21386322e-05 9.99993898e-01 9.21810913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.28, Y:-8.46, Z:0.92 [[ 9.99033016e-01 4.38275845e-02 3.48940369e-03 5.06275236e+02] [-4.38272758e-02 9.99039110e-01 -1.64910503e-04 -8.45880975e+00] [-3.49327838e-03 1.18199790e-05 9.99993898e-01 9.21575588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.805099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.30, Y:-8.46, Z:0.92 [[ 9.98994062e-01 4.47409503e-02 3.01854290e-03 5.06303406e+02] [-4.47407237e-02 9.98998622e-01 -1.42595704e-04 -8.46006628e+00] [-3.02190006e-03 7.40046745e-06 9.99995434e-01 9.21118200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.33, Y:-8.46, Z:0.92 [[ 9.99000245e-01 4.46076643e-02 2.94396574e-03 5.06330683e+02] [-4.46074488e-02 9.99004583e-01 -1.38867445e-04 -8.46162603e+00] [-2.94722982e-03 7.40581015e-06 9.99995657e-01 9.20647897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.36, Y:-8.46, Z:0.92 [[ 9.99013596e-01 4.43043461e-02 2.99333455e-03 5.06359076e+02] [-4.43041234e-02 9.99018080e-01 -1.40705912e-04 -8.46342300e+00] [-2.99662922e-03 7.95005604e-06 9.99995510e-01 9.20384812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.39, Y:-8.47, Z:0.92 [[ 9.99043188e-01 4.36164398e-02 3.21162113e-03 5.06386890e+02] [-4.36161811e-02 9.99048350e-01 -1.50583750e-04 -8.46537842e+00] [-3.21513272e-03 1.03610206e-05 9.99994831e-01 9.20055416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.41, Y:-8.47, Z:0.92 [[ 9.99076755e-01 4.28411639e-02 3.20493076e-03 5.06413965e+02] [-4.28409031e-02 9.99081896e-01 -1.50010072e-04 -8.46749325e+00] [-3.20841491e-03 1.25694481e-05 9.99994853e-01 9.19797720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.44, Y:-8.47, Z:0.92 [[ 9.99184230e-01 4.01525488e-02 4.31825315e-03 5.06441551e+02] [-4.01520545e-02 9.99193561e-01 -2.01135634e-04 -8.47041199e+00] [-4.32284685e-03 2.75848181e-05 9.99990656e-01 9.19543882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.47, Y:-8.47, Z:0.92 [[ 9.99240389e-01 3.87525863e-02 4.10888265e-03 5.06469327e+02] [-3.87521289e-02 9.99248836e-01 -1.90916781e-04 -8.47250041e+00] [-4.11319472e-03 3.15438085e-05 9.99991540e-01 9.19416513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.50, Y:-8.47, Z:0.92 [[ 9.99317152e-01 3.66575239e-02 4.63206310e-03 5.06497221e+02] [-3.66569221e-02 9.99327886e-01 -2.14792239e-04 -8.47472219e+00] [-4.63682358e-03 4.48483921e-05 9.99989249e-01 9.19052776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.52, Y:-8.48, Z:0.92 [[ 9.99480695e-01 3.18067775e-02 5.16415119e-03 5.06524755e+02] [-3.18059683e-02 9.99494034e-01 -2.38768817e-04 -8.47874888e+00] [-5.16913277e-03 7.43939941e-05 9.99986637e-01 9.18507736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.55, Y:-8.48, Z:0.92 [[ 9.99572048e-01 2.87830866e-02 5.22070396e-03 5.06552035e+02] [-2.87822207e-02 9.99585677e-01 -2.40920120e-04 -8.48175798e+00] [-5.22547532e-03 9.05535645e-05 9.99986343e-01 9.18162080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.58, Y:-8.49, Z:0.92 [[ 9.99649955e-01 2.58501566e-02 5.63354608e-03 5.06580276e+02] [-2.58491051e-02 9.99665822e-01 -2.59390348e-04 -8.48509642e+00] [-5.63836876e-03 1.13677424e-04 9.99984098e-01 9.17691899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.61, Y:-8.49, Z:0.92 [[ 9.99723882e-01 2.27442256e-02 5.90419438e-03 5.06608495e+02] [-2.27430191e-02 9.99741307e-01 -2.71411200e-04 -8.48832323e+00] [-5.90884004e-03 1.37057053e-04 9.99982533e-01 9.17452853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.64, Y:-8.49, Z:0.92 [[ 9.99836614e-01 1.67082575e-02 6.89777489e-03 5.06637251e+02] [-1.67064715e-02 9.99860387e-01 -3.16471079e-04 -8.49337103e+00] [-6.90209956e-03 2.01181892e-04 9.99976160e-01 9.17105061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.67, Y:-8.50, Z:0.92 [[ 9.99884169e-01 1.34746105e-02 7.07694856e-03 5.06667026e+02] [-1.34726526e-02 9.99909187e-01 -3.24263455e-04 -8.49628011e+00] [-7.08067520e-03 2.28880626e-04 9.99974906e-01 9.16654862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.70, Y:-8.50, Z:0.92 [[ 9.99918356e-01 1.05529375e-02 7.20537344e-03 5.06697576e+02] [-1.05508332e-02 9.99944284e-01 -3.30000621e-04 -8.49952884e+00] [-7.20845446e-03 2.53950985e-04 9.99973987e-01 9.16272782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.73, Y:-8.50, Z:0.92 [[ 9.99946924e-01 7.38854200e-03 7.18047287e-03 5.06728292e+02] [-7.38637085e-03 9.99972666e-01 -3.28841248e-04 -8.50284851e+00] [-7.18270626e-03 2.75786158e-04 9.99974166e-01 9.16016405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.76, Y:-8.51, Z:0.92 [[ 9.99975363e-01 1.64835244e-03 6.82315618e-03 5.06760124e+02] [-1.64626015e-03 9.99998596e-01 -3.12250369e-04 -8.50813767e+00] [-6.82366130e-03 3.01009986e-04 9.99976673e-01 9.15576188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.79, Y:-8.51, Z:0.92 [[ 9.99975557e-01 -8.73001271e-04 6.93703937e-03 5.06792169e+02] [ 8.75237004e-04 9.99999566e-01 -3.19259869e-04 -8.51180164e+00] [-6.93675764e-03 3.25323619e-04 9.99975887e-01 9.15072612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.83, Y:-8.52, Z:0.91 [[ 9.99972039e-01 -3.12187312e-03 6.79526037e-03 5.06825552e+02] [ 3.12408240e-03 9.99995071e-01 -3.14529782e-04 -8.51508096e+00] [-6.79424495e-03 3.35749941e-04 9.99976862e-01 9.14821351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.86, Y:-8.52, Z:0.91 [[ 9.99961302e-01 -5.52275402e-03 6.84791609e-03 5.06858030e+02] [ 5.52506775e-03 9.99984686e-01 -3.19002129e-04 -8.51785048e+00] [-6.84604945e-03 3.56824984e-04 9.99976502e-01 9.14909325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.89, Y:-8.52, Z:0.91 [[ 9.99944941e-01 -7.85016988e-03 6.96343527e-03 5.06891355e+02] [ 7.85263176e-03 9.99969114e-01 -3.26273451e-04 -8.52020308e+00] [-6.96065890e-03 3.80936780e-04 9.99975702e-01 9.14880151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.92, Y:-8.52, Z:0.91 [[ 9.99917576e-01 -1.12519451e-02 6.18348037e-03 5.06923407e+02] [ 1.12539610e-02 9.99936630e-01 -2.91314349e-04 -8.52325498e+00] [-6.17981067e-03 3.60878985e-04 9.99980840e-01 9.14851439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.96, Y:-8.53, Z:0.91 [[ 9.99904244e-01 -1.25443204e-02 5.84313934e-03 5.06956587e+02] [ 1.25461534e-02 9.99921256e-01 -2.77146569e-04 -8.52565798e+00] [-5.83920261e-03 3.50428953e-04 9.99982890e-01 9.14303543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.99, Y:-8.53, Z:0.91 [[ 9.99894119e-01 -1.33931704e-02 5.68982649e-03 5.06989166e+02] [ 1.33949256e-02 9.99910247e-01 -2.70473905e-04 -8.52806026e+00] [-5.68569331e-03 3.46660069e-04 9.99983776e-01 9.14033971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.02, Y:-8.53, Z:0.91 [[ 9.99890444e-01 -1.38566429e-02 5.20513581e-03 5.07021557e+02] [ 1.38581208e-02 9.99903941e-01 -2.47986813e-04 -8.53045135e+00] [-5.20119954e-03 3.20093046e-04 9.99986422e-01 9.13892082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.555099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.05, Y:-8.53, Z:0.91 [[ 9.99884135e-01 -1.41750088e-02 5.54846877e-03 5.07054777e+02] [ 1.41766960e-02 9.99899471e-01 -2.64857171e-04 -8.53288830e+00] [-5.54415664e-03 3.43485439e-04 9.99984572e-01 9.13338783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.09, Y:-8.53, Z:0.91 [[ 9.99893321e-01 -1.36414503e-02 5.22095431e-03 5.07087688e+02] [ 1.36429395e-02 9.99906900e-01 -2.49718371e-04 -8.53455621e+00] [-5.21706171e-03 3.20920895e-04 9.99986340e-01 9.13080643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.12, Y:-8.54, Z:0.91 [[ 9.99902883e-01 -1.29910812e-02 5.04551705e-03 5.07120621e+02] [ 1.29924663e-02 9.99915565e-01 -2.41843651e-04 -8.53598052e+00] [-5.04194923e-03 3.07373874e-04 9.99987242e-01 9.13017601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.15, Y:-8.54, Z:0.91 [[ 9.99935709e-01 -1.01798810e-02 4.99482230e-03 5.07152630e+02] [ 1.01812065e-02 9.99948141e-01 -2.40025211e-04 -8.53669300e+00] [-4.99211985e-03 2.90863096e-04 9.99987497e-01 9.13121751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.19, Y:-8.54, Z:0.91 [[ 9.99950180e-01 -8.58255723e-03 5.09672313e-03 5.07185007e+02] [ 8.58391950e-03 9.99963127e-01 -2.45469354e-04 -8.53799959e+00] [-5.09442844e-03 2.89206986e-04 9.99986981e-01 9.13021803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.22, Y:-8.54, Z:0.91 [[ 9.99963164e-01 -6.64599525e-03 5.43160151e-03 5.07217453e+02] [ 6.64751634e-03 9.99977871e-01 -2.62038801e-04 -8.53911233e+00] [-5.42973980e-03 2.98135808e-04 9.99985214e-01 9.12708373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.25, Y:-8.54, Z:0.91 [[ 9.99974420e-01 -4.59239816e-03 5.48354435e-03 5.07249904e+02] [ 4.59391992e-03 9.99989413e-01 -2.64950116e-04 -8.54019793e+00] [-5.48226954e-03 2.90134302e-04 9.99984930e-01 9.12624817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.28, Y:-8.54, Z:0.91 [[ 9.99978918e-01 -2.59972945e-03 5.95014563e-03 5.07281228e+02] [ 2.60148922e-03 9.99996575e-01 -2.88031027e-04 -8.54114696e+00] [-5.94937645e-03 3.03504194e-04 9.99982256e-01 9.12118060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.31, Y:-8.54, Z:0.91 [[ 9.99981957e-01 -6.58857417e-04 5.97097238e-03 5.07312826e+02] [ 6.60597003e-04 9.99999740e-01 -2.89372777e-04 -8.54175194e+00] [-5.97078017e-03 2.93311962e-04 9.99982132e-01 9.11901914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.35, Y:-8.54, Z:0.91 [[ 9.99976823e-01 3.10008781e-03 6.06156382e-03 5.07345168e+02] [-3.09836216e-03 9.99995157e-01 -2.94056274e-04 -8.54070363e+00] [-6.06244606e-03 2.75268539e-04 9.99981585e-01 9.11777093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.38, Y:-8.54, Z:0.91 [[ 9.99971757e-01 4.73700585e-03 5.83490266e-03 5.07377867e+02] [-4.73543230e-03 9.99988748e-01 -2.83464105e-04 -8.54109430e+00] [-5.83617977e-03 2.55825313e-04 9.99982937e-01 9.11497417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.41, Y:-8.54, Z:0.91 [[ 9.99959025e-01 6.57229898e-03 6.22521937e-03 5.07410326e+02] [-6.57054028e-03 9.99978368e-01 -3.02921475e-04 -8.54188783e+00] [-6.22707560e-03 2.62006008e-04 9.99980577e-01 9.11103400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.44, Y:-8.54, Z:0.91 [[ 9.99936584e-01 1.04335283e-02 4.23898486e-03 5.07440612e+02] [-1.04119542e-02 9.99932890e-01 -5.08002872e-03 -8.53897231e+00] [-4.29170301e-03 5.03557045e-03 9.99978112e-01 9.11618448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.47, Y:-8.54, Z:0.91 [[ 9.99913693e-01 1.19071458e-02 5.55219784e-03 5.07470641e+02] [-1.19327822e-02 9.99918187e-01 4.60730086e-03 -8.54381406e+00] [-5.49688380e-03 -4.67315638e-03 9.99973973e-01 9.09266435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.50, Y:-8.54, Z:0.91 [[ 9.99891292e-01 1.38584324e-02 5.03475971e-03 5.07500423e+02] [-1.38573705e-02 9.99903952e-01 -2.45734531e-04 -8.54149566e+00] [-5.03768163e-03 1.75939287e-04 9.99987295e-01 9.10042757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.53, Y:-8.54, Z:0.91 [[ 9.99855886e-01 1.62409068e-02 4.94366011e-03 5.07528811e+02] [-1.62399120e-02 9.99868095e-01 -2.41318965e-04 -8.54128384e+00] [-4.94692725e-03 1.60999583e-04 9.99987751e-01 9.09926233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.56, Y:-8.54, Z:0.91 [[ 9.99816787e-01 1.85557672e-02 4.69851166e-03 5.07557196e+02] [-1.85548949e-02 9.99827817e-01 -2.29184510e-04 -8.54094083e+00] [-4.70195535e-03 1.41962130e-04 9.99988936e-01 9.10059017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.59, Y:-8.54, Z:0.91 [[ 9.99698098e-01 2.41554109e-02 4.49770226e-03 5.07585845e+02] [-2.41546665e-02 9.99708209e-01 -2.19764498e-04 -8.53984293e+00] [-4.50169838e-03 1.11057653e-04 9.99989861e-01 9.10344269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.61, Y:-8.54, Z:0.91 [[ 9.99621115e-01 2.71631659e-02 4.44840456e-03 5.07614128e+02] [-2.71624750e-02 9.99631009e-01 -2.15652549e-04 -8.53994654e+00] [-4.45262094e-03 9.47411636e-05 9.99990083e-01 9.10109472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.64, Y:-8.54, Z:0.91 [[ 9.99527723e-01 3.03833461e-02 4.60243147e-03 5.07643313e+02] [-3.03826430e-02 9.99538316e-01 -2.22622669e-04 -8.54054744e+00] [-4.60707063e-03 8.26834974e-05 9.99989384e-01 9.09660304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.67, Y:-8.54, Z:0.91 [[ 9.99313212e-01 3.67898176e-02 4.42864934e-03 5.07670909e+02] [-3.67892305e-02 9.99323024e-01 -2.13990507e-04 -8.54019286e+00] [-4.43352392e-03 5.09169394e-05 9.99990171e-01 9.09782218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.70, Y:-8.54, Z:0.91 [[ 9.99193689e-01 3.98779437e-02 4.66067393e-03 5.07699104e+02] [-3.98773288e-02 9.99204558e-01 -2.24824550e-04 -8.54058661e+00] [-4.66593218e-03 3.87880442e-05 9.99989114e-01 9.09535673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.73, Y:-8.54, Z:0.91 [[ 9.99089736e-01 4.24022245e-02 4.66376658e-03 5.07726605e+02] [-4.24016386e-02 9.99100621e-01 -2.24487607e-04 -8.54113152e+00] [-4.66909086e-03 2.65319187e-05 9.99989099e-01 9.09540841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.75, Y:-8.54, Z:0.91 [[ 9.98990879e-01 4.46435312e-02 4.91724664e-03 5.07754189e+02] [-4.46429098e-02 9.99002980e-01 -2.36103022e-04 -8.54199979e+00] [-4.92288452e-03 1.63445669e-05 9.99987882e-01 9.09609244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.78, Y:-8.54, Z:0.91 [[ 9.98927166e-01 4.60105270e-02 5.24866388e-03 5.07782399e+02] [-4.60098413e-02 9.98940955e-01 -2.51384949e-04 -8.54326780e+00] [-5.25467167e-03 9.62506226e-06 9.99986194e-01 9.09306123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.305099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.81, Y:-8.54, Z:0.91 [[ 9.98888466e-01 4.68731078e-02 4.97433968e-03 5.07810030e+02] [-4.68725051e-02 9.98900852e-01 -2.37755265e-04 -8.54481946e+00] [-4.98001648e-03 4.33122978e-06 9.99987600e-01 9.09027192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.84, Y:-8.55, Z:0.91 [[ 9.98918238e-01 4.62645610e-02 4.68437303e-03 5.07838376e+02] [-4.62640218e-02 9.98929222e-01 -2.23452576e-04 -8.54731038e+00] [-4.68969505e-03 6.49291773e-06 9.99989003e-01 9.08427166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.87, Y:-8.55, Z:0.91 [[ 9.98975209e-01 4.50695146e-02 4.15591732e-03 5.07865519e+02] [-4.50690811e-02 9.98983853e-01 -1.97962688e-04 -8.54963115e+00] [-4.16061638e-03 1.04564426e-05 9.99991345e-01 9.08187197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.89, Y:-8.55, Z:0.91 [[ 9.99070426e-01 4.29362312e-02 3.84239301e-03 5.07893320e+02] [-4.29358467e-02 9.99077815e-01 -1.82538641e-04 -8.55180163e+00] [-3.84668713e-03 1.73925604e-05 9.99992601e-01 9.07850552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.92, Y:-8.56, Z:0.91 [[ 9.99287913e-01 3.75659494e-02 3.53091050e-03 5.07920841e+02] [-3.75655922e-02 9.99294150e-01 -1.67439829e-04 -8.55563978e+00] [-3.53470825e-03 3.46798526e-05 9.99993752e-01 9.07630385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.95, Y:-8.56, Z:0.91 [[ 9.99391929e-01 3.46818800e-02 3.59718139e-03 5.07948487e+02] [-3.46814924e-02 9.99398402e-01 -1.70086794e-04 -8.55850045e+00] [-3.60091626e-03 4.52277506e-05 9.99993516e-01 9.07281984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.98, Y:-8.56, Z:0.91 [[ 9.99491521e-01 3.15785246e-02 4.41544226e-03 5.07976336e+02] [-3.15779126e-02 9.99501272e-01 -2.08279214e-04 -8.56121997e+00] [-4.41981730e-03 6.87428593e-05 9.99990230e-01 9.07035767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.00, Y:-8.56, Z:0.91 [[ 9.99583928e-01 2.84467958e-02 4.76967537e-03 5.08004667e+02] [-2.84460493e-02 9.99595304e-01 -2.24281025e-04 -8.56387311e+00] [-4.77412518e-03 8.85092872e-05 9.99988600e-01 9.06830331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.03, Y:-8.57, Z:0.91 [[ 9.99719718e-01 2.30818035e-02 5.26464046e-03 5.08033698e+02] [-2.30808221e-02 9.99733572e-01 -2.47109066e-04 -8.56771043e+00] [-5.26894153e-03 1.25527576e-04 9.99986111e-01 9.06303148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.06, Y:-8.57, Z:0.91 [[ 9.99769714e-01 2.08354249e-02 5.13856818e-03 5.08061231e+02] [-2.08344618e-02 9.99782910e-01 -2.40885197e-04 -8.57000644e+00] [-5.14247160e-03 1.33770422e-04 9.99986768e-01 9.06186577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.09, Y:-8.57, Z:0.91 [[ 9.99806273e-01 1.89776713e-02 5.22153130e-03 5.08090120e+02] [-1.89766544e-02 9.99819897e-01 -2.44232871e-04 -8.57217301e+00] [-5.22522586e-03 1.45098362e-04 9.99986338e-01 9.05936621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.12, Y:-8.58, Z:0.91 [[ 9.99875978e-01 1.49758445e-02 4.87360858e-03 5.08118479e+02] [-1.49749129e-02 9.99887844e-01 -2.27584667e-04 -8.57510417e+00] [-4.87647025e-03 1.54574578e-04 9.99988098e-01 9.05859993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.15, Y:-8.58, Z:0.91 [[ 9.99876773e-01 1.49226742e-02 4.87362082e-03 5.08147767e+02] [-1.49217433e-02 9.99888639e-01 -2.27322255e-04 -8.57640884e+00] [-4.87647034e-03 1.54571324e-04 9.99988098e-01 9.05617887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.18, Y:-8.58, Z:0.90 [[ 9.99906552e-01 1.28114262e-02 4.77022162e-03 5.08176541e+02] [-1.28105116e-02 9.99917917e-01 -2.22253090e-04 -8.57896060e+00] [-4.77267745e-03 1.61123341e-04 9.99988598e-01 9.04904973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.21, Y:-8.58, Z:0.90 [[ 9.99933702e-01 1.03141697e-02 5.11959485e-03 5.08206493e+02] [-1.03130853e-02 9.99946790e-01 -2.38172264e-04 -8.58174250e+00] [-5.12177899e-03 1.85357656e-04 9.99986866e-01 9.04559127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.24, Y:-8.58, Z:0.90 [[ 9.99959243e-01 7.45230421e-03 5.09664753e-03 5.08236540e+02] [-7.45119383e-03 9.99972211e-01 -2.36817639e-04 -8.58437909e+00] [-5.09827074e-03 1.98831878e-04 9.99986984e-01 9.04121267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.27, Y:-8.58, Z:0.91 [[ 9.99996313e-01 4.98035093e-04 2.66956318e-03 5.08266908e+02] [-4.78267065e-04 9.99972502e-01 -7.40049735e-03 -8.58476124e+00] [-2.67317548e-03 7.39919329e-03 9.99969053e-01 9.05009707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.30, Y:-8.59, Z:0.90 [[ 9.99986377e-01 -2.65188225e-03 4.49585740e-03 5.08297345e+02] [ 2.61990581e-03 9.99971338e-01 7.10345495e-03 -8.59401959e+00] [-4.51456607e-03 -7.09157946e-03 9.99964663e-01 9.01382533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.33, Y:-8.59, Z:0.90 [[ 9.99978241e-01 -5.75502433e-03 3.22452570e-03 5.08330852e+02] [ 5.75553535e-03 9.99983426e-01 -1.49223465e-04 -8.59298219e+00] [-3.22361348e-03 1.67779090e-04 9.99994790e-01 9.02718741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.36, Y:-8.61, Z:0.91 [[ 9.99905798e-01 -1.24715187e-02 -5.73211194e-03 5.08358509e+02] [ 1.27207927e-02 9.98872807e-01 4.57306942e-02 -8.61290094e+00] [ 5.15531953e-03 -4.57993032e-02 9.98937359e-01 9.06527410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.39, Y:-8.59, Z:0.92 [[ 9.99810460e-01 -1.73679070e-02 -8.79768548e-03 5.08389104e+02] [ 1.73979904e-02 9.99843016e-01 3.35454495e-03 -8.59439126e+00] [ 8.73804296e-03 -3.50697118e-03 9.99955673e-01 9.15253211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.42, Y:-8.58, Z:0.91 [[ 9.99886207e-01 -1.50742172e-02 -5.84152391e-04 5.08422212e+02] [ 1.50287597e-02 9.98732491e-01 -4.80369430e-02 -8.57543413e+00] [ 1.30753128e-03 4.80226977e-02 9.98845389e-01 9.11343804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.45, Y:-8.60, Z:0.90 [[ 9.99863043e-01 -1.65036145e-02 1.23562526e-03 5.08453076e+02] [ 1.65036987e-02 9.99863803e-01 -5.79258946e-05 -8.59919870e+00] [-1.23450099e-03 7.83103482e-05 9.99999235e-01 8.99748680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.48, Y:-8.60, Z:0.90 [[ 9.99851364e-01 -1.72149420e-02 9.46695920e-04 5.08484943e+02] [ 1.72149916e-02 9.99851810e-01 -4.42581947e-05 -8.59869247e+00] [-9.45793727e-04 6.05489786e-05 9.99999551e-01 8.99893902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.52, Y:-8.60, Z:0.90 [[ 9.99853975e-01 -1.70640600e-02 9.20550736e-04 5.08517468e+02] [ 1.70641069e-02 9.99854397e-01 -4.30870217e-05 -8.59859122e+00] [-9.19681461e-04 5.87891061e-05 9.99999575e-01 8.99749773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.055099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.55, Y:-8.60, Z:0.90 [[ 9.99863648e-01 -1.64782699e-02 1.07342016e-03 5.08548594e+02] [ 1.64783337e-02 9.99864222e-01 -5.06109129e-05 -8.59837228e+00] [-1.07244043e-03 6.82921875e-05 9.99999423e-01 8.99878444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.58, Y:-8.60, Z:0.90 [[ 9.99879357e-01 -1.54812238e-02 1.26592443e-03 5.08581199e+02] [ 1.54813118e-02 9.99880156e-01 -5.97196807e-05 -8.59810970e+00] [-1.26484818e-03 7.93106467e-05 9.99999197e-01 8.99807710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.61, Y:-8.60, Z:0.90 [[ 9.99901006e-01 -1.39845077e-02 1.55306502e-03 5.08613313e+02] [ 1.39846387e-02 9.99902207e-01 -7.35360222e-05 -8.59797176e+00] [-1.55188478e-03 9.52477958e-05 9.99998791e-01 8.99662999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.65, Y:-8.60, Z:0.90 [[ 9.99922734e-01 -1.22868664e-02 1.88634306e-03 5.08645459e+02] [ 1.22870572e-02 9.99924507e-01 -8.95868528e-05 -8.59756612e+00] [-1.88509991e-03 1.12757536e-04 9.99998217e-01 8.99639887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.68, Y:-8.59, Z:0.90 [[ 9.99964215e-01 -8.00997724e-03 2.72194463e-03 5.08677438e+02] [ 8.01036012e-03 9.99967908e-01 -1.29790196e-04 -8.59491733e+00] [-2.72081766e-03 1.51589308e-04 9.99996287e-01 9.00128098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.71, Y:-8.59, Z:0.90 [[ 9.99979431e-01 -5.58816359e-03 3.14810160e-03 5.08709737e+02] [ 5.58866485e-03 9.99984372e-01 -1.50451909e-04 -8.59447646e+00] [-3.14721165e-03 1.68042499e-04 9.99995033e-01 8.99924770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.74, Y:-8.59, Z:0.90 [[ 9.99989802e-01 -2.85817564e-03 3.49664339e-03 5.08740806e+02] [ 2.85877897e-03 9.99995900e-01 -1.67559358e-04 -8.59405450e+00] [-3.49615014e-03 1.77553780e-04 9.99993873e-01 8.99663872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.77, Y:-8.59, Z:0.90 [[ 9.99993439e-01 -4.12699471e-04 3.59892715e-03 5.08772842e+02] [ 4.13323183e-04 9.99999900e-01 -1.72562717e-04 -8.59350358e+00] [-3.59885558e-03 1.74049104e-04 9.99993509e-01 8.99556123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.80, Y:-8.59, Z:0.90 [[ 9.99984663e-01 4.42521711e-03 3.33035827e-03 5.08804198e+02] [-4.42470878e-03 9.99990198e-01 -1.59989068e-04 -8.59177819e+00] [-3.33103361e-03 1.45250749e-04 9.99994442e-01 8.98911049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.84, Y:-8.59, Z:0.90 [[ 9.99974095e-01 6.47581107e-03 3.14204125e-03 5.08835112e+02] [-6.47536715e-03 9.99979023e-01 -1.51436198e-04 -8.59202053e+00] [-3.14295602e-03 1.31086404e-04 9.99995052e-01 8.98159186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.87, Y:-8.59, Z:0.90 [[ 9.99938869e-01 1.09028396e-02 1.84046660e-03 5.08865871e+02] [-1.09026948e-02 9.99940560e-01 -8.87045210e-05 -8.59018953e+00] [-1.84132433e-03 6.86330527e-05 9.99998302e-01 8.97594977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.89, Y:-8.59, Z:0.90 [[ 9.99912560e-01 1.31700058e-02 1.19325676e-03 5.08894854e+02] [-1.31699460e-02 9.99913271e-01 -5.79637349e-05 -8.58959095e+00] [-1.19391665e-03 4.22435395e-05 9.99999286e-01 8.97108809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.92, Y:-8.59, Z:0.90 [[ 9.99878730e-01 1.55234518e-02 1.24419696e-03 5.08923609e+02] [-1.55233885e-02 9.99879503e-01 -6.05007242e-05 -8.58909931e+00] [-1.24498622e-03 4.11792344e-05 9.99999224e-01 8.96564710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.95, Y:-8.59, Z:0.90 [[ 9.99836333e-01 1.80850988e-02 4.85855508e-04 5.08951881e+02] [-1.80850892e-02 9.99836451e-01 -2.41669004e-05 -8.58846916e+00] [-4.86213108e-04 1.53762048e-05 9.99999882e-01 8.96353977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.98, Y:-8.59, Z:0.90 [[ 9.99776660e-01 2.11328371e-02 1.81731372e-04 5.08980063e+02] [-2.11328357e-02 9.99776677e-01 -9.74072623e-06 -8.58783397e+00] [-1.81896637e-04 5.89805151e-06 9.99999983e-01 8.95829366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.01, Y:-8.59, Z:0.90 [[ 9.99622342e-01 2.74803965e-02 -1.59379477e-05 5.09008058e+02] [-2.74803965e-02 9.99622343e-01 -2.13575912e-06 -8.58504360e+00] [ 1.58732369e-05 2.57293366e-06 1.00000000e+00 8.95617832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.04, Y:-8.58, Z:0.90 [[ 9.99504454e-01 3.14750228e-02 4.10991180e-04 5.09035060e+02] [-3.14750169e-02 9.99504539e-01 -2.07572570e-05 -8.58433707e+00] [-4.11440885e-04 7.81101650e-06 9.99999915e-01 8.95073580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.06, Y:-8.58, Z:0.90 [[ 9.99370773e-01 3.54640600e-02 5.98644052e-04 5.09063217e+02] [-3.54640488e-02 9.99370952e-01 -2.94182970e-05 -8.58336362e+00] [-5.99310769e-04 8.16944433e-06 9.99999820e-01 8.95112747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.09, Y:-8.58, Z:0.90 [[ 9.99215811e-01 3.95842546e-02 9.21581127e-04 5.09090951e+02] [-3.95842303e-02 9.99216236e-01 -4.46038957e-05 -8.58224998e+00] [-9.22624437e-04 8.08883824e-06 9.99999574e-01 8.95095294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.12, Y:-8.58, Z:0.89 [[ 9.99046278e-01 4.36350602e-02 1.58637343e-03 5.09118851e+02] [-4.36349948e-02 9.99047537e-01 -7.58391679e-05 -8.58114738e+00] [-1.58817171e-03 6.54544228e-06 9.99998739e-01 8.94961572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.15, Y:-8.58, Z:0.90 [[ 9.98883815e-01 4.71910715e-02 2.03165765e-03 5.09147153e+02] [-4.71909726e-02 9.98885881e-01 -9.66020758e-05 -8.58024599e+00] [-2.03395290e-03 6.18349439e-07 9.99997932e-01 8.95027841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.18, Y:-8.58, Z:0.90 [[ 9.98599694e-01 5.28361335e-02 2.64449320e-03 5.09175363e+02] [-5.28359874e-02 9.98603196e-01 -1.25139776e-04 -8.57831310e+00] [-2.64741126e-03 -1.47598674e-05 9.99996495e-01 8.95182212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.20, Y:-8.58, Z:0.89 [[ 9.98501620e-01 5.46527701e-02 2.75500154e-03 5.09202761e+02] [-5.46526190e-02 9.98505420e-01 -1.30145593e-04 -8.57869124e+00] [-2.75799679e-03 -2.06174637e-05 9.99996197e-01 8.94854142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.23, Y:-8.58, Z:0.89 [[ 9.98437517e-01 5.57755696e-02 3.40744088e-03 5.09230920e+02] [-5.57753478e-02 9.98443331e-01 -1.60146582e-04 -8.57941250e+00] [-3.41106889e-03 -3.01548443e-05 9.99994182e-01 8.94119062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.26, Y:-8.58, Z:0.89 [[ 9.98475604e-01 5.50478002e-02 4.02602779e-03 5.09258139e+02] [-5.50474854e-02 9.98483720e-01 -1.89050022e-04 -8.58028433e+00] [-4.03033000e-03 -3.28608711e-05 9.99991878e-01 8.93792120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.805099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.29, Y:-8.58, Z:0.89 [[ 9.98567175e-01 5.33662204e-02 3.95509312e-03 5.09286477e+02] [-5.33659081e-02 9.98575008e-01 -1.84522550e-04 -8.58159210e+00] [-3.95930442e-03 -2.68089747e-05 9.99992162e-01 8.93381819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.31, Y:-8.58, Z:0.89 [[ 9.98647675e-01 5.18389087e-02 3.94331677e-03 5.09314415e+02] [-5.18385881e-02 9.98655460e-01 -1.83553840e-04 -8.58329592e+00] [-3.94753005e-03 -2.11103578e-05 9.99992208e-01 8.92757219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.34, Y:-8.59, Z:0.89 [[ 9.98855138e-01 4.77247215e-02 3.28098119e-03 5.09341798e+02] [-4.77244778e-02 9.98860526e-01 -1.52556696e-04 -8.58612132e+00] [-3.28452333e-03 -4.20107421e-06 9.99994606e-01 8.92356519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.37, Y:-8.59, Z:0.89 [[ 9.98950277e-01 4.57093379e-02 3.00021465e-03 5.09369745e+02] [-4.57091258e-02 9.98954782e-01 -1.39272188e-04 -8.58852974e+00] [-3.00344481e-03 1.98880218e-06 9.99995490e-01 8.91943608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.40, Y:-8.59, Z:0.89 [[ 9.99043606e-01 4.36299412e-02 2.88134376e-03 5.09397401e+02] [-4.36297377e-02 9.99047761e-01 -1.33483357e-04 -8.59099063e+00] [-2.88442390e-03 7.64342234e-06 9.99995840e-01 8.91758397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.42, Y:-8.59, Z:0.89 [[ 9.99121647e-01 4.18002796e-02 2.94454761e-03 5.09423884e+02] [-4.18000588e-02 9.99125986e-01 -1.36518359e-04 -8.59347674e+00] [-2.94768054e-03 1.33161845e-05 9.99995655e-01 8.91379878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.45, Y:-8.60, Z:0.89 [[ 9.99209981e-01 3.96157312e-02 3.16336936e-03 5.09451479e+02] [-3.96154690e-02 9.99214989e-01 -1.45531255e-04 -8.59726222e+00] [-3.16665141e-03 2.00979218e-05 9.99994986e-01 8.91132190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.48, Y:-8.60, Z:0.89 [[ 9.99251471e-01 3.85173275e-02 3.59338994e-03 5.09478262e+02] [-3.85169836e-02 9.99257932e-01 -1.64886157e-04 -8.59967157e+00] [-3.59707438e-03 2.63561937e-05 9.99993530e-01 8.90887472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.045099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.51, Y:-8.60, Z:0.89 [[ 9.99267547e-01 3.80814689e-02 3.76453004e-03 5.09506368e+02] [-3.80810907e-02 9.99274637e-01 -1.72107289e-04 -8.60237008e+00] [-3.76835349e-03 2.86238182e-05 9.99992899e-01 8.90451422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.075099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.53, Y:-8.61, Z:0.89 [[ 9.99282928e-01 3.76890485e-02 3.62833395e-03 5.09532810e+02] [-3.76886955e-02 9.99289515e-01 -1.65629710e-04 -8.60502692e+00] [-3.63199850e-03 2.87637687e-05 9.99993404e-01 8.90223104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.56, Y:-8.61, Z:0.89 [[ 9.99298280e-01 3.73063656e-02 3.34413492e-03 5.09560190e+02] [-3.73060651e-02 9.99303875e-01 -1.52210443e-04 -8.60893270e+00] [-3.34748541e-03 2.73471188e-05 9.99994397e-01 8.89383721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.59, Y:-8.61, Z:0.89 [[ 9.99312471e-01 3.69251461e-02 3.33445497e-03 5.09588180e+02] [-3.69248464e-02 9.99318034e-01 -1.51411917e-04 -8.61144089e+00] [-3.33777189e-03 2.81835798e-05 9.99994429e-01 8.88876459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.165099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.62, Y:-8.61, Z:0.89 [[ 9.99336928e-01 3.62966077e-02 2.87407432e-03 5.09615967e+02] [-3.62963829e-02 9.99341061e-01 -1.30346926e-04 -8.61392818e+00] [-2.87691163e-03 2.59419945e-05 9.99995861e-01 8.88652241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.195099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.64, Y:-8.62, Z:0.89 [[ 9.99380450e-01 3.51123660e-02 2.41601574e-03 5.09643409e+02] [-3.51122039e-02 9.99383370e-01 -1.09491085e-04 -8.61604289e+00] [-2.41837045e-03 2.45916127e-05 9.99997075e-01 8.88568894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.67, Y:-8.62, Z:0.89 [[ 9.99427453e-01 3.37780926e-02 1.95100820e-03 5.09671259e+02] [-3.37779843e-02 9.99429357e-01 -8.84170636e-05 -8.61850083e+00] [-1.95288143e-03 2.24653162e-05 9.99998093e-01 8.88482639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.70, Y:-8.62, Z:0.89 [[ 9.99552957e-01 2.98435145e-02 1.80274334e-03 5.09699204e+02] [-2.98434162e-02 9.99554583e-01 -8.14283399e-05 -8.62287625e+00] [-1.80437047e-03 2.75919183e-05 9.99998372e-01 8.87887760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.285099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.73, Y:-8.63, Z:0.89 [[ 9.99623470e-01 2.73912538e-02 1.62380292e-03 5.09726128e+02] [-2.73911704e-02 9.99624789e-01 -7.35748767e-05 -8.62572243e+00] [-1.62520896e-03 2.90693111e-05 9.99998679e-01 8.87525582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.315099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.76, Y:-8.63, Z:0.89 [[ 9.99697212e-01 2.45054376e-02 2.22879358e-03 5.09755164e+02] [-2.45052759e-02 9.99699696e-01 -9.98352110e-05 -8.62864665e+00] [-2.23057076e-03 4.51877806e-05 9.99997511e-01 8.86929286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.78, Y:-8.63, Z:0.89 [[ 9.99764071e-01 2.15768081e-02 2.49889548e-03 5.09783280e+02] [-2.15765959e-02 9.99767192e-01 -1.11847412e-04 -8.63144078e+00] [-2.50072703e-03 5.79033661e-05 9.99996872e-01 8.86777314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.81, Y:-8.63, Z:0.89 [[ 9.99879338e-01 1.53094105e-02 2.63276958e-03 5.09812034e+02] [-1.53091545e-02 9.99882801e-01 -1.17355230e-04 -8.63495937e+00] [-2.63425767e-03 7.70355930e-05 9.99996527e-01 8.86029433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.405099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.84, Y:-8.64, Z:0.89 [[ 9.99927010e-01 1.17112943e-02 2.96986084e-03 5.09840777e+02] [-1.17109536e-02 9.99931416e-01 -1.32084771e-04 -8.63706875e+00] [-2.97120404e-03 9.72952275e-05 9.99995581e-01 8.85369806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.43509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.87, Y:-8.64, Z:0.88 [[ 9.99963947e-01 8.04177342e-03 2.72672205e-03 5.09869929e+02] [-8.04147298e-03 9.99967660e-01 -1.21129887e-04 -8.63932151e+00] [-2.72760797e-03 9.91986581e-05 9.99996275e-01 8.84875411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.90, Y:-8.64, Z:0.88 [[ 9.99997152e-01 3.46927558e-04 2.36145883e-03 5.09899778e+02] [-3.46681617e-04 9.99999934e-01 -1.04556411e-04 -8.64311027e+00] [-2.36149495e-03 1.03737439e-04 9.99997206e-01 8.83784363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.49509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.93, Y:-8.65, Z:0.88 [[ 9.99990243e-01 -3.66919522e-03 2.45980631e-03 5.09931392e+02] [ 3.66947068e-03 9.99993262e-01 -1.07480241e-04 -8.64538143e+00] [-2.45939537e-03 1.16505380e-04 9.99996969e-01 8.83214975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.96, Y:-8.65, Z:0.88 [[ 9.99970234e-01 -7.26103889e-03 2.60931076e-03 5.09963886e+02] [ 7.26135983e-03 9.99973630e-01 -1.13544412e-04 -8.64765296e+00] [-2.60841750e-03 1.32488176e-04 9.99996589e-01 8.82659840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.555099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.00, Y:-8.65, Z:0.88 [[ 9.99970880e-01 -7.17160209e-03 2.60922096e-03 5.09996544e+02] [ 7.17192797e-03 9.99974275e-01 -1.15561245e-04 -8.64916290e+00] [-2.60832508e-03 1.34271025e-04 9.99996589e-01 8.82338742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.585099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.03, Y:-8.65, Z:0.88 [[ 9.99941463e-01 -1.04498699e-02 2.80555489e-03 5.10029110e+02] [ 1.04502566e-02 9.99945387e-01 -1.23194203e-04 -8.65091674e+00] [-2.80411430e-03 1.52505760e-04 9.99996057e-01 8.82326669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.06, Y:-8.65, Z:0.88 [[ 9.99906080e-01 -1.33431001e-02 3.12944422e-03 5.10060805e+02] [ 1.33436032e-02 9.99910960e-01 -1.39954552e-04 -8.65235365e+00] [-3.12729815e-03 1.81699469e-04 9.99995093e-01 8.82064365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.09, Y:-8.65, Z:0.88 [[ 9.99856877e-01 -1.64484304e-02 3.95904434e-03 5.10093630e+02] [ 1.64492619e-02 9.99864686e-01 -1.77543375e-04 -8.65301232e+00] [-3.95558832e-03 2.42641322e-04 9.99992147e-01 8.82088524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.675099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.13, Y:-8.65, Z:0.88 [[ 9.99848457e-01 -1.69070043e-02 4.14930903e-03 5.10126807e+02] [ 1.69079236e-02 9.99857033e-01 -1.86568380e-04 -8.65393411e+00] [-4.14556151e-03 2.56696307e-04 9.99991374e-01 8.81902395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.705099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.16, Y:-8.65, Z:0.88 [[ 9.99848362e-01 -1.67692923e-02 4.69510700e-03 5.10159418e+02] [ 1.67704706e-02 9.99859343e-01 -2.11716998e-04 -8.65462170e+00] [-4.69089625e-03 2.90424047e-04 9.99988956e-01 8.81613048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.19, Y:-8.66, Z:0.88 [[ 9.99852134e-01 -1.63694837e-02 5.26775280e-03 5.10192879e+02] [ 1.63709653e-02 9.99865958e-01 -2.38254763e-04 -8.65527385e+00] [-5.26314659e-03 3.24457732e-04 9.99986097e-01 8.81454664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.22, Y:-8.66, Z:0.88 [[ 9.99847525e-01 -1.63808716e-02 6.04932154e-03 5.10224935e+02] [ 1.63828311e-02 9.99865755e-01 -2.74517784e-04 -8.65590250e+00] [-6.04401260e-03 3.73580940e-04 9.99981665e-01 8.81544481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.795099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.26, Y:-8.66, Z:0.88 [[ 9.99847173e-01 -1.69146873e-02 4.41852410e-03 5.10257267e+02] [ 1.69157387e-02 9.99856899e-01 -2.00692731e-04 -8.65607567e+00] [-4.41449715e-03 2.75404660e-04 9.99990218e-01 8.81164161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.825099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.29, Y:-8.66, Z:0.88 [[ 9.99859950e-01 -1.65498347e-02 2.48661996e-03 5.10290513e+02] [ 1.65501659e-02 9.99863030e-01 -1.12661901e-04 -8.65723636e+00] [-2.48441483e-03 1.53800095e-04 9.99996902e-01 8.79406990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.32, Y:-8.66, Z:0.88 [[ 9.99877312e-01 -1.56453356e-02 7.63865680e-04 5.10322795e+02] [ 1.56453664e-02 9.99877603e-01 -3.42742677e-05 -8.65817168e+00] [-7.63235953e-04 4.62210211e-05 9.99999708e-01 8.78456015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.35, Y:-8.66, Z:0.88 [[ 9.99899999e-01 -1.41209877e-02 7.68580671e-04 5.10354665e+02] [ 1.41210184e-02 9.99900293e-01 -3.45362741e-05 -8.65881121e+00] [-7.68016352e-04 4.53859622e-05 9.99999704e-01 8.77607427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.915099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.39, Y:-8.66, Z:0.88 [[ 9.99951768e-01 -9.60872264e-03 2.03304976e-03 5.10387243e+02] [ 9.60893088e-03 9.99953829e-01 -9.26857523e-05 -8.65770176e+00] [-2.03206530e-03 1.12216717e-04 9.99997929e-01 8.77761109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.945099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.42, Y:-8.66, Z:0.88 [[ 9.99974758e-01 -6.72285252e-03 2.29930966e-03 5.10417991e+02] [ 6.72311220e-03 9.99977394e-01 -1.05229896e-04 -8.65774156e+00] [-2.29855024e-03 1.20685757e-04 9.99997351e-01 8.77761357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.45, Y:-8.66, Z:0.88 [[ 9.99990641e-01 -3.41434873e-03 2.65717287e-03 5.10450432e+02] [ 3.41468417e-03 9.99994163e-01 -1.21712693e-04 -8.65787835e+00] [-2.65674179e-03 1.30784960e-04 9.99996462e-01 8.77736046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.48, Y:-8.66, Z:0.88 [[ 9.99996232e-01 2.22401895e-04 2.73626498e-03 5.10482991e+02] [-2.22059200e-04 9.99999967e-01 -1.25544934e-04 -8.65787726e+00] [-2.73629281e-03 1.24936848e-04 9.99996249e-01 8.77910601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.035099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.51, Y:-8.66, Z:0.88 [[ 9.99988599e-01 3.81377566e-03 2.87365383e-03 5.10514721e+02] [-3.81341105e-03 9.99992720e-01 -1.32348720e-04 -8.65793417e+00] [-2.87413766e-03 1.21388788e-04 9.99995862e-01 8.77784463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.065099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.55, Y:-8.66, Z:0.88 [[ 9.99942725e-01 1.02732106e-02 3.00146683e-03 5.10545500e+02] [-1.02728411e-02 9.99947223e-01 -1.38490198e-04 -8.65683370e+00] [-3.00273116e-03 1.07648674e-04 9.99995486e-01 8.77598368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.58, Y:-8.66, Z:0.88 [[ 9.99903729e-01 1.34333195e-02 3.47546945e-03 5.10575492e+02] [-1.34328416e-02 9.99909762e-01 -1.60801933e-04 -8.65734213e+00] [-3.47731593e-03 1.14101022e-04 9.99993948e-01 8.77504639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.60, Y:-8.66, Z:0.88 [[ 9.99855315e-01 1.64575862e-02 4.30073567e-03 5.10604327e+02] [-1.64568825e-02 9.99864557e-01 -1.98947010e-04 -8.65819183e+00] [-4.30342735e-03 1.28141523e-04 9.99990732e-01 8.77039324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.155099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.63, Y:-8.66, Z:0.88 [[ 9.99717675e-01 2.32131914e-02 5.07132145e-03 5.10633455e+02] [-2.32122980e-02 9.99730531e-01 -2.34957855e-04 -8.65877978e+00] [-5.07540901e-03 1.17174496e-04 9.99987113e-01 8.77101078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.18509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.66, Y:-8.66, Z:0.88 [[ 9.99616787e-01 2.71589968e-02 5.35423270e-03 5.10662318e+02] [-2.71580700e-02 9.99631121e-01 -2.45737881e-04 -8.65956507e+00] [-5.35893163e-03 1.00233085e-04 9.99985636e-01 8.76990263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.69, Y:-8.66, Z:0.88 [[ 9.99485463e-01 3.14873116e-02 6.11222769e-03 5.10689677e+02] [-3.14861877e-02 9.99504148e-01 -2.80046983e-04 -8.66012699e+00] [-6.11801485e-03 8.74521400e-05 9.99981281e-01 8.76808177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.24509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.72, Y:-8.66, Z:0.88 [[ 9.99333924e-01 3.58934219e-02 6.58562587e-03 5.10717524e+02] [-3.58922167e-02 9.99355621e-01 -3.01142935e-04 -8.66085454e+00] [-6.59219128e-03 6.45696400e-05 9.99978269e-01 8.76775553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.74, Y:-8.66, Z:0.88 [[ 9.98980850e-01 4.43027405e-02 8.63304238e-03 5.10744223e+02] [-4.43009943e-02 9.99018152e-01 -3.93498082e-04 -8.66123486e+00] [-8.64199908e-03 1.06446871e-05 9.99962657e-01 8.77350322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.305099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.77, Y:-8.66, Z:0.88 [[ 9.98807157e-01 4.79115470e-02 9.42058491e-03 5.10772062e+02] [-4.79096405e-02 9.98851582e-01 -4.28072422e-04 -8.66280811e+00] [-9.43027575e-03 -2.37750367e-05 9.99955534e-01 8.77333498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.335099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.80, Y:-8.66, Z:0.88 [[ 9.98656499e-01 5.09599208e-02 9.39591100e-03 5.10799014e+02] [-5.09581687e-02 9.98700698e-01 -4.25940592e-04 -8.66461477e+00] [-9.40540877e-03 -5.34300776e-05 9.99955767e-01 8.77079773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.83, Y:-8.67, Z:0.88 [[ 9.98536249e-01 5.32975263e-02 9.20507497e-03 5.10827315e+02] [-5.32959545e-02 9.98578674e-01 -4.16146093e-04 -8.66693951e+00] [-9.21417112e-03 -7.50562981e-05 9.99957546e-01 8.76613582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.86, Y:-8.67, Z:0.88 [[ 9.98455827e-01 5.48666553e-02 8.69553390e-03 5.10855267e+02] [-5.48653199e-02 9.98493687e-01 -3.92232668e-04 -8.67102799e+00] [-8.70395620e-03 -8.54562563e-05 9.99962116e-01 8.76097207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.425099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.88, Y:-8.67, Z:0.88 [[ 9.98488960e-01 5.41956362e-02 9.09006200e-03 5.10882852e+02] [-5.41941583e-02 9.98530333e-01 -4.09008200e-04 -8.67411337e+00] [-9.09886910e-03 -8.42380862e-05 9.99958601e-01 8.75701433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.455099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.91, Y:-8.68, Z:0.88 [[ 9.98577980e-01 5.25219255e-02 9.13597090e-03 5.10910934e+02] [-5.25203718e-02 9.98619769e-01 -4.10066793e-04 -8.67735296e+00] [-9.14489864e-03 -7.03409186e-05 9.99958182e-01 8.75923330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.94, Y:-8.68, Z:0.88 [[ 9.98714475e-01 4.97573358e-02 9.67500705e-03 5.10937922e+02] [-4.97554745e-02 9.98761335e-01 -4.33138056e-04 -8.68085476e+00] [-9.68457476e-03 -4.88033204e-05 9.99953102e-01 8.75654514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.97, Y:-8.68, Z:0.88 [[ 9.98889566e-01 4.61955980e-02 9.25209196e-03 5.10965967e+02] [-4.61937536e-02 9.98932413e-01 -4.13072286e-04 -8.68492946e+00] [-9.26129667e-03 -1.47752587e-05 9.99957113e-01 8.75479595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.545099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.99, Y:-8.69, Z:0.88 [[ 9.99274770e-01 3.72240925e-02 8.01874059e-03 5.10994335e+02] [-3.72224244e-02 9.99306942e-01 -3.57218671e-04 -8.69263826e+00] [-8.02648027e-03 5.84826401e-05 9.99967786e-01 8.75276026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.575099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.02, Y:-8.70, Z:0.87 [[ 9.99460388e-01 3.18472812e-02 8.04255091e-03 5.11021630e+02] [-3.18454335e-02 9.99492742e-01 -3.57726518e-04 -8.69707121e+00] [-8.04986387e-03 1.01414964e-04 9.99967594e-01 8.74751238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.05, Y:-8.70, Z:0.87 [[ 9.99739075e-01 2.15431493e-02 7.59441375e-03 5.11049770e+02] [-2.15412096e-02 9.99767904e-01 -3.37119135e-04 -8.70499464e+00] [-7.59991373e-03 1.73438314e-04 9.99971105e-01 8.74579192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.08, Y:-8.71, Z:0.87 [[ 9.99823935e-01 1.70175542e-02 7.90578402e-03 5.11079119e+02] [-1.70153161e-02 9.99855168e-01 -3.50276968e-04 -8.70972270e+00] [-7.91059986e-03 2.15695883e-04 9.99968687e-01 8.74121251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.665099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.11, Y:-8.72, Z:0.87 [[ 9.99911005e-01 1.04230324e-02 8.32723044e-03 5.11108075e+02] [-1.04203238e-02 9.99945639e-01 -3.68598275e-04 -8.71779333e+00] [-8.33061967e-03 2.81793035e-04 9.99965260e-01 8.73904241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.695099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.14, Y:-8.72, Z:0.87 [[ 9.99933535e-01 7.23816885e-03 8.97411537e-03 5.11140192e+02] [-7.23489855e-03 9.99973749e-01 -3.96826082e-04 -8.72494318e+00] [-8.97675208e-03 3.31872893e-04 9.99959653e-01 8.73919791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.17, Y:-8.73, Z:0.87 [[ 9.99927079e-01 7.93492841e-03 9.10347131e-03 5.11173223e+02] [-7.93157125e-03 9.99968463e-01 -4.04822380e-04 -8.73120993e+00] [-9.10639645e-03 3.32588028e-04 9.99958481e-01 8.73368470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.20, Y:-8.74, Z:0.87 [[ 9.99875903e-01 1.29744729e-02 8.93537464e-03 5.11204409e+02] [-1.29714156e-02 9.99915788e-01 -4.00028288e-04 -8.73876845e+00] [-8.93981232e-03 2.84074188e-04 9.99959999e-01 8.73458313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.785099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.24, Y:-8.74, Z:0.87 [[ 9.99844525e-01 1.53636035e-02 8.65368037e-03 5.11235601e+02] [-1.53608214e-02 9.99881940e-01 -3.87876572e-04 -8.74208540e+00] [-8.65861790e-03 2.54888628e-04 9.99962481e-01 8.73199555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.815099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.27, Y:-8.74, Z:0.87 [[ 9.99844586e-01 1.53596186e-02 8.65366406e-03 5.11266567e+02] [-1.53568332e-02 9.99882002e-01 -3.88240037e-04 -8.74347507e+00] [-8.65860616e-03 2.55286824e-04 9.99962481e-01 8.72894555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.30, Y:-8.74, Z:0.87 [[ 9.99844647e-01 1.53556298e-02 8.65366561e-03 5.11297533e+02] [-1.53528445e-02 9.99882063e-01 -3.88205515e-04 -8.74486481e+00] [-8.65860616e-03 2.55286824e-04 9.99962481e-01 8.72589471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.33, Y:-8.75, Z:0.87 [[ 9.99844709e-01 1.53516410e-02 8.65366716e-03 5.11328499e+02] [-1.53488559e-02 9.99882124e-01 -3.88170993e-04 -8.74625442e+00] [-8.65860616e-03 2.55286824e-04 9.99962481e-01 8.72284387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.905099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.36, Y:-8.75, Z:0.87 [[ 9.99805000e-01 1.78982300e-02 8.34353542e-03 5.11358805e+02] [-1.78957309e-02 9.99839789e-01 -3.74095667e-04 -8.74925234e+00] [-8.34889434e-03 2.24709054e-04 9.99965122e-01 8.71829862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.93509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.39, Y:-8.75, Z:0.87 [[ 9.99753497e-01 2.08048303e-02 7.75272970e-03 5.11389104e+02] [-2.08027539e-02 9.99783539e-01 -3.48380014e-04 -8.75238524e+00] [-7.75829952e-03 1.87016009e-04 9.99969886e-01 8.71548366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.42, Y:-8.76, Z:0.87 [[ 9.99693530e-01 2.36322120e-02 7.37329999e-03 5.11418936e+02] [-2.36304105e-02 9.99720708e-01 -3.31373843e-04 -8.75507265e+00] [-7.37907178e-03 1.57038182e-04 9.99972762e-01 8.71191111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.99509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.45, Y:-8.76, Z:0.87 [[ 9.99534802e-01 2.98940214e-02 6.04381266e-03 5.11448537e+02] [-2.98929254e-02 9.99553070e-01 -2.71618955e-04 -8.75903541e+00] [-6.04923128e-03 9.08253574e-05 9.99981699e-01 8.71611352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.48, Y:-8.76, Z:0.87 [[ 9.99444265e-01 3.28670563e-02 5.56034505e-03 5.11476057e+02] [-3.28661743e-02 9.99459730e-01 -2.49947784e-04 -8.76141810e+00] [-5.56555601e-03 6.70616104e-05 9.99984510e-01 8.71014167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.055099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.50, Y:-8.76, Z:0.87 [[ 9.99350985e-01 3.57337662e-02 4.55054692e-03 5.11504932e+02] [-3.57332067e-02 9.99361344e-01 -2.04203273e-04 -8.76413338e+00] [-4.55493764e-03 4.14651077e-05 9.99989625e-01 8.70725518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.085099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.53, Y:-8.77, Z:0.87 [[ 9.99174201e-01 4.05392976e-02 2.73523951e-03 5.11532203e+02] [-4.05391129e-02 9.99177945e-01 -1.22952216e-04 -8.76756112e+00] [-2.73797539e-03 1.19664991e-05 9.99996252e-01 8.70807322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.56, Y:-8.77, Z:0.87 [[ 9.99099450e-01 4.23567551e-02 2.48866533e-03 5.11560365e+02] [-4.23566079e-02 9.99102550e-01 -1.11862503e-04 -8.76977343e+00] [-2.49117001e-03 6.35034421e-06 9.99996897e-01 8.70647663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.59, Y:-8.77, Z:0.87 [[ 9.99038072e-01 4.38090037e-02 1.92422557e-03 5.11588603e+02] [-4.38089183e-02 9.99039925e-01 -8.65337932e-05 -8.77211419e+00] [-1.92616913e-03 2.15231309e-06 9.99998145e-01 8.70710283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.175099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.62, Y:-8.77, Z:0.87 [[ 9.99011190e-01 4.44179551e-02 1.92043087e-03 5.11615439e+02] [-4.44178713e-02 9.99013036e-01 -8.62905452e-05 -8.77458508e+00] [-1.92236832e-03 9.03769046e-07 9.99998152e-01 8.70463567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.205099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.64, Y:-8.78, Z:0.87 [[ 9.99030385e-01 4.40079895e-02 1.25949825e-03 5.11643091e+02] [-4.40079530e-02 9.99031179e-01 -5.66971117e-05 -8.77896609e+00] [-1.26077315e-03 1.21419754e-06 9.99999205e-01 8.70826460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.67, Y:-8.78, Z:0.87 [[ 9.99076218e-01 4.29590180e-02 1.11064157e-03 5.11671286e+02] [-4.29589890e-02 9.99076835e-01 -4.99963324e-05 -8.78178572e+00] [-1.11176405e-03 2.23810789e-06 9.99999382e-01 8.71078202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.70, Y:-8.78, Z:0.87 [[ 9.99147573e-01 4.12688861e-02 1.00289645e-03 5.11698980e+02] [-4.12688615e-02 9.99148077e-01 -4.51460282e-05 -8.78455206e+00] [-1.00390518e-03 3.71914997e-06 9.99999496e-01 8.71366372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.295099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.73, Y:-8.79, Z:0.87 [[ 9.99217951e-01 3.95246060e-02 1.13678991e-03 5.11726865e+02] [-3.95245738e-02 9.99218597e-01 -5.07456217e-05 -8.78766852e+00] [-1.13790732e-03 5.77479929e-06 9.99999353e-01 8.71356366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.325099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.76, Y:-8.79, Z:0.87 [[ 9.99384022e-01 3.50745311e-02 1.16376079e-03 5.11755751e+02] [-3.50744947e-02 9.99384699e-01 -5.16656167e-05 -8.79279297e+00] [-1.16485687e-03 1.08154703e-05 9.99999321e-01 8.72316083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.78, Y:-8.80, Z:0.87 [[ 9.99474948e-01 3.23807131e-02 1.14803104e-03 5.11783870e+02] [-3.23806758e-02 9.99475607e-01 -5.10439149e-05 -8.79597747e+00] [-1.14908186e-03 1.38430932e-05 9.99999340e-01 8.72719976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.81, Y:-8.80, Z:0.87 [[ 9.99567333e-01 2.94008003e-02 8.60024662e-04 5.11812299e+02] [-2.94007783e-02 9.99567703e-01 -3.82320080e-05 -8.79914234e+00] [-8.60776928e-04 1.29300719e-05 9.99999629e-01 8.73003169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.415099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.84, Y:-8.80, Z:0.87 [[ 9.99654520e-01 2.62803582e-02 4.27412268e-04 5.11840663e+02] [-2.62803523e-02 9.99654612e-01 -1.93181981e-05 -8.80252248e+00] [-4.27772334e-04 8.07897909e-06 9.99999908e-01 8.73103187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.445099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.87, Y:-8.81, Z:0.87 [[ 9.99747336e-01 2.24731365e-02 4.71415531e-04 5.11868348e+02] [-2.24731289e-02 9.99747447e-01 -2.13621606e-05 -8.80560136e+00] [-4.71776548e-04 1.07625812e-05 9.99999889e-01 8.73038254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.90, Y:-8.81, Z:0.87 [[ 9.99749928e-01 2.23575122e-02 4.71406058e-04 5.11897628e+02] [-2.23575045e-02 9.99750040e-01 -2.15814620e-05 -8.80681984e+00] [-4.71770733e-04 1.10366021e-05 9.99999889e-01 8.72749681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.93, Y:-8.81, Z:0.87 [[ 9.99893697e-01 1.45733568e-02 -4.60906234e-04 5.11926389e+02] [-1.45733495e-02 9.99893803e-01 1.92466962e-05 -8.81162501e+00] [ 4.61137776e-04 -1.25277025e-05 9.99999894e-01 8.72582843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.535099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.95, Y:-8.81, Z:0.87 [[ 9.99943854e-01 1.05610865e-02 -8.67754491e-04 5.11953778e+02] [-1.05610587e-02 9.99944230e-01 3.66118546e-05 -8.81426488e+00] [ 8.68092757e-04 -2.74453929e-05 9.99999623e-01 8.72424149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.565099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.98, Y:-8.82, Z:0.87 [[ 9.99994549e-01 3.08410723e-03 -1.17887409e-03 5.11983475e+02] [-3.08404979e-03 9.99995243e-01 5.05322528e-05 -8.81773920e+00] [ 1.17902433e-03 -4.68962710e-05 9.99999304e-01 8.72456789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.01, Y:-8.82, Z:0.87 [[ 9.99998972e-01 -3.28163229e-04 -1.39586182e-03 5.12012369e+02] [ 3.28246811e-04 9.99999944e-01 5.96494494e-05 -8.81981718e+00] [ 1.39584217e-03 -6.01075752e-05 9.99999024e-01 8.72266777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.04, Y:-8.82, Z:0.87 [[ 9.99993478e-01 -3.20072752e-03 -1.67334303e-03 5.12042082e+02] [ 3.20085200e-03 9.99994875e-01 7.17184280e-05 -8.82175050e+00] [ 1.67310490e-03 -7.70740836e-05 9.99998597e-01 8.71998633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.655099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.07, Y:-8.82, Z:0.87 [[ 9.99980336e-01 -6.01618979e-03 -1.76994830e-03 5.12072659e+02] [ 6.01633414e-03 9.99981899e-01 7.62424435e-05 -8.82325841e+00] [ 1.76945757e-03 -8.68895447e-05 9.99998431e-01 8.71838275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.68509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.10, Y:-8.82, Z:0.87 [[ 9.99965854e-01 -8.13026235e-03 -1.48003208e-03 5.12102689e+02] [ 8.13036590e-03 9.99966946e-01 6.39617970e-05 -8.82477566e+00] [ 1.47946313e-03 -7.59928152e-05 9.99998903e-01 8.71574200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.13, Y:-8.83, Z:0.87 [[ 9.99951293e-01 -9.77372616e-03 -1.37350637e-03 5.12134337e+02] [ 9.77381722e-03 9.99952233e-01 5.96024587e-05 -8.82603757e+00] [ 1.37285822e-03 -7.30239558e-05 9.99999055e-01 8.71460670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.74509989300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.17, Y:-8.83, Z:0.87 [[ 9.99920209e-01 -1.25924116e-02 -1.00335706e-03 5.12165971e+02] [ 1.25924617e-02 9.99920711e-01 4.36768190e-05 -8.82616472e+00] [ 1.00272751e-03 -5.63080693e-05 9.99999496e-01 8.71365691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.20, Y:-8.83, Z:0.87 [[ 9.99904732e-01 -1.37204276e-02 -1.50909137e-03 5.12198580e+02] [ 1.37205428e-02 9.99905867e-01 6.59847024e-05 -8.82661069e+00] [ 1.50804398e-03 -8.66839689e-05 9.99998859e-01 8.71146568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.805099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.23, Y:-8.83, Z:0.87 [[ 9.99892487e-01 -1.45762920e-02 -1.59553104e-03 5.12230671e+02] [ 1.45764219e-02 9.99893756e-01 6.98387972e-05 -8.82712710e+00] [ 1.59434353e-03 -9.30884223e-05 9.99998725e-01 8.70935915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.835099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.26, Y:-8.83, Z:0.87 [[ 9.99879501e-01 -1.54528338e-02 -1.48132432e-03 5.12261433e+02] [ 1.54529477e-02 9.99880594e-01 6.55125437e-05 -8.82758764e+00] [ 1.48013509e-03 -8.83954768e-05 9.99998901e-01 8.70539133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.29, Y:-8.83, Z:0.87 [[ 9.99866374e-01 -1.62788399e-02 -1.49419628e-03 5.12293533e+02] [ 1.62789562e-02 9.99867487e-01 6.57084940e-05 -8.82834056e+00] [ 1.49292862e-03 -9.00236694e-05 9.99998882e-01 8.70016102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.33, Y:-8.83, Z:0.87 [[ 9.99833223e-01 -1.81996247e-02 -1.51678705e-03 5.12325727e+02] [ 1.81997469e-02 9.99834369e-01 6.68170633e-05 -8.82822119e+00] [ 1.51531978e-03 -9.44110601e-05 9.99998847e-01 8.69616976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.925099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.36, Y:-8.83, Z:0.87 [[ 9.99820399e-01 -1.88791211e-02 -1.65785405e-03 5.12356703e+02] [ 1.88792691e-02 9.99821768e-01 7.36417378e-05 -8.82890163e+00] [ 1.65616828e-03 -1.04927584e-04 9.99998623e-01 8.69515033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.955099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.39, Y:-8.83, Z:0.87 [[ 9.99804428e-01 -1.96974172e-02 -1.76581713e-03 5.12388981e+02] [ 1.96975856e-02 9.99805981e-01 7.80161010e-05 -8.82907771e+00] [ 1.76393781e-03 -1.12783177e-04 9.99998438e-01 8.69032688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.42, Y:-8.83, Z:0.87 [[ 9.99791594e-01 -2.03030167e-02 -2.13432238e-03 5.12421019e+02] [ 2.03032641e-02 9.99793863e-01 9.43023419e-05 -8.82923120e+00] [ 2.13196779e-03 -1.37616400e-04 9.99997718e-01 8.68726083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.45, Y:-8.83, Z:0.87 [[ 9.99761196e-01 -2.16131716e-02 -3.22819535e-03 5.12453582e+02] [ 2.16137440e-02 9.99766386e-01 1.42504861e-04 -8.82770613e+00] [ 3.22436121e-03 -2.12244218e-04 9.99994779e-01 8.68401437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.0450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.48, Y:-8.83, Z:0.87 [[ 9.99752124e-01 -2.18678639e-02 -4.18182270e-03 5.12484272e+02] [ 2.18606538e-02 9.99759474e-01 -1.76214962e-03 -8.82641807e+00] [ 4.21935131e-03 1.67029545e-03 9.99989704e-01 8.68526871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.0750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.52, Y:-8.83, Z:0.87 [[ 9.99751729e-01 -2.20013390e-02 -3.52427566e-03 5.12516765e+02] [ 2.20088326e-02 9.99755567e-01 2.10177972e-03 -8.82773802e+00] [ 3.47717224e-03 -2.17882311e-03 9.99991581e-01 8.67769254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.55, Y:-8.82, Z:0.87 [[ 9.99794212e-01 -2.00180509e-02 -3.28803200e-03 5.12548702e+02] [ 2.00186344e-02 9.99799597e-01 1.44641869e-04 -8.82372511e+00] [ 3.28447762e-03 -2.10434014e-04 9.99994584e-01 8.68446476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.58, Y:-8.82, Z:0.87 [[ 9.99826470e-01 -1.83850589e-02 -3.00315096e-03 5.12579933e+02] [ 1.83855394e-02 9.99830963e-01 1.32477631e-04 -8.82231865e+00] [ 3.00020771e-03 -1.87669193e-04 9.99995482e-01 8.68548502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.1650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.61, Y:-8.82, Z:0.87 [[ 9.99864245e-01 -1.62286782e-02 -2.84977669e-03 5.12612579e+02] [ 1.62291034e-02 9.99868291e-01 1.26141689e-04 -8.82110965e+00] [ 2.84735424e-03 -1.72373885e-04 9.99995931e-01 8.68900583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.1950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.64, Y:-8.82, Z:0.87 [[ 9.99900899e-01 -1.38188121e-02 -2.68940389e-03 5.12644331e+02] [ 1.38191821e-02 9.99904503e-01 1.19046147e-04 -8.81973596e+00] [ 2.68750199e-03 -1.56199712e-04 9.99996376e-01 8.68823243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.67, Y:-8.82, Z:0.87 [[ 9.99962899e-01 -8.28955211e-03 -2.34159052e-03 5.12674969e+02] [ 8.28981690e-03 9.99965634e-01 1.03400259e-04 -8.81553001e+00] [ 2.34065291e-03 -1.22807779e-04 9.99997253e-01 8.69380496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.71, Y:-8.81, Z:0.87 [[ 9.99981404e-01 -5.67518228e-03 -2.23251943e-03 5.12706561e+02] [ 5.67541706e-03 9.99983890e-01 9.88441983e-05 -8.81402708e+00] [ 2.23192251e-03 -1.11512839e-04 9.99997503e-01 8.69412309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.2850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.74, Y:-8.81, Z:0.87 [[ 9.99994487e-01 -2.84892107e-03 -1.70588888e-03 5.12737311e+02] [ 2.84905359e-03 9.99995939e-01 7.52607889e-05 -8.81284576e+00] [ 1.70566754e-03 -8.01205428e-05 9.99998542e-01 8.69119968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.3150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.77, Y:-8.81, Z:0.87 [[ 9.99998526e-01 -4.69910998e-04 -1.65128284e-03 5.12767950e+02] [ 4.70031936e-04 9.99999887e-01 7.28516673e-05 -8.81171155e+00] [ 1.65124842e-03 -7.36277156e-05 9.99998634e-01 8.69097587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.80, Y:-8.81, Z:0.87 [[ 9.99991364e-01 3.37519093e-03 -2.42481800e-03 5.12798242e+02] [-3.37494252e-03 9.99994299e-01 1.06530402e-04 -8.80828955e+00] [ 2.42516374e-03 -9.83458603e-05 9.99997054e-01 8.68870720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.83, Y:-8.81, Z:0.87 [[ 9.99985727e-01 4.51059188e-03 -2.86346923e-03 5.12826815e+02] [-4.51025087e-03 9.99989821e-01 1.25536298e-04 -8.80728132e+00] [ 2.86400632e-03 -1.12619542e-04 9.99995892e-01 8.68880426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.4050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.86, Y:-8.81, Z:0.87 [[ 9.99980246e-01 5.36288634e-03 -3.27817960e-03 5.12855334e+02] [-5.36244499e-03 9.99985612e-01 1.43406309e-04 -8.80646288e+00] [ 3.27890150e-03 -1.25824418e-04 9.99994616e-01 8.68839820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.4350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.88, Y:-8.81, Z:0.87 [[ 9.99978347e-01 5.66773372e-03 -3.34410463e-03 5.12884291e+02] [-5.66727688e-03 9.99983930e-01 1.46070045e-04 -8.80604664e+00] [ 3.34487878e-03 -1.27114916e-04 9.99994398e-01 8.68421656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.91, Y:-8.80, Z:0.87 [[ 9.99976255e-01 6.14983269e-03 -3.10934938e-03 5.12913120e+02] [-6.14944092e-03 9.99981083e-01 1.35540596e-04 -8.80440903e+00] [ 3.11012411e-03 -1.16416618e-04 9.99995157e-01 8.68261963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.495099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.94, Y:-8.80, Z:0.87 [[ 9.99977097e-01 6.15860856e-03 -2.80670297e-03 5.12941015e+02] [-6.15829073e-03 9.99981030e-01 1.21866086e-04 -8.80387309e+00] [ 2.80740025e-03 -1.04578802e-04 9.99996054e-01 8.68338397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.97, Y:-8.80, Z:0.87 [[ 9.99976083e-01 6.48919685e-03 -2.39227919e-03 5.12969638e+02] [-6.48896725e-03 9.99978941e-01 1.03727702e-04 -8.80342267e+00] [ 2.39290192e-03 -8.82017995e-05 9.99997133e-01 8.68330121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.00, Y:-8.80, Z:0.87 [[ 9.99971639e-01 7.26862999e-03 -1.97197473e-03 5.12997514e+02] [-7.26847642e-03 9.99973581e-01 8.50319333e-05 -8.80281737e+00] [ 1.97254069e-03 -7.06962699e-05 9.99998052e-01 8.68151012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.03, Y:-8.80, Z:0.87 [[ 9.99951665e-01 9.76314098e-03 -1.16113682e-03 5.13025278e+02] [-9.76309242e-03 9.99952339e-01 4.74797046e-05 -8.80071526e+00] [ 1.16154502e-03 -3.61411236e-05 9.99999325e-01 8.68059924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.05, Y:-8.80, Z:0.87 [[ 9.99932567e-01 1.15884045e-02 -7.54927322e-04 5.13054528e+02] [-1.15883837e-02 9.99932852e-01 3.19221608e-05 -8.80025353e+00] [ 7.55246557e-04 -2.31716207e-05 9.99999715e-01 8.67991721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.08, Y:-8.80, Z:0.87 [[ 9.99905511e-01 1.37350021e-02 -5.64914101e-04 5.13082571e+02] [-1.37349911e-02 9.99905670e-01 2.34926050e-05 -8.79990856e+00] [ 5.65183484e-04 -1.57312951e-05 9.99999840e-01 8.67655342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.6750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.11, Y:-8.80, Z:0.87 [[ 9.99866681e-01 1.63160762e-02 -6.36587267e-04 5.13111258e+02] [-1.63160625e-02 9.99866884e-01 2.66913489e-05 -8.79993232e+00] [ 6.36938025e-04 -1.63011927e-05 9.99999797e-01 8.67156098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.7050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.14, Y:-8.80, Z:0.87 [[ 9.99790344e-01 2.04646729e-02 -6.81961477e-04 5.13138741e+02] [-2.04646586e-02 9.99790577e-01 2.80342448e-05 -8.79857895e+00] [ 6.82392370e-04 -1.40722584e-05 9.99999767e-01 8.66848040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.17, Y:-8.80, Z:0.87 [[ 9.99762112e-01 2.18103923e-02 -1.59255208e-04 5.13167484e+02] [-2.18103916e-02 9.99762125e-01 6.12435200e-06 -8.79836828e+00] [ 1.59350899e-04 -2.64947664e-06 9.99999987e-01 8.66432495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.20, Y:-8.80, Z:0.87 [[ 9.99735864e-01 2.29793445e-02 3.90140993e-04 5.13195952e+02] [-2.29793394e-02 9.99735940e-01 -1.74143624e-05 -8.79855177e+00] [-3.90438143e-04 8.44458034e-06 9.99999924e-01 8.66201238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.7950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.22, Y:-8.80, Z:0.87 [[ 9.99724759e-01 2.34488935e-02 7.45650752e-04 5.13223651e+02] [-2.34488757e-02 9.99725037e-01 -3.27293670e-05 -8.79885352e+00] [-7.46213193e-04 1.52356868e-05 9.99999721e-01 8.65679241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.8250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.25, Y:-8.80, Z:0.87 [[ 9.99711615e-01 2.39877385e-02 1.12895236e-03 5.13252095e+02] [-2.39876987e-02 9.99712253e-01 -4.88258676e-05 -8.79956956e+00] [-1.12979873e-03 2.17308180e-05 9.99999362e-01 8.65028490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.28, Y:-8.80, Z:0.86 [[ 9.99714336e-01 2.38702649e-02 1.20676396e-03 5.13279396e+02] [-2.38702192e-02 9.99715064e-01 -5.22054701e-05 -8.80082577e+00] [-1.20766627e-03 2.33848365e-05 9.99999270e-01 8.64560434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.31, Y:-8.80, Z:0.86 [[ 9.99721623e-01 2.35811294e-02 7.78719317e-04 5.13307916e+02] [-2.35811103e-02 9.99721926e-01 -3.37644631e-05 -8.80195659e+00] [-7.79298980e-04 1.53919978e-05 9.99999696e-01 8.64339834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.9150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.34, Y:-8.80, Z:0.86 [[ 9.99727689e-01 2.33262267e-02 6.60157673e-04 5.13336810e+02] [-2.33262129e-02 9.99727906e-01 -2.86810041e-05 -8.80315970e+00] [-6.60647068e-04 1.32742155e-05 9.99999782e-01 8.63698060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.9450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.37, Y:-8.80, Z:0.86 [[ 9.99739046e-01 2.28380973e-02 5.11625787e-04 5.13365327e+02] [-2.28380888e-02 9.99739177e-01 -2.23649636e-05 -8.80418658e+00] [-5.12003116e-04 1.06745722e-05 9.99999869e-01 8.63504046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.39, Y:-8.81, Z:0.86 [[ 9.99758920e-01 2.19553135e-02 2.56627479e-04 5.13393446e+02] [-2.19553113e-02 9.99758953e-01 -1.17255222e-05 -8.80547156e+00] [-2.56823057e-04 6.08835926e-06 9.99999967e-01 8.63268948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.42, Y:-8.81, Z:0.86 [[ 9.99768439e-01 2.15175609e-02 2.52343029e-04 5.13422373e+02] [-2.15175587e-02 9.99768470e-01 -1.13496868e-05 -8.80695182e+00] [-2.52528822e-04 5.91725271e-06 9.99999968e-01 8.62764587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.0350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.45, Y:-8.81, Z:0.86 [[ 9.99770583e-01 2.14189811e-02 9.00251039e-05 5.13450258e+02] [-2.14189808e-02 9.99770587e-01 -4.67160099e-06 -8.80861597e+00] [-9.01045121e-05 2.74228328e-06 9.99999996e-01 8.62287794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.0650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.48, Y:-8.81, Z:0.86 [[ 9.99770435e-01 2.14260651e-02 -3.37098186e-05 5.13479025e+02] [-2.14260651e-02 9.99770436e-01 7.09580017e-07 -8.81021914e+00] [ 3.37172834e-05 1.28516477e-08 9.99999999e-01 8.61721780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.51, Y:-8.81, Z:0.86 [[ 9.99750463e-01 2.23202471e-02 9.04385492e-04 5.13506805e+02] [-2.23202212e-02 9.99750872e-01 -3.88294771e-05 -8.81202877e+00] [-9.05026868e-04 1.86337036e-05 9.99999590e-01 8.61661321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.54, Y:-8.81, Z:0.86 [[ 9.99734643e-01 2.29982480e-02 1.31288030e-03 5.13535515e+02] [-2.29981948e-02 9.99735505e-01 -5.55937548e-05 -8.81337500e+00] [-1.31381161e-03 2.53851258e-05 9.99999137e-01 8.61683544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.1550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.56, Y:-8.81, Z:0.86 [[ 9.99717555e-01 2.36720143e-02 2.10845777e-03 5.13564665e+02] [-2.36718798e-02 9.99719778e-01 -8.87126810e-05 -8.81462674e+00] [-2.10996694e-03 3.87764658e-05 9.99997773e-01 8.61547083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.1850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.59, Y:-8.82, Z:0.86 [[ 9.99666914e-01 2.56541481e-02 2.81529298e-03 5.13593608e+02] [-2.56539174e-02 9.99670877e-01 -1.18034329e-04 -8.81645700e+00] [-2.81739447e-03 4.57717195e-05 9.99996030e-01 8.61790631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.62, Y:-8.82, Z:0.86 [[ 9.99651842e-01 2.62370856e-02 2.79481616e-03 5.13622239e+02] [-2.62368611e-02 9.99655747e-01 -1.16981417e-04 -8.81798555e+00] [-2.79692329e-03 4.36134859e-05 9.99996088e-01 8.61866458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.65, Y:-8.82, Z:0.86 [[ 9.99635589e-01 2.68222861e-02 3.04202252e-03 5.13650859e+02] [-2.68220235e-02 9.99640217e-01 -1.27064128e-04 -8.81963066e+00] [-3.04433621e-03 4.54246246e-05 9.99995365e-01 8.61534256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.68, Y:-8.82, Z:0.86 [[ 9.99623161e-01 2.73147885e-02 2.72727491e-03 5.13678278e+02] [-2.73145793e-02 9.99626881e-01 -1.13917051e-04 -8.82126810e+00] [-2.72936893e-03 3.93797562e-05 9.99996274e-01 8.61233746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.3050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.71, Y:-8.82, Z:0.86 [[ 9.99633489e-01 2.69935585e-02 2.05803624e-03 5.13707411e+02] [-2.69934390e-02 9.99635607e-01 -8.58550748e-05 -8.82337464e+00] [-2.05960384e-03 3.02701323e-05 9.99997879e-01 8.60566174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.3350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.74, Y:-8.83, Z:0.86 [[ 9.99642328e-01 2.67014747e-02 1.49909956e-03 5.13736057e+02] [-2.67014108e-02 9.99643452e-01 -6.26189914e-05 -8.82502553e+00] [-1.50023708e-03 2.25685211e-05 9.99998874e-01 8.60266467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.77, Y:-8.83, Z:0.86 [[ 9.99643763e-01 2.66476873e-02 1.49911019e-03 5.13765351e+02] [-2.66476237e-02 9.99644887e-01 -6.23618896e-05 -8.82617657e+00] [-1.50023964e-03 2.23919496e-05 9.99998874e-01 8.59977770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.79, Y:-8.83, Z:0.86 [[ 9.99664536e-01 2.58764794e-02 1.10604125e-03 5.13794452e+02] [-2.58764441e-02 9.99665148e-01 -4.62429630e-05 -8.82778797e+00] [-1.10686749e-03 1.76070357e-05 9.99999387e-01 8.59823497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.4250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.82, Y:-8.83, Z:0.86 [[ 9.99695639e-01 2.46432488e-02 1.15720248e-03 5.13821744e+02] [-2.46432092e-02 9.99696309e-01 -4.84155433e-05 -8.82935063e+00] [-1.15804416e-03 1.98836247e-05 9.99999329e-01 8.59491652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.4550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.85, Y:-8.83, Z:0.86 [[ 9.99727715e-01 2.33056659e-02 1.15810622e-03 5.13850090e+02] [-2.33056257e-02 9.99728386e-01 -4.81933583e-05 -8.83121742e+00] [-1.15891484e-03 2.11898458e-05 9.99999328e-01 8.59238117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.88, Y:-8.83, Z:0.86 [[ 9.99809828e-01 1.94631440e-02 1.22248620e-03 5.13878877e+02] [-1.94630964e-02 9.99810575e-01 -5.07688286e-05 -8.83391214e+00] [-1.22324275e-03 2.69658070e-05 9.99999251e-01 8.59224576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.91, Y:-8.84, Z:0.86 [[ 9.99853504e-01 1.70797316e-02 1.11969063e-03 5.13906265e+02] [-1.70796901e-02 9.99854130e-01 -4.66315420e-05 -8.83579513e+00] [-1.12032376e-03 2.75007416e-05 9.99999372e-01 8.59123169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.5450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.93, Y:-8.84, Z:0.86 [[ 9.99895848e-01 1.43670349e-02 1.37195028e-03 5.13934980e+02] [-1.43669707e-02 9.99896788e-01 -5.66434486e-05 -8.83765517e+00] [-1.37262248e-03 3.69267796e-05 9.99999057e-01 8.58960981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.5750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.96, Y:-8.84, Z:0.86 [[ 9.99936328e-01 1.12398396e-02 1.00303747e-03 5.13963865e+02] [-1.12398035e-02 9.99936831e-01 -4.15307104e-05 -8.83927979e+00] [-1.00344091e-03 3.02541219e-05 9.99999496e-01 8.59072315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.99, Y:-8.84, Z:0.86 [[ 9.99966279e-01 8.10653263e-03 1.31352364e-03 5.13992642e+02] [-8.10646856e-03 9.99967141e-01 -5.40958446e-05 -8.84079845e+00] [-1.31391901e-03 4.34459824e-05 9.99999136e-01 8.58874059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.02, Y:-8.84, Z:0.86 [[ 9.99998728e-01 1.05547864e-03 1.19622686e-03 5.14022070e+02] [-1.05542087e-03 9.99999442e-01 -4.89269503e-05 -8.84334782e+00] [-1.19627783e-03 4.76643653e-05 9.99999283e-01 8.58530769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.6650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.05, Y:-8.85, Z:0.86 [[ 9.99995623e-01 -2.58652119e-03 1.43692462e-03 5.14052025e+02] [ 2.58660769e-03 9.99996653e-01 -5.83402361e-05 -8.84551477e+00] [-1.43676891e-03 6.20567410e-05 9.99998966e-01 8.58473310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.6950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.08, Y:-8.85, Z:0.86 [[ 9.99979016e-01 -6.29367631e-03 1.53548690e-03 5.14083602e+02] [ 6.29377898e-03 9.99980192e-01 -6.20386573e-05 -8.84740177e+00] [-1.53506604e-03 7.17013707e-05 9.99998819e-01 8.58204535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.12, Y:-8.85, Z:0.86 [[ 9.99912694e-01 -1.31520290e-02 1.27575155e-03 5.14115726e+02] [ 1.31521030e-02 9.99913506e-01 -4.96613221e-05 -8.84979715e+00] [-1.27498806e-03 6.64358022e-05 9.99999185e-01 8.57847415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.15, Y:-8.85, Z:0.86 [[ 9.99871647e-01 -1.59836181e-02 1.10138626e-03 5.14147737e+02] [ 1.59836765e-02 9.99872252e-01 -4.42413155e-05 -8.85165564e+00] [-1.10053842e-03 6.18398387e-05 9.99999392e-01 8.57521435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.7850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.18, Y:-8.85, Z:0.86 [[ 9.99825385e-01 -1.86710696e-02 7.68027191e-04 5.14180027e+02] [ 1.86710988e-02 9.99825679e-01 -3.08190949e-05 -8.85310113e+00] [-7.67317883e-04 4.51536250e-05 9.99999705e-01 8.57392011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.8150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.21, Y:-8.85, Z:0.86 [[ 9.99786593e-01 -2.06569441e-02 2.42615330e-04 5.14212244e+02] [ 2.06569470e-02 9.99786622e-01 -9.26571782e-06 -8.85436261e+00] [-2.42372160e-04 1.42754325e-05 9.99999971e-01 8.57305423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.24, Y:-8.85, Z:0.86 [[ 9.99734169e-01 -2.30553142e-02 2.09358289e-04 5.14243049e+02] [ 2.30553164e-02 9.99734191e-01 -8.09029708e-06 -8.85486039e+00] [-2.09116116e-04 1.29149680e-05 9.99999978e-01 8.57289400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.28, Y:-8.86, Z:0.86 [[ 9.99731400e-01 -2.31738183e-02 3.20461541e-04 5.14275533e+02] [ 2.31738235e-02 9.99731451e-01 -1.25140018e-05 -8.85562742e+00] [-3.20085485e-04 1.99369598e-05 9.99999949e-01 8.57244993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.9050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.31, Y:-8.86, Z:0.86 [[ 9.99738209e-01 -2.28791604e-02 2.41557711e-04 5.14306516e+02] [ 2.28791634e-02 9.99738238e-01 -9.45197935e-06 -8.85575053e+00] [-2.41278227e-04 1.49761432e-05 9.99999971e-01 8.57439368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.9350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.34, Y:-8.86, Z:0.86 [[ 9.99764679e-01 -2.16817748e-02 6.97821577e-04 5.14338945e+02] [ 2.16817997e-02 9.99764922e-01 -2.81909381e-05 -8.85586533e+00] [-6.97046305e-04 4.33143319e-05 9.99999756e-01 8.57399048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.37, Y:-8.85, Z:0.86 [[ 9.99844708e-01 -1.75965675e-02 9.59416114e-04 5.14370820e+02] [ 1.75966131e-02 9.99845167e-01 -3.90649350e-05 -8.85335107e+00] [-9.58580156e-04 5.59413426e-05 9.99999539e-01 8.57946599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.995099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.40, Y:-8.85, Z:0.86 [[ 9.99890754e-01 -1.47421378e-02 1.07172650e-03 5.14401886e+02] [ 1.47421933e-02 9.99891327e-01 -4.39560067e-05 -8.85244181e+00] [-1.07096203e-03 5.97508040e-05 9.99999425e-01 8.58029204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.43, Y:-8.85, Z:0.86 [[ 9.99934583e-01 -1.13835811e-02 1.11560423e-03 5.14433732e+02] [ 1.13836391e-02 9.99935203e-01 -4.56813075e-05 -8.85147886e+00] [-1.11501192e-03 5.83779550e-05 9.99999377e-01 8.57760603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.47, Y:-8.85, Z:0.86 [[ 9.99969754e-01 -7.71031456e-03 1.02122776e-03 5.14465925e+02] [ 7.71036128e-03 9.99970274e-01 -4.18188660e-05 -8.85068703e+00] [-1.02087497e-03 4.96916361e-05 9.99999478e-01 8.57790809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.50, Y:-8.85, Z:0.86 [[ 9.99999044e-01 -2.22157713e-04 1.36469642e-03 5.14497299e+02] [ 2.22234092e-04 9.99999974e-01 -5.58162907e-05 -8.84776039e+00] [-1.36468399e-03 5.61195194e-05 9.99999067e-01 8.56998452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.53, Y:-8.85, Z:0.86 [[ 9.99992928e-01 3.30281756e-03 1.79851221e-03 5.14528297e+02] [-3.30268833e-03 9.99994543e-01 -7.48186364e-05 -8.84677441e+00] [-1.79874951e-03 6.88781820e-05 9.99998380e-01 8.56770004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.56, Y:-8.85, Z:0.86 [[ 9.99974650e-01 6.91412774e-03 1.70115546e-03 5.14558589e+02] [-6.91401756e-03 9.99976095e-01 -7.06405845e-05 -8.84562870e+00] [-1.70160321e-03 5.88769751e-05 9.99998551e-01 8.56501756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.1750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.59, Y:-8.84, Z:0.86 [[ 9.99946085e-01 1.03175783e-02 1.17212388e-03 5.14588306e+02] [-1.03175275e-02 9.99946772e-01 -4.93705726e-05 -8.84466680e+00] [-1.17257087e-03 3.72744905e-05 9.99999312e-01 8.56253875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.2050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.62, Y:-8.85, Z:0.86 [[ 9.99912569e-01 1.29487156e-02 -2.68056881e-03 5.14615216e+02] [-1.28819961e-02 9.99639247e-01 2.35675634e-02 -8.84844399e+00] [ 2.98477147e-03 -2.35309718e-02 9.99718653e-01 8.59857836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.65, Y:-8.83, Z:0.86 [[ 9.99830680e-01 1.83844727e-02 7.88899258e-04 5.14649105e+02] [-1.83613894e-02 9.99565238e-01 -2.30693554e-02 -8.83068884e+00] [-1.21267421e-03 2.30509640e-02 9.99733556e-01 8.61378027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.68, Y:-8.84, Z:0.86 [[ 9.99803590e-01 1.97389489e-02 1.77604925e-03 5.14676107e+02] [-1.97388433e-02 9.99805167e-01 -7.69527647e-05 -8.84044408e+00] [-1.77722218e-03 4.18804926e-05 9.99998420e-01 8.55320825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.2950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.70, Y:-8.84, Z:0.86 [[ 9.99778603e-01 2.09922297e-02 1.43923738e-03 5.14704617e+02] [-2.09921642e-02 9.99779638e-01 -6.06176913e-05 -8.83976648e+00] [-1.44019273e-03 3.03915634e-05 9.99998962e-01 8.55281224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.3250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.73, Y:-8.84, Z:0.85 [[ 9.99744162e-01 2.26065854e-02 7.43469080e-04 5.14733198e+02] [-2.26065681e-02 9.99744438e-01 -3.16115192e-05 -8.83793817e+00] [-7.43993706e-04 1.47961474e-05 9.99999723e-01 8.54672498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.76, Y:-8.84, Z:0.85 [[ 9.99745754e-01 2.25470205e-02 2.42640016e-04 5.14760955e+02] [-2.25470185e-02 9.99745784e-01 -1.11505264e-05 -8.83794972e+00] [-2.42829744e-04 5.67688252e-06 9.99999970e-01 8.54066104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.79, Y:-8.84, Z:0.85 [[ 9.99754286e-01 2.21652798e-02 -2.62120653e-04 5.14789111e+02] [-2.21652780e-02 9.99754320e-01 9.71861535e-06 -8.83825718e+00] [ 2.62271671e-04 -3.90625019e-06 9.99999966e-01 8.53311228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.4150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.82, Y:-8.84, Z:0.85 [[ 9.99772759e-01 2.13149289e-02 -3.21462851e-04 5.14818105e+02] [-2.13149259e-02 9.99772811e-01 1.25218001e-05 -8.83865891e+00] [ 3.21656719e-04 -5.66699774e-06 9.99999948e-01 8.52744328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.4450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.85, Y:-8.84, Z:0.85 [[ 9.99809960e-01 1.94924032e-02 -2.99114135e-04 5.14845857e+02] [-1.94924007e-02 9.99810005e-01 1.12992833e-05 -8.83802699e+00] [ 2.99277554e-04 -5.46668343e-06 9.99999955e-01 8.52501121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.87, Y:-8.84, Z:0.85 [[ 9.99831571e-01 1.83507590e-02 -2.80037056e-04 5.14874743e+02] [-1.83507567e-02 9.99831611e-01 1.07729330e-05 -8.83823638e+00] [ 2.80187592e-04 -5.63222664e-06 9.99999961e-01 8.52541275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.90, Y:-8.84, Z:0.85 [[ 9.99846164e-01 1.75381697e-02 2.48236114e-04 5.14902596e+02] [-1.75381674e-02 9.99846194e-01 -1.10816339e-05 -8.83856217e+00] [-2.48392285e-04 6.72632258e-06 9.99999969e-01 8.52147229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.5350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.93, Y:-8.84, Z:0.85 [[ 9.99871714e-01 1.60023584e-02 6.93396141e-04 5.14930492e+02] [-1.60023419e-02 9.99871954e-01 -2.92500102e-05 -8.83799287e+00] [-6.93775423e-04 1.81502957e-05 9.99999759e-01 8.52358991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.5650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.96, Y:-8.84, Z:0.85 [[ 9.99881828e-01 1.53335104e-02 1.10137712e-03 5.14959324e+02] [-1.53334693e-02 9.99882434e-01 -4.56902690e-05 -8.83810499e+00] [-1.10194823e-03 2.87969373e-05 9.99999392e-01 8.52314105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.99, Y:-8.84, Z:0.85 [[ 9.99887929e-01 1.49412735e-02 9.42355067e-04 5.14988038e+02] [-1.49401339e-02 9.99887664e-01 -1.20500383e-03 -8.83800544e+00] [-9.60253498e-04 1.19078987e-03 9.99998830e-01 8.52671597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.02, Y:-8.84, Z:0.85 [[ 9.99894167e-01 1.44455546e-02 1.72642694e-03 5.15016824e+02] [-1.44474247e-02 9.99895052e-01 1.07568732e-03 -8.83958557e+00] [-1.71070685e-03 -1.10051590e-03 9.99997931e-01 8.51933562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.6550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.04, Y:-8.84, Z:0.85 [[ 9.99907900e-01 1.32634591e-02 2.87623404e-03 5.15044737e+02] [-1.32631754e-02 9.99912033e-01 -1.17697874e-04 -8.83941848e+00] [-2.87754211e-03 7.95390371e-05 9.99995857e-01 8.52345354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.6850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.07, Y:-8.84, Z:0.85 [[ 9.99915873e-01 1.24888222e-02 3.50364839e-03 5.15073509e+02] [-1.24883987e-02 9.99922007e-01 -1.42742346e-04 -8.84001674e+00] [-3.50515781e-03 9.89753792e-05 9.99993852e-01 8.52189066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.10, Y:-8.84, Z:0.85 [[ 9.99921341e-01 1.18656409e-02 4.06421184e-03 5.15102761e+02] [-1.18650673e-02 9.99929594e-01 -1.65206178e-04 -8.84048557e+00] [-4.06588597e-03 1.16971036e-04 9.99991727e-01 8.52074198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.745099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.13, Y:-8.84, Z:0.85 [[ 9.99922311e-01 1.13568903e-02 5.13743412e-03 5.15132315e+02] [-1.13559710e-02 9.99935497e-01 -2.08085430e-04 -8.84099797e+00] [-5.13946595e-03 1.49728711e-04 9.99986782e-01 8.51539994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.16, Y:-8.84, Z:0.85 [[ 9.99926076e-01 1.08674735e-02 5.45353072e-03 5.15161777e+02] [-1.08664319e-02 9.99940934e-01 -2.20585730e-04 -8.84144034e+00] [-5.45560582e-03 1.61309003e-04 9.99985105e-01 8.51621948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.8050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.19, Y:-8.84, Z:0.85 [[ 9.99925026e-01 1.05050486e-02 6.29177038e-03 5.15191784e+02] [-1.05036554e-02 9.99944803e-01 -2.54423026e-04 -8.84089073e+00] [-6.29409582e-03 1.88317363e-04 9.99980174e-01 8.51730349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.8350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.22, Y:-8.83, Z:0.85 [[ 9.99859722e-01 1.25383705e-02 1.11052104e-02 5.15223372e+02] [-1.22576121e-02 9.99612330e-01 -2.49988154e-02 -8.83117409e+00] [-1.14143497e-02 2.48591852e-02 9.99625797e-01 8.50513482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.865099893 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:515.25, Y:-8.85, Z:0.84 [[ 9.99898268e-01 1.10240878e-02 9.05111065e-03 5.15249589e+02] [-1.11495950e-02 9.99840736e-01 1.39351628e-02 -8.84837540e+00] [-8.89604668e-03 -1.40346613e-02 9.99861935e-01 8.43814805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.28, Y:-8.85, Z:0.85 [[ 9.99882807e-01 1.06953291e-02 1.09536078e-02 5.15281307e+02] [-1.07750313e-02 9.99915713e-01 7.24336500e-03 -8.84575396e+00] [-1.08752144e-02 -7.36054160e-03 9.99913772e-01 8.45091772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.9250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.31, Y:-8.84, Z:0.85 [[ 9.99871383e-01 1.12519142e-02 1.14285553e-02 5.15313175e+02] [-1.12473642e-02 9.99936640e-01 -4.62322334e-04 -8.84193897e+00] [-1.14330332e-02 3.33721747e-04 9.99934585e-01 8.46992499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.9550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.34, Y:-8.84, Z:0.85 [[ 9.99861582e-01 1.14985329e-02 1.20249635e-02 5.15344943e+02] [-1.14934774e-02 9.99933828e-01 -4.89440272e-04 -8.84249259e+00] [-1.20297956e-02 3.51163878e-04 9.99927578e-01 8.46743555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.38, Y:-8.84, Z:0.85 [[ 9.99849498e-01 1.18967301e-02 1.26273562e-02 5.15376988e+02] [-1.18911445e-02 9.99929164e-01 -5.17334376e-04 -8.84313514e+00] [-1.26326163e-02 3.67102799e-04 9.99920138e-01 8.46325780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.41, Y:-8.84, Z:0.85 [[ 9.99836607e-01 1.22773701e-02 1.32674954e-02 5.15409681e+02] [-1.22711902e-02 9.99924556e-01 -5.47099752e-04 -8.84372919e+00] [-1.32732114e-02 3.84202399e-04 9.99911833e-01 8.46283141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.0450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.44, Y:-8.84, Z:0.85 [[ 9.99820588e-01 1.23145614e-02 1.43924660e-02 5.15441696e+02] [-1.23072377e-02 9.99924085e-01 -5.97324640e-04 -8.84374585e+00] [-1.43987292e-02 4.20085974e-04 9.99896245e-01 8.46213460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.0750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.47, Y:-8.84, Z:0.85 [[ 9.99812514e-01 1.22061465e-02 1.50315137e-02 5.15474858e+02] [-1.21981002e-02 9.99925404e-01 -6.26861406e-04 -8.84466961e+00] [-1.50380439e-02 4.43387968e-04 9.99886824e-01 8.45737837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.51, Y:-8.85, Z:0.84 [[ 9.99810466e-01 1.16570875e-02 1.55930582e-02 5.15507172e+02] [-1.16482917e-02 9.99931942e-01 -6.54785756e-04 -8.84539296e+00] [-1.55996299e-02 4.73029162e-04 9.99878206e-01 8.44965871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.54, Y:-8.85, Z:0.84 [[ 9.99807468e-01 1.04335818e-02 1.66182593e-02 5.15540421e+02] [-1.04233441e-02 9.99945429e-01 -7.02549134e-04 -8.84621565e+00] [-1.66246825e-02 5.29196036e-04 9.99861660e-01 8.44334141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.1650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.57, Y:-8.85, Z:0.84 [[ 9.99811917e-01 1.00444103e-02 1.65903810e-02 5.15572921e+02] [-1.00340738e-02 9.99949408e-01 -7.06166821e-04 -8.84712308e+00] [-1.65966347e-02 5.39564895e-04 9.99862121e-01 8.43970287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.1950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.60, Y:-8.85, Z:0.84 [[ 9.99812282e-01 9.44748482e-03 1.69158651e-02 5.15604661e+02] [-9.43657411e-03 9.99955212e-01 -7.24703771e-04 -8.84814185e+00] [-1.69219541e-02 5.64939917e-04 9.99856654e-01 8.43203275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.64, Y:-8.85, Z:0.84 [[ 9.99822538e-01 7.69213421e-03 1.71966354e-02 5.15638010e+02] [-7.68051623e-03 9.99970229e-01 -7.41539343e-04 -8.84885647e+00] [-1.72018274e-02 6.09328710e-04 9.99851852e-01 8.42404758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.67, Y:-8.85, Z:0.84 [[ 9.99825937e-01 6.71758411e-03 1.74060257e-02 5.15669867e+02] [-6.70544517e-03 9.99977233e-01 -7.55667541e-04 -8.84979045e+00] [-1.74107057e-02 6.38820857e-04 9.99848218e-01 8.42005548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.2850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.70, Y:-8.85, Z:0.84 [[ 9.99825088e-01 6.84323605e-03 1.74058451e-02 5.15703372e+02] [-6.83104416e-03 9.99976379e-01 -7.59806885e-04 -8.85133468e+00] [-1.74106335e-02 6.40773890e-04 9.99848218e-01 8.41566371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.3150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.74, Y:-8.85, Z:0.84 [[ 9.99822611e-01 6.27880448e-03 1.77573249e-02 5.15736678e+02] [-6.26597237e-03 9.99980066e-01 -7.78183345e-04 -8.85255307e+00] [-1.77618570e-02 6.66778397e-04 9.99842023e-01 8.40739467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.77, Y:-8.85, Z:0.84 [[ 9.99831002e-01 5.24502403e-03 1.76197839e-02 5.15768815e+02] [-5.23214157e-03 9.99986010e-01 -7.77154934e-04 -8.85364695e+00] [-1.76236136e-02 6.84834393e-04 9.99844458e-01 8.40212361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.80, Y:-8.85, Z:0.84 [[ 9.99830125e-01 4.78786678e-03 1.77988079e-02 5.15801838e+02] [-4.77456068e-03 9.99988290e-01 -7.90002915e-04 -8.85491976e+00] [-1.78023819e-02 7.04887225e-04 9.99841277e-01 8.39215498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.4050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.83, Y:-8.86, Z:0.84 [[ 9.99835400e-01 4.24023085e-03 1.76406584e-02 5.15833772e+02] [-4.22698636e-03 9.99990756e-01 -7.88012156e-04 -8.85572539e+00] [-1.76438367e-02 7.13315627e-04 9.99844081e-01 8.37918764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.4350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.87, Y:-8.86, Z:0.84 [[ 9.99839625e-01 4.41793954e-03 1.73552757e-02 5.15866687e+02] [-4.40506468e-03 9.99989993e-01 -7.80000144e-04 -8.85706632e+00] [-1.73585480e-02 7.03423940e-04 9.99849082e-01 8.36722135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.90, Y:-8.86, Z:0.84 [[ 9.99845561e-01 4.96232275e-03 1.68590917e-02 5.15898894e+02] [-4.95017152e-03 9.99987457e-01 -7.62406864e-04 -8.85848171e+00] [-1.68626635e-02 6.78833723e-04 9.99857585e-01 8.35918393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.495099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.93, Y:-8.86, Z:0.83 [[ 9.99840019e-01 5.77992078e-03 1.69271880e-02 5.15932258e+02] [-5.76770962e-03 9.99983070e-01 -7.70124070e-04 -8.85998141e+00] [-1.69313527e-02 6.72369759e-04 9.99856428e-01 8.34294883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.97, Y:-8.86, Z:0.83 [[ 9.99839069e-01 6.75598314e-03 1.66190771e-02 5.15965588e+02] [-6.74426921e-03 9.99976968e-01 -7.60793480e-04 -8.86175290e+00] [-1.66238342e-02 6.48587515e-04 9.99861604e-01 8.33403162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.00, Y:-8.86, Z:0.83 [[ 9.99832267e-01 7.71437791e-03 1.66110402e-02 5.15998008e+02] [-7.70272813e-03 9.99970041e-01 -7.65193760e-04 -8.86360819e+00] [-1.66164456e-02 6.37115085e-04 9.99861734e-01 8.32483036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.03, Y:-8.87, Z:0.83 [[ 9.99830554e-01 8.33739126e-03 1.64119091e-02 5.16029787e+02] [-8.32603117e-03 9.99965049e-01 -7.60392926e-04 -8.86524348e+00] [-1.64176751e-02 6.23618014e-04 9.99865026e-01 8.31839114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.06, Y:-8.87, Z:0.83 [[ 9.99821685e-01 9.30379947e-03 1.64328446e-02 5.16061703e+02] [-9.29247455e-03 9.99956531e-01 -7.65386846e-04 -8.86692594e+00] [-1.64392513e-02 6.12548575e-04 9.99864679e-01 8.30955142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.09, Y:-8.87, Z:0.83 [[ 9.99819562e-01 1.05519492e-02 1.57955801e-02 5.16094524e+02] [-1.05415949e-02 9.99944163e-01 -7.38637075e-04 -8.86875596e+00] [-1.58024922e-02 5.71993190e-04 9.99874969e-01 8.29592207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.6750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.13, Y:-8.87, Z:0.83 [[ 9.99822412e-01 1.11872677e-02 1.51654166e-02 5.16126135e+02] [-1.11777379e-02 9.99937273e-01 -7.13011266e-04 -8.87074827e+00] [-1.51724419e-02 5.43369593e-04 9.99884744e-01 8.28668686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.7050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.16, Y:-8.87, Z:0.83 [[ 9.99832415e-01 1.15998945e-02 1.41628076e-02 5.16159331e+02] [-1.15915903e-02 9.99932592e-01 -6.68291794e-04 -8.87289511e+00] [-1.41696051e-02 5.04010336e-04 9.99899479e-01 8.27759008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.19, Y:-8.88, Z:0.83 [[ 9.99838737e-01 1.15053913e-02 1.37886255e-02 5.16191921e+02] [-1.14974565e-02 9.99933688e-01 -6.54592810e-04 -8.87514155e+00] [-1.37952425e-02 4.95953126e-04 9.99904718e-01 8.26453072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.23, Y:-8.88, Z:0.82 [[ 9.99860622e-01 1.08650371e-02 1.26762371e-02 5.16225144e+02] [-1.08582363e-02 9.99940864e-01 -6.05200482e-04 -8.87898298e+00] [-1.26820630e-02 4.67474552e-04 9.99919470e-01 8.24812757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.7950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.26, Y:-8.88, Z:0.82 [[ 9.99875651e-01 1.01419681e-02 1.20757002e-02 5.16257584e+02] [-1.01357027e-02 9.99948464e-01 -5.79927485e-04 -8.88179053e+00] [-1.20809594e-02 4.57459665e-04 9.99926918e-01 8.23785478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.8250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.29, Y:-8.88, Z:0.82 [[ 9.99883651e-01 9.89270240e-03 1.16111709e-02 5.16289409e+02] [-9.88685753e-03 9.99950967e-01 -5.60677937e-04 -8.88483094e+00] [-1.16161482e-02 4.45814710e-04 9.99932431e-01 8.22888676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.32, Y:-8.89, Z:0.82 [[ 9.99891027e-01 9.95656161e-03 1.08996222e-02 5.16322106e+02] [-9.95138617e-03 9.99950344e-01 -5.28960952e-04 -8.88759887e+00] [-1.09043476e-02 4.20436959e-04 9.99940457e-01 8.22110346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.35, Y:-8.89, Z:0.82 [[ 9.99887369e-01 1.05887811e-02 1.06361410e-02 5.16354520e+02] [-1.05838557e-02 9.99943855e-01 -5.19267723e-04 -8.89097106e+00] [-1.06410423e-02 4.06637856e-04 9.99943300e-01 8.21315690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.9150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.39, Y:-8.89, Z:0.82 [[ 9.99875264e-01 1.19249968e-02 1.03562138e-02 5.16386187e+02] [-1.19203725e-02 9.99928821e-01 -5.08133433e-04 -8.89344515e+00] [-1.03615362e-02 3.84620123e-04 9.99946244e-01 8.20721356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.9450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.42, Y:-8.90, Z:0.82 [[ 9.99852839e-01 1.36517044e-02 1.03889559e-02 5.16418789e+02] [-1.36471138e-02 9.99906742e-01 -5.12637024e-04 -8.89591087e+00] [-1.03949854e-02 3.70782320e-04 9.99945902e-01 8.20231437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.45, Y:-8.90, Z:0.82 [[ 9.99789481e-01 1.77185453e-02 1.03463253e-02 5.16449519e+02] [-1.77141761e-02 9.99842960e-01 -5.13792456e-04 -8.89922064e+00] [-1.03538042e-02 3.30407664e-04 9.99946343e-01 8.19646021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.48, Y:-8.90, Z:0.82 [[ 9.99745176e-01 2.00872718e-02 1.02997683e-02 5.16478930e+02] [-2.00830619e-02 9.99798184e-01 -5.12015945e-04 -8.90163977e+00] [-1.03079747e-02 3.05034586e-04 9.99946825e-01 8.19145715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.0350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.51, Y:-8.90, Z:0.82 [[ 9.99698620e-01 2.24110541e-02 1.00207164e-02 5.16508076e+02] [-2.24071871e-02 9.99748803e-01 -4.98018753e-04 -8.90422190e+00] [-1.00293603e-02 2.73332593e-04 9.99949667e-01 8.18757519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.0650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.54, Y:-8.91, Z:0.82 [[ 9.99652487e-01 2.43101150e-02 1.01943235e-02 5.16536387e+02] [-2.43062141e-02 9.99704432e-01 -5.06386730e-04 -8.90672934e+00] [-1.02036207e-02 2.58425345e-04 9.99947908e-01 8.18122582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.56, Y:-8.91, Z:0.82 [[ 9.99562537e-01 2.78685524e-02 9.90346195e-03 5.16564668e+02] [-2.78650530e-02 9.99611573e-01 -4.91186713e-04 -8.91100509e+00] [-9.91330385e-03 2.15011346e-04 9.99950839e-01 8.17080267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.59, Y:-8.91, Z:0.82 [[ 9.99529596e-01 2.90505202e-02 9.83131700e-03 5.16593695e+02] [-2.90471334e-02 9.99577924e-01 -4.87136946e-04 -8.91412181e+00] [-9.84131902e-03 2.01336218e-04 9.99951553e-01 8.16384653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.1550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.62, Y:-8.92, Z:0.82 [[ 9.99508932e-01 2.98760883e-02 9.45060980e-03 5.16622302e+02] [-2.98730016e-02 9.99553593e-01 -4.67640763e-04 -8.91727189e+00] [-9.46036226e-03 1.85093038e-04 9.99955233e-01 8.15499904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.1850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.65, Y:-8.92, Z:0.82 [[ 9.99505678e-01 3.02061747e-02 8.71702328e-03 5.16650691e+02] [-3.02035660e-02 9.99543675e-01 -4.30793835e-04 -8.92013668e+00] [-8.72605812e-03 1.67295697e-04 9.99961913e-01 8.15076011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.68, Y:-8.92, Z:0.81 [[ 9.99501448e-01 3.05193140e-02 8.08864299e-03 5.16678416e+02] [-3.05170815e-02 9.99534166e-01 -3.99311116e-04 -8.92328490e+00] [-8.09706173e-03 1.52270262e-04 9.99967207e-01 8.14732714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.71, Y:-8.93, Z:0.81 [[ 9.99536866e-01 2.95630003e-02 7.21675939e-03 5.16706746e+02] [-2.95612027e-02 9.99562909e-01 -3.55646055e-04 -8.92815671e+00] [-7.22411897e-03 1.42145257e-04 9.99973896e-01 8.13793198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.73, Y:-8.93, Z:0.81 [[ 9.99571074e-01 2.85206120e-02 6.65154672e-03 5.16734512e+02] [-2.85190639e-02 9.99593195e-01 -3.27500048e-04 -8.93116319e+00] [-6.65818134e-03 1.37663689e-04 9.99977825e-01 8.13389634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.3050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.76, Y:-8.93, Z:0.81 [[ 9.99598330e-01 2.75235236e-02 6.75536663e-03 5.16763069e+02] [-2.75219090e-02 9.99621145e-01 -3.31884479e-04 -8.93455416e+00] [-6.76194196e-03 1.45830586e-04 9.99977127e-01 8.13086163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.3350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.79, Y:-8.94, Z:0.81 [[ 9.99630923e-01 2.62786146e-02 6.88859730e-03 5.16791958e+02] [-2.62769096e-02 9.99654645e-01 -3.37914405e-04 -8.93776117e+00] [-6.89509821e-03 1.56778640e-04 9.99976216e-01 8.12720250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.82, Y:-8.94, Z:0.81 [[ 9.99696237e-01 2.37837965e-02 6.46257507e-03 5.16820782e+02] [-2.37822463e-02 9.99717112e-01 -3.16626020e-04 -8.94259143e+00] [-6.46827746e-03 1.62835289e-04 9.99979067e-01 8.12771314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.85, Y:-8.95, Z:0.81 [[ 9.99719470e-01 2.27103485e-02 6.72467539e-03 5.16848619e+02] [-2.27086486e-02 9.99742071e-01 -3.29044832e-04 -8.94539968e+00] [-6.73041363e-03 1.76244235e-04 9.99977335e-01 8.12545948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.4250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.88, Y:-8.95, Z:0.81 [[ 9.99746433e-01 2.14454088e-02 6.86756635e-03 5.16877383e+02] [-2.14436114e-02 9.99770003e-01 -3.35260415e-04 -8.94810889e+00] [-6.87317663e-03 1.87909980e-04 9.99976362e-01 8.12287879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.4550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.91, Y:-8.95, Z:0.81 [[ 9.99769593e-01 2.02974988e-02 6.98373129e-03 5.16905793e+02] [-2.02956156e-02 9.99793965e-01 -3.40425096e-04 -8.95087592e+00] [-6.98920217e-03 1.98607534e-04 9.99975556e-01 8.12304583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.93, Y:-8.95, Z:0.81 [[ 9.99810830e-01 1.80557207e-02 7.23149859e-03 5.16934615e+02] [-1.80536479e-02 9.99836958e-01 -3.51825810e-04 -8.95489058e+00] [-7.23667202e-03 2.21204326e-04 9.99973790e-01 8.12134946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.96, Y:-8.96, Z:0.81 [[ 9.99831752e-01 1.67750531e-02 7.42061054e-03 5.16963945e+02] [-1.67728391e-02 9.99859261e-01 -3.60494321e-04 -8.95742280e+00] [-7.42561348e-03 2.35968962e-04 9.99972402e-01 8.12122958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.5450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.99, Y:-8.96, Z:0.81 [[ 9.99856559e-01 1.52071085e-02 7.45686499e-03 5.16993517e+02] [-1.52048320e-02 9.99884334e-01 -3.61881601e-04 -8.95986778e+00] [-7.46150566e-03 2.48449313e-04 9.99972132e-01 8.12181587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.5750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.02, Y:-8.96, Z:0.81 [[ 9.99906680e-01 1.11782224e-02 7.85363146e-03 5.17023465e+02] [-1.11755751e-02 9.99937479e-01 -3.80889348e-04 -8.96370570e+00] [-7.85739811e-03 2.93084956e-04 9.99969087e-01 8.12691333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.05, Y:-8.97, Z:0.81 [[ 9.99931873e-01 8.64717805e-03 7.84065637e-03 5.17054665e+02] [-8.64447144e-03 9.99962564e-01 -3.79027056e-04 -8.96637020e+00] [-7.84364036e-03 3.11222903e-04 9.99969190e-01 8.12710008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.09, Y:-8.97, Z:0.81 [[ 9.99950717e-01 6.08211370e-03 7.84678858e-03 5.17086732e+02] [-6.07931038e-03 9.99981448e-01 -3.81059201e-04 -8.96903880e+00] [-7.84896065e-03 3.33337357e-04 9.99969141e-01 8.12832322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.6650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.12, Y:-8.97, Z:0.81 [[ 9.99973837e-01 -3.81646087e-04 7.22354736e-03 5.17119018e+02] [ 3.84201407e-04 9.99999864e-01 -3.52364295e-04 -8.97340821e+00] [-7.22341190e-03 3.55130373e-04 9.99973848e-01 8.12917347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.6950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.15, Y:-8.98, Z:0.81 [[ 9.99972013e-01 -3.63160411e-03 6.54099603e-03 5.17151615e+02] [ 3.63377594e-03 9.99993347e-01 -3.20180134e-04 -8.97651873e+00] [-6.53978974e-03 3.43939687e-04 9.99978556e-01 8.12713691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.18, Y:-8.98, Z:0.81 [[ 9.99956581e-01 -6.67972183e-03 6.49749825e-03 5.17183241e+02] [ 6.68194191e-03 9.99977624e-01 -3.20033687e-04 -8.97932455e+00] [-6.49521513e-03 3.63435697e-04 9.99978840e-01 8.12344610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.22, Y:-8.98, Z:0.81 [[ 9.99937997e-01 -9.37582453e-03 6.00796529e-03 5.17216576e+02] [ 9.37777817e-03 9.99955984e-01 -2.97085261e-04 -8.98209350e+00] [-6.00491542e-03 3.53408207e-04 9.99981908e-01 8.12061752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.7850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.25, Y:-8.98, Z:0.81 [[ 9.99917100e-01 -1.17418777e-02 5.28402807e-03 5.17248337e+02] [ 1.17434322e-02 9.99931009e-01 -2.63256199e-04 -8.98476118e+00] [-5.28057240e-03 3.25287001e-04 9.99986005e-01 8.11949566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.8150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.28, Y:-8.99, Z:0.81 [[ 9.99866911e-01 -1.58465627e-02 3.87907516e-03 5.17281389e+02] [ 1.58474276e-02 9.99874403e-01 -1.92326603e-04 -8.98846267e+00] [-3.87554025e-03 2.53774369e-04 9.99992458e-01 8.11571963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.31, Y:-8.99, Z:0.81 [[ 9.99844751e-01 -1.73251042e-02 3.21177831e-03 5.17313019e+02] [ 1.73257120e-02 9.99849886e-01 -1.61511380e-04 -8.99080778e+00] [-3.20849798e-03 2.17132651e-04 9.99994829e-01 8.11273891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.34, Y:-8.99, Z:0.81 [[ 9.99830644e-01 -1.82102876e-02 2.65886456e-03 5.17344765e+02] [ 1.82107078e-02 9.99834162e-01 -1.33932496e-04 -8.99307853e+00] [-2.65598467e-03 1.82329619e-04 9.99996456e-01 8.10835876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.9050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.38, Y:-9.00, Z:0.81 [[ 9.99826250e-01 -1.85648850e-02 1.67766486e-03 5.17377008e+02] [ 1.85650521e-02 9.99827651e-01 -8.40703090e-05 -8.99531513e+00] [-1.67581496e-03 1.15201637e-04 9.99998589e-01 8.10540425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.9350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.41, Y:-9.00, Z:0.81 [[ 9.99849100e-01 -1.73548520e-02 7.65779699e-04 5.17408770e+02] [ 1.73548862e-02 9.99849392e-01 -3.80287690e-05 -8.99692302e+00] [-7.65004383e-04 5.13130500e-05 9.99999706e-01 8.10884099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.44, Y:-9.00, Z:0.81 [[ 9.99878631e-01 -1.55740103e-02 4.16974244e-04 5.17441358e+02] [ 1.55740201e-02 9.99878717e-01 -2.02931724e-05 -8.99783852e+00] [-4.16607627e-04 2.67846746e-05 9.99999913e-01 8.11200095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.995099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.47, Y:-9.00, Z:0.81 [[ 9.99912140e-01 -1.32315772e-02 7.98952294e-04 5.17472846e+02] [ 1.32316134e-02 9.99912458e-01 -4.00507577e-05 -8.99829070e+00] [-7.98352417e-04 5.06186667e-05 9.99999680e-01 8.11120166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.51, Y:-9.00, Z:0.81 [[ 9.99947524e-01 -1.02179835e-02 7.36447268e-04 5.17505057e+02] [ 1.02180133e-02 9.99947794e-01 -3.66722242e-05 -8.99876520e+00] [-7.36034106e-04 4.41953278e-05 9.99999728e-01 8.11456190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.54, Y:-9.00, Z:0.81 [[ 9.99995504e-01 -2.59533526e-03 1.50233069e-03 5.17535965e+02] [ 2.59545256e-03 9.99996629e-01 -7.61330549e-05 -8.99705449e+00] [-1.50212804e-03 8.00319406e-05 9.99998869e-01 8.12193596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.57, Y:-9.00, Z:0.81 [[ 9.99996343e-01 1.74667229e-03 2.06463779e-03 5.17567120e+02] [-1.74645878e-03 9.99998469e-01 -1.05208353e-04 -8.99661535e+00] [-2.06481839e-03 1.01602163e-04 9.99997863e-01 8.12148536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.60, Y:-9.00, Z:0.81 [[ 9.99974660e-01 6.56745294e-03 2.74723718e-03 5.17598168e+02] [-6.56709237e-03 9.99978427e-01 -1.40248373e-04 -8.99645898e+00] [-2.74809899e-03 1.22203458e-04 9.99996217e-01 8.11971105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.63, Y:-8.99, Z:0.81 [[ 9.99891171e-01 1.43960144e-02 3.22519773e-03 5.17628134e+02] [-1.43955557e-02 9.99896365e-01 -1.65385191e-04 -8.99483017e+00] [-3.22724437e-03 1.18938678e-04 9.99994785e-01 8.11955983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.1750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.66, Y:-9.00, Z:0.81 [[ 9.99891914e-01 1.43442750e-02 3.22518360e-03 5.17657414e+02] [-1.43438152e-02 9.99897108e-01 -1.65661321e-04 -8.99626674e+00] [-3.22722805e-03 1.19381978e-04 9.99994785e-01 8.11571162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.2050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.69, Y:-9.00, Z:0.81 [[ 9.99843563e-01 1.73353364e-02 3.51232950e-03 5.17686178e+02] [-1.73348096e-02 9.99849725e-01 -1.80363592e-04 -8.99617392e+00] [-3.51492834e-03 1.19449813e-04 9.99993815e-01 8.11577068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.71, Y:-9.00, Z:0.81 [[ 9.99793630e-01 2.00495503e-02 3.27308507e-03 5.17714959e+02] [-2.00491080e-02 9.99798982e-01 -1.67912839e-04 -8.99616222e+00] [-3.27579370e-03 1.02255751e-04 9.99994629e-01 8.11663795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.74, Y:-9.00, Z:0.81 [[ 9.99741681e-01 2.25427611e-02 2.89758124e-03 5.17743737e+02] [-2.25424252e-02 9.99745876e-01 -1.48542168e-04 -8.99661783e+00] [-2.90019345e-03 8.31852884e-05 9.99995791e-01 8.11324923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.2950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.77, Y:-9.00, Z:0.81 [[ 9.99611305e-01 2.78242376e-02 1.74647324e-03 5.17770421e+02] [-2.78241215e-02 9.99612830e-01 -9.07508096e-05 -8.99607765e+00] [-1.74832214e-03 4.21214515e-05 9.99998471e-01 8.10605624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.3250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.80, Y:-9.00, Z:0.81 [[ 9.99557218e-01 2.97308776e-02 1.20120714e-03 5.17799279e+02] [-2.97308247e-02 9.99557939e-01 -6.18188620e-05 -8.99630826e+00] [-1.20251406e-03 2.60786108e-05 9.99999277e-01 8.10247784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.83, Y:-9.00, Z:0.81 [[ 9.99497978e-01 3.16746390e-02 7.13674009e-04 5.17827071e+02] [-3.16746202e-02 9.99498233e-01 -3.75585001e-05 -8.99644377e+00] [-7.14505563e-04 1.49342917e-05 9.99999745e-01 8.10079806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.85, Y:-9.00, Z:0.81 [[ 9.99448885e-01 3.31938432e-02 3.07838795e-04 5.17854509e+02] [-3.31938395e-02 9.99448933e-01 -1.72138508e-05 -8.99684351e+00] [-3.08240549e-04 6.98601249e-06 9.99999952e-01 8.09686841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.4150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.88, Y:-9.00, Z:0.81 [[ 9.99366649e-01 3.55835820e-02 3.30950130e-04 5.17882364e+02] [-3.55835780e-02 9.99366704e-01 -1.80983629e-05 -8.99664401e+00] [-3.31384545e-04 6.31051053e-06 9.99999945e-01 8.10019008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.4450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.91, Y:-8.99, Z:0.81 [[ 9.99350756e-01 3.59399616e-02 2.52716175e-03 5.17908772e+02] [-3.59185005e-02 9.99322068e-01 -8.07867688e-03 -8.99136066e+00] [-2.81579585e-03 7.98265999e-03 9.99964174e-01 8.08924030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.94, Y:-9.00, Z:0.81 [[ 9.99267410e-01 3.82509353e-02 1.22875168e-03 5.17938104e+02] [-3.82594204e-02 9.99237039e-01 7.84583744e-03 -9.00182552e+00] [-9.27703573e-04 -7.88710099e-03 9.99968466e-01 8.07859771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.97, Y:-9.00, Z:0.81 [[ 9.99219521e-01 3.94808531e-02 1.26894475e-03 5.17965008e+02] [-3.94808025e-02 9.99220327e-01 -6.48894662e-05 -8.99918649e+00] [-1.27051728e-03 1.47398641e-05 9.99999193e-01 8.09533677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.5350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.99, Y:-9.00, Z:0.81 [[ 9.99130818e-01 4.16554726e-02 1.55919977e-03 5.17992686e+02] [-4.16554001e-02 9.99132034e-01 -7.89551809e-05 -8.99949170e+00] [-1.56113535e-03 1.39374644e-05 9.99998781e-01 8.09563293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.5650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.02, Y:-9.00, Z:0.81 [[ 9.99098027e-01 4.24239310e-02 1.82844107e-03 5.18019642e+02] [-4.24238330e-02 9.99099700e-01 -9.23350275e-05 -9.00016258e+00] [-1.83071214e-03 1.46822651e-05 9.99998324e-01 8.09343315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.05, Y:-9.00, Z:0.81 [[ 9.99082600e-01 4.27702290e-02 2.16016234e-03 5.18047675e+02] [-4.27700948e-02 9.99084935e-01 -1.08308736e-04 -9.00107184e+00] [-2.16281804e-03 1.58190255e-05 9.99997661e-01 8.09219330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.07, Y:-9.00, Z:0.81 [[ 9.99123314e-01 4.17624370e-02 2.91599059e-03 5.18074564e+02] [-4.17621900e-02 9.99127569e-01 -1.45568145e-04 -9.00245439e+00] [-2.91952587e-03 2.36623745e-05 9.99995738e-01 8.08962330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.6550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.10, Y:-9.00, Z:0.81 [[ 9.99177319e-01 4.04430648e-02 3.00721721e-03 5.18102663e+02] [-4.04427980e-02 9.99181844e-01 -1.49508206e-04 -9.00426621e+00] [-3.01080341e-03 2.77649302e-05 9.99995467e-01 8.08664402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.6850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.13, Y:-9.01, Z:0.81 [[ 9.99238874e-01 3.88819230e-02 3.14144738e-03 5.18130255e+02] [-3.88816253e-02 9.99243812e-01 -1.55818688e-04 -9.00627334e+00] [-3.14513038e-03 3.35555107e-05 9.99995054e-01 8.08391762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.16, Y:-9.01, Z:0.81 [[ 9.99321297e-01 3.66902264e-02 3.28222638e-03 5.18157635e+02] [-3.66898916e-02 9.99326686e-01 -1.62195718e-04 -9.00834162e+00] [-3.28596741e-03 4.16611047e-05 9.99994600e-01 8.07755347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.745099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.19, Y:-9.01, Z:0.81 [[ 9.99499975e-01 3.15019114e-02 2.72584644e-03 5.18185795e+02] [-3.15016613e-02 9.99503690e-01 -1.34637532e-04 -9.01126614e+00] [-2.72873491e-03 4.87015189e-05 9.99996276e-01 8.06571654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.21, Y:-9.01, Z:0.81 [[ 9.99583740e-01 2.87303145e-02 2.62983952e-03 5.18213735e+02] [-2.87300722e-02 9.99587198e-01 -1.29864959e-04 -9.01312416e+00] [-2.63248498e-03 5.42554218e-05 9.99996534e-01 8.06174123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.8050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.24, Y:-9.02, Z:0.81 [[ 9.99654672e-01 2.61400600e-02 2.68958867e-03 5.18242197e+02] [-2.61397990e-02 9.99658288e-01 -1.32142159e-04 -9.01514342e+00] [-2.69212381e-03 6.17912198e-05 9.99996374e-01 8.05458110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.8350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.27, Y:-9.02, Z:0.81 [[ 9.99685260e-01 2.50000262e-02 2.09295742e-03 5.18268619e+02] [-2.49939074e-02 9.99683396e-01 -2.90035896e-03 -9.01576652e+00] [-2.16480383e-03 2.84713492e-03 9.99993604e-01 8.05443532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.30, Y:-9.02, Z:0.80 [[ 9.99789756e-01 2.03247722e-02 2.71067852e-03 5.18298280e+02] [-2.03318280e-02 9.99789903e-01 2.60131174e-03 -9.02105217e+00] [-2.65723795e-03 -2.65587788e-03 9.99992943e-01 8.04043057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.33, Y:-9.02, Z:0.80 [[ 9.99813652e-01 1.90501965e-02 3.12268527e-03 5.18327529e+02] [-1.90498124e-02 9.99818524e-01 -1.52710905e-04 -9.02153356e+00] [-3.12502775e-03 9.31958795e-05 9.99995113e-01 8.04079613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.9250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.36, Y:-9.02, Z:0.80 [[ 9.99827015e-01 1.82283708e-02 3.69681160e-03 5.18356481e+02] [-1.82278285e-02 9.99833843e-01 -1.80351021e-04 -9.02317269e+00] [-3.69948486e-03 1.12934975e-04 9.99993151e-01 8.03391812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.9550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.39, Y:-9.02, Z:0.80 [[ 9.99834035e-01 1.76824556e-02 4.38552731e-03 5.18385282e+02] [-1.76816892e-02 9.99843644e-01 -2.13469811e-04 -9.02452198e+00] [-4.38861627e-03 1.35890851e-04 9.99990361e-01 8.02996906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.41, Y:-9.03, Z:0.80 [[ 9.99824559e-01 1.77977293e-02 5.83882531e-03 5.18413814e+02] [-1.77963769e-02 9.99841592e-01 -2.83512956e-04 -9.02517814e+00] [-5.84294628e-03 1.79553280e-04 9.99982914e-01 8.02702491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.44, Y:-9.03, Z:0.80 [[ 9.99817902e-01 1.80011776e-02 6.33402284e-03 5.18442517e+02] [-1.79995943e-02 9.99837947e-01 -3.06883451e-04 -9.02616367e+00] [-6.33852066e-03 1.92817727e-04 9.99979893e-01 8.02245080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.0450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.47, Y:-9.03, Z:0.80 [[ 9.99810498e-01 1.80541734e-02 7.28119081e-03 5.18471072e+02] [-1.80520864e-02 9.99836986e-01 -3.52263524e-04 -9.02733981e+00] [-7.28636370e-03 2.20756084e-04 9.99973430e-01 8.01658510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.0750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.50, Y:-9.03, Z:0.80 [[ 9.99808062e-01 1.79721385e-02 7.80015419e-03 5.18500974e+02] [-1.79697453e-02 9.99838460e-01 -3.76804276e-04 -9.02866504e+00] [-7.80566614e-03 2.36565169e-04 9.99969507e-01 8.00976835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.53, Y:-9.03, Z:0.80 [[ 9.99819259e-01 1.73453668e-02 7.78375993e-03 5.18530054e+02] [-1.73429675e-02 9.99849529e-01 -3.75635263e-04 -9.02997342e+00] [-7.78910423e-03 2.40573875e-04 9.99969636e-01 7.99824248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.56, Y:-9.03, Z:0.80 [[ 9.99838315e-01 1.61569914e-02 7.89274533e-03 5.18559598e+02] [-1.61544878e-02 9.99869435e-01 -3.80844841e-04 -9.03125965e+00] [-7.89786812e-03 2.53280006e-04 9.99968779e-01 7.98774144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.1650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.59, Y:-9.03, Z:0.80 [[ 9.99855710e-01 1.51419201e-02 7.69939944e-03 5.18589242e+02] [-1.51395106e-02 9.99885322e-01 -3.71148641e-04 -9.03277840e+00] [-7.70413640e-03 2.54529949e-04 9.99970290e-01 7.97528176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.1950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.62, Y:-9.03, Z:0.80 [[ 9.99877216e-01 1.38790109e-02 7.27508027e-03 5.18619819e+02] [-1.38768279e-02 9.99903651e-01 -3.50471382e-04 -9.03429374e+00] [-7.27924352e-03 2.49473313e-04 9.99973475e-01 7.96383725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.65, Y:-9.04, Z:0.80 [[ 9.99897303e-01 1.27829055e-02 6.47931656e-03 5.18649702e+02] [-1.27811501e-02 9.99918269e-01 -3.12254142e-04 -9.03607204e+00] [-6.48277851e-03 2.29408957e-04 9.99978960e-01 7.95541454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.68, Y:-9.04, Z:0.79 [[ 9.99915420e-01 1.12042304e-02 6.60445147e-03 5.18680384e+02] [-1.12023738e-02 9.99937201e-01 -3.18045881e-04 -9.03781143e+00] [-6.60760017e-03 2.44033446e-04 9.99978140e-01 7.93963692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.2850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.71, Y:-9.04, Z:0.79 [[ 9.99916835e-01 1.08539830e-02 6.96522389e-03 5.18710986e+02] [-1.08519103e-02 9.99941060e-01 -3.35307881e-04 -9.03868503e+00] [-6.96845279e-03 2.59694010e-04 9.99975686e-01 7.93171288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.3150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.74, Y:-9.04, Z:0.79 [[ 9.99912231e-01 1.12983345e-02 6.91937643e-03 5.18741309e+02] [-1.12962988e-02 9.99936139e-01 -3.33228116e-04 -9.03942109e+00] [-6.92269947e-03 2.55035525e-04 9.99976005e-01 7.92702537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.77, Y:-9.04, Z:0.79 [[ 9.99882454e-01 1.35221372e-02 7.22706955e-03 5.18771433e+02] [-1.35199726e-02 9.99908540e-01 -3.48290345e-04 -9.03881794e+00] [-7.23111819e-03 2.50539623e-04 9.99973824e-01 7.92243073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.80, Y:-9.04, Z:0.79 [[ 9.99849795e-01 1.53891416e-02 7.97256090e-03 5.18801497e+02] [-1.53865667e-02 9.99881546e-01 -3.84217416e-04 -9.03887416e+00] [-7.97752930e-03 2.61489365e-04 9.99968145e-01 7.91842544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.4050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.83, Y:-9.04, Z:0.79 [[ 9.99804183e-01 1.77777223e-02 8.69181229e-03 5.18832158e+02] [-1.77747519e-02 9.99841929e-01 -4.18879918e-04 -9.03902648e+00] [-8.69788510e-03 2.64303087e-04 9.99962138e-01 7.91591496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.4350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.86, Y:-9.04, Z:0.79 [[ 9.99693281e-01 2.26580875e-02 9.99773077e-03 5.18861653e+02] [-2.26544007e-02 9.99743240e-01 -4.81871538e-04 -9.03811682e+00] [-1.00060820e-02 2.55231140e-04 9.99949905e-01 7.91238660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.89, Y:-9.04, Z:0.79 [[ 9.99632091e-01 2.50060090e-02 1.05063364e-02 5.18890915e+02] [-2.50020688e-02 9.99687271e-01 -5.06228162e-04 -9.03870683e+00] [-1.05157095e-02 2.43361771e-04 9.99944679e-01 7.90783893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.495099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.92, Y:-9.04, Z:0.79 [[ 9.99566262e-01 2.71518785e-02 1.14045032e-02 5.18919856e+02] [-2.71473803e-02 9.99631291e-01 -5.49071310e-04 -9.03924479e+00] [-1.14152066e-02 2.39230770e-04 9.99934816e-01 7.90277604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.95, Y:-9.04, Z:0.79 [[ 9.99518318e-01 2.87861152e-02 1.15970464e-02 5.18948679e+02] [-2.87815814e-02 9.99585569e-01 -5.57687039e-04 -9.03965907e+00] [-1.16082938e-02 2.23637077e-04 9.99932596e-01 7.89949657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.98, Y:-9.04, Z:0.79 [[ 9.99444660e-01 3.09434550e-02 1.23642008e-02 5.18977829e+02] [-3.09384750e-02 9.99521114e-01 -5.93892367e-04 -9.03925816e+00] [-1.23766569e-02 2.11033037e-04 9.99923384e-01 7.89298016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.01, Y:-9.04, Z:0.79 [[ 9.99423859e-01 3.15045637e-02 1.26258479e-02 5.19005871e+02] [-3.14994272e-02 9.99503587e-01 -6.05526449e-04 -9.04023689e+00] [-1.26386571e-02 2.07470603e-04 9.99920107e-01 7.88773861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.03, Y:-9.04, Z:0.79 [[ 9.99430447e-01 3.14084653e-02 1.23405459e-02 5.19034614e+02] [-3.14035647e-02 9.99506612e-01 -5.90740068e-04 -9.04134461e+00] [-1.23530115e-02 2.02866478e-04 9.99923678e-01 7.88217535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.06, Y:-9.04, Z:0.79 [[ 9.99444211e-01 3.09365039e-02 1.24178075e-02 5.19063453e+02] [-3.09315163e-02 9.99521330e-01 -5.93555170e-04 -9.04258883e+00] [-1.24302259e-02 2.09123665e-04 9.99922720e-01 7.87457862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.6750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.09, Y:-9.04, Z:0.79 [[ 9.99499162e-01 2.91388893e-02 1.23430194e-02 5.19093436e+02] [-2.91338359e-02 9.99575346e-01 -5.89060549e-04 -9.04450006e+00] [-1.23549425e-02 2.29166023e-04 9.99923649e-01 7.86185061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.7050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.12, Y:-9.05, Z:0.79 [[ 9.99535899e-01 2.79245196e-02 1.21740749e-02 5.19122155e+02] [-2.79195187e-02 9.99610006e-01 -5.80574957e-04 -9.04603232e+00] [-1.21855393e-02 2.40411200e-04 9.99925725e-01 7.85347699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.15, Y:-9.05, Z:0.78 [[ 9.99577264e-01 2.65778498e-02 1.17860799e-02 5.19151620e+02] [-2.65730766e-02 9.99646716e-01 -5.61428576e-04 -9.04759371e+00] [-1.17968377e-02 2.47998836e-04 9.99930384e-01 7.84692510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.18, Y:-9.05, Z:0.78 [[ 9.99641295e-01 2.43125241e-02 1.12330823e-02 5.19181288e+02] [-2.43080496e-02 9.99704373e-01 -5.34709837e-04 -9.04921095e+00] [-1.12427616e-02 2.61463712e-04 9.99936764e-01 7.83849744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.7950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.21, Y:-9.05, Z:0.78 [[ 9.99662601e-01 2.34548985e-02 1.11602864e-02 5.19210977e+02] [-2.34504328e-02 9.99724860e-01 -5.30852375e-04 -9.05053753e+00] [-1.11696668e-02 2.68959720e-04 9.99937581e-01 7.83044025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.8250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.24, Y:-9.05, Z:0.78 [[ 9.99679239e-01 2.26624572e-02 1.13062733e-02 5.19241026e+02] [-2.26578279e-02 9.99743134e-01 -5.37381849e-04 -9.05197201e+00] [-1.13155475e-02 2.81033883e-04 9.99935938e-01 7.82314458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.27, Y:-9.05, Z:0.78 [[ 9.99685742e-01 2.21022932e-02 1.18281960e-02 5.19270108e+02] [-2.20971937e-02 9.99755669e-01 -5.61659404e-04 -9.05326473e+00] [-1.18377199e-02 3.00112960e-04 9.99929887e-01 7.81867177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.30, Y:-9.05, Z:0.78 [[ 9.99675015e-01 2.22681371e-02 1.24094440e-02 5.19300156e+02] [-2.22625334e-02 9.99751985e-01 -5.89539648e-04 -9.05445660e+00] [-1.24194942e-02 3.13082395e-04 9.99922826e-01 7.81621453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.9150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.33, Y:-9.06, Z:0.78 [[ 9.99664655e-01 2.23378491e-02 1.30995687e-02 5.19329289e+02] [-2.23316108e-02 9.99750425e-01 -6.22324949e-04 -9.05553722e+00] [-1.31102008e-02 3.29581787e-04 9.99914003e-01 7.81398836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.9450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.36, Y:-9.06, Z:0.78 [[ 9.99643510e-01 2.26022690e-02 1.42123044e-02 5.19359673e+02] [-2.25949560e-02 9.99744474e-01 -6.74933329e-04 -9.05691245e+00] [-1.42239278e-02 3.53566329e-04 9.99898772e-01 7.80716299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.39, Y:-9.06, Z:0.78 [[ 9.99635817e-01 2.28058770e-02 1.44265283e-02 5.19389706e+02] [-2.27983613e-02 9.99739849e-01 -6.85224461e-04 -9.05848385e+00] [-1.44384024e-02 3.56073708e-04 9.99895697e-01 7.80588348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.42, Y:-9.06, Z:0.78 [[ 9.99636404e-01 2.26812916e-02 1.45814671e-02 5.19421455e+02] [-2.26735830e-02 9.99742681e-01 -6.93778321e-04 -9.06027493e+00] [-1.45934508e-02 3.62911962e-04 9.99893444e-01 7.79867292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.0350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.45, Y:-9.06, Z:0.78 [[ 9.99648685e-01 2.22848746e-02 1.43489340e-02 5.19451465e+02] [-2.22773620e-02 9.99751595e-01 -6.83208516e-04 -9.06210014e+00] [-1.43605949e-02 3.63312097e-04 9.99896815e-01 7.78967854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.0650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.48, Y:-9.06, Z:0.78 [[ 9.99671764e-01 2.14660681e-02 1.39847034e-02 5.19483034e+02] [-2.14588483e-02 9.99769510e-01 -6.66130978e-04 -9.06385267e+00] [-1.39957793e-02 3.65816700e-04 9.99901987e-01 7.78380214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.51, Y:-9.07, Z:0.78 [[ 9.99671374e-01 2.14842277e-02 1.39846800e-02 5.19514001e+02] [-2.14770029e-02 9.99769120e-01 -6.66622652e-04 -9.06532582e+00] [-1.39957731e-02 3.66054570e-04 9.99901987e-01 7.77974903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.55, Y:-9.07, Z:0.78 [[ 9.99722444e-01 1.94468968e-02 1.32986498e-02 5.19545449e+02] [-1.94401802e-02 9.99810821e-01 -6.34155595e-04 -9.06757832e+00] [-1.33084664e-02 3.75451431e-04 9.99911368e-01 7.76471261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.1550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.58, Y:-9.07, Z:0.78 [[ 9.99756826e-01 1.79763852e-02 1.27726015e-02 5.19576246e+02] [-1.79700639e-02 9.99838340e-01 -6.09514350e-04 -9.06948287e+00] [-1.27814935e-02 3.79841667e-04 9.99918241e-01 7.75803277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.1850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.61, Y:-9.07, Z:0.78 [[ 9.99780082e-01 1.68528202e-02 1.24808008e-02 5.19607760e+02] [-1.68466915e-02 9.99857907e-01 -5.96032570e-04 -9.07169397e+00] [-1.24890722e-02 3.85641290e-04 9.99921934e-01 7.75198853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.64, Y:-9.07, Z:0.77 [[ 9.99799956e-01 1.58044075e-02 1.22583851e-02 5.19640358e+02] [-1.57984133e-02 9.99875026e-01 -5.85672188e-04 -9.07364253e+00] [-1.22661094e-02 3.91891993e-04 9.99924692e-01 7.74492786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.67, Y:-9.08, Z:0.77 [[ 9.99827525e-01 1.46770838e-02 1.13799785e-02 5.19672846e+02] [-1.46718150e-02 9.99892214e-01 -5.46337281e-04 -9.07572345e+00] [-1.13867705e-02 3.79278112e-04 9.99935097e-01 7.74164983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.70, Y:-9.08, Z:0.77 [[ 9.99828348e-01 1.49001958e-02 1.10117247e-02 5.19703579e+02] [-1.48952460e-02 9.99888918e-01 -5.31386892e-04 -9.07738256e+00] [-1.10184193e-02 3.67273330e-04 9.99939228e-01 7.73657639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.3050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.74, Y:-9.08, Z:0.77 [[ 9.99820853e-01 1.55413582e-02 1.08040903e-02 5.19735073e+02] [-1.55365992e-02 9.99879162e-01 -5.24278632e-04 -9.07880115e+00] [-1.08109328e-02 3.56325889e-04 9.99941497e-01 7.73197340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.3350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.77, Y:-9.08, Z:0.77 [[ 9.99806397e-01 1.65050915e-02 1.07122029e-02 5.19766768e+02] [-1.65004643e-02 9.99863723e-01 -5.20201179e-04 -9.07983176e+00] [-1.07193291e-02 3.43344144e-04 9.99942487e-01 7.72776916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.80, Y:-9.08, Z:0.77 [[ 9.99741262e-01 2.00064926e-02 1.08235104e-02 5.19797555e+02] [-2.00019690e-02 9.99799802e-01 -5.26041121e-04 -9.08030171e+00] [-1.08318678e-02 3.09413496e-04 9.99941286e-01 7.72827530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.83, Y:-9.08, Z:0.77 [[ 9.99695272e-01 2.19022864e-02 1.13865286e-02 5.19827370e+02] [-2.18973996e-02 9.99760070e-01 -5.53678997e-04 -9.08111604e+00] [-1.13959235e-02 3.04174909e-04 9.99935018e-01 7.72488609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.4250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.86, Y:-9.08, Z:0.77 [[ 9.99642013e-01 2.40363137e-02 1.17516693e-02 5.19857842e+02] [-2.40312586e-02 9.99711044e-01 -5.71200833e-04 -9.08207062e+00] [-1.17620032e-02 2.88588947e-04 9.99930784e-01 7.72570213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.4550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.89, Y:-9.08, Z:0.77 [[ 9.99587066e-01 2.59729675e-02 1.22924081e-02 5.19887449e+02] [-2.59675826e-02 9.99662607e-01 -5.97497870e-04 -9.08310612e+00] [-1.23037795e-02 2.78047019e-04 9.99924267e-01 7.71988718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.92, Y:-9.08, Z:0.77 [[ 9.99543191e-01 2.75596162e-02 1.24047267e-02 5.19916365e+02] [-2.75542571e-02 9.99620128e-01 -6.02752623e-04 -9.08401557e+00] [-1.24166261e-02 2.60674251e-04 9.99922877e-01 7.72003910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.95, Y:-9.09, Z:0.77 [[ 9.99471624e-01 2.99992899e-02 1.25106500e-02 5.19946248e+02] [-2.99940383e-02 9.99549893e-01 -6.07234991e-04 -9.08570253e+00] [-1.25232355e-02 2.31669227e-04 9.99921554e-01 7.71689127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.5450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.97, Y:-9.09, Z:0.77 [[ 9.99464005e-01 3.02796961e-02 1.24435720e-02 5.19973806e+02] [-3.02745276e-02 9.99541439e-01 -6.03555245e-04 -9.08717649e+00] [-1.24561413e-02 2.26508479e-04 9.99922394e-01 7.71288004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.5750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.00, Y:-9.09, Z:0.77 [[ 9.99467171e-01 3.03724077e-02 1.19536828e-02 5.20002769e+02] [-3.03676576e-02 9.99538629e-01 -5.78725822e-04 -9.08879153e+00] [-1.19657450e-02 2.15412116e-04 9.99928385e-01 7.71148229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.03, Y:-9.09, Z:0.77 [[ 9.99469967e-01 3.02566697e-02 1.20133144e-02 5.20030444e+02] [-3.02518743e-02 9.99542139e-01 -5.80731971e-04 -9.09044617e+00] [-1.20253849e-02 2.16998888e-04 9.99927669e-01 7.70719871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.06, Y:-9.09, Z:0.77 [[ 9.99502205e-01 2.98487738e-02 1.02172591e-02 5.20058574e+02] [-2.98080723e-02 9.99547179e-01 -4.11300285e-03 -9.09099980e+00] [-1.03354006e-02 3.80639862e-03 9.99939344e-01 7.71228038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.6650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.09, Y:-9.10, Z:0.77 [[ 9.99521940e-01 2.88836570e-02 1.10284173e-02 5.20088401e+02] [-2.89189923e-02 9.99577081e-01 3.05807963e-03 -9.09639108e+00] [-1.09354246e-02 -3.37554839e-03 9.99934509e-01 7.69239786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.6950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.12, Y:-9.10, Z:0.77 [[ 9.99558854e-01 2.79533537e-02 1.00353149e-02 5.20116769e+02] [-2.79498886e-02 9.99609208e-01 -4.85406195e-04 -9.09741423e+00] [-1.00449620e-02 2.04706126e-04 9.99949527e-01 7.69559970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.15, Y:-9.10, Z:0.77 [[ 9.99577868e-01 2.76588160e-02 8.89246491e-03 5.20145365e+02] [-2.76324145e-02 9.99613412e-01 -3.07828602e-03 -9.09818026e+00] [-8.97416894e-03 2.83126630e-03 9.99955723e-01 7.69737588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.17, Y:-9.10, Z:0.77 [[ 9.99595496e-01 2.71828603e-02 8.36280979e-03 5.20173426e+02] [-2.71530182e-02 9.99624583e-01 -3.66154129e-03 -9.09961737e+00] [-8.45920142e-03 3.43298465e-03 9.99958327e-01 7.69645882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.7850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.20, Y:-9.11, Z:0.77 [[ 9.99582814e-01 2.70812022e-02 1.00402592e-02 5.20202223e+02] [-2.71368744e-02 9.99616866e-01 5.45073217e-03 -9.10543856e+00] [-9.88880004e-03 -5.72091946e-03 9.99934739e-01 7.67327369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.8150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.23, Y:-9.10, Z:0.77 [[ 9.99610164e-01 2.66914240e-02 8.19077150e-03 5.20230760e+02] [-2.66890930e-02 9.99643705e-01 -3.93778543e-04 -9.10477448e+00] [-8.19836368e-03 1.75020772e-04 9.99966378e-01 7.67513742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.26, Y:-9.11, Z:0.77 [[ 9.99628503e-01 2.60722510e-02 7.94320613e-03 5.20259093e+02] [-2.60700418e-02 9.99660046e-01 -3.81557672e-04 -9.10623131e+00] [-7.95045388e-03 1.74336208e-04 9.99968379e-01 7.67162448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.29, Y:-9.11, Z:0.77 [[ 9.99639690e-01 2.53689809e-02 8.76949937e-03 5.20286832e+02] [-2.53662667e-02 9.99678136e-01 -4.20615793e-04 -9.10759332e+00] [-8.77734738e-03 1.98014782e-04 9.99961459e-01 7.66864149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.9050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.32, Y:-9.11, Z:0.77 [[ 9.99653417e-01 2.44715880e-02 9.70496510e-03 5.20315193e+02] [-2.44682329e-02 9.99700500e-01 -4.64317321e-04 -9.10912442e+00] [-9.71342105e-03 2.26693051e-04 9.99952798e-01 7.66714440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.9350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.35, Y:-9.11, Z:0.77 [[ 9.99685807e-01 2.33654767e-02 9.07424156e-03 5.20345573e+02] [-2.33198626e-02 9.99715044e-01 -5.10047284e-03 -9.10860397e+00] [-9.19083078e-03 4.88726024e-03 9.99945820e-01 7.67585881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.37, Y:-9.12, Z:0.77 [[ 9.99705360e-01 2.14017325e-02 1.14524439e-02 5.20373940e+02] [-2.14499109e-02 9.99761515e-01 4.10064789e-03 -9.11549922e+00] [-1.13619517e-02 -4.34509358e-03 9.99926010e-01 7.65144597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.995099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.40, Y:-9.11, Z:0.77 [[ 9.99736231e-01 2.12277096e-02 8.76658620e-03 5.20403676e+02] [-2.11581563e-02 9.99744517e-01 -7.95187527e-03 -9.11149980e+00] [-8.93314659e-03 7.76429301e-03 9.99929955e-01 7.67314429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.43, Y:-9.12, Z:0.76 [[ 9.99747654e-01 1.96569474e-02 1.08734927e-02 5.20432913e+02] [-1.97325666e-02 9.99781543e-01 6.89142883e-03 -9.12038061e+00] [-1.07356528e-02 -7.10425173e-03 9.99917134e-01 7.63247036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.46, Y:-9.12, Z:0.76 [[ 9.99766499e-01 1.90012009e-02 1.02909008e-02 5.20463589e+02] [-1.89971589e-02 9.99819417e-01 -4.90386627e-04 -9.11847379e+00] [-1.02983604e-02 2.94774244e-04 9.99946927e-01 7.64521151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.49, Y:-9.12, Z:0.76 [[ 9.99787510e-01 1.79374170e-02 1.01579535e-02 5.20494186e+02] [-1.79334240e-02 9.99839066e-01 -4.84051364e-04 -9.12037916e+00] [-1.01650014e-02 3.01781621e-04 9.99948289e-01 7.63615655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.52, Y:-9.12, Z:0.76 [[ 9.99799245e-01 1.74287983e-02 9.88464999e-03 5.20524568e+02] [-1.74249924e-02 9.99848062e-01 -4.71027783e-04 -9.12227960e+00] [-9.89135759e-03 2.98693271e-04 9.99951035e-01 7.63357836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.55, Y:-9.12, Z:0.76 [[ 9.99805342e-01 1.69937396e-02 1.00245061e-02 5.20554839e+02] [-1.69898039e-02 9.99855549e-01 -4.77642676e-04 -9.12427104e+00] [-1.00311750e-02 3.07235306e-04 9.99949639e-01 7.62755949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.1750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.59, Y:-9.13, Z:0.76 [[ 9.99816535e-01 1.64694749e-02 9.78022952e-03 5.20585702e+02] [-1.64657015e-02 9.99864322e-01 -4.66226507e-04 -9.12597821e+00] [-9.78658107e-03 3.05102631e-04 9.99952064e-01 7.62507160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.2050998929999 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:520.62, Y:-9.13, Z:0.76 [[ 9.99836634e-01 1.54145739e-02 9.43907562e-03 5.20616126e+02] [-1.54110127e-02 9.99881142e-01 -4.49904308e-04 -9.12723792e+00] [-9.44488879e-03 3.04365094e-04 9.99955350e-01 7.62122893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.65, Y:-9.13, Z:0.76 [[ 9.99839428e-01 1.52183964e-02 9.46145441e-03 5.20647023e+02] [-1.52148085e-02 9.99884146e-01 -4.51079947e-04 -9.12859167e+00] [-9.46722298e-03 3.07053299e-04 9.99955138e-01 7.62071275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.68, Y:-9.13, Z:0.76 [[ 9.99845410e-01 1.46564056e-02 9.71313527e-03 5.20678766e+02] [-1.46525944e-02 9.99892538e-01 -4.63432631e-04 -9.12981589e+00] [-9.71888373e-03 3.21038358e-04 9.99952719e-01 7.61888913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.2950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.71, Y:-9.13, Z:0.76 [[ 9.99851948e-01 1.42624187e-02 9.62631809e-03 5.20709870e+02] [-1.42586539e-02 9.99898235e-01 -4.59617782e-04 -9.13101909e+00] [-9.63189373e-03 3.22291396e-04 9.99953560e-01 7.61906123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.3250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.74, Y:-9.13, Z:0.76 [[ 9.99870403e-01 1.30316749e-02 9.45269608e-03 5.20741419e+02] [-1.30279866e-02 9.99915030e-01 -4.51661664e-04 -9.13184090e+00] [-9.45777880e-03 3.28453532e-04 9.99955220e-01 7.62258071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.77, Y:-9.13, Z:0.76 [[ 9.99878601e-01 1.22861659e-02 9.58301112e-03 5.20772988e+02] [-1.22823376e-02 9.99924464e-01 -4.58237014e-04 -9.13320626e+00] [-9.58791724e-03 3.40479606e-04 9.99953977e-01 7.61773823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.80, Y:-9.13, Z:0.76 [[ 9.99893573e-01 1.13790869e-02 9.13008593e-03 5.20804207e+02] [-1.13755714e-02 9.99935201e-01 -4.36885489e-04 -9.13421698e+00] [-9.13446566e-03 3.32979048e-04 9.99958224e-01 7.61878133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.4150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.84, Y:-9.14, Z:0.76 [[ 9.99907059e-01 1.05315321e-02 8.65798833e-03 5.20835143e+02] [-1.05283366e-02 9.99944490e-01 -4.14582420e-04 -9.13520214e+00] [-8.66187391e-03 3.23389673e-04 9.99962433e-01 7.62168787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.4450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.87, Y:-9.14, Z:0.76 [[ 9.99924582e-01 9.23575683e-03 8.09517495e-03 5.20866006e+02] [-9.23292619e-03 9.99957301e-01 -3.86972077e-04 -9.13542470e+00] [-8.09840327e-03 3.12200739e-04 9.99967159e-01 7.62488888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.90, Y:-9.14, Z:0.76 [[ 9.99930515e-01 8.59212612e-03 8.07090926e-03 5.20897724e+02] [-8.58926896e-03 9.99963036e-01 -3.88603226e-04 -9.13650687e+00] [-8.07394986e-03 3.19253014e-04 9.99967354e-01 7.62198409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.93, Y:-9.14, Z:0.76 [[ 9.99933473e-01 8.34293843e-03 7.96527747e-03 5.20929934e+02] [-8.34015353e-03 9.99965147e-01 -3.82783147e-04 -9.13741174e+00] [-7.96819340e-03 3.16326044e-04 9.99968203e-01 7.62074887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.5350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.96, Y:-9.14, Z:0.76 [[ 9.99937265e-01 8.28081784e-03 7.54275742e-03 5.20962648e+02] [-8.27830638e-03 9.99965668e-01 -3.64123525e-04 -9.13717245e+00] [-7.54551370e-03 3.01659425e-04 9.99971487e-01 7.61827450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.5650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.99, Y:-9.14, Z:0.76 [[ 9.99935929e-01 8.41396105e-03 7.57248885e-03 5.20994427e+02] [-8.41141091e-03 9.99964556e-01 -3.68549175e-04 -9.13776371e+00] [-7.57532141e-03 3.04830246e-04 9.99971260e-01 7.61480247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.03, Y:-9.14, Z:0.76 [[ 9.99932183e-01 8.90090207e-03 7.51025081e-03 5.21025850e+02] [-8.89840543e-03 9.99960342e-01 -3.65782160e-04 -9.13828391e+00] [-7.51320876e-03 2.98928097e-04 9.99971731e-01 7.61162317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.06, Y:-9.14, Z:0.76 [[ 9.99905055e-01 1.14829177e-02 7.61737618e-03 5.21056736e+02] [-1.14804227e-02 9.99934029e-01 -3.71192115e-04 -9.13702969e+00] [-7.62113603e-03 2.83706174e-04 9.99970918e-01 7.61285950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.6550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.09, Y:-9.14, Z:0.76 [[ 9.99875756e-01 1.35872099e-02 7.99121718e-03 5.21088576e+02] [-1.35845266e-02 9.99907650e-01 -3.89969749e-04 -9.13708943e+00] [-7.99577780e-03 2.81364395e-04 9.99967994e-01 7.60792694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.6850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.12, Y:-9.14, Z:0.76 [[ 9.99834880e-01 1.62980754e-02 8.03645736e-03 5.21119348e+02] [-1.62954453e-02 9.99867143e-01 -3.92652812e-04 -9.13712885e+00] [-8.04178915e-03 2.61630327e-04 9.99967630e-01 7.60570410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.15, Y:-9.14, Z:0.76 [[ 9.99774304e-01 1.94422418e-02 8.56389701e-03 5.21149103e+02] [-1.94393690e-02 9.99810950e-01 -4.18578823e-04 -9.13693183e+00] [-8.57041612e-03 2.52007598e-04 9.99963242e-01 7.60272307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.745099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.18, Y:-9.13, Z:0.76 [[ 9.99597948e-01 2.68681531e-02 9.05789015e-03 5.21179353e+02] [-2.68652472e-02 9.99638966e-01 -4.42362835e-04 -9.13430887e+00] [-9.06650542e-03 1.98842524e-04 9.99958879e-01 7.60655105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.21, Y:-9.13, Z:0.76 [[ 9.99488388e-01 3.05934885e-02 9.32745413e-03 5.21208084e+02] [-3.05905713e-02 9.99531895e-01 -4.55297018e-04 -9.13377943e+00] [-9.33701703e-03 1.69731932e-04 9.99956395e-01 7.60530921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.8050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.24, Y:-9.13, Z:0.76 [[ 9.99256828e-01 3.75010426e-02 8.91426769e-03 5.21236100e+02] [-3.74986570e-02 9.99296584e-01 -4.34664357e-04 -9.13207448e+00] [-8.92429761e-03 1.00068260e-04 9.99960173e-01 7.60109675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.8350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.26, Y:-9.13, Z:0.76 [[ 9.99159332e-01 4.00650282e-02 8.68459748e-03 5.21263867e+02] [-4.00628686e-02 9.99197072e-01 -4.22558156e-04 -9.13230615e+00] [-8.69455418e-03 7.42730372e-05 9.99962199e-01 7.59907995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.29, Y:-9.13, Z:0.76 [[ 9.99063911e-01 4.24271325e-02 8.44044556e-03 5.21291637e+02] [-4.24251844e-02 9.99099563e-01 -4.09798985e-04 -9.13322963e+00] [-8.45023206e-03 5.13279178e-05 9.99964295e-01 7.59142290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.32, Y:-9.13, Z:0.76 [[ 9.99003284e-01 4.39104971e-02 8.01920471e-03 5.21319135e+02] [-4.39087930e-02 9.99035468e-01 -3.88524680e-04 -9.13424255e+00] [-8.02853024e-03 3.60238310e-05 9.99967770e-01 7.58484651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.9250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.35, Y:-9.13, Z:0.76 [[ 9.98944406e-01 4.50949697e-02 8.74742117e-03 5.21345873e+02] [-4.50233138e-02 9.98952096e-01 -8.22265650e-03 -9.13091300e+00] [-9.10905515e-03 7.82013882e-03 9.99927933e-01 7.56246269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.9550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.37, Y:-9.14, Z:0.76 [[ 9.98951296e-01 4.51034611e-02 7.87314089e-03 5.21373721e+02] [-4.51624951e-02 9.98951585e-01 7.48863236e-03 -9.14065523e+00] [-7.52712333e-03 -7.83634969e-03 9.99940965e-01 7.55458300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.40, Y:-9.14, Z:0.76 [[ 9.98953574e-01 4.51172398e-02 7.49607285e-03 5.21402368e+02] [-4.51158017e-02 9.98981699e-01 -3.60927685e-04 -9.13822946e+00] [-7.50472365e-03 2.23586649e-05 9.99971839e-01 7.57252837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.43, Y:-9.13, Z:0.76 [[ 9.98996306e-01 4.42040376e-02 7.23771974e-03 5.21428010e+02] [-4.41660569e-02 9.99010006e-01 -5.32602059e-03 -9.13468573e+00] [-7.46598606e-03 5.00101335e-03 9.99959624e-01 7.56585124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.0450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.46, Y:-9.14, Z:0.76 [[ 9.99016357e-01 4.36332239e-02 7.90314152e-03 5.21458863e+02] [-4.36708259e-02 9.99035156e-01 4.64939294e-03 -9.14364129e+00] [-7.69264821e-03 -4.98995632e-03 9.99957961e-01 7.55195761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.0750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.49, Y:-9.14, Z:0.76 [[ 9.99072700e-01 4.23194599e-02 7.92481316e-03 5.21487118e+02] [-4.23177843e-02 9.99104129e-01 -3.79075255e-04 -9.14335642e+00] [-7.93375581e-03 4.33632047e-05 9.99968526e-01 7.56100888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.52, Y:-9.15, Z:0.76 [[ 9.99135587e-01 4.07674360e-02 8.12988007e-03 5.21515253e+02] [-4.07656296e-02 9.99168661e-01 -3.87858521e-04 -9.14567608e+00] [-8.13893338e-03 5.61035716e-05 9.99966877e-01 7.56105505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.54, Y:-9.15, Z:0.76 [[ 9.99296858e-01 3.63831410e-02 9.05849794e-03 5.21544290e+02] [-3.63807276e-02 9.99337909e-01 -4.31120452e-04 -9.14935206e+00] [-9.06818591e-03 1.01262567e-04 9.99958878e-01 7.55555045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.1650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.57, Y:-9.15, Z:0.76 [[ 9.99394526e-01 3.35540245e-02 9.20376585e-03 5.21573365e+02] [-3.35514192e-02 9.99436897e-01 -4.37366497e-04 -9.15207749e+00] [-9.21325859e-03 1.28302276e-04 9.99957549e-01 7.55259864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.1950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.60, Y:-9.15, Z:0.75 [[ 9.99487009e-01 3.05454577e-02 9.62772959e-03 5.21602221e+02] [-3.05424743e-02 9.99533365e-01 -4.56788007e-04 -9.15499799e+00] [-9.63718976e-03 1.62498995e-04 9.99953548e-01 7.54619821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.63, Y:-9.16, Z:0.75 [[ 9.99576312e-01 2.73159098e-02 1.00517354e-02 5.21630936e+02] [-2.73125023e-02 9.99626831e-01 -4.76135564e-04 -9.15793288e+00] [-1.00609905e-02 2.01395784e-04 9.99949367e-01 7.53806355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.66, Y:-9.16, Z:0.75 [[ 9.99657995e-01 2.39618218e-02 1.04749338e-02 5.21659840e+02] [-2.39579456e-02 9.99712845e-01 -4.95384106e-04 -9.16099081e+00] [-1.04837962e-02 2.44256787e-04 9.99945014e-01 7.53288308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.2850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.69, Y:-9.17, Z:0.75 [[ 9.99792921e-01 1.73843817e-02 1.05782178e-02 5.21688305e+02] [-1.73800694e-02 9.99848830e-01 -4.99455247e-04 -9.16572278e+00] [-1.05853014e-02 3.15501660e-04 9.99943924e-01 7.52357872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.3150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.72, Y:-9.17, Z:0.75 [[ 9.99839835e-01 1.42829598e-02 1.07842964e-02 5.21718620e+02] [-1.42783051e-02 9.99897931e-01 -5.08486359e-04 -9.16883364e+00] [-1.07904584e-02 3.54423443e-04 9.99941718e-01 7.51712750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.75, Y:-9.17, Z:0.75 [[ 9.99875449e-01 1.14242911e-02 1.08890434e-02 5.21750226e+02] [-1.14193770e-02 9.99934665e-01 -5.13358227e-04 -9.17166664e+00] [-1.08941967e-02 3.88948196e-04 9.99940581e-01 7.51350535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.78, Y:-9.17, Z:0.75 [[ 9.99901816e-01 9.38935056e-03 1.04018550e-02 5.21781974e+02] [-9.38475816e-03 9.99955842e-01 -4.90222560e-04 -9.17433508e+00] [-1.04059986e-02 3.92555534e-04 9.99945779e-01 7.51015935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.4050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.81, Y:-9.18, Z:0.75 [[ 9.99940602e-01 5.58520321e-03 9.35941753e-03 5.21813590e+02] [-5.58129984e-03 9.99984326e-01 -4.43120406e-04 -9.17828241e+00] [-9.36174575e-03 3.90856370e-04 9.99956102e-01 7.50332185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.4350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.85, Y:-9.18, Z:0.75 [[ 9.99953591e-01 3.95623795e-03 8.78429925e-03 5.21846797e+02] [-3.95271811e-03 9.99992101e-01 -4.18022235e-04 -9.18088672e+00] [-8.78588366e-03 3.83280976e-04 9.99961330e-01 7.49903081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.88, Y:-9.18, Z:0.75 [[ 9.99962196e-01 1.10941473e-03 8.62419568e-03 5.21879237e+02] [-1.10589462e-03 9.99999303e-01 -4.12924261e-04 -9.18449936e+00] [-8.62464777e-03 4.03371199e-04 9.99962726e-01 7.49594050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.495099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.91, Y:-9.19, Z:0.75 [[ 9.99965511e-01 1.18079677e-04 8.30436573e-03 5.21912698e+02] [-1.14764898e-04 9.99999914e-01 -3.99636369e-04 -9.18689585e+00] [-8.30441220e-03 3.98669537e-04 9.99965438e-01 7.49588779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.95, Y:-9.19, Z:0.75 [[ 9.99967375e-01 -8.87083521e-04 8.02878855e-03 5.21945122e+02] [ 8.90232729e-04 9.99999528e-01 -3.88674145e-04 -9.18907793e+00] [-8.02843998e-03 3.95808955e-04 9.99967693e-01 7.49626235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.98, Y:-9.19, Z:0.75 [[ 9.99968808e-01 -1.86946574e-03 7.67392285e-03 5.21977880e+02] [ 1.87238557e-03 9.99998177e-01 -3.73320709e-04 -9.19101511e+00] [-7.67321096e-03 3.87677607e-04 9.99970485e-01 7.49562518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.01, Y:-9.19, Z:0.75 [[ 9.99971810e-01 -2.42354582e-03 7.10677565e-03 5.22009758e+02] [ 2.42607736e-03 9.99996997e-01 -3.47615599e-04 -9.19263926e+00] [-7.10591185e-03 3.64847387e-04 9.99974686e-01 7.49192074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.04, Y:-9.19, Z:0.75 [[ 9.99978914e-01 -3.39794551e-03 5.53407323e-03 5.22042579e+02] [ 3.39949875e-03 9.99994185e-01 -2.71285888e-04 -9.19361615e+00] [-5.53311924e-03 2.90093243e-04 9.99984650e-01 7.49408839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.07, Y:-9.19, Z:0.75 [[ 9.99981196e-01 -3.41104733e-03 5.09635242e-03 5.22074190e+02] [ 3.41237834e-03 9.99994146e-01 -2.52496392e-04 -9.19484838e+00] [-5.09546131e-03 2.69882326e-04 9.99986982e-01 7.49041568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.6750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.11, Y:-9.20, Z:0.75 [[ 9.99983933e-01 -3.36015230e-03 4.56532302e-03 5.22106831e+02] [ 3.36122182e-03 9.99994325e-01 -2.26617289e-04 -9.19601898e+00] [-4.56453565e-03 2.41958712e-04 9.99989553e-01 7.49088637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.7050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.14, Y:-9.20, Z:0.75 [[ 9.99985605e-01 -2.95592845e-03 4.47798533e-03 5.22139219e+02] [ 2.95695472e-03 9.99995603e-01 -2.22577015e-04 -9.19703130e+00] [-4.47730772e-03 2.35815011e-04 9.99989949e-01 7.49048218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.17, Y:-9.20, Z:0.75 [[ 9.99989108e-01 -1.43209146e-03 4.44209076e-03 5.22170476e+02] [ 1.43308844e-03 9.99998949e-01 -2.21263820e-04 -9.19655744e+00] [-4.44176922e-03 2.27627319e-04 9.99990109e-01 7.49430386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.20, Y:-9.20, Z:0.75 [[ 9.99988869e-01 -4.90484075e-04 4.69270194e-03 5.22202441e+02] [ 4.91587079e-04 9.99999852e-01 -2.33896093e-04 -9.19694896e+00] [-4.69258652e-03 2.36200361e-04 9.99988962e-01 7.49381700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.7950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.23, Y:-9.20, Z:0.75 [[ 9.99987098e-01 6.28742824e-04 5.04074494e-03 5.22234713e+02] [-6.27482173e-04 9.99999771e-01 -2.51669825e-04 -9.19754802e+00] [-5.04090203e-03 2.48503600e-04 9.99987264e-01 7.49430789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.8250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.27, Y:-9.20, Z:0.75 [[ 9.99983006e-01 1.61382416e-03 5.60214145e-03 5.22266429e+02] [-1.61227962e-03 9.99998661e-01 -2.80209544e-04 -9.19789586e+00] [-5.60258615e-03 2.71172563e-04 9.99984269e-01 7.49085177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.30, Y:-9.20, Z:0.75 [[ 9.99977510e-01 3.13005428e-03 5.93140352e-03 5.22297808e+02] [-3.12834852e-03 9.99995063e-01 -2.96837774e-04 -9.19827298e+00] [-5.93230335e-03 2.78275600e-04 9.99982365e-01 7.48891746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.33, Y:-9.20, Z:0.75 [[ 9.99959977e-01 6.12049540e-03 6.52563220e-03 5.22329347e+02] [-6.11848530e-03 9.99981228e-01 -3.27951174e-04 -9.19735585e+00] [-6.52751693e-03 2.88011063e-04 9.99978654e-01 7.48562407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.9150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.36, Y:-9.20, Z:0.75 [[ 9.99947304e-01 7.81989108e-03 6.65127413e-03 5.22360325e+02] [-7.81783710e-03 9.99969384e-01 -3.34752643e-04 -9.19747824e+00] [-6.65368823e-03 2.82736425e-04 9.99977824e-01 7.48315534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.9450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.39, Y:-9.20, Z:0.75 [[ 9.99907180e-01 1.16304230e-02 7.09676198e-03 5.22391660e+02] [-1.16281785e-02 9.99932327e-01 -3.57455221e-04 -9.19569266e+00] [-7.10043907e-03 2.74899628e-04 9.99974754e-01 7.48302890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.42, Y:-9.20, Z:0.75 [[ 9.99879362e-01 1.37147801e-02 7.29158908e-03 5.22421985e+02] [-1.37124627e-02 9.99905912e-01 -3.67730968e-04 -9.19541296e+00] [-7.29594638e-03 2.67700962e-04 9.99973348e-01 7.47745021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.45, Y:-9.20, Z:0.75 [[ 9.99844700e-01 1.60561934e-02 7.26459731e-03 5.22451527e+02] [-1.60539540e-02 9.99871060e-01 -3.66470477e-04 -9.19507532e+00] [-7.26954473e-03 2.49788053e-04 9.99973545e-01 7.47492763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.0350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.48, Y:-9.19, Z:0.75 [[ 9.99803684e-01 1.83912377e-02 7.37270822e-03 5.22481513e+02] [-1.83889950e-02 9.99830839e-01 -3.71877947e-04 -9.19471936e+00] [-7.37830035e-03 2.36228247e-04 9.99972752e-01 7.47105937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.0650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.51, Y:-9.19, Z:0.75 [[ 9.99707002e-01 2.27602013e-02 8.23912362e-03 5.22510558e+02] [-2.27575515e-02 9.99740927e-01 -4.15232756e-04 -9.19314726e+00] [-8.24643987e-03 2.27608813e-04 9.99965972e-01 7.46724213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.54, Y:-9.19, Z:0.75 [[ 9.99655986e-01 2.45714267e-02 9.17362723e-03 5.22539313e+02] [-2.45682201e-02 9.99698049e-01 -4.62084291e-04 -9.19314539e+00] [-9.18221132e-03 2.36545634e-04 9.99957815e-01 7.46158825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.57, Y:-9.19, Z:0.75 [[ 9.99603904e-01 2.66783844e-02 8.96098978e-03 5.22567348e+02] [-2.66754145e-02 9.99644046e-01 -4.50812184e-04 -9.19330990e+00] [-8.96982702e-03 2.11595503e-04 9.99959748e-01 7.46102795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.1550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.60, Y:-9.19, Z:0.75 [[ 9.99545772e-01 2.86573255e-02 9.32780613e-03 5.22596081e+02] [-2.86542023e-02 9.99589274e-01 -4.68325691e-04 -9.19366324e+00] [-9.33739592e-03 2.00832120e-04 9.99956385e-01 7.45816953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.1850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.62, Y:-9.19, Z:0.75 [[ 9.99428612e-01 3.24353212e-02 9.50787829e-03 5.22624650e+02] [-3.24322538e-02 9.99473822e-01 -4.76660244e-04 -9.19313986e+00] [-9.51833608e-03 1.68025964e-04 9.99954685e-01 7.45324275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.65, Y:-9.19, Z:0.74 [[ 9.99365939e-01 3.43692609e-02 9.29910782e-03 5.22653219e+02] [-3.43664166e-02 9.99409192e-01 -4.65530424e-04 -9.19377280e+00] [-9.30961377e-03 1.45658236e-04 9.99956654e-01 7.44350566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.68, Y:-9.19, Z:0.74 [[ 9.99313944e-01 3.60309517e-02 8.56803839e-03 5.22682302e+02] [-3.60286029e-02 9.99350667e-01 -4.28380539e-04 -9.19448513e+00] [-8.57790985e-03 1.19392193e-04 9.99963202e-01 7.43885494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.71, Y:-9.20, Z:0.74 [[ 9.99217740e-01 3.86989720e-02 8.14236402e-03 5.22710320e+02] [-3.86969424e-02 9.99250910e-01 -4.06718796e-04 -9.19504258e+00] [-8.15200426e-03 9.13160442e-05 9.99966768e-01 7.42709080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.3050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.74, Y:-9.20, Z:0.74 [[ 9.99178228e-01 3.97650243e-02 7.84933937e-03 5.22737825e+02] [-3.97631775e-02 9.99209056e-01 -3.91269937e-04 -9.19641396e+00] [-7.85868983e-03 7.88337277e-05 9.99969117e-01 7.42360288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.3350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.77, Y:-9.20, Z:0.74 [[ 9.99150447e-01 4.04393179e-02 7.94012710e-03 5.22765629e+02] [-4.04374563e-02 9.99181994e-01 -3.94917660e-04 -9.19811258e+00] [-7.94960222e-03 7.35036144e-05 9.99968399e-01 7.41725497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.79, Y:-9.20, Z:0.74 [[ 9.99056914e-01 4.21183515e-02 1.05511835e-02 5.22794415e+02] [-4.20215539e-02 9.99074034e-01 -9.23378754e-03 -9.19722597e+00] [-1.09303254e-02 8.78170215e-03 9.99901700e-01 7.39148225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.82, Y:-9.21, Z:0.74 [[ 9.99172925e-01 3.95683999e-02 9.37058120e-03 5.22821676e+02] [-3.96464156e-02 9.99179370e-01 8.29150479e-03 -9.20719475e+00] [-9.03480984e-03 -8.65615705e-03 9.99921719e-01 7.38262793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.4250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.85, Y:-9.21, Z:0.74 [[ 9.99214818e-01 3.85519060e-02 9.13770004e-03 5.22849902e+02] [-3.85493901e-02 9.99256594e-01 -4.51366312e-04 -9.20539541e+00] [-9.14830805e-03 9.87591434e-05 9.99958148e-01 7.40435486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.4550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.88, Y:-9.21, Z:0.74 [[ 9.99270663e-01 3.70548325e-02 9.22400540e-03 5.22877968e+02] [-3.70522149e-02 9.99313228e-01 -4.54564630e-04 -9.20778981e+00] [-9.23451443e-03 1.12463268e-04 9.99957355e-01 7.40140455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.91, Y:-9.21, Z:0.74 [[ 9.99332010e-01 3.53250234e-02 9.36360561e-03 5.22906487e+02] [-3.53222596e-02 9.99375868e-01 -4.60423619e-04 -9.21021851e+00] [-9.37402596e-03 1.29372352e-04 9.99956054e-01 7.39421270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.94, Y:-9.21, Z:0.74 [[ 9.99416296e-01 3.24255165e-02 1.07542104e-02 5.22935532e+02] [-3.23435365e-02 9.99447062e-01 -7.71138118e-03 -9.21138317e+00] [-1.09983095e-02 7.35905082e-03 9.99912437e-01 7.37039607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.5450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.96, Y:-9.22, Z:0.74 [[ 9.99530020e-01 2.93881525e-02 8.72213985e-03 5.22962795e+02] [-2.94477650e-02 9.99543280e-01 6.78673509e-03 -9.22031493e+00] [-8.51870668e-03 -7.04039298e-03 9.99938930e-01 7.36418086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.5750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.99, Y:-9.22, Z:0.74 [[ 9.99581886e-01 2.75851619e-02 8.66674409e-03 5.22990689e+02] [-2.75825207e-02 9.99619440e-01 -4.24150864e-04 -9.21978149e+00] [-8.67514614e-03 1.84922872e-04 9.99962353e-01 7.37727644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.02, Y:-9.22, Z:0.74 [[ 9.99622767e-01 2.60485587e-02 8.70612010e-03 5.23019272e+02] [-2.60458426e-02 9.99660659e-01 -4.25231505e-04 -9.22268244e+00] [-8.71424242e-03 1.98312860e-04 9.99962011e-01 7.37216792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.05, Y:-9.23, Z:0.74 [[ 9.99689082e-01 2.32617196e-02 8.97947489e-03 5.23047741e+02] [-2.32587238e-02 9.99729383e-01 -4.37932857e-04 -9.22624586e+00] [-8.98723197e-03 2.28945570e-04 9.99959588e-01 7.36914575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.6650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.08, Y:-9.23, Z:0.74 [[ 9.99714434e-01 2.21443220e-02 8.98219892e-03 5.23076400e+02] [-2.21412850e-02 9.99754756e-01 -4.37431615e-04 -9.22870052e+00] [-8.98968271e-03 2.38429273e-04 9.99959564e-01 7.36416712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.6950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.11, Y:-9.23, Z:0.74 [[ 9.99726953e-01 2.14209648e-02 9.33605858e-03 5.23105349e+02] [-2.14176594e-02 9.99770513e-01 -4.53900849e-04 -9.23130604e+00] [-9.34363907e-03 2.53820390e-04 9.99956315e-01 7.35582108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.13, Y:-9.23, Z:0.73 [[ 9.99741639e-01 2.07213688e-02 9.34239052e-03 5.23133843e+02] [-2.07180330e-02 9.99785256e-01 -4.53707226e-04 -9.23390198e+00] [-9.34978573e-03 2.60034050e-04 9.99956256e-01 7.34841768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.16, Y:-9.24, Z:0.73 [[ 9.99746726e-01 2.03400108e-02 9.63156308e-03 5.23163328e+02] [-2.03364532e-02 9.99793084e-01 -4.67171918e-04 -9.23643831e+00] [-9.63907244e-03 2.71181763e-04 9.99953506e-01 7.34130248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.7850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.19, Y:-9.24, Z:0.73 [[ 9.99762821e-01 1.94405713e-02 9.81662087e-03 5.23192927e+02] [-1.94368373e-02 9.99810974e-01 -4.75645676e-04 -9.24011527e+00] [-9.82401209e-03 2.84728800e-04 9.99951703e-01 7.33374773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.8150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.22, Y:-9.24, Z:0.73 [[ 9.99762430e-01 1.91482839e-02 1.04127826e-02 5.23222886e+02] [-1.91440633e-02 9.99816608e-01 -5.04866295e-04 -9.24262681e+00] [-1.04205403e-02 3.05403386e-04 9.99945658e-01 7.32557437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.25, Y:-9.25, Z:0.73 [[ 9.99762567e-01 1.91781560e-02 1.03444624e-02 5.23252934e+02] [-1.91739966e-02 9.99816036e-01 -5.01122009e-04 -9.24513309e+00] [-1.03521700e-02 3.02658339e-04 9.99946369e-01 7.32185013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.28, Y:-9.25, Z:0.73 [[ 9.99746139e-01 1.99666358e-02 1.04398452e-02 5.23283489e+02] [-1.99624423e-02 9.99800603e-01 -5.05742682e-04 -9.24826136e+00] [-1.04478615e-02 2.97209488e-04 9.99945375e-01 7.31115583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.9050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.31, Y:-9.25, Z:0.73 [[ 9.99746488e-01 1.99491880e-02 1.04398433e-02 5.23313614e+02] [-1.99449931e-02 9.99800951e-01 -5.05780789e-04 -9.24968907e+00] [-1.04478552e-02 2.97429964e-04 9.99945375e-01 7.30734408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.9350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.34, Y:-9.25, Z:0.73 [[ 9.99735573e-01 2.05322577e-02 1.03542596e-02 5.23343875e+02] [-2.05281648e-02 9.99789149e-01 -5.01415468e-04 -9.25191758e+00] [-1.03623716e-02 2.88728933e-04 9.99946268e-01 7.30635188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.37, Y:-9.25, Z:0.73 [[ 9.99720403e-01 2.11449185e-02 1.05834066e-02 5.23373247e+02] [-2.11406760e-02 9.99776380e-01 -5.12583848e-04 -9.25399668e+00] [-1.05918785e-02 2.88700161e-04 9.99943863e-01 7.29637376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.995099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.40, Y:-9.26, Z:0.73 [[ 9.99715295e-01 2.16277020e-02 1.00783120e-02 5.23402511e+02] [-2.16238828e-02 9.99766058e-01 -4.87787200e-04 -9.25590245e+00] [-1.00865040e-02 2.69716087e-04 9.99949094e-01 7.29286303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.43, Y:-9.26, Z:0.73 [[ 9.99702781e-01 2.23901376e-02 9.64523744e-03 5.23432254e+02] [-2.23866786e-02 9.99749278e-01 -4.66455436e-04 -9.25851818e+00] [-9.65326317e-03 2.50391966e-04 9.99953375e-01 7.28513386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.46, Y:-9.26, Z:0.73 [[ 9.99708042e-01 2.23042478e-02 9.29253669e-03 5.23461691e+02] [-2.23010343e-02 9.99751200e-01 -4.49301939e-04 -9.26048080e+00] [-9.30024605e-03 2.41937583e-04 9.99956723e-01 7.28083675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.49, Y:-9.26, Z:0.73 [[ 9.99719637e-01 2.18124542e-02 9.21214322e-03 5.23491554e+02] [-2.18092781e-02 9.99762050e-01 -4.45100745e-04 -9.26232393e+00] [-9.21965993e-03 2.44065762e-04 9.99957468e-01 7.27505198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.52, Y:-9.26, Z:0.73 [[ 9.99732590e-01 2.13964877e-02 8.77145794e-03 5.23521101e+02] [-2.13935947e-02 9.99771041e-01 -4.23527235e-04 -9.26427275e+00] [-8.77851163e-03 2.35760964e-04 9.99961440e-01 7.27238514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.55, Y:-9.27, Z:0.73 [[ 9.99777631e-01 1.93492625e-02 8.38420250e-03 5.23549833e+02] [-1.93465490e-02 9.99812756e-01 -4.04631653e-04 -9.26653701e+00] [-8.39046193e-03 2.42336290e-04 9.99964770e-01 7.27444756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.1750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.58, Y:-9.27, Z:0.73 [[ 9.99797992e-01 1.83470147e-02 8.20745223e-03 5.23579780e+02] [-1.83443846e-02 9.99831649e-01 -3.95621117e-04 -9.26818203e+00] [-8.21332896e-03 2.44980538e-04 9.99966240e-01 7.27095970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.2050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.61, Y:-9.27, Z:0.73 [[ 9.99826588e-01 1.71028175e-02 7.36805450e-03 5.23609134e+02] [-1.71006657e-02 9.99853710e-01 -3.54955062e-04 -9.26959959e+00] [-7.37304736e-03 2.28894872e-04 9.99972793e-01 7.26850854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.64, Y:-9.27, Z:0.73 [[ 9.99865276e-01 1.47638989e-02 7.17334677e-03 5.23638968e+02] [-1.47618007e-02 9.99890979e-01 -3.45359004e-04 -9.27064418e+00] [-7.17766357e-03 2.39420961e-04 9.99974212e-01 7.27063641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.67, Y:-9.27, Z:0.73 [[ 9.99878950e-01 1.37442004e-02 7.29260250e-03 5.23669157e+02] [-1.37420081e-02 9.99905513e-01 -3.50641619e-04 -9.27173060e+00] [-7.29673273e-03 2.50384171e-04 9.99973347e-01 7.27090942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.2950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.70, Y:-9.27, Z:0.73 [[ 9.99894902e-01 1.23969667e-02 7.51664597e-03 5.23698684e+02] [-1.23945989e-02 9.99923119e-01 -3.61505392e-04 -9.27231522e+00] [-7.52054965e-03 2.68301586e-04 9.99971684e-01 7.27562409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.3250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.73, Y:-9.27, Z:0.73 [[ 9.99900372e-01 1.14791704e-02 8.21427412e-03 5.23728555e+02] [-1.14763145e-02 9.99934067e-01 -3.94733245e-04 -9.27340187e+00] [-8.21826374e-03 3.00424326e-04 9.99966184e-01 7.27517517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.76, Y:-9.27, Z:0.73 [[ 9.99916890e-01 9.40676641e-03 8.81620760e-03 5.23758692e+02] [-9.40339674e-03 9.99955697e-01 -4.23588538e-04 -9.27381549e+00] [-8.81980162e-03 3.40651035e-04 9.99961047e-01 7.27988260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.79, Y:-9.27, Z:0.73 [[ 9.99922216e-01 8.51901499e-03 9.10981048e-03 5.23790615e+02] [-8.51537862e-03 9.99963648e-01 -4.37884395e-04 -9.27469627e+00] [-9.11320966e-03 3.60276849e-04 9.99958409e-01 7.27916393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.4150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.82, Y:-9.28, Z:0.73 [[ 9.99929132e-01 7.54972527e-03 9.20502758e-03 5.23822405e+02] [-7.54595044e-03 9.99971430e-01 -4.44745500e-04 -9.27521345e+00] [-9.20812230e-03 3.75253300e-04 9.99957534e-01 7.27879498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.4450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.85, Y:-9.28, Z:0.73 [[ 9.99935534e-01 6.63120997e-03 9.21712893e-03 5.23854851e+02] [-6.62736285e-03 9.99977939e-01 -4.47869769e-04 -9.27577831e+00] [-9.21989550e-03 3.86755639e-04 9.99957421e-01 7.27786092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.89, Y:-9.28, Z:0.73 [[ 9.99950126e-01 4.31398073e-03 9.00752002e-03 5.23887831e+02] [-4.31020222e-03 9.99990615e-01 -4.38854201e-04 -9.27519958e+00] [-9.00932869e-03 4.00008080e-04 9.99959335e-01 7.27512228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.92, Y:-9.28, Z:0.73 [[ 9.99955113e-01 3.06129534e-03 8.96664718e-03 5.23921193e+02] [-3.05747873e-03 9.99995229e-01 -4.39321179e-04 -9.27592231e+00] [-8.96794930e-03 4.11886126e-04 9.99959702e-01 7.27156362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.5350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.95, Y:-9.28, Z:0.73 [[ 9.99963714e-01 9.70524584e-05 8.51828560e-03 5.23952961e+02] [-9.34804940e-05 9.99999908e-01 -4.19726162e-04 -9.27531158e+00] [-8.51832555e-03 4.18914639e-04 9.99963631e-01 7.26559541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.5650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.98, Y:-9.27, Z:0.73 [[ 9.99976918e-01 -8.26872844e-05 6.79384646e-03 5.23983121e+02] [ 1.21094407e-04 9.99984014e-01 -5.65300521e-03 -9.27309367e+00] [-6.79327043e-03 5.65369742e-03 9.99960943e-01 7.27217407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.02, Y:-9.28, Z:0.72 [[ 9.99964431e-01 -2.42482792e-03 8.07812219e-03 5.24015842e+02] [ 2.38509561e-03 9.99985030e-01 4.92451645e-03 -9.27867547e+00] [-8.08994237e-03 -4.90507420e-03 9.99955246e-01 7.23733210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.05, Y:-9.28, Z:0.72 [[ 9.99967211e-01 -3.09704319e-03 7.48234589e-03 5.24048915e+02] [ 3.09992326e-03 9.99995126e-01 -3.73348428e-04 -9.27650256e+00] [-7.48115314e-03 3.96530885e-04 9.99971937e-01 7.24710483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.6550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.08, Y:-9.28, Z:0.72 [[ 9.99965753e-01 -3.91286665e-03 7.29265754e-03 5.24082443e+02] [ 3.91564547e-03 9.99992267e-01 -3.66804765e-04 -9.27651433e+00] [-7.29116588e-03 3.95347664e-04 9.99973341e-01 7.24211711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.6850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.12, Y:-9.27, Z:0.72 [[ 9.99965914e-01 -4.78438528e-03 6.72901195e-03 5.24115852e+02] [ 4.78677482e-03 9.99988486e-01 -3.39049401e-04 -9.27435257e+00] [-6.72731233e-03 3.71248109e-04 9.99977302e-01 7.24143970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.15, Y:-9.27, Z:0.72 [[ 9.99965978e-01 -4.72571910e-03 6.76102304e-03 5.24148277e+02] [ 4.72813665e-03 9.99988764e-01 -3.41632766e-04 -9.27421788e+00] [-6.75933261e-03 3.73588184e-04 9.99977086e-01 7.23832667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.745099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.18, Y:-9.27, Z:0.72 [[ 9.99969900e-01 -4.24577161e-03 6.49401367e-03 5.24180824e+02] [ 4.24799403e-03 9.99990923e-01 -3.28469877e-04 -9.27438632e+00] [-6.49256012e-03 3.56046522e-04 9.99978860e-01 7.23003845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.21, Y:-9.27, Z:0.72 [[ 9.99974673e-01 -3.68767772e-03 6.08730969e-03 5.24213327e+02] [ 3.68962382e-03 9.99993146e-01 -3.08499299e-04 -9.27450830e+00] [-6.08613032e-03 3.30951368e-04 9.99981425e-01 7.22265871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.8050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.25, Y:-9.27, Z:0.72 [[ 9.99983786e-01 -2.14759902e-03 5.27412863e-03 5.24245403e+02] [ 2.14903994e-03 9.99997655e-01 -2.67554282e-04 -9.27274104e+00] [-5.27354166e-03 2.78884257e-04 9.99986056e-01 7.21548901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.8350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.28, Y:-9.27, Z:0.72 [[ 9.99985040e-01 -1.20717953e-03 5.33502804e-03 5.24277020e+02] [ 1.20864341e-03 9.99999233e-01 -2.71173818e-04 -9.27255846e+00] [-5.33469659e-03 2.77617908e-04 9.99985732e-01 7.20881512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.31, Y:-9.27, Z:0.72 [[ 9.99987106e-01 6.01819272e-04 5.04248528e-03 5.24308651e+02] [-6.00535756e-04 9.99999787e-01 -2.56050391e-04 -9.27055667e+00] [-5.04263830e-03 2.53018897e-04 9.99987254e-01 7.20984384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.34, Y:-9.27, Z:0.72 [[ 9.99984055e-01 1.63797197e-03 5.40428533e-03 5.24339976e+02] [-1.63650613e-03 9.99998623e-01 -2.75647469e-04 -9.27038347e+00] [-5.40472939e-03 2.66798928e-04 9.99985359e-01 7.20648772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.9250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.37, Y:-9.27, Z:0.72 [[ 9.99979968e-01 2.94995499e-03 5.60005314e-03 5.24372484e+02] [-2.94840044e-03 9.99995613e-01 -2.85831386e-04 -9.27059768e+00] [-5.60087176e-03 2.69314461e-04 9.99984279e-01 7.20555375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.9550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.40, Y:-9.27, Z:0.72 [[ 9.99974393e-01 4.32671822e-03 5.70030824e-03 5.24404800e+02] [-4.32512748e-03 9.99990604e-01 -2.91359851e-04 -9.27078802e+00] [-5.70151532e-03 2.66697831e-04 9.99983711e-01 7.20368981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.44, Y:-9.27, Z:0.72 [[ 9.99953626e-01 7.14810343e-03 6.45375324e-03 5.24436498e+02] [-7.14611808e-03 9.99974412e-01 -3.30634566e-04 -9.26952231e+00] [-6.45595151e-03 2.84499950e-04 9.99979120e-01 7.20041225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.47, Y:-9.27, Z:0.72 [[ 9.99941332e-01 8.84241974e-03 6.25653418e-03 5.24466598e+02] [-8.84058498e-03 9.99960870e-01 -3.20851261e-04 -9.26957571e+00] [-6.25912646e-03 2.65521015e-04 9.99980376e-01 7.20040031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.0450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.50, Y:-9.27, Z:0.72 [[ 9.99922499e-01 1.07376960e-02 6.30064752e-03 5.24496770e+02] [-1.07358714e-02 9.99942317e-01 -3.23335809e-04 -9.26978520e+00] [-6.30375596e-03 2.55667808e-04 9.99980098e-01 7.19661570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.0750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.53, Y:-9.27, Z:0.72 [[ 9.99871080e-01 1.49869212e-02 5.76331074e-03 5.24526200e+02] [-1.49854652e-02 9.99887668e-01 -2.95733548e-04 -9.26892513e+00] [-5.76709547e-03 2.09329529e-04 9.99983348e-01 7.18923700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.55, Y:-9.27, Z:0.72 [[ 9.99840473e-01 1.70460180e-02 5.33495912e-03 5.24554891e+02] [-1.70447966e-02 9.99854689e-01 -2.74326497e-04 -9.26939840e+00] [-5.33886007e-03 1.83349442e-04 9.99985731e-01 7.18366583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.58, Y:-9.27, Z:0.72 [[ 9.99803680e-01 1.92411925e-02 4.73057896e-03 5.24582974e+02] [-1.92402572e-02 9.99814860e-01 -2.43144667e-04 -9.26989132e+00] [-4.73438153e-03 1.52079377e-04 9.99988781e-01 7.17448187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.1650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.61, Y:-9.27, Z:0.72 [[ 9.99716300e-01 2.35937905e-02 3.26377486e-03 5.24611087e+02] [-2.35933681e-02 9.99721624e-01 -1.67863980e-04 -9.27017782e+00] [-3.26682685e-03 9.08129154e-05 9.99994660e-01 7.16883575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.1950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.64, Y:-9.27, Z:0.72 [[ 9.99664068e-01 2.57517245e-02 2.93267218e-03 5.24639393e+02] [-2.57513929e-02 9.99668367e-01 -1.50763446e-04 -9.27098869e+00] [-2.93558202e-03 7.51924060e-05 9.99995688e-01 7.16521693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.67, Y:-9.27, Z:0.72 [[ 9.99594813e-01 2.83588395e-02 2.44656407e-03 5.24666919e+02] [-2.83586165e-02 9.99597806e-01 -1.25780128e-04 -9.27202559e+00] [-2.44914705e-03 5.63479908e-05 9.99996999e-01 7.16055242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.69, Y:-9.27, Z:0.72 [[ 9.99517563e-01 3.09952693e-02 1.98337188e-03 5.24693819e+02] [-3.09951275e-02 9.99519530e-01 -1.02193006e-04 -9.27312598e+00] [-1.98558643e-03 4.06688398e-05 9.99998028e-01 7.15916249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.2850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.72, Y:-9.27, Z:0.72 [[ 9.99436350e-01 3.35525798e-02 1.09861173e-03 5.24722096e+02] [-3.35525374e-02 9.99436953e-01 -5.69723842e-05 -9.27439580e+00] [-1.09990473e-03 2.00790605e-05 9.99999395e-01 7.16041133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.3150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.75, Y:-9.28, Z:0.72 [[ 9.99251537e-01 3.86814827e-02 3.31252205e-04 5.24749277e+02] [-3.86814787e-02 9.99251591e-01 -1.83067688e-05 -9.27571283e+00] [-3.31712426e-04 5.47974169e-06 9.99999945e-01 7.16143927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.78, Y:-9.28, Z:0.72 [[ 9.99180568e-01 4.04744014e-02 1.25294514e-04 5.24776839e+02] [-4.04744007e-02 9.99180576e-01 -7.65139007e-06 -9.27784776e+00] [-1.25501530e-04 2.57389990e-06 9.99999992e-01 7.15691286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.80, Y:-9.28, Z:0.72 [[ 9.99135024e-01 4.15834458e-02 -1.44958323e-04 5.24804867e+02] [-4.15834454e-02 9.99135034e-01 5.95529701e-06 -9.28053318e+00] [ 1.45080581e-04 7.77207087e-08 9.99999989e-01 7.15329600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.4050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.83, Y:-9.29, Z:0.72 [[ 9.99095918e-01 4.25099282e-02 -5.02221949e-04 5.24832396e+02] [-4.25099215e-02 9.99096044e-01 2.38706223e-05 -9.28529473e+00] [ 5.02782701e-04 -2.49962565e-06 9.99999874e-01 7.15245647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.4350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.86, Y:-9.29, Z:0.71 [[ 9.99106119e-01 4.22693332e-02 -5.15812321e-04 5.24860093e+02] [-4.22693262e-02 9.99106252e-01 2.44880344e-05 -9.28856248e+00] [ 5.16386407e-04 -2.66310575e-06 9.99999867e-01 7.14812457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.89, Y:-9.29, Z:0.71 [[ 9.99130310e-01 4.16876843e-02 -8.72073869e-04 5.24888351e+02] [-4.16876634e-02 9.99130691e-01 4.22147392e-05 -9.29180782e+00] [ 8.73075602e-04 -5.82330352e-06 9.99999619e-01 7.14572092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.495099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.91, Y:-9.29, Z:0.71 [[ 9.99166911e-01 4.07917936e-02 -1.23060625e-03 5.24914870e+02] [-4.07917509e-02 9.99167668e-01 5.97591388e-05 -9.29493784e+00] [ 1.23201966e-03 -9.51077051e-06 9.99999241e-01 7.14558287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.94, Y:-9.30, Z:0.71 [[ 9.99254301e-01 3.85932206e-02 -1.18586605e-03 5.24942785e+02] [-3.85931794e-02 9.99255004e-01 5.76098556e-05 -9.30037932e+00] [ 1.18720593e-03 -1.18005548e-05 9.99999295e-01 7.14444297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.97, Y:-9.30, Z:0.71 [[ 9.99309335e-01 3.71493968e-02 -8.80402740e-04 5.24969658e+02] [-3.71493741e-02 9.99309723e-01 4.20986054e-05 -9.30399827e+00] [ 8.81358956e-04 -9.36311857e-06 9.99999612e-01 7.14486948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.00, Y:-9.31, Z:0.71 [[ 9.99356731e-01 3.58579478e-02 -5.75424427e-04 5.24997722e+02] [-3.58579381e-02 9.99356897e-01 2.71347769e-05 -9.30805692e+00] [ 5.76027367e-04 -6.48378841e-06 9.99999834e-01 7.14332970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.02, Y:-9.31, Z:0.72 [[ 9.99434679e-01 3.36202618e-02 5.74145923e-06 5.25024883e+02] [-3.36202226e-02 9.99433747e-01 -1.36595375e-03 -9.31373921e+00] [-5.16619311e-05 1.36498852e-03 9.99999067e-01 7.15434447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.05, Y:-9.32, Z:0.71 [[ 9.99466258e-01 3.26658198e-02 3.79237277e-04 5.25053215e+02] [-3.26662943e-02 9.99465441e-01 1.32096651e-03 -9.31870272e+00] [-3.35884099e-04 -1.33264974e-03 9.99999056e-01 7.14147630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.6750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.08, Y:-9.32, Z:0.71 [[ 9.99495027e-01 3.17756006e-02 4.89943362e-05 5.25081139e+02] [-3.17756004e-02 9.99495028e-01 -3.74544989e-06 -9.32164024e+00] [-4.90886096e-05 2.18673409e-06 9.99999999e-01 7.13790470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.7050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.11, Y:-9.33, Z:0.71 [[ 9.99530102e-01 3.06509810e-02 3.03883826e-04 5.25107942e+02] [-3.06509774e-02 9.99530148e-01 -1.64601797e-05 -9.32725366e+00] [-3.04245566e-04 7.13810880e-06 9.99999954e-01 7.13146793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.14, Y:-9.33, Z:0.71 [[ 9.99543833e-01 3.01913918e-02 7.77927384e-04 5.25135464e+02] [-3.01913703e-02 9.99544136e-01 -3.93973689e-05 -9.33059086e+00] [-7.78762217e-04 1.58927034e-05 9.99999697e-01 7.12351281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.16, Y:-9.33, Z:0.71 [[ 9.99547208e-01 3.00706345e-02 1.06541605e-03 5.25162905e+02] [-3.00705947e-02 9.99547776e-01 -5.33599122e-05 -9.33405367e+00] [-1.06653880e-03 2.12980572e-05 9.99999431e-01 7.11528669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.7950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.19, Y:-9.34, Z:0.71 [[ 9.99549771e-01 2.99853484e-02 1.06543100e-03 5.25191347e+02] [-2.99853089e-02 9.99550338e-01 -5.30546935e-05 -9.33535100e+00] [-1.06654278e-03 2.10835289e-05 9.99999431e-01 7.11170499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.8250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.22, Y:-9.34, Z:0.71 [[ 9.99555217e-01 2.97921942e-02 1.33883969e-03 5.25219447e+02] [-2.97921319e-02 9.99556114e-01 -6.64688762e-05 -9.33853078e+00] [-1.34022565e-03 2.65524234e-05 9.99999102e-01 7.10692220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.25, Y:-9.34, Z:0.71 [[ 9.99552402e-01 2.98714353e-02 1.64094528e-03 5.25247739e+02] [-2.98713425e-02 9.99553749e-01 -8.10473248e-05 -9.34178767e+00] [-1.64263401e-03 3.19938096e-05 9.99998650e-01 7.10162514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.28, Y:-9.35, Z:0.71 [[ 9.99528348e-01 3.05979464e-02 2.61678985e-03 5.25275713e+02] [-3.05977156e-02 9.99531772e-01 -1.28221574e-04 -9.34582922e+00] [-2.61948791e-03 4.80933066e-05 9.99996568e-01 7.09586677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.9150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.30, Y:-9.35, Z:0.71 [[ 9.99506579e-01 3.13095130e-02 2.51269218e-03 5.25303169e+02] [-3.13093035e-02 9.99509736e-01 -1.22705950e-04 -9.34822533e+00] [-2.51530216e-03 4.39747619e-05 9.99996836e-01 7.09743688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.9450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.33, Y:-9.35, Z:0.71 [[ 9.99473239e-01 3.22866852e-02 3.28857214e-03 5.25330942e+02] [-3.22863331e-02 9.99478648e-01 -1.60093421e-04 -9.35061760e+00] [-3.29202652e-03 5.38331545e-05 9.99994580e-01 7.09061599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.36, Y:-9.35, Z:0.71 [[ 9.99376112e-01 3.50266330e-02 4.53011989e-03 5.25359219e+02] [-3.50259977e-02 9.99386377e-01 -2.19530912e-04 -9.35423511e+00] [-4.53502954e-03 6.07219805e-05 9.99989715e-01 7.08335175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.39, Y:-9.36, Z:0.71 [[ 9.99314710e-01 3.66677312e-02 5.05838327e-03 5.25386671e+02] [-3.66669635e-02 9.99327511e-01 -2.44443928e-04 -9.35691485e+00] [-5.06394477e-03 5.88008580e-05 9.99987176e-01 7.07803100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.0350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.41, Y:-9.36, Z:0.71 [[ 9.99254058e-01 3.82059982e-02 5.62391824e-03 5.25414102e+02] [-3.82050778e-02 9.99269883e-01 -2.71025736e-04 -9.35929328e+00] [-5.63016693e-03 5.59613326e-05 9.99984149e-01 7.07325696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.0650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.44, Y:-9.36, Z:0.71 [[ 9.99105550e-01 4.18436733e-02 6.09972169e-03 5.25441548e+02] [-4.18426632e-02 9.99124169e-01 -2.93170871e-04 -9.36297408e+00] [-6.10664671e-03 3.76800446e-05 9.99981354e-01 7.06566367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.47, Y:-9.37, Z:0.71 [[ 9.99034554e-01 4.34497843e-02 6.48655413e-03 5.25469019e+02] [-4.34486810e-02 9.99055612e-01 -3.10983472e-04 -9.36544841e+00] [-6.49394047e-03 2.88510138e-05 9.99978914e-01 7.06063048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.50, Y:-9.37, Z:0.71 [[ 9.98965054e-01 4.49902831e-02 6.68544420e-03 5.25495641e+02] [-4.49891500e-02 9.98987424e-01 -3.19847544e-04 -9.36783775e+00] [-6.69306471e-03 1.87440675e-05 9.99977601e-01 7.05614716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.1550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.52, Y:-9.37, Z:0.70 [[ 9.98896312e-01 4.63999952e-02 7.29371299e-03 5.25523499e+02] [-4.63986926e-02 9.98922940e-01 -3.47792655e-04 -9.37017714e+00] [-7.30199480e-03 8.99005349e-06 9.99973340e-01 7.04936344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.1850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.55, Y:-9.37, Z:0.70 [[ 9.98848993e-01 4.74100537e-02 7.27848269e-03 5.25550262e+02] [-4.74087873e-02 9.98875511e-01 -3.46524318e-04 -9.37263003e+00] [-7.28672686e-03 1.06142752e-06 9.99973451e-01 7.04713022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.58, Y:-9.38, Z:0.70 [[ 9.98754070e-01 4.92658691e-02 7.94872015e-03 5.25578521e+02] [-4.92644307e-02 9.98785700e-01 -3.76782542e-04 -9.37714988e+00] [-7.95763053e-03 -1.52760750e-05 9.99968337e-01 7.04020320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.61, Y:-9.38, Z:0.70 [[ 9.98730227e-01 4.97111615e-02 8.16906025e-03 5.25605823e+02] [-4.97096653e-02 9.98763636e-01 -3.86231149e-04 -9.37979828e+00] [-8.17816031e-03 -2.03405276e-05 9.99966558e-01 7.03475941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.63, Y:-9.38, Z:0.70 [[ 9.98715715e-01 4.99509729e-02 8.47471018e-03 5.25633720e+02] [-4.99493773e-02 9.98751671e-01 -3.99959401e-04 -9.38352377e+00] [-8.48410931e-03 -2.38607570e-05 9.99964009e-01 7.03334956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.3050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.66, Y:-9.39, Z:0.70 [[ 9.98734535e-01 4.94519865e-02 9.15587038e-03 5.25661305e+02] [-4.94501130e-02 9.98776502e-01 -4.31035460e-04 -9.38608642e+00] [-9.16598375e-03 -2.22688257e-05 9.99957991e-01 7.02725156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.3350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.69, Y:-9.39, Z:0.70 [[ 9.98750247e-01 4.89975919e-02 9.85799708e-03 5.25689306e+02] [-4.89954098e-02 9.98798896e-01 -4.62874573e-04 -9.38891870e+00] [-9.86883634e-03 -2.07005126e-05 9.99951302e-01 7.02354914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.72, Y:-9.39, Z:0.70 [[ 9.98788926e-01 4.79775594e-02 1.09011381e-02 5.25717066e+02] [-4.79748420e-02 9.98848414e-01 -5.10794301e-04 -9.39182939e+00] [-1.09130911e-02 -1.28046852e-05 9.99940450e-01 7.01683294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.75, Y:-9.40, Z:0.70 [[ 9.98912096e-01 4.49724623e-02 1.23329298e-02 5.25745217e+02] [-4.49687736e-02 9.98988227e-01 -5.76383222e-04 -9.39674620e+00] [-1.23463730e-02 2.11594469e-05 9.99923780e-01 7.00646813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.4250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.77, Y:-9.40, Z:0.70 [[ 9.99025091e-01 4.23238082e-02 1.25524290e-02 5.25773804e+02] [-4.23197893e-02 9.99103945e-01 -5.85735795e-04 -9.39985312e+00] [-1.25659719e-02 5.39486042e-05 9.99921044e-01 6.99869353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.4550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.80, Y:-9.40, Z:0.70 [[ 9.99144779e-01 3.94298037e-02 1.24499828e-02 5.25801450e+02] [-3.94256365e-02 9.99222339e-01 -5.80067648e-04 -9.40341935e+00] [-1.24631729e-02 8.87230657e-05 9.99922328e-01 6.99399735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.83, Y:-9.41, Z:0.70 [[ 9.99282755e-01 3.57066300e-02 1.26099729e-02 5.25830033e+02] [-3.57020749e-02 9.99362306e-01 -5.86231627e-04 -9.40687452e+00] [-1.26228640e-02 1.35608958e-04 9.99920319e-01 6.98592632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.86, Y:-9.41, Z:0.70 [[ 9.99547469e-01 2.75445110e-02 1.20895490e-02 5.25858748e+02] [-2.75397377e-02 9.99620552e-01 -5.61159925e-04 -9.41268037e+00] [-1.21004185e-02 2.27962974e-04 9.99926761e-01 6.98301660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.5450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.89, Y:-9.42, Z:0.70 [[ 9.99650591e-01 2.32627669e-02 1.25514434e-02 5.25888401e+02] [-2.32572910e-02 9.99729343e-01 -5.82085683e-04 -9.41625377e+00] [-1.25615871e-02 2.89969727e-04 9.99921058e-01 6.97775572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.5750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.92, Y:-9.42, Z:0.70 [[ 9.99732803e-01 1.91897410e-02 1.28870451e-02 5.25920048e+02] [-1.91836266e-02 9.99815799e-01 -5.97916720e-04 -9.42004013e+00] [-1.28961452e-02 3.50536696e-04 9.99916780e-01 6.97127678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.95, Y:-9.43, Z:0.70 [[ 9.99826904e-01 1.25032387e-02 1.37779338e-02 5.25952046e+02] [-1.24956059e-02 9.99921722e-01 -6.39936375e-04 -9.42538882e+00] [-1.37848566e-02 4.67661973e-04 9.99904875e-01 6.96240863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.98, Y:-9.43, Z:0.70 [[ 9.99874950e-01 8.27993043e-03 1.34731717e-02 5.25984562e+02] [-8.27221631e-03 9.99965587e-01 -6.28183287e-04 -9.42998933e+00] [-1.34779094e-02 5.16651742e-04 9.99909035e-01 6.95778848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.6650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.02, Y:-9.43, Z:0.69 [[ 9.99883011e-01 7.76047412e-03 1.31810182e-02 5.26018007e+02] [-7.75299873e-03 9.99969754e-01 -6.18137125e-04 -9.43258462e+00] [-1.31854165e-02 5.15872393e-04 9.99912936e-01 6.94974365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.6950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.05, Y:-9.43, Z:0.69 [[ 9.99886793e-01 7.59451938e-03 1.29893953e-02 5.26050253e+02] [-7.58719725e-03 9.99971029e-01 -6.12887011e-04 -9.43463697e+00] [-1.29936735e-02 5.14264524e-04 9.99915446e-01 6.94312010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.08, Y:-9.44, Z:0.69 [[ 9.99884132e-01 8.14880147e-03 1.28576437e-02 5.26083564e+02] [-8.14162825e-03 9.99966670e-01 -6.10141197e-04 -9.43636283e+00] [-1.28621871e-02 5.05388346e-04 9.99917151e-01 6.93791000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.12, Y:-9.44, Z:0.69 [[ 9.99875586e-01 8.89584753e-03 1.30259637e-02 5.26115125e+02] [-8.88849875e-03 9.99960303e-01 -6.21949723e-04 -9.43773196e+00] [-1.30309794e-02 5.06091082e-04 9.99914965e-01 6.93550197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.7850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.15, Y:-9.44, Z:0.69 [[ 9.99865731e-01 9.91482035e-03 1.30466917e-02 5.26148149e+02] [-9.90748849e-03 9.99950723e-01 -6.26484683e-04 -9.43895171e+00] [-1.30522602e-02 4.97140618e-04 9.99914692e-01 6.93247123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.8150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.18, Y:-9.44, Z:0.69 [[ 9.99859640e-01 1.10485563e-02 1.25947899e-02 5.26179851e+02] [-1.10417676e-02 9.99938853e-01 -6.08422718e-04 -9.43934307e+00] [-1.26007419e-02 4.69268577e-04 9.99920497e-01 6.92625642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.21, Y:-9.44, Z:0.69 [[ 9.99863256e-01 1.16116351e-02 1.17745036e-02 5.26212101e+02] [-1.16057177e-02 9.99932489e-01 -5.70765602e-04 -9.44042087e+00] [-1.17803362e-02 4.34035989e-04 9.99930515e-01 6.92395230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.25, Y:-9.44, Z:0.69 [[ 9.99861056e-01 1.18882385e-02 1.16849920e-02 5.26245002e+02] [-1.18823927e-02 9.99929240e-01 -5.69585775e-04 -9.44149446e+00] [-1.16909366e-02 4.30660971e-04 9.99931566e-01 6.91512088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.9050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.28, Y:-9.44, Z:0.69 [[ 9.99865922e-01 1.18445480e-02 1.13068677e-02 5.26277706e+02] [-1.18390359e-02 9.99929763e-01 -5.54305850e-04 -9.44241554e+00] [-1.13126391e-02 4.20369116e-04 9.99935922e-01 6.91112460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.9350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.31, Y:-9.44, Z:0.69 [[ 9.99892077e-01 1.00478408e-02 1.07179958e-02 5.26310490e+02] [-1.00427536e-02 9.99949431e-01 -5.28355553e-04 -9.44185764e+00] [-1.07227627e-02 4.20660340e-04 9.99942421e-01 6.90790406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.34, Y:-9.44, Z:0.69 [[ 9.99907145e-01 8.90683252e-03 1.03135667e-02 5.26342663e+02] [-8.90203180e-03 9.99960245e-01 -5.11291182e-04 -9.44224908e+00] [-1.03177107e-02 4.19432008e-04 9.99946683e-01 6.90438468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.995099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.37, Y:-9.44, Z:0.69 [[ 9.99923776e-01 7.43597504e-03 9.85634907e-03 5.26374585e+02] [-7.43149457e-03 9.99972265e-01 -4.91123596e-04 -9.44274240e+00] [-9.85972769e-03 4.17838756e-04 9.99951304e-01 6.90090336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.41, Y:-9.44, Z:0.69 [[ 9.99939894e-01 5.66507379e-03 9.38701189e-03 5.26407454e+02] [-5.66091087e-03 9.99983866e-01 -4.69987766e-04 -9.44358774e+00] [-9.38952296e-03 4.16820479e-04 9.99955831e-01 6.89771104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.44, Y:-9.44, Z:0.69 [[ 9.99963157e-01 1.71685006e-03 8.41058873e-03 5.26439739e+02] [-1.71334780e-03 9.99998443e-01 -4.23598626e-04 -9.44338742e+00] [-8.41130289e-03 4.09172756e-04 9.99964541e-01 6.89173882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.47, Y:-9.44, Z:0.69 [[ 9.99966378e-01 2.98950984e-04 8.19468483e-03 5.26473313e+02] [-2.95570756e-04 9.99999871e-01 -4.13698254e-04 -9.44389170e+00] [-8.19480745e-03 4.11262236e-04 9.99966337e-01 6.88550943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.50, Y:-9.44, Z:0.69 [[ 9.99968937e-01 -8.15535257e-04 7.83966447e-03 5.26504982e+02] [ 8.18679785e-04 9.99999586e-01 -3.97904199e-04 -9.44418961e+00] [-7.83933671e-03 4.04310013e-04 9.99969190e-01 6.88626794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.54, Y:-9.44, Z:0.69 [[ 9.99963551e-01 -1.42732398e-03 8.41775850e-03 5.26537636e+02] [ 1.43099041e-03 9.99998884e-01 -4.29552014e-04 -9.44403735e+00] [-8.41713600e-03 4.41582089e-04 9.99964478e-01 6.88532026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.1750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.57, Y:-9.44, Z:0.69 [[ 9.99956985e-01 -1.80823381e-03 9.09717953e-03 5.26570032e+02] [ 1.81255900e-03 9.99998248e-01 -4.67220059e-04 -9.44119806e+00] [-9.09631875e-03 4.83689136e-04 9.99958511e-01 6.89050729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.2050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.60, Y:-9.44, Z:0.69 [[ 9.99954303e-01 -1.54604491e-03 9.43408820e-03 5.26601662e+02] [ 1.55071532e-03 9.99998679e-01 -4.87761890e-04 -9.44058891e+00] [-9.43332163e-03 5.02369185e-04 9.99955379e-01 6.89023770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.63, Y:-9.44, Z:0.69 [[ 9.99954772e-01 -6.69752254e-04 9.48709315e-03 5.26634599e+02] [ 6.74443315e-04 9.99999652e-01 -4.91277030e-04 -9.43993361e+00] [-9.48676082e-03 4.97653318e-04 9.99954876e-01 6.89040484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.67, Y:-9.44, Z:0.69 [[ 9.99957069e-01 3.61425427e-04 9.25901676e-03 5.26666266e+02] [-3.56991668e-04 9.99999821e-01 -4.80506754e-04 -9.43908538e+00] [-9.25918877e-03 4.77180734e-04 9.99957019e-01 6.88836899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.2950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.70, Y:-9.44, Z:0.69 [[ 9.99951004e-01 3.95015029e-03 9.07667045e-03 5.26698215e+02] [-3.94602914e-03 9.99992103e-01 -4.71901424e-04 -9.43532757e+00] [-9.07846285e-03 4.36061497e-04 9.99958695e-01 6.88504656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.3250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.73, Y:-9.43, Z:0.69 [[ 9.99938266e-01 6.45674922e-03 9.04297452e-03 5.26730273e+02] [-6.45275491e-03 9.99979070e-01 -4.70809842e-04 -9.43395010e+00] [-9.04582515e-03 4.12428678e-04 9.99959001e-01 6.88045231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.76, Y:-9.43, Z:0.69 [[ 9.99919478e-01 9.29215848e-03 8.64257536e-03 5.26761841e+02] [-9.28861226e-03 9.99956759e-01 -4.50369692e-04 -9.43230985e+00] [-8.64638655e-03 3.70055896e-04 9.99962551e-01 6.88008862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.79, Y:-9.43, Z:0.69 [[ 9.99887725e-01 1.24760670e-02 8.29976042e-03 5.26794285e+02] [-1.24728963e-02 9.99922116e-01 -4.33677158e-04 -9.43064093e+00] [-8.30452459e-03 3.30106415e-04 9.99965462e-01 6.87770469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.4150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.82, Y:-9.43, Z:0.69 [[ 9.99840413e-01 1.59112420e-02 8.12291192e-03 5.26824974e+02] [-1.59083116e-02 9.99873364e-01 -4.25254528e-04 -9.42910638e+00] [-8.12864960e-03 2.95964849e-04 9.99966918e-01 6.86981746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.4450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.85, Y:-9.44, Z:0.69 [[ 9.99785244e-01 2.05573945e-02 2.61897616e-03 5.26854190e+02] [-2.06267580e-02 9.99337153e-01 2.99965391e-02 -9.43663361e+00] [-2.00058949e-03 -3.00441182e-02 9.99546572e-01 6.88578427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.89, Y:-9.41, Z:0.69 [[ 9.99636949e-01 2.61048916e-02 6.67119359e-03 5.26886011e+02] [-2.58881551e-02 9.99192214e-01 -3.07363398e-02 -9.40932527e+00] [-7.46817351e-03 3.05524761e-02 9.99505264e-01 6.94826380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.91, Y:-9.42, Z:0.69 [[ 9.99581116e-01 2.80112567e-02 7.27753167e-03 5.26913552e+02] [-2.80092083e-02 9.99607592e-01 -3.83255150e-04 -9.42216989e+00] [-7.28541136e-03 1.79256710e-04 9.99973445e-01 6.86082864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.5350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.94, Y:-9.42, Z:0.69 [[ 9.99468010e-01 3.21797012e-02 5.30699913e-03 5.26942117e+02] [-3.21786824e-02 9.99482094e-01 -2.77274011e-04 -9.41867512e+00] [-5.31317319e-03 1.06354264e-04 9.99985879e-01 6.85060159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.5650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.97, Y:-9.42, Z:0.68 [[ 9.99414389e-01 3.37804945e-02 5.45494875e-03 5.26969855e+02] [-3.37794435e-02 9.99429271e-01 -2.84708454e-04 -9.41766936e+00] [-5.46145305e-03 1.00276593e-04 9.99985081e-01 6.84568144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.00, Y:-9.42, Z:0.68 [[ 9.99335332e-01 3.60079329e-02 5.68539295e-03 5.26997851e+02] [-3.60068297e-02 9.99351500e-01 -2.96308360e-04 -9.41538883e+00] [-5.69237542e-03 9.13984375e-05 9.99983794e-01 6.84218967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.03, Y:-9.42, Z:0.68 [[ 9.99312724e-01 3.66101380e-02 5.81191805e-03 5.27026203e+02] [-3.66089992e-02 9.99329620e-01 -3.02236066e-04 -9.41527937e+00] [-5.81908676e-03 8.92598431e-05 9.99983065e-01 6.84088424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.6550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.05, Y:-9.42, Z:0.68 [[ 9.99291417e-01 3.71560873e-02 6.00739133e-03 5.27054175e+02] [-3.71548847e-02 9.99309470e-01 -3.11701012e-04 -9.41551127e+00] [-6.01482464e-03 8.82762136e-05 9.99981907e-01 6.83498036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.6850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.08, Y:-9.41, Z:0.68 [[ 9.99289165e-01 3.72627142e-02 5.71435946e-03 5.27080750e+02] [-3.72616289e-02 9.99305500e-01 -2.96312877e-04 -9.41420453e+00] [-5.72143226e-03 8.31759061e-05 9.99983629e-01 6.83328712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.11, Y:-9.42, Z:0.68 [[ 9.99295467e-01 3.70933381e-02 5.71440380e-03 5.27109158e+02] [-3.70922550e-02 9.99311802e-01 -2.95453604e-04 -9.41559031e+00] [-5.72143052e-03 8.32853245e-05 9.99983629e-01 6.82961563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.745099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.14, Y:-9.42, Z:0.68 [[ 9.99307646e-01 3.68004149e-02 5.47339838e-03 5.27136913e+02] [-3.67994238e-02 9.99322632e-01 -2.81699747e-04 -9.41531867e+00] [-5.48005754e-03 8.00868047e-05 9.99984981e-01 6.82780508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.16, Y:-9.42, Z:0.68 [[ 9.99324915e-01 3.63740530e-02 5.16163105e-03 5.27164519e+02] [-3.63731684e-02 9.99338242e-01 -2.65182491e-04 -9.41534579e+00] [-5.16786106e-03 7.72585954e-05 9.99986644e-01 6.82433449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.8050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.19, Y:-9.42, Z:0.68 [[ 9.99340717e-01 3.60089855e-02 4.63510902e-03 5.27192124e+02] [-3.60082699e-02 9.99351464e-01 -2.37764827e-04 -9.41577592e+00] [-4.64066466e-03 7.07058159e-05 9.99989230e-01 6.82084329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.8350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.22, Y:-9.42, Z:0.68 [[ 9.99393471e-01 3.45830646e-02 4.08683907e-03 5.27219062e+02] [-3.45824969e-02 9.99401825e-01 -2.09511276e-04 -9.41570431e+00] [-4.09163996e-03 6.80511015e-05 9.99991627e-01 6.81670010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.25, Y:-9.42, Z:0.68 [[ 9.99428072e-01 3.35970415e-02 3.84286606e-03 5.27246823e+02] [-3.35965345e-02 9.99435458e-01 -1.96446301e-04 -9.41658831e+00] [-3.84729662e-03 6.72269661e-05 9.99992597e-01 6.81057299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.27, Y:-9.42, Z:0.68 [[ 9.99473527e-01 3.22830590e-02 3.23612153e-03 5.27273618e+02] [-3.22826924e-02 9.99478764e-01 -1.65463611e-04 -9.41757089e+00] [-3.23977642e-03 6.09057831e-05 9.99994750e-01 6.80740316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.9250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.30, Y:-9.42, Z:0.68 [[ 9.99563741e-01 2.93056805e-02 3.67484887e-03 5.27301566e+02] [-2.93051908e-02 9.99570493e-01 -1.87068839e-04 -9.41792691e+00] [-3.67875268e-03 7.92950813e-05 9.99993230e-01 6.80194274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.9550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.33, Y:-9.42, Z:0.68 [[ 9.99607352e-01 2.77013697e-02 4.21605468e-03 5.27329587e+02] [-2.77007134e-02 9.99616239e-01 -2.13971239e-04 -9.41835118e+00] [-4.22036402e-03 9.70995015e-05 9.99991090e-01 6.80338545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.36, Y:-9.42, Z:0.68 [[ 9.99647274e-01 2.61755968e-02 4.49062876e-03 5.27358584e+02] [-2.61748410e-02 9.99657354e-01 -2.27017854e-04 -9.41888340e+00] [-4.49503239e-03 1.09396286e-04 9.99989891e-01 6.80260774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.39, Y:-9.42, Z:0.68 [[ 9.99718242e-01 2.32972261e-02 4.54703424e-03 5.27385954e+02] [-2.32964223e-02 9.99728575e-01 -2.29673521e-04 -9.41938230e+00] [-4.55115082e-03 1.23679179e-04 9.99989636e-01 6.80542665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.0450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.42, Y:-9.42, Z:0.68 [[ 9.99751389e-01 2.17661575e-02 4.83689735e-03 5.27415166e+02] [-2.17652332e-02 9.99763080e-01 -2.43659543e-04 -9.42091402e+00] [-4.84105492e-03 1.38322768e-04 9.99988272e-01 6.80113538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.0750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.44, Y:-9.42, Z:0.68 [[ 9.99777018e-01 2.05162094e-02 4.99991282e-03 5.27443740e+02] [-2.05152081e-02 9.99789509e-01 -2.51480882e-04 -9.42240378e+00] [-5.00401982e-03 1.48850554e-04 9.99987469e-01 6.79768177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.47, Y:-9.42, Z:0.68 [[ 9.99797527e-01 1.94494533e-02 5.15990678e-03 5.27471347e+02] [-1.94483740e-02 9.99810829e-01 -2.59262114e-04 -9.42359034e+00] [-5.16397318e-03 1.58857823e-04 9.99986654e-01 6.79351048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.50, Y:-9.42, Z:0.68 [[ 9.99823944e-01 1.79981962e-02 5.30534695e-03 5.27499739e+02] [-1.79970382e-02 9.99838005e-01 -2.65929279e-04 -9.42471089e+00] [-5.30927376e-03 1.70401929e-04 9.99985891e-01 6.79163075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.1650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.53, Y:-9.43, Z:0.68 [[ 9.99829184e-01 1.75563432e-02 5.77730446e-03 5.27528990e+02] [-1.75549654e-02 9.99845858e-01 -2.89113981e-04 -9.42584625e+00] [-5.78148972e-03 1.87644215e-04 9.99983269e-01 6.78575005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.1950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.56, Y:-9.43, Z:0.68 [[ 9.99832852e-01 1.72449253e-02 6.07289912e-03 5.27557030e+02] [-1.72433995e-02 9.99851275e-01 -3.03534393e-04 -9.42693170e+00] [-6.07723036e-03 1.98766233e-04 9.99981514e-01 6.78532566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.59, Y:-9.43, Z:0.68 [[ 9.99843368e-01 1.64009533e-02 6.65190816e-03 5.27586012e+02] [-1.63991094e-02 9.99865471e-01 -3.31645717e-04 -9.42832157e+00] [-6.65645259e-03 2.22508401e-04 9.99977821e-01 6.78553931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.61, Y:-9.43, Z:0.68 [[ 9.99852628e-01 1.64334396e-02 4.96640405e-03 5.27614795e+02] [-1.64324127e-02 9.99864948e-01 -2.47502036e-04 -9.43007794e+00] [-4.96980064e-03 1.65855560e-04 9.99987637e-01 6.77184022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.2850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.64, Y:-9.43, Z:0.68 [[ 9.99857896e-01 1.65462741e-02 3.22624750e-03 5.27642535e+02] [-1.65458403e-02 9.99863095e-01 -1.61116186e-04 -9.43151335e+00] [-3.22847168e-03 1.07712315e-04 9.99994783e-01 6.76406580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.3150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.67, Y:-9.43, Z:0.68 [[ 9.99854788e-01 1.67829089e-02 2.95583770e-03 5.27671654e+02] [-1.67825471e-02 9.99859152e-01 -1.47155056e-04 -9.43255273e+00] [-2.95789107e-03 9.75272019e-05 9.99995621e-01 6.75482769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.70, Y:-9.43, Z:0.68 [[ 9.99839232e-01 1.76106039e-02 3.37283503e-03 5.27700110e+02] [-1.76101388e-02 9.99844915e-01 -1.67547895e-04 -9.43291665e+00] [-3.37526257e-03 1.08124865e-04 9.99994298e-01 6.75191673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.73, Y:-9.43, Z:0.67 [[ 9.99834201e-01 1.79818463e-02 2.86757458e-03 5.27727796e+02] [-1.79815113e-02 9.99838309e-01 -1.42553733e-04 -9.43424431e+00] [-2.86967430e-03 9.09667728e-05 9.99995878e-01 6.74921435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.4050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.76, Y:-9.44, Z:0.67 [[ 9.99825349e-01 1.85222078e-02 2.48994416e-03 5.27755325e+02] [-1.85219572e-02 9.99828446e-01 -1.23691411e-04 -9.43568641e+00] [-2.49180804e-03 7.75511692e-05 9.99996892e-01 6.74465954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.4350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.78, Y:-9.44, Z:0.67 [[ 9.99804669e-01 1.95635554e-02 2.80898556e-03 5.27784157e+02] [-1.95632420e-02 9.99808612e-01 -1.38999916e-04 -9.43694197e+00] [-2.81116728e-03 8.40199011e-05 9.99996045e-01 6.74390004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.81, Y:-9.44, Z:0.67 [[ 9.99794836e-01 2.00120613e-02 3.13102536e-03 5.27812945e+02] [-2.00116752e-02 9.99799734e-01 -1.54602633e-04 -9.43792236e+00] [-3.13349224e-03 9.19138520e-05 9.99995086e-01 6.74282957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.495099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.84, Y:-9.44, Z:0.67 [[ 9.99748033e-01 2.21616706e-02 3.56806263e-03 5.27840299e+02] [-2.21611836e-02 9.99754395e-01 -1.75955347e-04 -9.43806510e+00] [-3.57108576e-03 9.68385210e-05 9.99993619e-01 6.74637912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.87, Y:-9.44, Z:0.67 [[ 9.99733081e-01 2.27140688e-02 4.22338357e-03 5.27869365e+02] [-2.27133947e-02 9.99741996e-01 -2.07513551e-04 -9.43919888e+00] [-4.22700740e-03 1.11530784e-04 9.99991060e-01 6.74519118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.90, Y:-9.44, Z:0.67 [[ 9.99734276e-01 2.26614052e-02 4.22340549e-03 5.27898645e+02] [-2.26607326e-02 9.99743191e-01 -2.07065715e-04 -9.44057059e+00] [-4.22701329e-03 1.11305230e-04 9.99991060e-01 6.74141051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.93, Y:-9.44, Z:0.67 [[ 9.99713733e-01 2.34805277e-02 4.59522173e-03 5.27927224e+02] [-2.34797408e-02 9.99724288e-01 -2.25137733e-04 -9.44194297e+00] [-4.59924112e-03 1.17178669e-04 9.99989417e-01 6.73731584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.96, Y:-9.44, Z:0.67 [[ 9.99701927e-01 2.39954881e-02 4.50261663e-03 5.27955723e+02] [-2.39947391e-02 9.99712061e-01 -2.20304880e-04 -9.44343557e+00] [-4.50660647e-03 1.12200102e-04 9.99989839e-01 6.73451897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.98, Y:-9.45, Z:0.67 [[ 9.99696208e-01 2.41717558e-02 4.81854459e-03 5.27984665e+02] [-2.41709020e-02 9.99707813e-01 -2.35357226e-04 -9.44512495e+00] [-4.82282568e-03 1.18817157e-04 9.99988363e-01 6.73160134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.6750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.01, Y:-9.45, Z:0.67 [[ 9.99698208e-01 2.40090619e-02 5.20176465e-03 5.28012607e+02] [-2.40080660e-02 9.99711733e-01 -2.53824535e-04 -9.44668321e+00] [-5.20635924e-03 1.28863624e-04 9.99986439e-01 6.73012651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.7050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.04, Y:-9.45, Z:0.67 [[ 9.99713715e-01 2.30736913e-02 6.33186524e-03 5.28040898e+02] [-2.30722034e-02 9.99733754e-01 -3.07939351e-04 -9.44871340e+00] [-6.33728471e-03 1.61761109e-04 9.99979906e-01 6.73083523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.07, Y:-9.45, Z:0.67 [[ 9.99730149e-01 2.20777704e-02 7.22509982e-03 5.28069731e+02] [-2.20758116e-02 9.99756238e-01 -3.50749126e-04 -9.45078961e+00] [-7.23108237e-03 1.91154533e-04 9.99973837e-01 6.72601287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.10, Y:-9.45, Z:0.67 [[ 9.99764641e-01 2.05523150e-02 6.94727216e-03 5.28098054e+02] [-2.05504703e-02 9.99788760e-01 -3.36819049e-04 -9.45260642e+00] [-6.95272703e-03 1.93970066e-04 9.99975811e-01 6.72123957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.7950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.13, Y:-9.45, Z:0.67 [[ 9.99798313e-01 1.89941077e-02 6.52352231e-03 5.28125510e+02] [-1.89924500e-02 9.99819577e-01 -3.15967641e-04 -9.45460304e+00] [-6.52834684e-03 1.92006243e-04 9.99978672e-01 6.71504479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.8250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.15, Y:-9.46, Z:0.67 [[ 9.99835276e-01 1.70789215e-02 6.14255447e-03 5.28153832e+02] [-1.70774195e-02 9.99854126e-01 -2.96896067e-04 -9.45642479e+00] [-6.14672910e-03 1.91948182e-04 9.99981090e-01 6.70706725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.18, Y:-9.46, Z:0.67 [[ 9.99880659e-01 1.44675058e-02 5.41844046e-03 5.28182188e+02] [-1.44663003e-02 9.99895323e-01 -2.61619852e-04 -9.45898105e+00] [-5.42165826e-03 1.83203844e-04 9.99985286e-01 6.69593129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.21, Y:-9.46, Z:0.67 [[ 9.99894347e-01 1.34187353e-02 5.58853819e-03 5.28210489e+02] [-1.34174397e-02 9.99909946e-01 -2.69272187e-04 -9.46060057e+00] [-5.59164821e-03 1.94259864e-04 9.99984348e-01 6.69107438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.9150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.24, Y:-9.46, Z:0.67 [[ 9.99896721e-01 1.31108742e-02 5.88663904e-03 5.28240278e+02] [-1.31094341e-02 9.99914028e-01 -2.83168415e-04 -9.46215245e+00] [-5.88984553e-03 2.05968664e-04 9.99982633e-01 6.69056642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.9450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.27, Y:-9.46, Z:0.67 [[ 9.99883188e-01 1.38759485e-02 6.40847363e-03 5.28268539e+02] [-1.38742584e-02 9.99903700e-01 -3.08110501e-04 -9.46309171e+00] [-6.41213183e-03 2.19161691e-04 9.99979418e-01 6.69919542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.30, Y:-9.46, Z:0.67 [[ 9.99872186e-01 1.45952118e-02 6.52616400e-03 5.28297773e+02] [-1.45934775e-02 9.99893460e-01 -3.13291170e-04 -9.46410609e+00] [-6.53004125e-03 2.18011700e-04 9.99978655e-01 6.69977552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.33, Y:-9.47, Z:0.67 [[ 9.99854389e-01 1.57049533e-02 6.67503353e-03 5.28326581e+02] [-1.57031646e-02 9.99876646e-01 -3.20294552e-04 -9.46542678e+00] [-6.67924035e-03 2.15428763e-04 9.99977670e-01 6.69982874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.0350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.36, Y:-9.47, Z:0.67 [[ 9.99814768e-01 1.78236677e-02 7.26269129e-03 5.28356628e+02] [-1.78216102e-02 9.99841122e-01 -3.47926882e-04 -9.46693513e+00] [-7.26773875e-03 2.18429582e-04 9.99973566e-01 6.69266788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.0650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.39, Y:-9.47, Z:0.67 [[ 9.99801446e-01 1.85925442e-02 7.16842266e-03 5.28385339e+02] [-1.85905597e-02 9.99827122e-01 -3.43380222e-04 -9.46829331e+00] [-7.17356770e-03 2.10047053e-04 9.99974248e-01 6.68955794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.41, Y:-9.47, Z:0.67 [[ 9.99788258e-01 1.95456224e-02 6.43482828e-03 5.28412838e+02] [-1.95440447e-02 9.99808949e-01 -3.07984561e-04 -9.46969666e+00] [-6.43961866e-03 1.82156776e-04 9.99979249e-01 6.68277326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.44, Y:-9.47, Z:0.67 [[ 9.99788008e-01 1.96500469e-02 6.14930367e-03 5.28441435e+02] [-1.96486117e-02 9.99806904e-01 -2.93718594e-04 -9.47119954e+00] [-6.15388785e-03 1.72831048e-04 9.99981050e-01 6.67836740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.1550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.47, Y:-9.47, Z:0.67 [[ 9.99818747e-01 1.84874422e-02 4.54840484e-03 5.28469272e+02] [-1.84775216e-02 9.99826826e-01 -2.21355229e-03 -9.47216197e+00] [-4.58854009e-03 2.12910783e-03 9.99987206e-01 6.68170712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.1850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.50, Y:-9.48, Z:0.67 [[ 9.99849196e-01 1.66337805e-02 4.99017388e-03 5.28497927e+02] [-1.66424276e-02 9.99860066e-01 1.69632398e-03 -9.47580115e+00] [-4.96125931e-03 -1.77911677e-03 9.99986110e-01 6.66460115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.53, Y:-9.48, Z:0.67 [[ 9.99870362e-01 1.54485760e-02 4.53879309e-03 5.28526165e+02] [-1.54477503e-02 9.99880653e-01 -2.16911238e-04 -9.47604751e+00] [-4.54160236e-03 1.46768976e-04 9.99989676e-01 6.66802019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.56, Y:-9.48, Z:0.67 [[ 9.99889147e-01 1.43958427e-02 3.80185679e-03 5.28555316e+02] [-1.43952570e-02 9.99896366e-01 -1.81368757e-04 -9.47719954e+00] [-3.80407375e-03 1.26619947e-04 9.99992756e-01 6.66411730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.58, Y:-9.48, Z:0.67 [[ 9.99901460e-01 1.35929618e-02 3.50734171e-03 5.28583687e+02] [-1.35924590e-02 9.99907604e-01 -1.67136356e-04 -9.47839663e+00] [-3.50928952e-03 1.19446488e-04 9.99993835e-01 6.65576509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.3050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.61, Y:-9.48, Z:0.67 [[ 9.99903015e-01 1.34780736e-02 3.50733516e-03 5.28612949e+02] [-1.34775697e-02 9.99909159e-01 -1.67275802e-04 -9.47973317e+00] [-3.50927111e-03 1.19989224e-04 9.99993835e-01 6.65200311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.3350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.64, Y:-9.48, Z:0.66 [[ 9.99904557e-01 1.33631783e-02 3.50735427e-03 5.28642210e+02] [-1.33626751e-02 9.99910702e-01 -1.66872784e-04 -9.48106660e+00] [-3.50927102e-03 1.19989221e-04 9.99993835e-01 6.64823958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.67, Y:-9.48, Z:0.66 [[ 9.99920712e-01 1.21609108e-02 3.26835012e-03 5.28670475e+02] [-1.21604689e-02 9.99926047e-01 -1.55055802e-04 -9.48122786e+00] [-3.26999403e-03 1.15298838e-04 9.99994647e-01 6.64509031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.70, Y:-9.48, Z:0.66 [[ 9.99919326e-01 1.20950052e-02 3.87963331e-03 5.28699425e+02] [-1.20943853e-02 9.99926843e-01 -1.83209927e-04 -9.48198218e+00] [-3.88156542e-03 1.36273366e-04 9.99992457e-01 6.64038333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.4250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.73, Y:-9.48, Z:0.66 [[ 9.99915564e-01 1.21681694e-02 4.56069342e-03 5.28727872e+02] [-1.21673156e-02 9.99925952e-01 -2.14892394e-04 -9.48258892e+00] [-4.56297056e-03 1.59382853e-04 9.99989577e-01 6.63573026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.4550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.76, Y:-9.48, Z:0.66 [[ 9.99905374e-01 1.24128482e-02 5.92988657e-03 5.28756189e+02] [-1.24114141e-02 9.99922937e-01 -2.78579634e-04 -9.48179735e+00] [-5.93288756e-03 2.04954995e-04 9.99982379e-01 6.63622557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.79, Y:-9.48, Z:0.66 [[ 9.99898683e-01 1.26369338e-02 6.55227958e-03 5.28786176e+02] [-1.26351912e-02 9.99920126e-01 -3.07286771e-04 -9.48187157e+00] [-6.55563938e-03 2.24466333e-04 9.99978486e-01 6.63502664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.82, Y:-9.48, Z:0.66 [[ 9.99895062e-01 1.26982149e-02 6.97287834e-03 5.28816243e+02] [-1.26962448e-02 9.99919346e-01 -3.26733115e-04 -9.48205834e+00] [-6.97646487e-03 2.38169457e-04 9.99975636e-01 6.63538907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.5450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.85, Y:-9.48, Z:0.66 [[ 9.99890882e-01 1.25462795e-02 7.79833614e-03 5.28846839e+02] [-1.25438147e-02 9.99921257e-01 -3.64905089e-04 -9.48231297e+00] [-7.80230028e-03 2.67044388e-04 9.99969526e-01 6.63200327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.5750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.88, Y:-9.48, Z:0.66 [[ 9.99912016e-01 1.03872586e-02 8.25016643e-03 5.28877286e+02] [-1.03844265e-02 9.99946006e-01 -3.86047442e-04 -9.48162098e+00] [-8.25373094e-03 3.00340229e-04 9.99965892e-01 6.63247579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.91, Y:-9.48, Z:0.66 [[ 9.99911827e-01 1.04054153e-02 8.25017031e-03 5.28908256e+02] [-1.04025845e-02 9.99945817e-01 -3.85964473e-04 -9.48306756e+00] [-8.25373941e-03 3.00107348e-04 9.99965892e-01 6.62849678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.94, Y:-9.48, Z:0.66 [[ 9.99926752e-01 8.93635431e-03 8.16284343e-03 5.28938792e+02] [-8.93353300e-03 9.99960022e-01 -3.82025825e-04 -9.48399015e+00] [-8.16593101e-03 3.09074811e-04 9.99966610e-01 6.62542993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.6650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.97, Y:-9.48, Z:0.66 [[ 9.99946142e-01 6.94870872e-03 7.70899000e-03 5.28970144e+02] [-6.94613317e-03 9.99975810e-01 -3.60820766e-04 -9.48497444e+00] [-7.71131076e-03 3.07253661e-04 9.99970220e-01 6.61901751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.6950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.00, Y:-9.49, Z:0.66 [[ 9.99960801e-01 5.08658211e-03 7.24733612e-03 5.29001830e+02] [-5.08426320e-03 9.99987018e-01 -3.38355137e-04 -9.48627949e+00] [-7.24896310e-03 3.01494509e-04 9.99973680e-01 6.61326150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.03, Y:-9.49, Z:0.66 [[ 9.99983428e-01 6.63762884e-04 5.71859956e-03 5.29033356e+02] [-6.62242741e-04 9.99999745e-01 -2.67713662e-04 -9.48718369e+00] [-5.71877580e-03 2.63922124e-04 9.99983613e-01 6.60984838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.07, Y:-9.49, Z:0.66 [[ 9.99986033e-01 -1.24473088e-03 5.13665310e-03 5.29065879e+02] [ 1.24598612e-03 9.99999195e-01 -2.41177499e-04 -9.48841630e+00] [-5.13634876e-03 2.47574328e-04 9.99986778e-01 6.60573006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.7850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.10, Y:-9.49, Z:0.66 [[ 9.99985757e-01 -3.17684258e-03 4.28865917e-03 5.29098031e+02] [ 3.17773703e-03 9.99994931e-01 -2.01763866e-04 -9.48961365e+00] [-4.28799646e-03 2.15389223e-04 9.99990783e-01 6.60373116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.8150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.13, Y:-9.49, Z:0.66 [[ 9.99983307e-01 -4.58118669e-03 3.52116866e-03 5.29131127e+02] [ 4.58179876e-03 9.99989490e-01 -1.65778842e-04 -9.49086382e+00] [-3.52037219e-03 1.81909361e-04 9.99993787e-01 6.59945548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.16, Y:-9.49, Z:0.66 [[ 9.99978232e-01 -5.86771027e-03 3.01760434e-03 5.29163918e+02] [ 5.86817193e-03 9.99982772e-01 -1.44157030e-04 -9.49194065e+00] [-3.01670648e-03 1.61861713e-04 9.99995437e-01 6.59254823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.20, Y:-9.49, Z:0.66 [[ 9.99976667e-01 -6.64535588e-03 1.58239475e-03 5.29196131e+02] [ 6.64548368e-03 9.99977916e-01 -7.55174405e-05 -9.49199807e+00] [-1.58185797e-03 8.60314569e-05 9.99998745e-01 6.59539585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.9050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.23, Y:-9.49, Z:0.66 [[ 9.99981431e-01 -5.96136082e-03 1.26472768e-03 5.29227959e+02] [ 5.96144175e-03 9.99982229e-01 -6.02363541e-05 -9.49237093e+00] [-1.26434611e-03 6.77748359e-05 9.99999198e-01 6.59300084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.9350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.26, Y:-9.49, Z:0.66 [[ 9.99988345e-01 -4.70295152e-03 1.09169558e-03 5.29258919e+02] [ 4.70301126e-03 9.99988939e-01 -5.21664578e-05 -9.49232571e+00] [-1.09143817e-03 5.73001064e-05 9.99999403e-01 6.59599621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.29, Y:-9.49, Z:0.66 [[ 9.99995675e-01 -2.74934363e-03 1.04454372e-03 5.29290595e+02] [ 2.74939730e-03 9.99996219e-01 -4.99478840e-05 -9.49207095e+00] [-1.04440245e-03 5.28195337e-05 9.99999453e-01 6.59738512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.995099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.32, Y:-9.49, Z:0.66 [[ 9.99994559e-01 2.78761863e-03 1.76364228e-03 5.29322197e+02] [-2.78747286e-03 9.99996111e-01 -8.51098930e-05 -9.48996172e+00] [-1.76387268e-03 8.01933250e-05 9.99998441e-01 6.60340609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.35, Y:-9.49, Z:0.66 [[ 9.99978643e-01 6.08983146e-03 2.37223278e-03 5.29352815e+02] [-6.08957552e-03 9.99981452e-01 -1.15097280e-04 -9.48963161e+00] [-2.37288970e-03 1.00648931e-04 9.99997180e-01 6.60248052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.38, Y:-9.49, Z:0.66 [[ 9.99949591e-01 9.55629066e-03 3.08106738e-03 5.29382471e+02] [-9.55587425e-03 9.99954330e-01 -1.49844702e-04 -9.48938129e+00] [-3.08235863e-03 1.20394856e-04 9.99995242e-01 6.60308801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.41, Y:-9.49, Z:0.66 [[ 9.99909186e-01 1.29078243e-02 3.87390963e-03 5.29411115e+02] [-1.29071845e-02 9.99916681e-01 -1.90110279e-04 -9.48937160e+00] [-3.87604077e-03 1.40091748e-04 9.99992478e-01 6.59767756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.44, Y:-9.49, Z:0.66 [[ 9.99797567e-01 1.96195162e-02 4.46090197e-03 5.29439119e+02] [-1.96187462e-02 9.99807510e-01 -2.16298938e-04 -9.48763850e+00] [-4.46428697e-03 1.28737848e-04 9.99990027e-01 6.59664195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.47, Y:-9.49, Z:0.66 [[ 9.99729567e-01 2.28452849e-02 4.34573747e-03 5.29468053e+02] [-2.28445896e-02 9.99739006e-01 -2.09589571e-04 -9.48744992e+00] [-4.34939140e-03 1.10256302e-04 9.99990535e-01 6.59756858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.1750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.50, Y:-9.49, Z:0.66 [[ 9.99660453e-01 2.57807555e-02 3.78570655e-03 5.29495619e+02] [-2.57802488e-02 9.99667617e-01 -1.82581432e-04 -9.48746126e+00] [-3.78915534e-03 8.49229803e-05 9.99992818e-01 6.59547227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.2050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.52, Y:-9.49, Z:0.66 [[ 9.99591458e-01 2.84188252e-02 3.04757294e-03 5.29523123e+02] [-2.84185088e-02 9.99596102e-01 -1.47093858e-04 -9.48789253e+00] [-3.05052227e-03 6.04262854e-05 9.99995345e-01 6.59058135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.55, Y:-9.49, Z:0.66 [[ 9.99446136e-01 3.32277302e-02 1.82711071e-03 5.29551079e+02] [-3.32276238e-02 9.99447806e-01 -8.85421597e-05 -9.48768214e+00] [-1.82904384e-03 2.77825722e-05 9.99998327e-01 6.58385830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.58, Y:-9.49, Z:0.66 [[ 9.99374839e-01 3.53325951e-02 1.24088523e-03 5.29578689e+02] [-3.53325473e-02 9.99375609e-01 -6.04437807e-05 -9.48834194e+00] [-1.24224606e-03 1.65623576e-05 9.99999228e-01 6.58084504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.2950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.61, Y:-9.49, Z:0.66 [[ 9.99221786e-01 3.94300870e-02 1.04454254e-03 5.29606976e+02] [-3.94300553e-02 9.99222332e-01 -5.09956589e-05 -9.48927125e+00] [-1.04574099e-03 9.76960345e-06 9.99999453e-01 6.57286673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.3250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.63, Y:-9.49, Z:0.66 [[ 9.99159528e-01 4.09797418e-02 9.47733665e-04 5.29634218e+02] [-4.09797154e-02 9.99159978e-01 -4.73325792e-05 -9.49037846e+00] [-9.48877225e-04 8.45494169e-06 9.99999550e-01 6.57122664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.66, Y:-9.49, Z:0.66 [[ 9.99095740e-01 4.24937354e-02 1.40916849e-03 5.29661737e+02] [-4.24936819e-02 9.99096733e-01 -6.78551124e-05 -9.49151092e+00] [-1.41077905e-03 7.91299606e-06 9.99999005e-01 6.56225188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.69, Y:-9.49, Z:0.66 [[ 9.99036707e-01 4.38630687e-02 1.29985423e-03 5.29689115e+02] [-4.38630242e-02 9.99037552e-01 -6.27506498e-05 -9.49269301e+00] [-1.30135562e-03 5.67466518e-06 9.99999153e-01 6.55986147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.4150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.72, Y:-9.49, Z:0.66 [[ 9.98993550e-01 4.48347390e-02 1.31636922e-03 5.29716756e+02] [-4.48346947e-02 9.98994417e-01 -6.31896235e-05 -9.49369310e+00] [-1.31787859e-03 4.10701418e-06 9.99999132e-01 6.55511007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.4450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.74, Y:-9.50, Z:0.65 [[ 9.98965460e-01 4.54455522e-02 1.64673609e-03 5.29744778e+02] [-4.54454845e-02 9.98966817e-01 -7.85239855e-05 -9.49539441e+00] [-1.64860328e-03 3.60602962e-06 9.99998641e-01 6.54371869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.77, Y:-9.50, Z:0.65 [[ 9.98990663e-01 4.48809061e-02 1.83264506e-03 5.29771520e+02] [-4.48808216e-02 9.98992344e-01 -8.72216948e-05 -9.49713983e+00] [-1.83471297e-03 4.88304295e-06 9.99998317e-01 6.53511137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.80, Y:-9.50, Z:0.65 [[ 9.99028486e-01 4.40202585e-02 2.07412800e-03 5.29799507e+02] [-4.40201499e-02 9.99030639e-01 -9.80326228e-05 -9.49906797e+00] [-2.07643284e-03 6.63395729e-06 9.99997844e-01 6.52727917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.5350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.83, Y:-9.50, Z:0.65 [[ 9.99081239e-01 4.28034315e-02 2.13163331e-03 5.29827139e+02] [-4.28033144e-02 9.99083513e-01 -1.00522395e-04 -9.50122689e+00] [-2.13398240e-03 9.18906826e-06 9.99997723e-01 6.52430992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.5650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.85, Y:-9.50, Z:0.65 [[ 9.99227577e-01 3.91710578e-02 3.14298629e-03 5.29853850e+02] [-3.91707880e-02 9.99232519e-01 -1.47391117e-04 -9.50443415e+00] [-3.14634758e-03 2.41640185e-05 9.99995050e-01 6.51910455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.88, Y:-9.51, Z:0.65 [[ 9.99310958e-01 3.69220106e-02 3.79142760e-03 5.29881466e+02] [-3.69216054e-02 9.99318149e-01 -1.76851765e-04 -9.50682803e+00] [-3.79537214e-03 3.67443128e-05 9.99992797e-01 6.51595763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.91, Y:-9.51, Z:0.65 [[ 9.99396571e-01 3.44299098e-02 4.59073369e-03 5.29908578e+02] [-3.44292923e-02 9.99407113e-01 -2.13493546e-04 -9.50927716e+00] [-4.59536246e-03 5.53090059e-05 9.99989440e-01 6.51251961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.6550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.94, Y:-9.51, Z:0.65 [[ 9.99478039e-01 3.18904396e-02 5.16224108e-03 5.29935081e+02] [-3.18896281e-02 9.99491368e-01 -2.39444355e-04 -9.51185748e+00] [-5.16725139e-03 7.46974264e-05 9.99986647e-01 6.51007866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.6850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.96, Y:-9.52, Z:0.65 [[ 9.99622229e-01 2.68628366e-02 5.81275130e-03 5.29962375e+02] [-2.68617312e-02 9.99639123e-01 -2.68170581e-04 -9.51613396e+00] [-5.81785743e-03 1.11928711e-04 9.99983070e-01 6.50185784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.99, Y:-9.52, Z:0.65 [[ 9.99683277e-01 2.44561499e-02 5.93660855e-03 5.29990308e+02] [-2.44549589e-02 9.99700895e-01 -2.73145363e-04 -9.51912705e+00] [-5.94151297e-03 1.27879333e-04 9.99982341e-01 6.49434232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.745099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.02, Y:-9.52, Z:0.65 [[ 9.99737755e-01 2.20613714e-02 6.14143013e-03 5.30018722e+02] [-2.20600564e-02 9.99756608e-01 -2.81782470e-04 -9.52217522e+00] [-6.14615187e-03 1.46228278e-04 9.99981102e-01 6.48587366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.05, Y:-9.53, Z:0.65 [[ 9.99812443e-01 1.82673701e-02 6.43285310e-03 5.30047755e+02] [-1.82658520e-02 9.99833122e-01 -2.94661829e-04 -9.52651560e+00] [-6.43716230e-03 1.77105020e-04 9.99979266e-01 6.47763478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.8050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.08, Y:-9.53, Z:0.65 [[ 9.99836091e-01 1.68692661e-02 6.57413409e-03 5.30076949e+02] [-1.68676537e-02 9.99857686e-01 -3.00632818e-04 -9.52917646e+00] [-6.57826996e-03 1.89693324e-04 9.99978345e-01 6.47365083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.8350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.11, Y:-9.53, Z:0.65 [[ 9.99854595e-01 1.55868178e-02 6.91660943e-03 5.30105019e+02] [-1.55850055e-02 9.99878497e-01 -3.15838701e-04 -9.53168178e+00] [-6.92069196e-03 2.07997380e-04 9.99976030e-01 6.46560802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.13, Y:-9.54, Z:0.65 [[ 9.99885570e-01 1.38458560e-02 6.09423655e-03 5.30134697e+02] [-1.38444216e-02 9.99904123e-01 -2.77498419e-04 -9.53534668e+00] [-6.09749445e-03 1.93095485e-04 9.99981391e-01 6.46082554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.16, Y:-9.54, Z:0.65 [[ 9.99894584e-01 1.32814358e-02 5.86721023e-03 5.30162789e+02] [-1.32800970e-02 9.99911780e-01 -2.67087420e-04 -9.53754023e+00] [-5.87023993e-03 1.89142144e-04 9.99982752e-01 6.45493212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.9250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.19, Y:-9.54, Z:0.65 [[ 9.99907498e-01 1.23758368e-02 5.64214064e-03 5.30191139e+02] [-1.23745860e-02 9.99923399e-01 -2.56557094e-04 -9.53962298e+00] [-5.64488356e-03 1.86714208e-04 9.99984050e-01 6.45199133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.9550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.22, Y:-9.54, Z:0.64 [[ 9.99913701e-01 1.18199106e-02 5.73420639e-03 5.30219429e+02] [-1.18186121e-02 9.99930124e-01 -2.60293274e-04 -9.54153141e+00] [-5.73688235e-03 1.92500450e-04 9.99983525e-01 6.44821122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.25, Y:-9.54, Z:0.64 [[ 9.99925747e-01 1.05656467e-02 6.07195266e-03 5.30249210e+02] [-1.05641690e-02 9.99944160e-01 -2.75379026e-04 -9.54381892e+00] [-6.07452316e-03 2.11213444e-04 9.99981528e-01 6.43881436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.28, Y:-9.55, Z:0.64 [[ 9.99933767e-01 1.00252315e-02 5.65291328e-03 5.30280072e+02] [-1.00239446e-02 9.99949726e-01 -2.55941717e-04 -9.54569026e+00] [-5.65519496e-03 1.99260276e-04 9.99983989e-01 6.43715264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.0450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.31, Y:-9.55, Z:0.64 [[ 9.99937081e-01 9.44094503e-03 6.05822684e-03 5.30310173e+02] [-9.43945624e-03 9.99955410e-01 -2.74292724e-04 -9.54723726e+00] [-6.06054628e-03 2.17089098e-04 9.99981611e-01 6.43148217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.0750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.34, Y:-9.55, Z:0.64 [[ 9.99947668e-01 8.39663270e-03 5.84441396e-03 5.30340384e+02] [-8.39522934e-03 9.99964724e-01 -2.64612116e-04 -9.54855074e+00] [-5.84642964e-03 2.15533073e-04 9.99982886e-01 6.42842799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.37, Y:-9.55, Z:0.64 [[ 9.99953562e-01 7.53891135e-03 6.00329689e-03 5.30370435e+02] [-7.53741522e-03 9.99971556e-01 -2.71805711e-04 -9.54958016e+00] [-6.00517525e-03 2.26543748e-04 9.99981943e-01 6.42624391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.40, Y:-9.55, Z:0.64 [[ 9.99959534e-01 6.75242889e-03 5.94426546e-03 5.30400915e+02] [-6.75094890e-03 9.99977176e-01 -2.69007545e-04 -9.55065834e+00] [-5.94594625e-03 2.28867227e-04 9.99982297e-01 6.42202702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.1650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.43, Y:-9.55, Z:0.64 [[ 9.99964335e-01 5.99739869e-03 5.94640710e-03 5.30432638e+02] [-5.99590440e-03 9.99981988e-01 -2.69087815e-04 -9.55192843e+00] [-5.94791382e-03 2.33424130e-04 9.99982284e-01 6.41949290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.1950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.46, Y:-9.55, Z:0.64 [[ 9.99967720e-01 4.48509299e-03 6.66661661e-03 5.30464183e+02] [-4.48318742e-03 9.99989905e-01 -3.00755218e-04 -9.55277233e+00] [-6.66789823e-03 2.70857818e-04 9.99977733e-01 6.42004071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.50, Y:-9.55, Z:0.64 [[ 9.99968302e-01 3.71635512e-03 7.04151042e-03 5.30496813e+02] [-3.71419816e-03 9.99993051e-01 -3.19373744e-04 -9.55421627e+00] [-7.04264840e-03 2.93210055e-04 9.99975157e-01 6.41936451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.53, Y:-9.56, Z:0.64 [[ 9.99967691e-01 3.19847189e-03 7.37472828e-03 5.30529154e+02] [-3.19607682e-03 9.99994836e-01 -3.36528773e-04 -9.55574552e+00] [-7.37576657e-03 3.12947702e-04 9.99972750e-01 6.41620930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.2850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.56, Y:-9.56, Z:0.64 [[ 9.99968017e-01 2.78903061e-03 7.49576279e-03 5.30561581e+02] [-2.78653063e-03 9.99996058e-01 -3.43942254e-04 -9.55750465e+00] [-7.49669251e-03 3.23044081e-04 9.99971847e-01 6.41187125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.3150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.59, Y:-9.56, Z:0.64 [[ 9.99963300e-01 2.50812924e-03 8.19193505e-03 5.30594578e+02] [-2.50511350e-03 9.99996791e-01 -3.78376502e-04 -9.55850584e+00] [-8.19285778e-03 3.57840888e-04 9.99966374e-01 6.41173116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.63, Y:-9.56, Z:0.64 [[ 9.99962259e-01 3.03562067e-03 8.14034107e-03 5.30627212e+02] [-3.03264118e-03 9.99995330e-01 -3.78333902e-04 -9.55975182e+00] [-8.14145153e-03 3.53632890e-04 9.99966795e-01 6.41002509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.66, Y:-9.56, Z:0.64 [[ 9.99957733e-01 3.77616798e-03 8.38289265e-03 5.30660254e+02] [-3.77300636e-03 9.99992805e-01 -3.92934509e-04 -9.56113574e+00] [-8.38431612e-03 3.61289194e-04 9.99964786e-01 6.40516166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.4050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.69, Y:-9.56, Z:0.64 [[ 9.99954842e-01 4.59803956e-03 8.31691375e-03 5.30693684e+02] [-4.59495548e-03 9.99989367e-01 -3.89891008e-04 -9.56234375e+00] [-8.31861805e-03 3.51657553e-04 9.99965338e-01 6.39936318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.4350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.72, Y:-9.56, Z:0.64 [[ 9.99943011e-01 7.10511637e-03 7.96817586e-03 5.30724806e+02] [-7.10234055e-03 9.99974707e-01 -3.76606172e-04 -9.56302955e+00] [-7.97065016e-03 3.19992011e-04 9.99968183e-01 6.39705820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.76, Y:-9.56, Z:0.64 [[ 9.99927512e-01 8.89076949e-03 8.11944308e-03 5.30756192e+02] [-8.88794209e-03 9.99960428e-01 -3.84242818e-04 -9.56415757e+00] [-8.12253799e-03 3.12049825e-04 9.99966963e-01 6.39096302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.495099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.79, Y:-9.57, Z:0.64 [[ 9.99908713e-01 1.06448560e-02 8.32178637e-03 5.30787293e+02] [-1.06419222e-02 9.99943294e-01 -3.96756518e-04 -9.56519782e+00] [-8.32553789e-03 3.08160497e-04 9.99965295e-01 6.39066739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.82, Y:-9.57, Z:0.64 [[ 9.99908520e-01 1.06630109e-02 8.32176803e-03 5.30818262e+02] [-1.06600744e-02 9.99943101e-01 -3.97140711e-04 -9.56667321e+00] [-8.32552924e-03 3.08393714e-04 9.99965295e-01 6.38668977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.85, Y:-9.57, Z:0.64 [[ 9.99883769e-01 1.25240908e-02 8.69461193e-03 5.30848266e+02] [-1.25209542e-02 9.99921524e-01 -4.15103185e-04 -9.56753871e+00] [-8.69912840e-03 3.06190100e-04 9.99962115e-01 6.38249591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.88, Y:-9.57, Z:0.64 [[ 9.99822887e-01 1.68568337e-02 8.36912142e-03 5.30878398e+02] [-1.68540778e-02 9.99857880e-01 -3.99709043e-04 -9.56745567e+00] [-8.37466983e-03 2.58584426e-04 9.99964898e-01 6.38354163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.91, Y:-9.57, Z:0.64 [[ 9.99781463e-01 1.92172338e-02 8.22941093e-03 5.30908319e+02] [-1.92146459e-02 9.99815304e-01 -3.93419798e-04 -9.56801026e+00] [-8.23545143e-03 2.35208604e-04 9.99966060e-01 6.37911801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.94, Y:-9.57, Z:0.64 [[ 9.99733019e-01 2.18793154e-02 7.42878485e-03 5.30937348e+02] [-2.18772803e-02 9.99760601e-01 -3.55119407e-04 -9.56856075e+00] [-7.43477617e-03 1.92502988e-04 9.99972343e-01 6.37811431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.6750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.97, Y:-9.57, Z:0.64 [[ 9.99676772e-01 2.44364580e-02 7.01511765e-03 5.30965835e+02] [-2.44347093e-02 9.99701372e-01 -3.34889844e-04 -9.56909570e+00] [-7.02120626e-03 1.63369238e-04 9.99975338e-01 6.37338246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.7050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.99, Y:-9.57, Z:0.64 [[ 9.99523370e-01 3.01946857e-02 6.42753081e-03 5.30993847e+02] [-3.01933377e-02 9.99544030e-01 -3.06682283e-04 -9.56891485e+00] [-6.43386022e-03 1.12467501e-04 9.99979296e-01 6.37059931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.02, Y:-9.57, Z:0.64 [[ 9.99436562e-01 3.30381691e-02 5.91930590e-03 5.31021765e+02] [-3.30370796e-02 9.99454087e-01 -2.81769501e-04 -9.56942194e+00] [-5.92538362e-03 8.60541609e-05 9.99982441e-01 6.36835241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.05, Y:-9.57, Z:0.64 [[ 9.99342925e-01 3.58559624e-02 5.29803238e-03 5.31050007e+02] [-3.58551304e-02 9.99356966e-01 -2.51971501e-04 -9.56998010e+00] [-5.30366024e-03 6.18442947e-05 9.99985934e-01 6.36678711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.7950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.08, Y:-9.57, Z:0.64 [[ 9.99241744e-01 3.86254808e-02 4.89999032e-03 5.31078039e+02] [-3.86248044e-02 9.99253757e-01 -2.32631470e-04 -9.57057652e+00] [-4.90531923e-03 4.31939078e-05 9.99987968e-01 6.36421997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.8250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.11, Y:-9.57, Z:0.64 [[ 9.99035888e-01 4.37560569e-02 3.56407070e-03 5.31105877e+02] [-4.37557317e-02 9.99042245e-01 -1.69199063e-04 -9.57038220e+00] [-3.56806068e-03 1.30874144e-05 9.99993634e-01 6.36989858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.13, Y:-9.57, Z:0.64 [[ 9.98952994e-01 4.56336300e-02 3.23836075e-03 5.31134328e+02] [-4.56333722e-02 9.98958243e-01 -1.53507218e-04 -9.57113901e+00] [-3.24199226e-03 5.56917377e-06 9.99994745e-01 6.37177497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.16, Y:-9.57, Z:0.64 [[ 9.98809782e-01 4.86894442e-02 2.89088268e-03 5.31162650e+02] [-4.86892519e-02 9.98813966e-01 -1.36888290e-04 -9.57273258e+00] [-2.89411900e-03 -4.02955202e-06 9.99995812e-01 6.37546504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.9150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.19, Y:-9.57, Z:0.64 [[ 9.98778977e-01 4.93310406e-02 2.64646478e-03 5.31190900e+02] [-4.93308822e-02 9.98782483e-01 -1.25136583e-04 -9.57437406e+00] [-2.64941578e-03 -5.56865408e-06 9.99996490e-01 6.37685147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.9450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.22, Y:-9.58, Z:0.64 [[ 9.98764531e-01 4.96263915e-02 2.57555994e-03 5.31218342e+02] [-4.96262431e-02 9.98767852e-01 -1.21539717e-04 -9.57630319e+00] [-2.57841805e-03 -6.42580545e-06 9.99996676e-01 6.37500276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.25, Y:-9.58, Z:0.64 [[ 9.98768683e-01 4.95536979e-02 2.35561152e-03 5.31245112e+02] [-4.95535735e-02 9.98771461e-01 -1.11203456e-04 -9.57810337e+00] [-2.35822810e-03 -5.66243904e-06 9.99997219e-01 6.37223960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.27, Y:-9.58, Z:0.64 [[ 9.98857352e-01 4.77427630e-02 2.14905884e-03 5.31271620e+02] [-4.77426555e-02 9.98859664e-01 -1.01305312e-04 -9.58007549e+00] [-2.15144478e-03 -1.41221952e-06 9.99997686e-01 6.37290484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.0350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.30, Y:-9.58, Z:0.64 [[ 9.98938383e-01 4.60327149e-02 1.75970024e-03 5.31299849e+02] [-4.60326404e-02 9.98939933e-01 -8.28280155e-05 -9.58209681e+00] [-1.76164764e-03 1.73643546e-06 9.99998448e-01 6.37158654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.0650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.33, Y:-9.58, Z:0.64 [[ 9.99040363e-01 4.37832727e-02 1.17397632e-03 5.31328091e+02] [-4.37832376e-02 9.99041053e-01 -5.55990016e-05 -9.58446495e+00] [-1.17528484e-03 4.14516284e-06 9.99999309e-01 6.36618634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.36, Y:-9.59, Z:0.64 [[ 9.99153489e-01 4.11345322e-02 5.04900467e-04 5.31356044e+02] [-4.11345250e-02 9.99153617e-01 -2.46364540e-05 -9.58688011e+00] [-5.05486537e-04 3.84675810e-06 9.99999872e-01 6.36260552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.38, Y:-9.59, Z:0.64 [[ 9.99386095e-01 3.50297413e-02 5.91924018e-04 5.31382592e+02] [-3.50297304e-02 9.99386270e-01 -2.87905146e-05 -9.59080728e+00] [-5.92569261e-04 8.03790120e-06 9.99999824e-01 6.35859477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.1550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.41, Y:-9.59, Z:0.64 [[ 9.99503814e-01 3.14920163e-02 6.14921223e-04 5.31410542e+02] [-3.14920041e-02 9.99504003e-01 -2.95472439e-05 -9.59317806e+00] [-6.15546726e-04 1.01674813e-05 9.99999810e-01 6.35928644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.1850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.44, Y:-9.60, Z:0.64 [[ 9.99610205e-01 2.78980397e-02 1.06608102e-03 5.31438454e+02] [-2.78980021e-02 9.99610774e-01 -5.01211106e-05 -9.59564558e+00] [-1.06706436e-03 2.03600430e-05 9.99999430e-01 6.35875380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.47, Y:-9.60, Z:0.64 [[ 9.99777846e-01 2.10218967e-02 1.52929599e-03 5.31465823e+02] [-2.10218125e-02 9.99779015e-01 -7.11735455e-05 -9.59902546e+00] [-1.53045424e-03 3.90091605e-05 9.99998828e-01 6.36258926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.49, Y:-9.60, Z:0.64 [[ 9.99842479e-01 1.76225743e-02 2.11234586e-03 5.31494560e+02] [-1.76224083e-02 9.99844709e-01 -9.71647850e-05 -9.60118665e+00] [-2.11373012e-03 5.99248583e-05 9.99997764e-01 6.35801441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.52, Y:-9.60, Z:0.64 [[ 9.99890511e-01 1.46707914e-02 1.93255371e-03 5.31522982e+02] [-1.46706471e-02 9.99892376e-01 -8.88295375e-05 -9.60372440e+00] [-1.93364892e-03 6.04679982e-05 9.99998129e-01 6.35457806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.3050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.55, Y:-9.61, Z:0.63 [[ 9.99928611e-01 1.18187791e-02 1.75791526e-03 5.31551909e+02] [-1.18186554e-02 9.99930154e-01 -8.07535506e-05 -9.60619996e+00] [-1.75874688e-03 5.99715910e-05 9.99998452e-01 6.34970256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.3350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.58, Y:-9.61, Z:0.63 [[ 9.99973218e-01 7.18829809e-03 1.37505024e-03 5.31579762e+02] [-7.18821760e-03 9.99974162e-01 -6.34671570e-05 -9.60964947e+00] [-1.37547094e-03 5.35812969e-05 9.99999053e-01 6.34455406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.61, Y:-9.61, Z:0.63 [[ 9.99985842e-01 5.15337151e-03 1.32589033e-03 5.31609203e+02] [-5.15329582e-03 9.99986720e-01 -6.04984894e-05 -9.61166649e+00] [-1.32618449e-03 5.36649278e-05 9.99999119e-01 6.33782524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.64, Y:-9.61, Z:0.63 [[ 9.99993416e-01 3.54149192e-03 7.91403389e-04 5.31638671e+02] [-3.54146449e-03 9.99993728e-01 -3.60506367e-05 -9.61347667e+00] [-7.91526099e-04 3.32476724e-05 9.99999686e-01 6.33844447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.4250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.67, Y:-9.62, Z:0.63 [[ 9.99997719e-01 2.07447696e-03 5.08575461e-04 5.31667932e+02] [-2.07446529e-03 9.99997848e-01 -2.34663574e-05 -9.61504522e+00] [-5.08623047e-04 2.24112817e-05 9.99999870e-01 6.33554884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.4550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.70, Y:-9.62, Z:0.63 [[ 9.99999865e-01 7.83104223e-05 5.12877535e-04 5.31698473e+02] [-7.82985345e-05 9.99999997e-01 -2.31984351e-05 -9.61655366e+00] [-5.12879351e-04 2.31582744e-05 9.99999868e-01 6.33522820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.73, Y:-9.62, Z:0.63 [[ 9.99999762e-01 -5.39647656e-04 4.30631019e-04 5.31729154e+02] [ 5.39655999e-04 9.99999854e-01 -1.92583356e-05 -9.61799910e+00] [-4.30620564e-04 1.94907237e-05 9.99999907e-01 6.33145680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.76, Y:-9.62, Z:0.63 [[ 9.99999726e-01 -5.02134536e-04 5.43513674e-04 5.31759646e+02] [ 5.02147977e-04 9.99999874e-01 -2.45938156e-05 -9.61950574e+00] [-5.43501256e-04 2.48667332e-05 9.99999852e-01 6.32555328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.5450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.79, Y:-9.62, Z:0.63 [[ 9.99999943e-01 -8.03690359e-05 3.27963065e-04 5.31790031e+02] [ 8.03739075e-05 9.99999997e-01 -1.48402212e-05 -9.62050426e+00] [-3.27961871e-04 1.48665801e-05 9.99999946e-01 6.32302289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.5750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.82, Y:-9.62, Z:0.63 [[ 9.99999682e-01 7.97359610e-04 3.40173549e-05 5.31820933e+02] [-7.97359558e-04 9.99999682e-01 -1.53927416e-06 -9.62115564e+00] [-3.40185716e-05 1.51214961e-06 9.99999999e-01 6.32339559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.85, Y:-9.62, Z:0.63 [[ 9.99997995e-01 1.94913688e-03 4.58997976e-04 5.31851387e+02] [-1.94912755e-03 9.99998100e-01 -2.07695080e-05 -9.62121587e+00] [-4.59037587e-04 1.98748207e-05 9.99999894e-01 6.32368688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.88, Y:-9.62, Z:0.63 [[ 9.99985375e-01 5.37537231e-03 5.95505557e-04 5.31881872e+02] [-5.37535722e-03 9.99985552e-01 -2.69464313e-05 -9.61999355e+00] [-5.95641800e-04 2.37449821e-05 9.99999822e-01 6.32723439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.6650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.91, Y:-9.62, Z:0.63 [[ 9.99975594e-01 6.94724499e-03 7.40048931e-04 5.31910652e+02] [-6.94722163e-03 9.99975867e-01 -3.41336311e-05 -9.62019387e+00] [-7.40268206e-04 2.89915141e-05 9.99999726e-01 6.32505520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.6950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.94, Y:-9.62, Z:0.63 [[ 9.99964717e-01 8.37617013e-03 6.36248227e-04 5.31939769e+02] [-8.37615297e-03 9.99964919e-01 -2.96322385e-05 -9.62024573e+00] [-6.36474112e-04 2.43018805e-05 9.99999797e-01 6.32055010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.97, Y:-9.62, Z:0.63 [[ 9.99949083e-01 1.00791600e-02 4.91368900e-04 5.31968574e+02] [-1.00791499e-02 9.99949204e-01 -2.30613867e-05 -9.62045771e+00] [-4.91576380e-04 1.81076317e-05 9.99999879e-01 6.31700866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.00, Y:-9.62, Z:0.63 [[ 9.99933651e-01 1.15133518e-02 3.69361743e-04 5.31996592e+02] [-1.15133461e-02 9.99933719e-01 -1.77543071e-05 -9.62059135e+00] [-3.69541673e-04 1.35005395e-05 9.99999932e-01 6.31503954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.7850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.02, Y:-9.62, Z:0.63 [[ 9.99896126e-01 1.43862488e-02 8.79454201e-04 5.32024023e+02] [-1.43862187e-02 9.99896512e-01 -4.05842843e-05 -9.61970943e+00] [-8.79947044e-04 2.79280482e-05 9.99999612e-01 6.31163187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.8150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.05, Y:-9.62, Z:0.63 [[ 9.99876670e-01 1.56648277e-02 1.12163564e-03 5.32053036e+02] [-1.56647801e-02 9.99877299e-01 -5.11949121e-05 -9.62001966e+00] [-1.12229998e-03 3.36184225e-05 9.99999370e-01 6.31336447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.08, Y:-9.62, Z:0.63 [[ 9.99842971e-01 1.76248880e-02 1.84325705e-03 5.32081703e+02] [-1.76247642e-02 9.99844668e-01 -8.33842279e-05 -9.61890727e+00] [-1.84444037e-03 5.08841632e-05 9.99998298e-01 6.31415419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.11, Y:-9.62, Z:0.63 [[ 9.99828497e-01 1.83951578e-02 2.14341673e-03 5.32109846e+02] [-1.83949925e-02 9.99830793e-01 -9.68391455e-05 -9.61894887e+00] [-2.14483542e-03 5.73944027e-05 9.99997698e-01 6.31712838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.9050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.14, Y:-9.62, Z:0.63 [[ 9.99814286e-01 1.90620933e-02 2.83385308e-03 5.32138578e+02] [-1.90618092e-02 9.99818299e-01 -1.27225559e-04 -9.61923615e+00] [-2.83576335e-03 7.31835648e-05 9.99995977e-01 6.31526221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.9350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.17, Y:-9.62, Z:0.63 [[ 9.99804741e-01 1.94464638e-02 3.50927531e-03 5.32167245e+02] [-1.94460322e-02 9.99810896e-01 -1.57068467e-04 -9.61996288e+00] [-3.51166612e-03 8.87963172e-05 9.99993830e-01 6.31085024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.20, Y:-9.62, Z:0.63 [[ 9.99806430e-01 1.92146596e-02 4.23080228e-03 5.32195412e+02] [-1.92140317e-02 9.99815376e-01 -1.89012733e-04 -9.62076221e+00] [-4.23365299e-03 1.07685376e-04 9.99991032e-01 6.30024833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.995099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.22, Y:-9.62, Z:0.63 [[ 9.99813299e-01 1.89286913e-02 3.88225155e-03 5.32224064e+02] [-1.89281620e-02 9.99820831e-01 -1.73035778e-04 -9.62176476e+00] [-3.88483131e-03 9.95195858e-05 9.99992449e-01 6.29424380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.25, Y:-9.62, Z:0.63 [[ 9.99827249e-01 1.81191320e-02 4.14349628e-03 5.32252196e+02] [-1.81185230e-02 9.99835829e-01 -1.84465305e-04 -9.62244874e+00] [-4.14615839e-03 1.09359406e-04 9.99991399e-01 6.28875681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.28, Y:-9.62, Z:0.63 [[ 9.99844902e-01 1.71093490e-02 4.17630924e-03 5.32280750e+02] [-1.71087239e-02 9.99853618e-01 -1.85364900e-04 -9.62325270e+00] [-4.17886937e-03 1.13884828e-04 9.99991262e-01 6.28313452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.31, Y:-9.62, Z:0.63 [[ 9.99895111e-01 1.38483454e-02 4.24158821e-03 5.32309559e+02] [-1.38476726e-02 9.99904099e-01 -1.87959544e-04 -9.62360045e+00] [-4.24378436e-03 1.29203704e-04 9.99990987e-01 6.27927411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.34, Y:-9.62, Z:0.63 [[ 9.99922403e-01 1.17356514e-02 4.17883688e-03 5.32338469e+02] [-1.17349811e-02 9.99931126e-01 -1.84895593e-04 -9.62478734e+00] [-4.18071894e-03 1.35842674e-04 9.99991252e-01 6.27270632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.37, Y:-9.63, Z:0.63 [[ 9.99951097e-01 8.81750363e-03 4.47826043e-03 5.32367043e+02] [-8.81670701e-03 9.99961113e-01 -1.97596152e-04 -9.62610159e+00] [-4.47982859e-03 1.58102979e-04 9.99989953e-01 6.26306857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.1750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.40, Y:-9.63, Z:0.63 [[ 9.99975336e-01 5.58368046e-03 4.26015795e-03 5.32396973e+02] [-5.58293376e-03 9.99984398e-01 -1.87146458e-04 -9.62774960e+00] [-4.26113645e-03 1.63357663e-04 9.99990908e-01 6.25411730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.2050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.43, Y:-9.63, Z:0.62 [[ 9.99987933e-01 -1.79692759e-03 4.57224641e-03 5.32427764e+02] [ 1.79786591e-03 9.99998364e-01 -2.01120170e-04 -9.62934220e+00] [-4.57187753e-03 2.09338029e-04 9.99989527e-01 6.24073867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.46, Y:-9.63, Z:0.62 [[ 9.99973695e-01 -5.32027485e-03 4.92991035e-03 5.32460477e+02] [ 5.32139699e-03 9.99985818e-01 -2.14529949e-04 -9.63057578e+00] [-4.92869907e-03 2.40758316e-04 9.99987825e-01 6.23344869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.49, Y:-9.63, Z:0.62 [[ 9.99950085e-01 -8.43871435e-03 5.34940628e-03 5.32492184e+02] [ 8.44009106e-03 9.99964354e-01 -2.34833494e-04 -9.63160751e+00] [-5.34723390e-03 2.79971248e-04 9.99985664e-01 6.22732182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.2950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.53, Y:-9.63, Z:0.62 [[ 9.99898292e-01 -1.31310032e-02 5.56624509e-03 5.32525126e+02] [ 1.31325751e-02 9.99913734e-01 -2.45931969e-04 -9.63200583e+00] [-5.56253558e-03 3.19006087e-04 9.99984478e-01 6.22034876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.3250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.56, Y:-9.63, Z:0.62 [[ 9.99877318e-01 -1.44293492e-02 6.09453114e-03 5.32557816e+02] [ 1.44312776e-02 9.99895827e-01 -2.72555442e-04 -9.63285760e+00] [-6.08996346e-03 3.60473875e-04 9.99981391e-01 6.21259914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.59, Y:-9.63, Z:0.62 [[ 9.99863330e-01 -1.52611621e-02 6.35759561e-03 5.32589763e+02] [ 1.52632828e-02 9.99883469e-01 -2.85193926e-04 -9.63347136e+00] [-6.35250236e-03 3.82192728e-04 9.99979750e-01 6.20710257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.62, Y:-9.63, Z:0.62 [[ 9.99847945e-01 -1.58722183e-02 7.22215077e-03 5.32622810e+02] [ 1.58749760e-02 9.99873932e-01 -3.24672648e-04 -9.63387020e+00] [-7.21608701e-03 4.39274750e-04 9.99973867e-01 6.20110413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.4150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.66, Y:-9.64, Z:0.62 [[ 9.99849978e-01 -1.57436808e-02 7.22211942e-03 5.32656316e+02] [ 1.57464402e-02 9.99875964e-01 -3.25368102e-04 -9.63546483e+00] [-7.21610112e-03 4.39041961e-04 9.99973867e-01 6.19680349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.4450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.69, Y:-9.63, Z:0.62 [[ 9.99843377e-01 -1.53233812e-02 8.85520046e-03 5.32688116e+02] [ 1.53275279e-02 9.99882446e-01 -4.00602894e-04 -9.63452403e+00] [-8.84802091e-03 5.36268483e-04 9.99960712e-01 6.19090713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.72, Y:-9.63, Z:0.62 [[ 9.99850410e-01 -1.45728556e-02 9.31612944e-03 5.32721389e+02] [ 1.45774208e-02 9.99893655e-01 -4.22309899e-04 -9.63460594e+00] [-9.30898446e-03 5.58051864e-04 9.99956515e-01 6.18788334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.75, Y:-9.63, Z:0.62 [[ 9.99860639e-01 -1.36789469e-02 9.57018206e-03 5.32753914e+02] [ 1.36837345e-02 9.99906279e-01 -4.34962783e-04 -9.63465466e+00] [-9.56333530e-03 5.65857997e-04 9.99954110e-01 6.18136375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.5350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.79, Y:-9.63, Z:0.62 [[ 9.99868305e-01 -1.29735595e-02 9.74981982e-03 5.32786908e+02] [ 1.29785034e-02 9.99915677e-01 -4.43970259e-04 -9.63466670e+00] [-9.74323782e-03 5.70449860e-04 9.99952371e-01 6.17315835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.5650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.82, Y:-9.63, Z:0.62 [[ 9.99879096e-01 -1.19565900e-02 9.94145423e-03 5.32819969e+02] [ 1.19616908e-02 9.99928353e-01 -4.53782665e-04 -9.63490433e+00] [-9.93531627e-03 5.72644403e-04 9.99950480e-01 6.16203564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.85, Y:-9.63, Z:0.62 [[ 9.99908928e-01 -9.70099724e-03 9.38223287e-03 5.32852067e+02] [ 9.70544798e-03 9.99952809e-01 -4.28964463e-04 -9.63306942e+00] [-9.37762874e-03 5.19984169e-04 9.99955894e-01 6.15397452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.88, Y:-9.63, Z:0.61 [[ 9.99917803e-01 -8.23594100e-03 9.82632178e-03 5.32883769e+02] [ 8.24077380e-03 9.99965942e-01 -4.51433174e-04 -9.63297698e+00] [-9.82226914e-03 5.32372562e-04 9.99951619e-01 6.14430045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.6550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.92, Y:-9.63, Z:0.61 [[ 9.99926379e-01 -6.68142951e-03 1.01288754e-02 5.32917224e+02] [ 6.68649408e-03 9.99977536e-01 -4.66230945e-04 -9.63281374e+00] [-1.01255328e-02 5.33923286e-04 9.99948593e-01 6.13517538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.6850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.95, Y:-9.63, Z:0.61 [[ 9.99937474e-01 -2.64159579e-03 1.08660116e-02 5.32949846e+02] [ 2.64720069e-03 9.99996370e-01 -5.01468459e-04 -9.63088279e+00] [-1.08646475e-02 5.30201618e-04 9.99940837e-01 6.12442432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.98, Y:-9.63, Z:0.61 [[ 9.99936004e-01 -2.86082604e-05 1.13130976e-02 5.32983062e+02] [ 3.45286639e-05 9.99999863e-01 -5.23127954e-04 -9.63014671e+00] [-1.13130811e-02 5.23485102e-04 9.99935868e-01 6.11502602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.745099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.02, Y:-9.63, Z:0.61 [[ 9.99925840e-01 3.01908487e-03 1.17983231e-02 5.33015038e+02] [-3.01284242e-03 9.99995312e-01 -5.46834551e-04 -9.62913534e+00] [-1.17999188e-02 5.11247509e-04 9.99930248e-01 6.11320972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.05, Y:-9.63, Z:0.61 [[ 9.99870564e-01 9.60028207e-03 1.29108347e-02 5.33047159e+02] [-9.59332365e-03 9.99953803e-01 -6.00784825e-04 -9.62585520e+00] [-1.29160059e-02 4.76849246e-04 9.99916471e-01 6.10920719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.8050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.08, Y:-9.63, Z:0.61 [[ 9.99823063e-01 1.29781964e-02 1.36164758e-02 5.33079139e+02] [-1.29707550e-02 9.99915675e-01 -6.34673049e-04 -9.62514797e+00] [-1.36235645e-02 4.57944780e-04 9.99907090e-01 6.10091846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.8350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.11, Y:-9.62, Z:0.61 [[ 9.99757952e-01 1.67114347e-02 1.43096101e-02 5.33111154e+02] [-1.67035825e-02 9.99860262e-01 -6.68087275e-04 -9.62474786e+00] [-1.43187752e-02 4.28903813e-04 9.99897389e-01 6.09325032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.14, Y:-9.62, Z:0.61 [[ 9.99610552e-01 2.36200771e-02 1.48605661e-02 5.33141529e+02] [-2.36123561e-02 9.99720948e-01 -6.94826898e-04 -9.62161022e+00] [-1.48728311e-02 3.43663321e-04 9.99889334e-01 6.08338074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.17, Y:-9.62, Z:0.61 [[ 9.99527346e-01 2.68710736e-02 1.49341623e-02 5.33170560e+02] [-2.68636374e-02 9.99638863e-01 -6.98352047e-04 -9.62088114e+00] [-1.49475345e-02 2.96836047e-04 9.99888235e-01 6.07460521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.9250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.20, Y:-9.62, Z:0.61 [[ 9.99448484e-01 2.96069341e-02 1.50384957e-02 5.33199638e+02] [-2.95997194e-02 9.99561586e-01 -7.02153949e-04 -9.62018741e+00] [-1.50526912e-02 2.56631448e-04 9.99886669e-01 6.06789891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.9550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.23, Y:-9.62, Z:0.61 [[ 9.99300432e-01 3.42078030e-02 1.51153112e-02 5.33227976e+02] [-3.42010578e-02 9.99414724e-01 -7.04594273e-04 -9.61809990e+00] [-1.51305672e-02 1.87141731e-04 9.99885509e-01 6.05969602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.26, Y:-9.62, Z:0.60 [[ 9.99240293e-01 3.57018519e-02 1.56273982e-02 5.33256968e+02] [-3.56948464e-02 9.99362471e-01 -7.27067934e-04 -9.61803766e+00] [-1.56433929e-02 1.68697998e-04 9.99877620e-01 6.04898803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.29, Y:-9.62, Z:0.60 [[ 9.99201002e-01 3.66499094e-02 1.59417965e-02 5.33285026e+02] [-3.66427594e-02 9.99328154e-01 -7.40464888e-04 -9.61841019e+00] [-1.59582241e-02 1.55721845e-04 9.99872647e-01 6.04379978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.0450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.31, Y:-9.62, Z:0.60 [[ 9.99172638e-01 3.72485212e-02 1.63275193e-02 5.33313350e+02] [-3.72411255e-02 9.99306022e-01 -7.56882605e-04 -9.61870802e+00] [-1.63443811e-02 1.48201193e-04 9.99866411e-01 6.03830376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.0750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.34, Y:-9.62, Z:0.60 [[ 9.99139200e-01 3.72989345e-02 1.81562356e-02 5.33342021e+02] [-3.72898225e-02 9.99304139e-01 -8.40269928e-04 -9.61841190e+00] [-1.81749426e-02 1.62503819e-04 9.99834809e-01 6.03049691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.37, Y:-9.62, Z:0.60 [[ 9.99147177e-01 3.68144770e-02 1.86979519e-02 5.33371062e+02] [-3.68047542e-02 9.99322102e-01 -8.63957606e-04 -9.61916338e+00] [-1.87170827e-02 1.75047280e-04 9.99824805e-01 6.02661922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.40, Y:-9.62, Z:0.60 [[ 9.99169521e-01 3.58719982e-02 1.93253179e-02 5.33398839e+02] [-3.58614659e-02 9.99356373e-01 -8.91386059e-04 -9.61984223e+00] [-1.93448554e-02 1.97611554e-04 9.99812851e-01 6.02003607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.1650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.43, Y:-9.62, Z:0.60 [[ 9.99254232e-01 3.32264460e-02 1.96718640e-02 5.33427773e+02] [-3.32150528e-02 9.99447818e-01 -9.05701112e-04 -9.62081680e+00] [-1.96910948e-02 2.51623666e-04 9.99806080e-01 6.00203600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.1950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.46, Y:-9.62, Z:0.60 [[ 9.99324534e-01 3.12531080e-02 1.93318029e-02 5.33456874e+02] [-3.12417625e-02 9.99511462e-01 -8.88685969e-04 -9.62223188e+00] [-1.93501328e-02 2.84126097e-04 9.99812728e-01 5.99434205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.49, Y:-9.62, Z:0.60 [[ 9.99391212e-01 2.90507659e-02 1.93199015e-02 5.33486430e+02] [-2.90390453e-02 9.99577884e-01 -8.86986573e-04 -9.62394211e+00] [-1.93375140e-02 3.25415091e-04 9.99812960e-01 5.98391477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.51, Y:-9.63, Z:0.60 [[ 9.99532088e-01 2.33142547e-02 1.98002759e-02 5.33514546e+02] [-2.33008357e-02 9.99728086e-01 -9.08184038e-04 -9.62602579e+00] [-1.98160655e-02 4.46396113e-04 9.99803543e-01 5.96811686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.2850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.55, Y:-9.63, Z:0.60 [[ 9.99601387e-01 2.01673117e-02 1.97572093e-02 5.33546202e+02] [-2.01533453e-02 9.99796490e-01 -9.05772651e-04 -9.62807427e+00] [-1.97714555e-02 5.07237737e-04 9.99804397e-01 5.95782955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.3150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.58, Y:-9.63, Z:0.59 [[ 9.99666828e-01 1.69236085e-02 1.94890795e-02 5.33577866e+02] [-1.69093576e-02 9.99856625e-01 -8.95794236e-04 -9.63005246e+00] [-1.95014453e-02 5.65947969e-04 9.99809669e-01 5.94855375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.61, Y:-9.63, Z:0.59 [[ 9.99759309e-01 9.92862155e-03 1.95639209e-02 5.33611046e+02] [-9.91281485e-03 9.99950458e-01 -9.04764006e-04 -9.63278272e+00] [-1.95719348e-02 7.10612712e-04 9.99808199e-01 5.93352019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.64, Y:-9.64, Z:0.59 [[ 9.99780416e-01 6.75954521e-03 1.98350497e-02 5.33643162e+02] [-6.74256123e-03 9.99976843e-01 -9.23012939e-04 -9.63502156e+00] [-1.98408295e-02 7.89071223e-04 9.99802840e-01 5.92535995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.4050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.68, Y:-9.64, Z:0.59 [[ 9.99796374e-01 4.41587128e-03 1.96903860e-02 5.33676391e+02] [-4.39857416e-03 9.99989901e-01 -9.21677750e-04 -9.63789239e+00] [-1.96942572e-02 8.34880449e-04 9.99805701e-01 5.91061798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.4350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.71, Y:-9.64, Z:0.59 [[ 9.99810664e-01 2.72862925e-03 1.92663260e-02 5.33709286e+02] [-2.71165260e-03 9.99995912e-01 -9.07225927e-04 -9.64266570e+00] [-1.92687227e-02 8.54810574e-04 9.99813976e-01 5.89598025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.74, Y:-9.64, Z:0.59 [[ 9.99802819e-01 3.13727149e-03 1.96081656e-02 5.33742836e+02] [-3.11965199e-03 9.99994702e-01 -9.29103320e-04 -9.64486407e+00] [-1.96109766e-02 8.67749466e-04 9.99807310e-01 5.89180371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.495099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.78, Y:-9.65, Z:0.59 [[ 9.99792102e-01 3.38446582e-03 2.01071639e-02 5.33776304e+02] [-3.36586821e-03 9.99993876e-01 -9.58695206e-04 -9.64676096e+00] [-2.01102854e-02 8.90817831e-04 9.99797371e-01 5.89105790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.81, Y:-9.65, Z:0.59 [[ 9.99773369e-01 3.51140499e-03 2.09971700e-02 5.33809659e+02] [-3.49102103e-03 9.99993399e-01 -1.00737205e-03 -9.64858817e+00] [-2.10005687e-02 9.33842182e-04 9.99779028e-01 5.88744925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.84, Y:-9.65, Z:0.59 [[ 9.99749525e-01 4.37300492e-03 2.19491045e-02 5.33842483e+02] [-4.35079523e-03 9.99989974e-01 -1.05952450e-03 -9.65127024e+00] [-2.19535178e-02 9.63763058e-04 9.99758528e-01 5.88152482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.88, Y:-9.65, Z:0.59 [[ 9.99753564e-01 4.85317805e-03 2.16623721e-02 5.33875309e+02] [-4.83152342e-03 9.99987775e-01 -1.05186821e-03 -9.65410532e+00] [-2.16672122e-02 9.46946734e-04 9.99764790e-01 5.86927564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.91, Y:-9.66, Z:0.59 [[ 9.99758044e-01 5.48125738e-03 2.13027809e-02 5.33907200e+02] [-5.46033138e-03 9.99984551e-01 -1.04035575e-03 -9.65705047e+00] [-2.13081542e-02 9.23783791e-04 9.99772529e-01 5.85431432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.94, Y:-9.66, Z:0.58 [[ 9.99773137e-01 6.10231780e-03 2.04067556e-02 5.33940293e+02] [-6.08313155e-03 9.99980995e-01 -1.00213483e-03 -9.66000258e+00] [-2.04124831e-02 8.77770502e-04 9.99791258e-01 5.84247644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.6750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.97, Y:-9.66, Z:0.58 [[ 9.99810416e-01 7.09521289e-03 1.81325520e-02 5.33971899e+02] [-7.08014181e-03 9.99974535e-01 -8.95222844e-04 -9.66271485e+00] [-1.81384420e-02 7.66672085e-04 9.99835191e-01 5.82461574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.7050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.00, Y:-9.66, Z:0.58 [[ 9.99828914e-01 8.04739018e-03 1.66548151e-02 5.34004548e+02] [-8.03473623e-03 9.99967379e-01 -8.26552284e-04 -9.66446837e+00] [-1.66609234e-02 6.92593827e-04 9.99860957e-01 5.81811712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.04, Y:-9.67, Z:0.58 [[ 9.99833559e-01 9.32308217e-03 1.56823149e-02 5.34037997e+02] [-9.31195313e-03 9.99956337e-01 -7.82527954e-04 -9.66605506e+00] [-1.56889258e-02 6.36364727e-04 9.99876719e-01 5.81126407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.07, Y:-9.67, Z:0.58 [[ 9.99815736e-01 1.24525373e-02 1.46091605e-02 5.34070262e+02] [-1.24431609e-02 9.99922313e-01 -7.32539750e-04 -9.66750216e+00] [-1.46171475e-02 5.50620635e-04 9.99893012e-01 5.80666616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.7950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.10, Y:-9.67, Z:0.58 [[ 9.99791051e-01 1.48059612e-02 1.40938823e-02 5.34103468e+02] [-1.47974477e-02 9.99890261e-01 -7.08157971e-04 -9.66925283e+00] [-1.41028206e-02 4.99456517e-04 9.99900426e-01 5.80455054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.8250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.14, Y:-9.67, Z:0.58 [[ 9.99747206e-01 1.74786037e-02 1.41429248e-02 5.34135532e+02] [-1.74702423e-02 9.99847128e-01 -7.14547568e-04 -9.67061595e+00] [-1.41532520e-02 4.67286611e-04 9.99899729e-01 5.80147097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.17, Y:-9.67, Z:0.58 [[ 9.99698245e-01 2.00548246e-02 1.41853259e-02 5.34166747e+02] [-2.00466254e-02 9.99798787e-01 -7.19970102e-04 -9.67161247e+00] [-1.41969105e-02 4.35384933e-04 9.99899124e-01 5.79742793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.20, Y:-9.67, Z:0.58 [[ 9.99552520e-01 2.64868678e-02 1.38998353e-02 5.34196026e+02] [-2.64796104e-02 9.99649104e-01 -7.05934149e-04 -9.67155186e+00] [-1.39136559e-02 3.37556034e-04 9.99903143e-01 5.80261678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.9150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.23, Y:-9.67, Z:0.58 [[ 9.99463911e-01 2.97349425e-02 1.37012250e-02 5.34225084e+02] [-2.97281962e-02 9.99557777e-01 -6.95834940e-04 -9.67197360e+00] [-1.37158566e-02 2.88149207e-04 9.99905892e-01 5.80255846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.9450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.25, Y:-9.67, Z:0.58 [[ 9.99350877e-01 3.33843978e-02 1.35391071e-02 5.34252660e+02] [-3.33781579e-02 9.99442558e-01 -6.86640645e-04 -9.67264333e+00] [-1.35544829e-02 2.34284474e-04 9.99908106e-01 5.80021885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.28, Y:-9.67, Z:0.58 [[ 9.99076571e-01 4.08557721e-02 1.32970148e-02 5.34280364e+02] [-4.08504302e-02 9.99165046e-01 -6.73206295e-04 -9.67290208e+00] [-1.33134168e-02 1.29395861e-04 9.99911364e-01 5.79736802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.31, Y:-9.67, Z:0.58 [[ 9.98912837e-01 4.47598462e-02 1.30269084e-02 5.34307025e+02] [-4.47550693e-02 9.98997773e-01 -6.58137498e-04 -9.67380877e+00] [-1.30433106e-02 7.44018077e-05 9.99914930e-01 5.79542777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.0350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.33, Y:-9.67, Z:0.58 [[ 9.98727127e-01 4.87554409e-02 1.29241257e-02 5.34334753e+02] [-4.87510944e-02 9.98810746e-01 -6.51334443e-04 -9.67474142e+00] [-1.29405117e-02 2.04401046e-05 9.99916268e-01 5.79373022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.0650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.36, Y:-9.68, Z:0.58 [[ 9.98525449e-01 5.27267644e-02 1.29157576e-02 5.34361791e+02] [-5.27227737e-02 9.98608976e-01 -6.49511768e-04 -9.67572700e+00] [-1.29320381e-02 -3.24005346e-05 9.99916377e-01 5.79243183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.39, Y:-9.68, Z:0.58 [[ 9.98088346e-01 6.04103552e-02 1.30477306e-02 5.34389904e+02] [-6.04069603e-02 9.98173618e-01 -6.54499134e-04 -9.67701712e+00] [-1.30634390e-02 -1.34925787e-04 9.99914661e-01 5.79393010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.42, Y:-9.68, Z:0.58 [[ 9.97868694e-01 6.39211465e-02 1.31208648e-02 5.34418266e+02] [-6.39180352e-02 9.97954936e-01 -6.56763914e-04 -9.67839318e+00] [-1.31360129e-02 -1.83295749e-04 9.99913702e-01 5.78995785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.1550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.45, Y:-9.68, Z:0.58 [[ 9.97667874e-01 6.70758595e-02 1.26349503e-02 5.34445335e+02] [-6.70732437e-02 9.97747855e-01 -6.31147336e-04 -9.68017211e+00] [-1.26488293e-02 -2.17791680e-04 9.99919977e-01 5.78705356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.1850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.47, Y:-9.68, Z:0.58 [[ 9.97505698e-01 6.95665560e-02 1.19531151e-02 5.34472665e+02] [-6.95644103e-02 9.97577284e-01 -5.95696827e-04 -9.68211644e+00] [-1.19655966e-02 -2.37300420e-04 9.99928382e-01 5.78239070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.50, Y:-9.69, Z:0.58 [[ 9.97292498e-01 7.27771138e-02 1.05435259e-02 5.34500066e+02] [-7.27756356e-02 9.97348200e-01 -5.24316604e-04 -9.68612116e+00] [-1.05537249e-02 -2.44414785e-04 9.99944278e-01 5.77240063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.53, Y:-9.69, Z:0.58 [[ 9.97298935e-01 7.28474784e-02 9.38503006e-03 5.34528018e+02] [-7.28463123e-02 9.97343069e-01 -4.66483129e-04 -9.68934161e+00] [-9.39407680e-03 -2.18441703e-04 9.99955851e-01 5.76342041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.55, Y:-9.69, Z:0.58 [[ 9.97338448e-01 7.24272224e-02 8.38558356e-03 5.34554532e+02] [-7.24262992e-02 9.97373681e-01 -4.14120354e-04 -9.69251726e+00] [-8.39355393e-03 -1.94318633e-04 9.99964755e-01 5.75485733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.3050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.58, Y:-9.70, Z:0.57 [[ 9.97569108e-01 6.94008849e-02 6.27627343e-03 5.34582668e+02] [-6.94003037e-02 9.97588844e-01 -3.10600317e-04 -9.69805463e+00] [-6.28269630e-03 -1.25730001e-04 9.99980256e-01 5.74516153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.3350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.61, Y:-9.70, Z:0.57 [[ 9.97581085e-01 6.92285109e-02 6.27639216e-03 5.34611066e+02] [-6.92279416e-02 9.97600821e-01 -3.08175376e-04 -9.69936667e+00] [-6.28266849e-03 -1.27071784e-04 9.99980256e-01 5.74150078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.64, Y:-9.70, Z:0.57 [[ 9.97761625e-01 6.66286901e-02 5.68832425e-03 5.34638468e+02] [-6.66281805e-02 9.97777835e-01 -2.79256357e-04 -9.70275633e+00] [-5.69429034e-03 -1.00371418e-04 9.99983782e-01 5.73705869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.67, Y:-9.71, Z:0.57 [[ 9.97966663e-01 6.35246259e-02 5.21158026e-03 5.34665934e+02] [-6.35241616e-02 9.97980268e-01 -2.54737292e-04 -9.70623516e+00] [-5.21723636e-03 -7.68419412e-05 9.99986387e-01 5.73575418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.4250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.69, Y:-9.71, Z:0.57 [[ 9.98366037e-01 5.68806619e-02 5.46323411e-03 5.34693366e+02] [-5.68800685e-02 9.98380983e-01 -2.64060522e-04 -9.71262422e+00] [-5.46940898e-03 -4.71200739e-05 9.99985042e-01 5.73699654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.4550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.72, Y:-9.72, Z:0.57 [[ 9.98566992e-01 5.31881709e-02 5.91452342e-03 5.34721189e+02] [-5.31874149e-02 9.98584507e-01 -2.85164608e-04 -9.71659721e+00] [-5.92131884e-03 -2.98222457e-05 9.99982468e-01 5.74043857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.75, Y:-9.72, Z:0.57 [[ 9.98758677e-01 4.93067620e-02 7.06736261e-03 5.34749437e+02] [-4.93055928e-02 9.98783682e-01 -3.39690840e-04 -9.72078319e+00] [-7.07551550e-03 -9.19132817e-06 9.99974968e-01 5.73789934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.78, Y:-9.73, Z:0.57 [[ 9.99087233e-01 4.19630190e-02 7.98789097e-03 5.34776176e+02] [-4.19612959e-02 9.99119163e-01 -3.83251458e-04 -9.72822011e+00] [-7.99693733e-03 4.77193816e-05 9.99968023e-01 5.74236927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.5450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.80, Y:-9.73, Z:0.57 [[ 9.99230927e-01 3.82957583e-02 8.42548583e-03 5.34804276e+02] [-3.82937285e-02 9.99266445e-01 -4.02165934e-04 -9.73269743e+00] [-8.43470653e-03 7.92133728e-05 9.99964424e-01 5.73642918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.5750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.83, Y:-9.73, Z:0.58 [[ 9.99328923e-01 3.63197005e-02 4.75226255e-03 5.34830581e+02] [-3.62527064e-02 9.99251516e-01 -1.34962617e-02 -9.73035490e+00] [-5.23888574e-03 1.33149223e-02 9.99897628e-01 5.77662784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.86, Y:-9.75, Z:0.57 [[ 9.99539831e-01 2.88946159e-02 9.23187859e-03 5.34859775e+02] [-2.90098927e-02 9.99499621e-01 1.26069269e-02 -9.75037517e+00] [-8.86298684e-03 -1.28689414e-02 9.99877911e-01 5.68306247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.89, Y:-9.74, Z:0.57 [[ 9.99617873e-01 2.69928748e-02 5.95758681e-03 5.34887715e+02] [-2.69385309e-02 9.99596387e-01 -9.02096363e-03 -9.74361318e+00] [-6.19868399e-03 8.85702784e-03 9.99941563e-01 5.74591285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.6650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.92, Y:-9.76, Z:0.57 [[ 9.99668765e-01 2.43225666e-02 8.41267190e-03 5.34916654e+02] [-2.43919991e-02 9.99668416e-01 8.25160071e-03 -9.75609483e+00] [-8.20918229e-03 -8.45406937e-03 9.99930567e-01 5.68973858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.6950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.95, Y:-9.76, Z:0.57 [[ 9.99720185e-01 2.25165724e-02 7.24956466e-03 5.34946027e+02] [-2.25146702e-02 9.99746454e-01 -3.43903447e-04 -9.75557583e+00] [-7.25547009e-03 1.80585660e-04 9.99973662e-01 5.71004096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.97, Y:-9.76, Z:0.57 [[ 9.99766307e-01 2.07292934e-02 6.13416915e-03 5.34973694e+02] [-2.07278991e-02 9.99785112e-01 -2.90805233e-04 -9.75902141e+00] [-6.13887918e-03 1.63588835e-04 9.99981144e-01 5.70264609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.00, Y:-9.76, Z:0.57 [[ 9.99847590e-01 1.70587675e-02 3.71416704e-03 5.35002521e+02] [-1.70582312e-02 9.99854482e-01 -1.76023427e-04 -9.76395866e+00] [-3.71662930e-03 1.12639479e-04 9.99993087e-01 5.69351096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.7850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.03, Y:-9.77, Z:0.57 [[ 9.99879254e-01 1.53231968e-02 2.58418608e-03 5.35031397e+02] [-1.53229312e-02 9.99882589e-01 -1.22559692e-04 -9.76679514e+00] [-2.58576068e-03 8.29475881e-05 9.99996653e-01 5.68695770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.8150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.06, Y:-9.77, Z:0.57 [[ 9.99934397e-01 1.14485838e-02 3.62915526e-04 5.35058670e+02] [-1.14485779e-02 9.99934463e-01 -1.82199258e-05 -9.77095808e+00] [-3.63100334e-04 1.40638639e-05 9.99999934e-01 5.67958465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.09, Y:-9.77, Z:0.57 [[ 9.99954090e-01 9.57844133e-03 -2.68882590e-04 5.35087158e+02] [-9.57843853e-03 9.99954126e-01 1.16993796e-05 -9.77352421e+00] [ 2.68982317e-04 -9.12336707e-06 9.99999964e-01 5.67597282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.11, Y:-9.78, Z:0.57 [[ 9.99969251e-01 7.83095570e-03 -4.16929942e-04 5.35114745e+02] [-7.83094875e-03 9.99969337e-01 1.82964891e-05 -9.77571250e+00] [ 4.17060436e-04 -1.50309695e-05 9.99999913e-01 5.67110501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.9050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.14, Y:-9.78, Z:0.57 [[ 9.99977978e-01 6.59113888e-03 -7.74860933e-04 5.35142743e+02] [-6.59111361e-03 9.99978278e-01 3.51543803e-05 -9.77803052e+00] [ 7.75075808e-04 -3.00464097e-05 9.99999699e-01 5.66930661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.9350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.17, Y:-9.78, Z:0.57 [[ 9.99988547e-01 4.71998070e-03 -7.92122521e-04 5.35171194e+02] [-4.71995360e-03 9.99988860e-01 3.60762010e-05 -9.77990085e+00] [ 7.92283976e-04 -3.23370063e-05 9.99999686e-01 5.67338657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.20, Y:-9.78, Z:0.57 [[ 9.99991488e-01 4.10207011e-03 -4.44023289e-04 5.35199694e+02] [-4.10206173e-03 9.99991586e-01 1.97794261e-05 -9.78093596e+00] [ 4.44100689e-04 -1.79578468e-05 9.99999901e-01 5.67711781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.995099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.23, Y:-9.78, Z:0.57 [[ 9.99992825e-01 3.78574481e-03 -1.31424020e-04 5.35228428e+02] [-3.78574413e-03 9.99992834e-01 5.43849006e-06 -9.78197707e+00] [ 1.31443667e-04 -4.94091332e-06 9.99999991e-01 5.67529039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.26, Y:-9.78, Z:0.57 [[ 9.99994637e-01 3.23013781e-03 5.40285588e-04 5.35258526e+02] [-3.23012446e-03 9.99994783e-01 -2.55685957e-05 -9.78293978e+00] [-5.40365360e-04 2.38232689e-05 9.99999854e-01 5.68076080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.29, Y:-9.78, Z:0.57 [[ 9.99995606e-01 2.79877370e-03 9.76933262e-04 5.35288301e+02] [-2.79873024e-03 9.99996083e-01 -4.58455969e-05 -9.78430132e+00] [-9.77057746e-04 4.31112228e-05 9.99999522e-01 5.67896580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.32, Y:-9.79, Z:0.57 [[ 9.99997733e-01 1.86860326e-03 1.02060673e-03 5.35318630e+02] [-1.86855583e-03 9.99998253e-01 -4.74316539e-05 -9.78547608e+00] [-1.02069358e-03 4.55244857e-05 9.99999478e-01 5.68031894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.35, Y:-9.79, Z:0.57 [[ 9.99998459e-01 2.79741740e-04 1.73319965e-03 5.35349128e+02] [-2.79602552e-04 9.99999958e-01 -8.05486810e-05 -9.78706518e+00] [-1.73322211e-03 8.00639498e-05 9.99998495e-01 5.68433386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.38, Y:-9.79, Z:0.57 [[ 9.99997298e-01 -2.90150648e-04 2.30662000e-03 5.35379697e+02] [ 2.90398256e-04 9.99999952e-01 -1.07012424e-04 -9.78858606e+00] [-2.30658884e-03 1.07681974e-04 9.99997334e-01 5.68341989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.1750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.41, Y:-9.79, Z:0.57 [[ 9.99995650e-01 -3.24548853e-04 2.93175918e-03 5.35411046e+02] [ 3.24948847e-04 9.99999938e-01 -1.35959683e-04 -9.79000558e+00] [-2.93171487e-03 1.36911763e-04 9.99995693e-01 5.68225245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.2050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.44, Y:-9.79, Z:0.57 [[ 9.99991884e-01 9.84490462e-04 3.90681316e-03 5.35442552e+02] [-9.83789597e-04 9.99999500e-01 -1.81313396e-04 -9.79096254e+00] [-3.90698970e-03 1.77468442e-04 9.99992352e-01 5.68205833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.47, Y:-9.79, Z:0.57 [[ 9.99987006e-01 2.79834627e-03 4.26115955e-03 5.35474321e+02] [-2.79752833e-03 9.99996067e-01 -1.97900949e-04 -9.79201825e+00] [-4.26169659e-03 1.85977662e-04 9.99990902e-01 5.67834766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.51, Y:-9.79, Z:0.57 [[ 9.99978572e-01 5.03995432e-03 4.17789592e-03 5.35505359e+02] [-5.03918516e-03 9.99987284e-01 -1.94608332e-04 -9.79245895e+00] [-4.17882361e-03 1.73550971e-04 9.99991254e-01 5.67498074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.2950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.54, Y:-9.79, Z:0.57 [[ 9.99922715e-01 1.16621824e-02 4.30784187e-03 5.35536146e+02] [-1.16614240e-02 9.99931983e-01 -2.01123725e-04 -9.79130098e+00] [-4.30989440e-03 1.50872610e-04 9.99990701e-01 5.67548590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.3250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.57, Y:-9.79, Z:0.57 [[ 9.99876380e-01 1.50764122e-02 4.46383960e-03 5.35565804e+02] [-1.50756305e-02 9.99886334e-01 -2.08701738e-04 -9.79100116e+00] [-4.46647868e-03 1.41380742e-04 9.99990015e-01 5.67734845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.59, Y:-9.79, Z:0.57 [[ 9.99813834e-01 1.87111259e-02 4.71082410e-03 5.35593543e+02] [-1.87102943e-02 9.99824923e-01 -2.20532875e-04 -9.79096078e+00] [-4.71412576e-03 1.32350913e-04 9.99988880e-01 5.67557297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.62, Y:-9.79, Z:0.57 [[ 9.99740084e-01 2.22287758e-02 5.06422919e-03 5.35622397e+02] [-2.22278639e-02 9.99752903e-01 -2.36298338e-04 -9.79111647e+00] [-5.06823046e-03 1.23669924e-04 9.99987149e-01 5.67743864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.4150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.65, Y:-9.79, Z:0.57 [[ 9.99582842e-01 2.81259136e-02 6.56315183e-03 5.35650417e+02] [-2.81245123e-02 9.99604381e-01 -3.05713274e-04 -9.79017132e+00] [-6.56915379e-03 1.21000299e-04 9.99978416e-01 5.67984642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.4450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.68, Y:-9.79, Z:0.57 [[ 9.99515072e-01 3.03142042e-02 7.11833939e-03 5.35678009e+02] [-3.03126176e-02 9.99540412e-01 -3.30699796e-04 -9.79082261e+00] [-7.12509279e-03 1.14763930e-04 9.99974610e-01 5.67710379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.71, Y:-9.78, Z:0.56 [[ 9.99098309e-01 3.85753476e-02 1.77344594e-02 5.35714595e+02] [-3.79013466e-02 9.98600407e-01 -3.68878757e-02 -9.78157122e+00] [-1.91326010e-02 3.61824544e-02 9.99162036e-01 5.62296840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.74, Y:-9.81, Z:0.56 [[ 9.99446073e-01 3.18587937e-02 9.62106762e-03 5.35736641e+02] [-3.21849859e-02 9.98836897e-01 3.59023760e-02 -9.81095721e+00] [-8.46607094e-03 -3.61921426e-02 9.99308988e-01 5.56578952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.5350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.77, Y:-9.80, Z:0.57 [[ 9.99464265e-01 3.17025704e-02 8.13197790e-03 5.35765218e+02] [-3.17005779e-02 9.99497340e-01 -3.73831384e-04 -9.79506428e+00] [-8.13974170e-03 1.15842710e-04 9.99966865e-01 5.66579836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.5650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.79, Y:-9.80, Z:0.57 [[ 9.99500063e-01 3.04619039e-02 8.46739476e-03 5.35793907e+02] [-3.04597073e-02 9.99535920e-01 -3.88287797e-04 -9.79672404e+00] [-8.47529319e-03 1.30179311e-04 9.99964076e-01 5.66177750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.82, Y:-9.80, Z:0.57 [[ 9.99542469e-01 2.89343474e-02 8.81222281e-03 5.35821451e+02] [-2.89319144e-02 9.99581303e-01 -4.03475637e-04 -9.79892115e+00] [-8.82020747e-03 1.48336558e-04 9.99961090e-01 5.65687017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.85, Y:-9.80, Z:0.57 [[ 9.99646456e-01 2.46977036e-02 9.84817093e-03 5.35850164e+02] [-2.46944699e-02 9.99694944e-01 -4.49836145e-04 -9.80220027e+00] [-9.85627660e-03 2.06481748e-04 9.99951404e-01 5.65113131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.6550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.88, Y:-9.80, Z:0.56 [[ 9.99523687e-01 2.56846088e-02 1.71084519e-02 5.35882433e+02] [-2.52454670e-02 9.99358352e-01 -2.54076785e-02 -9.79663669e+00] [-1.77500606e-02 2.49636656e-02 9.99530765e-01 5.60614419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.6850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.91, Y:-9.82, Z:0.56 [[ 9.99759006e-01 1.86631643e-02 1.15592509e-02 5.35907837e+02] [-1.89391068e-02 9.99526723e-01 2.42412902e-02 -9.81876018e+00] [-1.11013610e-02 -2.44543701e-02 9.99639307e-01 5.57705924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.94, Y:-9.80, Z:0.56 [[ 9.99677779e-01 1.73129477e-02 1.85634201e-02 5.35942903e+02] [-1.67552419e-02 9.99415761e-01 -2.97892198e-02 -9.80150232e+00] [-1.90683138e-02 2.94685864e-02 9.99383811e-01 5.59680976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.745099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.97, Y:-9.83, Z:0.56 [[ 9.99881091e-01 8.60226877e-03 1.27986273e-02 5.35967575e+02] [-8.96486763e-03 9.99552199e-01 2.85487612e-02 -9.82695985e+00] [-1.25473119e-02 -2.86601045e-02 9.99510462e-01 5.55491197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.00, Y:-9.80, Z:0.56 [[ 9.99736797e-01 1.09050610e-02 2.01845713e-02 5.36004506e+02] [-1.01894793e-02 9.99327584e-01 -3.52214980e-02 -9.80499884e+00] [-2.05550915e-02 3.50065573e-02 9.99175675e-01 5.58018240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.8050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.03, Y:-9.84, Z:0.55 [[ 9.99902719e-01 -1.86498102e-03 1.38229337e-02 5.36027052e+02] [ 1.39409423e-03 9.99420952e-01 3.39973052e-02 -9.83723708e+00] [-1.38783339e-02 -3.39747275e-02 9.99326328e-01 5.52209755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.8350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.06, Y:-9.82, Z:0.56 [[ 9.99912170e-01 -3.78599442e-03 1.27011032e-02 5.36060619e+02] [ 3.79361568e-03 9.99992638e-01 -5.76007789e-04 -9.82359537e+00] [-1.26988290e-02 6.24140302e-04 9.99919172e-01 5.60925514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.09, Y:-9.83, Z:0.56 [[ 9.99902704e-01 -5.51319247e-03 1.28135391e-02 5.36093007e+02] [ 5.52113745e-03 9.99984587e-01 -5.84754401e-04 -9.82602335e+00] [-1.28101177e-02 6.55442817e-04 9.99917732e-01 5.60421563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.13, Y:-9.83, Z:0.56 [[ 9.99893186e-01 -6.81232601e-03 1.29309508e-02 5.36125318e+02] [ 6.82057022e-03 9.99976563e-01 -5.93562404e-04 -9.82739801e+00] [-1.29266042e-02 6.81695461e-04 9.99916216e-01 5.59963675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.9250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.16, Y:-9.83, Z:0.56 [[ 9.99888616e-01 -7.26712873e-03 1.30362983e-02 5.36157249e+02] [ 7.27558921e-03 9.99973352e-01 -6.01685165e-04 -9.82844252e+00] [-1.30315784e-02 6.96464898e-04 9.99914843e-01 5.59618234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.9550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.19, Y:-9.83, Z:0.56 [[ 9.99899133e-01 -5.96120528e-03 1.28913603e-02 5.36189327e+02] [ 5.96939716e-03 9.99982005e-01 -5.97069858e-04 -9.82838671e+00] [-1.28875691e-02 6.73963284e-04 9.99916725e-01 5.59587544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.22, Y:-9.83, Z:0.56 [[ 9.99904008e-01 -4.24836952e-03 1.31881218e-02 5.36221928e+02] [ 4.25681012e-03 9.99990752e-01 -6.12010154e-04 -9.82926648e+00] [-1.31853998e-02 6.68090736e-04 9.99912846e-01 5.59135291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.26, Y:-9.82, Z:0.55 [[ 9.99801398e-01 2.15642652e-03 1.98119853e-02 5.36259335e+02] [-1.61853036e-03 9.99630710e-01 -2.71260678e-02 -9.82253117e+00] [-1.98631643e-02 2.70886142e-02 9.99435672e-01 5.53725078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.0450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.28, Y:-9.84, Z:0.55 [[ 9.99881376e-01 1.55416491e-03 1.53238022e-02 5.36284922e+02] [-1.94877533e-03 9.99665992e-01 2.57702590e-02 -9.84487349e+00] [-1.52786327e-02 -2.57970646e-02 9.99550436e-01 5.50449722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.0750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.32, Y:-9.83, Z:0.56 [[ 9.99885404e-01 4.45218611e-03 1.44691732e-02 5.36317258e+02] [-4.44291484e-03 9.99989904e-01 -6.72841063e-04 -9.83346758e+00] [-1.44720227e-02 6.08478654e-04 9.99895090e-01 5.57012515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.35, Y:-9.83, Z:0.56 [[ 9.99874686e-01 6.58970895e-03 1.43940380e-02 5.36349184e+02] [-6.58070416e-03 9.99978121e-01 -6.72866553e-04 -9.83453058e+00] [-1.43981570e-02 5.78059328e-04 9.99896174e-01 5.56466098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.38, Y:-9.84, Z:0.56 [[ 9.99838838e-01 1.05233831e-02 1.45449794e-02 5.36382113e+02] [-1.05145703e-02 9.99944488e-01 -6.82238447e-04 -9.83527074e+00] [-1.45513515e-02 5.29194288e-04 9.99893983e-01 5.55111159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.1650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.41, Y:-9.84, Z:0.55 [[ 9.99828673e-01 1.24111349e-02 1.37327695e-02 5.36413789e+02] [-1.24034304e-02 9.99922866e-01 -6.46058569e-04 -9.83674020e+00] [-1.37397285e-02 4.75614430e-04 9.99905492e-01 5.54578339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.1950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.45, Y:-9.84, Z:0.55 [[ 9.99806257e-01 1.42878259e-02 1.35390719e-02 5.36446697e+02] [-1.42804589e-02 9.99897824e-01 -6.40655201e-04 -9.83831592e+00] [-1.35468421e-02 4.47186919e-04 9.99908137e-01 5.53692571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.48, Y:-9.84, Z:0.55 [[ 9.99804942e-01 1.43796857e-02 1.35389085e-02 5.36479354e+02] [-1.43722806e-02 9.99896506e-01 -6.44091739e-04 -9.83992007e+00] [-1.35467691e-02 4.49381113e-04 9.99908137e-01 5.53337720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.51, Y:-9.84, Z:0.55 [[ 9.99787725e-01 1.59074609e-02 1.30941515e-02 5.36511307e+02] [-1.59006446e-02 9.99873382e-01 -6.24510566e-04 -9.84154249e+00] [-1.31024279e-02 4.16172549e-04 9.99914073e-01 5.52582397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.2850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.54, Y:-9.84, Z:0.55 [[ 9.99743694e-01 1.91646761e-02 1.20524824e-02 5.36543825e+02] [-1.91591010e-02 9.99816281e-01 -5.77869309e-04 -9.84295215e+00] [-1.20613428e-02 3.46806471e-04 9.99927199e-01 5.51936323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.3150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.57, Y:-9.84, Z:0.55 [[ 9.99718492e-01 2.04776706e-02 1.19834302e-02 5.36573748e+02] [-2.04722205e-02 9.99790255e-01 -5.77309487e-04 -9.84387681e+00] [-1.19927387e-02 3.31819544e-04 9.99928029e-01 5.51311453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.60, Y:-9.85, Z:0.55 [[ 9.99687275e-01 2.18810569e-02 1.21066502e-02 5.36603976e+02] [-2.18755946e-02 9.99760530e-01 -5.83442181e-04 -9.84505206e+00] [-1.21165174e-02 3.18419552e-04 9.99926542e-01 5.50846530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.63, Y:-9.85, Z:0.55 [[ 9.99653692e-01 2.34022227e-02 1.20346498e-02 5.36633162e+02] [-2.33969355e-02 9.99726086e-01 -5.79951201e-04 -9.84622265e+00] [-1.20449255e-02 2.98176434e-04 9.99927413e-01 5.50650775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.4050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.66, Y:-9.85, Z:0.55 [[ 9.99582299e-01 2.59353180e-02 1.27509647e-02 5.36663088e+02] [-2.59295922e-02 9.99663583e-01 -6.14193219e-04 -9.84703164e+00] [-1.27626043e-02 2.83309356e-04 9.99918515e-01 5.50253191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.4350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.69, Y:-9.85, Z:0.55 [[ 9.99541078e-01 2.72786001e-02 1.31723924e-02 5.36692340e+02] [-2.72726137e-02 9.99627832e-01 -6.33914777e-04 -9.84837312e+00] [-1.31847823e-02 2.74378290e-04 9.99913039e-01 5.49861009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.72, Y:-9.85, Z:0.55 [[ 9.99483057e-01 2.91406823e-02 1.35808633e-02 5.36721239e+02] [-2.91345039e-02 9.99575287e-01 -6.52603640e-04 -9.85001916e+00] [-1.35941126e-02 2.56594566e-04 9.99907563e-01 5.49186145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.495099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.75, Y:-9.85, Z:0.55 [[ 9.99366176e-01 3.29807168e-02 1.33984375e-02 5.36750240e+02] [-3.29750585e-02 9.99455968e-01 -6.43071514e-04 -9.85134639e+00] [-1.34123573e-02 2.00849659e-04 9.99910030e-01 5.48514482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.78, Y:-9.85, Z:0.55 [[ 9.99296030e-01 3.49008039e-02 1.37614655e-02 5.36779227e+02] [-3.48950307e-02 9.99390765e-01 -6.59483523e-04 -9.85233231e+00] [-1.37760981e-02 1.78812504e-04 9.99905089e-01 5.48128773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.81, Y:-9.85, Z:0.55 [[ 9.99204338e-01 3.71159626e-02 1.45977871e-02 5.36808025e+02] [-3.71097188e-02 9.99310953e-01 -6.98457349e-04 -9.85348866e+00] [-1.46136524e-02 1.56181840e-04 9.99893203e-01 5.48451057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.84, Y:-9.85, Z:0.55 [[ 9.99089463e-01 4.00248152e-02 1.47735654e-02 5.36837249e+02] [-4.00187539e-02 9.99198680e-01 -7.05795577e-04 -9.85498379e+00] [-1.47899763e-02 1.13933247e-04 9.99890616e-01 5.49385231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.87, Y:-9.86, Z:0.55 [[ 9.99082495e-01 4.08459077e-02 1.28755560e-02 5.36865403e+02] [-4.08413831e-02 9.99165454e-01 -6.14260769e-04 -9.85679999e+00] [-1.28899008e-02 8.78416649e-05 9.99916918e-01 5.48193550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.89, Y:-9.86, Z:0.55 [[ 9.99082944e-01 4.13735207e-02 1.10228520e-02 5.36894192e+02] [-4.13702460e-02 9.99143747e-01 -5.25033551e-04 -9.85880880e+00] [-1.10351362e-02 6.85339650e-05 9.99939109e-01 5.47282917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.6750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.92, Y:-9.86, Z:0.55 [[ 9.99075603e-01 4.17555722e-02 1.02181759e-02 5.36922438e+02] [-4.17527848e-02 9.99127854e-01 -4.86047947e-04 -9.86087671e+00] [-1.02295594e-02 5.89613465e-05 9.99947675e-01 5.46802547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.7050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.95, Y:-9.86, Z:0.55 [[ 9.99091947e-01 4.11173690e-02 1.11644065e-02 5.36950060e+02] [-4.11140163e-02 9.99154321e-01 -5.29751741e-04 -9.86328168e+00] [-1.11767469e-02 7.02571091e-05 9.99937536e-01 5.46884045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.98, Y:-9.87, Z:0.55 [[ 9.99113609e-01 4.04965734e-02 1.14902072e-02 5.36977474e+02] [-4.04929933e-02 9.99179674e-01 -5.44147568e-04 -9.86561418e+00] [-1.15028176e-02 7.83923560e-05 9.99933837e-01 5.46493243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.01, Y:-9.87, Z:0.55 [[ 9.99175349e-01 3.91127955e-02 1.09000829e-02 5.37005374e+02] [-3.91095036e-02 9.99234798e-01 -5.15072443e-04 -9.86793943e+00] [-1.09118881e-02 8.83508552e-05 9.99940460e-01 5.46232449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.7950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.03, Y:-9.87, Z:0.55 [[ 9.99228397e-01 3.78434559e-02 1.05111107e-02 5.37034359e+02] [-3.78403343e-02 9.99283675e-01 -4.95772384e-04 -9.87058959e+00] [-1.05223430e-02 9.76459031e-05 9.99944634e-01 5.45990440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.8250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.06, Y:-9.87, Z:0.55 [[ 9.99354270e-01 3.44669595e-02 1.01524015e-02 5.37063065e+02] [-3.44638801e-02 9.99405830e-01 -4.78154224e-04 -9.87344228e+00] [-1.01628498e-02 1.27954316e-04 9.99948349e-01 5.45998457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.09, Y:-9.88, Z:0.55 [[ 9.99413577e-01 3.28116735e-02 9.79261955e-03 5.37092206e+02] [-3.28087358e-02 9.99461542e-01 -4.60527441e-04 -9.87571453e+00] [-9.80245732e-03 1.38973909e-04 9.99951945e-01 5.45436073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.12, Y:-9.88, Z:0.55 [[ 9.99534063e-01 2.92204858e-02 8.82158921e-03 5.37120044e+02] [-2.92179666e-02 9.99572978e-01 -4.14342135e-04 -9.87867445e+00] [-8.82992948e-03 1.56400179e-04 9.99961003e-01 5.45466315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.9150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.15, Y:-9.89, Z:0.54 [[ 9.99609941e-01 2.70976788e-02 6.75886950e-03 5.37147360e+02] [-2.72300633e-02 9.99422421e-01 2.03309512e-02 -9.89058563e+00] [-6.20404414e-03 -2.05070654e-02 9.99770459e-01 5.44088849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.9450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.18, Y:-9.87, Z:0.55 [[ 9.99625523e-01 2.60389354e-02 8.41358800e-03 5.37176205e+02] [-2.58550014e-02 9.99439250e-01 -2.12768606e-02 -9.87267793e+00] [-8.96289688e-03 2.10513596e-02 9.99738219e-01 5.51421340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.975099893 meters Centerline goodness : 0.995787 Centerline is valid? [True, True] Translation: X:537.20, Y:-9.87, Z:0.56 [[ 9.99650505e-01 2.64333041e-02 3.83946615e-04 5.37202030e+02] [-2.63975161e-02 9.98870822e-01 -3.95000187e-02 -9.86702160e+00] [-1.42762908e-03 3.94760784e-02 9.99219496e-01 5.59643349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.005099893 meters Centerline goodness : 0.995773 Centerline is valid? [True, True] Translation: X:537.23, Y:-9.89, Z:0.54 [[ 9.99694475e-01 2.42787982e-02 4.63647542e-03 5.37231315e+02] [-2.43316059e-02 9.99635536e-01 1.16947718e-02 -9.89402147e+00] [-4.35085059e-03 -1.18040117e-02 9.99920865e-01 5.44232937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.0350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.26, Y:-9.90, Z:0.54 [[ 9.99754567e-01 1.98883281e-02 9.76013728e-03 5.37263560e+02] [-2.01364314e-02 9.99458680e-01 2.60167560e-02 -9.90461361e+00] [-9.23742414e-03 -2.62069050e-02 9.99613860e-01 5.39023765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.0650998929999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:537.29, Y:-9.88, Z:0.55 [[ 9.99773748e-01 2.10595748e-02 2.99121202e-03 5.37290747e+02] [-2.09797697e-02 9.99477501e-01 -2.45880869e-02 -9.88303129e+00] [-3.50746377e-03 2.45197688e-02 9.99693192e-01 5.53267323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.33, Y:-9.91, Z:0.54 [[ 9.99775326e-01 1.91240350e-02 9.14160754e-03 5.37325432e+02] [-1.93817334e-02 9.99391913e-01 2.89853744e-02 -9.91237777e+00] [-8.58173133e-03 -2.91560424e-02 9.99538033e-01 5.37275303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.35, Y:-9.90, Z:0.55 [[ 9.99823524e-01 1.71461596e-02 7.67653989e-03 5.37354835e+02] [-1.70845860e-02 9.99821915e-01 -8.01599454e-03 -9.89554477e+00] [-7.81261633e-03 7.88342940e-03 9.99938405e-01 5.46207926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.1550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.38, Y:-9.90, Z:0.54 [[ 9.99861735e-01 1.48418396e-02 7.49866607e-03 5.37383521e+02] [-1.48395590e-02 9.99889823e-01 -3.59689082e-04 -9.90284278e+00] [-7.50317834e-03 2.48362452e-04 9.99971820e-01 5.43597826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.1850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.41, Y:-9.90, Z:0.54 [[ 9.99878451e-01 1.41157530e-02 6.62034272e-03 5.37413536e+02] [-1.41139604e-02 9.99900343e-01 -3.17416732e-04 -9.90477225e+00] [-6.62416353e-03 2.23938896e-04 9.99978035e-01 5.43461258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.44, Y:-9.91, Z:0.54 [[ 9.99905054e-01 1.27524579e-02 5.22097557e-03 5.37442975e+02] [-1.27513238e-02 9.99918667e-01 -2.50450918e-04 -9.90707467e+00] [-5.22374479e-03 1.83852789e-04 9.99986339e-01 5.42546192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.245099893 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:537.47, Y:-9.91, Z:0.54 [[ 9.99912022e-01 1.21761242e-02 5.26212380e-03 5.37472786e+02] [-1.21749655e-02 9.99925851e-01 -2.52167542e-04 -9.90919401e+00] [-5.26480404e-03 1.88079181e-04 9.99986123e-01 5.41769797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.50, Y:-9.91, Z:0.54 [[ 9.99923589e-01 1.14193731e-02 4.73428047e-03 5.37502669e+02] [-1.14184267e-02 9.99934782e-01 -2.26877602e-04 -9.91116556e+00] [-4.73656251e-03 1.72802232e-04 9.99988767e-01 5.41792286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.3050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.53, Y:-9.91, Z:0.54 [[ 9.99938709e-01 1.00910176e-02 4.55519905e-03 5.37532142e+02] [-1.00901288e-02 9.99949070e-01 -2.18063622e-04 -9.91347323e+00] [-4.55716753e-03 1.72087711e-04 9.99989601e-01 5.41253648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.3350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.56, Y:-9.92, Z:0.54 [[ 9.99945706e-01 9.44357284e-03 4.40492635e-03 5.37563080e+02] [-9.44273609e-03 9.99955394e-01 -2.10716459e-04 -9.91517282e+00] [-4.40671978e-03 1.69110462e-04 9.99990276e-01 5.40778446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.59, Y:-9.92, Z:0.54 [[ 9.99971165e-01 7.14663057e-03 2.56802346e-03 5.37593408e+02] [-7.14633862e-03 9.99974457e-01 -1.22845371e-04 -9.91652873e+00] [-2.56883580e-03 1.04489863e-04 9.99996695e-01 5.40597124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.62, Y:-9.92, Z:0.54 [[ 9.99980478e-01 6.01579281e-03 1.68935539e-03 5.37623285e+02] [-6.01566442e-03 9.99981902e-01 -8.10676427e-05 -9.91767427e+00] [-1.68981250e-03 7.09034649e-05 9.99998570e-01 5.40144955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.4250998929999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:537.65, Y:-9.91, Z:0.54 [[ 9.99981669e-01 4.81322114e-03 -3.67346379e-03 5.37651353e+02] [-4.84949330e-03 9.99938938e-01 -9.92991375e-03 -9.91457510e+00] [ 3.62544461e-03 9.94754616e-03 9.99943950e-01 5.42829816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.4550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.68, Y:-9.93, Z:0.54 [[ 9.99998449e-01 5.50286763e-04 -1.67331014e-03 5.37681706e+02] [-5.33247110e-04 9.99948176e-01 1.01666521e-02 -9.92557883e+00] [ 1.67881799e-03 -1.01657440e-02 9.99946918e-01 5.36826011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.71, Y:-9.92, Z:0.54 [[ 9.99996577e-01 -1.77778807e-03 -1.91985145e-03 5.37712023e+02] [ 1.77796648e-03 9.99998415e-01 9.12234564e-05 -9.92074257e+00] [ 1.91968623e-03 -9.46365756e-05 9.99998153e-01 5.40243973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.74, Y:-9.92, Z:0.54 [[ 9.99976118e-01 -6.66943942e-03 -1.81159931e-03 5.37742781e+02] [ 6.66960683e-03 9.99977754e-01 8.63811998e-05 -9.91951909e+00] [ 1.81098290e-03 -9.84617920e-05 9.99998355e-01 5.41790117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.5450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.77, Y:-9.92, Z:0.54 [[ 9.99964834e-01 -8.02233108e-03 -2.44388433e-03 5.37774301e+02] [ 8.02264075e-03 9.99967811e-01 1.16933331e-04 -9.92043397e+00] [ 2.44286758e-03 -1.36535625e-04 9.99997007e-01 5.41269264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.5750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.81, Y:-9.92, Z:0.54 [[ 9.99964978e-01 -8.00444157e-03 -2.44388976e-03 5.37805270e+02] [ 8.00475091e-03 9.99967955e-01 1.16819344e-04 -9.92190961e+00] [ 2.44287637e-03 -1.36377981e-04 9.99997007e-01 5.40996703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.84, Y:-9.92, Z:0.54 [[ 9.99959506e-01 -8.81251219e-03 -1.82397536e-03 5.37837014e+02] [ 8.81268632e-03 9.99961164e-01 8.74500961e-05 -9.92301162e+00] [ 1.82313387e-03 -1.03520678e-04 9.99998333e-01 5.40508217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.87, Y:-9.92, Z:0.54 [[ 9.99959977e-01 -8.75885911e-03 -1.82396318e-03 5.37868825e+02] [ 8.75903361e-03 9.99961635e-01 8.77048339e-05 -9.92455850e+00] [ 1.82312501e-03 -1.03677478e-04 9.99998333e-01 5.40228227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.6650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.90, Y:-9.93, Z:0.54 [[ 9.99960446e-01 -8.70520463e-03 -1.82395848e-03 5.37900637e+02] [ 8.70537922e-03 9.99962104e-01 8.78027019e-05 -9.92610701e+00] [ 1.82312502e-03 -1.03677479e-04 9.99998333e-01 5.39948280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.6950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.93, Y:-9.93, Z:0.54 [[ 9.99947509e-01 -1.02227666e-02 -6.88270174e-04 5.37931617e+02] [ 1.02227919e-02 9.99947745e-01 3.32923284e-05 -9.92589806e+00] [ 6.87893869e-04 -4.03266236e-05 9.99999763e-01 5.40558760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.725099893 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:537.96, Y:-9.93, Z:0.54 [[ 9.99933308e-01 -1.15404453e-02 4.43753378e-04 5.37962664e+02] [ 1.15404556e-02 9.99933407e-01 -2.06263770e-05 -9.92577536e+00] [-4.43485790e-04 2.57461175e-05 9.99999901e-01 5.40346231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.99, Y:-9.92, Z:0.54 [[ 9.99951821e-01 -9.67406614e-03 -1.66348087e-03 5.37994255e+02] [ 9.66956639e-03 9.99949625e-01 -2.69211564e-03 -9.92488003e+00] [ 1.68944078e-03 2.67590080e-03 9.99994993e-01 5.41830025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.7850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.03, Y:-9.93, Z:0.54 [[ 9.99944601e-01 -1.05084124e-02 -6.06209661e-04 5.38026218e+02] [ 1.05100919e-02 9.99940743e-01 2.83707654e-03 -9.92768005e+00] [ 5.76360568e-04 -2.84329068e-03 9.99995792e-01 5.40453632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.8150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.06, Y:-9.93, Z:0.54 [[ 9.99947069e-01 -1.02114979e-02 -1.25879706e-03 5.38058990e+02] [ 1.02115831e-02 9.99947859e-01 6.12950742e-05 -9.92642408e+00] [ 1.25810551e-03 -7.41461406e-05 9.99999206e-01 5.41342943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.09, Y:-9.93, Z:0.54 [[ 9.99952501e-01 -9.11019766e-03 -3.46411264e-03 5.38089909e+02] [ 9.11083558e-03 9.99958481e-01 1.68416498e-04 -9.92507169e+00] [ 3.46243451e-03 -1.99969459e-04 9.99993986e-01 5.41157889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.12, Y:-9.93, Z:0.54 [[ 9.99953673e-01 -8.49731313e-03 -4.52178830e-03 5.38120722e+02] [ 8.49838886e-03 9.99963864e-01 2.18739125e-04 -9.92500832e+00] [ 4.51976620e-03 -2.57156907e-04 9.99989753e-01 5.40924244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.9050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.15, Y:-9.92, Z:0.54 [[ 9.99956276e-01 -7.77081870e-03 -5.20196055e-03 5.38151012e+02] [ 7.77223172e-03 9.99969764e-01 2.51471139e-04 -9.92464589e+00] [ 5.19984913e-03 -2.91890986e-04 9.99986438e-01 5.41361756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.9350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.18, Y:-9.92, Z:0.54 [[ 9.99972132e-01 -5.27771729e-03 -5.28019664e-03 5.38181765e+02] [ 5.27913848e-03 9.99986033e-01 2.55253197e-04 -9.92191820e+00] [ 5.27877574e-03 -2.83120973e-04 9.99986027e-01 5.42052901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.21, Y:-9.92, Z:0.54 [[ 9.99978601e-01 -3.59116947e-03 -5.46816276e-03 5.38210993e+02] [ 3.59266567e-03 9.99993512e-01 2.63822592e-04 -9.92127589e+00] [ 5.46717985e-03 -2.83462228e-04 9.99985015e-01 5.42466725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.995099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.24, Y:-9.92, Z:0.54 [[ 9.99981240e-01 -1.68236406e-03 -5.88971557e-03 5.38239467e+02] [ 1.68406419e-03 9.99998542e-01 2.83712843e-04 -9.92036390e+00] [ 5.88922967e-03 -2.93626179e-04 9.99982615e-01 5.42540637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.27, Y:-9.92, Z:0.54 [[ 9.99977301e-01 3.17388937e-03 -5.94343487e-03 5.38268287e+02] [-3.17226303e-03 9.99994928e-01 2.83044341e-04 -9.91738923e+00] [ 5.94430307e-03 -2.64183778e-04 9.99982298e-01 5.42690745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.30, Y:-9.91, Z:0.54 [[ 9.99944808e-01 9.15413244e-03 -5.15578399e-03 5.38295877e+02] [-9.15299873e-03 9.99958081e-01 2.43443417e-04 -9.91477348e+00] [ 5.15779638e-03 -1.96239097e-04 9.99986679e-01 5.42471101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.32, Y:-9.91, Z:0.54 [[ 9.99911702e-01 1.20664323e-02 -5.56686759e-03 5.38322849e+02] [-1.20651504e-02 9.99927179e-01 2.63792856e-04 -9.91372791e+00] [ 5.56964524e-03 -1.96604469e-04 9.99984470e-01 5.42689200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.35, Y:-9.91, Z:0.54 [[ 9.99870687e-01 1.51962467e-02 -5.26152553e-03 5.38349466e+02] [-1.51951485e-02 9.99884516e-01 2.48635299e-04 -9.91259355e+00] [ 5.26469623e-03 -1.68653486e-04 9.99986127e-01 5.42685953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.38, Y:-9.91, Z:0.54 [[ 9.99871978e-01 1.51110805e-02 -5.26153116e-03 5.38377907e+02] [-1.51099818e-02 9.99885807e-01 2.48515511e-04 -9.91384917e+00] [ 5.26468567e-03 -1.68982055e-04 9.99986127e-01 5.42436323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.1750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.41, Y:-9.91, Z:0.54 [[ 9.99821790e-01 1.80111018e-02 -5.65581814e-03 5.38406020e+02] [-1.80098828e-02 9.99837773e-01 2.66393287e-04 -9.91294556e+00] [ 5.65969866e-03 -1.64485191e-04 9.99983970e-01 5.42709673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.2050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.43, Y:-9.91, Z:0.54 [[ 9.99726732e-01 2.25454231e-02 -6.17776804e-03 5.38432682e+02] [-2.25440668e-02 9.99745808e-01 2.89098215e-04 -9.91075061e+00] [ 6.18271554e-03 -1.49747199e-04 9.99980876e-01 5.42427814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.46, Y:-9.91, Z:0.54 [[ 9.99687087e-01 2.41615170e-02 -6.47678039e-03 5.38460335e+02] [-2.41600591e-02 9.99708057e-01 3.03262563e-04 -9.91094245e+00] [ 6.48221683e-03 -1.46688272e-04 9.99978979e-01 5.42427848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.49, Y:-9.91, Z:0.54 [[ 9.99665405e-01 2.51036739e-02 -6.23564612e-03 5.38487120e+02] [-2.51023467e-02 9.99684844e-01 2.91026293e-04 -9.91122734e+00] [ 6.24098675e-03 -1.34399566e-04 9.99980516e-01 5.42263573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.2950998929999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:538.52, Y:-9.91, Z:0.54 [[ 9.99634500e-01 2.63639173e-02 -5.98418926e-03 5.38515381e+02] [-2.63627208e-02 9.99652404e-01 2.78739520e-04 -9.91126028e+00] [ 5.98945785e-03 -1.20878130e-04 9.99982056e-01 5.41883055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.3250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.54, Y:-9.91, Z:0.54 [[ 9.99615501e-01 2.70492992e-02 -6.09805757e-03 5.38542152e+02] [-2.70480749e-02 9.99634094e-01 2.83155525e-04 -9.91190560e+00] [ 6.10348541e-03 -1.18105934e-04 9.99981367e-01 5.41646294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.57, Y:-9.91, Z:0.54 [[ 9.99587929e-01 2.80068980e-02 -6.29169390e-03 5.38569129e+02] [-2.80056181e-02 9.99607723e-01 2.91456690e-04 -9.91244586e+00] [ 6.29738861e-03 -1.15133813e-04 9.99980165e-01 5.41204716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.60, Y:-9.91, Z:0.54 [[ 9.99545593e-01 2.93678953e-02 -6.79228299e-03 5.38596786e+02] [-2.93664384e-02 9.99568664e-01 3.14149028e-04 -9.91257609e+00] [ 6.79857913e-03 -1.14541116e-04 9.99976883e-01 5.41156767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.4150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.63, Y:-9.91, Z:0.54 [[ 9.99408014e-01 3.35998288e-02 -7.39406520e-03 5.38625182e+02] [-3.35982233e-02 9.99435362e-01 3.41274407e-04 -9.91196737e+00] [ 7.40135700e-03 -9.26449239e-05 9.99972605e-01 5.41181063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.4450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.65, Y:-9.91, Z:0.54 [[ 9.99318914e-01 3.61535335e-02 -7.39117791e-03 5.38653577e+02] [-3.61520051e-02 9.99346245e-01 3.40341231e-04 -9.91250595e+00] [ 7.39865042e-03 -7.29035279e-05 9.99972627e-01 5.41037012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.68, Y:-9.91, Z:0.54 [[ 9.99219442e-01 3.88485648e-02 -7.16217575e-03 5.38680950e+02] [-3.88472064e-02 9.99245108e-01 3.28731463e-04 -9.91313878e+00] [ 7.16953983e-03 -5.02443492e-05 9.99974297e-01 5.40746043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.71, Y:-9.91, Z:0.54 [[ 9.99117158e-01 4.14542879e-02 -6.81517719e-03 5.38708372e+02] [-4.14531243e-02 9.99140401e-01 3.11961771e-04 -9.91414138e+00] [ 6.82225102e-03 -2.91759704e-05 9.99976728e-01 5.40886971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.5350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.74, Y:-9.92, Z:0.54 [[ 9.98943347e-01 4.56634366e-02 -5.19997806e-03 5.38735822e+02] [-4.56628332e-02 9.98956881e-01 2.34753543e-04 -9.91538147e+00] [ 5.20527352e-03 2.94024061e-06 9.99986452e-01 5.41100766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.5650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.76, Y:-9.92, Z:0.54 [[ 9.98785847e-01 4.90794963e-02 -4.24678903e-03 5.38762284e+02] [-4.90791229e-02 9.98794875e-01 1.92166539e-04 -9.91798489e+00] [ 4.25110255e-03 1.64954609e-05 9.99990964e-01 5.41389206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.79, Y:-9.92, Z:0.54 [[ 9.98796808e-01 4.88125516e-02 -4.71930372e-03 5.38790181e+02] [-4.88120884e-02 9.98807957e-01 2.13335419e-04 -9.92011383e+00] [ 4.72409155e-03 1.72803347e-05 9.99988841e-01 5.40825861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.82, Y:-9.92, Z:0.54 [[ 9.98831347e-01 4.80438398e-02 -5.26595961e-03 5.38818369e+02] [-4.80432549e-02 9.98845228e-01 2.37592113e-04 -9.92270652e+00] [ 5.27129346e-03 1.56793899e-05 9.99986107e-01 5.40131211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.6550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.85, Y:-9.92, Z:0.54 [[ 9.98844162e-01 4.77766606e-02 -5.26608658e-03 5.38846743e+02] [-4.77760868e-02 9.98858043e-01 2.34777874e-04 -9.92393056e+00] [ 5.27128984e-03 1.70865006e-05 9.99986107e-01 5.39882216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.6850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.87, Y:-9.93, Z:0.54 [[ 9.98919731e-01 4.61288349e-02 -5.61260615e-03 5.38874684e+02] [-4.61281520e-02 9.98935499e-01 2.51123464e-04 -9.92649136e+00] [ 5.61821556e-03 8.04696616e-06 9.99984218e-01 5.38959901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.90, Y:-9.93, Z:0.54 [[ 9.99120462e-01 4.14825043e-02 -6.12409479e-03 5.38901243e+02] [-4.14816159e-02 9.99139230e-01 2.72064071e-04 -9.93130143e+00] [ 6.13010926e-03 -1.77874322e-05 9.99981211e-01 5.38126574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.745099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.93, Y:-9.93, Z:0.54 [[ 9.99258970e-01 3.79693398e-02 -6.31195241e-03 5.38928238e+02] [-3.79683263e-02 9.99278904e-01 2.80360778e-04 -9.93418086e+00] [ 6.31804600e-03 -4.04987539e-05 9.99980040e-01 5.37943848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.96, Y:-9.94, Z:0.54 [[ 9.99388247e-01 3.43797261e-02 -6.41607519e-03 5.38956270e+02] [-3.43786083e-02 9.99408840e-01 2.84463976e-04 -9.93696387e+00] [ 6.42206206e-03 -6.37142186e-05 9.99979376e-01 5.37595132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.8050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.98, Y:-9.94, Z:0.54 [[ 9.99520122e-01 3.03734234e-02 -6.08120488e-03 5.38982793e+02] [-3.03723509e-02 9.99538618e-01 2.68660867e-04 -9.93968950e+00] [ 6.08655927e-03 -8.38314536e-05 9.99981473e-01 5.37437048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.8350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.01, Y:-9.94, Z:0.54 [[ 9.99726335e-01 2.26272434e-02 -5.93820712e-03 5.39010992e+02] [-2.26260870e-02 9.99743963e-01 2.61850144e-04 -9.94377006e+00] [ 5.94261167e-03 -1.27420093e-04 9.99982334e-01 5.36929472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.04, Y:-9.95, Z:0.54 [[ 9.99802520e-01 1.88884414e-02 -6.17636058e-03 5.39038506e+02] [-1.88871230e-02 9.99821585e-01 2.71730735e-04 -9.94611422e+00] [ 6.18039120e-03 -1.55023392e-04 9.99980889e-01 5.36723026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.07, Y:-9.95, Z:0.54 [[ 9.99869454e-01 1.50688600e-02 -5.83135256e-03 5.39065946e+02] [-1.50676238e-02 9.99886444e-01 2.55867957e-04 -9.94847161e+00] [ 5.83454601e-03 -1.67969928e-04 9.99982965e-01 5.36367649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.9250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.09, Y:-9.95, Z:0.54 [[ 9.99948662e-01 8.09934012e-03 -6.08887134e-03 5.39093447e+02] [-8.09786693e-03 9.99967176e-01 2.66562254e-04 -9.95160831e+00] [ 6.09083046e-03 -2.17241699e-04 9.99981427e-01 5.36236481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.9550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.12, Y:-9.95, Z:0.54 [[ 9.99970909e-01 4.70832312e-03 -6.00113647e-03 5.39121920e+02] [-4.70683192e-03 9.99988888e-01 2.62585097e-04 -9.95352035e+00] [ 6.00230613e-03 -2.34331117e-04 9.99981959e-01 5.35786930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.15, Y:-9.96, Z:0.54 [[ 9.99985040e-01 -1.29472764e-03 -5.31451224e-03 5.39149842e+02] [ 1.29597805e-03 9.99999133e-01 2.31845567e-04 -9.95576327e+00] [ 5.31420745e-03 -2.38729590e-04 9.99985851e-01 5.35760980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.18, Y:-9.96, Z:0.54 [[ 9.99981020e-01 -4.01901346e-03 -4.66981791e-03 5.39177869e+02] [ 4.02000611e-03 9.99991899e-01 2.03201620e-04 -9.95745086e+00] [ 4.66896341e-03 -2.21970460e-04 9.99989076e-01 5.35468615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.0450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.21, Y:-9.96, Z:0.54 [[ 9.99968824e-01 -6.57677291e-03 -4.37004223e-03 5.39206480e+02] [ 6.57766764e-03 9.99978349e-01 1.90401991e-04 -9.95891986e+00] [ 4.36869538e-03 -2.19140740e-04 9.99990433e-01 5.35365551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.0750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.24, Y:-9.96, Z:0.54 [[ 9.99952799e-01 -8.95252278e-03 -3.77528403e-03 5.39236722e+02] [ 8.95320850e-03 9.99959906e-01 1.64770202e-04 -9.96031075e+00] [ 3.77365756e-03 -1.98563330e-04 9.99992860e-01 5.35168255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.27, Y:-9.96, Z:0.53 [[ 9.99934163e-01 -1.10696166e-02 -3.02220411e-03 5.39267326e+02] [ 1.10700663e-02 9.99938716e-01 1.32106559e-04 -9.96172232e+00] [ 3.02055652e-03 -1.65553862e-04 9.99995424e-01 5.34906301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.30, Y:-9.96, Z:0.53 [[ 9.99896507e-01 -1.40239656e-02 -3.20983642e-03 5.39299421e+02] [ 1.40244901e-02 9.99901642e-01 1.40970452e-04 -9.96306423e+00] [ 3.20754374e-03 -1.85972182e-04 9.99994839e-01 5.34135531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.1650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.33, Y:-9.96, Z:0.53 [[ 9.99881695e-01 -1.49546856e-02 -3.59904073e-03 5.39331746e+02] [ 1.49553517e-02 9.99888150e-01 1.58238042e-04 -9.96440624e+00] [ 3.59627178e-03 -2.12044242e-04 9.99993511e-01 5.33849933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.1950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.36, Y:-9.97, Z:0.53 [[ 9.99871871e-01 -1.55423933e-02 -3.83090007e-03 5.39363537e+02] [ 1.55431531e-02 9.99879184e-01 1.68652474e-04 -9.96547924e+00] [ 3.82781597e-03 -2.28175131e-04 9.99992648e-01 5.33520821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.40, Y:-9.97, Z:0.53 [[ 9.99863760e-01 -1.59251930e-02 -4.34165962e-03 5.39395917e+02] [ 1.59261734e-02 9.99873152e-01 1.91349941e-04 -9.96664974e+00] [ 4.33806161e-03 -2.60469896e-04 9.99990557e-01 5.32944010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.43, Y:-9.97, Z:0.53 [[ 9.99858709e-01 -1.62136556e-02 -4.43617320e-03 5.39428571e+02] [ 1.62146834e-02 9.99868514e-01 1.95802285e-04 -9.96770889e+00] [ 4.43241524e-03 -2.67705763e-04 9.99990141e-01 5.32314066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.2850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.46, Y:-9.97, Z:0.53 [[ 9.99860965e-01 -1.61010529e-02 -4.33672024e-03 5.39460074e+02] [ 1.61020344e-02 9.99870336e-01 1.91494332e-04 -9.96874162e+00] [ 4.33307466e-03 -2.61297726e-04 9.99990578e-01 5.31771435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.3150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.49, Y:-9.97, Z:0.53 [[ 9.99869075e-01 -1.55658079e-02 -4.42023166e-03 5.39491872e+02] [ 1.55668244e-02 9.99878811e-01 1.95665623e-04 -9.96967492e+00] [ 4.41665028e-03 -2.64448976e-04 9.99990212e-01 5.31466954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.52, Y:-9.97, Z:0.53 [[ 9.99883590e-01 -1.45943593e-02 -4.45091366e-03 5.39524154e+02] [ 1.45953819e-02 9.99893462e-01 1.97339210e-04 -9.97068500e+00] [ 4.44755943e-03 -2.62279022e-04 9.99990075e-01 5.31192557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.56, Y:-9.97, Z:0.53 [[ 9.99930921e-01 -1.07022801e-02 -4.85940132e-03 5.39555689e+02] [ 1.07034522e-02 9.99942693e-01 2.15261072e-04 -9.96991684e+00] [ 4.85681906e-03 -2.67258571e-04 9.99988170e-01 5.31505094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.4050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.59, Y:-9.97, Z:0.53 [[ 9.99960036e-01 -7.57952216e-03 -4.74104946e-03 5.39587004e+02] [ 7.58060378e-03 9.99971245e-01 2.10209709e-04 -9.96960113e+00] [ 4.73931984e-03 -2.46141326e-04 9.99988739e-01 5.31297648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.4350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.62, Y:-9.97, Z:0.53 [[ 9.99983212e-01 -3.74880829e-03 -4.41838567e-03 5.39616978e+02] [ 3.74971012e-03 9.99992951e-01 1.95843149e-04 -9.96914577e+00] [ 4.41762035e-03 -2.12407527e-04 9.99990220e-01 5.31354633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.65, Y:-9.97, Z:0.53 [[ 9.99976106e-01 6.05785783e-03 -3.33022061e-03 5.39646354e+02] [-6.05740166e-03 9.99981643e-01 1.47045510e-04 -9.96689448e+00] [ 3.33105026e-03 -1.26869512e-04 9.99994444e-01 5.31632484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.495099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.67, Y:-9.97, Z:0.53 [[ 9.99930364e-01 1.14506886e-02 -2.85474972e-03 5.39673894e+02] [-1.14503843e-02 9.99934435e-01 1.22915815e-04 -9.96609358e+00] [ 2.85597002e-03 -9.02192741e-05 9.99995918e-01 5.31629757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.70, Y:-9.97, Z:0.53 [[ 9.99848498e-01 1.73057966e-02 -1.86814086e-03 5.39700943e+02] [-1.73056759e-02 9.99850242e-01 8.07688498e-05 -9.96531582e+00] [ 1.86925886e-03 -4.84271729e-05 9.99998252e-01 5.31782791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.73, Y:-9.96, Z:0.53 [[ 9.99566524e-01 2.94407379e-02 -7.95432664e-05 5.39728970e+02] [-2.94407380e-02 9.99566528e-01 9.27732450e-07 -9.96277837e+00] [ 7.95360995e-05 1.41448217e-06 9.99999997e-01 5.32026983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.76, Y:-9.96, Z:0.53 [[ 9.99365345e-01 3.56165073e-02 6.09587172e-04 5.39756086e+02] [-3.56164971e-02 9.99365531e-01 -2.75610306e-05 -9.96220822e+00] [-6.10182036e-04 5.83217908e-06 9.99999814e-01 5.31847833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.78, Y:-9.96, Z:0.53 [[ 9.99143233e-01 4.13697525e-02 1.15931408e-03 5.39783937e+02] [-4.13697210e-02 9.99143905e-01 -5.11380520e-05 -9.96174308e+00] [-1.16043717e-03 3.13373859e-06 9.99999327e-01 5.31716305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.81, Y:-9.96, Z:0.53 [[ 9.98721962e-01 5.05108655e-02 1.75920033e-03 5.39811531e+02] [-5.05108060e-02 9.98723511e-01 -7.82166952e-05 -9.96035968e+00] [-1.76090552e-03 -1.07418951e-05 9.99998450e-01 5.31533638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.6750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.84, Y:-9.96, Z:0.53 [[ 9.98542259e-01 5.39532568e-02 1.55000705e-03 5.39837990e+02] [-5.39532169e-02 9.98543462e-01 -6.75823715e-05 -9.96106619e+00] [-1.55139570e-03 -1.61440127e-05 9.99998796e-01 5.30740893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.7050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.87, Y:-9.96, Z:0.53 [[ 9.98413141e-01 5.62986706e-02 1.28854142e-03 5.39865784e+02] [-5.62986434e-02 9.98413972e-01 -5.74364825e-05 -9.96236932e+00] [-1.28973135e-03 -1.51977947e-05 9.99999168e-01 5.29937849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.89, Y:-9.96, Z:0.53 [[ 9.98328744e-01 5.77830984e-02 9.12474039e-04 5.39892270e+02] [-5.77830861e-02 9.98329161e-01 -3.98596013e-05 -9.96374824e+00] [-9.13252653e-04 -1.29325803e-05 9.99999583e-01 5.29015425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.92, Y:-9.97, Z:0.53 [[ 9.98301679e-01 5.82496760e-02 8.55657833e-04 5.39920581e+02] [-5.82496655e-02 9.98302046e-01 -3.71947797e-05 -9.96558849e+00] [-8.56371549e-04 -1.27101715e-05 9.99999633e-01 5.28508383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.7950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.95, Y:-9.97, Z:0.53 [[ 9.98353131e-01 5.73539005e-02 1.24743812e-03 5.39947690e+02] [-5.73538780e-02 9.98353910e-01 -5.37867594e-05 -9.96713494e+00] [-1.24846960e-03 -1.78472341e-05 9.99999221e-01 5.28347089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.8250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.98, Y:-9.97, Z:0.53 [[ 9.98435701e-01 5.58724330e-02 2.10290810e-03 5.39975999e+02] [-5.58723683e-02 9.98437915e-01 -8.95438186e-05 -9.96914390e+00] [-2.10462621e-03 -2.80907106e-05 9.99997785e-01 5.28015590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.00, Y:-9.97, Z:0.53 [[ 9.98682666e-01 5.11980577e-02 3.41937635e-03 5.40002365e+02] [-5.11978621e-02 9.98688519e-01 -1.44744872e-04 -9.97246937e+00] [-3.42230256e-03 -3.05105642e-05 9.99994143e-01 5.27783617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.03, Y:-9.97, Z:0.53 [[ 9.98810286e-01 4.85748427e-02 4.30091509e-03 5.40029939e+02] [-4.85745129e-02 9.98819545e-01 -1.81177642e-04 -9.97492449e+00] [-4.30463873e-03 -2.79527633e-05 9.99990735e-01 5.27682213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.9150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.06, Y:-9.98, Z:0.53 [[ 9.98950804e-01 4.55605304e-02 4.64002982e-03 5.40058062e+02] [-4.55601165e-02 9.98961580e-01 -1.94915978e-04 -9.97733094e+00] [-4.64409199e-03 -1.66888260e-05 9.99989216e-01 5.27508855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.9450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.08, Y:-9.98, Z:0.53 [[ 9.99205357e-01 3.94814660e-02 5.46520657e-03 5.40084946e+02] [-3.94808047e-02 9.99220303e-01 -2.28871878e-04 -9.98140483e+00] [-5.46998156e-03 1.29192530e-05 9.99985039e-01 5.26810070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.11, Y:-9.98, Z:0.53 [[ 9.99328171e-01 3.61403173e-02 6.08971446e-03 5.40113213e+02] [-3.61394399e-02 9.99346725e-01 -2.54083607e-04 -9.98393091e+00] [-6.09491887e-03 3.38340363e-05 9.99981425e-01 5.26206213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.14, Y:-9.99, Z:0.53 [[ 9.99445005e-01 3.27813497e-02 5.92163832e-03 5.40140972e+02] [-3.27804651e-02 9.99462546e-01 -2.46399655e-04 -9.98645713e+00] [-5.92653303e-03 5.21488457e-05 9.99982437e-01 5.26306446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.0350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.17, Y:-9.99, Z:0.53 [[ 9.99447871e-01 3.26938389e-02 5.92166066e-03 5.40169419e+02] [-3.26929560e-02 9.99465412e-01 -2.45861412e-04 -9.98754747e+00] [-5.92653316e-03 5.21290733e-05 9.99982437e-01 5.26056908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.0650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.20, Y:-9.99, Z:0.53 [[ 9.99551068e-01 2.93056313e-02 6.23240197e-03 5.40197020e+02] [-2.93045908e-02 9.99570495e-01 -2.58226182e-04 -9.99034383e+00] [-6.23729260e-03 7.54722670e-05 9.99980545e-01 5.25571549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.22, Y:-9.99, Z:0.53 [[ 9.99644423e-01 2.58828321e-02 6.41150373e-03 5.40224663e+02] [-2.58816654e-02 9.99664979e-01 -2.64886605e-04 -9.99326535e+00] [-6.41621175e-03 9.88520231e-05 9.99979411e-01 5.25160624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.25, Y:-10.00, Z:0.52 [[ 9.99713578e-01 2.29031147e-02 6.94332943e-03 5.40253306e+02] [-2.29016796e-02 9.99737681e-01 -2.86144787e-04 -9.99637495e+00] [-6.94806167e-03 1.27048923e-04 9.99975854e-01 5.24404688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.1550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.28, Y:-10.00, Z:0.52 [[ 9.99825631e-01 1.70855219e-02 7.53607218e-03 5.40281261e+02] [-1.70836704e-02 9.99854015e-01 -3.10001630e-04 -1.00008798e+01] [-7.54026857e-03 1.81203802e-04 9.99971555e-01 5.23750762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.1850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.31, Y:-10.01, Z:0.52 [[ 9.99888200e-01 1.34112050e-02 6.61267976e-03 5.40311247e+02] [-1.34097031e-02 9.99910049e-01 -2.71412678e-04 -1.00051150e+01] [-6.61572492e-03 1.82708262e-04 9.99978099e-01 5.22876755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.34, Y:-10.01, Z:0.52 [[ 9.99888437e-01 1.33934829e-02 6.61269093e-03 5.40341383e+02] [-1.33919824e-02 9.99910287e-01 -2.71140343e-04 -1.00063194e+01] [-6.61572919e-03 1.82553053e-04 9.99978099e-01 5.22612553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.37, Y:-10.01, Z:0.52 [[ 9.99914786e-01 1.19331161e-02 5.29354228e-03 5.40370541e+02] [-1.19321341e-02 9.99928786e-01 -2.17053108e-04 -1.00093406e+01] [-5.29575542e-03 1.53871356e-04 9.99985966e-01 5.21765650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.40, Y:-10.01, Z:0.52 [[ 9.99913732e-01 1.21886709e-02 4.89535201e-03 5.40400293e+02] [-1.21878349e-02 9.99925705e-01 -2.00570928e-04 -1.00115318e+01] [-4.89743301e-03 1.40889883e-04 9.99987998e-01 5.20915092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.3050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.43, Y:-10.01, Z:0.52 [[ 9.99903153e-01 1.30303270e-02 4.88835684e-03 5.40429091e+02] [-1.30295040e-02 9.99915092e-01 -2.00175095e-04 -1.00136032e+01] [-4.89055013e-03 1.36462844e-04 9.99988032e-01 5.20357266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.3350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.46, Y:-10.02, Z:0.52 [[ 9.99845357e-01 1.68858105e-02 4.91241397e-03 5.40458835e+02] [-1.68850275e-02 9.99857418e-01 -2.00824623e-04 -1.00161273e+01] [-4.91510463e-03 1.17847322e-04 9.99987914e-01 5.19761506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.49, Y:-10.02, Z:0.52 [[ 9.99796370e-01 1.95063165e-02 5.16932721e-03 5.40486777e+02] [-1.95054846e-02 9.99809728e-01 -2.11315250e-04 -1.00172897e+01] [-5.17246561e-03 1.10441988e-04 9.99986617e-01 5.19325832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.52, Y:-10.02, Z:0.52 [[ 9.99728765e-01 2.27720582e-02 4.88148774e-03 5.40515541e+02] [-2.27713575e-02 9.99740679e-01 -1.99078728e-04 -1.00186157e+01] [-4.88475530e-03 8.78666285e-05 9.99988066e-01 5.18859885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.4250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.54, Y:-10.02, Z:0.52 [[ 9.99559258e-01 2.93864803e-02 4.20998966e-03 5.40542321e+02] [-2.93860177e-02 9.99568123e-01 -1.71716806e-04 -1.00191433e+01] [-4.21321762e-03 4.79262924e-05 9.99991123e-01 5.18214648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.4550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.57, Y:-10.02, Z:0.52 [[ 9.99458637e-01 3.26427023e-02 4.10930120e-03 5.40570494e+02] [-3.26422914e-02 9.99467084e-01 -1.67047443e-04 -1.00200593e+01] [-4.11256417e-03 3.28200027e-05 9.99991543e-01 5.17586709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.60, Y:-10.02, Z:0.52 [[ 9.99353894e-01 3.57466174e-02 3.73824455e-03 5.40598662e+02] [-3.57463002e-02 9.99360885e-01 -1.51641157e-04 -1.00212676e+01] [-3.74127604e-03 1.79147690e-05 9.99993001e-01 5.17130944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.63, Y:-10.02, Z:0.52 [[ 9.99177585e-01 4.04374148e-02 2.99469637e-03 5.40627047e+02] [-4.04372328e-02 9.99182073e-01 -1.21338490e-04 -1.00232198e+01] [-2.99715354e-03 1.41465632e-07 9.99995509e-01 5.16543865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.5450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.65, Y:-10.02, Z:0.52 [[ 9.99109037e-01 4.20902967e-02 3.08862365e-03 5.40653473e+02] [-4.20901118e-02 9.99113811e-01 -1.24872111e-04 -1.00249495e+01] [-3.09114245e-03 -5.23966010e-06 9.99995222e-01 5.15665792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.5750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.68, Y:-10.02, Z:0.52 [[ 9.99060099e-01 4.33215251e-02 1.47134631e-03 5.40681437e+02] [-4.33140900e-02 9.99050181e-01 -4.75653635e-03 -1.00245333e+01] [-1.67600920e-03 4.68833565e-03 9.99987605e-01 5.16898436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.71, Y:-10.03, Z:0.51 [[ 9.99081169e-01 4.27364387e-02 3.22705773e-03 5.40709384e+02] [-4.27508755e-02 9.99075422e-01 4.54569594e-03 -1.00319867e+01] [-3.02980720e-03 -4.67947876e-03 9.99984461e-01 5.13927339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.74, Y:-10.03, Z:0.52 [[ 9.99116772e-01 4.18870927e-02 3.33870909e-03 5.40737334e+02] [-4.18868797e-02 9.99122351e-01 -1.33726031e-04 -1.00317582e+01] [-3.34138027e-03 -6.24018509e-06 9.99994418e-01 5.15105591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.6650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.76, Y:-10.03, Z:0.52 [[ 9.99166078e-01 4.07294171e-02 2.87443160e-03 5.40764397e+02] [-4.07292547e-02 9.99170213e-01 -1.15049723e-04 -1.00339718e+01] [-2.87673234e-03 -2.11967617e-06 9.99995862e-01 5.15084822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.6950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.79, Y:-10.04, Z:0.51 [[ 9.99239486e-01 3.88908662e-02 2.81946765e-03 5.40792010e+02] [-3.88907039e-02 9.99243464e-01 -1.12388923e-04 -1.00361660e+01] [-2.82170553e-03 2.65236782e-06 9.99996019e-01 5.14712015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.82, Y:-10.04, Z:0.51 [[ 9.99409095e-01 3.42647353e-02 2.71807461e-03 5.40819657e+02] [-3.42645680e-02 9.99412791e-01 -1.08111180e-04 -1.00405380e+01] [-2.72018293e-03 1.49136442e-05 9.99996300e-01 5.14210937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.85, Y:-10.04, Z:0.51 [[ 9.99506234e-01 3.13162387e-02 2.56537192e-03 5.40847358e+02] [-3.13160806e-02 9.99509526e-01 -1.01812409e-04 -1.00433562e+01] [-2.56730205e-03 2.14247438e-05 9.99996704e-01 5.14029607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.7850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.88, Y:-10.05, Z:0.51 [[ 9.99598981e-01 2.81565189e-02 3.01445149e-03 5.40875244e+02] [-2.81562877e-02 9.99603526e-01 -1.19134829e-04 -1.00462154e+01] [-3.01661076e-03 3.42112902e-05 9.99995449e-01 5.13557388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.8150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.90, Y:-10.05, Z:0.51 [[ 9.99768654e-01 2.11751323e-02 3.77519651e-03 5.40903107e+02] [-2.11747226e-02 9.99775779e-01 -1.48450345e-04 -1.00512631e+01] [-3.77749349e-03 6.84772630e-05 9.99992863e-01 5.13674340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.93, Y:-10.05, Z:0.51 [[ 9.99839253e-01 1.74428208e-02 4.14934103e-03 5.40930555e+02] [-1.74422957e-02 9.99847858e-01 -1.62704404e-04 -1.00543330e+01] [-4.15154777e-03 9.03042165e-05 9.99991378e-01 5.13558778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.96, Y:-10.06, Z:0.51 [[ 9.99898841e-01 1.35152878e-02 4.43225951e-03 5.40959139e+02] [-1.35146525e-02 9.99908658e-01 -1.73267405e-04 -1.00574744e+01] [-4.43419641e-03 1.13349430e-04 9.99990162e-01 5.13570919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.9050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.99, Y:-10.06, Z:0.51 [[ 9.99941902e-01 9.63983536e-03 4.82356669e-03 5.40988500e+02] [-9.63904042e-03 9.99953526e-01 -1.88024523e-04 -1.00604521e+01] [-4.82515504e-03 1.41519045e-04 9.99988349e-01 5.13230003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.9350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.02, Y:-10.07, Z:0.51 [[ 9.99987195e-01 1.85076864e-03 4.70995862e-03 5.41017633e+02] [-1.84992550e-03 9.99998272e-01 -1.83362928e-04 -1.00655593e+01] [-4.71028984e-03 1.74647508e-04 9.99988891e-01 5.13007304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.05, Y:-10.07, Z:0.51 [[ 9.99987513e-01 -1.91349103e-03 4.61644491e-03 5.41050241e+02] [ 1.91433568e-03 9.99998152e-01 -1.78552816e-04 -1.00685249e+01] [-4.61609472e-03 1.87388012e-04 9.99989328e-01 5.12451620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.995099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.08, Y:-10.07, Z:0.51 [[ 9.99978075e-01 -5.31934582e-03 3.94385333e-03 5.41083392e+02] [ 5.31999041e-03 9.99985837e-01 -1.52969174e-04 -1.00713679e+01] [-3.94298378e-03 1.73947082e-04 9.99992211e-01 5.12183713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.12, Y:-10.07, Z:0.51 [[ 9.99955695e-01 -8.69109812e-03 3.61554595e-03 5.41116405e+02] [ 8.69166493e-03 9.99962217e-01 -1.41087239e-04 -1.00741400e+01] [-3.61418314e-03 1.72506102e-04 9.99993454e-01 5.11522644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.15, Y:-10.08, Z:0.51 [[ 9.99883899e-01 -1.48817420e-02 3.27460080e-03 5.41148154e+02] [ 1.48822428e-02 9.99889245e-01 -1.28606655e-04 -1.00777439e+01] [-3.27232423e-03 1.77325128e-04 9.99994630e-01 5.11147238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.18, Y:-10.08, Z:0.51 [[ 9.99843612e-01 -1.73739333e-02 3.30115526e-03 5.41181275e+02] [ 1.73744617e-02 9.99849044e-01 -1.31442980e-04 -1.00799957e+01] [-3.29837325e-03 1.88778220e-04 9.99994543e-01 5.11171919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.21, Y:-10.08, Z:0.51 [[ 9.99792257e-01 -2.00844045e-02 3.47270701e-03 5.41213887e+02] [ 2.00850070e-02 9.99798266e-01 -1.38702384e-04 -1.00816435e+01] [-3.46922069e-03 2.08422914e-04 9.99993961e-01 5.11314345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.25, Y:-10.08, Z:0.51 [[ 9.99791536e-01 -2.01767139e-02 3.12814910e-03 5.41246539e+02] [ 2.01772040e-02 9.99796412e-01 -1.25188791e-04 -1.00826805e+01] [-3.12498635e-03 1.88279996e-04 9.99995099e-01 5.11200391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.1750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.28, Y:-10.08, Z:0.51 [[ 9.99799855e-01 -1.98382147e-02 2.58750764e-03 5.41279481e+02] [ 1.98385492e-02 9.99803191e-01 -1.03655251e-04 -1.00833935e+01] [-2.58494207e-03 1.54966902e-04 9.99996647e-01 5.11338473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.2050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.31, Y:-10.08, Z:0.51 [[ 9.99816807e-01 -1.89799195e-02 2.47299545e-03 5.41311974e+02] [ 1.89802220e-02 9.99819854e-01 -9.88825044e-05 -1.00839749e+01] [-2.47067317e-03 1.45802392e-04 9.99996937e-01 5.11092845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.34, Y:-10.08, Z:0.51 [[ 9.99866437e-01 -1.63085185e-02 1.06749405e-03 5.41342896e+02] [ 1.63085731e-02 9.99867005e-01 -4.24436741e-05 -1.00843044e+01] [-1.06665989e-03 5.98473100e-05 9.99999429e-01 5.10530757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.37, Y:-10.09, Z:0.51 [[ 9.99893293e-01 -1.46006946e-02 4.71851305e-04 5.41374769e+02] [ 1.46007050e-02 9.99893404e-01 -1.86242146e-05 -1.00851839e+01] [-4.71529081e-04 2.55115890e-05 9.99999889e-01 5.09963895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.2950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.41, Y:-10.09, Z:0.51 [[ 9.99919966e-01 -1.26514001e-02 5.78515106e-05 5.41406165e+02] [ 1.26514002e-02 9.99919968e-01 -1.89360564e-06 -1.00858298e+01] [-5.78229241e-05 2.62535670e-06 9.99999998e-01 5.09934221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.3250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.44, Y:-10.09, Z:0.51 [[ 9.99945358e-01 -1.04537892e-02 5.91243676e-06 5.41438307e+02] [ 1.04537892e-02 9.99945358e-01 4.03612458e-07 -1.00861152e+01] [-5.91633318e-06 -3.41783033e-07 1.00000000e+00 5.09867570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.47, Y:-10.08, Z:0.51 [[ 9.99988785e-01 -4.73603921e-03 -1.30793136e-05 5.41470128e+02] [ 4.73603923e-03 9.99988785e-01 1.54069887e-06 -1.00840860e+01] [ 1.30718699e-05 -1.60262573e-06 1.00000000e+00 5.10628999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.50, Y:-10.08, Z:0.51 [[ 9.99998779e-01 -1.55824216e-03 1.15842039e-04 5.41500920e+02] [ 1.55824267e-03 9.99998786e-01 -4.29277061e-06 -1.00834632e+01] [-1.15835209e-04 4.47327538e-06 9.99999993e-01 5.11005330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.4150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.53, Y:-10.08, Z:0.51 [[ 9.99998485e-01 1.73978249e-03 6.10510849e-05 5.41531192e+02] [-1.73978234e-03 9.99998487e-01 -2.50950157e-06 -1.00827909e+01] [-6.10553587e-05 2.40328217e-06 9.99999998e-01 5.11385814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.4450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.56, Y:-10.08, Z:0.51 [[ 9.99960733e-01 8.86032539e-03 1.62751141e-04 5.41561149e+02] [-8.86032440e-03 9.99960747e-01 -6.84401132e-06 -1.00802861e+01] [-1.62805393e-04 5.40171468e-06 9.99999987e-01 5.12133357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.59, Y:-10.08, Z:0.51 [[ 9.99925722e-01 1.21874815e-02 1.26770088e-04 5.41590044e+02] [-1.21874806e-02 9.99925730e-01 -7.41776038e-06 -1.00795679e+01] [-1.26851076e-04 5.87220142e-06 9.99999992e-01 5.12425851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.62, Y:-10.08, Z:0.51 [[ 9.99877461e-01 1.56543811e-02 5.33100354e-05 5.41618467e+02] [-1.56543809e-02 9.99877463e-01 -4.72906929e-06 -1.00789537e+01] [-5.33775338e-05 3.89395420e-06 9.99999999e-01 5.12476563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.5350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.65, Y:-10.08, Z:0.51 [[ 9.99818709e-01 1.90379943e-02 -3.21302521e-04 5.41646266e+02] [-1.90379914e-02 9.99818761e-01 1.20308566e-05 -1.00783834e+01] [ 3.21473332e-04 -5.91172085e-06 9.99999948e-01 5.12356793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.5650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.67, Y:-10.08, Z:0.51 [[ 9.99677382e-01 2.53756488e-02 -1.09887166e-03 5.41674138e+02] [-2.53756185e-02 9.99677986e-01 4.15418396e-05 -1.00760771e+01] [ 1.09957196e-03 -1.36438894e-05 9.99999395e-01 5.12941293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.70, Y:-10.08, Z:0.51 [[ 9.99601722e-01 2.81710931e-02 -1.66931566e-03 5.41702257e+02] [-2.81710224e-02 9.99603116e-01 6.58606317e-05 -1.00755666e+01] [ 1.67050850e-03 -1.88080720e-05 9.99998605e-01 5.13117443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.73, Y:-10.08, Z:0.51 [[ 9.99525137e-01 3.07558949e-02 -1.89071134e-03 5.41730401e+02] [-3.07558089e-02 9.99526925e-01 7.45110085e-05 -1.00752344e+01] [ 1.89210855e-03 -1.63252691e-05 9.99998210e-01 5.13011829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.6550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.76, Y:-10.08, Z:0.51 [[ 9.99445658e-01 3.32172827e-02 -2.23360930e-03 5.41757839e+02] [-3.32171706e-02 9.99448154e-01 8.72404541e-05 -1.00751248e+01] [ 2.23527458e-03 -1.29979118e-05 9.99997502e-01 5.12914339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.6850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.79, Y:-10.06, Z:0.51 [[ 9.99309797e-01 3.70643723e-02 2.48216912e-03 5.41787072e+02] [-3.69915044e-02 9.99007317e-01 -2.48195501e-02 -1.00641758e+01] [-3.39962616e-03 2.47106005e-02 9.99688866e-01 5.11235981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.81, Y:-10.09, Z:0.51 [[ 9.99241045e-01 3.89444524e-02 -8.14354487e-04 5.41813655e+02] [-3.89125165e-02 9.98937746e-01 2.46818807e-02 -1.00867670e+01] [ 1.77471176e-03 -2.46314596e-02 9.99695024e-01 5.05474974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.745099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.84, Y:-10.08, Z:0.51 [[ 9.99183138e-01 4.03848539e-02 -1.45597824e-03 5.41841736e+02] [-4.03848145e-02 9.99184199e-01 5.64575215e-05 -1.00756920e+01] [ 1.45707048e-03 2.38800758e-06 9.99998938e-01 5.11937882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.87, Y:-10.08, Z:0.51 [[ 9.99152621e-01 4.11464168e-02 -1.00612994e-03 5.41868169e+02] [-4.11463996e-02 9.99153128e-01 3.77773055e-05 -1.00763889e+01] [ 1.00683228e-03 3.65333073e-06 9.99999493e-01 5.12001031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.8050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.90, Y:-10.08, Z:0.51 [[ 9.99159396e-01 4.09911987e-02 4.72073197e-04 5.41896518e+02] [-4.09911941e-02 9.99159508e-01 -1.94295501e-05 -1.00771542e+01] [-4.72472864e-04 6.23735376e-08 9.99999888e-01 5.11768616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.8350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.92, Y:-10.08, Z:0.51 [[ 9.99208712e-01 3.97577548e-02 1.12721136e-03 5.41924610e+02] [-3.97577294e-02 9.99209348e-01 -4.49392673e-05 -1.00786223e+01] [-1.12810681e-03 8.83431918e-08 9.99999364e-01 5.11675578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.95, Y:-10.08, Z:0.51 [[ 9.99273699e-01 3.80705422e-02 1.64543355e-03 5.41952942e+02] [-3.80704868e-02 9.99275054e-01 -6.49763832e-05 -1.00803388e+01] [-1.64671439e-03 2.28673449e-06 9.99998644e-01 5.11251828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.98, Y:-10.08, Z:0.51 [[ 9.99435357e-01 3.35059396e-02 2.51390003e-03 5.41980256e+02] [-3.35057976e-02 9.99438518e-01 -9.85962905e-05 -1.00832637e+01] [-2.51579208e-03 1.43103933e-05 9.99996835e-01 5.10341513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.9250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.01, Y:-10.09, Z:0.51 [[ 9.99539027e-01 3.02590792e-02 2.47430944e-03 5.42007707e+02] [-3.02589330e-02 9.99542089e-01 -9.65133548e-05 -1.00855241e+01] [-2.47609683e-03 2.15989012e-05 9.99996934e-01 5.09817201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.9550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.04, Y:-10.09, Z:0.51 [[ 9.99544337e-01 3.00831491e-02 2.47429697e-03 5.42036128e+02] [-3.00830016e-02 9.99547399e-01 -9.68380085e-05 -1.00865461e+01] [-2.47609030e-03 2.23596033e-05 9.99996934e-01 5.09566799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.06, Y:-10.09, Z:0.51 [[ 9.99644481e-01 2.65293981e-02 2.66514700e-03 5.42064090e+02] [-2.65292169e-02 9.99648033e-01 -1.03300150e-04 -1.00887032e+01] [-2.66694945e-03 3.25591622e-05 9.99996443e-01 5.08862702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.09, Y:-10.09, Z:0.51 [[ 9.99815528e-01 1.89605441e-02 3.06730581e-03 5.42092536e+02] [-1.89602706e-02 9.99820231e-01 -1.18205783e-04 -1.00917424e+01] [-3.06899565e-03 6.00270291e-05 9.99995289e-01 5.08392650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.0450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.12, Y:-10.09, Z:0.51 [[ 9.99881068e-01 1.50828122e-02 3.21833856e-03 5.42121511e+02] [-1.50824920e-02 9.99886245e-01 -1.23768163e-04 -1.00935770e+01] [-3.21983923e-03 7.52128774e-05 9.99994813e-01 5.07978708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.0750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.15, Y:-10.10, Z:0.51 [[ 9.99931412e-01 1.12858745e-02 3.13052772e-03 5.42150002e+02] [-1.12855535e-02 9.99936309e-01 -1.20182580e-04 -1.00958418e+01] [-3.13168470e-03 8.48445986e-05 9.99995093e-01 5.07398615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.18, Y:-10.10, Z:0.51 [[ 9.99967317e-01 7.58320378e-03 2.80368089e-03 5.42178510e+02] [-7.58293214e-03 9.99971243e-01 -1.07502138e-04 -1.00982068e+01] [-2.80441548e-03 8.62385026e-05 9.99996064e-01 5.06826474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.21, Y:-10.10, Z:0.51 [[ 9.99996328e-01 1.43550875e-03 2.29840921e-03 5.42207682e+02] [-1.43531092e-03 9.99998966e-01 -8.77167908e-05 -1.01015032e+01] [-2.29853275e-03 8.44175369e-05 9.99997355e-01 5.06014115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.1650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.24, Y:-10.10, Z:0.51 [[ 9.99997229e-01 -8.40185151e-04 2.19906581e-03 5.42237986e+02] [ 8.40371139e-04 9.99999643e-01 -8.36530008e-05 -1.01034754e+01] [-2.19899475e-03 8.55008004e-05 9.99997579e-01 5.05512591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.1950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.27, Y:-10.11, Z:0.50 [[ 9.99988038e-01 -3.98159515e-03 2.84105041e-03 5.42268722e+02] [ 3.98191490e-03 9.99992066e-01 -1.06897150e-04 -1.01052857e+01] [-2.84060225e-03 1.18208692e-04 9.99995958e-01 5.04916815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.30, Y:-10.11, Z:0.50 [[ 9.99983071e-01 -5.02641102e-03 2.93137121e-03 5.42301066e+02] [ 5.02676085e-03 9.99987360e-01 -1.11982225e-04 -1.01062914e+01] [-2.93077129e-03 1.26715632e-04 9.99995697e-01 5.04615928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.33, Y:-10.11, Z:0.50 [[ 9.99980278e-01 -5.54391357e-03 2.95092961e-03 5.42332155e+02] [ 5.54427014e-03 9.99984624e-01 -1.12667687e-04 -1.01072832e+01] [-2.95025961e-03 1.29026216e-04 9.99995640e-01 5.04213928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.2850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.36, Y:-10.11, Z:0.50 [[ 9.99976490e-01 -6.11278268e-03 3.10690949e-03 5.42363829e+02] [ 6.11318289e-03 9.99981307e-01 -1.19330605e-04 -1.01084558e+01] [-3.10612197e-03 1.38320906e-04 9.99995166e-01 5.03459662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.3150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.40, Y:-10.11, Z:0.50 [[ 9.99976976e-01 -6.20804026e-03 2.74017962e-03 5.42396485e+02] [ 6.20835221e-03 9.99980722e-01 -1.05351758e-04 -1.01097589e+01] [-2.73947277e-03 1.22361333e-04 9.99996240e-01 5.02977420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.43, Y:-10.11, Z:0.50 [[ 9.99973536e-01 -6.90357764e-03 2.29532801e-03 5.42428204e+02] [ 6.90379850e-03 9.99976165e-01 -8.83127420e-05 -1.01100413e+01] [-2.29466363e-03 1.04156887e-04 9.99997362e-01 5.02170526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.46, Y:-10.11, Z:0.50 [[ 9.99971597e-01 -7.29317215e-03 1.90104296e-03 5.42459026e+02] [ 7.29332465e-03 9.99973401e-01 -7.32959437e-05 -1.01108234e+01] [-1.90045784e-03 8.71587854e-05 9.99998190e-01 5.02104739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.4050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.49, Y:-10.11, Z:0.50 [[ 9.99965553e-01 -8.05722155e-03 1.99340023e-03 5.42491505e+02] [ 8.05739076e-03 9.99967536e-01 -7.68709346e-05 -1.01116216e+01] [-1.99271615e-03 9.29298912e-05 9.99998010e-01 5.01481357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.4350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.52, Y:-10.11, Z:0.50 [[ 9.99957294e-01 -9.05571448e-03 1.84525064e-03 5.42523730e+02] [ 9.05586133e-03 9.99958992e-01 -7.12425426e-05 -1.01122284e+01] [-1.84452982e-03 8.79498340e-05 9.99998295e-01 5.01065599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.56, Y:-10.11, Z:0.50 [[ 9.99926366e-01 -1.20839034e-02 1.11399806e-03 5.42557149e+02] [ 1.20839568e-02 9.99926985e-01 -4.12197514e-05 -1.01121450e+01] [-1.11341863e-03 5.46782206e-05 9.99999379e-01 5.00265560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.495099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.59, Y:-10.11, Z:0.50 [[ 9.99903315e-01 -1.38866711e-02 7.21358630e-04 5.42589414e+02] [ 1.38866946e-02 9.99903575e-01 -2.77010757e-05 -1.01129930e+01] [-7.20904397e-04 3.77156845e-05 9.99999739e-01 4.99821857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.62, Y:-10.11, Z:0.50 [[ 9.99881053e-01 -1.54232988e-02 -4.34124427e-05 5.42621793e+02] [ 1.54232989e-02 9.99881054e-01 2.51537638e-06 -1.01142726e+01] [ 4.33684834e-05 -3.18464026e-06 9.99999999e-01 4.99135822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.65, Y:-10.11, Z:0.50 [[ 9.99819077e-01 -1.89905687e-02 -1.08225493e-03 5.42654172e+02] [ 1.89906267e-02 9.99819661e-01 4.33305199e-05 -1.01142174e+01] [ 1.08123689e-03 -6.38753798e-05 9.99999413e-01 4.98788640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.69, Y:-10.11, Z:0.50 [[ 9.99806394e-01 -1.96480393e-02 -1.06239478e-03 5.42686323e+02] [ 1.96480956e-02 9.99806957e-01 4.26445288e-05 -1.01146375e+01] [ 1.06135181e-03 -6.35103068e-05 9.99999435e-01 4.98388501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.72, Y:-10.11, Z:0.50 [[ 9.99801704e-01 -1.98843406e-02 -1.07985988e-03 5.42717225e+02] [ 1.98843989e-02 9.99802285e-01 4.32292613e-05 -1.01146351e+01] [ 1.07878679e-03 -6.46930536e-05 9.99999416e-01 4.98312835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.75, Y:-10.11, Z:0.50 [[ 9.99812617e-01 -1.93230858e-02 -1.16175340e-03 5.42748980e+02] [ 1.93231531e-02 9.99813289e-01 4.67202104e-05 -1.01145636e+01] [ 1.16063371e-03 -6.91601946e-05 9.99999324e-01 4.98448463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.6750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.78, Y:-10.11, Z:0.50 [[ 9.99871877e-01 -1.59915225e-02 -7.07702480e-04 5.42779811e+02] [ 1.59915467e-02 9.99872127e-01 2.85866310e-05 -1.01123199e+01] [ 7.07154840e-04 -3.99002256e-05 9.99999749e-01 4.99642110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.7050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.81, Y:-10.11, Z:0.50 [[ 9.99915384e-01 -1.30085438e-02 4.47466000e-05 5.42812535e+02] [ 1.30085438e-02 9.99915385e-01 -1.14460929e-06 -1.01115178e+01] [-4.47279243e-05 1.72660055e-06 9.99999999e-01 4.99959681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.84, Y:-10.11, Z:0.50 [[ 9.99952851e-01 -9.66836608e-03 9.05106936e-04 5.42843772e+02] [ 9.66840224e-03 9.99953259e-01 -3.55881456e-05 -1.01105154e+01] [-9.04720552e-04 4.43374056e-05 9.99999590e-01 5.00365904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.88, Y:-10.11, Z:0.50 [[ 9.99996883e-01 -1.52024857e-03 1.98078339e-03 5.42876586e+02] [ 1.52040687e-03 9.99998841e-01 -7.84126753e-05 -1.01076092e+01] [-1.98066189e-03 8.14240276e-05 9.99998035e-01 5.01198034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.7950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.91, Y:-10.11, Z:0.50 [[ 9.99994794e-01 2.46674410e-03 2.08006971e-03 5.42907661e+02] [-2.46657750e-03 9.99996955e-01 -8.26577725e-05 -1.01067443e+01] [-2.08026727e-03 7.75266891e-05 9.99997833e-01 5.01691154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.8250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.94, Y:-10.11, Z:0.50 [[ 9.99974942e-01 6.71654937e-03 2.23695674e-03 5.42937763e+02] [-6.71636640e-03 9.99977441e-01 -8.92952742e-05 -1.01060082e+01] [-2.23750603e-03 7.42688156e-05 9.99997494e-01 5.01689569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.97, Y:-10.11, Z:0.50 [[ 9.99940982e-01 1.06500496e-02 2.14670532e-03 5.42967630e+02] [-1.06498893e-02 9.99943285e-01 -8.60895328e-05 -1.01052503e+01] [-2.14750042e-03 6.32222781e-05 9.99997692e-01 5.01332081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.00, Y:-10.10, Z:0.50 [[ 9.99839217e-01 1.79094693e-02 8.89721424e-04 5.42995052e+02] [-1.79094441e-02 9.99839612e-01 -3.62657766e-05 -1.01030386e+01] [-8.90228225e-04 2.03255296e-05 9.99999604e-01 5.01662086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.9150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.02, Y:-10.10, Z:0.50 [[ 9.99780675e-01 2.09423019e-02 1.47709387e-04 5.43023052e+02] [-2.09423011e-02 9.99780686e-01 -6.83067732e-06 -1.01023956e+01] [-1.47820043e-04 3.73580472e-06 9.99999989e-01 5.01550134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.9450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.05, Y:-10.10, Z:0.50 [[ 9.99709786e-01 2.40793148e-02 -7.27613248e-04 5.43050522e+02] [-2.40793010e-02 9.99710051e-01 2.77236572e-05 -1.01022015e+01] [ 7.28069844e-04 -1.01951929e-05 9.99999735e-01 5.01748028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.08, Y:-10.10, Z:0.50 [[ 9.99638897e-01 2.68167835e-02 -1.71367815e-03 5.43078479e+02] [-2.68167085e-02 9.99640365e-01 6.67735430e-05 -1.01018666e+01] [ 1.71485251e-03 -2.07942233e-05 9.99998529e-01 5.01618148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.11, Y:-10.10, Z:0.50 [[ 9.99469355e-01 3.24148321e-02 -3.20738618e-03 5.43106787e+02] [-3.24145965e-02 9.99474501e-01 1.25442505e-04 -1.01008050e+01] [ 3.20976690e-03 -2.14098111e-05 9.99994848e-01 5.02033962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.0350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.13, Y:-10.10, Z:0.50 [[ 9.99374846e-01 3.51465571e-02 -3.82580864e-03 5.43134080e+02] [-3.51462436e-02 9.99382169e-01 1.49180279e-04 -1.01009759e+01] [ 3.82868811e-03 -1.46242159e-05 9.99992670e-01 5.02127350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.0650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.16, Y:-10.10, Z:0.50 [[ 9.99277185e-01 3.77762927e-02 -4.24972446e-03 5.43161623e+02] [-3.77759304e-02 9.99286221e-01 1.65519334e-04 -1.01012016e+01] [ 4.25294381e-03 -4.86239841e-06 9.99990956e-01 5.02228440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.19, Y:-10.10, Z:0.50 [[ 9.99175939e-01 4.03258044e-02 -4.61224712e-03 5.43189250e+02] [-4.03254067e-02 9.99186584e-01 1.79224252e-04 -1.01016278e+01] [ 4.61572280e-03 6.91418065e-06 9.99989347e-01 5.02351798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.22, Y:-10.10, Z:0.50 [[ 9.99077809e-01 4.26797741e-02 -4.68712295e-03 5.43216031e+02] [-4.26793927e-02 9.99088803e-01 1.81412237e-04 -1.01020350e+01] [ 4.69059469e-03 1.87986213e-05 9.99988999e-01 5.02333582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.1550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.24, Y:-10.10, Z:0.50 [[ 9.98904905e-01 4.65783315e-02 -4.41009513e-03 5.43243401e+02] [-4.65780345e-02 9.98914640e-01 1.70091346e-04 -1.01020734e+01] [ 4.41323116e-03 3.55084832e-05 9.99990261e-01 5.03087984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.1850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.27, Y:-10.10, Z:0.50 [[ 9.98830206e-01 4.81592127e-02 -4.34854751e-03 5.43270122e+02] [-4.81589452e-02 9.98839671e-01 1.66269884e-04 -1.01033141e+01] [ 4.35150919e-03 4.33460794e-05 9.99990531e-01 5.03173507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.30, Y:-10.10, Z:0.50 [[ 9.98784712e-01 4.91405475e-02 -3.78228618e-03 5.43297850e+02] [-4.91403516e-02 9.98791873e-01 1.44769605e-04 -1.01047310e+01] [ 3.78483076e-03 4.12692051e-05 9.99992837e-01 5.03255041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.33, Y:-10.11, Z:0.50 [[ 9.98771133e-01 4.94807474e-02 -2.80719982e-03 5.43325687e+02] [-4.94806424e-02 9.98775077e-01 1.06883625e-04 -1.01069792e+01] [ 2.80904990e-03 3.21497717e-05 9.99996054e-01 5.03327644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.35, Y:-10.11, Z:0.50 [[ 9.98793978e-01 4.90212554e-02 -2.73982540e-03 5.43352086e+02] [-4.90211551e-02 9.98797735e-01 1.03806074e-04 -1.01091203e+01] [ 2.74162011e-03 3.06285242e-05 9.99996241e-01 5.03174642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.3050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.38, Y:-10.11, Z:0.50 [[ 9.98838106e-01 4.81283432e-02 -2.47005329e-03 5.43380023e+02] [-4.81282594e-02 9.98841160e-01 9.33808425e-05 -1.01115205e+01] [ 2.47168516e-03 2.56070217e-05 9.99996945e-01 5.02853145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.3350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.41, Y:-10.11, Z:0.50 [[ 9.98897089e-01 4.68708009e-02 -2.78083574e-03 5.43408374e+02] [-4.68706904e-02 9.98900960e-01 1.04938129e-04 -1.01140415e+01] [ 2.78269802e-03 2.55172992e-05 9.99996128e-01 5.02976639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.44, Y:-10.12, Z:0.50 [[ 9.99058163e-01 4.33178825e-02 -2.51948285e-03 5.43436228e+02] [-4.33177814e-02 9.99061340e-01 9.47137813e-05 -1.01183246e+01] [ 2.52122071e-03 1.45138308e-05 9.99996822e-01 5.02224654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.46, Y:-10.12, Z:0.50 [[ 9.99153382e-01 4.10326213e-02 -2.97379503e-03 5.43463940e+02] [-4.10324707e-02 9.99157807e-01 1.11634786e-04 -1.01216335e+01] [ 2.97587119e-03 1.04818838e-05 9.99995572e-01 5.01762259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.4250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.49, Y:-10.12, Z:0.50 [[ 9.99262006e-01 3.83075696e-02 -2.82371356e-03 5.43490295e+02] [-3.83074245e-02 9.99265996e-01 1.05449141e-04 -1.01247066e+01] [ 2.82568044e-03 2.79787438e-06 9.99996008e-01 5.00901386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.4550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.52, Y:-10.13, Z:0.50 [[ 9.99356213e-01 3.57498082e-02 -3.01851228e-03 5.43518289e+02] [-3.57496312e-02 9.99360771e-01 1.12601158e-04 -1.01278234e+01] [ 3.02060823e-03 -4.61796575e-06 9.99995438e-01 5.00164598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.485099893 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:543.55, Y:-10.13, Z:0.50 [[ 9.99528100e-01 3.03037227e-02 -5.02615237e-03 5.43545723e+02] [-3.03286046e-02 9.99527723e-01 -4.95042834e-03 -1.01302772e+01] [ 4.87376222e-03 5.10052842e-03 9.99975115e-01 5.00824216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.57, Y:-10.14, Z:0.50 [[ 9.99604205e-01 2.79436671e-02 -3.25344089e-03 5.43573607e+02] [-2.79259648e-02 9.99595597e-01 5.36501712e-03 -1.01383230e+01] [ 3.40204344e-03 -5.27203819e-03 9.99980316e-01 4.97045371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.5450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.60, Y:-10.14, Z:0.50 [[ 9.99719019e-01 2.35910611e-02 -2.31184956e-03 5.43601463e+02] [-2.35909278e-02 9.99721692e-01 8.49232673e-05 -1.01404857e+01] [ 2.31320959e-03 -3.03607294e-05 9.99997324e-01 4.97746622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.5750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.63, Y:-10.14, Z:0.50 [[ 9.99760475e-01 2.17749483e-02 -2.20079995e-03 5.43629745e+02] [-2.17748237e-02 9.99762897e-01 8.05402121e-05 -1.01430458e+01] [ 2.20203189e-03 -3.25988897e-05 9.99997575e-01 4.97299946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.66, Y:-10.15, Z:0.50 [[ 9.99793280e-01 2.02169558e-02 -2.16156341e-03 5.43657281e+02] [-2.02168325e-02 9.99795616e-01 7.88559996e-05 -1.01455458e+01] [ 2.16271585e-03 -3.51397330e-05 9.99997661e-01 4.96632530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.69, Y:-10.15, Z:0.50 [[ 9.99825353e-01 1.85763725e-02 -2.04488229e-03 5.43685269e+02] [-1.85762594e-02 9.99827444e-01 7.43137304e-05 -1.01480787e+01] [ 2.04590991e-03 -3.63144880e-05 9.99997906e-01 4.96154660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.6650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.71, Y:-10.15, Z:0.50 [[ 9.99856499e-01 1.68376688e-02 -1.86409931e-03 5.43714131e+02] [-1.68375715e-02 9.99858236e-01 6.78461499e-05 -1.01505352e+01] [ 1.86497741e-03 -3.64495085e-05 9.99998260e-01 4.95876753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.6950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.74, Y:-10.15, Z:0.49 [[ 9.99919147e-01 1.26729026e-02 -1.04732856e-03 5.43742596e+02] [-1.26728700e-02 9.99919695e-01 3.77627350e-05 -1.01539376e+01] [ 1.04772302e-03 -2.44870230e-05 9.99999451e-01 4.94823650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.77, Y:-10.16, Z:0.49 [[ 9.99946507e-01 1.02904505e-02 -1.04390030e-03 5.43770636e+02] [-1.02904171e-02 9.99947052e-01 3.73732747e-05 -1.01562924e+01] [ 1.04422961e-03 -2.66291060e-05 9.99999454e-01 4.94223242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.80, Y:-10.16, Z:0.49 [[ 9.99969985e-01 7.65014253e-03 -1.22623088e-03 5.43799269e+02] [-7.65009415e-03 9.99970737e-01 4.41362611e-05 -1.01585896e+01] [ 1.22653264e-03 -3.47541547e-05 9.99999247e-01 4.93429117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.7850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.83, Y:-10.16, Z:0.49 [[ 9.99995549e-01 2.79820597e-03 -1.03547355e-03 5.43828318e+02] [-2.79816908e-03 9.99996084e-01 3.70747692e-05 -1.01621764e+01] [ 1.03557324e-03 -3.41771741e-05 9.99999463e-01 4.92178024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.8150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.86, Y:-10.16, Z:0.49 [[ 9.99999055e-01 5.22573148e-04 -1.27128198e-03 5.43857258e+02] [-5.22515186e-04 9.99999862e-01 4.59246392e-05 -1.01644706e+01] [ 1.27130580e-03 -4.52603317e-05 9.99999191e-01 4.91471579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.89, Y:-10.17, Z:0.49 [[ 9.99999065e-01 5.04533455e-04 -1.27127604e-03 5.43887398e+02] [-5.04475272e-04 9.99999872e-01 4.60877645e-05 -1.01655369e+01] [ 1.27129913e-03 -4.54463941e-05 9.99999191e-01 4.91201759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.92, Y:-10.17, Z:0.49 [[ 9.99997671e-01 -1.73924343e-03 -1.27822274e-03 5.43917473e+02] [ 1.73930382e-03 9.99998486e-01 4.61326451e-05 -1.01677555e+01] [ 1.27814057e-03 -4.83557554e-05 9.99999182e-01 4.90485840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.9050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.95, Y:-10.17, Z:0.49 [[ 9.99992867e-01 -3.50035346e-03 -1.41874308e-03 5.43948189e+02] [ 3.50043013e-03 9.99993872e-01 5.15627580e-05 -1.01696672e+01] [ 1.41855390e-03 -5.65286012e-05 9.99998992e-01 4.90056141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.9350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.98, Y:-10.17, Z:0.49 [[ 9.99987677e-01 -4.77160025e-03 -1.37002300e-03 5.43978317e+02] [ 4.77167411e-03 9.99988614e-01 5.06503299e-05 -1.01712354e+01] [ 1.36976571e-03 -5.71870090e-05 9.99999060e-01 4.89696205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.01, Y:-10.17, Z:0.49 [[ 9.99982811e-01 -5.75890953e-03 -1.10105732e-03 5.44009982e+02] [ 5.75895758e-03 9.99983416e-01 4.04705863e-05 -1.01725303e+01] [ 1.10080599e-03 -4.68108331e-05 9.99999393e-01 4.89406786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.995099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.04, Y:-10.17, Z:0.49 [[ 9.99978813e-01 -6.46063698e-03 -7.96508777e-04 5.44041258e+02] [ 6.46066244e-03 9.99979129e-01 2.93973582e-05 -1.01738755e+01] [ 7.96302228e-04 -3.45427097e-05 9.99999682e-01 4.89554363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.07, Y:-10.18, Z:0.49 [[ 9.99982156e-01 -5.95563167e-03 -4.67040400e-04 5.44072122e+02] [ 5.95564044e-03 9.99982265e-01 1.73864966e-05 -1.01751457e+01] [ 4.66928569e-04 -2.01677110e-05 9.99999891e-01 4.89010787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.10, Y:-10.18, Z:0.49 [[ 9.99986511e-01 -5.19393447e-03 5.22554635e-06 5.44103122e+02] [ 5.19393447e-03 9.99986511e-01 2.90933259e-07 -1.01763924e+01] [-5.22698716e-06 -2.63788186e-07 1.00000000e+00 4.88710793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.13, Y:-10.18, Z:0.49 [[ 9.99996207e-01 -2.73100814e-03 3.56038905e-04 5.44134787e+02] [ 2.73101284e-03 9.99996271e-01 -1.27129730e-05 -1.01770865e+01] [-3.56002858e-04 1.36852716e-05 9.99999937e-01 4.88304278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.17, Y:-10.18, Z:0.49 [[ 9.99999239e-01 -1.14686388e-03 4.55272546e-04 5.44165074e+02] [ 1.14687152e-03 9.99999342e-01 -1.65207795e-05 -1.01776525e+01] [-4.55253300e-04 1.70429060e-05 9.99999896e-01 4.87849147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.20, Y:-10.18, Z:0.49 [[ 9.99999680e-01 6.47908557e-04 4.69170799e-04 5.44196636e+02] [-6.47900697e-04 9.99999790e-01 -1.69039401e-05 -1.01782092e+01] [-4.69181653e-04 1.65999586e-05 9.99999890e-01 4.87450937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.1750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.23, Y:-10.18, Z:0.49 [[ 9.99997511e-01 2.20768481e-03 3.23126731e-04 5.44227243e+02] [-2.20768114e-03 9.99997563e-01 -1.17061556e-05 -1.01786384e+01] [-3.23151787e-04 1.09927657e-05 9.99999948e-01 4.87129672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.2050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.26, Y:-10.18, Z:0.49 [[ 9.99983577e-01 5.70050940e-03 5.91528976e-04 5.44257290e+02] [-5.70049756e-03 9.99983752e-01 -2.17065044e-05 -1.01783774e+01] [-5.91643103e-04 1.83341384e-05 9.99999825e-01 4.86675682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.29, Y:-10.18, Z:0.49 [[ 9.99972641e-01 7.37389431e-03 5.85382220e-04 5.44286493e+02] [-7.37388282e-03 9.99972812e-01 -2.17817535e-05 -1.01790257e+01] [-5.85526922e-04 1.74646177e-05 9.99999828e-01 4.86332244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.32, Y:-10.18, Z:0.49 [[ 9.99962267e-01 8.65286365e-03 7.69948998e-04 5.44315704e+02] [-8.65284403e-03 9.99962563e-01 -2.88173428e-05 -1.01796515e+01] [-7.70169527e-04 2.21540069e-05 9.99999703e-01 4.85805428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.2950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.34, Y:-10.18, Z:0.49 [[ 9.99938604e-01 1.10011690e-02 1.32754127e-03 5.44343427e+02] [-1.10011133e-02 9.99939485e-01 -4.92534240e-05 -1.01797568e+01] [-1.32800278e-03 3.46459681e-05 9.99999118e-01 4.86012721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.3250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.37, Y:-10.18, Z:0.49 [[ 9.99926585e-01 1.20087265e-02 1.61686220e-03 5.44372346e+02] [-1.20086460e-02 9.99927892e-01 -5.95322714e-05 -1.01800072e+01] [-1.61746052e-03 4.01115752e-05 9.99998691e-01 4.86026357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.40, Y:-10.18, Z:0.49 [[ 9.99920556e-01 1.24357923e-02 2.05747212e-03 5.44401643e+02] [-1.24356634e-02 9.99922671e-01 -7.54374479e-05 -1.01802607e+01] [-2.05825114e-03 4.98454241e-05 9.99997881e-01 4.85819159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.43, Y:-10.18, Z:0.49 [[ 9.99913518e-01 1.27962808e-02 3.03510696e-03 5.44429423e+02] [-1.27960032e-02 9.99918122e-01 -1.10863846e-04 -1.01809216e+01] [-3.03627710e-03 7.20170204e-05 9.99995388e-01 4.85524356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.4150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.46, Y:-10.18, Z:0.49 [[ 9.99911216e-01 1.26968903e-02 4.04348247e-03 5.44458244e+02] [-1.26963997e-02 9.99919387e-01 -1.46987515e-04 -1.01817272e+01] [-4.04502279e-03 9.56367955e-05 9.99991814e-01 4.85257504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.4450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.49, Y:-10.18, Z:0.48 [[ 9.99923884e-01 1.13397895e-02 4.86167539e-03 5.44487190e+02] [-1.13390665e-02 9.99935695e-01 -1.76258030e-04 -1.01824987e+01] [-4.86336149e-03 1.21117754e-04 9.99988166e-01 4.84841316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.52, Y:-10.18, Z:0.48 [[ 9.99940263e-01 9.93811559e-03 4.55017047e-03 5.44517191e+02] [-9.93746972e-03 9.99950609e-01 -1.64530177e-04 -1.01837600e+01] [-4.55158085e-03 1.19303167e-04 9.99989634e-01 4.84336171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.55, Y:-10.19, Z:0.48 [[ 9.99973490e-01 5.25777945e-03 5.03743313e-03 5.44547114e+02] [-5.25692952e-03 9.99986166e-01 -1.81947209e-04 -1.01853503e+01] [-5.03832008e-03 1.55460954e-04 9.99987295e-01 4.83270625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.5350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.58, Y:-10.19, Z:0.48 [[ 9.99984233e-01 2.60594672e-03 4.97418227e-03 5.44577971e+02] [-2.60508758e-03 9.99996591e-01 -1.79192529e-04 -1.01865871e+01] [-4.97463228e-03 1.66231524e-04 9.99987613e-01 4.82918615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.5650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.61, Y:-10.19, Z:0.48 [[ 9.99988429e-01 -4.01295339e-04 4.79382214e-03 5.44609494e+02] [ 4.02124633e-04 9.99999904e-01 -1.72029647e-04 -1.01878488e+01] [-4.79375265e-03 1.73955370e-04 9.99988495e-01 4.82641121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.64, Y:-10.19, Z:0.48 [[ 9.99985795e-01 -3.36114633e-03 4.13673139e-03 5.44641583e+02] [ 3.36179168e-03 9.99994338e-01 -1.49062551e-04 -1.01892218e+01] [-4.13620695e-03 1.62967263e-04 9.99991433e-01 4.82518446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.67, Y:-10.19, Z:0.48 [[ 9.99943610e-01 -9.72855180e-03 4.25824248e-03 5.44673577e+02] [ 9.72929779e-03 9.99952657e-01 -1.54506567e-04 -1.01904870e+01] [-4.25653776e-03 1.95927563e-04 9.99990922e-01 4.82619837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.6550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.71, Y:-10.19, Z:0.48 [[ 9.99914117e-01 -1.24370240e-02 4.13256988e-03 5.44706818e+02] [ 1.24377572e-02 9.99922637e-01 -1.51758751e-04 -1.01915275e+01] [-4.13036274e-03 2.03145619e-04 9.99991449e-01 4.82868165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.6850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.74, Y:-10.19, Z:0.48 [[ 9.99885800e-01 -1.45766664e-02 3.98855058e-03 5.44738754e+02] [ 1.45773683e-02 9.99893734e-01 -1.46964845e-04 -1.01926176e+01] [-3.98598448e-03 2.05090632e-04 9.99992035e-01 4.83071293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.77, Y:-10.19, Z:0.48 [[ 9.99858082e-01 -1.62475126e-02 4.45355579e-03 5.44770419e+02] [ 1.62484065e-02 9.99867972e-01 -1.64607119e-04 -1.01936682e+01] [-4.45029334e-03 2.36946944e-04 9.99990069e-01 4.83023711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.745099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.80, Y:-10.19, Z:0.48 [[ 9.99828544e-01 -1.77419805e-02 5.30141860e-03 5.44803981e+02] [ 1.77432710e-02 9.99842556e-01 -1.96487487e-04 -1.01936967e+01] [-5.29709785e-03 2.90518304e-04 9.99985928e-01 4.83260071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.84, Y:-10.19, Z:0.48 [[ 9.99825434e-01 -1.77247561e-02 5.91056451e-03 5.44837265e+02] [ 1.77263643e-02 9.99842852e-01 -2.19817366e-04 -1.01939331e+01] [-5.90573946e-03 3.24551813e-04 9.99982508e-01 4.82809066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.8050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.87, Y:-10.19, Z:0.48 [[ 9.99828367e-01 -1.74446755e-02 6.23854174e-03 5.44869080e+02] [ 1.74464651e-02 9.99847772e-01 -2.32565322e-04 -1.01940686e+01] [-6.23353503e-03 3.41365907e-04 9.99980513e-01 4.82345231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.8350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.90, Y:-10.19, Z:0.48 [[ 9.99850019e-01 -1.60283887e-02 6.55972745e-03 5.44901739e+02] [ 1.60303465e-02 9.99871475e-01 -2.45988769e-04 -1.01933729e+01] [-6.55494156e-03 3.51106580e-04 9.99978454e-01 4.81797144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.93, Y:-10.19, Z:0.48 [[ 9.99864667e-01 -1.51838075e-02 6.33238523e-03 5.44933747e+02] [ 1.51856196e-02 9.99884663e-01 -2.38175135e-04 -1.01933648e+01] [-6.32803846e-03 3.34304095e-04 9.99979922e-01 4.81748155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.97, Y:-10.19, Z:0.48 [[ 9.99878193e-01 -1.42832741e-02 6.29187027e-03 5.44966917e+02] [ 1.42850486e-02 9.99897935e-01 -2.37178344e-04 -1.01934556e+01] [-6.28784041e-03 3.27029127e-04 9.99980178e-01 4.81556317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.9250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.00, Y:-10.19, Z:0.48 [[ 9.99886372e-01 -1.36181838e-02 6.46441339e-03 5.45000094e+02] [ 1.36200476e-02 9.99907213e-01 -2.44386700e-04 -1.01936299e+01] [-6.46048547e-03 3.32404550e-04 9.99979076e-01 4.81294628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.9550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.03, Y:-10.19, Z:0.48 [[ 9.99908065e-01 -1.18819548e-02 6.53311152e-03 5.45032558e+02] [ 1.18838266e-02 9.99929354e-01 -2.47759917e-04 -1.01917342e+01] [-6.52970611e-03 3.25375503e-04 9.99978628e-01 4.81078341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.07, Y:-10.18, Z:0.48 [[ 9.99903165e-01 -8.54538585e-03 1.09834560e-02 5.45068036e+02] [ 8.78208163e-03 9.99726264e-01 -2.16857564e-02 -1.01832400e+01] [-1.07951363e-02 2.17801140e-02 9.99704502e-01 4.80292636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.10, Y:-10.20, Z:0.48 [[ 9.99927769e-01 -9.75132727e-03 7.02623653e-03 5.45097376e+02] [ 9.60117045e-03 9.99731337e-01 2.10967133e-02 -1.02004172e+01] [-7.23006979e-03 -2.10277293e-02 9.99752750e-01 4.75123308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.0450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.13, Y:-10.19, Z:0.48 [[ 9.99953829e-01 -7.61700855e-03 5.85836018e-03 5.45129719e+02] [ 7.61844903e-03 9.99970954e-01 -2.23607368e-04 -1.01898297e+01] [-5.85648680e-03 2.68228662e-04 9.99982815e-01 4.80923981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.0750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.16, Y:-10.19, Z:0.48 [[ 9.99982029e-01 -3.64593507e-03 4.75913628e-03 5.45162105e+02] [ 3.64684664e-03 9.99993334e-01 -1.82876079e-04 -1.01872849e+01] [-4.75843779e-03 2.00228632e-04 9.99988659e-01 4.80726385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.19, Y:-10.19, Z:0.48 [[ 9.99989869e-01 -1.04326018e-03 4.37865186e-03 5.45194324e+02] [ 1.04401190e-03 9.99999441e-01 -1.69396398e-04 -1.01865291e+01] [-4.37847269e-03 1.73966046e-04 9.99990399e-01 4.80317604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.24, Y:-10.16, Z:0.48 [[ 9.99788485e-01 1.25501031e-02 1.62935790e-02 5.45236126e+02] [-1.14638049e-02 9.97810748e-01 -6.51328789e-02 -1.01603563e+01] [-1.70753326e-02 6.49323159e-02 9.97743568e-01 4.79402680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.1650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.25, Y:-10.21, Z:0.46 [[ 9.99961963e-01 7.25902421e-03 4.83516216e-03 5.45251932e+02] [-7.55808587e-03 9.97855934e-01 6.50108512e-02 -1.02138590e+01] [-4.35287991e-03 -6.50449230e-02 9.97872843e-01 4.62293888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.1950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.28, Y:-10.18, Z:0.48 [[ 9.99926770e-01 1.19136647e-02 2.12566091e-03 5.45283289e+02] [-1.19135187e-02 9.99929028e-01 -8.13552373e-05 -1.01807555e+01] [-2.12647929e-03 5.60251788e-05 9.99997737e-01 4.81501140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.31, Y:-10.18, Z:0.48 [[ 9.99867136e-01 1.62164412e-02 1.65458546e-03 5.45311350e+02] [-1.62163575e-02 9.99868504e-01 -6.39419949e-05 -1.01794225e+01] [-1.65540480e-03 3.71021499e-05 9.99998629e-01 4.81717702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.34, Y:-10.17, Z:0.48 [[ 9.99716104e-01 2.30502482e-02 6.03297823e-03 5.45341591e+02] [-2.29205402e-02 9.99521894e-01 -2.07516976e-02 -1.01704475e+01] [-6.50842560e-03 2.06075271e-02 9.99766458e-01 4.79526215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.2850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.37, Y:-10.19, Z:0.48 [[ 9.99553529e-01 2.98529129e-02 1.24375062e-03 5.45368109e+02] [-2.98721442e-02 9.99343611e-01 2.04939698e-02 -1.01851785e+01] [-6.31129546e-04 -2.05219733e-02 9.99789203e-01 4.77021761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.3150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.40, Y:-10.17, Z:0.48 [[ 9.99416580e-01 3.41451859e-02 7.78581889e-04 5.45395210e+02] [-3.41451728e-02 9.99416883e-01 -3.01460075e-05 -1.01744267e+01] [-7.79157226e-04 3.54360661e-06 9.99999696e-01 4.83702142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.42, Y:-10.17, Z:0.48 [[ 9.99287706e-01 3.77292147e-02 7.66138357e-04 5.45423352e+02] [-3.77292032e-02 9.99288000e-01 -2.94613791e-05 -1.01737781e+01] [-7.66704421e-04 5.34604179e-07 9.99999706e-01 4.84174761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.45, Y:-10.17, Z:0.48 [[ 9.99179436e-01 4.04903793e-02 9.91731707e-04 5.45450593e+02] [-4.04903616e-02 9.99179928e-01 -3.78965366e-05 -1.01737202e+01] [-9.92452861e-04 -2.29013531e-06 9.99999508e-01 4.83906787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.4050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.48, Y:-10.17, Z:0.48 [[ 9.99058774e-01 4.33738565e-02 5.24853368e-04 5.45478946e+02] [-4.33738518e-02 9.99058911e-01 -2.02971801e-05 -1.01740021e+01] [-5.25239802e-04 -2.48683632e-06 9.99999862e-01 4.83967332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.4350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.51, Y:-10.17, Z:0.48 [[ 9.99061542e-01 4.33128110e-02 1.90586293e-04 5.45507028e+02] [-4.33128103e-02 9.99061560e-01 -7.87743759e-06 -1.01749631e+01] [-1.90748633e-04 -3.84782998e-07 9.99999982e-01 4.83687789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.53, Y:-10.18, Z:0.48 [[ 9.99093902e-01 4.25602430e-02 3.03570088e-05 5.45534495e+02] [-4.25602430e-02 9.99093902e-01 -1.94906083e-06 -1.01760820e+01] [-3.04124551e-05 6.55293120e-07 1.00000000e+00 4.83466187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.495099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.56, Y:-10.18, Z:0.48 [[ 9.99155995e-01 4.10691804e-02 -7.88045458e-04 5.45561402e+02] [-4.10691710e-02 9.99156305e-01 2.80361816e-05 -1.01771115e+01] [ 7.88532011e-04 4.35185481e-06 9.99999689e-01 4.83739501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.59, Y:-10.18, Z:0.48 [[ 9.99246503e-01 3.88061802e-02 -7.11336542e-04 5.45589394e+02] [-3.88061721e-02 9.99246757e-01 2.52701344e-05 -1.01782551e+01] [ 7.11781369e-04 2.35315477e-06 9.99999747e-01 4.83353878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.62, Y:-10.18, Z:0.48 [[ 9.99443151e-01 3.33008000e-02 -2.10827637e-03 5.45616266e+02] [-3.33007135e-02 9.99445375e-01 7.61276815e-05 -1.01805305e+01] [ 2.10964218e-03 -5.87818243e-06 9.99997775e-01 4.83530257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.64, Y:-10.18, Z:0.48 [[ 9.99553701e-01 2.97731460e-02 -2.44087606e-03 5.45644442e+02] [-2.97730194e-02 9.99556682e-01 8.81818553e-05 -1.01823504e+01] [ 2.44241943e-03 -1.54702494e-05 9.99997017e-01 4.83440885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.67, Y:-10.18, Z:0.48 [[ 9.99659635e-01 2.59771652e-02 -2.40868944e-03 5.45672323e+02] [-2.59770316e-02 9.99662536e-01 8.67496868e-05 -1.01844481e+01] [ 2.41013010e-03 -2.41495586e-05 9.99997095e-01 4.83326094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.70, Y:-10.19, Z:0.48 [[ 9.99839275e-01 1.78457813e-02 -1.71793631e-03 5.45700589e+02] [-1.78457020e-02 9.99840751e-01 6.14573933e-05 -1.01882508e+01] [ 1.71875948e-03 -3.07897361e-05 9.99998522e-01 4.83217418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.6750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.73, Y:-10.19, Z:0.48 [[ 9.99901849e-01 1.39813066e-02 -9.03458632e-04 5.45728389e+02] [-1.39812834e-02 9.99902257e-01 3.19970973e-05 -1.01909254e+01] [ 9.03817686e-04 -1.93624455e-05 9.99999591e-01 4.82834747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.7050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.76, Y:-10.19, Z:0.48 [[ 9.99947955e-01 1.01992483e-02 -2.51377382e-04 5.45757607e+02] [-1.01992464e-02 9.99947986e-01 8.54690852e-06 -1.01933108e+01] [ 2.51451479e-04 -5.98260381e-06 9.99999968e-01 4.82833011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.79, Y:-10.20, Z:0.48 [[ 9.99991259e-01 4.04450744e-03 1.06054029e-03 5.45786103e+02] [-4.04446862e-03 9.99991820e-01 -3.87510852e-05 -1.01964855e+01] [-1.06068834e-03 3.44614246e-05 9.99999437e-01 4.82951785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.82, Y:-10.20, Z:0.48 [[ 9.99991331e-01 4.02659000e-03 1.06055586e-03 5.45816244e+02] [-4.02655163e-03 9.99991893e-01 -3.83188461e-05 -1.01975403e+01] [-1.06070156e-03 3.40481310e-05 9.99999437e-01 4.82719779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.7950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.85, Y:-10.20, Z:0.48 [[ 9.99997915e-01 1.54206695e-03 1.33903465e-03 5.45845703e+02] [-1.54200347e-03 9.99998810e-01 -4.84370098e-05 -1.01996641e+01] [-1.33910775e-03 4.63721127e-05 9.99999102e-01 4.82666708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.8250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.88, Y:-10.20, Z:0.48 [[ 9.99998353e-01 -9.23229482e-04 1.56254932e-03 5.45876426e+02] [ 9.23318418e-04 9.99999572e-01 -5.61965437e-05 -1.02016773e+01] [-1.56249677e-03 5.76391818e-05 9.99998778e-01 4.82264681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.91, Y:-10.20, Z:0.48 [[ 9.99993369e-01 -3.13426521e-03 1.85403374e-03 5.45907598e+02] [ 3.13439383e-03 9.99995086e-01 -6.64690788e-05 -1.02039659e+01] [-1.85381630e-03 7.22799100e-05 9.99998279e-01 4.81913314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.94, Y:-10.21, Z:0.48 [[ 9.99967357e-01 -7.89825130e-03 1.70377836e-03 5.45938738e+02] [ 7.89836488e-03 9.99968806e-01 -5.99450635e-05 -1.02073696e+01] [-1.70325175e-03 7.34001698e-05 9.99998547e-01 4.81398611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.9150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.97, Y:-10.21, Z:0.48 [[ 9.99945605e-01 -1.02380606e-02 1.99248056e-03 5.45972076e+02] [ 1.02382215e-02 9.99947586e-01 -7.05638565e-05 -1.02098813e+01] [-1.99165369e-03 9.09594754e-05 9.99998013e-01 4.80722061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.9450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.00, Y:-10.21, Z:0.48 [[ 9.99914683e-01 -1.28817132e-02 2.16525954e-03 5.46004987e+02] [ 1.28819133e-02 9.99917022e-01 -7.84760036e-05 -1.02122463e+01] [-2.16406896e-03 1.06361994e-04 9.99997653e-01 4.79992730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.04, Y:-10.21, Z:0.48 [[ 9.99841874e-01 -1.76899218e-02 1.81510493e-03 5.46037956e+02] [ 1.76900685e-02 9.99843516e-01 -6.47950584e-05 -1.02147762e+01] [-1.81367468e-03 9.68941431e-05 9.99998351e-01 4.79484648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.07, Y:-10.22, Z:0.48 [[ 9.99805920e-01 -1.96542942e-02 1.35314623e-03 5.46071327e+02] [ 1.96543788e-02 9.99806833e-01 -4.92714552e-05 -1.02163646e+01] [-1.35191645e-03 7.58571412e-05 9.99999083e-01 4.78759748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.0350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.10, Y:-10.22, Z:0.48 [[ 9.99778721e-01 -2.10233653e-02 7.25589038e-04 5.46104435e+02] [ 2.10233897e-02 9.99778984e-01 -2.61101948e-05 -1.02179823e+01] [-7.24879747e-04 4.13587583e-05 9.99999736e-01 4.78007766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.0650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.14, Y:-10.22, Z:0.48 [[ 9.99759471e-01 -2.19310591e-02 1.70551891e-04 5.46136472e+02] [ 2.19310604e-02 9.99759485e-01 -5.65890154e-06 -1.02193674e+01] [-1.70386766e-04 9.39792423e-06 9.99999985e-01 4.77271960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.17, Y:-10.22, Z:0.48 [[ 9.99754850e-01 -2.21338806e-02 -5.75264094e-04 5.46169137e+02] [ 2.21338971e-02 9.99755015e-01 2.23096679e-05 -1.02199341e+01] [ 5.74629363e-04 -3.50370349e-05 9.99999834e-01 4.76517155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.20, Y:-10.22, Z:0.48 [[ 9.99770460e-01 -2.14189554e-02 -5.06164722e-04 5.46201562e+02] [ 2.14189685e-02 9.99770587e-01 2.02915967e-05 -1.02206784e+01] [ 5.05613976e-04 -3.11284651e-05 9.99999872e-01 4.75790695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.1550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.23, Y:-10.22, Z:0.48 [[ 9.99799326e-01 -2.00315735e-02 -2.07623263e-04 5.46233789e+02] [ 2.00315756e-02 9.99799348e-01 8.35884612e-06 -1.02213433e+01] [ 2.07414161e-04 -1.25161898e-05 9.99999978e-01 4.75186090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.1850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.27, Y:-10.22, Z:0.48 [[ 9.99831165e-01 -1.83714797e-02 -3.60331954e-04 5.46265020e+02] [ 1.83714859e-02 9.99831230e-01 1.39739757e-05 -1.02215729e+01] [ 3.60014418e-04 -2.05914499e-05 9.99999935e-01 4.75005260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.30, Y:-10.22, Z:0.47 [[ 9.99910693e-01 -1.33597436e-02 -3.50850843e-04 5.46297136e+02] [ 1.33597493e-02 9.99910754e-01 1.37696082e-05 -1.02199795e+01] [ 3.50635573e-04 -1.84556577e-05 9.99999938e-01 4.74776011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.33, Y:-10.22, Z:0.47 [[ 9.99948826e-01 -1.01150860e-02 -1.77190589e-04 5.46329250e+02] [ 1.01150875e-02 9.99948841e-01 7.24528592e-06 -1.02194413e+01] [ 1.77108237e-04 -9.03721345e-06 9.99999984e-01 4.74463504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.36, Y:-10.22, Z:0.47 [[ 9.99978955e-01 -6.48693393e-03 -9.43257126e-05 5.46361265e+02] [ 6.48693435e-03 9.99978960e-01 4.12087980e-06 -1.02188883e+01] [ 9.42969959e-05 -4.73267778e-06 9.99999996e-01 4.74533553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.3050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.39, Y:-10.22, Z:0.48 [[ 9.99998522e-01 1.59657657e-03 6.38658701e-04 5.46392789e+02] [-1.59656162e-03 9.99998725e-01 -2.39171659e-05 -1.02160928e+01] [-6.38696073e-04 2.28974726e-05 9.99999796e-01 4.75035819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.3350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.42, Y:-10.22, Z:0.47 [[ 9.99981752e-01 5.90920866e-03 1.25608624e-03 5.46422211e+02] [-5.90915341e-03 9.99982540e-01 -4.76936090e-05 -1.02154374e+01] [-1.25634614e-03 4.02703324e-05 9.99999210e-01 4.74767135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.45, Y:-10.21, Z:0.47 [[ 9.99946718e-01 1.01086001e-02 2.09224101e-03 5.46451762e+02] [-1.01084560e-02 9.99948905e-01 -7.94125044e-05 -1.02149848e+01] [-2.09293686e-03 5.82589470e-05 9.99997808e-01 4.74550529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.48, Y:-10.21, Z:0.47 [[ 9.99817365e-01 1.89044911e-02 2.80302097e-03 5.46479641e+02] [-1.89042669e-02 9.99821293e-01 -1.06453442e-04 -1.02128646e+01] [-2.80453250e-03 5.34449435e-05 9.99996066e-01 4.74568971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.4250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.51, Y:-10.21, Z:0.47 [[ 9.99719233e-01 2.34292926e-02 3.53892704e-03 5.46507893e+02] [-2.34289650e-02 9.99725495e-01 -1.34017737e-04 -1.02120032e+01] [-3.54109553e-03 5.10667116e-05 9.99993729e-01 4.74369365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.4550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.53, Y:-10.21, Z:0.47 [[ 9.99614129e-01 2.75259735e-02 3.73025509e-03 5.46534421e+02] [-2.75256389e-02 9.99621088e-01 -1.41011451e-04 -1.02108948e+01] [-3.73272312e-03 3.82793837e-05 9.99993033e-01 4.74519389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.56, Y:-10.21, Z:0.47 [[ 9.99494329e-01 3.15664196e-02 3.82718028e-03 5.46562088e+02] [-3.15661005e-02 9.99501656e-01 -1.43787391e-04 -1.02099215e+01] [-3.82981188e-03 2.29055250e-05 9.99992666e-01 4.74368903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.59, Y:-10.21, Z:0.47 [[ 9.99267624e-01 3.79968094e-02 4.52316191e-03 5.46590194e+02] [-3.79964323e-02 9.99277861e-01 -1.69319545e-04 -1.02083046e+01] [-4.52632916e-03 -2.66847607e-06 9.99989756e-01 4.73575132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.5450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.62, Y:-10.21, Z:0.47 [[ 9.99173676e-01 4.04119704e-02 4.34032659e-03 5.46617975e+02] [-4.04116478e-02 9.99183103e-01 -1.62033206e-04 -1.02087177e+01] [-4.34332907e-03 -1.35004356e-05 9.99990568e-01 4.73056368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.5750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.64, Y:-10.21, Z:0.47 [[ 9.99109326e-01 4.20166974e-02 3.89261506e-03 5.46644976e+02] [-4.20164512e-02 9.99116908e-01 -1.45048382e-04 -1.02093514e+01] [-3.89527198e-03 -1.86346794e-05 9.99992413e-01 4.72710486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.67, Y:-10.21, Z:0.47 [[ 9.99057261e-01 4.32351382e-02 3.91308084e-03 5.46672967e+02] [-4.32349009e-02 9.99064924e-01 -1.45245404e-04 -1.02101967e+01] [-3.91570152e-03 -2.40731872e-05 9.99992333e-01 4.72170071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.70, Y:-10.21, Z:0.47 [[ 9.99023311e-01 4.40372619e-02 3.62545385e-03 5.46700827e+02] [-4.40370647e-02 9.99029889e-01 -1.34245813e-04 -1.02110487e+01] [-3.62784858e-03 -2.55396490e-05 9.99993419e-01 4.71630265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.6650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.73, Y:-10.21, Z:0.47 [[ 9.98995515e-01 4.46826581e-02 3.37950267e-03 5.46728900e+02] [-4.46824914e-02 9.99001231e-01 -1.24837985e-04 -1.02122115e+01] [-3.38170542e-03 -2.62920126e-05 9.99994282e-01 4.71002016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.6950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.76, Y:-10.21, Z:0.47 [[ 9.98999206e-01 4.46086931e-02 3.26358063e-03 5.46755357e+02] [-4.46085381e-02 9.99004536e-01 -1.20302794e-04 -1.02132635e+01] [-3.26569841e-03 -2.54011657e-05 9.99994667e-01 4.70407489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.78, Y:-10.21, Z:0.47 [[ 9.99024637e-01 4.40207177e-02 3.45704708e-03 5.46782880e+02] [-4.40205422e-02 9.99030618e-01 -1.26865790e-04 -1.02148215e+01] [-3.45928060e-03 -2.54390369e-05 9.99994016e-01 4.70292799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.81, Y:-10.22, Z:0.47 [[ 9.99049062e-01 4.34628050e-02 3.45775987e-03 5.46809964e+02] [-4.34626272e-02 9.99055046e-01 -1.26583587e-04 -1.02165978e+01] [-3.45999412e-03 -2.38201143e-05 9.99994014e-01 4.69790906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.7850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.84, Y:-10.22, Z:0.47 [[ 9.99079522e-01 4.26944735e-02 4.15815038e-03 5.46838157e+02] [-4.26942130e-02 9.99088175e-01 -1.51426119e-04 -1.02185052e+01] [-4.16082394e-03 -2.62422236e-05 9.99991343e-01 4.69364702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.8150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.87, Y:-10.22, Z:0.47 [[ 9.99097578e-01 4.22030590e-02 4.78870967e-03 5.46866347e+02] [-4.22027110e-02 9.99109054e-01 -1.73748575e-04 -1.02206048e+01] [-4.79177591e-03 -2.85047503e-05 9.99988519e-01 4.69182068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.89, Y:-10.22, Z:0.47 [[ 9.99132049e-01 4.13602202e-02 4.94791359e-03 5.46893270e+02] [-4.13598409e-02 9.99144300e-01 -1.79003584e-04 -1.02226260e+01] [-4.95108328e-03 -2.57967013e-05 9.99987743e-01 4.69261660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.92, Y:-10.23, Z:0.47 [[ 9.99206017e-01 3.93508867e-02 6.23242552e-03 5.46920561e+02] [-3.93502519e-02 9.99225454e-01 -2.24499317e-04 -1.02264057e+01] [-6.23643247e-03 -2.09264458e-05 9.99980553e-01 4.69364391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.9050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.95, Y:-10.23, Z:0.47 [[ 9.99254987e-01 3.80928587e-02 6.19720039e-03 5.46947213e+02] [-3.80922135e-02 9.99274204e-01 -2.22156855e-04 -1.02290770e+01] [-6.20116507e-03 -1.40737350e-05 9.99980772e-01 4.69263989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.9350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.97, Y:-10.23, Z:0.47 [[ 9.99303404e-01 3.67677280e-02 6.39065060e-03 5.46974823e+02] [-3.67670218e-02 9.99323838e-01 -2.27987272e-04 -1.02319182e+01] [-6.39471206e-03 -7.13673323e-06 9.99979554e-01 4.68815293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.00, Y:-10.24, Z:0.47 [[ 9.99376032e-01 3.47254123e-02 6.45692741e-03 5.47001846e+02] [-3.47246533e-02 9.99396891e-01 -2.29659959e-04 -1.02371112e+01] [-6.46100821e-03 5.30209313e-06 9.99979127e-01 4.68122039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.995099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.03, Y:-10.24, Z:0.47 [[ 9.99404642e-01 3.39445056e-02 6.17505297e-03 5.47029569e+02] [-3.39438011e-02 9.99423719e-01 -2.18870404e-04 -1.02403895e+01] [-6.17892385e-03 9.13532777e-06 9.99980910e-01 4.67525302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.05, Y:-10.25, Z:0.47 [[ 9.99526107e-01 3.07787542e-02 4.79417642e-04 5.47054490e+02] [-3.07814107e-02 9.99239623e-01 2.39307622e-02 -1.02517150e+01] [ 2.57505944e-04 -2.39341787e-02 9.99713503e-01 4.68413290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.09, Y:-10.24, Z:0.47 [[ 9.99425669e-01 3.36426326e-02 4.06266922e-03 5.47086942e+02] [-3.35355959e-02 9.99148461e-01 -2.40357352e-02 -1.02370949e+01] [-4.86783511e-03 2.38856867e-02 9.99702845e-01 4.72974314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.11, Y:-10.25, Z:0.47 [[ 9.99420957e-01 3.37707861e-02 4.15742888e-03 5.47113326e+02] [-3.37704660e-02 9.99429604e-01 -1.47201838e-04 -1.02510590e+01] [-4.16002862e-03 6.71829128e-06 9.99991347e-01 4.65323313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.14, Y:-10.26, Z:0.47 [[ 9.99495687e-01 3.16665038e-02 -2.36745554e-03 5.47138453e+02] [-3.15963987e-02 9.99178927e-01 2.53601755e-02 -1.02626258e+01] [ 3.16857978e-03 -2.52725829e-02 9.99675576e-01 4.66338985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.17, Y:-10.24, Z:0.47 [[ 9.99364340e-01 3.55840615e-02 2.16560732e-03 5.47170417e+02] [-3.55176311e-02 9.99045704e-01 -2.54200597e-02 -1.02442828e+01] [-3.06808966e-03 2.53269840e-02 9.99674512e-01 4.72089466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.1750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.20, Y:-10.26, Z:0.46 [[ 9.99312059e-01 3.70849375e-02 3.40870135e-04 5.47196715e+02] [-3.70864892e-02 9.99261210e-01 1.00810167e-02 -1.02640182e+01] [ 3.32355715e-05 -1.00867232e-02 9.99949127e-01 4.64923010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.2050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.23, Y:-10.26, Z:0.47 [[ 9.99219205e-01 3.94605392e-02 1.96143470e-03 5.47225869e+02] [-3.94386197e-02 9.99170142e-01 -1.01794766e-02 -1.02581451e+01] [-2.36149462e-03 1.00941722e-02 9.99946264e-01 4.67154976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.25, Y:-10.27, Z:0.46 [[ 9.99154286e-01 4.10540393e-02 2.29768297e-03 5.47253777e+02] [-4.10539647e-02 9.99156927e-01 -7.96246575e-05 -1.02656561e+01] [-2.29901477e-03 -1.47716779e-05 9.99997357e-01 4.63802368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.28, Y:-10.27, Z:0.46 [[ 9.99086815e-01 4.26739113e-02 2.11498681e-03 5.47280934e+02] [-4.26738519e-02 9.99089054e-01 -7.32390055e-05 -1.02681711e+01] [-2.11618556e-03 -1.70825091e-05 9.99997761e-01 4.63638403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.2950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.31, Y:-10.27, Z:0.46 [[ 9.98969118e-01 4.53351190e-02 2.32990930e-03 5.47308149e+02] [-4.53350550e-02 9.98971835e-01 -8.02738418e-05 -1.02726492e+01] [-2.33115300e-03 -2.54354777e-05 9.99997283e-01 4.63186763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.3250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.34, Y:-10.28, Z:0.46 [[ 9.98931222e-01 4.61626387e-02 2.32894436e-03 5.47335792e+02] [-4.61625779e-02 9.98933937e-01 -7.98671836e-05 -1.02754788e+01] [-2.33014844e-03 -2.77282523e-05 9.99997285e-01 4.63012518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.36, Y:-10.28, Z:0.46 [[ 9.98910545e-01 4.66121027e-02 2.24402999e-03 5.47362875e+02] [-4.66120477e-02 9.98913065e-01 -7.68448290e-05 -1.02783291e+01] [-2.24517278e-03 -2.78377229e-05 9.99997479e-01 4.62792690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.39, Y:-10.28, Z:0.46 [[ 9.98885635e-01 4.71721245e-02 1.50933517e-03 5.47390886e+02] [-4.71721002e-02 9.98886776e-01 -5.17058712e-05 -1.02837887e+01] [-1.51009402e-03 -1.95502580e-05 9.99998860e-01 4.62423005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.4150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.42, Y:-10.29, Z:0.46 [[ 9.98930931e-01 4.62225749e-02 6.85257583e-04 5.47418569e+02] [-4.62225694e-02 9.98931166e-01 -2.39022280e-05 -1.02868207e+01] [-6.85629979e-04 -7.79769127e-06 9.99999765e-01 4.62602753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.4450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.45, Y:-10.29, Z:0.46 [[ 9.98977639e-01 4.52069179e-02 1.10963964e-04 5.47446876e+02] [-4.52069177e-02 9.98977645e-01 -4.60915982e-06 -1.02901586e+01] [-1.11058886e-04 -4.11891200e-07 9.99999994e-01 4.62605861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.47, Y:-10.30, Z:0.46 [[ 9.99147575e-01 4.12804584e-02 -2.18235425e-04 5.47473476e+02] [-4.12804580e-02 9.99147599e-01 6.23598945e-06 -1.02959087e+01] [ 2.18306825e-04 2.77818455e-06 9.99999976e-01 4.62987367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.50, Y:-10.30, Z:0.46 [[ 9.99259111e-01 3.84845054e-02 -4.13501189e-04 5.47501172e+02] [-3.84845033e-02 9.99259197e-01 1.28564043e-05 -1.02992341e+01] [ 4.13689638e-04 3.06650879e-06 9.99999914e-01 4.63247702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.5350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.53, Y:-10.30, Z:0.46 [[ 9.99376651e-01 3.53006715e-02 -4.14681930e-04 5.47528767e+02] [-3.53006692e-02 9.99376737e-01 1.28520750e-05 -1.03028445e+01] [ 4.14877161e-04 1.79448598e-06 9.99999914e-01 4.63103887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.5650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.56, Y:-10.30, Z:0.47 [[ 9.99563947e-01 2.93104733e-02 -3.57940251e-03 5.47557136e+02] [-2.93447632e-02 9.99519968e-01 -9.93575114e-03 -1.03047860e+01] [ 3.28646271e-03 1.00364553e-02 9.99944233e-01 4.65304008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.59, Y:-10.32, Z:0.46 [[ 9.99685313e-01 2.50704657e-02 -8.63971367e-04 5.47585828e+02] [-2.50608174e-02 9.99637984e-01 9.79058353e-03 -1.03178265e+01] [ 1.10911308e-03 -9.76585073e-03 9.99951698e-01 4.60392247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.61, Y:-10.32, Z:0.46 [[ 9.99767114e-01 2.15304414e-02 -1.46926105e-03 5.47613004e+02] [-2.15303957e-02 9.99768193e-01 4.68795168e-05 -1.03163848e+01] [ 1.46992980e-03 -1.52348274e-05 9.99998920e-01 4.62820317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.6550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.64, Y:-10.32, Z:0.46 [[ 9.99768985e-01 2.14433577e-02 -1.46924752e-03 5.47641465e+02] [-2.14433113e-02 9.99770065e-01 4.72913965e-05 -1.03172269e+01] [ 1.46992378e-03 -1.57749394e-05 9.99998920e-01 4.62591808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.6850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.67, Y:-10.32, Z:0.46 [[ 9.99834132e-01 1.81164462e-02 -1.87167611e-03 5.47669751e+02] [-1.81163649e-02 9.99835883e-01 6.04160358e-05 -1.03205197e+01] [ 1.87246346e-03 -2.64980475e-05 9.99998247e-01 4.62434562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.70, Y:-10.33, Z:0.46 [[ 9.99926590e-01 1.19282764e-02 -2.12851453e-03 5.47697680e+02] [-1.19281577e-02 9.99928855e-01 6.84545674e-05 -1.03256363e+01] [ 2.12917964e-03 -4.30602853e-05 9.99997732e-01 4.62915993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.745099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.73, Y:-10.33, Z:0.46 [[ 9.99955047e-01 9.29521000e-03 -1.87150346e-03 5.47726271e+02] [-9.29511376e-03 9.99956798e-01 6.01166746e-05 -1.03287242e+01] [ 1.87198140e-03 -4.27181347e-05 9.99998247e-01 4.62760887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.75, Y:-10.33, Z:0.46 [[ 9.99976679e-01 6.58425774e-03 -1.81357862e-03 5.47754219e+02] [-6.58416348e-03 9.99978322e-01 5.79386974e-05 -1.03319080e+01] [ 1.81392079e-03 -4.59964481e-05 9.99998354e-01 4.62668781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.8050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.78, Y:-10.34, Z:0.46 [[ 9.99996268e-01 1.82072495e-03 -2.03676744e-03 5.47783007e+02] [-1.82059598e-03 9.99998341e-01 6.51720818e-05 -1.03372636e+01] [ 2.03688272e-03 -6.14637080e-05 9.99997924e-01 4.62909558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.8350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.81, Y:-10.34, Z:0.46 [[ 9.99998478e-01 -3.94355441e-04 -1.69954809e-03 5.47813047e+02] [ 3.94448637e-04 9.99999921e-01 5.45006324e-05 -1.03400550e+01] [ 1.69952646e-03 -5.51709339e-05 9.99998554e-01 4.62758453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.84, Y:-10.34, Z:0.46 [[ 9.99994628e-01 -2.74306586e-03 -1.79445587e-03 5.47842865e+02] [ 2.74317377e-03 9.99996236e-01 5.76714722e-05 -1.03423755e+01] [ 1.79429092e-03 -6.25936666e-05 9.99998388e-01 4.63036408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.87, Y:-10.34, Z:0.46 [[ 9.99987264e-01 -4.86373097e-03 -1.34741456e-03 5.47873401e+02] [ 4.86379387e-03 9.99988171e-01 4.34099691e-05 -1.03447314e+01] [ 1.34718749e-03 -4.99629629e-05 9.99999091e-01 4.62705412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.9250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.90, Y:-10.35, Z:0.46 [[ 9.99957294e-01 -9.14002866e-03 -1.36785271e-03 5.47903525e+02] [ 9.14009770e-03 9.99958227e-01 4.42299954e-05 -1.03485545e+01] [ 1.36739130e-03 -5.67304139e-05 9.99999064e-01 4.62404572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.9550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.93, Y:-10.35, Z:0.46 [[ 9.99937042e-01 -1.11131873e-02 -1.55208433e-03 5.47934667e+02] [ 1.11132788e-02 9.99938244e-01 5.03588370e-05 -1.03507725e+01] [ 1.55142883e-03 -6.76044124e-05 9.99998794e-01 4.62159479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.97, Y:-10.35, Z:0.46 [[ 9.99915616e-01 -1.28629214e-02 -1.81841244e-03 5.47965601e+02] [ 1.28630514e-02 9.99917266e-01 5.98123141e-05 -1.03529028e+01] [ 1.81749264e-03 -8.31975996e-05 9.99998345e-01 4.61571340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.00, Y:-10.35, Z:0.46 [[ 9.99897043e-01 -1.41780780e-02 -2.21014800e-03 5.47997595e+02] [ 1.41782724e-02 9.99899481e-01 7.23242200e-05 -1.03548069e+01] [ 2.20890042e-03 -1.03652854e-04 9.99997555e-01 4.61222906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.0450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.03, Y:-10.36, Z:0.46 [[ 9.99867236e-01 -1.59812800e-02 -3.17945039e-03 5.48028389e+02] [ 1.59816931e-02 9.99872279e-01 1.04566695e-04 -1.03558940e+01] [ 3.17737320e-03 -1.55365813e-04 9.99994940e-01 4.60748661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.0750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.06, Y:-10.36, Z:0.46 [[ 9.99855310e-01 -1.66115930e-02 -3.66262506e-03 5.48060682e+02] [ 1.66121444e-02 9.99862002e-01 1.20178158e-04 -1.03564172e+01] [ 3.66012328e-03 -1.81004826e-04 9.99993285e-01 4.60453939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.09, Y:-10.36, Z:0.46 [[ 9.99849736e-01 -1.69821473e-02 -3.48022625e-03 5.48093291e+02] [ 1.69826484e-02 9.99855778e-01 1.14482290e-04 -1.03567170e+01] [ 3.47778017e-03 -1.73568546e-04 9.99993937e-01 4.60254640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.12, Y:-10.36, Z:0.46 [[ 9.99853198e-01 -1.67471349e-02 -3.62160590e-03 5.48124649e+02] [ 1.67476761e-02 9.99859741e-01 1.19157085e-04 -1.03562334e+01] [ 3.61910240e-03 -1.79793075e-04 9.99993435e-01 4.60208777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.1650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.16, Y:-10.35, Z:0.46 [[ 9.99871341e-01 -1.54714368e-02 -4.23517671e-03 5.48156234e+02] [ 1.54608325e-02 9.99877285e-01 -2.52524634e-03 -1.03547314e+01] [ 4.27372618e-03 2.45944208e-03 9.99987843e-01 4.60620890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.1950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.19, Y:-10.36, Z:0.46 [[ 9.99885163e-01 -1.48527516e-02 -3.00933243e-03 5.48187838e+02] [ 1.48610515e-02 9.99885774e-01 2.75473391e-03 -1.03569359e+01] [ 2.96807330e-03 -2.79913941e-03 9.99991678e-01 4.59676114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.22, Y:-10.35, Z:0.46 [[ 9.99932794e-01 -1.14447909e-02 -1.85030040e-03 5.48220560e+02] [ 1.14449243e-02 9.99934503e-01 6.15642245e-05 -1.03528406e+01] [ 1.84947462e-03 -8.27366351e-05 9.99998286e-01 4.60478125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.25, Y:-10.35, Z:0.46 [[ 9.99956868e-01 -9.21329203e-03 -1.17396009e-03 5.48251932e+02] [ 9.21334437e-03 9.99957555e-01 3.91857722e-05 -1.03517509e+01] [ 1.17354923e-03 -5.00001806e-05 9.99999310e-01 4.60511415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.2850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.28, Y:-10.35, Z:0.46 [[ 9.99976830e-01 -6.34374367e-03 -2.46902853e-03 5.48282298e+02] [ 6.33028569e-03 9.99965270e-01 -5.42089361e-03 -1.03477436e+01] [ 2.50333154e-03 5.40513836e-03 9.99982259e-01 4.61679155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.3150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.31, Y:-10.35, Z:0.46 [[ 9.99992894e-01 -3.76889610e-03 -8.80150176e-05 5.48312476e+02] [ 3.76931918e-03 9.99978096e-01 5.44056936e-03 -1.03498365e+01] [ 6.75081489e-05 -5.44086246e-03 9.99985196e-01 4.58719176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.34, Y:-10.35, Z:0.46 [[ 9.99997773e-01 -2.00687676e-03 -6.52592847e-04 5.48343892e+02] [ 2.00689140e-03 9.99997986e-01 2.17747569e-05 -1.03463375e+01] [ 6.52547833e-04 -2.30843914e-05 9.99999787e-01 4.59417209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.37, Y:-10.35, Z:0.46 [[ 9.99999363e-01 -3.86045304e-04 -1.06068392e-03 5.48374559e+02] [ 3.86082736e-04 9.99999925e-01 3.50855457e-05 -1.03457882e+01] [ 1.06067030e-03 -3.54950351e-05 9.99999437e-01 4.58700111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.4050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.41, Y:-10.34, Z:0.46 [[ 9.99999142e-01 8.49365695e-04 -9.97121755e-04 5.48405135e+02] [-8.49333363e-04 9.99999639e-01 3.28488335e-05 -1.03449173e+01] [ 9.97149295e-04 -3.20019165e-05 9.99999502e-01 4.58082020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.4350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.44, Y:-10.34, Z:0.46 [[ 9.99995758e-01 2.89962777e-03 -2.74177296e-04 5.48435130e+02] [-2.89962549e-03 9.99995796e-01 8.73719982e-06 -1.03421594e+01] [ 2.74201478e-04 -7.94215128e-06 9.99999962e-01 4.58089039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.47, Y:-10.34, Z:0.46 [[ 9.99993073e-01 3.72183381e-03 3.49777592e-05 5.48465152e+02] [-3.72183376e-03 9.99993074e-01 -1.43566321e-06 -1.03415817e+01] [-3.49828604e-05 1.30547187e-06 9.99999999e-01 4.57743876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.495099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.49, Y:-10.34, Z:0.46 [[ 9.99990967e-01 4.24754328e-03 1.56167446e-04 5.48494580e+02] [-4.24754249e-03 9.99990979e-01 -5.41640499e-06 -1.03409133e+01] [-1.56189044e-04 4.75302820e-06 9.99999988e-01 4.57321418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.52, Y:-10.34, Z:0.46 [[ 9.99987350e-01 5.01579943e-03 3.76353536e-04 5.48524555e+02] [-5.01579503e-03 9.99987421e-01 -1.26343150e-05 -1.03391270e+01] [-3.76412173e-04 1.07464430e-05 9.99999929e-01 4.56387512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.5550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.55, Y:-10.34, Z:0.46 [[ 9.99984836e-01 5.50670357e-03 6.41143897e-05 5.48553703e+02] [-5.50670341e-03 9.99984838e-01 -2.53124578e-06 -1.03389910e+01] [-6.41273567e-05 2.17814847e-06 9.99999998e-01 4.55958799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.5850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.58, Y:-10.34, Z:0.46 [[ 9.99980982e-01 6.16455496e-03 1.82296445e-04 5.48583086e+02] [-6.16455392e-03 9.99980999e-01 -6.24784570e-06 -1.03386939e+01] [-1.82331496e-04 5.12395062e-06 9.99999983e-01 4.55280971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.61, Y:-10.34, Z:0.45 [[ 9.99974319e-01 7.14686201e-03 5.32387381e-04 5.48611749e+02] [-7.14685347e-03 9.99974461e-01 -1.79495281e-05 -1.03381563e+01] [-5.32502068e-04 1.41441725e-05 9.99999858e-01 4.54857189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.64, Y:-10.34, Z:0.45 [[ 9.99962729e-01 8.59161907e-03 8.51503298e-04 5.48640650e+02] [-8.59159807e-03 9.99963091e-01 -2.83159552e-05 -1.03374721e+01] [-8.51715150e-04 2.09991257e-05 9.99999637e-01 4.54618080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.6750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.67, Y:-10.34, Z:0.45 [[ 9.99925091e-01 1.21557048e-02 1.43255550e-03 5.48669869e+02] [-1.21556499e-02 9.99926116e-01 -4.70084381e-05 -1.03350630e+01] [-1.43302108e-03 2.95912736e-05 9.99998973e-01 4.54653909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.7050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.70, Y:-10.33, Z:0.45 [[ 9.99902067e-01 1.38878766e-02 1.72731553e-03 5.48698718e+02] [-1.38877995e-02 9.99903558e-01 -5.66094847e-05 -1.03345249e+01] [-1.72793513e-03 3.26153290e-05 9.99998507e-01 4.54463640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.73, Y:-10.33, Z:0.45 [[ 9.99860549e-01 1.64338120e-02 2.96861194e-03 5.48726727e+02] [-1.64335971e-02 9.99864955e-01 -9.67628892e-05 -1.03328809e+01] [-2.96980123e-03 4.79644230e-05 9.99995589e-01 4.54265842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.76, Y:-10.33, Z:0.45 [[ 9.99843232e-01 1.73278907e-02 3.64092922e-03 5.48755146e+02] [-1.73275757e-02 9.99849859e-01 -1.18069430e-04 -1.03329579e+01] [-3.64242847e-03 5.49624439e-05 9.99993365e-01 4.53999970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.7950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.78, Y:-10.33, Z:0.45 [[ 9.99830981e-01 1.79833393e-02 3.82225196e-03 5.48784168e+02] [-1.79829980e-02 9.99838285e-01 -1.23642860e-04 -1.03332311e+01] [-3.82385736e-03 5.48864122e-05 9.99992688e-01 4.53671516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.8250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.81, Y:-10.33, Z:0.45 [[ 9.99829710e-01 1.79235567e-02 4.39283622e-03 5.48812169e+02] [-1.79231068e-02 9.99839358e-01 -1.41757330e-04 -1.03332922e+01] [-4.39467135e-03 6.29999177e-05 9.99990341e-01 4.53302614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.84, Y:-10.33, Z:0.45 [[ 9.99839028e-01 1.73971829e-02 4.38827028e-03 5.48840827e+02] [-1.73967309e-02 9.99848655e-01 -1.41155512e-04 -1.03327871e+01] [-4.39006185e-03 6.47912330e-05 9.99990362e-01 4.53104974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.87, Y:-10.33, Z:0.45 [[ 9.99852525e-01 1.65835639e-02 4.46246484e-03 5.48869796e+02] [-1.65830899e-02 9.99862481e-01 -1.43205739e-04 -1.03334699e+01] [-4.46422603e-03 6.91831647e-05 9.99990033e-01 4.52526759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.9150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.90, Y:-10.33, Z:0.45 [[ 9.99872164e-01 1.55697618e-02 3.63840761e-03 5.48899077e+02] [-1.55694406e-02 9.99878782e-01 -1.16600240e-04 -1.03341707e+01] [-3.63978201e-03 5.99373629e-05 9.99993374e-01 4.52444077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.9450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.93, Y:-10.33, Z:0.45 [[ 9.99910582e-01 1.28362144e-02 3.74968573e-03 5.48927095e+02] [-1.28358547e-02 9.99917610e-01 -1.19982074e-04 -1.03345579e+01] [-3.75091690e-03 7.18409238e-05 9.99992963e-01 4.51931132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.96, Y:-10.34, Z:0.45 [[ 9.99932193e-01 1.10540815e-02 3.66276203e-03 5.48955480e+02] [-1.10537281e-02 9.99938899e-01 -1.16734970e-04 -1.03352473e+01] [-3.66382863e-03 7.62398788e-05 9.99993285e-01 4.51716407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.99, Y:-10.34, Z:0.45 [[ 9.99949817e-01 9.22162710e-03 3.91475544e-03 5.48985514e+02] [-9.22121103e-03 9.99957476e-01 -1.24319975e-04 -1.03361203e+01] [-3.91573540e-03 8.82149505e-05 9.99992330e-01 4.51397850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.0350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.02, Y:-10.34, Z:0.45 [[ 9.99977666e-01 5.67469055e-03 3.53060642e-03 5.49015348e+02] [-5.67433032e-03 9.99983895e-01 -1.12037558e-04 -1.03371729e+01] [-3.53118534e-03 9.20012286e-05 9.99993761e-01 4.51006596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.0650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.05, Y:-10.34, Z:0.45 [[ 9.99984867e-01 4.20254037e-03 3.55014028e-03 5.49046226e+02] [-4.20216791e-03 9.99991165e-01 -1.12364777e-04 -1.03381125e+01] [-3.55058113e-03 9.74447911e-05 9.99993692e-01 4.50629311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.08, Y:-10.34, Z:0.45 [[ 9.99990324e-01 2.65730342e-03 3.50591196e-03 5.49077829e+02] [-2.65693128e-03 9.99996464e-01 -1.10801001e-04 -1.03387085e+01] [-3.50619400e-03 1.01484961e-04 9.99993848e-01 4.50826688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.11, Y:-10.34, Z:0.45 [[ 9.99989356e-01 2.75669991e-03 3.69967913e-03 5.49109651e+02] [-2.75628561e-03 9.99996195e-01 -1.17076600e-04 -1.03397621e+01] [-3.69998779e-03 1.06877982e-04 9.99993149e-01 4.50566761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.1550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.14, Y:-10.34, Z:0.45 [[ 9.99987638e-01 3.29993333e-03 3.71938654e-03 5.49140739e+02] [-3.29951957e-03 9.99994550e-01 -1.17374135e-04 -1.03406825e+01] [-3.71975360e-03 1.05100495e-04 9.99993076e-01 4.50260348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.1850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.17, Y:-10.34, Z:0.45 [[ 9.99984451e-01 4.39447790e-03 3.43304211e-03 5.49172039e+02] [-4.39412872e-03 9.99990340e-01 -1.09245139e-04 -1.03413946e+01] [-3.43348902e-03 9.41582119e-05 9.99994101e-01 4.50048117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.20, Y:-10.34, Z:0.45 [[ 9.99964111e-01 7.76861429e-03 3.38028928e-03 5.49202604e+02] [-7.76829406e-03 9.99969821e-01 -1.07852404e-04 -1.03410624e+01] [-3.38102513e-03 8.15894523e-05 9.99994281e-01 4.50205437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.23, Y:-10.34, Z:0.45 [[ 9.99944023e-01 9.88911475e-03 3.76251740e-03 5.49232270e+02] [-9.88873244e-03 9.99951098e-01 -1.20200776e-04 -1.03410328e+01] [-3.76352208e-03 8.29875194e-05 9.99992914e-01 4.50080306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.26, Y:-10.34, Z:0.45 [[ 9.99916628e-01 1.22807784e-02 3.98988423e-03 5.49262259e+02] [-1.22803682e-02 9.99924585e-01 -1.27303536e-04 -1.03411111e+01] [-3.99114672e-03 7.82956750e-05 9.99992032e-01 4.50186725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.3050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.29, Y:-10.34, Z:0.45 [[ 9.99833024e-01 1.77756702e-02 4.23663049e-03 5.49290566e+02] [-1.77752574e-02 9.99841999e-01 -1.35069882e-04 -1.03406626e+01] [-4.23836206e-03 5.97401309e-05 9.99991016e-01 4.50728522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.3350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.32, Y:-10.34, Z:0.45 [[ 9.99719747e-01 2.32298998e-02 4.56070752e-03 5.49318414e+02] [-2.32294758e-02 9.99730149e-01 -1.45929242e-04 -1.03405853e+01] [-4.56286673e-03 3.99454993e-05 9.99989589e-01 4.51091828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.35, Y:-10.34, Z:0.45 [[ 9.99636250e-01 2.65080351e-02 4.96899147e-03 5.49347034e+02] [-2.65075837e-02 9.99648600e-01 -1.56678595e-04 -1.03410477e+01] [-4.97139861e-03 2.49056455e-05 9.99987642e-01 4.50556443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.38, Y:-10.34, Z:0.45 [[ 9.99637685e-01 2.64538779e-02 4.96900446e-03 5.49376336e+02] [-2.64534279e-02 9.99650035e-01 -1.56265039e-04 -1.03419104e+01] [-4.97139930e-03 2.47612203e-05 9.99987642e-01 4.50322338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.4250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.40, Y:-10.34, Z:0.45 [[ 9.99476161e-01 3.19592757e-02 5.09988356e-03 5.49403726e+02] [-3.19588738e-02 9.99489172e-01 -1.60298195e-04 -1.03415067e+01] [-5.10240141e-03 -2.77231086e-06 9.99986983e-01 4.50338196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.4550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.43, Y:-10.34, Z:0.45 [[ 9.99399793e-01 3.42989937e-02 4.86126603e-03 5.49432156e+02] [-3.42986592e-02 9.99411616e-01 -1.52187664e-04 -1.03420125e+01] [-4.86362563e-03 -1.46385867e-05 9.99988172e-01 4.49869093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.46, Y:-10.34, Z:0.45 [[ 9.99343818e-01 3.58470557e-02 5.18858877e-03 5.49459281e+02] [-3.58466985e-02 9.99357287e-01 -1.61850193e-04 -1.03425182e+01] [-5.19105585e-03 -2.42497873e-05 9.99986526e-01 4.49288708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.49, Y:-10.34, Z:0.45 [[ 9.99307096e-01 3.68721076e-02 5.07704570e-03 5.49486693e+02] [-3.68717821e-02 9.99319992e-01 -1.57735264e-04 -1.03435854e+01] [-5.07940931e-03 -2.95737543e-05 9.99987099e-01 4.48619160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.5450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.51, Y:-10.35, Z:0.45 [[ 9.99313236e-01 3.68525121e-02 3.86639177e-03 5.49514551e+02] [-3.68523244e-02 9.99320715e-01 -1.19805217e-04 -1.03454143e+01] [-3.86818052e-03 -2.27625846e-05 9.99992518e-01 4.47887346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.5750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.54, Y:-10.35, Z:0.45 [[ 9.99316547e-01 3.67626078e-02 3.86640684e-03 5.49543010e+02] [-3.67624213e-02 9.99324027e-01 -1.19316046e-04 -1.03462039e+01] [-3.86817962e-03 -2.29039784e-05 9.99992518e-01 4.47659903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.57, Y:-10.35, Z:0.45 [[ 9.99357716e-01 3.56277036e-02 3.84986074e-03 5.49570643e+02] [-3.56275113e-02 9.99365132e-01 -1.18533761e-04 -1.03478792e+01] [-3.85163967e-03 -1.87033280e-05 9.99992582e-01 4.46752320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.60, Y:-10.35, Z:0.45 [[ 9.99429091e-01 3.36206813e-02 3.33796258e-03 5.49598883e+02] [-3.36205264e-02 9.99434665e-01 -1.02531800e-04 -1.03495295e+01] [-3.33952270e-03 -9.75079521e-06 9.99994424e-01 4.46621951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.6650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.63, Y:-10.35, Z:0.45 [[ 9.99522240e-01 3.06903162e-02 3.66015732e-03 5.49626832e+02] [-3.06901120e-02 9.99528941e-01 -1.11956349e-04 -1.03510351e+01] [-3.66186914e-03 -4.27777340e-07 9.99993295e-01 4.46127814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.6950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.65, Y:-10.35, Z:0.45 [[ 9.99705365e-01 2.38172676e-02 4.68198385e-03 5.49654582e+02] [-2.38168620e-02 9.99716328e-01 -1.42389345e-04 -1.03543117e+01] [-4.68404703e-03 3.08372288e-05 9.99989029e-01 4.46130199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.68, Y:-10.36, Z:0.45 [[ 9.99795212e-01 1.95981405e-02 5.04441435e-03 5.49681862e+02] [-1.95976185e-02 9.99807937e-01 -1.52892724e-04 -1.03567366e+01] [-5.04644192e-03 5.40029054e-05 9.99987265e-01 4.46120688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.71, Y:-10.36, Z:0.45 [[ 9.99865929e-01 1.52450275e-02 5.97605633e-03 5.49710276e+02] [-1.52442213e-02 9.99883784e-01 -1.80425051e-04 -1.03593440e+01] [-5.97811240e-03 8.93005357e-05 9.99982127e-01 4.45775462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.7850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.74, Y:-10.36, Z:0.45 [[ 9.99950991e-01 6.81978000e-03 7.17675184e-03 5.49738392e+02] [-6.81840511e-03 9.99976731e-01 -2.16024980e-04 -1.03640808e+01] [-7.17805809e-03 1.67080391e-04 9.99974223e-01 4.45934056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.8150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.77, Y:-10.37, Z:0.45 [[ 9.99961666e-01 3.03768483e-03 8.21208471e-03 5.49770129e+02] [-3.03575963e-03 9.99995362e-01 -2.46889762e-04 -1.03667980e+01] [-8.21279659e-03 2.21950383e-04 9.99966250e-01 4.45449355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.80, Y:-10.37, Z:0.45 [[ 9.99965053e-01 -4.04215328e-04 8.35042033e-03 5.49803637e+02] [ 4.06343531e-04 9.99999885e-01 -2.53166663e-04 -1.03692731e+01] [-8.35031704e-03 2.56550955e-04 9.99965103e-01 4.45382536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.84, Y:-10.37, Z:0.44 [[ 9.99957331e-01 -3.36598046e-03 8.60271433e-03 5.49835816e+02] [ 3.36837016e-03 9.99994292e-01 -2.63311175e-04 -1.03717312e+01] [-8.60177893e-03 2.92277066e-04 9.99962961e-01 4.44976927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.9050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.87, Y:-10.38, Z:0.44 [[ 9.99917394e-01 -9.84476882e-03 8.26353663e-03 5.49868692e+02] [ 9.84721209e-03 9.99951483e-01 -2.55032788e-04 -1.03750051e+01] [-8.26062496e-03 3.36384518e-04 9.99965824e-01 4.44319621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.9350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.90, Y:-10.38, Z:0.44 [[ 9.99883946e-01 -1.31382444e-02 7.71237509e-03 5.49901839e+02] [ 1.31404858e-02 9.99913631e-01 -2.40026341e-04 -1.03775511e+01] [-7.70855546e-03 3.41342840e-04 9.99970230e-01 4.43891802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.94, Y:-10.38, Z:0.44 [[ 9.99843175e-01 -1.62485422e-02 7.04351258e-03 5.49935308e+02] [ 1.62505023e-02 9.99867927e-01 -2.21134529e-04 -1.03800668e+01] [-7.03898921e-03 3.35560467e-04 9.99975170e-01 4.43593324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.995099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.97, Y:-10.38, Z:0.44 [[ 9.99727325e-01 -2.25767715e-02 5.96366636e-03 5.49967270e+02] [ 2.25782912e-02 9.99745060e-01 -1.87618665e-04 -1.03831935e+01] [-5.95791016e-03 3.22216902e-04 9.99982200e-01 4.43190901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.00, Y:-10.38, Z:0.44 [[ 9.99658123e-01 -2.55778574e-02 5.42307761e-03 5.49999906e+02] [ 2.55791639e-02 9.99672785e-01 -1.71679940e-04 -1.03849460e+01] [-5.41691189e-03 3.10339037e-04 9.99985280e-01 4.42894012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.03, Y:-10.39, Z:0.44 [[ 9.99597298e-01 -2.79307982e-02 5.01130964e-03 5.50032819e+02] [ 2.79319456e-02 9.99609814e-01 -1.59111703e-04 -1.03866877e+01] [-5.00491018e-03 2.99023256e-04 9.99987431e-01 4.42791763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.07, Y:-10.39, Z:0.44 [[ 9.99544130e-01 -2.97659243e-02 5.05184643e-03 5.50065915e+02] [ 2.97671166e-02 9.99556848e-01 -1.60955862e-04 -1.03879043e+01] [-5.04481670e-03 3.11261389e-04 9.99987226e-01 4.42596524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.10, Y:-10.39, Z:0.44 [[ 9.99545549e-01 -2.96899275e-02 5.21576132e-03 5.50102397e+02] [ 2.96912227e-02 9.99559104e-01 -1.71049410e-04 -1.03898674e+01] [-5.20838327e-03 3.25834007e-04 9.99986383e-01 4.41126468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.13, Y:-10.39, Z:0.44 [[ 9.99490301e-01 -3.17571763e-02 3.25874844e-03 5.50129696e+02] [ 3.17578824e-02 9.99495578e-01 -1.65132914e-04 -1.03876250e+01] [-3.25186050e-03 2.68539696e-04 9.99994677e-01 4.42514129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.1750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.16, Y:-10.39, Z:0.44 [[ 9.99542442e-01 -3.01712557e-02 2.14520017e-03 5.50162549e+02] [ 3.01714721e-02 9.99544735e-01 -6.85461017e-05 -1.03864023e+01] [-2.14215542e-03 1.33238585e-04 9.99997697e-01 4.42156134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.2050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.19, Y:-10.39, Z:0.44 [[ 9.99580720e-01 -2.89220955e-02 1.37695676e-03 5.50194879e+02] [ 2.89221834e-02 9.99581665e-01 -4.39602070e-05 -1.03859793e+01] [-1.37510931e-03 8.37663711e-05 9.99999051e-01 4.41938800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.23, Y:-10.39, Z:0.44 [[ 9.99620629e-01 -2.75194033e-02 1.13124397e-03 5.50227517e+02] [ 2.75194616e-02 9.99621267e-01 -3.59699764e-05 -1.03854798e+01] [-1.12982565e-03 6.70875554e-05 9.99999359e-01 4.41711552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.26, Y:-10.38, Z:0.44 [[ 9.99656091e-01 -2.62016331e-02 1.08382566e-03 5.50259286e+02] [ 2.62016854e-02 9.99656676e-01 -3.40539264e-05 -1.03848291e+01] [-1.08256128e-03 6.24402737e-05 9.99999412e-01 4.41422486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.2950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.29, Y:-10.38, Z:0.44 [[ 9.99716994e-01 -2.37892181e-02 7.47034258e-05 5.50292472e+02] [ 2.37892183e-02 9.99716997e-01 -1.57625254e-06 -1.03820834e+01] [-7.46447869e-05 3.35294255e-06 9.99999997e-01 4.41585624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.3250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.32, Y:-10.38, Z:0.44 [[ 9.99742536e-01 -2.26876728e-02 -3.61096919e-04 5.50324687e+02] [ 2.26876788e-02 9.99742601e-01 1.24755612e-05 -1.03810153e+01] [ 3.60720931e-04 -2.06648000e-05 9.99999935e-01 4.41555148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.36, Y:-10.38, Z:0.44 [[ 9.99766511e-01 -2.16038657e-02 -4.43258219e-04 5.50356794e+02] [ 2.16038746e-02 9.99766609e-01 1.52110154e-05 -1.03801853e+01] [ 4.42826149e-04 -2.47835587e-05 9.99999902e-01 4.41516367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.39, Y:-10.38, Z:0.44 [[ 9.99788970e-01 -2.05424345e-02 -1.53469298e-04 5.50388013e+02] [ 2.05424356e-02 9.99788982e-01 5.50565681e-06 -1.03794712e+01] [ 1.53323813e-04 -8.65712812e-06 9.99999988e-01 4.41421369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.4150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.42, Y:-10.38, Z:0.44 [[ 9.99829884e-01 -1.84425151e-02 2.75668329e-04 5.50420334e+02] [ 1.84425182e-02 9.99829922e-01 -8.56438051e-06 -1.03766894e+01] [-2.75463496e-04 1.36469418e-05 9.99999962e-01 4.41660408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.4450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.45, Y:-10.38, Z:0.44 [[ 9.99853957e-01 -1.70767746e-02 6.69118728e-04 5.50453020e+02] [ 1.70767929e-02 9.99854181e-01 -2.16353036e-05 -1.03757087e+01] [-6.68651696e-04 3.30585459e-05 9.99999776e-01 4.41477132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.49, Y:-10.37, Z:0.44 [[ 9.99879864e-01 -1.54632234e-02 1.07038288e-03 5.50485535e+02] [ 1.54632697e-02 9.99880436e-01 -3.49148299e-05 -1.03745512e+01] [-1.06971500e-03 5.14622545e-05 9.99999427e-01 4.41126257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.52, Y:-10.37, Z:0.44 [[ 9.99934724e-01 -1.14027110e-02 7.25011679e-04 5.50517347e+02] [ 1.14027312e-02 9.99934986e-01 -2.37524054e-05 -1.03707802e+01] [-7.24693702e-04 3.20179682e-05 9.99999737e-01 4.41341574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.5350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.55, Y:-10.37, Z:0.44 [[ 9.99961266e-01 -8.79074719e-03 4.35205322e-04 5.50550025e+02] [ 8.79075410e-03 9.99961360e-01 -1.39735863e-05 -1.03694716e+01] [-4.35065668e-04 1.77988280e-05 9.99999905e-01 4.41364373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.5650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.58, Y:-10.37, Z:0.44 [[ 9.99982012e-01 -5.99101025e-03 2.88621308e-04 5.50581772e+02] [ 5.99101302e-03 9.99982054e-01 -8.72724885e-06 -1.03681079e+01] [-2.88563844e-04 1.04562259e-05 9.99999958e-01 4.41252622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.61, Y:-10.37, Z:0.44 [[ 9.99995393e-01 -3.03444067e-03 -7.99392063e-05 5.50614219e+02] [ 3.03444094e-03 9.99995396e-01 3.25694425e-06 -1.03667712e+01] [ 7.99289551e-05 -3.49950004e-06 9.99999997e-01 4.41088371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.65, Y:-10.36, Z:0.44 [[ 9.99994010e-01 3.44842514e-03 -2.97977127e-04 5.50645226e+02] [-3.44842221e-03 9.99994054e-01 1.03186534e-05 -1.03629955e+01] [ 2.98010939e-04 -9.29104061e-06 9.99999956e-01 4.40558430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.6550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.67, Y:-10.36, Z:0.44 [[ 9.99974624e-01 7.07547979e-03 -8.30399641e-04 5.50673631e+02] [-7.07545942e-03 9.99974968e-01 2.74688237e-05 -1.03615293e+01] [ 8.30573210e-04 -2.15926677e-05 9.99999655e-01 4.40242275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.6850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.70, Y:-10.36, Z:0.44 [[ 9.99943038e-01 1.05582199e-02 -1.56355831e-03 5.50701247e+02] [-1.05581548e-02 9.99944260e-01 4.98439791e-05 -1.03598961e+01] [ 1.56399742e-03 -3.33328492e-05 9.99998776e-01 4.40322852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.715099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.73, Y:-10.36, Z:0.44 [[ 9.99825249e-01 1.86473306e-02 -1.32199255e-03 5.50729091e+02] [-1.86472922e-02 9.99826123e-01 4.13875155e-05 -1.03558311e+01] [ 1.32253445e-03 -1.67287016e-05 9.99999125e-01 4.40203708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.745099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.76, Y:-10.35, Z:0.44 [[ 9.99736764e-01 2.27157364e-02 -3.22473370e-03 5.50757799e+02] [-2.27336060e-02 9.99725777e-01 -5.61735615e-03 -1.03515540e+01] [ 3.09624702e-03 5.68918728e-03 9.99979023e-01 4.42319888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.79, Y:-10.35, Z:0.44 [[ 9.99637226e-01 2.67821836e-02 -2.85151307e-03 5.50785193e+02] [-2.67899437e-02 9.99637388e-01 -2.71887526e-03 -1.03519976e+01] [ 2.77766166e-03 2.79428080e-03 9.99992238e-01 4.41088500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.8050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.81, Y:-10.36, Z:0.44 [[ 9.99391955e-01 3.48671893e-02 -1.40098249e-05 5.50812616e+02] [-3.48658827e-02 9.99357824e-01 8.26503079e-03 -1.03550152e+01] [ 3.02179221e-04 -8.25951681e-03 9.99965844e-01 4.37507162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.8350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.84, Y:-10.35, Z:0.44 [[ 9.99274941e-01 3.80719669e-02 3.41988018e-04 5.50840042e+02] [-3.80719650e-02 9.99275000e-01 -1.21364299e-05 -1.03505377e+01] [-3.42202135e-04 -8.92525594e-07 9.99999941e-01 4.39630448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.87, Y:-10.35, Z:0.44 [[ 9.99164325e-01 4.08722529e-02 3.32823244e-04 5.50867568e+02] [-4.08722513e-02 9.99164380e-01 -1.16508643e-05 -1.03506799e+01] [-3.33021327e-04 -1.96210731e-06 9.99999945e-01 4.39295566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.90, Y:-10.35, Z:0.44 [[ 9.99084532e-01 4.27749736e-02 6.31513740e-04 5.50895923e+02] [-4.27749688e-02 9.99084732e-01 -2.12446852e-05 -1.03513661e+01] [-6.31844476e-04 -5.78774408e-06 9.99999800e-01 4.39071937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.9250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.92, Y:-10.35, Z:0.44 [[ 9.99009776e-01 4.44778261e-02 1.09104962e-03 5.50923376e+02] [-4.44778133e-02 9.99010372e-01 -3.59437306e-05 -1.03528643e+01] [-1.09156859e-03 -1.26193632e-05 9.99999404e-01 4.38740930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.9550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.95, Y:-10.35, Z:0.44 [[ 9.99041496e-01 4.37514613e-02 1.37779701e-03 5.50950714e+02] [-4.37514407e-02 9.99042446e-01 -4.51306650e-05 -1.03542481e+01] [-1.37845223e-03 -1.51931972e-05 9.99999050e-01 4.38533107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.98, Y:-10.36, Z:0.44 [[ 9.99080568e-01 4.28410695e-02 1.63132737e-03 5.50978238e+02] [-4.28410402e-02 9.99081900e-01 -5.29323027e-05 -1.03564706e+01] [-1.63209732e-03 -1.70041262e-05 9.99998668e-01 4.38467910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.01, Y:-10.36, Z:0.44 [[ 9.99155944e-01 4.10399269e-02 1.76763592e-03 5.51006252e+02] [-4.10398901e-02 9.99157507e-01 -5.70985732e-05 -1.03588537e+01] [-1.76849002e-03 -1.54932050e-05 9.99998436e-01 4.38119585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.0450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.03, Y:-10.36, Z:0.44 [[ 9.99317305e-01 3.68958912e-02 1.90164466e-03 5.51033229e+02] [-3.68958407e-02 9.99319115e-01 -6.16399970e-05 -1.03637014e+01] [-1.90262412e-03 -8.56486273e-06 9.99998190e-01 4.37399004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.0750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.06, Y:-10.37, Z:0.44 [[ 9.99409844e-01 3.43240844e-02 1.34925644e-03 5.51060798e+02] [-3.43240570e-02 9.99410755e-01 -4.34433017e-05 -1.03665836e+01] [-1.34995255e-03 -2.89429150e-06 9.99999089e-01 4.37038464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.09, Y:-10.37, Z:0.44 [[ 9.99564133e-01 2.95064076e-02 9.57422330e-04 5.51087316e+02] [-2.95063910e-02 9.99564591e-01 -3.14351202e-05 -1.03721953e+01] [-9.57932997e-04 3.17134102e-06 9.99999541e-01 4.36036524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.12, Y:-10.38, Z:0.44 [[ 9.99635001e-01 2.69953360e-02 1.05677442e-03 5.51115146e+02] [-2.69953153e-02 9.99635560e-01 -3.38831918e-05 -1.03759394e+01] [-1.05730397e-03 5.34286595e-06 9.99999441e-01 4.35567428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.1650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.14, Y:-10.38, Z:0.44 [[ 9.99702230e-01 2.43621650e-02 1.39168447e-03 5.51142837e+02] [-2.43621271e-02 9.99703198e-01 -4.42041416e-05 -1.03796615e+01] [-1.39234832e-03 1.02865850e-05 9.99999031e-01 4.35298819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.1950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.17, Y:-10.38, Z:0.44 [[ 9.99735345e-01 2.29437144e-02 -1.68134370e-03 5.51168764e+02] [-2.29586617e-02 9.99691396e-01 -9.48748583e-03 -1.03788137e+01] [ 1.46314666e-03 9.52357632e-03 9.99953579e-01 4.37764446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.20, Y:-10.39, Z:0.43 [[ 9.99866905e-01 1.62178554e-02 1.77599936e-03 5.51197880e+02] [-1.62331105e-02 9.99828254e-01 8.94136227e-03 -1.03936093e+01] [-1.63068462e-03 -8.96900221e-03 9.99958448e-01 4.32153809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.23, Y:-10.39, Z:0.43 [[ 9.99906654e-01 1.35721773e-02 1.57456247e-03 5.51226265e+02] [-1.35721158e-02 9.99907893e-01 -4.96944736e-05 -1.03927938e+01] [-1.57509191e-03 2.83196906e-05 9.99998759e-01 4.34680650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.2850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.25, Y:-10.40, Z:0.43 [[ 9.99938503e-01 1.09834875e-02 1.53417012e-03 5.51254644e+02] [-1.09834262e-02 9.99939679e-01 -4.83288013e-05 -1.03965335e+01] [-1.53460840e-03 3.14753849e-05 9.99998822e-01 4.34367284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.3150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.28, Y:-10.40, Z:0.43 [[ 9.99985118e-01 5.14533290e-03 1.81345538e-03 5.51283378e+02] [-5.14523816e-03 9.99986762e-01 -5.69053632e-05 -1.04031714e+01] [-1.81372417e-03 4.75738566e-05 9.99998354e-01 4.33496425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.31, Y:-10.41, Z:0.43 [[ 9.99996552e-01 2.14324329e-03 1.51717442e-03 5.51312331e+02] [-2.14317407e-03 9.99997702e-01 -4.72449834e-05 -1.04071269e+01] [-1.51727219e-03 4.39932517e-05 9.99998848e-01 4.33108627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.34, Y:-10.41, Z:0.43 [[ 9.99998594e-01 -1.25462603e-03 1.11218407e-03 5.51342836e+02] [ 1.25466521e-03 9.99999212e-01 -3.45296259e-05 -1.04109496e+01] [-1.11213987e-03 3.59249960e-05 9.99999381e-01 4.32681511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.4050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.37, Y:-10.42, Z:0.43 [[ 9.99962992e-01 -8.58307310e-03 5.88096616e-04 5.51373476e+02] [ 8.58308494e-03 9.99963165e-01 -1.76107065e-05 -1.04168027e+01] [-5.87923800e-04 2.26577379e-05 9.99999827e-01 4.32269841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.4350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.41, Y:-10.42, Z:0.43 [[ 9.99933492e-01 -1.15295219e-02 2.85275419e-04 5.51405078e+02] [ 1.15295243e-02 9.99933533e-01 -6.84526153e-06 -1.04204529e+01] [-2.85177535e-04 1.01338961e-05 9.99999959e-01 4.31703079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.465099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.44, Y:-10.42, Z:0.43 [[ 9.99934468e-01 -1.14445860e-02 2.85229183e-04 5.51437754e+02] [ 1.14445888e-02 9.99934509e-01 -8.31829544e-06 -1.04215401e+01] [-2.85115304e-04 1.15820810e-05 9.99999959e-01 4.31448101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.495099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.47, Y:-10.42, Z:0.43 [[ 9.99897136e-01 -1.43377598e-02 -3.82306983e-04 5.51470601e+02] [ 1.43377658e-02 9.99897209e-01 1.29312000e-05 -1.04249942e+01] [ 3.82082281e-04 -1.84112979e-05 9.99999927e-01 4.31129840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.50, Y:-10.43, Z:0.43 [[ 9.99855224e-01 -1.69907657e-02 -9.18683616e-04 5.51501352e+02] [ 1.69907999e-02 9.99855646e-01 2.95019635e-05 -1.04283287e+01] [ 9.18049738e-04 -4.51068619e-05 9.99999578e-01 4.30811530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.53, Y:-10.43, Z:0.43 [[ 9.99817830e-01 -1.90269923e-02 -1.51000676e-03 5.51533423e+02] [ 1.90270871e-02 9.99818967e-01 4.84636914e-05 -1.04313688e+01] [ 1.50881129e-03 -7.71858930e-05 9.99998859e-01 4.30576137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.56, Y:-10.44, Z:0.43 [[ 9.99771282e-01 -2.13162972e-02 -1.73180774e-03 5.51564627e+02] [ 2.13164251e-02 9.99772778e-01 5.54511282e-05 -1.04354431e+01] [ 1.73023223e-03 -9.23543956e-05 9.99998499e-01 4.29978275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.60, Y:-10.44, Z:0.43 [[ 9.99763775e-01 -2.16324940e-02 -2.10478809e-03 5.51597065e+02] [ 2.16326841e-02 9.99765984e-01 6.75854038e-05 -1.04375303e+01] [ 2.10283350e-03 -1.13101654e-04 9.99997783e-01 4.29892683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.63, Y:-10.44, Z:0.43 [[ 9.99771214e-01 -2.12159286e-02 -2.72107013e-03 5.51628988e+02] [ 2.12162448e-02 9.99774906e-01 8.74012422e-05 -1.04394749e+01] [ 2.71860333e-03 -1.45112136e-04 9.99996294e-01 4.29810828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.6750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.66, Y:-10.44, Z:0.43 [[ 9.99797084e-01 -1.98197537e-02 -3.60124616e-03 5.51661566e+02] [ 1.98202989e-02 9.99803552e-01 1.15743124e-04 -1.04417438e+01] [ 3.59824470e-03 -1.87097413e-04 9.99993509e-01 4.29478301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.7050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.69, Y:-10.44, Z:0.43 [[ 9.99818445e-01 -1.87047913e-02 -3.63420818e-03 5.51693380e+02] [ 1.87053401e-02 9.99825033e-01 1.17090161e-04 -1.04434224e+01] [ 3.63138216e-03 -1.85048003e-04 9.99993389e-01 4.29408691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.73, Y:-10.45, Z:0.43 [[ 9.99843475e-01 -1.74550882e-02 -2.88889704e-03 5.51725906e+02] [ 1.74554308e-02 9.99847638e-01 9.34092322e-05 -1.04450346e+01] [ 2.88682642e-03 -1.43821554e-04 9.99995823e-01 4.29141628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.76, Y:-10.45, Z:0.43 [[ 9.99882636e-01 -1.50251167e-02 -2.99332812e-03 5.51757260e+02] [ 1.50254736e-02 9.99887107e-01 9.67825758e-05 -1.04463082e+01] [ 2.99153603e-03 -1.41747390e-04 9.99995515e-01 4.29448870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.7950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.79, Y:-10.45, Z:0.43 [[ 9.99901910e-01 -1.37238361e-02 -2.79750991e-03 5.51788774e+02] [ 1.37241433e-02 9.99905815e-01 9.06234145e-05 -1.04470238e+01] [ 2.79600273e-03 -1.29007952e-04 9.99996083e-01 4.29532076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.8250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.82, Y:-10.45, Z:0.43 [[ 9.99918511e-01 -1.24608189e-02 -2.77460620e-03 5.51820036e+02] [ 1.24611166e-02 9.99922353e-01 9.00235590e-05 -1.04474031e+01] [ 2.77326899e-03 -1.24590914e-04 9.99996147e-01 4.30052674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.85, Y:-10.45, Z:0.43 [[ 9.99938640e-01 -1.09051085e-02 -1.94820164e-03 5.51852715e+02] [ 1.09052531e-02 9.99940534e-01 6.36179188e-05 -1.04476300e+01] [ 1.94739203e-03 -8.48596472e-05 9.99998100e-01 4.29986657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.89, Y:-10.45, Z:0.43 [[ 9.99968766e-01 -7.81917128e-03 -1.15256737e-03 5.51885270e+02] [ 7.81922022e-03 9.99969429e-01 3.79594814e-05 -1.04469771e+01] [ 1.15223532e-03 -4.69704738e-05 9.99999335e-01 4.30468714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.9150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.92, Y:-10.45, Z:0.43 [[ 9.99978946e-01 -6.27662787e-03 -1.64665084e-03 5.51916621e+02] [ 6.27672518e-03 9.99980300e-01 5.39320226e-05 -1.04473049e+01] [ 1.64627989e-03 -6.42664619e-05 9.99998643e-01 4.30850647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.9450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.95, Y:-10.45, Z:0.43 [[ 9.99987477e-01 -4.76321661e-03 -1.53544952e-03 5.51948430e+02] [ 4.76329934e-03 9.99988654e-01 5.02279382e-05 -1.04475740e+01] [ 1.53519285e-03 -5.75411149e-05 9.99998820e-01 4.30604376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.98, Y:-10.45, Z:0.43 [[ 9.99994059e-01 -2.12777681e-03 -2.71201072e-03 5.51978553e+02] [ 2.12802440e-03 9.99997732e-01 8.84100537e-05 -1.04468238e+01] [ 2.71181645e-03 -9.41807534e-05 9.99996319e-01 4.31018153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.01, Y:-10.45, Z:0.43 [[ 9.99994608e-01 -8.76691471e-04 -3.16471639e-03 5.52008555e+02] [ 8.77020625e-04 9.99999610e-01 1.02621091e-04 -1.04469516e+01] [ 3.16462519e-03 -1.05396059e-04 9.99994987e-01 4.30927026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.0350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.04, Y:-10.45, Z:0.43 [[ 9.99992367e-01 -1.07689901e-04 -3.90574122e-03 5.52038494e+02] [ 1.08185069e-04 9.99999986e-01 1.26568427e-04 -1.04470347e+01] [ 3.90572754e-03 -1.26990004e-04 9.99992365e-01 4.31075398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.0650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.07, Y:-10.45, Z:0.43 [[ 9.99985806e-01 9.37514923e-04 -5.24480581e-03 5.52067490e+02] [-9.36638942e-04 9.99999547e-01 1.69472469e-04 -1.04464591e+01] [ 5.24496232e-03 -1.64557574e-04 9.99986232e-01 4.31303842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.10, Y:-10.45, Z:0.43 [[ 9.99978500e-01 1.05958261e-03 -6.47120260e-03 5.52095484e+02] [-1.05825558e-03 9.99999418e-01 2.08486831e-04 -1.04467854e+01] [ 6.47141975e-03 -2.01634162e-04 9.99979040e-01 4.31430410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.12, Y:-10.45, Z:0.43 [[ 9.99973751e-01 9.95346256e-04 -7.17679668e-03 5.52123836e+02] [-9.93714532e-04 9.99999480e-01 2.30923416e-04 -1.04471680e+01] [ 7.17702280e-03 -2.23785667e-04 9.99974220e-01 4.31257265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.1550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.15, Y:-10.45, Z:0.43 [[ 9.99967718e-01 8.35624882e-04 -7.99153116e-03 5.52150898e+02] [-8.33610507e-04 9.99999620e-01 2.55391280e-04 -1.04475220e+01] [ 7.99174153e-03 -2.48721211e-04 9.99968035e-01 4.31321429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.1850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.18, Y:-10.45, Z:0.43 [[ 9.99964922e-01 4.86615901e-04 -8.36165880e-03 5.52178247e+02] [-4.84404446e-04 9.99999847e-01 2.66498834e-04 -1.04472797e+01] [ 8.36178720e-03 -2.62439061e-04 9.99965005e-01 4.31414797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.215099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.21, Y:-10.45, Z:0.43 [[ 9.99966664e-01 -4.87960376e-05 -8.16511994e-03 5.52206535e+02] [ 5.09163358e-05 9.99999965e-01 2.59469842e-04 -1.04475804e+01] [ 8.16510699e-03 -2.59876930e-04 9.99966631e-01 4.32035143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.24, Y:-10.45, Z:0.43 [[ 9.99972654e-01 -4.86298213e-04 -7.37933952e-03 5.52235010e+02] [ 4.88035632e-04 9.99999854e-01 2.33644897e-04 -1.04479484e+01] [ 7.37922482e-03 -2.37239888e-04 9.99972745e-01 4.32824078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.26, Y:-10.45, Z:0.43 [[ 9.99966692e-01 -1.53532674e-03 -8.01608967e-03 5.52264126e+02] [ 1.53740853e-03 9.99998786e-01 2.53545846e-04 -1.04479406e+01] [ 8.01569067e-03 -2.65861406e-04 9.99967838e-01 4.32802884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.3050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.29, Y:-10.45, Z:0.43 [[ 9.99959640e-01 -2.24263233e-03 -8.69997698e-03 5.52292199e+02] [ 2.24510065e-03 9.99997442e-01 2.73959886e-04 -1.04486877e+01] [ 8.69934034e-03 -2.93481152e-04 9.99962117e-01 4.32554310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.3350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.32, Y:-10.45, Z:0.43 [[ 9.99962464e-01 -2.88399163e-03 -8.17025304e-03 5.52319569e+02] [ 2.88617977e-03 9.99995802e-01 2.56039994e-04 -1.04492659e+01] [ 8.16948033e-03 -2.79611203e-04 9.99966590e-01 4.32725908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.35, Y:-10.45, Z:0.43 [[ 9.99965395e-01 -4.92033563e-03 -6.70810632e-03 5.52348049e+02] [ 4.92185481e-03 9.99987866e-01 2.09980640e-04 -1.04488833e+01] [ 6.70699174e-03 -2.42989699e-04 9.99977478e-01 4.34226426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.38, Y:-10.45, Z:0.43 [[ 9.99963103e-01 -6.01936946e-03 -6.12861278e-03 5.52376754e+02] [ 6.02065666e-03 9.99981857e-01 1.91603502e-04 -1.04496337e+01] [ 6.12734825e-03 -2.28494705e-04 9.99981202e-01 4.34364842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.4250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.41, Y:-10.45, Z:0.43 [[ 9.99952700e-01 -7.58157382e-03 -6.09243489e-03 5.52405267e+02] [ 7.58287165e-03 9.99971232e-01 1.89950443e-04 -1.04505230e+01] [ 6.09081949e-03 -2.36139610e-04 9.99981423e-01 4.34444288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.4550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.43, Y:-10.45, Z:0.43 [[ 9.99935740e-01 -9.41467751e-03 -6.31497891e-03 5.52434459e+02] [ 9.41610878e-03 9.99955648e-01 1.96952454e-04 -1.04514770e+01] [ 6.31284459e-03 -2.56402327e-04 9.99980041e-01 4.34576809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.46, Y:-10.45, Z:0.43 [[ 9.99888665e-01 -1.35117193e-02 -6.33180125e-03 5.52464478e+02] [ 1.35132419e-02 9.99908672e-01 1.97747114e-04 -1.04518322e+01] [ 6.32855108e-03 -2.83288260e-04 9.99979934e-01 4.34125546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.50, Y:-10.45, Z:0.43 [[ 9.99854295e-01 -1.57547983e-02 -6.57076688e-03 5.52495655e+02] [ 1.57564897e-02 9.99875838e-01 2.05728086e-04 -1.04525977e+01] [ 6.56670983e-03 -3.09230331e-04 9.99978391e-01 4.33686135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.5450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.53, Y:-10.45, Z:0.43 [[ 9.99816454e-01 -1.80073286e-02 -6.54168844e-03 5.52526803e+02] [ 1.80090565e-02 9.99837803e-01 2.05311699e-04 -1.04536587e+01] [ 6.53693028e-03 -3.23083651e-04 9.99978582e-01 4.33180359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.5750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.56, Y:-10.45, Z:0.43 [[ 9.99738563e-01 -2.22356890e-02 -5.32736293e-03 5.52559177e+02] [ 2.22368979e-02 9.99752716e-01 1.67784944e-04 -1.04547193e+01] [ 5.32231475e-03 -2.86205104e-04 9.99985795e-01 4.32154289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.59, Y:-10.46, Z:0.43 [[ 9.99701848e-01 -2.38173605e-02 -5.38033199e-03 5.52591527e+02] [ 2.38186185e-02 9.99716282e-01 1.69855823e-04 -1.04557167e+01] [ 5.37475998e-03 -2.97957255e-04 9.99985511e-01 4.31645862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.62, Y:-10.46, Z:0.43 [[ 9.99675185e-01 -2.49241648e-02 -5.32077102e-03 5.52623265e+02] [ 2.49254129e-02 9.99689299e-01 1.68372535e-04 -1.04567499e+01] [ 5.31492131e-03 -3.00940259e-04 9.99985830e-01 4.30808108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.6650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.65, Y:-10.46, Z:0.43 [[ 9.99649574e-01 -2.59510975e-02 -5.22205123e-03 5.52654170e+02] [ 2.59523190e-02 9.99663168e-01 1.66271418e-04 -1.04564799e+01] [ 5.21597735e-03 -3.01737491e-04 9.99986351e-01 4.30076216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.6950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.69, Y:-10.46, Z:0.43 [[ 9.99649904e-01 -2.60051554e-02 -4.87868120e-03 5.52686241e+02] [ 2.60062223e-02 9.99661769e-01 1.55360939e-04 -1.04563034e+01] [ 4.87299089e-03 -2.82182616e-04 9.99988087e-01 4.29933496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.72, Y:-10.46, Z:0.43 [[ 9.99662382e-01 -2.55865692e-02 -4.52207397e-03 5.52717726e+02] [ 2.55874822e-02 9.99672576e-01 1.44144570e-04 -1.04559890e+01] [ 4.51690517e-03 -2.59804391e-04 9.99989765e-01 4.30011168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.75, Y:-10.45, Z:0.43 [[ 9.99700109e-01 -2.41955928e-02 -3.77695740e-03 5.52749181e+02] [ 2.41962233e-02 9.99707221e-01 1.21318737e-04 -1.04547838e+01] [ 3.77291620e-03 -2.12670459e-04 9.99992860e-01 4.29843817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.7850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.78, Y:-10.45, Z:0.43 [[ 9.99719187e-01 -2.34281726e-02 -3.55917062e-03 5.52781324e+02] [ 2.34287276e-02 9.99725503e-01 1.14301594e-04 -1.04549235e+01] [ 3.55551576e-03 -1.97656335e-04 9.99993660e-01 4.29282336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.8150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.81, Y:-10.46, Z:0.43 [[ 9.99738163e-01 -2.25791936e-02 -3.71289551e-03 5.52813337e+02] [ 2.25797926e-02 9.99745037e-01 1.19472133e-04 -1.04552546e+01] [ 3.70925127e-03 -2.03277261e-04 9.99993100e-01 4.28898936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.84, Y:-10.45, Z:0.43 [[ 9.99756716e-01 -2.18494523e-02 -3.01845898e-03 5.52844484e+02] [ 2.18498452e-02 9.99761259e-01 9.72456358e-05 -1.04546403e+01] [ 3.01561358e-03 -1.63174839e-04 9.99995440e-01 4.27781118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.88, Y:-10.45, Z:0.43 [[ 9.99763803e-01 -2.15212031e-02 -3.02928888e-03 5.52876288e+02] [ 2.15215983e-02 9.99768379e-01 9.79392623e-05 -1.04547994e+01] [ 3.02647946e-03 -1.63111268e-04 9.99995407e-01 4.27368575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.9050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.91, Y:-10.45, Z:0.43 [[ 9.99770652e-01 -2.11973664e-02 -3.05211226e-03 5.52908664e+02] [ 2.11977669e-02 9.99775297e-01 9.89250770e-05 -1.04549191e+01] [ 3.04932949e-03 -1.63600353e-04 9.99995337e-01 4.27102947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.9350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.94, Y:-10.45, Z:0.43 [[ 9.99784950e-01 -2.05563536e-02 -2.73686575e-03 5.52940078e+02] [ 2.05566734e-02 9.99788685e-01 8.87696158e-05 -1.04548627e+01] [ 2.73446264e-03 -1.45011381e-04 9.99996251e-01 4.26470559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.965099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.97, Y:-10.45, Z:0.43 [[ 9.99828781e-01 -1.82854708e-02 -2.83725481e-03 5.52971559e+02] [ 1.82858057e-02 9.99832796e-01 9.21402488e-05 -1.04528113e+01] [ 2.83509558e-03 -1.44005963e-04 9.99995971e-01 4.26830291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.995099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.00, Y:-10.45, Z:0.43 [[ 9.99866589e-01 -1.62068171e-02 -2.03558530e-03 5.53004230e+02] [ 1.62069860e-02 9.99868656e-01 6.64912904e-05 -1.04519828e+01] [ 2.03424032e-03 -9.94731221e-05 9.99997926e-01 4.26551383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.04, Y:-10.45, Z:0.43 [[ 9.99940000e-01 -1.09030013e-02 -1.05845525e-03 5.53036243e+02] [ 1.09030444e-02 9.99940559e-01 3.49412914e-05 -1.04488474e+01] [ 1.05801137e-03 -4.64795794e-05 9.99999439e-01 4.26656423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.07, Y:-10.45, Z:0.43 [[ 9.99969110e-01 -7.83258476e-03 -6.55996675e-04 5.53068403e+02] [ 7.83260082e-03 9.99969324e-01 2.19271015e-05 -1.04477526e+01] [ 6.55804806e-04 -2.70645843e-05 9.99999785e-01 4.26559601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.10, Y:-10.45, Z:0.43 [[ 9.99990918e-01 -4.24527011e-03 -3.76913909e-04 5.53099729e+02] [ 4.24527521e-03 9.99990989e-01 1.27177765e-05 -1.04468205e+01] [ 3.76856521e-04 -1.43177643e-05 9.99999929e-01 4.26409421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.13, Y:-10.45, Z:0.43 [[ 9.99999766e-01 -6.66390351e-04 1.54237619e-04 5.53131496e+02] [ 6.66391091e-04 9.99999778e-01 -4.74861750e-06 -1.04457867e+01] [-1.54234421e-04 4.85139897e-06 9.99999988e-01 4.26111256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.16, Y:-10.44, Z:0.43 [[ 9.99980021e-01 6.25762123e-03 8.94385084e-04 5.53162272e+02] [-6.25759773e-03 9.99980421e-01 -2.90664259e-05 -1.04430012e+01] [-8.94549460e-04 2.34691431e-05 9.99999600e-01 4.25715756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.1750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.19, Y:-10.44, Z:0.42 [[ 9.99922002e-01 1.22844456e-02 2.25432366e-03 5.53191182e+02] [-1.22843077e-02 9.99924542e-01 -7.50199118e-05 -1.04410766e+01] [-2.25507513e-03 4.73212549e-05 9.99997456e-01 4.24939875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.2050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.22, Y:-10.44, Z:0.42 [[ 9.99843417e-01 1.76256213e-02 1.57466951e-03 5.53219471e+02] [-1.76255600e-02 9.99844656e-01 -5.28269068e-05 -1.04394113e+01] [-1.57535600e-03 2.50642031e-05 9.99998759e-01 4.24312519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.25, Y:-10.44, Z:0.42 [[ 9.99761691e-01 2.17791092e-02 1.49362223e-03 5.53246832e+02] [-2.17790604e-02 9.99762807e-01 -4.89199616e-05 -1.04381165e+01] [-1.49433339e-03 1.63786148e-05 9.99998883e-01 4.23594439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.28, Y:-10.44, Z:0.42 [[ 9.99763615e-01 2.16906134e-02 1.49364190e-03 5.53275288e+02] [-2.16905655e-02 9.99764731e-01 -4.83054063e-05 -1.04389381e+01] [-1.49433826e-03 1.58960502e-05 9.99998883e-01 4.23371562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.2950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.30, Y:-10.44, Z:0.42 [[ 9.99765531e-01 2.16021213e-02 1.49364614e-03 5.53303743e+02] [-2.16020734e-02 9.99766647e-01 -4.81731985e-05 -1.04397569e+01] [-1.49433823e-03 1.58960499e-05 9.99998883e-01 4.23148835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.3250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.33, Y:-10.44, Z:0.42 [[ 9.99700942e-01 2.44280513e-02 1.13854142e-03 5.53332073e+02] [-2.44280252e-02 9.99701591e-01 -3.68969217e-05 -1.04393744e+01] [-1.13910299e-03 9.07356893e-06 9.99999351e-01 4.22737008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.36, Y:-10.44, Z:0.42 [[ 9.99691629e-01 2.48124441e-02 9.95035475e-04 5.53359795e+02] [-2.48124243e-02 9.99692124e-01 -3.22464671e-05 -1.04398434e+01] [-9.95529241e-04 7.54728080e-06 9.99999504e-01 4.22608338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.39, Y:-10.44, Z:0.42 [[ 9.99693807e-01 2.47245152e-02 9.95042618e-04 5.53388250e+02] [-2.47244955e-02 9.99694302e-01 -3.20210969e-05 -1.04406533e+01] [-9.95530142e-04 7.40936555e-06 9.99999504e-01 4.22385567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.4150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.42, Y:-10.44, Z:0.42 [[ 9.99697077e-01 2.46005712e-02 7.53046459e-04 5.53415760e+02] [-2.46005597e-02 9.99697360e-01 -2.44601704e-05 -1.04415513e+01] [-7.53420292e-04 5.92739640e-06 9.99999716e-01 4.22287695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.4450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.44, Y:-10.44, Z:0.42 [[ 9.99709234e-01 2.41097618e-02 4.08427739e-04 5.53444102e+02] [-2.41097582e-02 9.99709317e-01 -1.36236879e-05 -1.04423961e+01] [-4.08637480e-04 3.77263257e-06 9.99999916e-01 4.22422456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.47, Y:-10.44, Z:0.42 [[ 9.99748288e-01 2.24289771e-02 5.48616311e-04 5.53472364e+02] [-2.24289707e-02 9.99748439e-01 -1.79553021e-05 -1.04439768e+01] [-5.48881020e-04 5.64588342e-06 9.99999849e-01 4.21955959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.50, Y:-10.45, Z:0.42 [[ 9.99773400e-01 2.12872940e-02 1.02486114e-05 5.53499818e+02] [-2.12872940e-02 9.99773400e-01 -1.02821773e-06 -1.04452702e+01] [-1.02681773e-05 8.09819538e-07 1.00000000e+00 4.21940301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.5350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.53, Y:-10.45, Z:0.42 [[ 9.99795673e-01 2.02101390e-02 -4.03449766e-04 5.53527655e+02] [-2.02101360e-02 9.99795754e-01 1.16481024e-05 -1.04463447e+01] [ 4.03602773e-04 -3.49194778e-06 9.99999919e-01 4.21540275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.5650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.55, Y:-10.45, Z:0.42 [[ 9.99825657e-01 1.86481747e-02 -9.49232911e-04 5.53554979e+02] [-1.86481559e-02 9.99826108e-01 2.86108247e-05 -1.04479844e+01] [ 9.49601386e-04 -1.09043932e-05 9.99999549e-01 4.21619164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.58, Y:-10.45, Z:0.42 [[ 9.99830069e-01 1.84236917e-02 -6.32945414e-04 5.53582785e+02] [-1.84236836e-02 9.99830269e-01 1.86432352e-05 -1.04493053e+01] [ 6.33181460e-04 -6.97888110e-06 9.99999800e-01 4.21437355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.61, Y:-10.45, Z:0.42 [[ 9.99829064e-01 1.84704127e-02 -8.28653454e-04 5.53610347e+02] [-1.84703985e-02 9.99829407e-01 2.47358630e-05 -1.04504411e+01] [ 8.28968973e-04 -9.42607519e-06 9.99999656e-01 4.21877595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.6550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.64, Y:-10.45, Z:0.42 [[ 9.99795028e-01 2.02457174e-02 -1.17258125e-04 5.53638250e+02] [-2.02457172e-02 9.99795034e-01 2.73829707e-06 -1.04520400e+01] [ 1.17289530e-04 -3.63760953e-07 9.99999993e-01 4.22085446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.6850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.66, Y:-10.45, Z:0.42 [[ 9.99773490e-01 2.12830609e-02 2.99582126e-05 5.53664921e+02] [-2.12830609e-02 9.99773490e-01 -2.14043287e-06 -1.04526651e+01] [-2.99969819e-05 1.50234558e-06 1.00000000e+00 4.22336785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.7150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.69, Y:-10.45, Z:0.42 [[ 9.99739567e-01 2.28179401e-02 3.73714213e-04 5.53692705e+02] [-2.28179372e-02 9.99739637e-01 -1.21577605e-05 -1.04532536e+01] [-3.73894327e-04 3.62720675e-06 9.99999930e-01 4.22506869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.745099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.72, Y:-10.45, Z:0.42 [[ 9.99696963e-01 2.46124087e-02 4.60342936e-04 5.53719583e+02] [-2.46124044e-02 9.99697069e-01 -1.48567612e-05 -1.04540076e+01] [-4.60569145e-04 3.52211253e-06 9.99999894e-01 4.22724776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.75, Y:-10.46, Z:0.42 [[ 9.99615414e-01 2.76988655e-02 1.34073133e-03 5.53747694e+02] [-2.76988352e-02 9.99616313e-01 -4.11702638e-05 -1.04553360e+01] [-1.34135728e-03 4.01773411e-06 9.99999100e-01 4.22164596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.8050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.77, Y:-10.45, Z:0.42 [[ 9.99638301e-01 2.68887189e-02 5.12896844e-04 5.53773689e+02] [-2.68895852e-02 9.99636853e-01 1.76437942e-03 -1.04548982e+01] [-4.65268685e-04 -1.77753283e-03 9.99998312e-01 4.22811017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.8350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.80, Y:-10.46, Z:0.42 [[ 9.99565816e-01 2.94496352e-02 9.48242689e-04 5.53803593e+02] [-2.94479010e-02 9.99564707e-01 -1.79368967e-03 -1.04577064e+01] [-1.00065343e-03 1.76498712e-03 9.99997942e-01 4.21816122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.83, Y:-10.46, Z:0.42 [[ 9.99552535e-01 2.98994140e-02 8.69057219e-04 5.53831188e+02] [-2.98994022e-02 9.99552913e-01 -2.65542277e-05 -1.04597703e+01] [-8.69462631e-04 5.58054318e-07 9.99999622e-01 4.20918153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.86, Y:-10.46, Z:0.42 [[ 9.99536150e-01 3.04540925e-02 -1.79943520e-04 5.53859410e+02] [-3.04540922e-02 9.99536167e-01 4.46183062e-06 -1.04618640e+01] [ 1.79995937e-04 1.02025556e-06 9.99999984e-01 4.20166519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.9250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.89, Y:-10.46, Z:0.42 [[ 9.99536482e-01 3.04359666e-02 -6.88063063e-04 5.53886918e+02] [-3.04359605e-02 9.99536719e-01 1.93738619e-05 -1.04632861e+01] [ 6.88333958e-04 1.57697839e-06 9.99999763e-01 4.19901398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.9550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.91, Y:-10.47, Z:0.42 [[ 9.99544359e-01 3.01540248e-02 -1.34526302e-03 5.53913739e+02] [-3.01540005e-02 9.99545264e-01 3.83813995e-05 -1.04651912e+01] [ 1.34580863e-03 2.20115027e-06 9.99999094e-01 4.19787798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.94, Y:-10.47, Z:0.42 [[ 9.99554789e-01 2.98032918e-02 -1.41013828e-03 5.53941579e+02] [-2.98032647e-02 9.99555783e-01 4.02756406e-05 -1.04666205e+01] [ 1.41071222e-03 1.76901503e-06 9.99999005e-01 4.19629424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.97, Y:-10.47, Z:0.42 [[ 9.99559181e-01 2.96582015e-02 -1.35459751e-03 5.53968114e+02] [-2.96581768e-02 9.99560099e-01 3.83599587e-05 -1.04682208e+01] [ 1.35513930e-03 1.83184341e-06 9.99999082e-01 4.19492433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.0450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.00, Y:-10.47, Z:0.42 [[ 9.99572631e-01 2.92105486e-02 -1.13943330e-03 5.53996047e+02] [-2.92105310e-02 9.99573281e-01 3.21086216e-05 -1.04698053e+01] [ 1.13988499e-03 1.18855224e-06 9.99999350e-01 4.19277046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.0750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.02, Y:-10.47, Z:0.42 [[ 9.99578288e-01 2.90184540e-02 -1.08436600e-03 5.54022519e+02] [-2.90184383e-02 9.99578876e-01 3.02487340e-05 -1.04718631e+01] [ 1.08478712e-03 1.23063024e-06 9.99999412e-01 4.19182911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.05, Y:-10.47, Z:0.42 [[ 9.99580543e-01 2.89320404e-02 -1.29421948e-03 5.54050864e+02] [-2.89320176e-02 9.99581381e-01 3.63054196e-05 -1.04730944e+01] [ 1.29472809e-03 1.15418978e-06 9.99999162e-01 4.19151249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.08, Y:-10.47, Z:0.42 [[ 9.99587834e-01 2.86784986e-02 -1.30591862e-03 5.54078911e+02] [-2.86784754e-02 9.99588687e-01 3.64787694e-05 -1.04743749e+01] [ 1.30642764e-03 9.88021092e-07 9.99999147e-01 4.18791873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.1650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.11, Y:-10.48, Z:0.42 [[ 9.99613361e-01 2.77978125e-02 -6.39863488e-04 5.54106978e+02] [-2.77978071e-02 9.99613566e-01 1.73773635e-05 -1.04765770e+01] [ 6.40099275e-04 4.16157093e-07 9.99999795e-01 4.18399263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.1950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.13, Y:-10.48, Z:0.42 [[ 9.99641877e-01 2.67594805e-02 -2.19398297e-04 5.54134672e+02] [-2.67594799e-02 9.99641901e-01 5.38808411e-06 -1.04782129e+01] [ 2.19463912e-04 4.84829810e-07 9.99999976e-01 4.18323131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.16, Y:-10.48, Z:0.42 [[ 9.99706002e-01 2.42327202e-02 8.27490719e-04 5.54163059e+02] [-2.42327085e-02 9.99706345e-01 -2.42297613e-05 -1.04810676e+01] [-8.27834875e-04 4.17029646e-06 9.99999657e-01 4.17804173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.19, Y:-10.48, Z:0.42 [[ 9.99745470e-01 2.25237977e-02 1.29375439e-03 5.54190798e+02] [-2.25237684e-02 9.99746307e-01 -3.72644420e-05 -1.04824890e+01] [-1.29426551e-03 8.11473284e-06 9.99999162e-01 4.17565288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.2850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.22, Y:-10.48, Z:0.42 [[ 9.99780549e-01 2.08680023e-02 1.83864068e-03 5.54219352e+02] [-2.08679416e-02 9.99782239e-01 -5.21907934e-05 -1.04839213e+01] [-1.83932941e-03 1.38106938e-05 9.99998308e-01 4.17495999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.3150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.25, Y:-10.49, Z:0.42 [[ 9.99806140e-01 1.95296788e-02 2.50484252e-03 5.54247064e+02] [-1.95295627e-02 9.99809277e-01 -7.08040006e-05 -1.04854778e+01] [-2.50574757e-03 2.18717956e-05 9.99996860e-01 4.17366766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.28, Y:-10.49, Z:0.42 [[ 9.99849957e-01 1.70684140e-02 2.95517537e-03 5.54276132e+02] [-1.70682431e-02 9.99854323e-01 -8.30465328e-05 -1.04879700e+01] [-2.95616235e-03 3.25944205e-05 9.99995630e-01 4.16888438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.30, Y:-10.49, Z:0.42 [[ 9.99868554e-01 1.59853723e-02 2.70976316e-03 5.54303786e+02] [-1.59852248e-02 9.99872225e-01 -7.60911061e-05 -1.04897580e+01] [-2.71063327e-03 3.27649309e-05 9.99996326e-01 4.16437028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.33, Y:-10.49, Z:0.42 [[ 9.99880892e-01 1.52409575e-02 2.43228896e-03 5.54332064e+02] [-1.52408370e-02 9.99883849e-01 -6.80661732e-05 -1.04914560e+01] [-2.43304384e-03 3.09879464e-05 9.99997040e-01 4.15837368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.36, Y:-10.49, Z:0.41 [[ 9.99885380e-01 1.48525302e-02 2.93753147e-03 5.54359873e+02] [-1.48523535e-02 9.99889694e-01 -8.19599336e-05 -1.04932994e+01] [-2.93842476e-03 3.83212836e-05 9.99995682e-01 4.14798343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.39, Y:-10.49, Z:0.41 [[ 9.99879532e-01 1.52993657e-02 2.61733766e-03 5.54388589e+02] [-1.52992277e-02 9.99882957e-01 -7.27733997e-05 -1.04942114e+01] [-2.61814471e-03 3.27213882e-05 9.99996572e-01 4.14641261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.495099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.42, Y:-10.50, Z:0.41 [[ 9.99858981e-01 1.65833193e-02 2.64810394e-03 5.54417580e+02] [-1.65831830e-02 9.99862487e-01 -7.34315165e-05 -1.04950469e+01] [-2.64895752e-03 2.95071690e-05 9.99996491e-01 4.14234056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.45, Y:-10.50, Z:0.41 [[ 9.99824850e-01 1.85043257e-02 2.80332048e-03 5.54446711e+02] [-1.85041811e-02 9.99828780e-01 -7.75038211e-05 -1.04956122e+01] [-2.80427465e-03 2.56170965e-05 9.99996068e-01 4.13966011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.47, Y:-10.50, Z:0.41 [[ 9.99707717e-01 2.40650913e-02 2.31323250e-03 5.54473815e+02] [-2.40650072e-02 9.99710394e-01 -6.41762878e-05 -1.04957211e+01] [-2.31410698e-03 8.48957334e-06 9.99997322e-01 4.14264920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.50, Y:-10.50, Z:0.41 [[ 9.99627745e-01 2.71630185e-02 2.55770106e-03 5.54502155e+02] [-2.71629271e-02 9.99631017e-01 -7.04394682e-05 -1.04963704e+01] [-2.55867066e-03 9.38599385e-07 9.99996727e-01 4.14074020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.53, Y:-10.50, Z:0.41 [[ 9.99540699e-01 3.01796574e-02 2.75321817e-03 5.54530247e+02] [-3.01795640e-02 9.99544490e-01 -7.54727422e-05 -1.04968361e+01] [-2.75424179e-03 -7.65284634e-06 9.99996207e-01 4.14234563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.56, Y:-10.50, Z:0.41 [[ 9.99460259e-01 3.27410679e-02 2.68569120e-03 5.54558474e+02] [-3.27409890e-02 9.99463867e-01 -7.33531328e-05 -1.04974275e+01] [-2.68665297e-03 -1.46186450e-05 9.99996391e-01 4.14395783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.6750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.59, Y:-10.50, Z:0.41 [[ 9.99327301e-01 3.65044998e-02 3.51676754e-03 5.54586842e+02] [-3.65043900e-02 9.99333488e-01 -9.54230577e-05 -1.04986692e+01] [-3.51790694e-03 -3.30185869e-05 9.99993812e-01 4.14314538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.7050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.62, Y:-10.50, Z:0.41 [[ 9.99298839e-01 3.72754011e-02 3.51790069e-03 5.54615085e+02] [-3.72752973e-02 9.99305030e-01 -9.50752507e-05 -1.05001417e+01] [-3.51899982e-03 -3.61222064e-05 9.99993808e-01 4.13907463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.64, Y:-10.50, Z:0.41 [[ 9.99331077e-01 3.64429855e-02 3.05068712e-03 5.54643298e+02] [-3.64429043e-02 9.99335733e-01 -8.22300933e-05 -1.05032831e+01] [-3.05165736e-03 -2.90008111e-05 9.99995343e-01 4.13143038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.67, Y:-10.51, Z:0.41 [[ 9.99391094e-01 3.47825874e-02 2.75909577e-03 5.54670911e+02] [-3.47825153e-02 9.99394903e-01 -7.41545890e-05 -1.05054913e+01] [-2.76000554e-03 -2.18588550e-05 9.99996191e-01 4.12459809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.7950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.70, Y:-10.51, Z:0.41 [[ 9.99462822e-01 3.26562975e-02 2.76296344e-03 5.54698440e+02] [-3.26562178e-02 9.99466641e-01 -7.39761682e-05 -1.05078517e+01] [-2.76390558e-03 -1.62915060e-05 9.99996180e-01 4.11788849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.8250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.73, Y:-10.51, Z:0.41 [[ 9.99555870e-01 2.96741318e-02 2.74004864e-03 5.54726547e+02] [-2.96740433e-02 9.99559626e-01 -7.29857704e-05 -1.05102492e+01] [-2.74100779e-03 -8.35496663e-06 9.99996243e-01 4.11376348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.75, Y:-10.51, Z:0.41 [[ 9.99648600e-01 2.63870992e-02 2.52923181e-03 5.54754814e+02] [-2.63870133e-02 9.99651800e-01 -6.73124876e-05 -1.05127965e+01] [-2.53012731e-03 5.49960660e-07 9.99996799e-01 4.11021080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.78, Y:-10.52, Z:0.41 [[ 9.99815468e-01 1.90849807e-02 2.18924526e-03 5.54783991e+02] [-1.90848996e-02 9.99817865e-01 -5.79327024e-05 -1.05172117e+01] [-2.18995217e-03 1.61404859e-05 9.99997602e-01 4.11171944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.9150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.81, Y:-10.52, Z:0.41 [[ 9.99877439e-01 1.54552624e-02 2.49819066e-03 5.54813198e+02] [-1.54551461e-02 9.99880560e-01 -6.58532670e-05 -1.05200943e+01] [-2.49891005e-03 2.72352943e-05 9.99996877e-01 4.10975462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.9450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.84, Y:-10.53, Z:0.41 [[ 9.99953957e-01 9.06506252e-03 3.14763442e-03 5.54841490e+02] [-9.06484743e-03 9.99958910e-01 -8.25933268e-05 -1.05253332e+01] [-3.14825380e-03 5.40566982e-05 9.99995043e-01 4.10952955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.87, Y:-10.53, Z:0.41 [[ 9.99972661e-01 6.44546171e-03 3.62386363e-03 5.54871223e+02] [-6.44516123e-03 9.99979225e-01 -9.45889685e-05 -1.05281759e+01] [-3.62439801e-03 7.12299972e-05 9.99993429e-01 4.10646337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.90, Y:-10.53, Z:0.41 [[ 9.99983059e-01 4.32796836e-03 3.89235658e-03 5.54901515e+02] [-4.32760686e-03 9.99990631e-01 -1.01293109e-04 -1.05307393e+01] [-3.89275850e-03 8.44468040e-05 9.99992420e-01 4.10403314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.0350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.93, Y:-10.53, Z:0.41 [[ 9.99987490e-01 1.89698773e-03 4.62821898e-03 5.54932161e+02] [-1.89645086e-03 9.99998195e-01 -1.20385632e-04 -1.05340851e+01] [-4.62843899e-03 1.11606936e-04 9.99989282e-01 4.09949177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.0650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.96, Y:-10.54, Z:0.41 [[ 9.99987324e-01 1.79804156e-03 4.70308664e-03 5.54964594e+02] [-1.79748908e-03 9.99998377e-01 -1.21694660e-04 -1.05359036e+01] [-4.70329782e-03 1.13239370e-04 9.99988933e-01 4.09402439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.00, Y:-10.54, Z:0.41 [[ 9.99988887e-01 2.18750621e-03 4.17615003e-03 5.54996275e+02] [-2.18707024e-03 9.99997602e-01 -1.08960147e-04 -1.05376959e+01] [-4.17637837e-03 9.98254025e-05 9.99991274e-01 4.08816428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.03, Y:-10.54, Z:0.41 [[ 9.99986932e-01 3.71701778e-03 3.50983192e-03 5.55027900e+02] [-3.71671444e-03 9.99993089e-01 -9.29430860e-05 -1.05404490e+01] [-3.51015314e-03 7.98968284e-05 9.99993836e-01 4.07844435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.1550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.06, Y:-10.54, Z:0.41 [[ 9.99982742e-01 5.01300269e-03 3.06348624e-03 5.55059577e+02] [-5.01277745e-03 9.99987433e-01 -8.11957506e-05 -1.05419729e+01] [-3.06385478e-03 6.58377746e-05 9.99995304e-01 4.07537332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.1850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.09, Y:-10.54, Z:0.41 [[ 9.99973681e-01 6.72295505e-03 2.72731193e-03 5.55089894e+02] [-6.72278304e-03 9.99977399e-01 -7.22324301e-05 -1.05433224e+01] [-2.72773591e-03 5.38954027e-05 9.99996278e-01 4.07079083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.2150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.12, Y:-10.54, Z:0.41 [[ 9.99936085e-01 1.10366442e-02 2.45330578e-03 5.55120570e+02] [-1.10365169e-02 9.99939094e-01 -6.53970882e-05 -1.05444312e+01] [-2.45387812e-03 3.83169576e-05 9.99996989e-01 4.07252201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.15, Y:-10.55, Z:0.41 [[ 9.99905612e-01 1.35340269e-02 2.36564188e-03 5.55149544e+02] [-1.35339149e-02 9.99908410e-01 -6.33567780e-05 -1.05451872e+01] [-2.36628268e-03 3.13344020e-05 9.99997200e-01 4.07189453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.18, Y:-10.55, Z:0.41 [[ 9.99907134e-01 1.34211510e-02 2.36563686e-03 5.55178833e+02] [-1.34210382e-02 9.99909932e-01 -6.35465419e-05 -1.05459154e+01] [-2.36627666e-03 3.17913378e-05 9.99997200e-01 4.06960394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.3050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.21, Y:-10.55, Z:0.41 [[ 9.99867318e-01 1.61082986e-02 2.42267391e-03 5.55207337e+02] [-1.61081894e-02 9.99870253e-01 -6.45636617e-05 -1.05465818e+01] [-2.42339958e-03 2.55302051e-05 9.99997063e-01 4.06698269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.3350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.24, Y:-10.55, Z:0.41 [[ 9.99767872e-01 2.13929803e-02 2.55799842e-03 5.55235199e+02] [-2.13928735e-02 9.99771144e-01 -6.90879957e-05 -1.05473973e+01] [-2.55889101e-03 1.43490217e-05 9.99996726e-01 4.06621947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.26, Y:-10.55, Z:0.41 [[ 9.99710660e-01 2.39265713e-02 2.47297029e-03 5.55264328e+02] [-2.39264837e-02 9.99713719e-01 -6.49982984e-05 -1.05486356e+01] [-2.47381752e-03 5.81000823e-06 9.99996940e-01 4.06303359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.29, Y:-10.55, Z:0.41 [[ 9.99672295e-01 2.55112426e-02 2.11622368e-03 5.55293314e+02] [-2.55111821e-02 9.99674535e-01 -5.55566275e-05 -1.05496301e+01] [-2.11695224e-03 1.55105360e-06 9.99997759e-01 4.05976050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.4250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.32, Y:-10.55, Z:0.41 [[ 9.99639322e-01 2.68063511e-02 1.62632794e-03 5.55320876e+02] [-2.68063169e-02 9.99640645e-01 -4.28149593e-05 -1.05506220e+01] [-1.62689123e-03 -7.96345413e-07 9.99998677e-01 4.05653261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.4550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.35, Y:-10.55, Z:0.41 [[ 9.99619884e-01 2.75637336e-02 5.72494269e-04 5.55349902e+02] [-2.75637293e-02 9.99620048e-01 -1.53387294e-05 -1.05518236e+01] [-5.72699541e-04 -4.47178156e-07 9.99999836e-01 4.05333946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.38, Y:-10.55, Z:0.41 [[ 9.99640605e-01 2.68076519e-02 1.05951962e-04 5.55377455e+02] [-2.68076516e-02 9.99640610e-01 -3.56422651e-06 -1.05526645e+01] [-1.06009433e-04 7.22622243e-07 9.99999994e-01 4.05166663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.41, Y:-10.55, Z:0.40 [[ 9.99672582e-01 2.55828119e-02 -4.99131362e-04 5.55405885e+02] [-2.55828092e-02 9.99672706e-01 1.19271419e-05 -1.05538154e+01] [ 4.99273129e-04 8.45945671e-07 9.99999875e-01 4.04788061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.5450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.43, Y:-10.56, Z:0.40 [[ 9.99764073e-01 2.17022918e-02 -8.99049488e-04 5.55433355e+02] [-2.17022808e-02 9.99764478e-01 2.20670779e-05 -1.05559764e+01] [ 8.99316647e-04 -2.55044731e-06 9.99999596e-01 4.04925794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.5750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.46, Y:-10.56, Z:0.40 [[ 9.99814537e-01 1.92408227e-02 -8.26454295e-04 5.55461274e+02] [-1.92408125e-02 9.99814878e-01 2.02192411e-05 -1.05575801e+01] [ 8.26690335e-04 -4.31383895e-06 9.99999658e-01 4.04732740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.49, Y:-10.56, Z:0.40 [[ 9.99859485e-01 1.67542795e-02 -5.52161627e-04 5.55490141e+02] [-1.67542746e-02 9.99859637e-01 1.34259323e-05 -1.05593503e+01] [ 5.52309065e-04 -4.17297819e-06 9.99999847e-01 4.04470726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.52, Y:-10.56, Z:0.40 [[ 9.99929387e-01 1.18698016e-02 5.74146092e-04 5.55519086e+02] [-1.18697949e-02 9.99929551e-01 -1.50611543e-05 -1.05619661e+01] [-5.74284417e-04 8.24509441e-06 9.99999835e-01 4.04413083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.6650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.55, Y:-10.56, Z:0.40 [[ 9.99952100e-01 9.73731307e-03 9.91200817e-04 5.55548209e+02] [-9.73729254e-03 9.99952591e-01 -2.55353028e-05 -1.05635456e+01] [-9.91402471e-04 1.58824673e-05 9.99999508e-01 4.04343801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.6950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.58, Y:-10.57, Z:0.40 [[ 9.99970641e-01 7.53717528e-03 1.38163592e-03 5.55576785e+02] [-7.53713391e-03 9.99971595e-01 -3.51449818e-05 -1.05650430e+01] [-1.38186156e-03 2.47303751e-05 9.99999045e-01 4.04302336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.61, Y:-10.57, Z:0.40 [[ 9.99987148e-01 4.50519814e-03 2.32527415e-03 5.55606075e+02] [-4.50507400e-03 9.99989850e-01 -5.86245268e-05 -1.05676941e+01] [-2.32551466e-03 4.81482412e-05 9.99997295e-01 4.03436810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.64, Y:-10.57, Z:0.40 [[ 9.99990585e-01 3.58755172e-03 2.44137229e-03 5.55636285e+02] [-3.58741308e-03 9.99993563e-01 -6.11637829e-05 -1.05694290e+01] [-2.44157600e-03 5.24049962e-05 9.99997018e-01 4.03152446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.7850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.67, Y:-10.57, Z:0.40 [[ 9.99991648e-01 3.21830677e-03 2.51919373e-03 5.55666726e+02] [-3.21815762e-03 9.99994820e-01 -6.32562107e-05 -1.05712870e+01] [-2.51938426e-03 5.51485199e-05 9.99996825e-01 4.02671250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.8150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.70, Y:-10.57, Z:0.40 [[ 9.99983629e-01 4.78143358e-03 3.14312329e-03 5.55696787e+02] [-4.78120912e-03 9.99988567e-01 -7.89228977e-05 -1.05727053e+01] [-3.14346472e-03 6.38936760e-05 9.99995057e-01 4.02587928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.73, Y:-10.57, Z:0.40 [[ 9.99972462e-01 6.63860051e-03 3.31741409e-03 5.55726860e+02] [-6.63836069e-03 9.99977962e-01 -8.32992882e-05 -1.05735338e+01] [-3.31789397e-03 6.12748030e-05 9.99994494e-01 4.02345118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.76, Y:-10.57, Z:0.40 [[ 9.99952637e-01 8.96656166e-03 3.78477299e-03 5.55756975e+02] [-8.96626616e-03 9.99959798e-01 -9.50345323e-05 -1.05744060e+01] [-3.78547297e-03 6.10947492e-05 9.99992833e-01 4.02114374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.79, Y:-10.58, Z:0.40 [[ 9.99925058e-01 1.15208191e-02 4.14104033e-03 5.55786509e+02] [-1.15204870e-02 9.99933632e-01 -1.04046217e-04 -1.05754578e+01] [-4.14196420e-03 5.63316189e-05 9.99991420e-01 4.01965496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.82, Y:-10.58, Z:0.40 [[ 9.99860998e-01 1.61845063e-02 4.00587216e-03 5.55816116e+02] [-1.61842332e-02 9.99869022e-01 -1.00581938e-04 -1.05768414e+01] [-4.00697534e-03 3.57359874e-05 9.99991971e-01 4.01593752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.84, Y:-10.58, Z:0.40 [[ 9.99829205e-01 1.81223244e-02 3.62519404e-03 5.55844564e+02] [-1.81221129e-02 9.99835777e-01 -9.11924674e-05 -1.05778791e+01] [-3.62625131e-03 2.54807167e-05 9.99993425e-01 4.00805368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.995099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.87, Y:-10.58, Z:0.40 [[ 9.99802373e-01 1.96368830e-02 3.09948993e-03 5.55873242e+02] [-1.96367360e-02 9.99807178e-01 -7.78276087e-05 -1.05790243e+01] [-3.10042057e-03 1.69483624e-05 9.99995194e-01 4.00263632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.90, Y:-10.58, Z:0.40 [[ 9.99786955e-01 2.05084711e-02 2.33379659e-03 5.55901804e+02] [-2.05083902e-02 9.99789679e-01 -5.85911394e-05 -1.05801146e+01] [-2.33450736e-03 1.07162458e-05 9.99997275e-01 3.99778474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.93, Y:-10.58, Z:0.40 [[ 9.99786744e-01 2.06314637e-02 9.00083527e-04 5.55929165e+02] [-2.06314514e-02 9.99787149e-01 -2.30033204e-05 -1.05815243e+01] [-9.00366535e-04 4.42838531e-06 9.99999595e-01 3.98589557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.96, Y:-10.58, Z:0.40 [[ 9.99802849e-01 1.98539930e-02 2.85767760e-04 5.55957943e+02] [-1.98539916e-02 9.99802890e-01 -7.61050078e-06 -1.05829595e+01] [-2.85862531e-04 1.93536966e-06 9.99999959e-01 3.97910671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.99, Y:-10.59, Z:0.40 [[ 9.99861935e-01 1.65984119e-02 -7.77408969e-04 5.55986759e+02] [-1.65984025e-02 9.99862237e-01 1.85848914e-05 -1.05852899e+01] [ 7.77610350e-04 -5.67857850e-06 9.99999698e-01 3.97597326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.01, Y:-10.59, Z:0.40 [[ 9.99896727e-01 1.43352321e-02 -1.01817557e-03 5.56014722e+02] [-1.43352148e-02 9.99897245e-01 2.42885629e-05 -1.05868421e+01] [ 1.01841913e-03 -9.69028900e-06 9.99999481e-01 3.97335788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.1750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.04, Y:-10.59, Z:0.40 [[ 9.99932014e-01 1.16133842e-02 -1.04752576e-03 5.56043815e+02] [-1.16133642e-02 9.99932562e-01 2.50894513e-05 -1.05884511e+01] [ 1.04774649e-03 -1.29224473e-05 9.99999451e-01 3.97442049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.2050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.07, Y:-10.59, Z:0.40 [[ 9.99961611e-01 8.69965331e-03 -1.04501379e-03 5.56072546e+02] [-8.69963199e-03 9.99962157e-01 2.49418210e-05 -1.05901536e+01] [ 1.04519123e-03 -1.58496281e-05 9.99999454e-01 3.97446723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.10, Y:-10.59, Z:0.40 [[ 9.99983241e-01 5.75738848e-03 -6.08527727e-04 5.56101316e+02] [-5.75738087e-03 9.99983426e-01 1.42534744e-05 -1.05918039e+01] [ 6.08599704e-04 -1.07497096e-05 9.99999815e-01 3.97380804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.13, Y:-10.59, Z:0.40 [[ 9.99999914e-01 -2.85279910e-04 3.01056227e-04 5.56130417e+02] [ 2.85282289e-04 9.99999959e-01 -7.85906346e-06 -1.05947039e+01] [-3.01053973e-04 7.94494880e-06 9.99999955e-01 3.97292318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.2950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.16, Y:-10.60, Z:0.40 [[ 9.99994998e-01 -3.03668101e-03 8.84249345e-04 5.56160790e+02] [ 3.03670063e-03 9.99995389e-01 -2.08474477e-05 -1.05966809e+01] [-8.84181961e-04 2.35325440e-05 9.99999609e-01 3.97006433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.3250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.19, Y:-10.60, Z:0.40 [[ 9.99985333e-01 -5.29282493e-03 1.14840796e-03 5.56192416e+02] [ 5.29285880e-03 9.99985992e-01 -2.64584809e-05 -1.05986013e+01] [-1.14825184e-03 3.25364540e-05 9.99999340e-01 3.96827977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.23, Y:-10.60, Z:0.40 [[ 9.99958377e-01 -8.86735509e-03 2.14808267e-03 5.56225089e+02] [ 8.86748587e-03 9.99960682e-01 -5.13698965e-05 -1.06007253e+01] [-2.14754270e-03 7.04158511e-05 9.99997692e-01 3.96419645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.26, Y:-10.60, Z:0.40 [[ 9.99943682e-01 -1.03706411e-02 2.25427533e-03 5.56257109e+02] [ 1.03707926e-02 9.99946220e-01 -5.55449232e-05 -1.06018280e+01] [-2.25357806e-03 7.89204170e-05 9.99997458e-01 3.96101496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.4150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.29, Y:-10.60, Z:0.40 [[ 9.99908456e-01 -1.33263627e-02 2.34274160e-03 5.56289361e+02] [ 1.33265347e-02 9.99911196e-01 -5.78174831e-05 -1.06030116e+01] [-2.34176306e-03 8.90328174e-05 9.99997254e-01 3.95635508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.4450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.32, Y:-10.60, Z:0.40 [[ 9.99883626e-01 -1.50757943e-02 2.33536200e-03 5.56321930e+02] [ 1.50759707e-02 9.99886349e-01 -5.79442431e-05 -1.06038410e+01] [-2.33422303e-03 9.31453489e-05 9.99997271e-01 3.95740202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.35, Y:-10.60, Z:0.40 [[ 9.99852763e-01 -1.70099915e-02 2.26119338e-03 5.56354153e+02] [ 1.70101621e-02 9.99855315e-01 -5.62257909e-05 -1.06046565e+01] [-2.25990982e-03 9.46807781e-05 9.99997442e-01 3.95673172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.39, Y:-10.61, Z:0.40 [[ 9.99769880e-01 -2.13980473e-02 1.52006198e-03 5.56385988e+02] [ 2.13981283e-02 9.99771033e-01 -3.70352015e-05 -1.06054226e+01] [-1.51892146e-03 6.95531602e-05 9.99998844e-01 3.95320617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.5350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.42, Y:-10.61, Z:0.40 [[ 9.99718266e-01 -2.36780075e-02 1.65548884e-03 5.56418575e+02] [ 2.36781086e-02 9.99719633e-01 -4.14414302e-05 -1.06060484e+01] [-1.65404344e-03 8.06285992e-05 9.99998629e-01 3.95014012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.5650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.45, Y:-10.61, Z:0.39 [[ 9.99666389e-01 -2.57849402e-02 1.49926095e-03 5.56450331e+02] [ 2.57850254e-02 9.99667510e-01 -3.74723852e-05 -1.06065073e+01] [-1.49779624e-03 7.61183655e-05 9.99998875e-01 3.94986039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.48, Y:-10.61, Z:0.39 [[ 9.99572127e-01 -2.92062932e-02 1.59835311e-03 5.56483263e+02] [ 2.92063945e-02 9.99573401e-01 -4.00429542e-05 -1.06061171e+01] [-1.59650174e-03 8.67079522e-05 9.99998722e-01 3.94734979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.52, Y:-10.61, Z:0.39 [[ 9.99541226e-01 -3.02594155e-02 1.30615538e-03 5.56516136e+02] [ 3.02594840e-02 9.99542076e-01 -3.26765045e-05 -1.06059519e+01] [-1.30456849e-03 7.21851012e-05 9.99999146e-01 3.94289225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.6550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.55, Y:-10.61, Z:0.39 [[ 9.99504674e-01 -3.14612694e-02 7.71036014e-04 5.56547895e+02] [ 3.14612935e-02 9.99504971e-01 -1.91536500e-05 -1.06054628e+01] [-7.70051731e-04 4.34019531e-05 9.99999703e-01 3.93776937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.6850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.58, Y:-10.61, Z:0.39 [[ 9.99487522e-01 -3.20108310e-02 -9.19713799e-06 5.56580408e+02] [ 3.20108310e-02 9.99487522e-01 9.45245911e-07 -1.06051185e+01] [ 9.16216634e-06 -1.23916952e-06 1.00000000e+00 3.93142302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.7150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.61, Y:-10.60, Z:0.39 [[ 9.99467880e-01 -3.26027202e-02 -1.00968065e-03 5.56613559e+02] [ 3.26027641e-02 9.99468388e-01 2.70771299e-05 -1.06036633e+01] [ 1.00826110e-03 -5.99811015e-05 9.99999490e-01 3.92360730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.745099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.65, Y:-10.60, Z:0.39 [[ 9.99438665e-01 -3.34682856e-02 -1.49284311e-03 5.56647446e+02] [ 3.34703268e-02 9.99438781e-01 1.36397938e-03 -1.06032731e+01] [ 1.44635525e-03 -1.41317968e-03 9.99997955e-01 3.91628754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.68, Y:-10.60, Z:0.39 [[ 9.99507847e-01 -3.13425449e-02 -1.30752219e-03 5.56677851e+02] [ 3.13407966e-02 9.99507863e-01 -1.33677902e-03 -1.06012757e+01] [ 1.34877676e-03 1.29514233e-03 9.99998252e-01 3.92586885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.8050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.71, Y:-10.60, Z:0.39 [[ 9.99542956e-01 -3.02201388e-02 -7.88923341e-04 5.56710931e+02] [ 3.02201654e-02 9.99543266e-01 2.18005000e-05 -1.06007786e+01] [ 7.87904198e-04 -4.56319301e-05 9.99999689e-01 3.92380608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.8350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.74, Y:-10.60, Z:0.39 [[ 9.99654597e-01 -2.62801104e-02 2.06132360e-04 5.56741797e+02] [ 2.62801120e-02 9.99654618e-01 -5.10059008e-06 -1.05970861e+01] [-2.05927121e-04 1.05160098e-05 9.99999979e-01 3.93227946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.77, Y:-10.60, Z:0.39 [[ 9.99730342e-01 -2.32154365e-02 5.35583880e-04 5.56773859e+02] [ 2.32154472e-02 9.99730485e-01 -1.37658064e-05 -1.05955306e+01] [-5.35119953e-04 2.61959137e-05 9.99999856e-01 3.93305785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.81, Y:-10.59, Z:0.39 [[ 9.99806225e-01 -1.96420922e-02 1.30399163e-03 5.56805933e+02] [ 1.96421537e-02 9.99807074e-01 -3.44053202e-05 -1.05937811e+01] [-1.30306426e-03 6.00118573e-05 9.99999149e-01 3.93097765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.9250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.84, Y:-10.59, Z:0.39 [[ 9.99926295e-01 -1.17251943e-02 3.15029031e-03 5.56838498e+02] [ 1.17255175e-02 9.99931250e-01 -8.41279181e-05 -1.05899033e+01] [-3.14908731e-03 1.21060502e-04 9.99995034e-01 3.93778092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.9550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.87, Y:-10.59, Z:0.39 [[ 9.99966040e-01 -7.60177306e-03 3.18312468e-03 5.56871231e+02] [ 7.60208288e-03 9.99971100e-01 -8.52438014e-05 -1.05884303e+01] [-3.18238468e-03 1.09439284e-04 9.99994930e-01 3.93511773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.90, Y:-10.58, Z:0.39 [[ 9.99998908e-01 -2.79029490e-05 1.47778988e-03 5.56902130e+02] [ 2.79613465e-05 9.99999999e-01 -3.94959861e-05 -1.05848005e+01] [-1.47778878e-03 3.95372640e-05 9.99998907e-01 3.92553030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.93, Y:-10.58, Z:0.39 [[ 9.99994208e-01 3.27460295e-03 9.27720186e-04 5.56932708e+02] [-3.27458148e-03 9.99994638e-01 -2.46619965e-05 -1.05835404e+01] [-9.27795970e-04 2.16239583e-05 9.99999569e-01 3.92176796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.0450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.96, Y:-10.58, Z:0.39 [[ 9.99979748e-01 6.34963225e-03 4.30550376e-04 5.56963709e+02] [-6.34962782e-03 9.99979841e-01 -1.16560868e-05 -1.05823733e+01] [-4.30615708e-04 8.92201607e-06 9.99999907e-01 3.92032312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.0750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.99, Y:-10.58, Z:0.39 [[ 9.99961831e-01 8.73241936e-03 2.84342925e-04 5.56993686e+02] [-8.73241745e-03 9.99961872e-01 -7.96293676e-06 -1.05813568e+01] [-2.84401619e-04 5.47963170e-06 9.99999960e-01 3.92000123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.02, Y:-10.58, Z:0.39 [[ 9.99917846e-01 1.28153544e-02 2.60583450e-04 5.57022287e+02] [-1.28153526e-02 9.99917880e-01 -8.89364970e-06 -1.05797089e+01] [-2.60676027e-04 5.55345027e-06 9.99999966e-01 3.91712713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.05, Y:-10.58, Z:0.39 [[ 9.99896167e-01 1.44101947e-02 -3.88201403e-05 5.57050150e+02] [-1.44101947e-02 9.99896168e-01 3.60556635e-07 -1.05794579e+01] [ 3.88213050e-05 1.98886587e-07 9.99999999e-01 3.91404661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.1650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.08, Y:-10.58, Z:0.39 [[ 9.99878346e-01 1.55927695e-02 -3.97549498e-04 5.57079170e+02] [-1.55927667e-02 9.99878425e-01 1.00133429e-05 -1.05790470e+01] [ 3.97657302e-04 -3.81322820e-06 9.99999921e-01 3.91233811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.1950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.11, Y:-10.58, Z:0.39 [[ 9.99879207e-01 1.55374553e-02 -3.97546251e-04 5.57108476e+02] [-1.55374525e-02 9.99879286e-01 1.01348224e-05 -1.05797709e+01] [ 3.97655731e-04 -3.95674220e-06 9.99999921e-01 3.91005998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.14, Y:-10.58, Z:0.39 [[ 9.99844917e-01 1.75703425e-02 -1.19403198e-03 5.57136271e+02] [-1.75703182e-02 9.99845630e-01 3.09107126e-05 -1.05783378e+01] [ 1.19439077e-03 -9.92639700e-06 9.99999287e-01 3.90831392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.17, Y:-10.58, Z:0.39 [[ 9.99836102e-01 1.80624429e-02 -1.23146846e-03 5.57165270e+02] [-1.80624172e-02 9.99836861e-01 3.19667757e-05 -1.05779578e+01] [ 1.23184496e-03 -9.71823941e-06 9.99999241e-01 3.90699288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.2850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.19, Y:-10.58, Z:0.39 [[ 9.99826355e-01 1.86082717e-02 -9.96029457e-04 5.57193103e+02] [-1.86082557e-02 9.99826851e-01 2.53325647e-05 -1.05779562e+01] [ 9.96328391e-04 -6.79379496e-06 9.99999504e-01 3.90701470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.3150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.22, Y:-10.58, Z:0.39 [[ 9.99823391e-01 1.87930662e-02 8.49237122e-05 5.57221314e+02] [-1.87930661e-02 9.99823395e-01 -2.93835865e-06 -1.05786974e+01] [-8.49639352e-05 1.34186278e-06 9.99999996e-01 3.90322894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.25, Y:-10.58, Z:0.39 [[ 9.99833204e-01 1.82621387e-02 2.41184055e-04 5.57249908e+02] [-1.82621376e-02 9.99833233e-01 -6.82857777e-06 -1.05800691e+01] [-2.41268538e-04 2.42290240e-06 9.99999971e-01 3.89901197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.28, Y:-10.58, Z:0.39 [[ 9.99857329e-01 1.68861178e-02 4.24339832e-04 5.57278578e+02] [-1.68861144e-02 9.99857419e-01 -1.15892177e-05 -1.05812972e+01] [-4.24475027e-04 4.42211334e-06 9.99999910e-01 3.89678334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.31, Y:-10.58, Z:0.39 [[ 9.99884972e-01 1.51546249e-02 6.17087901e-04 5.57307433e+02] [-1.51546176e-02 9.99885162e-01 -1.66068451e-05 -1.05824844e+01] [-6.17268706e-04 7.25320370e-06 9.99999809e-01 3.89662266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.34, Y:-10.58, Z:0.39 [[ 9.99952667e-01 9.72087561e-03 4.10907929e-04 5.57336223e+02] [-9.72087182e-03 9.99952751e-01 -1.12209343e-05 -1.05841905e+01] [-4.10997592e-04 7.22601989e-06 9.99999916e-01 3.89519948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.37, Y:-10.59, Z:0.39 [[ 9.99981567e-01 6.07172820e-03 1.63861600e-05 5.57365065e+02] [-6.07172818e-03 9.99981567e-01 -9.94779517e-07 -1.05859355e+01] [-1.63918982e-05 8.95268873e-07 1.00000000e+00 3.89192843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.495099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.39, Y:-10.59, Z:0.39 [[ 9.99998154e-01 1.91488387e-03 -1.60887162e-04 5.57393193e+02] [-1.91488330e-03 9.99998167e-01 3.72553984e-06 -1.05878231e+01] [ 1.60894001e-04 -3.41745282e-06 9.99999987e-01 3.88676512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.42, Y:-10.59, Z:0.39 [[ 9.99976793e-01 -6.76734819e-03 -7.84897212e-04 5.57423039e+02] [ 6.76736629e-03 9.99977101e-01 2.04034643e-05 -1.05918278e+01] [ 7.84741161e-04 -2.57146777e-05 9.99999692e-01 3.87751877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.45, Y:-10.59, Z:0.39 [[ 9.99939722e-01 -1.09310250e-02 -1.03179719e-03 5.57453749e+02] [ 1.09310596e-02 9.99940254e-01 2.78776226e-05 -1.05942828e+01] [ 1.03143081e-03 -3.91545788e-05 9.99999467e-01 3.87343092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.49, Y:-10.60, Z:0.39 [[ 9.99888766e-01 -1.48827010e-02 -9.79876929e-04 5.57486123e+02] [ 1.48827352e-02 9.99889246e-01 2.76486959e-05 -1.05963786e+01] [ 9.79356916e-04 -4.22288693e-05 9.99999520e-01 3.86890569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.52, Y:-10.60, Z:0.39 [[ 9.99763512e-01 -2.17406598e-02 -5.13852377e-04 5.57517838e+02] [ 2.17406704e-02 9.99763644e-01 1.49604970e-05 -1.05988711e+01] [ 5.13405673e-04 -2.61284542e-05 9.99999868e-01 3.86926324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.55, Y:-10.60, Z:0.39 [[ 9.99698393e-01 -2.45442786e-02 -8.37435348e-04 5.57550395e+02] [ 2.45443063e-02 9.99698743e-01 2.27286924e-05 -1.06003556e+01] [ 8.36625205e-04 -4.32761069e-05 9.99999649e-01 3.86803289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.6750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.58, Y:-10.60, Z:0.39 [[ 9.99640769e-01 -2.67967611e-02 -5.15689527e-04 5.57582757e+02] [ 2.67967725e-02 9.99640902e-01 1.51170899e-05 -1.06017669e+01] [ 5.15099255e-04 -2.89304743e-05 9.99999867e-01 3.86227996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.7050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.62, Y:-10.60, Z:0.39 [[ 9.99583797e-01 -2.88432221e-02 -5.48623273e-04 5.57615501e+02] [ 2.88432350e-02 9.99583947e-01 1.55327151e-05 -1.06029603e+01] [ 5.47947003e-04 -3.13503203e-05 9.99999849e-01 3.86225560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.65, Y:-10.60, Z:0.39 [[ 9.99510138e-01 -3.12956801e-02 -2.55085502e-04 5.57647339e+02] [ 3.12956830e-02 9.99510170e-01 7.55614254e-06 -1.06040721e+01] [ 2.54724079e-04 -1.55355161e-05 9.99999967e-01 3.86351223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.68, Y:-10.60, Z:0.39 [[ 9.99496272e-01 -3.17357726e-02 2.06235434e-04 5.57680287e+02] [ 3.17357743e-02 9.99496293e-01 -4.70491611e-06 -1.06048737e+01] [-2.05982238e-04 1.12475873e-05 9.99999979e-01 3.86280753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.7950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.71, Y:-10.61, Z:0.39 [[ 9.99501298e-01 -3.15737594e-02 5.03673490e-04 5.57712812e+02] [ 3.15737699e-02 9.99501424e-01 -1.29150746e-05 -1.06054200e+01] [-5.03014594e-04 2.88115047e-05 9.99999873e-01 3.86242906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.8250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.75, Y:-10.60, Z:0.39 [[ 9.99545947e-01 -3.01312905e-02 -7.20794592e-05 5.57745862e+02] [ 3.01312908e-02 9.99545950e-01 2.79887064e-06 -1.06048602e+01] [ 7.19623977e-05 -4.96944694e-06 9.99999997e-01 3.86433300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.78, Y:-10.60, Z:0.39 [[ 9.99571515e-01 -2.92708038e-02 -8.41647519e-05 5.57779054e+02] [ 2.92708042e-02 9.99571518e-01 3.15572802e-06 -1.06047590e+01] [ 8.40363179e-05 -5.61794580e-06 9.99999996e-01 3.86450592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.81, Y:-10.60, Z:0.39 [[ 9.99602386e-01 -2.81958702e-02 -2.50113143e-04 5.57812212e+02] [ 2.81958730e-02 9.99602417e-01 7.70002112e-06 -1.06047324e+01] [ 2.49796594e-04 -1.47491179e-05 9.99999969e-01 3.86248074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.9150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.85, Y:-10.60, Z:0.39 [[ 9.99644006e-01 -2.66696486e-02 -7.68400888e-04 5.57845639e+02] [ 2.66696734e-02 9.99644301e-01 2.19676748e-05 -1.06044762e+01] [ 7.67541698e-04 -4.24528552e-05 9.99999705e-01 3.85931167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.9450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.88, Y:-10.60, Z:0.39 [[ 9.99648042e-01 -2.65167153e-02 -8.10523578e-04 5.57878063e+02] [ 2.65167427e-02 9.99648369e-01 2.30531527e-05 -1.06046957e+01] [ 8.09627279e-04 -4.45374841e-05 9.99999671e-01 3.85303062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.91, Y:-10.61, Z:0.39 [[ 9.99618927e-01 -2.75801283e-02 -1.15657934e-03 5.57910393e+02] [ 2.75801843e-02 9.99619594e-01 3.25298514e-05 -1.06050888e+01] [ 1.15524220e-03 -6.44161266e-05 9.99999331e-01 3.85424948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.94, Y:-10.61, Z:0.38 [[ 9.99601104e-01 -2.81473985e-02 -2.31451604e-03 5.57942118e+02] [ 2.81476240e-02 9.99603775e-01 6.48855343e-05 -1.06053756e+01] [ 2.31177262e-03 -1.30007779e-04 9.99997319e-01 3.84650583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.0350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.97, Y:-10.61, Z:0.38 [[ 9.99590128e-01 -2.83614412e-02 -3.89938520e-03 5.57973897e+02] [ 2.83620814e-02 9.99597709e-01 1.08958242e-04 -1.06057743e+01] [ 3.89472630e-03 -2.19508263e-04 9.99992391e-01 3.83708197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.0650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.01, Y:-10.61, Z:0.38 [[ 9.99583874e-01 -2.83975134e-02 -5.06551289e-03 5.58005597e+02] [ 2.83985951e-02 9.99596669e-01 1.41738696e-04 -1.06059221e+01] [ 5.05944478e-03 -2.85533165e-04 9.99987160e-01 3.82892564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.04, Y:-10.60, Z:0.38 [[ 9.99617197e-01 -2.71464020e-02 -5.34157622e-03 5.58037957e+02] [ 2.71475892e-02 9.99631425e-01 1.49855458e-04 -1.06049231e+01] [ 5.33553941e-03 -2.94809010e-04 9.99985722e-01 3.82707596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.07, Y:-10.60, Z:0.38 [[ 9.99661818e-01 -2.55981015e-02 -4.58119631e-03 5.58069091e+02] [ 2.55989629e-02 9.99672284e-01 1.29472322e-04 -1.06046577e+01] [ 4.57638074e-03 -2.46702411e-04 9.99989498e-01 3.82497397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.1550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.10, Y:-10.60, Z:0.38 [[ 9.99713067e-01 -2.35809630e-02 -4.20980695e-03 5.58101644e+02] [ 2.35816727e-02 9.99721907e-01 1.19020718e-04 -1.06043405e+01] [ 4.20582961e-03 -2.18260857e-04 9.99991132e-01 3.82597161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.1850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.13, Y:-10.60, Z:0.38 [[ 9.99772792e-01 -2.09657515e-02 -3.84739401e-03 5.58134084e+02] [ 2.09663262e-02 9.99780176e-01 1.09101688e-04 -1.06036755e+01] [ 3.84426086e-03 -1.89742617e-04 9.99992593e-01 3.82647990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.2150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.17, Y:-10.60, Z:0.38 [[ 9.99885741e-01 -1.48368062e-02 -2.89374170e-03 5.58166760e+02] [ 1.48371067e-02 9.99889921e-01 8.24095260e-05 -1.06005831e+01] [ 2.89220047e-03 -1.25334864e-04 9.99995810e-01 3.83202943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.20, Y:-10.60, Z:0.38 [[ 9.99931089e-01 -1.14386799e-02 -2.64096003e-03 5.58199390e+02] [ 1.14389191e-02 9.99934571e-01 7.54601908e-05 -1.05994077e+01] [ 2.63992406e-03 -1.05664719e-04 9.99996510e-01 3.82948832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.23, Y:-10.60, Z:0.38 [[ 9.99963648e-01 -8.09637524e-03 -2.67424320e-03 5.58230666e+02] [ 8.09660848e-03 9.99967219e-01 7.64040125e-05 -1.05987748e+01] [ 2.67353694e-03 -9.80535352e-05 9.99996421e-01 3.82714554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.3050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.26, Y:-10.60, Z:0.38 [[ 9.99995748e-01 -1.67995876e-03 -2.38375241e-03 5.58261885e+02] [ 1.68012585e-03 9.99998586e-01 6.80931714e-05 -1.05966352e+01] [ 2.38363465e-03 -7.20978859e-05 9.99997157e-01 3.83044021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.3350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.29, Y:-10.60, Z:0.38 [[ 9.99996968e-01 1.49069065e-03 -1.95982647e-03 5.58291087e+02] [-1.49058494e-03 9.99998888e-01 5.53996912e-05 -1.05961859e+01] [ 1.95990687e-03 -5.24782354e-05 9.99998078e-01 3.82821371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.32, Y:-10.60, Z:0.38 [[ 9.99986095e-01 4.86195133e-03 -2.04231024e-03 5.58320438e+02] [-4.86184369e-03 9.99988180e-01 5.76689131e-05 -1.05961681e+01] [ 2.04256648e-03 -4.77387181e-05 9.99997913e-01 3.82639012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.35, Y:-10.60, Z:0.38 [[ 9.99967035e-01 7.89634978e-03 -1.89120333e-03 5.58349432e+02] [-7.89626703e-03 9.99968823e-01 5.12172240e-05 -1.05963496e+01] [ 1.89154879e-03 -3.62820891e-05 9.99998210e-01 3.82179983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.4250998929999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:558.38, Y:-10.59, Z:0.38 [[ 9.99890983e-01 1.43806028e-02 -3.34960603e-03 5.58377132e+02] [-1.43971211e-02 9.99884051e-01 -4.96063304e-03 -1.05927940e+01] [ 3.27788075e-03 5.00831693e-03 9.99982086e-01 3.84277722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.4550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.40, Y:-10.60, Z:0.38 [[ 9.99864433e-01 1.64306103e-02 -1.07249677e-03 5.58404391e+02] [-1.64250109e-02 9.99852417e-01 5.03611706e-03 -1.05972136e+01] [ 1.15508497e-03 -5.01781856e-03 9.99986744e-01 3.81009980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.43, Y:-10.60, Z:0.38 [[ 9.99817335e-01 1.91076997e-02 -4.37966696e-04 5.58432918e+02] [-1.91076965e-02 9.99817431e-01 1.15411296e-05 -1.05951385e+01] [ 4.38107262e-04 -3.17048672e-06 9.99999904e-01 3.82193913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.46, Y:-10.60, Z:0.38 [[ 9.99725156e-01 2.34435932e-02 1.05067754e-04 5.58460694e+02] [-2.34435930e-02 9.99725161e-01 -3.73477029e-06 -1.05959237e+01] [-1.05126434e-04 1.27057816e-06 9.99999994e-01 3.81525094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.5450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.49, Y:-10.59, Z:0.38 [[ 9.99674850e-01 2.54592858e-02 -1.42081315e-03 5.58488897e+02] [-2.54653030e-02 9.99666062e-01 -4.39112774e-03 -1.05948994e+01] [ 1.30854371e-03 4.42588140e-03 9.99989350e-01 3.82266654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.5750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.52, Y:-10.60, Z:0.38 [[ 9.99644421e-01 2.66624784e-02 -3.79649490e-04 5.58516420e+02] [-2.66605453e-02 9.99634799e-01 4.41416352e-03 -1.06008720e+01] [ 4.97203381e-04 -4.40247228e-03 9.99990185e-01 3.79042277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.54, Y:-10.60, Z:0.38 [[ 9.99634366e-01 2.70357305e-02 -4.51512811e-04 5.58544761e+02] [-2.70357281e-02 9.99634468e-01 1.14582693e-05 -1.06000280e+01] [ 4.51657551e-04 7.52897870e-07 9.99999898e-01 3.79683267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.57, Y:-10.60, Z:0.38 [[ 9.99635022e-01 2.70142351e-02 -2.32860167e-04 5.58573157e+02] [-2.70142346e-02 9.99635049e-01 5.47674192e-06 -1.06013097e+01] [ 2.32923135e-04 8.15796149e-07 9.99999973e-01 3.79346993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.6650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.60, Y:-10.60, Z:0.38 [[ 9.99672529e-01 2.55723604e-02 9.42809974e-04 5.58600779e+02] [-2.55723470e-02 9.99672974e-01 -2.62998321e-05 -1.06038813e+01] [-9.43174200e-04 2.18135588e-06 9.99999555e-01 3.78800177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.6950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.63, Y:-10.60, Z:0.38 [[ 9.99674831e-01 2.54822151e-02 9.42816078e-04 5.58629240e+02] [-2.54822018e-02 9.99675276e-01 -2.60748045e-05 -1.06045644e+01] [-9.43174367e-04 2.04129618e-06 9.99999555e-01 3.78578404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.66, Y:-10.61, Z:0.38 [[ 9.99758080e-01 2.19386539e-02 1.57355611e-03 5.58656710e+02] [-2.19386136e-02 9.99759319e-01 -4.29028943e-05 -1.06086283e+01] [-1.57411862e-03 8.37087582e-06 9.99998761e-01 3.77767977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.69, Y:-10.61, Z:0.38 [[ 9.99813697e-01 1.92013747e-02 1.96942665e-03 5.58685496e+02] [-1.92013070e-02 9.99815637e-01 -5.32475986e-05 -1.06110997e+01] [-1.97008599e-03 1.54221127e-05 9.99998059e-01 3.77300812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.7850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.71, Y:-10.61, Z:0.38 [[ 9.99870859e-01 1.58859530e-02 2.42938056e-03 5.58714075e+02] [-1.58858410e-02 9.99873810e-01 -6.53757941e-05 -1.06136958e+01] [-2.43011255e-03 2.67745982e-05 9.99997047e-01 3.76484174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.8150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.74, Y:-10.62, Z:0.38 [[ 9.99959744e-01 8.56621989e-03 2.67031056e-03 5.58743223e+02] [-8.56605920e-03 9.99963308e-01 -7.16063689e-05 -1.06180361e+01] [-2.67082598e-03 4.87294480e-05 9.99996432e-01 3.75917428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.77, Y:-10.62, Z:0.38 [[ 9.99983943e-01 4.78353213e-03 3.03823834e-03 5.58771611e+02] [-4.78330784e-03 9.99988557e-01 -8.10847429e-05 -1.06206832e+01] [-3.03859145e-03 6.65506117e-05 9.99995381e-01 3.75308458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.80, Y:-10.62, Z:0.37 [[ 9.99992437e-01 1.23965915e-03 3.68647627e-03 5.58802064e+02] [-1.23930702e-03 9.99999227e-01 -9.78012089e-05 -1.06235742e+01] [-3.68659466e-03 9.32317933e-05 9.99993200e-01 3.74538137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.83, Y:-10.63, Z:0.37 [[ 9.99977812e-01 -5.23620308e-03 4.11793813e-03 5.58833702e+02] [ 5.23669740e-03 9.99986282e-01 -1.09267592e-04 -1.06286352e+01] [-4.11730950e-03 1.30829564e-04 9.99991515e-01 3.74011544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.87, Y:-10.63, Z:0.37 [[ 9.99955557e-01 -7.86854329e-03 5.19332755e-03 5.58866621e+02] [ 7.86936287e-03 9.99969027e-01 -1.37397145e-04 -1.06314884e+01] [-5.19208558e-03 1.78259218e-04 9.99986505e-01 3.73430912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.90, Y:-10.64, Z:0.37 [[ 9.99905854e-01 -1.23974708e-02 5.88104360e-03 5.58898449e+02] [ 1.23986121e-02 9.99923122e-01 -1.57660196e-04 -1.06357536e+01] [-5.87863689e-03 2.30562131e-04 9.99982694e-01 3.72973023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.995099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.93, Y:-10.64, Z:0.37 [[ 9.99850351e-01 -1.61904297e-02 6.09476110e-03 5.58931521e+02] [ 1.61917364e-02 9.99868892e-01 -1.65107723e-04 -1.06389033e+01] [-6.09128886e-03 2.63767780e-04 9.99981413e-01 3.72325746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.96, Y:-10.64, Z:0.37 [[ 9.99825815e-01 -1.76135305e-02 6.17282276e-03 5.58964410e+02] [ 1.76149108e-02 9.99844831e-01 -1.69310652e-04 -1.06409570e+01] [-6.16888278e-03 2.78014883e-04 9.99980934e-01 3.71878600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.00, Y:-10.64, Z:0.37 [[ 9.99828727e-01 -1.74474574e-02 6.17280640e-03 5.58997946e+02] [ 1.74488382e-02 9.99847743e-01 -1.69904932e-04 -1.06419570e+01] [-6.16890214e-03 2.77584132e-04 9.99980934e-01 3.71617744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.03, Y:-10.64, Z:0.37 [[ 9.99831624e-01 -1.72806124e-02 6.17277802e-03 5.59031483e+02] [ 1.72819963e-02 9.99850641e-01 -1.70929008e-04 -1.06429623e+01] [-6.16890230e-03 2.77578155e-04 9.99980934e-01 3.71356999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.06, Y:-10.64, Z:0.37 [[ 9.99808744e-01 -1.86929948e-02 5.74876622e-03 5.59064569e+02] [ 1.86942241e-02 9.99825235e-01 -1.60170904e-04 -1.06448732e+01] [-5.74476746e-03 2.67608994e-04 9.99983463e-01 3.70805719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.10, Y:-10.65, Z:0.37 [[ 9.99763121e-01 -2.10414982e-02 5.56391877e-03 5.59096849e+02] [ 2.10426884e-02 9.99778566e-01 -1.55453819e-04 -1.06478735e+01] [-5.55941575e-03 2.72496804e-04 9.99984509e-01 3.69710922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.1750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.13, Y:-10.65, Z:0.37 [[ 9.99752182e-01 -2.16381966e-02 5.23095600e-03 5.59128792e+02] [ 2.16392626e-02 9.99765833e-01 -1.47263927e-04 -1.06498780e+01] [-5.22654456e-03 2.60421463e-04 9.99986308e-01 3.69372374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.2050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.16, Y:-10.65, Z:0.37 [[ 9.99744973e-01 -2.19825564e-02 5.17254978e-03 5.59161479e+02] [ 2.19836055e-02 9.99758321e-01 -1.46042945e-04 -1.06517169e+01] [-5.16808928e-03 2.59716994e-04 9.99986612e-01 3.68603055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.19, Y:-10.65, Z:0.37 [[ 9.99749841e-01 -2.18276389e-02 4.87957360e-03 5.59194910e+02] [ 2.18285729e-02 9.99761719e-01 -1.38240455e-04 -1.06530181e+01] [-4.87539343e-03 2.44720001e-04 9.99988085e-01 3.68183735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.23, Y:-10.65, Z:0.37 [[ 9.99788921e-01 -2.01029378e-02 4.24088045e-03 5.59226644e+02] [ 2.01036296e-02 9.99797894e-01 -1.20569213e-04 -1.06535941e+01] [-4.23759955e-03 2.05800853e-04 9.99991000e-01 3.67704895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.2950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.26, Y:-10.65, Z:0.37 [[ 9.99818260e-01 -1.85989620e-02 4.18634323e-03 5.59259931e+02] [ 1.85996243e-02 9.99827005e-01 -1.19321090e-04 -1.06540719e+01] [-4.18339976e-03 1.97163816e-04 9.99991230e-01 3.67281005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.3250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.29, Y:-10.65, Z:0.37 [[ 9.99854813e-01 -1.65367480e-02 4.10972023e-03 5.59291932e+02] [ 1.65373710e-02 9.99863241e-01 -1.17648446e-04 -1.06545406e+01] [-4.10721267e-03 1.85595333e-04 9.99991548e-01 3.67055700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.32, Y:-10.65, Z:0.37 [[ 9.99926384e-01 -1.12566147e-02 4.52935853e-03 5.59324549e+02] [ 1.12573198e-02 9.99936626e-01 -1.30219437e-04 -1.06540507e+01] [-4.52760566e-03 1.81198288e-04 9.99989734e-01 3.66535103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.36, Y:-10.65, Z:0.37 [[ 9.99954325e-01 -8.32196960e-03 4.70025280e-03 5.59356613e+02] [ 8.32269827e-03 9.99965357e-01 -1.35487595e-04 -1.06541399e+01] [-4.69896245e-03 1.74600193e-04 9.99988945e-01 3.66239176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.4150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.39, Y:-10.65, Z:0.37 [[ 9.99971555e-01 -5.46750816e-03 5.19566333e-03 5.59389288e+02] [ 5.46836225e-03 9.99985037e-01 -1.50194634e-04 -1.06543770e+01] [-5.19476440e-03 1.78602131e-04 9.99986491e-01 3.66093053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.4450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.42, Y:-10.65, Z:0.37 [[ 9.99982088e-01 -2.59780834e-03 5.39205479e-03 5.59419988e+02] [ 2.59868902e-03 9.99996611e-01 -1.56328663e-04 -1.06546154e+01] [-5.39163040e-03 1.70338137e-04 9.99985451e-01 3.66060028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.45, Y:-10.65, Z:0.37 [[ 9.99979851e-01 2.42565750e-03 5.86633366e-03 5.59452534e+02] [-2.42469956e-03 9.99997046e-01 -1.70401070e-04 -1.06542613e+01] [-5.86672966e-03 1.56173540e-04 9.99982778e-01 3.66250837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.48, Y:-10.65, Z:0.37 [[ 9.99973484e-01 4.32991982e-03 5.85517100e-03 5.59484037e+02] [-4.32899552e-03 9.99990615e-01 -1.70524594e-04 -1.06542712e+01] [-5.85585441e-03 1.45173064e-04 9.99982844e-01 3.66653639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.5350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.52, Y:-10.65, Z:0.37 [[ 9.99963315e-01 6.04292796e-03 6.07060216e-03 5.59515855e+02] [-6.04196411e-03 9.99981731e-01 -1.77101073e-04 -1.06546024e+01] [-6.07156147e-03 1.40416215e-04 9.99981558e-01 3.66951913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.5650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.55, Y:-10.66, Z:0.37 [[ 9.99954975e-01 7.14966601e-03 6.23934890e-03 5.59547590e+02] [-7.14866612e-03 9.99974431e-01 -1.82543084e-04 -1.06554220e+01] [-6.24049449e-03 1.37931843e-04 9.99980518e-01 3.66895897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.58, Y:-10.66, Z:0.37 [[ 9.99947593e-01 8.09580048e-03 6.26657221e-03 5.59579284e+02] [-8.09481085e-03 9.99967220e-01 -1.83270575e-04 -1.06568679e+01] [-6.26785051e-03 1.32534254e-04 9.99980348e-01 3.67467246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.61, Y:-10.66, Z:0.37 [[ 9.99950391e-01 7.73837367e-03 6.27168551e-03 5.59610987e+02] [-7.73736451e-03 9.99970049e-01 -1.85155646e-04 -1.06579645e+01] [-6.27293047e-03 1.36620144e-04 9.99980316e-01 3.67490589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.6550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.64, Y:-10.66, Z:0.37 [[ 9.99958682e-01 6.90625620e-03 5.91086109e-03 5.59642037e+02] [-6.90534411e-03 9.99976143e-01 -1.74701898e-04 -1.06589987e+01] [-5.91192661e-03 1.33878150e-04 9.99982515e-01 3.67742624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.6850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.67, Y:-10.66, Z:0.37 [[ 9.99978314e-01 4.04782505e-03 5.19496152e-03 5.59672950e+02] [-4.04708117e-03 9.99991799e-01 -1.53697045e-04 -1.06605102e+01] [-5.19554105e-03 1.32669281e-04 9.99986494e-01 3.68071785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.7150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.70, Y:-10.66, Z:0.37 [[ 9.99986281e-01 2.58609306e-03 4.55531303e-03 5.59704090e+02] [-2.58550821e-03 9.99996649e-01 -1.34270845e-04 -1.06614899e+01] [-4.55564500e-03 1.22491204e-04 9.99989615e-01 3.68386437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.745099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.74, Y:-10.66, Z:0.37 [[ 9.99992436e-01 9.78814102e-04 3.76439045e-03 5.59735355e+02] [-9.78401097e-04 9.99999515e-01 -1.11553690e-04 -1.06626222e+01] [-3.76449781e-03 1.07869763e-04 9.99992908e-01 3.68187713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.77, Y:-10.68, Z:0.37 [[ 9.99982153e-01 -5.25326115e-03 -2.84554337e-03 5.59765982e+02] [ 5.33754876e-03 9.99521400e-01 3.04710033e-02 -1.06768298e+01] [ 2.68410936e-03 -3.04856477e-02 9.99531601e-01 3.70272059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.8050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.80, Y:-10.65, Z:0.38 [[ 9.99982773e-01 -5.39797744e-03 2.30550200e-03 5.59797006e+02] [ 5.46628965e-03 9.99512775e-01 -3.07299987e-02 -1.06504425e+01] [-2.13849886e-03 3.07420719e-02 9.99525063e-01 3.76868010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.8350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.83, Y:-10.67, Z:0.37 [[ 9.99962820e-01 -7.83658812e-03 3.59816803e-03 5.59827234e+02] [ 7.83703026e-03 9.99969284e-01 -1.08796517e-04 -1.06662271e+01] [-3.59720492e-03 1.36991424e-04 9.99993521e-01 3.68764217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.86, Y:-10.67, Z:0.37 [[ 9.99919405e-01 -1.20643627e-02 3.95398539e-03 5.59860289e+02] [ 1.20649268e-02 9.99927209e-01 -1.18855246e-04 -1.06682946e+01] [-3.95226367e-03 1.66550211e-04 9.99992176e-01 3.68941566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.89, Y:-10.67, Z:0.37 [[ 9.99891055e-01 -1.42575242e-02 3.82116657e-03 5.59893559e+02] [ 1.42580738e-02 9.99898342e-01 -1.16624080e-04 -1.06695416e+01] [-3.81911534e-03 1.71093849e-04 9.99992693e-01 3.69063422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.9250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.93, Y:-10.67, Z:0.37 [[ 9.99863865e-01 -1.60651034e-02 3.76347125e-03 5.59926515e+02] [ 1.60656508e-02 9.99870932e-01 -1.15251038e-04 -1.06706041e+01] [-3.76113399e-03 1.75697963e-04 9.99992911e-01 3.69184810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.9550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.96, Y:-10.67, Z:0.37 [[ 9.99826936e-01 -1.82870511e-02 3.41795468e-03 5.59958869e+02] [ 1.82908999e-02 9.99832104e-01 -1.09822540e-03 -1.06709046e+01] [-3.39729752e-03 1.16055280e-03 9.99993556e-01 3.69240446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.99, Y:-10.67, Z:0.37 [[ 9.99782942e-01 -2.05156066e-02 3.63029639e-03 5.59990935e+02] [ 2.05126699e-02 9.99789237e-01 8.44357554e-04 -1.06721742e+01] [-3.64685376e-03 -7.69707208e-04 9.99993054e-01 3.68854929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.02, Y:-10.67, Z:0.37 [[ 9.99766228e-01 -2.13462583e-02 3.43904511e-03 5.60023916e+02] [ 2.13467488e-02 9.99772127e-01 -1.05987100e-04 -1.06723434e+01] [-3.43599902e-03 1.79374755e-04 9.99994081e-01 3.68856894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.0450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.06, Y:-10.67, Z:0.37 [[ 9.99750678e-01 -2.21236211e-02 3.02104614e-03 5.60056186e+02] [ 2.21240042e-02 9.99755230e-01 -9.34336333e-05 -1.06730801e+01] [-3.01823959e-03 1.60247976e-04 9.99995432e-01 3.68507341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.0750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.09, Y:-10.67, Z:0.37 [[ 9.99750923e-01 -2.22457644e-02 1.79361923e-03 5.60089171e+02] [ 2.22458992e-02 9.99752528e-01 -5.52300929e-05 -1.06733578e+01] [-1.79194673e-03 9.51170090e-05 9.99998390e-01 3.68254142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.12, Y:-10.67, Z:0.37 [[ 9.99761774e-01 -2.17629347e-02 1.66461457e-03 5.60121111e+02] [ 2.17630506e-02 9.99763155e-01 -5.14988351e-05 -1.06738795e+01] [-1.66309955e-03 8.77136578e-05 9.99998613e-01 3.67573221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.15, Y:-10.67, Z:0.37 [[ 9.99774006e-01 -2.12318697e-02 1.06966631e-03 5.60153667e+02] [ 2.12319172e-02 9.99774577e-01 -3.30601656e-05 -1.06741591e+01] [-1.06872325e-03 5.57637607e-05 9.99999427e-01 3.67480369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.1650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.19, Y:-10.67, Z:0.37 [[ 9.99810975e-01 -1.94372376e-02 4.56631675e-04 5.60186055e+02] [ 1.94372459e-02 9.99811079e-01 -1.38047384e-05 -1.06739561e+01] [-4.56277082e-04 2.26777911e-05 9.99999896e-01 3.66896859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.1950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.22, Y:-10.67, Z:0.37 [[ 9.99837025e-01 -1.80519525e-02 2.22864477e-04 5.60217603e+02] [ 1.80519544e-02 9.99837050e-01 -6.59893248e-06 -1.06741208e+01] [-2.22709038e-04 1.06209964e-05 9.99999975e-01 3.66274067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.25, Y:-10.67, Z:0.37 [[ 9.99868881e-01 -1.61878047e-02 -4.18282064e-04 5.60250135e+02] [ 1.61878119e-02 9.99868969e-01 1.38289863e-05 -1.06741646e+01] [ 4.18003395e-04 -2.05982445e-05 9.99999912e-01 3.66012477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.28, Y:-10.67, Z:0.37 [[ 9.99899580e-01 -1.41255860e-02 -1.13928336e-03 5.60281252e+02] [ 1.41256368e-02 9.99900228e-01 3.65621027e-05 -1.06738653e+01] [ 1.13865323e-03 -5.26515342e-05 9.99999350e-01 3.66036125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.2850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.31, Y:-10.67, Z:0.37 [[ 9.99958629e-01 -8.91825680e-03 -1.79028149e-03 5.60312102e+02] [ 8.91837366e-03 9.99960229e-01 5.72970834e-05 -1.06716803e+01] [ 1.78969930e-03 -7.32611122e-05 9.99998396e-01 3.65744300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.3150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.34, Y:-10.67, Z:0.37 [[ 9.99980901e-01 -5.91361232e-03 -1.79654283e-03 5.60344577e+02] [ 5.91372564e-03 9.99982512e-01 5.77712676e-05 -1.06712208e+01] [ 1.79616978e-03 -6.83944256e-05 9.99998385e-01 3.65634914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.38, Y:-10.67, Z:0.37 [[ 9.99994459e-01 -2.82074910e-03 -1.76791850e-03 5.60375366e+02] [ 2.82085331e-03 9.99996020e-01 5.64552243e-05 -1.06708366e+01] [ 1.76775222e-03 -6.14419502e-05 9.99998436e-01 3.65724568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.41, Y:-10.67, Z:0.37 [[ 9.99991949e-01 3.70209628e-03 -1.54783269e-03 5.60405670e+02] [-3.70202440e-03 9.99993146e-01 4.93014700e-05 -1.06689425e+01] [ 1.54800460e-03 -4.35709586e-05 9.99998801e-01 3.65800585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.43, Y:-10.67, Z:0.37 [[ 9.99975721e-01 6.80139681e-03 -1.51585033e-03 5.60434778e+02] [-6.80133503e-03 9.99976870e-01 4.59007994e-05 -1.06680885e+01] [ 1.51612745e-03 -3.55898791e-05 9.99998850e-01 3.65630570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.46, Y:-10.67, Z:0.37 [[ 9.99950608e-01 9.80269195e-03 -1.63955459e-03 5.60462680e+02] [-9.80262465e-03 9.99951952e-01 4.90781719e-05 -1.06670718e+01] [ 1.63995691e-03 -3.30038096e-05 9.99998655e-01 3.65631973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.49, Y:-10.67, Z:0.37 [[ 9.99916264e-01 1.28389212e-02 -1.62113953e-03 5.60490293e+02] [-1.28388602e-02 9.99917577e-01 4.79864226e-05 -1.06661938e+01] [ 1.62162200e-03 -2.71688205e-05 9.99998685e-01 3.65540128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.495099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.52, Y:-10.66, Z:0.37 [[ 9.99838516e-01 1.79204181e-02 -1.34152745e-03 5.60518488e+02] [-1.79203821e-02 9.99839416e-01 3.89034478e-05 -1.06636064e+01] [ 1.34200919e-03 -1.48564810e-05 9.99999099e-01 3.65476549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.54, Y:-10.66, Z:0.36 [[ 9.99786524e-01 2.06433674e-02 -8.70648586e-04 5.60544922e+02] [-2.06413021e-02 9.99784259e-01 2.31784293e-03 -1.06641755e+01] [ 9.18308835e-04 -2.29937681e-03 9.99996935e-01 3.64615428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5550998929999 meters Centerline goodness : 0.997135 Centerline is valid? [True, True] Translation: X:560.57, Y:-10.66, Z:0.37 [[ 9.99712416e-01 2.35418739e-02 -4.56786539e-03 5.60572767e+02] [-2.35828704e-02 9.99680113e-01 -9.13888257e-03 -1.06587894e+01] [ 4.35125777e-03 9.24397776e-03 9.99947806e-01 3.68943774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5850998929999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:560.60, Y:-10.66, Z:0.37 [[ 9.99682045e-01 2.48913832e-02 -4.02842364e-03 5.60602163e+02] [-2.48807170e-02 9.99686844e-01 2.67655379e-03 -1.06645801e+01] [ 4.09378524e-03 -2.57547270e-03 9.99988304e-01 3.65318173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.63, Y:-10.67, Z:0.36 [[ 9.99644406e-01 2.65149698e-02 -2.83171731e-03 5.60632239e+02] [-2.65026448e-02 9.99639475e-01 4.30474620e-03 -1.06652164e+01] [ 2.94483662e-03 -4.22816746e-03 9.99986725e-01 3.64601861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.66, Y:-10.66, Z:0.37 [[ 9.99630371e-01 2.70454683e-02 -2.76857346e-03 5.60660095e+02] [-2.70453389e-02 9.99634204e-01 8.41950997e-05 -1.06634983e+01] [ 2.76983783e-03 -9.28697115e-06 9.99996164e-01 3.65867658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.6750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.69, Y:-10.66, Z:0.37 [[ 9.99626042e-01 2.72374805e-02 -2.42794325e-03 5.60687408e+02] [-2.72373827e-02 9.99628991e-01 7.33171350e-05 -1.06637180e+01] [ 2.42903943e-03 -7.15889813e-06 9.99997050e-01 3.65624489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.7050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.72, Y:-10.66, Z:0.37 [[ 9.99641596e-01 2.66782419e-02 -2.22506082e-03 5.60715190e+02] [-2.66781589e-02 9.99644072e-01 6.70085371e-05 -1.06644384e+01] [ 2.22605653e-03 -7.62399499e-06 9.99997522e-01 3.65399002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.74, Y:-10.67, Z:0.37 [[ 9.99665948e-01 2.57280007e-02 -2.46236326e-03 5.60743445e+02] [-2.57278965e-02 9.99668980e-01 7.39701732e-05 -1.06654012e+01] [ 2.46345127e-03 -1.05940362e-05 9.99996966e-01 3.65306989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.77, Y:-10.67, Z:0.36 [[ 9.99740643e-01 2.25911641e-02 -2.87838243e-03 5.60770917e+02] [-2.25910093e-02 9.99744787e-01 8.62634016e-05 -1.06673086e+01] [ 2.87959662e-03 -2.12154642e-05 9.99995854e-01 3.64393331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.7950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.80, Y:-10.67, Z:0.36 [[ 9.99790925e-01 2.02299800e-02 -2.97545566e-03 5.60798456e+02] [-2.02298051e-02 9.99795353e-01 8.88733337e-05 -1.06684227e+01] [ 2.97664465e-03 -2.86618644e-05 9.99995569e-01 3.64100067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.8250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.83, Y:-10.67, Z:0.36 [[ 9.99842513e-01 1.75529272e-02 -2.61613288e-03 5.60825505e+02] [-1.75527843e-02 9.99845935e-01 7.75948902e-05 -1.06699895e+01] [ 2.61709185e-03 -3.16622538e-05 9.99996575e-01 3.63237801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.85, Y:-10.67, Z:0.36 [[ 9.99932477e-01 1.14013070e-02 -2.24768687e-03 5.60854405e+02] [-1.14011857e-02 9.99935002e-01 6.67580930e-05 -1.06729251e+01] [ 2.24830191e-03 -4.11272898e-05 9.99997472e-01 3.62152851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.88, Y:-10.67, Z:0.36 [[ 9.99966864e-01 7.93185611e-03 -1.83220530e-03 5.60881922e+02] [-7.93177041e-03 9.99968542e-01 5.40361850e-05 -1.06748191e+01] [ 1.83257627e-03 -3.95017627e-05 9.99998320e-01 3.61857081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.9150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.91, Y:-10.68, Z:0.36 [[ 9.99987370e-01 4.79552851e-03 -1.50401762e-03 5.60910449e+02] [-4.79546737e-03 9.99988501e-01 4.42538719e-05 -1.06767530e+01] [ 1.50421255e-03 -3.70408456e-05 9.99998868e-01 3.61194473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.9450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.94, Y:-10.68, Z:0.36 [[ 9.99997469e-01 1.72101455e-03 -1.44923826e-03 5.60939204e+02] [-1.72095473e-03 9.99998518e-01 4.25172500e-05 -1.06785198e+01] [ 1.44930929e-03 -4.00230689e-05 9.99998949e-01 3.60617090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.97, Y:-10.68, Z:0.36 [[ 9.99998291e-01 -1.03642672e-03 -1.53111145e-03 5.60968990e+02] [ 1.03649706e-03 9.99999462e-01 4.51479724e-05 -1.06803478e+01] [ 1.53106383e-03 -4.67348878e-05 9.99998827e-01 3.60144689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.00, Y:-10.68, Z:0.36 [[ 9.99998272e-01 -1.05465074e-03 -1.53110850e-03 5.60999137e+02] [ 1.05472126e-03 9.99999443e-01 4.52471960e-05 -1.06812112e+01] [ 1.53105993e-03 -4.68620105e-05 9.99998827e-01 3.59934007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.0350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.03, Y:-10.68, Z:0.36 [[ 9.99982728e-01 -5.75166459e-03 -1.20948106e-03 5.61029282e+02] [ 5.75171214e-03 9.99983458e-01 3.58430490e-05 -1.06833101e+01] [ 1.20925489e-03 -4.27990168e-05 9.99999268e-01 3.59512955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.0650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.06, Y:-10.68, Z:0.36 [[ 9.99968784e-01 -7.87136716e-03 -6.87235705e-04 5.61060875e+02] [ 7.87138321e-03 9.99969020e-01 2.06467068e-05 -1.06846857e+01] [ 6.87051897e-04 -2.60555579e-05 9.99999764e-01 3.59167331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.09, Y:-10.69, Z:0.36 [[ 9.99928252e-01 -1.19724963e-02 3.87489171e-04 5.61091757e+02] [ 1.19725011e-02 9.99928327e-01 -9.94175426e-06 -1.06868016e+01] [-3.87342371e-04 1.45802555e-05 9.99999925e-01 3.58707994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.12, Y:-10.69, Z:0.36 [[ 9.99898760e-01 -1.42244812e-02 3.65798313e-04 5.61124282e+02] [ 1.42244859e-02 9.99898827e-01 -1.04654968e-05 -1.06882357e+01] [-3.65612438e-04 1.56677303e-05 9.99999933e-01 3.58692258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.1550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.16, Y:-10.69, Z:0.36 [[ 9.99868054e-01 -1.62286445e-02 7.11819791e-04 5.61156842e+02] [ 1.62286635e-02 9.99868306e-01 -2.08897166e-05 -1.06896092e+01] [-7.11387038e-04 3.24388441e-05 9.99999746e-01 3.58482280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.1850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.19, Y:-10.69, Z:0.36 [[ 9.99832020e-01 -1.82915165e-02 1.16259523e-03 5.61190058e+02] [ 1.82915687e-02 9.99832695e-01 -3.42955877e-05 -1.06906054e+01] [-1.16177340e-03 5.55555173e-05 9.99999324e-01 3.58409242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.2150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.22, Y:-10.69, Z:0.36 [[ 9.99751985e-01 -2.22233456e-02 1.44638505e-03 5.61222488e+02] [ 2.22234312e-02 9.99753028e-01 -4.31192140e-05 -1.06914438e+01] [-1.44506958e-03 7.52521585e-05 9.99998953e-01 3.58660771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.26, Y:-10.69, Z:0.36 [[ 9.99713697e-01 -2.38984405e-02 1.17876235e-03 5.61255510e+02] [ 2.38984984e-02 9.99714389e-01 -3.50410781e-05 -1.06919839e+01] [-1.17758826e-03 6.32016959e-05 9.99999305e-01 3.58482489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.29, Y:-10.69, Z:0.36 [[ 9.99677154e-01 -2.53923260e-02 9.04276993e-04 5.61288826e+02] [ 2.53923606e-02 9.99677562e-01 -2.68032309e-05 -1.06925312e+01] [-9.03304823e-04 4.97563051e-05 9.99999591e-01 3.58265776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.3050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.32, Y:-10.69, Z:0.36 [[ 9.99639119e-01 -2.68575413e-02 5.50861801e-04 5.61321182e+02] [ 2.68575540e-02 9.99639271e-01 -1.56490318e-05 -1.06928156e+01] [-5.50242795e-04 3.04381849e-05 9.99999848e-01 3.57754028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.3350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.35, Y:-10.69, Z:0.36 [[ 9.99569524e-01 -2.93374657e-02 -2.81147077e-04 5.61354273e+02] [ 2.93374695e-02 9.99569564e-01 9.39700224e-06 -1.06928407e+01] [ 2.80750377e-04 -1.76411008e-05 9.99999960e-01 3.57218217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.39, Y:-10.69, Z:0.36 [[ 9.99535487e-01 -3.04710948e-02 -5.68885409e-04 5.61386929e+02] [ 3.04711101e-02 9.99535648e-01 1.83258745e-05 -1.06930760e+01] [ 5.68062836e-04 -3.56519319e-05 9.99999838e-01 3.56975241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.42, Y:-10.69, Z:0.36 [[ 9.99505825e-01 -3.14264411e-02 -6.96514430e-04 5.61420417e+02] [ 3.14264642e-02 9.99506066e-01 2.23445552e-05 -1.06932331e+01] [ 6.95468188e-04 -4.42224989e-05 9.99999757e-01 3.56811630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.4250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.45, Y:-10.69, Z:0.36 [[ 9.99446767e-01 -3.32210045e-02 -1.58892684e-03 5.61452714e+02] [ 3.32211270e-02 9.99448025e-01 5.07719193e-05 -1.06925860e+01] [ 1.58636310e-03 -1.03529771e-04 9.99998736e-01 3.56289661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.4550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.49, Y:-10.69, Z:0.36 [[ 9.99420393e-01 -3.39832302e-02 -2.00456485e-03 5.61486078e+02] [ 3.39834255e-02 9.99422395e-01 6.33937184e-05 -1.06929584e+01] [ 2.00125267e-03 -1.31478955e-04 9.99997989e-01 3.55957570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.52, Y:-10.69, Z:0.36 [[ 9.99407179e-01 -3.43529622e-02 -2.27240412e-03 5.61519461e+02] [ 3.43532144e-02 9.99409752e-01 7.20382441e-05 -1.06933019e+01] [ 2.26858811e-03 -1.50059924e-04 9.99997415e-01 3.55568045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.55, Y:-10.69, Z:0.36 [[ 9.99427763e-01 -3.37648834e-02 -2.01981565e-03 5.61552765e+02] [ 3.37650821e-02 9.99429795e-01 6.43319080e-05 -1.06922784e+01] [ 2.01649178e-03 -1.32494336e-04 9.99997958e-01 3.55070561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.5450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.59, Y:-10.69, Z:0.36 [[ 9.99469110e-01 -3.25166164e-02 -2.04146816e-03 5.61585807e+02] [ 3.25168172e-02 9.99471186e-01 6.52370468e-05 -1.06918412e+01] [ 2.03826731e-03 -1.31584460e-04 9.99997914e-01 3.55091597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.5750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.62, Y:-10.69, Z:0.36 [[ 9.99615336e-01 -2.77269394e-02 -6.29974770e-04 5.61618726e+02] [ 2.77269579e-02 9.99615534e-01 2.07197322e-05 -1.06888689e+01] [ 6.29158071e-04 -3.81790460e-05 9.99999801e-01 3.55585446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.65, Y:-10.69, Z:0.36 [[ 9.99701301e-01 -2.44396276e-02 -1.14551199e-04 5.61651589e+02] [ 2.44396283e-02 9.99701308e-01 4.39318619e-06 -1.06875349e+01] [ 1.14409615e-04 -7.19146267e-06 9.99999993e-01 3.55823864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.68, Y:-10.69, Z:0.36 [[ 9.99786990e-01 -2.06301598e-02 6.08827155e-04 5.61683779e+02] [ 2.06301751e-02 9.99787175e-01 -1.87942459e-05 -1.06863355e+01] [-6.08309853e-04 3.13504533e-05 9.99999814e-01 3.55840802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.6650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.72, Y:-10.69, Z:0.36 [[ 9.99862047e-01 -1.65894262e-02 8.23819962e-04 5.61716267e+02] [ 1.65894531e-02 9.99862385e-01 -2.58358615e-05 -1.06851344e+01] [-8.23277990e-04 3.94990200e-05 9.99999660e-01 3.56028165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.6950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.75, Y:-10.68, Z:0.36 [[ 9.99964225e-01 -8.35961198e-03 1.29073036e-03 5.61748737e+02] [ 8.35967166e-03 9.99965057e-01 -4.08499832e-05 -1.06818000e+01] [-1.29034376e-03 5.16386037e-05 9.99999166e-01 3.56096721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.78, Y:-10.68, Z:0.36 [[ 9.99990154e-01 -4.27035729e-03 1.20650856e-03 5.61780658e+02] [ 4.27040653e-03 9.99990881e-01 -3.82394549e-05 -1.06808614e+01] [-1.20633426e-03 4.33913604e-05 9.99999271e-01 3.55872529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.81, Y:-10.68, Z:0.36 [[ 9.99994973e-01 2.74093121e-03 1.59422349e-03 5.61812068e+02] [-2.74085341e-03 9.99996243e-01 -5.09859640e-05 -1.06784144e+01] [-1.59435725e-03 4.66161748e-05 9.99998728e-01 3.55232098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.7850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.84, Y:-10.68, Z:0.35 [[ 9.99979991e-01 6.17024104e-03 1.39496519e-03 5.61842199e+02] [-6.17018450e-03 9.99980963e-01 -4.48283494e-05 -1.06778403e+01] [-1.39521523e-03 3.62202598e-05 9.99999026e-01 3.54943562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.8150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.87, Y:-10.68, Z:0.35 [[ 9.99959169e-01 8.97284448e-03 1.07135464e-03 5.61871261e+02] [-8.97281240e-03 9.99959743e-01 -3.47388733e-05 -1.06774799e+01] [-1.07162321e-03 2.51243907e-05 9.99999425e-01 3.54821752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.90, Y:-10.68, Z:0.35 [[ 9.99930934e-01 1.17460846e-02 3.96746584e-04 5.61900181e+02] [-1.17460799e-02 9.99931012e-01 -1.43292443e-05 -1.06774527e+01] [-3.96887526e-04 9.66803759e-06 9.99999921e-01 3.54280215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.93, Y:-10.68, Z:0.35 [[ 9.99851091e-01 1.72425255e-02 -7.00461285e-04 5.61928052e+02] [-1.72425156e-02 9.99851337e-01 2.01702668e-05 -1.06762293e+01] [ 7.00704939e-04 -8.08954859e-06 9.99999754e-01 3.54059664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.96, Y:-10.68, Z:0.35 [[ 9.99800553e-01 1.99641011e-02 -5.37028566e-04 5.61955799e+02] [-1.99640953e-02 9.99800697e-01 1.61708659e-05 -1.06760922e+01] [ 5.37244371e-04 -5.44635123e-06 9.99999856e-01 3.53676638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:561.98, Y:-10.68, Z:0.35 [[ 9.99739144e-01 2.28304881e-02 -6.41890103e-04 5.61983521e+02] [-2.28304804e-02 9.99739350e-01 1.94080164e-05 -1.06761336e+01] [ 6.42165889e-04 -4.74829429e-06 9.99999794e-01 3.53726674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.01, Y:-10.68, Z:0.35 [[ 9.99680277e-01 2.52825606e-02 -3.69242398e-04 5.62011185e+02] [-2.52825583e-02 9.99680345e-01 1.08267077e-05 -1.06762768e+01] [ 3.69398094e-04 -1.48785371e-06 9.99999932e-01 3.53348591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.995099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.04, Y:-10.68, Z:0.35 [[ 9.99547240e-01 3.00745088e-02 9.15767054e-04 5.62039592e+02] [-3.00744946e-02 9.99547660e-01 -2.92376389e-05 -1.06762027e+01] [-9.16232123e-04 1.68316989e-06 9.99999580e-01 3.52973039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.07, Y:-10.68, Z:0.35 [[ 9.99483777e-01 3.21084839e-02 1.10663449e-03 5.62066623e+02] [-3.21084646e-02 9.99484390e-01 -3.51646669e-05 -1.06766765e+01] [-1.10719298e-03 -3.85820250e-07 9.99999387e-01 3.52667987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.09, Y:-10.68, Z:0.35 [[ 9.99431035e-01 3.37233832e-02 5.82694374e-04 5.62094731e+02] [-3.37233780e-02 9.99431205e-01 -1.87251609e-05 -1.06773328e+01] [-5.82994416e-04 -9.35915706e-07 9.99999830e-01 3.51988795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.12, Y:-10.68, Z:0.35 [[ 9.99358270e-01 3.58183804e-02 -3.02816392e-04 5.62122565e+02] [-3.58183794e-02 9.99358316e-01 8.63966004e-06 -1.06787007e+01] [ 3.02931538e-04 2.21227672e-06 9.99999954e-01 3.50380072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.15, Y:-10.68, Z:0.35 [[ 9.99335331e-01 3.64521681e-02 3.69287508e-04 5.62150648e+02] [-3.64521661e-02 9.99335399e-01 -1.20751599e-05 -1.06797902e+01] [-3.69482245e-04 -1.39419567e-06 9.99999932e-01 3.50014614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.18, Y:-10.68, Z:0.35 [[ 9.99333364e-01 3.64847750e-02 1.29945038e-03 5.62178334e+02] [-3.64847532e-02 9.99334209e-01 -4.05453459e-05 -1.06810130e+01] [-1.30006451e-03 -6.89180963e-06 9.99999155e-01 3.49991733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.1750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.21, Y:-10.68, Z:0.35 [[ 9.99344032e-01 3.61581903e-02 2.02249366e-03 5.62205129e+02] [-3.61581378e-02 9.99346079e-01 -6.25521121e-05 -1.06824244e+01] [-2.02343288e-03 -1.06185246e-05 9.99997953e-01 3.49870606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.2050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.23, Y:-10.69, Z:0.35 [[ 9.99416451e-01 3.40609293e-02 2.57111193e-03 5.62232648e+02] [-3.40608391e-02 9.99419758e-01 -7.88795053e-05 -1.06854985e+01] [-2.57230677e-03 -8.74075443e-06 9.99996692e-01 3.49430659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.26, Y:-10.69, Z:0.35 [[ 9.99474272e-01 3.23023158e-02 2.78197852e-03 5.62260729e+02] [-3.23022043e-02 9.99478144e-01 -8.50001241e-05 -1.06877165e+01] [-2.78327243e-03 -4.90860131e-06 9.99996127e-01 3.48884962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.29, Y:-10.69, Z:0.35 [[ 9.99617192e-01 2.75579058e-02 2.45579038e-03 5.62288607e+02] [-2.75578053e-02 9.99620209e-01 -7.47722427e-05 -1.06918184e+01] [-2.45691826e-03 7.06742624e-06 9.99996982e-01 3.47665377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.2950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.32, Y:-10.69, Z:0.35 [[ 9.99682447e-01 2.50434495e-02 2.79829699e-03 5.62316930e+02] [-2.50433098e-02 9.99686364e-01 -8.49389393e-05 -1.06945528e+01] [-2.79954651e-03 1.48333481e-05 9.99996081e-01 3.47059802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.3250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.34, Y:-10.70, Z:0.35 [[ 9.99736604e-01 2.27660273e-02 2.90360372e-03 5.62344878e+02] [-2.27658685e-02 9.99740820e-01 -8.77551397e-05 -1.06973353e+01] [-2.90484900e-03 2.16289649e-05 9.99995781e-01 3.46678632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.37, Y:-10.70, Z:0.35 [[ 9.99820666e-01 1.84575285e-02 4.23744293e-03 5.62373934e+02] [-1.84571548e-02 9.99829644e-01 -1.27275130e-04 -1.07024793e+01] [-4.23907025e-03 4.90411651e-05 9.99991014e-01 3.45783387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.40, Y:-10.71, Z:0.35 [[ 9.99850928e-01 1.67495276e-02 4.19235275e-03 5.62402949e+02] [-1.67491481e-02 9.99859715e-01 -1.25620504e-04 -1.07055268e+01] [-4.19386871e-03 5.53834403e-05 9.99991204e-01 3.45464757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.4150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.43, Y:-10.71, Z:0.34 [[ 9.99875852e-01 1.51131621e-02 4.45793651e-03 5.62431237e+02] [-1.51127183e-02 9.99885787e-01 -1.33217771e-04 -1.07082074e+01] [-4.45944070e-03 6.58296939e-05 9.99990054e-01 3.44785416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.4450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.46, Y:-10.71, Z:0.34 [[ 9.99898242e-01 1.34872720e-02 4.64741726e-03 5.62459008e+02] [-1.34867737e-02 9.99909040e-01 -1.38559182e-04 -1.07106670e+01] [-4.64886331e-03 7.58664181e-05 9.99989191e-01 3.44440451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.49, Y:-10.71, Z:0.34 [[ 9.99930874e-01 1.06174102e-02 5.05156834e-03 5.62487392e+02] [-1.06167877e-02 9.99943629e-01 -1.50021026e-04 -1.07146964e+01] [-5.05287642e-03 9.63792267e-05 9.99987229e-01 3.43749309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.52, Y:-10.72, Z:0.34 [[ 9.99946035e-01 9.04778595e-03 5.10538763e-03 5.62517051e+02] [-9.04713128e-03 9.99959062e-01 -1.51311273e-04 -1.07171967e+01] [-5.10654766e-03 1.05113996e-04 9.99986956e-01 3.43197414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.5350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.55, Y:-10.72, Z:0.34 [[ 9.99961223e-01 7.43358743e-03 4.72171145e-03 5.62547973e+02] [-7.43301055e-03 9.99972365e-01 -1.39712636e-04 -1.07197720e+01] [-4.72261953e-03 1.04610688e-04 9.99988843e-01 3.42771599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.5650998929999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:562.58, Y:-10.72, Z:0.34 [[ 9.99982404e-01 4.15759175e-03 4.23157603e-03 5.62578363e+02] [-4.15709931e-03 9.99991351e-01 -1.25160957e-04 -1.07240902e+01] [-4.23205980e-03 1.07567672e-04 9.99991039e-01 3.41649578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.61, Y:-10.73, Z:0.34 [[ 9.99989368e-01 1.97572226e-03 4.16651242e-03 5.62609598e+02] [-1.97522582e-03 9.99998042e-01 -1.23260425e-04 -1.07265726e+01] [-4.16674779e-03 1.15029311e-04 9.99991312e-01 3.41290855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.625099893 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:562.64, Y:-10.73, Z:0.34 [[ 9.99992081e-01 -3.19721588e-04 3.96679051e-03 5.62641387e+02] [ 3.20190120e-04 9.99999942e-01 -1.17479153e-04 -1.07288394e+01] [-3.96675272e-03 1.18748349e-04 9.99992125e-01 3.40947562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.6550998929999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:562.67, Y:-10.73, Z:0.34 [[ 9.99988828e-01 -2.68003863e-03 3.89386460e-03 5.62673136e+02] [ 2.68050588e-03 9.99996401e-01 -1.14782746e-04 -1.07310778e+01] [-3.89354297e-03 1.25218990e-04 9.99992412e-01 3.40191598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.6850998929999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:562.71, Y:-10.73, Z:0.34 [[ 9.99957039e-01 -8.54069108e-03 3.60221509e-03 5.62705780e+02] [ 8.54113119e-03 9.99963518e-01 -1.06812502e-04 -1.07345744e+01] [-3.60117142e-03 1.37574904e-04 9.99993506e-01 3.39299923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.7150998929999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:562.74, Y:-10.74, Z:0.34 [[ 9.99929067e-01 -1.13140032e-02 3.72210857e-03 5.62737896e+02] [ 1.13144969e-02 9.99935983e-01 -1.11598589e-04 -1.07366790e+01] [-3.72060766e-03 1.53704459e-04 9.99993067e-01 3.38983146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.745099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.77, Y:-10.74, Z:0.34 [[ 9.99846808e-01 -1.69443566e-02 4.38744912e-03 5.62771041e+02] [ 1.69451032e-02 9.99856413e-01 -1.33050024e-04 -1.07397561e+01] [-4.38456469e-03 2.07375420e-04 9.99990366e-01 3.38431703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.775099893 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:562.80, Y:-10.74, Z:0.34 [[ 9.99803653e-01 -1.94035569e-02 4.01974066e-03 5.62803427e+02] [ 1.94042088e-02 9.99811713e-01 -1.23226384e-04 -1.07417557e+01] [-4.01659276e-03 2.01202076e-04 9.99991913e-01 3.38149894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.8050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.84, Y:-10.74, Z:0.34 [[ 9.99722114e-01 -2.33678481e-02 3.10447187e-03 5.62836573e+02] [ 2.33682577e-02 9.99726920e-01 -9.57226226e-05 -1.07439008e+01] [-3.10138727e-03 1.68242121e-04 9.99995177e-01 3.37647857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.8350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.87, Y:-10.74, Z:0.34 [[ 9.99693908e-01 -2.46236907e-02 2.40095728e-03 5.62869474e+02] [ 2.46239395e-02 9.99696782e-01 -7.41161999e-05 -1.07448748e+01] [-2.39840425e-03 1.33214540e-04 9.99997115e-01 3.37757003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.90, Y:-10.75, Z:0.34 [[ 9.99679979e-01 -2.51837827e-02 2.39087093e-03 5.62902590e+02] [ 2.51840316e-02 9.99682829e-01 -7.40662843e-05 -1.07463120e+01] [-2.38824735e-03 1.34254351e-04 9.99997139e-01 3.37518606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.94, Y:-10.75, Z:0.34 [[ 9.99683918e-01 -2.50269468e-02 2.39086985e-03 5.62936122e+02] [ 2.50271954e-02 9.99686768e-01 -7.41026093e-05 -1.07474427e+01] [-2.38826639e-03 1.33915954e-04 9.99997139e-01 3.37284522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.9250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:562.97, Y:-10.75, Z:0.34 [[ 9.99665816e-01 -2.57487595e-02 2.29278061e-03 5.62968761e+02] [ 2.57489912e-02 9.99668437e-01 -7.15966170e-05 -1.07484184e+01] [-2.29017689e-03 1.30609478e-04 9.99997369e-01 3.36885682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.9550998929999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:563.00, Y:-10.75, Z:0.34 [[ 9.99656818e-01 -2.60905587e-02 2.35148900e-03 5.63002238e+02] [ 2.60908041e-02 9.99659574e-01 -7.37101831e-05 -1.07496198e+01] [-2.34876536e-03 1.35037126e-04 9.99997233e-01 3.36697585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.04, Y:-10.75, Z:0.34 [[ 9.99671714e-01 -2.55263971e-02 2.20604924e-03 5.63035232e+02] [ 2.55266121e-02 9.99674141e-01 -6.93414774e-05 -1.07497407e+01] [-2.20356034e-03 1.25631677e-04 9.99997564e-01 3.36658731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.015099893 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:563.07, Y:-10.75, Z:0.34 [[ 9.99700066e-01 -2.44637699e-02 1.14133511e-03 5.63067738e+02] [ 2.44638266e-02 9.99700715e-01 -3.57387950e-05 -1.07484722e+01] [-1.14011922e-03 6.36494999e-05 9.99999348e-01 3.36530439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.0450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.10, Y:-10.75, Z:0.34 [[ 9.99713711e-01 -2.39121892e-02 8.38081127e-04 5.63101094e+02] [ 2.39122194e-02 9.99714062e-01 -2.60554059e-05 -1.07482352e+01] [-8.37218446e-04 4.60883263e-05 9.99999648e-01 3.36193584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.0750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.13, Y:-10.75, Z:0.34 [[ 9.99727807e-01 -2.33161150e-02 8.19411669e-04 5.63134469e+02] [ 2.33161437e-02 9.99728141e-01 -2.55380985e-05 -1.07480352e+01] [-8.18593456e-04 4.46366674e-05 9.99999664e-01 3.35918994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.17, Y:-10.75, Z:0.34 [[ 9.99737142e-01 -2.29179989e-02 6.42159492e-04 5.63167751e+02] [ 2.29180164e-02 9.99737348e-01 -1.99137635e-05 -1.07482094e+01] [-6.41534444e-04 3.46255508e-05 9.99999794e-01 3.35610153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.20, Y:-10.75, Z:0.33 [[ 9.99750503e-01 -2.22960220e-02 1.34840624e-03 5.63199849e+02] [ 2.22961001e-02 9.99751410e-01 -4.29105219e-05 -1.07485812e+01] [-1.34711431e-03 7.29640164e-05 9.99999090e-01 3.34826477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.1650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.23, Y:-10.75, Z:0.33 [[ 9.99761878e-01 -2.17511261e-02 1.75387831e-03 5.63233186e+02] [ 2.17512579e-02 9.99763412e-01 -5.60591413e-05 -1.07487538e+01] [-1.75224401e-03 9.41948517e-05 9.99998460e-01 3.34655033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.1950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.27, Y:-10.75, Z:0.33 [[ 9.99777041e-01 -2.09874756e-02 2.32257222e-03 5.63265679e+02] [ 2.09877059e-02 9.99779731e-01 -7.48314862e-05 -1.07486306e+01] [-2.32049011e-03 1.23560265e-04 9.99997300e-01 3.34247527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.30, Y:-10.75, Z:0.33 [[ 9.99835949e-01 -1.78559004e-02 3.03996385e-03 5.63298674e+02] [ 1.78562818e-02 9.99840559e-01 -9.83670508e-05 -1.07461492e+01] [-3.03772272e-03 1.52633365e-04 9.99995374e-01 3.34234231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.255099893 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:563.33, Y:-10.74, Z:0.33 [[ 9.99869520e-01 -1.58235595e-02 3.24930879e-03 5.63331408e+02] [ 1.58239858e-02 9.99874787e-01 -1.05532059e-04 -1.07449310e+01] [-3.24723204e-03 1.56935306e-04 9.99994715e-01 3.34004178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.2850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.36, Y:-10.74, Z:0.33 [[ 9.99935157e-01 -1.09211691e-02 3.22639860e-03 5.63363519e+02] [ 1.09215655e-02 9.99940352e-01 -1.05246669e-04 -1.07418999e+01] [-3.22505673e-03 1.40477168e-04 9.99994790e-01 3.33688228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.3150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.40, Y:-10.74, Z:0.33 [[ 9.99961009e-01 -8.07245054e-03 3.57994307e-03 5.63395610e+02] [ 8.07292138e-03 9.99967407e-01 -1.17090049e-04 -1.07413047e+01] [-3.57888118e-03 1.45986083e-04 9.99993585e-01 3.33141914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.43, Y:-10.74, Z:0.33 [[ 9.99979156e-01 -5.03410138e-03 4.04296410e-03 5.63428067e+02] [ 5.03467852e-03 9.99987317e-01 -1.32587451e-04 -1.07411671e+01] [-4.04224537e-03 1.52939712e-04 9.99991818e-01 3.32748282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.46, Y:-10.74, Z:0.33 [[ 9.99986125e-01 -2.03091992e-03 4.86061039e-03 5.63460723e+02] [ 2.03172084e-03 9.99997923e-01 -1.59845053e-04 -1.07410529e+01] [-4.86027567e-03 1.69718239e-04 9.99988174e-01 3.32092206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.49, Y:-10.74, Z:0.33 [[ 9.99976640e-01 4.93821683e-03 4.72583019e-03 5.63492335e+02] [-4.93753571e-03 9.99987798e-01 -1.55782958e-04 -1.07389546e+01] [-4.72654182e-03 1.32445363e-04 9.99988821e-01 3.32375334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.52, Y:-10.74, Z:0.33 [[ 9.99952541e-01 8.40337616e-03 4.92941870e-03 5.63523856e+02] [-8.40267559e-03 9.99964684e-01 -1.62812598e-04 -1.07378186e+01] [-4.93061278e-03 1.21384565e-04 9.99987837e-01 3.32642189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.55, Y:-10.74, Z:0.33 [[ 9.99913492e-01 1.20636689e-02 5.24173656e-03 5.63553026e+02] [-1.20629254e-02 9.99927225e-01 -1.73427634e-04 -1.07368486e+01] [-5.24344727e-03 1.10181954e-04 9.99986247e-01 3.32321652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.495099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.58, Y:-10.74, Z:0.33 [[ 9.99863699e-01 1.55758244e-02 5.47522607e-03 5.63582317e+02] [-1.55750663e-02 9.99878685e-01 -1.81077803e-04 -1.07361197e+01] [-5.47738228e-03 9.57761129e-05 9.99984994e-01 3.32305025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.61, Y:-10.73, Z:0.33 [[ 9.99747152e-01 2.17392867e-02 5.74763638e-03 5.63610215e+02] [-2.17385540e-02 9.99763672e-01 -1.89928574e-04 -1.07346493e+01] [-5.75040697e-03 6.49352468e-05 9.99983464e-01 3.31644127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.64, Y:-10.73, Z:0.33 [[ 9.99693233e-01 2.40889803e-02 5.75863167e-03 5.63638514e+02] [-2.40882868e-02 9.99709817e-01 -1.89757715e-04 -1.07349701e+01] [-5.76153169e-03 5.09839323e-05 9.99983401e-01 3.30947243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.67, Y:-10.74, Z:0.33 [[ 9.99648353e-01 2.59342914e-02 5.53016035e-03 5.63667342e+02] [-2.59336829e-02 9.99663649e-01 -1.81742024e-04 -1.07352543e+01] [-5.53301363e-03 3.82606907e-05 9.99984692e-01 3.30603217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.70, Y:-10.73, Z:0.33 [[ 9.99601637e-01 2.78714063e-02 4.44431039e-03 5.63695695e+02] [-2.78710330e-02 9.99611517e-01 -1.45925026e-04 -1.07349992e+01] [-4.44665099e-03 2.19993732e-05 9.99990113e-01 3.29763259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.72, Y:-10.73, Z:0.33 [[ 9.99600253e-01 2.80445452e-02 3.58298884e-03 5.63723028e+02] [-2.80443047e-02 9.99606674e-01 -1.17334565e-04 -1.07348789e+01] [-3.58487015e-03 1.68052305e-05 9.99993574e-01 3.29622480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.6750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.75, Y:-10.73, Z:0.33 [[ 9.99636803e-01 2.68214657e-02 2.62121901e-03 5.63749640e+02] [-2.68213326e-02 9.99640240e-01 -8.59208297e-05 -1.07341801e+01] [-2.62258052e-03 1.55850367e-05 9.99996561e-01 3.29390081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.7050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.78, Y:-10.73, Z:0.33 [[ 9.99667645e-01 2.56548101e-02 2.53571877e-03 5.63777710e+02] [-2.56546827e-02 9.99670861e-01 -8.27562879e-05 -1.07348891e+01] [-2.53700726e-03 1.76757230e-05 9.99996782e-01 3.29176326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.81, Y:-10.74, Z:0.33 [[ 9.99700013e-01 2.43440766e-02 2.69250400e-03 5.63805509e+02] [-2.43439292e-02 9.99703639e-01 -8.75309439e-05 -1.07357763e+01] [-2.69383690e-03 2.19585592e-05 9.99996371e-01 3.28813625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.83, Y:-10.74, Z:0.33 [[ 9.99768990e-01 2.12310696e-02 3.34781948e-03 5.63833285e+02] [-2.12308260e-02 9.99774595e-01 -1.08290235e-04 -1.07363730e+01] [-3.34936398e-03 3.71882462e-05 9.99994390e-01 3.29021209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.7950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.86, Y:-10.74, Z:0.33 [[ 9.99799369e-01 1.96932184e-02 3.66038672e-03 5.63862523e+02] [-1.96929190e-02 9.99806069e-01 -1.17815373e-04 -1.07373372e+01] [-3.66199703e-03 4.57080362e-05 9.99993294e-01 3.28979851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.8250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.89, Y:-10.74, Z:0.33 [[ 9.99832832e-01 1.78378675e-02 4.01477208e-03 5.63890169e+02] [-1.78374935e-02 9.99840891e-01 -1.28936880e-04 -1.07381581e+01] [-4.01643326e-03 5.73018549e-05 9.99991932e-01 3.29169763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.92, Y:-10.75, Z:0.33 [[ 9.99915105e-01 1.28822039e-02 -1.95764543e-03 5.63915764e+02] [-1.28358160e-02 9.99673306e-01 2.21025682e-02 -1.07455365e+01] [ 2.24173566e-03 -2.20755638e-02 9.99753792e-01 3.29772135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.94, Y:-10.74, Z:0.34 [[ 9.99955124e-01 9.03113751e-03 -2.86147494e-03 5.63944853e+02] [-9.03486671e-03 9.99958349e-01 -1.29301055e-03 -1.07361465e+01] [ 2.84967840e-03 1.31880557e-03 9.99995070e-01 3.37015338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.9150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:563.98, Y:-10.73, Z:0.34 [[ 9.99955000e-01 9.19463768e-03 2.33574203e-03 5.63977502e+02] [-9.14370982e-03 9.99738686e-01 -2.09512121e-02 -1.07317008e+01] [-2.52777047e-03 2.09289120e-02 9.99777771e-01 3.35544868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.9450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.01, Y:-10.74, Z:0.33 [[ 9.99973339e-01 6.67445114e-03 2.96207387e-03 5.64005594e+02] [-6.67419927e-03 9.99977723e-01 -9.49112888e-05 -1.07435796e+01] [-2.96264136e-03 7.51392871e-05 9.99995609e-01 3.28759099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.04, Y:-10.75, Z:0.33 [[ 9.99985111e-01 4.35556653e-03 3.28737909e-03 5.64035699e+02] [-4.35524473e-03 9.99990510e-01 -1.05042645e-04 -1.07452299e+01] [-3.28780541e-03 9.07237410e-05 9.99994591e-01 3.28704050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.07, Y:-10.75, Z:0.33 [[ 9.99994425e-01 -4.97805318e-04 3.30178534e-03 5.64066450e+02] [ 4.98155574e-04 9.99999870e-01 -1.05259200e-04 -1.07471222e+01] [-3.30173251e-03 1.06903416e-04 9.99994544e-01 3.29021034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.0350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.10, Y:-10.75, Z:0.33 [[ 9.99992228e-01 -2.40379553e-03 3.12495491e-03 5.64097427e+02] [ 2.40411574e-03 9.99997105e-01 -9.87148957e-05 -1.07487279e+01] [-3.12470857e-03 1.06226882e-04 9.99995112e-01 3.29027188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.0650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.13, Y:-10.76, Z:0.33 [[ 9.99956692e-01 -8.97017176e-03 -2.47985113e-03 5.64126069e+02] [ 9.03325255e-03 9.99602180e-01 2.67185796e-02 -1.07595466e+01] [ 2.23919435e-03 -2.67398236e-02 9.99639919e-01 3.29046071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.16, Y:-10.74, Z:0.34 [[ 9.99961680e-01 -8.73224625e-03 6.21432311e-04 5.64160206e+02] [ 8.74559662e-03 9.99614077e-01 -2.63668488e-02 -1.07384363e+01] [-3.90950670e-04 2.63712732e-02 9.99652141e-01 3.37775135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.19, Y:-10.75, Z:0.33 [[ 9.99940493e-01 -1.08570218e-02 1.06577991e-03 5.64192024e+02] [ 1.08570641e-02 9.99941060e-01 -3.39017612e-05 -1.07521329e+01] [-1.06534902e-03 4.54709847e-05 9.99999431e-01 3.29293195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.1550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.22, Y:-10.75, Z:0.33 [[ 9.99923535e-01 -1.23557889e-02 5.09487877e-04 5.64223289e+02] [ 1.23557987e-02 9.99923664e-01 -1.60914888e-05 -1.07532947e+01] [-5.09250162e-04 2.23853880e-05 9.99999870e-01 3.29164486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.1850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.26, Y:-10.75, Z:0.33 [[ 9.99892782e-01 -1.46340999e-02 -5.16499262e-04 5.64255656e+02] [ 1.46341109e-02 9.99892916e-01 1.74216543e-05 -1.07542094e+01] [ 5.16189002e-04 -2.49782939e-05 9.99999866e-01 3.29011793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.2150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.29, Y:-10.75, Z:0.33 [[ 9.99886250e-01 -1.50613651e-02 -8.01335878e-04 5.64286715e+02] [ 1.50613915e-02 9.99886570e-01 2.69163861e-05 -1.07547542e+01] [ 8.00839585e-04 -3.89825577e-05 9.99999679e-01 3.29231236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.32, Y:-10.75, Z:0.33 [[ 9.99880864e-01 -1.54146263e-02 -8.04633669e-04 5.64319046e+02] [ 1.54146529e-02 9.99881187e-01 2.67895090e-05 -1.07549054e+01] [ 8.04125117e-04 -3.91894661e-05 9.99999676e-01 3.29384310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.35, Y:-10.75, Z:0.33 [[ 9.99888559e-01 -1.49134265e-02 -6.77776811e-04 5.64350773e+02] [ 1.49134452e-02 9.99888788e-01 2.25506531e-05 -1.07540845e+01] [ 6.77365126e-04 -3.26561274e-05 9.99999770e-01 3.29553214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.3050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.38, Y:-10.75, Z:0.33 [[ 9.99896480e-01 -1.43324781e-02 -1.26828626e-03 5.64383306e+02] [ 1.43325430e-02 9.99897283e-01 4.20844183e-05 -1.07541624e+01] [ 1.26755281e-03 -6.02578291e-05 9.99999195e-01 3.29671587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.3350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.41, Y:-10.75, Z:0.33 [[ 9.99908307e-01 -1.34700795e-02 -1.39078432e-03 5.64414926e+02] [ 1.34701566e-02 9.99909272e-01 4.60386017e-05 -1.07540568e+01] [ 1.39003799e-03 -6.47684628e-05 9.99999032e-01 3.29400486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.45, Y:-10.75, Z:0.33 [[ 9.99928998e-01 -1.16421339e-02 -2.54153670e-03 5.64447657e+02] [ 1.16423853e-02 9.99932222e-01 8.41362640e-05 -1.07526536e+01] [ 2.54038492e-03 -1.13719840e-04 9.99996767e-01 3.29564518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.48, Y:-10.75, Z:0.33 [[ 9.99941344e-01 -1.05195181e-02 -2.57852354e-03 5.64479183e+02] [ 1.05197731e-02 9.99944662e-01 8.53572263e-05 -1.07524226e+01] [ 2.57748293e-03 -1.12477702e-04 9.99996672e-01 3.29668283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.4250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.51, Y:-10.75, Z:0.33 [[ 9.99954843e-01 -9.20964839e-03 -2.34404113e-03 5.64510740e+02] [ 9.20985591e-03 9.99957585e-01 7.77548918e-05 -1.07524027e+01] [ 2.34322561e-03 -9.93396617e-05 9.99997250e-01 3.29724316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.4550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.54, Y:-10.75, Z:0.33 [[ 9.99976931e-01 -6.48811840e-03 -2.01060390e-03 5.64542534e+02] [ 6.48826624e-03 9.99978949e-01 6.70159136e-05 -1.07516635e+01] [ 2.01012677e-03 -8.00597010e-05 9.99997976e-01 3.30290199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.57, Y:-10.75, Z:0.33 [[ 9.99987377e-01 -4.88705503e-03 -1.16698839e-03 5.64573636e+02] [ 4.88710375e-03 9.99988057e-01 3.89023915e-05 -1.07520108e+01] [ 1.16678434e-03 -4.46050938e-05 9.99999318e-01 3.30216840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.60, Y:-10.75, Z:0.33 [[ 9.99995045e-01 -3.08491366e-03 -6.27499402e-04 5.64604987e+02] [ 3.08492757e-03 9.99995241e-01 2.12047854e-05 -1.07521454e+01] [ 6.27431000e-04 -2.31404705e-05 9.99999803e-01 3.30350895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.5450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.64, Y:-10.75, Z:0.33 [[ 9.99999732e-01 7.18820796e-04 1.41831785e-04 5.64636491e+02] [-7.18820172e-04 9.99999742e-01 -4.44904998e-06 -1.07513214e+01] [-1.41834946e-04 4.34709724e-06 9.99999990e-01 3.30625213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.5750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.67, Y:-10.75, Z:0.33 [[ 9.99995968e-01 2.79193516e-03 5.18223215e-04 5.64666650e+02] [-2.79192662e-03 9.99996102e-01 -1.72045583e-05 -1.07517578e+01] [-5.18269229e-04 1.57576478e-05 9.99999866e-01 3.30507291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.70, Y:-10.75, Z:0.33 [[ 9.99988282e-01 4.79955560e-03 6.32373873e-04 5.64696374e+02] [-4.79954314e-03 9.99988482e-01 -2.12318875e-05 -1.07523466e+01] [-6.32468493e-04 1.81965331e-05 9.99999800e-01 3.30283880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.73, Y:-10.75, Z:0.33 [[ 9.99957506e-01 9.12247305e-03 1.32948832e-03 5.64726061e+02] [-9.12242221e-03 9.99958389e-01 -4.43017960e-05 -1.07531695e+01] [-1.32983714e-03 3.21717597e-05 9.99999115e-01 3.29390607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.6650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.75, Y:-10.75, Z:0.33 [[ 9.99935565e-01 1.12440912e-02 1.56076609e-03 5.64754612e+02] [-1.12440235e-02 9.99936783e-01 -5.21204638e-05 -1.07542694e+01] [-1.56125347e-03 3.45678148e-05 9.99998781e-01 3.28943948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.6950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.78, Y:-10.76, Z:0.33 [[ 9.99910846e-01 1.32271028e-02 1.82861938e-03 5.64782485e+02] [-1.32270135e-02 9.99912517e-01 -6.09367098e-05 -1.07553569e+01] [-1.82926543e-03 3.67441038e-05 9.99998326e-01 3.28475126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.81, Y:-10.76, Z:0.33 [[ 9.99872235e-01 1.58891824e-02 1.74566561e-03 5.64809938e+02] [-1.58891051e-02 9.99873759e-01 -5.81458988e-05 -1.07564261e+01] [-1.74636913e-03 3.04014053e-05 9.99998475e-01 3.28164346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.84, Y:-10.76, Z:0.33 [[ 9.99771682e-01 2.13356957e-02 1.17165380e-03 5.64837529e+02] [-2.13356631e-02 9.99772368e-01 -4.02645880e-05 -1.07572513e+01] [-1.17224616e-03 1.52573842e-05 9.99999313e-01 3.27830194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.7850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.86, Y:-10.76, Z:0.33 [[ 9.99704664e-01 2.42761575e-02 1.11939973e-03 5.64864351e+02] [-2.42761310e-02 9.99705291e-01 -3.72289345e-05 -1.07583864e+01] [-1.11997361e-03 1.00432450e-05 9.99999373e-01 3.27231917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.8150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.89, Y:-10.76, Z:0.33 [[ 9.99706763e-01 2.41895516e-02 1.11941186e-03 5.64892805e+02] [-2.41895254e-02 9.99707390e-01 -3.68555919e-05 -1.07592191e+01] [-1.11997583e-03 9.76674266e-06 9.99999373e-01 3.27023740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.92, Y:-10.76, Z:0.33 [[ 9.99646061e-01 2.65949038e-02 6.80857487e-04 5.64921223e+02] [-2.65948945e-02 9.99646293e-01 -2.27305979e-05 -1.07605712e+01] [-6.81221182e-04 4.61521962e-06 9.99999768e-01 3.26738305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.96, Y:-10.74, Z:0.33 [[ 9.99216187e-01 3.71691308e-02 1.36186456e-02 5.64962023e+02] [-3.62690301e-02 9.97462897e-01 -6.12562367e-02 -1.07417236e+01] [-1.58609347e-02 6.07142882e-02 9.98029161e-01 3.27316733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:564.99, Y:-10.78, Z:0.31 [[ 9.99234704e-01 3.78501984e-02 9.86757948e-03 5.64987705e+02] [-3.80743769e-02 9.98995766e-01 2.36178271e-02 -1.07836192e+01] [-8.96373068e-03 -2.39754544e-02 9.99672361e-01 3.06103553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.01, Y:-10.79, Z:0.31 [[ 9.99424208e-01 3.39300089e-02 -8.39876269e-05 5.65009660e+02] [-3.39061067e-02 9.98807136e-01 3.51380350e-02 -1.07850774e+01] [ 1.27612128e-03 -3.51149551e-02 9.99382465e-01 3.14970986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.04, Y:-10.77, Z:0.33 [[ 9.99381128e-01 3.51603088e-02 -1.05490832e-03 5.65038542e+02] [-3.51602945e-02 9.99381685e-01 3.21083500e-05 -1.07704685e+01] [ 1.05538500e-03 5.00240828e-06 9.99999443e-01 3.25911259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.995099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.07, Y:-10.78, Z:0.33 [[ 9.99348367e-01 3.60855405e-02 -8.21357182e-04 5.65066131e+02] [-3.60855324e-02 9.99348705e-01 2.47698466e-05 -1.07751114e+01] [ 8.21716069e-04 4.88540543e-06 9.99999662e-01 3.25643597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.09, Y:-10.78, Z:0.33 [[ 9.99344775e-01 3.61880673e-02 -6.66420310e-04 5.65094261e+02] [-3.61880621e-02 9.99344997e-01 1.99240914e-05 -1.07780787e+01] [ 6.66704817e-04 4.20542296e-06 9.99999778e-01 3.25539180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.12, Y:-10.78, Z:0.33 [[ 9.99354445e-01 3.59256761e-02 1.95570374e-04 5.65122522e+02] [-3.59256755e-02 9.99354465e-01 -6.55825464e-06 -1.07812878e+01] [-1.95679736e-04 -4.71976852e-07 9.99999981e-01 3.25095468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.15, Y:-10.78, Z:0.32 [[ 9.99364866e-01 3.56271597e-02 7.55561679e-04 5.65149459e+02] [-3.56271520e-02 9.99365151e-01 -2.37033573e-05 -1.07845540e+01] [-7.55926495e-04 -3.23020826e-06 9.99999714e-01 3.24923829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.18, Y:-10.79, Z:0.32 [[ 9.99391824e-01 3.47970047e-02 2.26928120e-03 5.65177679e+02] [-3.47969365e-02 9.99394401e-01 -6.95328272e-05 -1.07909587e+01] [-2.27032645e-03 -9.47349459e-06 9.99997423e-01 3.24420429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.21, Y:-10.79, Z:0.32 [[ 9.99407270e-01 3.43341878e-02 2.50436940e-03 5.65205530e+02] [-3.43341042e-02 9.99410408e-01 -7.64075629e-05 -1.07948876e+01] [-2.50551624e-03 -9.62300606e-06 9.99996861e-01 3.23779198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.1750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.23, Y:-10.80, Z:0.32 [[ 9.99448372e-01 3.30792466e-02 2.95209884e-03 5.65232275e+02] [-3.30791260e-02 9.99452732e-01 -8.96847679e-05 -1.08021910e+01] [-2.95344995e-03 -8.01755410e-06 9.99995639e-01 3.22391345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.2050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.26, Y:-10.81, Z:0.32 [[ 9.99478307e-01 3.21340560e-02 3.24292011e-03 5.65259679e+02] [-3.21339072e-02 9.99483568e-01 -9.80134236e-05 -1.08061774e+01] [-3.24439493e-03 -6.24540315e-06 9.99994737e-01 3.21820366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.29, Y:-10.81, Z:0.32 [[ 9.99501961e-01 3.13585272e-02 3.53157446e-03 5.65286585e+02] [-3.13583470e-02 9.99508200e-01 -1.06394785e-04 -1.08106064e+01] [-3.53317401e-03 -4.40254061e-06 9.99993758e-01 3.21076906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.31, Y:-10.82, Z:0.32 [[ 9.99566662e-01 2.91764195e-02 3.90187725e-03 5.65314221e+02] [-2.91761859e-02 9.99574278e-01 -1.16767238e-04 -1.08190527e+01] [-3.90362298e-03 2.87474250e-06 9.99992381e-01 3.19962356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.2950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.34, Y:-10.82, Z:0.32 [[ 9.99591424e-01 2.82596092e-02 4.28722871e-03 5.65342507e+02] [-2.82593211e-02 9.99600617e-01 -1.27765197e-04 -1.08236531e+01] [-4.28912706e-03 6.55882220e-06 9.99990802e-01 3.19438980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.3250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.37, Y:-10.83, Z:0.32 [[ 9.99615355e-01 2.73635444e-02 4.51432742e-03 5.65370914e+02] [-2.73632175e-02 9.99625548e-01 -1.34189164e-04 -1.08278811e+01] [-4.51630892e-03 1.06110258e-05 9.99989801e-01 3.19293495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.40, Y:-10.83, Z:0.32 [[ 9.99634556e-01 2.66628648e-02 4.45498219e-03 5.65398154e+02] [-2.66625407e-02 9.99644483e-01 -1.32121534e-04 -1.08320656e+01] [-4.45692110e-03 1.32921066e-05 9.99990068e-01 3.18915383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.43, Y:-10.84, Z:0.32 [[ 9.99637022e-01 2.66527302e-02 3.93137147e-03 5.65425406e+02] [-2.66524790e-02 9.99644753e-01 -1.16293720e-04 -1.08395810e+01] [-3.93307441e-03 1.14707127e-05 9.99992265e-01 3.18276928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.4150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.45, Y:-10.84, Z:0.32 [[ 9.99628621e-01 2.70117356e-02 3.60370207e-03 5.65453741e+02] [-2.70115279e-02 9.99635116e-01 -1.06294130e-04 -1.08435098e+01] [-3.60525833e-03 8.91315549e-06 9.99993501e-01 3.17696402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.4450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.48, Y:-10.85, Z:0.32 [[ 9.99580957e-01 2.88283172e-02 2.61503300e-03 5.65481507e+02] [-2.88282142e-02 9.99584378e-01 -7.70922369e-05 -1.08508308e+01] [-2.61616857e-03 1.67320049e-06 9.99996578e-01 3.16993107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.51, Y:-10.86, Z:0.32 [[ 9.99541579e-01 3.01723290e-02 2.50254562e-03 5.65510237e+02] [-3.01722394e-02 9.99544712e-01 -7.35257221e-05 -1.08550962e+01] [-2.50362468e-03 -2.01538931e-06 9.99996866e-01 3.16786309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.54, Y:-10.86, Z:0.32 [[ 9.99504645e-01 3.13796519e-02 2.40471606e-03 5.65538526e+02] [-3.13795731e-02 9.99507537e-01 -7.04972800e-05 -1.08588307e+01] [-2.40574400e-03 -4.99660449e-06 9.99997106e-01 3.16615730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.5350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.57, Y:-10.86, Z:0.32 [[ 9.99464725e-01 3.26344112e-02 2.29308602e-03 5.65565802e+02] [-3.26343430e-02 9.99467356e-01 -6.71629327e-05 -1.08625463e+01] [-2.29405644e-03 -7.70637357e-06 9.99997369e-01 3.16641173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.5650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.60, Y:-10.87, Z:0.32 [[ 9.99436375e-01 3.35108312e-02 1.98888130e-03 5.65596137e+02] [-3.35076035e-02 9.99437126e-01 -1.63459584e-03 -1.08685814e+01] [-2.04253847e-03 1.56703189e-03 9.99996686e-01 3.16908283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.62, Y:-10.87, Z:0.32 [[ 9.99372258e-01 3.53380868e-02 2.51199851e-03 5.65620439e+02] [-3.53418839e-02 9.99374179e-01 1.48357486e-03 -1.08737699e+01] [-2.45799975e-03 -1.57142232e-03 9.99995744e-01 3.16054520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.65, Y:-10.88, Z:0.32 [[ 9.99366850e-01 3.54861246e-02 2.57564022e-03 5.65648822e+02] [-3.54860499e-02 9.99370169e-01 -7.47182900e-05 -1.08770641e+01] [-2.57666946e-03 -1.67283153e-05 9.99996680e-01 3.16153648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.6550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.68, Y:-10.88, Z:0.32 [[ 9.99405437e-01 3.43981499e-02 2.35368625e-03 5.65676338e+02] [-3.43980851e-02 9.99408208e-01 -6.80176450e-05 -1.08848307e+01] [-2.35463304e-03 -1.29850955e-05 9.99997228e-01 3.15502749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.6850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.70, Y:-10.89, Z:0.32 [[ 9.99448739e-01 3.31297886e-02 2.15274857e-03 5.65704120e+02] [-3.31297318e-02 9.99451058e-01 -6.20539454e-05 -1.08890939e+01] [-2.15362267e-03 -9.30024514e-06 9.99997681e-01 3.15330798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.7150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.73, Y:-10.89, Z:0.31 [[ 9.99497949e-01 3.16153625e-02 2.07794221e-03 5.65732320e+02] [-3.16153068e-02 9.99500109e-01 -5.96710084e-05 -1.08934970e+01] [-2.07878999e-03 -6.05372985e-06 9.99997839e-01 3.14797626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.745099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.76, Y:-10.90, Z:0.32 [[ 9.99567000e-01 2.94145906e-02 7.70504502e-04 5.65761522e+02] [-2.94115182e-02 9.99560412e-01 -3.73435613e-03 -1.08958788e+01] [-8.80010354e-04 3.71007744e-03 9.99992730e-01 3.15396932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.79, Y:-10.91, Z:0.31 [[ 9.99671518e-01 2.55770995e-02 1.63329644e-03 5.65788720e+02] [-2.55829242e-02 9.99666037e-01 3.65092740e-03 -1.09074492e+01] [-1.53937085e-03 -3.69151264e-03 9.99992002e-01 3.13946762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.8050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.82, Y:-10.91, Z:0.31 [[ 9.99726713e-01 2.33072183e-02 1.80908283e-03 5.65816627e+02] [-2.33071630e-02 9.99728350e-01 -5.16555420e-05 -1.09096419e+01] [-1.80979534e-03 9.47683687e-06 9.99998362e-01 3.14900836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.8350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.85, Y:-10.91, Z:0.31 [[ 9.99770344e-01 2.13260392e-02 2.11163379e-03 5.65845618e+02] [-2.13259601e-02 9.99772574e-01 -5.99795227e-05 -1.09137805e+01] [-2.11243267e-03 1.49331302e-05 9.99997769e-01 3.14881429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.87, Y:-10.92, Z:0.32 [[ 9.99810218e-01 1.93500705e-02 2.25888772e-03 5.65874829e+02] [-1.93499753e-02 9.99812770e-01 -6.39781145e-05 -1.09177253e+01] [-2.25970277e-03 2.02565509e-05 9.99997447e-01 3.15091195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.90, Y:-10.92, Z:0.32 [[ 9.99883220e-01 1.51074907e-02 2.30417394e-03 5.65903329e+02] [-1.51073809e-02 9.99885875e-01 -6.50420850e-05 -1.09246207e+01] [-2.30489360e-03 3.02244560e-05 9.99997343e-01 3.15251478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.9250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.93, Y:-10.93, Z:0.31 [[ 9.99915329e-01 1.28348860e-02 2.14511017e-03 5.65931674e+02] [-1.28347857e-02 9.99917629e-01 -6.05112907e-05 -1.09283316e+01] [-2.14571013e-03 3.29741379e-05 9.99997697e-01 3.14848393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.9550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.96, Y:-10.93, Z:0.31 [[ 9.99941846e-01 1.04995136e-02 2.46255479e-03 5.65961137e+02] [-1.04993751e-02 9.99944878e-01 -6.91508195e-05 -1.09318165e+01] [-2.46314510e-03 4.32915115e-05 9.99996966e-01 3.14549394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:565.99, Y:-10.94, Z:0.31 [[ 9.99961766e-01 8.46991916e-03 2.17431304e-03 5.65991009e+02] [-8.46980689e-03 9.99964129e-01 -6.08412645e-05 -1.09356416e+01] [-2.17475037e-03 4.24229267e-05 9.99997634e-01 3.14671212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.02, Y:-10.94, Z:0.31 [[ 9.99964003e-01 6.39775445e-03 5.57335990e-03 5.66022346e+02] [-6.34952411e-03 9.99942612e-01 -8.62886050e-03 -1.09390154e+01] [-5.62824538e-03 8.59316170e-03 9.99947239e-01 3.10940832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.0450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.05, Y:-10.95, Z:0.31 [[ 9.99994558e-01 2.31900466e-03 2.34654815e-03 5.66052391e+02] [-2.33465868e-03 9.99974893e-01 6.69048225e-03 -1.09473218e+01] [-2.33097398e-03 -6.69592422e-03 9.99974865e-01 3.12989571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.0750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.08, Y:-10.95, Z:0.31 [[ 9.99992939e-01 -1.47358150e-03 3.45699167e-03 5.66083698e+02] [ 1.46857315e-03 9.99997869e-01 1.45085199e-03 -1.09494229e+01] [-3.45912226e-03 -1.44576490e-03 9.99992972e-01 3.13793524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.12, Y:-10.95, Z:0.31 [[ 9.99985051e-01 -4.10577293e-03 3.61105401e-03 5.66116236e+02] [ 4.10616933e-03 9.99991564e-01 -1.02367585e-04 -1.09511233e+01] [-3.61060325e-03 1.17193654e-04 9.99993475e-01 3.14077315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.15, Y:-10.95, Z:0.31 [[ 9.99970682e-01 -6.96499778e-03 3.18175260e-03 5.66148595e+02] [ 6.96532190e-03 9.99975738e-01 -9.07979038e-05 -1.09535464e+01] [-3.18104300e-03 1.12957173e-04 9.99994934e-01 3.13707796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.1650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.18, Y:-10.96, Z:0.31 [[ 9.99911362e-01 -1.31683681e-02 1.96544318e-03 5.66180870e+02] [ 1.31685037e-02 9.99913290e-01 -5.60601501e-05 -1.09560976e+01] [-1.96453454e-03 8.19371269e-05 9.99998067e-01 3.13329939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.1950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.21, Y:-10.96, Z:0.31 [[ 9.99872660e-01 -1.59167045e-02 1.14953586e-03 5.66213466e+02] [ 1.59167533e-02 9.99873320e-01 -3.33343041e-05 -1.09576309e+01] [-1.14885966e-03 5.16269380e-05 9.99999339e-01 3.13152342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.24, Y:-10.96, Z:0.31 [[ 9.99834414e-01 -1.81888206e-02 5.58647101e-04 5.66244214e+02] [ 1.81888325e-02 9.99834569e-01 -1.61277959e-05 -1.09588162e+01] [-5.58261339e-04 2.62862639e-05 9.99999844e-01 3.12931321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.28, Y:-10.96, Z:0.31 [[ 9.99771071e-01 -2.13963036e-02 -6.57766384e-05 5.66276106e+02] [ 2.13963038e-02 9.99771073e-01 2.32431605e-06 -1.09593250e+01] [ 6.57118483e-05 -3.73116088e-06 9.99999998e-01 3.12896240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.2850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.31, Y:-10.96, Z:0.31 [[ 9.99750607e-01 -2.23309222e-02 -2.32697491e-04 5.66308219e+02] [ 2.23309245e-02 9.99750634e-01 7.25619707e-06 -1.09597338e+01] [ 2.32477426e-04 -1.24507375e-05 9.99999973e-01 3.12789142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.3150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.34, Y:-10.96, Z:0.31 [[ 9.99741425e-01 -2.27328801e-02 -5.47196276e-04 5.66339971e+02] [ 2.27328926e-02 9.99741574e-01 1.65875812e-05 -1.09599542e+01] [ 5.46677783e-04 -2.90226463e-05 9.99999850e-01 3.12724507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.37, Y:-10.96, Z:0.31 [[ 9.99764429e-01 -2.16736650e-02 -1.15676102e-03 5.66372535e+02] [ 2.16737196e-02 9.99765097e-01 3.47203220e-05 -1.09582065e+01] [ 1.15573677e-03 -5.97834568e-05 9.99999330e-01 3.13124274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.40, Y:-10.96, Z:0.31 [[ 9.99795261e-01 -2.02010743e-02 -1.16268730e-03 5.66404473e+02] [ 2.02011286e-02 9.99795936e-01 3.49874157e-05 -1.09571705e+01] [ 1.16174326e-03 -5.84678481e-05 9.99999323e-01 3.13164659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.44, Y:-10.96, Z:0.31 [[ 9.99835346e-01 -1.81011181e-02 -1.27709149e-03 5.66436333e+02] [ 1.81011820e-02 9.99836159e-01 3.84807318e-05 -1.09560018e+01] [ 1.27618571e-03 -6.15912613e-05 9.99999184e-01 3.13458611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.47, Y:-10.95, Z:0.31 [[ 9.99872612e-01 -1.59038029e-02 -1.35236500e-03 5.66467673e+02] [ 1.59038724e-02 9.99873525e-01 4.06970580e-05 -1.09545772e+01] [ 1.35154672e-03 -6.21997141e-05 9.99999085e-01 3.13663875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.50, Y:-10.95, Z:0.31 [[ 9.99934919e-01 -1.13039405e-02 -1.54226591e-03 5.66499085e+02] [ 1.13040254e-02 9.99936106e-01 4.63296203e-05 -1.09503073e+01] [ 1.54164366e-03 -6.37604182e-05 9.99998810e-01 3.14228253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.495099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.53, Y:-10.95, Z:0.31 [[ 9.99958751e-01 -8.97748703e-03 -1.37907266e-03 5.66530650e+02] [ 8.97755296e-03 9.99959700e-01 4.16218662e-05 -1.09487826e+01] [ 1.37864342e-03 -5.40008471e-05 9.99999048e-01 3.14077283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.56, Y:-10.95, Z:0.31 [[ 9.99979086e-01 -6.39879487e-03 -9.40005051e-04 5.66562438e+02] [ 6.39882439e-03 9.99979527e-01 2.83943173e-05 -1.09476104e+01] [ 9.39804116e-04 -3.44086507e-05 9.99999558e-01 3.14025266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.59, Y:-10.95, Z:0.31 [[ 9.99990064e-01 -4.42366731e-03 -5.51424387e-04 5.66593361e+02] [ 4.42367723e-03 9.99990215e-01 1.67604109e-05 -1.09461919e+01] [ 5.51344849e-04 -1.91995679e-05 9.99999848e-01 3.14084940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.62, Y:-10.94, Z:0.31 [[ 9.99999391e-01 6.92648051e-04 8.59258094e-04 5.66623725e+02] [-6.92626201e-04 9.99999760e-01 -2.57262667e-05 -1.09420317e+01] [-8.59275708e-04 2.51311063e-05 9.99999631e-01 3.13839225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.65, Y:-10.94, Z:0.31 [[ 9.99992672e-01 3.79835772e-03 4.77177866e-04 5.66654545e+02] [-3.79835131e-03 9.99992786e-01 -1.43412686e-05 -1.09405329e+01] [-4.77228898e-04 1.25286743e-05 9.99999886e-01 3.13744160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.68, Y:-10.94, Z:0.31 [[ 9.99976169e-01 6.89277190e-03 3.89860180e-04 5.66684592e+02] [-6.89276778e-03 9.99976245e-01 -1.19021863e-05 -1.09390725e+01] [-3.89932958e-04 9.21468699e-06 9.99999924e-01 3.13423420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.6750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.71, Y:-10.94, Z:0.31 [[ 9.99914140e-01 1.30905662e-02 -5.91204585e-04 5.66714114e+02] [-1.30905581e-02 9.99914315e-01 1.75242883e-05 -1.09354466e+01] [ 5.91383330e-04 -9.78358571e-06 9.99999825e-01 3.13014822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.7050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.74, Y:-10.94, Z:0.31 [[ 9.99915688e-01 1.29717781e-02 -5.91220175e-04 5.66743405e+02] [-1.29717703e-02 9.99915863e-01 1.70028778e-05 -1.09362774e+01] [ 5.91390989e-04 -9.33227194e-06 9.99999825e-01 3.12853925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.77, Y:-10.94, Z:0.31 [[ 9.99876488e-01 1.56940298e-02 -8.40587850e-04 5.66771460e+02] [-1.56940148e-02 9.99876841e-01 2.44655250e-05 -1.09350106e+01] [ 8.40868287e-04 -1.12703050e-05 9.99999646e-01 3.12264204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.80, Y:-10.93, Z:0.31 [[ 9.99831378e-01 1.83130786e-02 -1.35922850e-03 5.66799440e+02] [-1.83130413e-02 9.99832301e-01 3.98523919e-05 -1.09339293e+01] [ 1.35973038e-03 -1.49540643e-05 9.99999075e-01 3.12169029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.7950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.83, Y:-10.93, Z:0.31 [[ 9.99740210e-01 2.26834295e-02 -2.23034276e-03 5.66827952e+02] [-2.26833401e-02 9.99742698e-01 6.53642102e-05 -1.09313126e+01] [ 2.23125157e-03 -1.47556058e-05 9.99997511e-01 3.12247107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.8250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.86, Y:-10.93, Z:0.31 [[ 9.99705489e-01 2.41133673e-02 -2.73526572e-03 5.66855602e+02] [-2.41132386e-02 9.99709230e-01 8.00029288e-05 -1.09305274e+01] [ 2.73639953e-03 -1.40232520e-05 9.99996256e-01 3.12361072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.88, Y:-10.93, Z:0.31 [[ 9.99677750e-01 2.52010221e-02 -3.05032881e-03 5.66883472e+02] [-2.52008680e-02 9.99682404e-01 8.89446401e-05 -1.09300687e+01] [ 3.05160153e-03 -1.20450441e-05 9.99995344e-01 3.12440059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.91, Y:-10.93, Z:0.31 [[ 9.99656665e-01 2.59713984e-02 -3.46980262e-03 5.66910177e+02] [-2.59712052e-02 9.99662686e-01 1.00730120e-04 -1.09297224e+01] [ 3.47124831e-03 -1.05805798e-05 9.99993975e-01 3.12243785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.9150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.94, Y:-10.93, Z:0.31 [[ 9.99651192e-01 2.61353476e-02 -3.79968891e-03 5.66937508e+02] [-2.61351195e-02 9.99658413e-01 1.09666961e-04 -1.09295969e+01] [ 3.80125717e-03 -1.03233846e-05 9.99992775e-01 3.11962665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.9450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.96, Y:-10.94, Z:0.32 [[ 9.99687895e-01 2.30900974e-02 -9.53732100e-03 5.66962261e+02] [-2.28284422e-02 9.99383105e-01 2.66884051e-02 -1.09383355e+01] [ 1.01476754e-02 -2.64623533e-02 9.99598304e-01 3.16630650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:566.99, Y:-10.92, Z:0.32 [[ 9.99765031e-01 2.12041050e-02 -4.50204277e-03 5.66994652e+02] [-2.13150916e-02 9.99428635e-01 -2.62310796e-02 -1.09158643e+01] [ 3.94326389e-03 2.63208775e-02 9.99645768e-01 3.18480020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.02, Y:-10.93, Z:0.31 [[ 9.99831448e-01 1.78858950e-02 -4.14360212e-03 5.67021012e+02] [-1.78855579e-02 9.99840034e-01 1.18387745e-04 -1.09291608e+01] [ 4.14505676e-03 -4.42571547e-05 9.99991408e-01 3.12960863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.0350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.05, Y:-10.93, Z:0.31 [[ 9.99891253e-01 1.41931293e-02 -4.00466831e-03 5.67049692e+02] [-1.41927849e-02 9.99899271e-01 1.14397910e-04 -1.09300810e+01] [ 4.00588858e-03 -5.75480732e-05 9.99991975e-01 3.12972441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.0650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.08, Y:-10.93, Z:0.31 [[ 9.99939784e-01 1.00807755e-02 -4.33663750e-03 5.67078028e+02] [-1.00803343e-02 9.99949185e-01 1.23598532e-04 -1.09312263e+01] [ 4.33766310e-03 -7.98763338e-05 9.99990589e-01 3.13116625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.11, Y:-10.93, Z:0.31 [[ 9.99989293e-01 6.16669706e-04 -4.58617952e-03 5.67106780e+02] [-6.16078171e-04 9.99999802e-01 1.30393526e-04 -1.09331566e+01] [ 4.58625902e-03 -1.27566685e-04 9.99989475e-01 3.13033071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.13, Y:-10.93, Z:0.31 [[ 9.99981653e-01 -4.05397763e-03 -4.50089855e-03 5.67134275e+02] [ 4.05459233e-03 9.99991772e-01 1.27455715e-04 -1.09344151e+01] [ 4.50034481e-03 -1.45702685e-04 9.99989863e-01 3.13024067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.1550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.16, Y:-10.94, Z:0.31 [[ 9.99901577e-01 -1.29248276e-02 -5.45752628e-03 5.67162526e+02] [ 1.29258643e-02 9.99916446e-01 1.54737481e-04 -1.09359174e+01] [ 5.45507032e-03 -2.25265495e-04 9.99985096e-01 3.12978196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.1850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.19, Y:-10.94, Z:0.31 [[ 9.99836718e-01 -1.71086989e-02 -5.81636974e-03 5.67193098e+02] [ 1.71099484e-02 9.99853600e-01 1.65130860e-04 -1.09370514e+01] [ 5.81269305e-03 -2.64621684e-04 9.99983071e-01 3.12690692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.2150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.22, Y:-10.94, Z:0.31 [[ 9.99765615e-01 -2.07992916e-02 -6.00873764e-03 5.67223553e+02] [ 2.08006928e-02 9.99783628e-01 1.70791046e-04 -1.09381063e+01] [ 6.00388518e-03 -2.95736921e-04 9.99981933e-01 3.12229418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.25, Y:-10.94, Z:0.31 [[ 9.99684577e-01 -2.46787817e-02 -4.65881008e-03 5.67254458e+02] [ 2.46796683e-02 9.99695402e-01 1.32902143e-04 -1.09387516e+01] [ 4.65411115e-03 -2.47838110e-04 9.99989139e-01 3.12290134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.29, Y:-10.94, Z:0.31 [[ 9.99595656e-01 -2.80769104e-02 -4.49581395e-03 5.67286320e+02] [ 2.80777726e-02 9.99605733e-01 1.28755892e-04 -1.09392521e+01] [ 4.49042634e-03 -2.54936272e-04 9.99989885e-01 3.13004104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.3050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.32, Y:-10.94, Z:0.31 [[ 9.99433898e-01 -3.32136280e-02 -5.36077053e-03 5.67317661e+02] [ 3.32149279e-02 9.99448220e-01 1.53609426e-04 -1.09386517e+01] [ 5.35271064e-03 -3.31580074e-04 9.99985619e-01 3.12906477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.3350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.35, Y:-10.94, Z:0.31 [[ 9.99371889e-01 -3.48221292e-02 -6.57621373e-03 5.67348391e+02] [ 3.48241219e-02 9.99393439e-01 1.88716206e-04 -1.09385919e+01] [ 6.56565335e-03 -4.17608539e-04 9.99978359e-01 3.12092981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.38, Y:-10.94, Z:0.31 [[ 9.99353954e-01 -3.52664697e-02 -6.92461076e-03 5.67380224e+02] [ 3.52686939e-02 9.99377846e-01 1.99307856e-04 -1.09381018e+01] [ 6.91327370e-03 -4.43401071e-04 9.99976005e-01 3.11710928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.41, Y:-10.94, Z:0.31 [[ 9.99354988e-01 -3.52515338e-02 -6.85111893e-03 5.67412953e+02] [ 3.52537141e-02 9.99378375e-01 1.97702937e-04 -1.09368628e+01] [ 6.83989078e-03 -4.39102805e-04 9.99976511e-01 3.11672187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.4250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.45, Y:-10.93, Z:0.31 [[ 9.99431385e-01 -3.31473589e-02 -6.17739007e-03 5.67445714e+02] [ 3.31490945e-02 9.99450402e-01 1.78752333e-04 -1.09329952e+01] [ 6.16806982e-03 -3.83425578e-04 9.99980904e-01 3.11912166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.4550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.48, Y:-10.93, Z:0.31 [[ 9.99476596e-01 -3.17734914e-02 -6.08103956e-03 5.67478093e+02] [ 3.17751506e-02 9.99495027e-01 1.76409629e-04 -1.09313624e+01] [ 6.07236364e-03 -3.69543244e-04 9.99981495e-01 3.11920373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.51, Y:-10.93, Z:0.31 [[ 9.99562884e-01 -2.88789305e-02 -6.32831837e-03 5.67510520e+02] [ 2.88806725e-02 9.99582849e-01 1.84042527e-04 -1.09280205e+01] [ 6.32036356e-03 -3.66728170e-04 9.99979959e-01 3.11626869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.54, Y:-10.93, Z:0.31 [[ 9.99594191e-01 -2.76829048e-02 -6.71641554e-03 5.67541641e+02] [ 2.76848418e-02 9.99616682e-01 1.95572219e-04 -1.09268636e+01] [ 6.70842702e-03 -3.81435755e-04 9.99977426e-01 3.10995396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.5450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.57, Y:-10.93, Z:0.31 [[ 9.99611217e-01 -2.69627859e-02 -7.10084987e-03 5.67574216e+02] [ 2.69649371e-02 9.99636358e-01 2.07369832e-04 -1.09256544e+01] [ 7.09267644e-03 -3.98763181e-04 9.99974767e-01 3.10083228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.5750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.61, Y:-10.92, Z:0.31 [[ 9.99618629e-01 -2.64082839e-02 -8.07457184e-03 5.67605280e+02] [ 2.64110565e-02 9.99651139e-01 2.36913271e-04 -1.09242792e+01] [ 8.06549846e-03 -4.50080892e-04 9.99967372e-01 3.09666837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.64, Y:-10.92, Z:0.31 [[ 9.99608612e-01 -2.65429904e-02 -8.83698939e-03 5.67637192e+02] [ 2.65463195e-02 9.99647551e-01 2.59613604e-04 -1.09211091e+01] [ 8.82698387e-03 -4.94101538e-04 9.99960919e-01 3.09109013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.67, Y:-10.92, Z:0.31 [[ 9.99588963e-01 -2.71944628e-02 -9.07561095e-03 5.67668655e+02] [ 2.71980043e-02 9.99630030e-01 2.66996472e-04 -1.09185414e+01] [ 9.06499242e-03 -5.13725232e-04 9.99958780e-01 3.08790131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.6650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.70, Y:-10.92, Z:0.31 [[ 9.99591369e-01 -2.72171843e-02 -8.73608896e-03 5.67701153e+02] [ 2.72204731e-02 9.99629421e-01 2.57759208e-04 -1.09177112e+01] [ 8.72583607e-03 -4.95454354e-04 9.99961806e-01 3.08390161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.6950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.73, Y:-10.92, Z:0.31 [[ 9.99597600e-01 -2.70344424e-02 -8.58938530e-03 5.67733711e+02] [ 2.70376204e-02 9.99634384e-01 2.54069333e-04 -1.09165309e+01] [ 8.57937627e-03 -4.86203634e-04 9.99963078e-01 3.08523474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.77, Y:-10.91, Z:0.31 [[ 9.99657442e-01 -2.52259232e-02 -6.97506155e-03 5.67765751e+02] [ 2.52279791e-02 9.99681702e-01 2.06904380e-04 -1.09121466e+01] [ 6.96762205e-03 -3.82800210e-04 9.99975653e-01 3.09180276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.80, Y:-10.91, Z:0.31 [[ 9.99709258e-01 -2.33313238e-02 -6.08672479e-03 5.67796945e+02] [ 2.33328603e-02 9.99727735e-01 1.81528383e-04 -1.09103408e+01] [ 6.08083229e-03 -3.23496304e-04 9.99981459e-01 3.09350468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.7850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.83, Y:-10.91, Z:0.31 [[ 9.99756484e-01 -2.13416202e-02 -5.61323046e-03 5.67829058e+02] [ 2.13428969e-02 9.99772200e-01 1.67633298e-04 -1.09084215e+01] [ 5.60837421e-03 -2.87395075e-04 9.99984232e-01 3.09401797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.8150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.86, Y:-10.91, Z:0.31 [[ 9.99810261e-01 -1.88829415e-02 -4.78298374e-03 5.67861744e+02] [ 1.88838423e-02 9.99821674e-01 1.43245215e-04 -1.09067323e+01] [ 4.77942591e-03 -2.33539146e-04 9.99988551e-01 3.09355670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.89, Y:-10.91, Z:0.31 [[ 9.99866456e-01 -1.57714449e-02 -4.28147748e-03 5.67892823e+02] [ 1.57721390e-02 9.99875604e-01 1.28396766e-04 -1.09051106e+01] [ 4.27891988e-03 -1.95907677e-04 9.99990826e-01 3.09254272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.92, Y:-10.90, Z:0.31 [[ 9.99951508e-01 -9.26276647e-03 -3.34416625e-03 5.67924267e+02] [ 9.26315388e-03 9.99957091e-01 1.00373938e-04 -1.09012050e+01] [ 3.34309301e-03 -1.31346597e-04 9.99994403e-01 3.08691943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.96, Y:-10.90, Z:0.31 [[ 9.99976525e-01 -6.00791684e-03 -3.29446053e-03 5.67956151e+02] [ 6.00827557e-03 9.99981945e-01 9.90021085e-05 -1.08998477e+01] [ 3.29380625e-03 -1.18793811e-04 9.99994568e-01 3.08602235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:567.99, Y:-10.90, Z:0.31 [[ 9.99992167e-01 -2.44591972e-03 -3.11195750e-03 5.67987061e+02] [ 2.44622200e-03 9.99997004e-01 9.33324312e-05 -1.08987665e+01] [ 3.11171989e-03 -1.00944239e-04 9.99995153e-01 3.08167476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.02, Y:-10.90, Z:0.31 [[ 9.99985214e-01 4.48176442e-03 -3.07973344e-03 5.68016834e+02] [-4.48150167e-03 9.99989954e-01 9.22120125e-05 -1.08950333e+01] [ 3.08011578e-03 -7.84088185e-05 9.99995253e-01 3.08212584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.995099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.04, Y:-10.89, Z:0.31 [[ 9.99965397e-01 7.79830242e-03 -2.89668037e-03 5.68044880e+02] [-7.79808576e-03 9.99969591e-01 8.60806234e-05 -1.08936443e+01] [ 2.89726357e-03 -6.34890828e-05 9.99995801e-01 3.07810257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.07, Y:-10.89, Z:0.31 [[ 9.99937352e-01 1.09314642e-02 -2.40719822e-03 5.68072380e+02] [-1.09313282e-02 9.99940249e-01 6.96683005e-05 -1.08927687e+01] [ 2.40781597e-03 -4.33500621e-05 9.99997100e-01 3.07107311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.10, Y:-10.89, Z:0.31 [[ 9.99853674e-01 1.69542814e-02 -2.27667980e-03 5.68099541e+02] [-1.69541741e-02 9.99856265e-01 6.64163832e-05 -1.08910215e+01] [ 2.27747861e-03 -2.78074389e-05 9.99997406e-01 3.06376139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.13, Y:-10.89, Z:0.31 [[ 9.99809055e-01 1.94570510e-02 -1.81011421e-03 5.68126980e+02] [-1.94569880e-02 9.99810694e-01 5.24499546e-05 -1.08902113e+01] [ 1.81079207e-03 -1.72205691e-05 9.99998360e-01 3.06141769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.15, Y:-10.89, Z:0.31 [[ 9.99767948e-01 2.14755297e-02 -1.68850717e-03 5.68154653e+02] [-2.14754779e-02 9.99769374e-01 4.87664620e-05 -1.08892262e+01] [ 1.68916504e-03 -1.24936472e-05 9.99998573e-01 3.06034764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.18, Y:-10.89, Z:0.31 [[ 9.99729759e-01 2.31991831e-02 -1.48589970e-03 5.68182497e+02] [-2.31991453e-02 9.99730863e-01 4.26783335e-05 -1.08886398e+01] [ 1.48648989e-03 -8.19519717e-06 9.99998895e-01 3.05538131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.1750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.21, Y:-10.89, Z:0.30 [[ 9.99691808e-01 2.46054823e-02 -3.29533378e-03 5.68209907e+02] [-2.46053033e-02 9.99697239e-01 9.48695895e-05 -1.08875192e+01] [ 3.29667039e-03 -1.37576646e-05 9.99994566e-01 3.04685295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.2050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.24, Y:-10.89, Z:0.30 [[ 9.99716368e-01 2.34720542e-02 -4.03060617e-03 5.68237621e+02] [-2.34717778e-02 9.99724493e-01 1.15856302e-04 -1.08867619e+01] [ 4.03221510e-03 -2.12179493e-05 9.99991870e-01 3.04211485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.27, Y:-10.89, Z:0.30 [[ 9.99844503e-01 1.70660740e-02 -4.44065135e-03 5.68265321e+02] [-1.70656772e-02 9.99854363e-01 1.27226284e-04 -1.08860953e+01] [ 4.44217588e-03 -5.14237787e-05 9.99990132e-01 3.04663578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.29, Y:-10.89, Z:0.30 [[ 9.99897566e-01 1.35864771e-02 -4.50162077e-03 5.68293533e+02] [-1.35860364e-02 9.99907697e-01 1.28482245e-04 -1.08866491e+01] [ 4.50295088e-03 -6.73099002e-05 9.99989859e-01 3.04617055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.2950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.32, Y:-10.89, Z:0.30 [[ 9.99898800e-01 1.34953955e-02 -4.50162962e-03 5.68321991e+02] [-1.34949552e-02 9.99908931e-01 1.28172105e-04 -1.08873802e+01] [ 4.50294940e-03 -6.74098442e-05 9.99989859e-01 3.04460872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.3250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.35, Y:-10.89, Z:0.30 [[ 9.99944281e-01 9.52806669e-03 -4.54427241e-03 5.68350959e+02] [-9.52757807e-03 9.99954603e-01 1.29159695e-04 -1.08883825e+01] [ 4.54529676e-03 -8.58565881e-05 9.99989666e-01 3.04471092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.38, Y:-10.89, Z:0.30 [[ 9.99975940e-01 5.17867399e-03 -4.61535787e-03 5.68379740e+02] [-5.17812517e-03 9.99986585e-01 1.30852951e-04 -1.08896410e+01] [ 4.61597360e-03 -1.06950902e-04 9.99989341e-01 3.04363303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.41, Y:-10.89, Z:0.30 [[ 9.99987731e-01 7.38277689e-04 -4.89831715e-03 5.68407210e+02] [-7.37608783e-04 9.99999718e-01 1.38363443e-04 -1.08912372e+01] [ 4.89841792e-03 -1.34748704e-04 9.99987994e-01 3.04086990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.4150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.44, Y:-10.89, Z:0.30 [[ 9.99979351e-01 -4.15662284e-03 -4.90097105e-03 5.68436421e+02] [ 4.15734992e-03 9.99991349e-01 1.38175477e-04 -1.08926238e+01] [ 4.90035430e-03 -1.58547675e-04 9.99987981e-01 3.03763243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.4450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.47, Y:-10.90, Z:0.30 [[ 9.99899830e-01 -1.35041243e-02 -4.23898054e-03 5.68465361e+02] [ 1.35047513e-02 9.99908800e-01 1.19329736e-04 -1.08950749e+01] [ 4.23698250e-03 -1.76564161e-04 9.99991008e-01 3.03823897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.50, Y:-10.90, Z:0.30 [[ 9.99837343e-01 -1.75647652e-02 -4.09461445e-03 5.68497731e+02] [ 1.75653882e-02 9.99845710e-01 1.16232220e-04 -1.08967803e+01] [ 4.09194110e-03 -1.88136806e-04 9.99991610e-01 3.03906914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.53, Y:-10.90, Z:0.30 [[ 9.99768516e-01 -2.12436919e-02 -3.40874152e-03 5.68530254e+02] [ 2.12441461e-02 9.99774313e-01 9.70911795e-05 -1.08984579e+01] [ 3.40590963e-03 -1.69484507e-04 9.99994186e-01 3.03858083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.5350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.56, Y:-10.90, Z:0.30 [[ 9.99636179e-01 -2.68548102e-02 -2.51562893e-03 5.68562382e+02] [ 2.68550763e-02 9.99639335e-01 7.20869124e-05 -1.09005193e+01] [ 2.51278575e-03 -1.39618093e-04 9.99996833e-01 3.04017038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.5650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.60, Y:-10.90, Z:0.30 [[ 9.99577981e-01 -2.89562316e-02 -2.32314477e-03 5.68595007e+02] [ 2.89564652e-02 9.99580671e-01 6.69691574e-05 -1.09019483e+01] [ 2.32023144e-03 -1.34210956e-04 9.99997299e-01 3.04059543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.63, Y:-10.90, Z:0.30 [[ 9.99528685e-01 -3.06372581e-02 -1.94083168e-03 5.68626874e+02] [ 3.06374246e-02 9.99530562e-01 5.61214328e-05 -1.09031075e+01] [ 1.93820117e-03 -1.15557066e-04 9.99998115e-01 3.03785860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.66, Y:-10.90, Z:0.30 [[ 9.99532492e-01 -3.05127877e-02 -1.94081948e-03 5.68660400e+02] [ 3.05129548e-02 9.99534370e-01 5.65449990e-05 -1.09041559e+01] [ 1.93819043e-03 -1.15738701e-04 9.99998115e-01 3.03602194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.6550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.69, Y:-10.91, Z:0.30 [[ 9.99459361e-01 -3.28188658e-02 -1.97670147e-03 5.68693509e+02] [ 3.28190438e-02 9.99461308e-01 5.77064489e-05 -1.09051816e+01] [ 1.97374277e-03 -1.22548703e-04 9.99998045e-01 3.03508372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.6850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.73, Y:-10.91, Z:0.30 [[ 9.99442523e-01 -3.33091022e-02 -2.26870763e-03 5.68725928e+02] [ 3.33093380e-02 9.99445088e-01 6.62453807e-05 -1.09062749e+01] [ 2.26524212e-03 -1.41777600e-04 9.99997424e-01 3.03295334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.7150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.76, Y:-10.91, Z:0.30 [[ 9.99427438e-01 -3.36961544e-02 -3.06022704e-03 5.68759067e+02] [ 3.36965862e-02 9.99432105e-01 8.96303065e-05 -1.09072943e+01] [ 3.05546895e-03 -1.92698192e-04 9.99995313e-01 3.03455195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.745099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.79, Y:-10.91, Z:0.30 [[ 9.99433529e-01 -3.34907956e-02 -3.31471296e-03 5.68791617e+02] [ 3.34913021e-02 9.99439004e-01 9.73958299e-05 -1.09082764e+01] [ 3.30959156e-03 -2.08354711e-04 9.99994502e-01 3.03109579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.82, Y:-10.91, Z:0.30 [[ 9.99451931e-01 -3.29225501e-02 -3.45602138e-03 5.68824331e+02] [ 3.29230985e-02 9.99457883e-01 1.01906928e-04 -1.09088552e+01] [ 3.45079277e-03 -2.15634008e-04 9.99994023e-01 3.03015456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.8050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.85, Y:-10.92, Z:0.31 [[ 9.99317835e-01 -3.51028205e-02 -1.14741746e-02 5.68850963e+02] [ 3.54176005e-02 9.98966418e-01 2.84901575e-02 -1.09161678e+01] [ 1.04622302e-02 -2.88771103e-02 9.99528216e-01 3.06423221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.8350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.89, Y:-10.90, Z:0.31 [[ 9.99571433e-01 -2.87093291e-02 -5.72059282e-03 5.68886677e+02] [ 2.85378049e-02 9.99197793e-01 -2.80956417e-02 -1.08955279e+01] [ 6.52261074e-03 2.79203477e-02 9.99588870e-01 3.11916674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.92, Y:-10.91, Z:0.30 [[ 9.99697623e-01 -2.40167851e-02 -5.27791342e-03 5.68918204e+02] [ 2.40179455e-02 9.99711515e-01 1.56576355e-04 -1.09089697e+01] [ 5.27263037e-03 -2.83293647e-04 9.99986059e-01 3.03439660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.94, Y:-10.92, Z:0.31 [[ 9.99574584e-01 -2.61015248e-02 -1.30139159e-02 5.68943400e+02] [ 2.64994081e-02 9.99155517e-01 3.14011826e-02 -1.09174152e+01] [ 1.21833071e-02 -3.17326851e-02 9.99422135e-01 3.05677494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.9250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:568.98, Y:-10.89, Z:0.31 [[ 9.99832907e-01 -1.70287164e-02 -6.64688945e-03 5.68979746e+02] [ 1.68152263e-02 9.99379429e-01 -3.09516654e-02 -1.08937456e+01] [ 7.16983171e-03 3.08347247e-02 9.99498781e-01 3.13031019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.9550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.01, Y:-10.91, Z:0.30 [[ 9.99897280e-01 -1.31393389e-02 -5.72605147e-03 5.69009293e+02] [ 1.31405331e-02 9.99913645e-01 1.70992854e-04 -1.09082993e+01] [ 5.72331026e-03 -2.46218659e-04 9.99983591e-01 3.03543807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.04, Y:-10.91, Z:0.30 [[ 9.99975057e-01 -4.29037731e-03 -5.61061510e-03 5.69041008e+02] [ 4.29138519e-03 9.99990778e-01 1.67610119e-04 -1.09063468e+01] [ 5.60984425e-03 -1.91683249e-04 9.99984246e-01 3.04224995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.07, Y:-10.91, Z:0.30 [[ 9.99984469e-01 5.34159706e-05 -5.57299145e-03 5.69070522e+02] [-5.24922771e-05 9.99999985e-01 1.65890758e-04 -1.09054125e+01] [ 5.57300022e-03 -1.65595643e-04 9.99984457e-01 3.04529223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.0450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.10, Y:-10.91, Z:0.30 [[ 9.99979161e-01 3.96602904e-03 -5.09402506e-03 5.69098272e+02] [-3.96532289e-03 9.99992127e-01 1.48715627e-04 -1.09050252e+01] [ 5.09457476e-03 -1.28513074e-04 9.99987014e-01 3.04657779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.0750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.12, Y:-10.90, Z:0.31 [[ 9.99925164e-01 1.14659080e-02 -4.26600431e-03 5.69124819e+02] [-1.14654804e-02 9.99934261e-01 1.24660771e-04 -1.09048315e+01] [ 4.26715322e-03 -7.57396529e-05 9.99990893e-01 3.05157805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.15, Y:-10.90, Z:0.31 [[ 9.99882927e-01 1.47348666e-02 -4.12498767e-03 5.69151395e+02] [-1.47344968e-02 9.99891434e-01 1.20021046e-04 -1.09048173e+01] [ 4.12630833e-03 -5.92273777e-05 9.99991485e-01 3.05555602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.18, Y:-10.90, Z:0.31 [[ 9.99772658e-01 2.04475577e-02 -6.04400669e-03 5.69178805e+02] [-2.04468706e-02 9.99790926e-01 1.75450158e-04 -1.09042617e+01] [ 6.04633057e-03 -5.18292480e-05 9.99981719e-01 3.05588250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.1650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.21, Y:-10.90, Z:0.30 [[ 9.99719246e-01 2.25751939e-02 -7.19652330e-03 5.69207002e+02] [-2.25742789e-02 9.99745147e-01 2.08352431e-04 -1.09047968e+01] [ 7.19939284e-03 -4.58376113e-05 9.99974083e-01 3.04840575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.1950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.23, Y:-10.91, Z:0.30 [[ 9.99664815e-01 2.48044149e-02 -7.41606598e-03 5.69234933e+02] [-2.48035106e-02 9.99692323e-01 2.13905246e-04 -1.09055890e+01] [ 7.41909002e-03 -2.98890766e-05 9.99972478e-01 3.04704774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.225099893 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:569.26, Y:-10.91, Z:0.31 [[ 9.99581521e-01 2.71407225e-02 -1.00082019e-02 5.69260530e+02] [-2.69333120e-02 9.99430948e-01 2.03070430e-02 -1.09138520e+01] [ 1.05536545e-02 -2.00289909e-02 9.99743697e-01 3.05726618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.29, Y:-10.90, Z:0.31 [[ 9.99530006e-01 3.00027897e-02 -6.29279863e-03 5.69290812e+02] [-3.01219989e-02 9.99350263e-01 -1.97918233e-02 -1.08985858e+01] [ 5.69490005e-03 1.99720730e-02 9.99784319e-01 3.11254976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.2850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.32, Y:-10.91, Z:0.31 [[ 9.99508070e-01 3.08686255e-02 -5.54486776e-03 5.69317679e+02] [-3.08682306e-02 9.99523450e-01 1.56805706e-04 -1.09098926e+01] [ 5.54706574e-03 1.44316882e-05 9.99984615e-01 3.05035141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.3150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.34, Y:-10.92, Z:0.31 [[ 9.99499081e-01 3.08012761e-02 -7.27109344e-03 5.69343521e+02] [-3.07114815e-02 9.99454393e-01 1.21540504e-02 -1.09164403e+01] [ 7.64148654e-03 -1.19246561e-02 9.99899700e-01 3.05890996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.37, Y:-10.91, Z:0.31 [[ 9.99503724e-01 3.08735578e-02 -6.25533419e-03 5.69373298e+02] [-3.09454476e-02 9.99452107e-01 -1.17416135e-02 -1.09078636e+01] [ 5.88940155e-03 1.19293606e-02 9.99911499e-01 3.08869214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.40, Y:-10.92, Z:0.30 [[ 9.99578196e-01 2.82841144e-02 -6.59081597e-03 5.69400764e+02] [-2.82835193e-02 9.99599924e-01 1.83498285e-04 -1.09167824e+01] [ 6.59336923e-03 2.99058534e-06 9.99978263e-01 3.04281755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.43, Y:-10.92, Z:0.30 [[ 9.99632140e-01 2.64172038e-02 -6.14131261e-03 5.69429064e+02] [-2.64166562e-02 9.99651005e-01 1.70277356e-04 -1.09189129e+01] [ 6.14366757e-03 -7.98177393e-06 9.99981127e-01 3.04319297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.46, Y:-10.92, Z:0.30 [[ 9.99680000e-01 2.46243171e-02 -5.79137429e-03 5.69457463e+02] [-2.46238039e-02 9.99696775e-01 1.59910973e-04 -1.09212463e+01] [ 5.79355591e-03 -1.72541369e-05 9.99983217e-01 3.04493563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.48, Y:-10.92, Z:0.30 [[ 9.99726266e-01 2.27632234e-02 -5.40628866e-03 5.69484734e+02] [-2.27627534e-02 9.99740884e-01 1.48465059e-04 -1.09237222e+01] [ 5.40826734e-03 -2.53624035e-05 9.99985375e-01 3.04671018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.495099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.51, Y:-10.93, Z:0.30 [[ 9.99798223e-01 1.93126123e-02 -5.52594847e-03 5.69511186e+02] [-1.93120721e-02 9.99813493e-01 1.51106319e-04 -1.09275218e+01] [ 5.52783610e-03 -4.43583138e-05 9.99984720e-01 3.04914516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.54, Y:-10.93, Z:0.31 [[ 9.99826669e-01 1.76551493e-02 -5.90994908e-03 5.69538742e+02] [-1.76545056e-02 9.99844134e-01 1.61081219e-04 -1.09293461e+01] [ 5.91187183e-03 -5.67160700e-05 9.99982523e-01 3.05007852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.57, Y:-10.93, Z:0.30 [[ 9.99846109e-01 1.63733307e-02 -6.29860982e-03 5.69565428e+02] [-1.63725794e-02 9.99865946e-01 1.70821764e-04 -1.09310926e+01] [ 6.30056239e-03 -6.76709863e-05 9.99980149e-01 3.04999158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.59, Y:-10.93, Z:0.30 [[ 9.99862159e-01 1.53520690e-02 -6.32271042e-03 5.69593835e+02] [-1.53512951e-02 9.99882147e-01 1.70904050e-04 -1.09330887e+01] [ 6.32458900e-03 -7.38186987e-05 9.99979997e-01 3.04741804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.62, Y:-10.94, Z:0.30 [[ 9.99872929e-01 1.46822334e-02 -6.20957437e-03 5.69620258e+02] [-1.46814796e-02 9.99892207e-01 1.66967817e-04 -1.09353448e+01] [ 6.21135648e-03 -7.57808606e-05 9.99980706e-01 3.04518208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.65, Y:-10.94, Z:0.30 [[ 9.99881552e-01 1.43635530e-02 -5.52904426e-03 5.69648397e+02] [-1.43629537e-02 9.99896837e-01 1.48088457e-04 -1.09397170e+01] [ 5.53060094e-03 -6.86575091e-05 9.99984704e-01 3.04134471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.6750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.68, Y:-10.94, Z:0.30 [[ 9.99883375e-01 1.42645690e-02 -5.45521237e-03 5.69675852e+02] [-1.42639874e-02 9.99898254e-01 1.45509697e-04 -1.09421065e+01] [ 5.45673295e-03 -6.76796465e-05 9.99985110e-01 3.03959899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.7050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.70, Y:-10.95, Z:0.30 [[ 9.99871310e-01 1.49329416e-02 -5.86257149e-03 5.69703759e+02] [-1.49322850e-02 9.99888495e-01 1.55766011e-04 -1.09452840e+01] [ 5.86424382e-03 -6.82043774e-05 9.99982803e-01 3.03742731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.73, Y:-10.95, Z:0.30 [[ 9.99865052e-01 1.52457466e-02 -6.11931429e-03 5.69730836e+02] [-1.52450422e-02 9.99883775e-01 1.61741893e-04 -1.09468730e+01] [ 6.12106894e-03 -6.84308612e-05 9.99981264e-01 3.03565493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.76, Y:-10.95, Z:0.30 [[ 9.99864282e-01 1.52962793e-02 -6.11897673e-03 5.69758057e+02] [-1.52955806e-02 9.99883003e-01 1.60972023e-04 -1.09483300e+01] [ 6.12072310e-03 -6.73568747e-05 9.99981266e-01 3.03466066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.7950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.79, Y:-10.95, Z:0.30 [[ 9.99858974e-01 1.57568941e-02 -5.80968726e-03 5.69785923e+02] [-1.57562754e-02 9.99875851e-01 1.52261496e-04 -1.09502406e+01] [ 5.81136516e-03 -6.07009905e-05 9.99983112e-01 3.03273662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.8250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.81, Y:-10.95, Z:0.30 [[ 9.99838480e-01 1.70228895e-02 -5.76498172e-03 5.69812873e+02] [-1.70223061e-02 9.99855099e-01 1.50262550e-04 -1.09540396e+01] [ 5.76670427e-03 -5.21049961e-05 9.99983371e-01 3.02536533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.84, Y:-10.96, Z:0.30 [[ 9.99820550e-01 1.78351128e-02 -6.38557872e-03 5.69840867e+02] [-1.78344169e-02 9.99840940e-01 1.65910679e-04 -1.09564017e+01] [ 6.38752207e-03 -5.19978331e-05 9.99979598e-01 3.02384358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.87, Y:-10.96, Z:0.30 [[ 9.99770562e-01 1.99461361e-02 -7.80869776e-03 5.69867652e+02] [-1.99451719e-02 9.99801055e-01 2.01346253e-04 -1.09591815e+01] [ 7.81116034e-03 -4.55542372e-05 9.99969491e-01 3.02048691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.9150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.90, Y:-10.96, Z:0.30 [[ 9.99746512e-01 2.10120725e-02 -8.08728306e-03 5.69895123e+02] [-2.10110773e-02 9.99779221e-01 2.08002213e-04 -1.09604703e+01] [ 8.08986812e-03 -3.80269577e-05 9.99967276e-01 3.01825042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.9450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.92, Y:-10.96, Z:0.30 [[ 9.99689312e-01 2.33343213e-02 -8.76298590e-03 5.69923523e+02] [-2.33332501e-02 9.99727717e-01 2.24468139e-04 -1.09631518e+01] [ 8.76583770e-03 -1.99294576e-05 9.99961579e-01 3.01944885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.95, Y:-10.97, Z:0.30 [[ 9.99684231e-01 2.39010218e-02 -7.75748704e-03 5.69950281e+02] [-2.39002083e-02 9.99714330e-01 1.97559341e-04 -1.09697761e+01] [ 7.75999283e-03 -1.20914016e-05 9.99969891e-01 3.01572056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:569.98, Y:-10.98, Z:0.30 [[ 9.99748371e-01 2.09664694e-02 -7.97506584e-03 5.69977651e+02] [-2.09655221e-02 9.99780179e-01 2.02377155e-04 -1.09759950e+01] [ 7.97755588e-03 -3.51248119e-05 9.99968178e-01 3.00904221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.0350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.01, Y:-10.98, Z:0.30 [[ 9.99775307e-01 1.93789998e-02 -8.59014883e-03 5.70005298e+02] [-1.93778498e-02 9.99812208e-01 2.17095637e-04 -1.09780175e+01] [ 8.59274276e-03 -5.05882434e-05 9.99963080e-01 3.00764250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.0650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.03, Y:-10.98, Z:0.30 [[ 9.99800552e-01 1.76348603e-02 -9.37375011e-03 5.70032581e+02] [-1.76334256e-02 9.99844491e-01 2.35685679e-04 -1.09801462e+01] [ 9.37644869e-03 -7.03473465e-05 9.99956038e-01 3.00661618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.06, Y:-10.98, Z:0.30 [[ 9.99834272e-01 1.56090968e-02 -9.36934114e-03 5.70060596e+02] [-1.56075831e-02 9.99878167e-01 2.34658955e-04 -1.09825917e+01] [ 9.37186245e-03 -8.83872953e-05 9.99956079e-01 3.00238765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.09, Y:-10.98, Z:0.30 [[ 9.99835670e-01 1.55192589e-02 -9.36935971e-03 5.70089062e+02] [-1.55177482e-02 9.99879565e-01 2.33916676e-04 -1.09832200e+01] [ 9.37186153e-03 -8.84868714e-05 9.99956079e-01 3.00081231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.1550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.12, Y:-10.99, Z:0.30 [[ 9.99864427e-01 1.33400947e-02 -9.65244552e-03 5.70116132e+02] [-1.33384031e-02 9.99911011e-01 2.39600114e-04 -1.09858598e+01] [ 9.65478284e-03 -1.10819421e-04 9.99953385e-01 2.99898486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.1850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.14, Y:-10.99, Z:0.30 [[ 9.99894164e-01 1.11410982e-02 -9.35605853e-03 5.70143617e+02] [-1.11394208e-02 9.99937928e-01 2.31381946e-04 -1.09886225e+01] [ 9.35805563e-03 -1.27136385e-04 9.99956204e-01 2.99568080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.2150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.17, Y:-10.99, Z:0.30 [[ 9.99922351e-01 8.92531184e-03 -8.69654271e-03 5.70172034e+02] [-8.92378714e-03 9.99960159e-01 2.14110351e-04 -1.09908717e+01] [ 8.69810723e-03 -1.36487629e-04 9.99962161e-01 2.99416474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.20, Y:-10.99, Z:0.30 [[ 9.99957357e-01 4.53955765e-03 -8.04212773e-03 5.70200876e+02] [-4.53811553e-03 9.99989683e-01 1.97560014e-04 -1.09938933e+01] [ 8.04294160e-03 -1.61055484e-04 9.99967642e-01 2.99879620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.23, Y:-11.00, Z:0.30 [[ 9.99976807e-01 7.86826620e-04 -6.76514898e-03 5.70228793e+02] [-7.85726001e-04 9.99999678e-01 1.65345885e-04 -1.09960253e+01] [ 6.76527689e-03 -1.60026496e-04 9.99977102e-01 3.00341180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.3050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.26, Y:-11.00, Z:0.30 [[ 9.99979450e-01 -4.29455641e-04 -6.39647166e-03 5.70257201e+02] [ 4.30462181e-04 9.99999895e-01 1.55982687e-04 -1.09971558e+01] [ 6.39640400e-03 -1.58732921e-04 9.99979530e-01 3.00455051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.3350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.28, Y:-11.00, Z:0.30 [[ 9.99981424e-01 -1.01394390e-03 -6.01022891e-03 5.70284618e+02] [ 1.01483917e-03 9.99999474e-01 1.45911346e-04 -1.09985579e+01] [ 6.01007780e-03 -1.52008051e-04 9.99981928e-01 3.00119327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.31, Y:-11.00, Z:0.30 [[ 9.99983048e-01 -1.11521047e-03 -5.71481702e-03 5.70312099e+02] [ 1.11601727e-03 9.99999368e-01 1.37990006e-04 -1.10002027e+01] [ 5.71465952e-03 -1.44365501e-04 9.99983661e-01 2.99770656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.34, Y:-11.00, Z:0.30 [[ 9.99982709e-01 -1.38626148e-03 -5.71487600e-03 5.70340512e+02] [ 1.38705871e-03 9.99999029e-01 1.35540627e-04 -1.10008296e+01] [ 5.71468256e-03 -1.43465152e-04 9.99983661e-01 2.99613423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.4250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.37, Y:-11.00, Z:0.30 [[ 9.99985353e-01 -7.10508579e-05 -5.41191030e-03 5.70368827e+02] [ 7.17393240e-05 9.99999989e-01 1.27019093e-04 -1.10028144e+01] [ 5.41190122e-03 -1.27405480e-04 9.99985347e-01 2.99400328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.4550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.40, Y:-11.00, Z:0.30 [[ 9.99985768e-01 1.20000658e-03 -5.19835638e-03 5.70396504e+02] [-1.19939755e-03 9.99999274e-01 1.20274553e-04 -1.10032862e+01] [ 5.19849693e-03 -1.14037945e-04 9.99986481e-01 2.99583689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.42, Y:-11.00, Z:0.30 [[ 9.99979518e-01 4.70258288e-03 -4.34168335e-03 5.70424461e+02] [-4.70219777e-03 9.99988940e-01 9.89033494e-05 -1.10031641e+01] [ 4.34210043e-03 -7.84858699e-05 9.99990570e-01 3.00518285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.45, Y:-11.00, Z:0.30 [[ 9.99979772e-01 4.64822900e-03 -4.34165854e-03 5.70453771e+02] [-4.64783873e-03 9.99989194e-01 9.99740950e-05 -1.10037848e+01] [ 4.34207633e-03 -7.97927440e-05 9.99990570e-01 3.00355849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.5450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.48, Y:-11.00, Z:0.30 [[ 9.99973482e-01 6.37534982e-03 -3.52010484e-03 5.70482132e+02] [-6.37511231e-03 9.99979676e-01 7.86873658e-05 -1.10042965e+01] [ 3.52053495e-03 -5.62442154e-05 9.99993801e-01 3.00565549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.5750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.51, Y:-11.01, Z:0.30 [[ 9.99966481e-01 7.46531986e-03 -3.36228048e-03 5.70510845e+02] [-7.46510635e-03 9.99972133e-01 7.60469475e-05 -1.10051718e+01] [ 3.36275450e-03 -5.09446172e-05 9.99994345e-01 3.00521780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.54, Y:-11.01, Z:0.30 [[ 9.99960001e-01 8.18570183e-03 -3.60440009e-03 5.70539867e+02] [-8.18546196e-03 9.99966495e-01 8.12960428e-05 -1.10065513e+01] [ 3.60494479e-03 -5.17891112e-05 9.99993501e-01 3.00353969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.57, Y:-11.01, Z:0.30 [[ 9.99962634e-01 7.51566842e-03 -4.27141699e-03 5.70567727e+02] [-7.51532715e-03 9.99971755e-01 9.59408654e-05 -1.10091893e+01] [ 4.27201740e-03 -6.38361844e-05 9.99990873e-01 2.99449835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.6650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.60, Y:-11.01, Z:0.30 [[ 9.99966259e-01 6.48209613e-03 -5.04602177e-03 5.70596968e+02] [-6.48160752e-03 9.99978988e-01 1.13179663e-04 -1.10106157e+01] [ 5.04664939e-03 -8.04695114e-05 9.99987262e-01 2.99068769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.6950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.63, Y:-11.01, Z:0.30 [[ 9.99971108e-01 3.89985384e-03 -6.52495362e-03 5.70626160e+02] [-3.89898428e-03 9.99992388e-01 1.45983067e-04 -1.10123197e+01] [ 6.52547326e-03 -1.20538158e-04 9.99978702e-01 2.98714884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.65, Y:-11.01, Z:0.30 [[ 9.99973484e-01 2.47730369e-03 -6.84799124e-03 5.70653872e+02] [-2.47631725e-03 9.99996922e-01 1.52524175e-04 -1.10131784e+01] [ 6.84834801e-03 -1.35562332e-04 9.99976541e-01 2.98565311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.68, Y:-11.01, Z:0.30 [[ 9.99973733e-01 1.57742503e-03 -7.07420560e-03 5.70682680e+02] [-1.57635234e-03 9.99998745e-01 1.57207379e-04 -1.10141832e+01] [ 7.07444471e-03 -1.46051810e-04 9.99974965e-01 2.98577421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.7850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.71, Y:-11.02, Z:0.30 [[ 9.99972076e-01 1.05011315e-03 -7.39899651e-03 5.70710278e+02] [-1.04893047e-03 9.99999436e-01 1.63722396e-04 -1.10150289e+01] [ 7.39916427e-03 -1.55956792e-04 9.99972614e-01 2.98770866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.8150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.74, Y:-11.02, Z:0.30 [[ 9.99976414e-01 1.14730930e-03 -6.77165190e-03 5.70738225e+02] [-1.14632696e-03 9.99999332e-01 1.48946070e-04 -1.10161972e+01] [ 6.77181826e-03 -1.41180030e-04 9.99977061e-01 2.99488638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.77, Y:-11.02, Z:0.30 [[ 9.99979455e-01 1.38738790e-03 -6.25822800e-03 5.70766648e+02] [-1.38655809e-03 9.99999029e-01 1.36930802e-04 -1.10166256e+01] [ 6.25841190e-03 -1.28250592e-04 9.99980408e-01 3.00139450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.79, Y:-11.02, Z:0.30 [[ 9.99984819e-01 1.52692012e-03 -5.29434383e-03 5.70794724e+02] [-1.52633178e-03 9.99998829e-01 1.15163356e-04 -1.10168784e+01] [ 5.29451347e-03 -1.07080682e-04 9.99985978e-01 3.00538276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.82, Y:-11.02, Z:0.30 [[ 9.99991388e-01 1.60587796e-03 -3.82685751e-03 5.70822155e+02] [-1.60557271e-03 9.99998708e-01 8.28342053e-05 -1.10172473e+01] [ 3.82698558e-03 -7.66891939e-05 9.99992674e-01 3.01227996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.85, Y:-11.02, Z:0.30 [[ 9.99995063e-01 9.42262599e-04 -2.99768107e-03 5.70850079e+02] [-9.42073423e-04 9.99999554e-01 6.45188721e-05 -1.10176068e+01] [ 2.99774052e-03 -6.16945179e-05 9.99995505e-01 3.01335400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.88, Y:-11.02, Z:0.30 [[ 9.99997202e-01 5.43432367e-04 -2.30227000e-03 5.70878947e+02] [-5.43320119e-04 9.99999851e-01 4.93804837e-05 -1.10181032e+01] [ 2.30229650e-03 -4.81294760e-05 9.99997349e-01 3.01384481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.995099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.91, Y:-11.02, Z:0.30 [[ 9.99997932e-01 -4.59703691e-05 -2.03324183e-03 5.70908291e+02] [ 4.60592819e-05 9.99999998e-01 4.36826966e-05 -1.10188506e+01] [ 2.03323982e-03 -4.37762559e-05 9.99997932e-01 3.00954362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.94, Y:-11.02, Z:0.30 [[ 9.99997854e-01 3.76751391e-05 -2.07134006e-03 5.70938113e+02] [-3.75831880e-05 9.99999998e-01 4.44308977e-05 -1.10194929e+01] [ 2.07134173e-03 -4.43529548e-05 9.99997854e-01 3.00329432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:570.97, Y:-11.02, Z:0.30 [[ 9.99996576e-01 8.43869470e-06 -2.61704077e-03 5.70967521e+02] [-8.29194228e-06 9.99999998e-01 5.60864961e-05 -1.10198411e+01] [ 2.61704124e-03 -5.60646037e-05 9.99996574e-01 3.00431967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.00, Y:-11.02, Z:0.30 [[ 9.99995309e-01 -1.64827803e-04 -3.05849422e-03 5.70997401e+02] [ 1.65028818e-04 9.99999984e-01 6.54711293e-05 -1.10195690e+01] [ 3.05848338e-03 -6.59755618e-05 9.99995321e-01 3.00276910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.03, Y:-11.02, Z:0.30 [[ 9.99993719e-01 -7.97048573e-04 -3.45341178e-03 5.71026378e+02] [ 7.97307722e-04 9.99999679e-01 7.36651987e-05 -1.10197580e+01] [ 3.45335195e-03 -7.64181679e-05 9.99994034e-01 3.00055500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.06, Y:-11.02, Z:0.30 [[ 9.99990171e-01 -1.89179033e-03 -4.00974672e-03 5.71056433e+02] [ 1.89214851e-03 9.99998206e-01 8.55350680e-05 -1.10200798e+01] [ 4.00957772e-03 -9.31212636e-05 9.99991957e-01 2.99913988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.1750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.09, Y:-11.02, Z:0.30 [[ 9.99984308e-01 -3.33305093e-03 -4.50262739e-03 5.71085637e+02] [ 3.33351656e-03 9.99994439e-01 9.59113422e-05 -1.10206606e+01] [ 4.50228268e-03 -1.10919420e-04 9.99989859e-01 2.99859682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.2050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.12, Y:-11.02, Z:0.30 [[ 9.99962711e-01 -6.75030138e-03 -5.38606428e-03 5.71115655e+02] [ 6.75101633e-03 9.99977205e-01 1.14569786e-04 -1.10217422e+01] [ 5.38516813e-03 -1.50926922e-04 9.99985488e-01 2.99250598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.14, Y:-11.02, Z:0.30 [[ 9.99946665e-01 -8.52999084e-03 -5.82287585e-03 5.71144678e+02] [ 8.53085428e-03 9.99963604e-01 1.23461795e-04 -1.10226546e+01] [ 5.82161079e-03 -1.73129316e-04 9.99983039e-01 2.98932023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.17, Y:-11.02, Z:0.30 [[ 9.99929087e-01 -1.02032897e-02 -6.14109441e-03 5.71174807e+02] [ 1.02042810e-02 9.99947927e-01 1.30100384e-04 -1.10235382e+01] [ 6.13944717e-03 -1.92756611e-04 9.99981135e-01 2.98567217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.2950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.20, Y:-11.02, Z:0.30 [[ 9.99913894e-01 -1.16204382e-02 -6.09676167e-03 5.71204205e+02] [ 1.16214414e-02 9.99932460e-01 1.29150960e-04 -1.10239384e+01] [ 6.09484910e-03 -1.99992998e-04 9.99981406e-01 2.98319480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.3250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.23, Y:-11.02, Z:0.30 [[ 9.99891952e-01 -1.32591382e-02 -6.34657878e-03 5.71233953e+02] [ 1.32602576e-02 9.99912070e-01 1.34334207e-04 -1.10235586e+01] [ 6.34423957e-03 -2.18476962e-04 9.99979851e-01 2.97978574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.26, Y:-11.02, Z:0.30 [[ 9.99884588e-01 -1.36985886e-02 -6.56961524e-03 5.71264913e+02] [ 1.36997982e-02 9.99906144e-01 1.39157681e-04 -1.10235398e+01] [ 6.56709238e-03 -2.29144024e-04 9.99978410e-01 2.97942445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.30, Y:-11.02, Z:0.30 [[ 9.99879588e-01 -1.39100373e-02 -6.87904343e-03 5.71295627e+02] [ 1.39113685e-02 9.99903222e-01 1.45711993e-04 -1.10233378e+01] [ 6.87635083e-03 -2.41391356e-04 9.99976328e-01 2.97739304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.4150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.33, Y:-11.02, Z:0.30 [[ 9.99878050e-01 -1.39417784e-02 -7.03641850e-03 5.71325849e+02] [ 1.39431720e-02 9.99902778e-01 1.49045514e-04 -1.10232167e+01] [ 7.03365644e-03 -2.47137332e-04 9.99975233e-01 2.97634184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.4450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.36, Y:-11.02, Z:0.30 [[ 9.99874578e-01 -1.39918034e-02 -7.42008150e-03 5.71356648e+02] [ 1.39933546e-02 9.99902076e-01 1.57172269e-04 -1.10222407e+01] [ 7.41715577e-03 -2.60984388e-04 9.99972458e-01 2.97911518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.39, Y:-11.02, Z:0.30 [[ 9.99876280e-01 -1.40374569e-02 -7.09745831e-03 5.71386013e+02] [ 1.40388756e-02 9.99901439e-01 1.50109855e-04 -1.10218777e+01] [ 7.09465162e-03 -2.49731618e-04 9.99974801e-01 2.97876517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.42, Y:-11.02, Z:0.30 [[ 9.99874662e-01 -1.42604505e-02 -6.87744751e-03 5.71416363e+02] [ 1.42617886e-02 9.99898285e-01 1.45553639e-04 -1.10214506e+01] [ 6.87467230e-03 -2.43620098e-04 9.99976339e-01 2.97991263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.5350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.45, Y:-11.02, Z:0.30 [[ 9.99861181e-01 -1.54987072e-02 -6.11620838e-03 5.71446755e+02] [ 1.54997899e-02 9.99879863e-01 1.29652308e-04 -1.10201771e+01] [ 6.11346415e-03 -2.24434255e-04 9.99981287e-01 2.98379622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.5650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.48, Y:-11.02, Z:0.30 [[ 9.99852649e-01 -1.62339563e-02 -5.58023251e-03 5.71478535e+02] [ 1.62348707e-02 9.99868199e-01 1.18602753e-04 -1.10200167e+01] [ 5.57757163e-03 -2.09179630e-04 9.99984423e-01 2.98294480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.51, Y:-11.02, Z:0.30 [[ 9.99848894e-01 -1.66448576e-02 -5.01378437e-03 5.71509424e+02] [ 1.66456066e-02 9.99861447e-01 1.07676708e-04 -1.10201150e+01] [ 5.01129743e-03 -1.91117919e-04 9.99987425e-01 2.98015183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.54, Y:-11.02, Z:0.30 [[ 9.99838513e-01 -1.72780810e-02 -4.94115989e-03 5.71541451e+02] [ 1.72788166e-02 9.99850704e-01 1.06209273e-04 -1.10192767e+01] [ 4.93858710e-03 -1.91569517e-04 9.99987787e-01 2.97213663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.6550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.57, Y:-11.02, Z:0.30 [[ 9.99843117e-01 -1.70360696e-02 -4.84908330e-03 5.71572991e+02] [ 1.70367760e-02 9.99854858e-01 1.04397848e-04 -1.10191603e+01] [ 4.84660097e-03 -1.86994215e-04 9.99988238e-01 2.96834002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.6850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.60, Y:-11.02, Z:0.30 [[ 9.99850154e-01 -1.65736353e-02 -4.99851610e-03 5.71604199e+02] [ 1.65743813e-02 9.99862630e-01 1.07862170e-04 -1.10183075e+01] [ 4.99604178e-03 -1.90693319e-04 9.99987502e-01 2.96751887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.7150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.64, Y:-11.02, Z:0.30 [[ 9.99879054e-01 -1.44677623e-02 -5.70625394e-03 5.71635106e+02] [ 1.44687054e-02 9.99895315e-01 1.24040878e-04 -1.10156939e+01] [ 5.70386199e-03 -2.06587984e-04 9.99983712e-01 2.96953075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.745099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.67, Y:-11.01, Z:0.30 [[ 9.99894413e-01 -1.33925080e-02 -5.63953337e-03 5.71666051e+02] [ 1.33934109e-02 9.99910297e-01 1.22366798e-04 -1.10149344e+01] [ 5.63738869e-03 -1.97886466e-04 9.99984090e-01 2.96783359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.70, Y:-11.01, Z:0.30 [[ 9.99909478e-01 -1.23961821e-02 -5.23161952e-03 5.71697268e+02] [ 1.23969466e-02 9.99923148e-01 1.13732260e-04 -1.10142165e+01] [ 5.22980761e-03 -1.78578072e-04 9.99986309e-01 2.96849925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.8050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.73, Y:-11.01, Z:0.30 [[ 9.99929077e-01 -1.11615624e-02 -4.15457088e-03 5.71729050e+02] [ 1.11620347e-02 9.99937698e-01 9.05129028e-05 -1.10120424e+01] [ 4.15330178e-03 -1.36879948e-04 9.99991366e-01 2.97270952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.8350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.76, Y:-11.01, Z:0.30 [[ 9.99932434e-01 -1.09853898e-02 -3.80126917e-03 5.71758954e+02] [ 1.09857839e-02 9.99939651e-01 8.27998376e-05 -1.10113946e+01] [ 3.80013018e-03 -1.24554165e-04 9.99992772e-01 2.97022694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.79, Y:-11.01, Z:0.30 [[ 9.99931730e-01 -1.10780579e-02 -3.71633142e-03 5.71790627e+02] [ 1.10784360e-02 9.99938629e-01 8.11912343e-05 -1.10109890e+01] [ 3.71520390e-03 -1.22356831e-04 9.99993091e-01 2.96878258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.82, Y:-11.01, Z:0.30 [[ 9.99928424e-01 -1.13430118e-02 -3.80556735e-03 5.71821849e+02] [ 1.13434139e-02 9.99935658e-01 8.40780871e-05 -1.10104723e+01] [ 3.80436879e-03 -1.27240195e-04 9.99992755e-01 2.96397771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.9250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.85, Y:-11.01, Z:0.30 [[ 9.99901112e-01 -1.32442516e-02 -4.72827860e-03 5.71853452e+02] [ 1.32448913e-02 9.99912277e-01 1.03995623e-04 -1.10086740e+01] [ 4.72648647e-03 -1.66610875e-04 9.99988816e-01 2.95882103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.9550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.89, Y:-11.01, Z:0.30 [[ 9.99876050e-01 -1.48247305e-02 -5.30210864e-03 5.71885060e+02] [ 1.48255579e-02 9.99890089e-01 1.16788598e-04 -1.10085723e+01] [ 5.29979452e-03 -1.95380840e-04 9.99985937e-01 2.95337076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.92, Y:-11.01, Z:0.29 [[ 9.99840519e-01 -1.68374409e-02 -5.95296475e-03 5.71916723e+02] [ 1.68385220e-02 9.99858213e-01 1.31527934e-04 -1.10086917e+01] [ 5.94990610e-03 -2.31746086e-04 9.99982272e-01 2.94953448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.95, Y:-11.01, Z:0.29 [[ 9.99746564e-01 -2.16085275e-02 -6.31497546e-03 5.71948191e+02] [ 2.16098411e-02 9.99766470e-01 1.39839998e-04 -1.10082144e+01] [ 6.31047899e-03 -2.76270174e-04 9.99980051e-01 2.94735150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.0450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:571.98, Y:-11.01, Z:0.29 [[ 9.99693269e-01 -2.38910340e-02 -6.52576665e-03 5.71980545e+02] [ 2.38924889e-02 9.99714523e-01 1.45078805e-04 -1.10084954e+01] [ 6.52043761e-03 -3.00951112e-04 9.99978696e-01 2.94542858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.0750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.01, Y:-11.01, Z:0.29 [[ 9.99632693e-01 -2.62932044e-02 -6.56864755e-03 5.72012480e+02] [ 2.62947334e-02 9.99654223e-01 1.46507476e-04 -1.10088215e+01] [ 6.56252411e-03 -3.19174499e-04 9.99978415e-01 2.94390036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.04, Y:-11.01, Z:0.29 [[ 9.99512574e-01 -3.06561129e-02 -5.90067460e-03 5.72043576e+02] [ 3.06574241e-02 9.99529942e-01 1.31866954e-04 -1.10086045e+01] [ 5.89385842e-03 -3.12702162e-04 9.99982582e-01 2.94693089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.07, Y:-11.01, Z:0.29 [[ 9.99459347e-01 -3.24185230e-02 -5.48211695e-03 5.72074982e+02] [ 3.24196829e-02 9.99474336e-01 1.22825242e-04 -1.10084805e+01] [ 5.47525338e-03 -3.00487329e-04 9.99984966e-01 2.94627990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.1650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.11, Y:-11.01, Z:0.29 [[ 9.99418085e-01 -3.37784479e-02 -4.74434513e-03 5.72107505e+02] [ 3.37793342e-02 9.99429310e-01 1.06782071e-04 -1.10083125e+01] [ 4.73803064e-03 -2.66980752e-04 9.99988740e-01 2.94686624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.1950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.14, Y:-11.01, Z:0.29 [[ 9.99361214e-01 -3.55575925e-02 -3.58076389e-03 5.72139996e+02] [ 3.55581106e-02 9.99367607e-01 8.11124880e-05 -1.10072906e+01] [ 3.57561527e-03 -2.08385873e-04 9.99993586e-01 2.94343372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.17, Y:-11.01, Z:0.29 [[ 9.99346719e-01 -3.59995642e-02 -3.18837064e-03 5.72173296e+02] [ 3.59999788e-02 9.99351788e-01 7.27271254e-05 -1.10071334e+01] [ 3.18368576e-03 -1.87460890e-04 9.99994914e-01 2.93787271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.21, Y:-11.01, Z:0.29 [[ 9.99330278e-01 -3.64566742e-02 -3.14744416e-03 5.72206651e+02] [ 3.64570817e-02 9.99335217e-01 7.21560975e-05 -1.10067721e+01] [ 3.14272122e-03 -1.86854402e-04 9.99995044e-01 2.93456061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.2850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.24, Y:-11.00, Z:0.29 [[ 9.99297704e-01 -3.73313294e-02 -3.23580335e-03 5.72239880e+02] [ 3.73317657e-02 9.99302924e-01 7.45164876e-05 -1.10049826e+01] [ 3.23076595e-03 -1.95262407e-04 9.99994762e-01 2.92985024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.3150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.27, Y:-11.00, Z:0.29 [[ 9.99280445e-01 -3.78039918e-02 -3.07411742e-03 5.72273043e+02] [ 3.78043889e-02 9.99285156e-01 7.11669226e-05 -1.10041783e+01] [ 3.06922951e-03 -1.87330845e-04 9.99995272e-01 2.92806336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.30, Y:-11.00, Z:0.29 [[ 9.99253170e-01 -3.85200755e-02 -3.05064539e-03 5.72304830e+02] [ 3.85204705e-02 9.99257809e-01 7.08029828e-05 -1.10032922e+01] [ 3.04565389e-03 -1.88262401e-04 9.99995344e-01 2.92939010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.34, Y:-11.00, Z:0.29 [[ 9.99181110e-01 -4.02997027e-02 -3.61160776e-03 5.72337510e+02] [ 4.03002694e-02 9.99187611e-01 8.42312094e-05 -1.10017517e+01] [ 3.60527924e-03 -2.29710999e-04 9.99993475e-01 2.93192176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.37, Y:-11.00, Z:0.29 [[ 9.99148591e-01 -4.11003562e-02 -3.58535083e-03 5.72369830e+02] [ 4.11009235e-02 9.99154996e-01 8.46697182e-05 -1.10015662e+01] [ 3.57884124e-03 -2.31958860e-04 9.99993569e-01 2.92773983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.40, Y:-11.00, Z:0.29 [[ 9.99153791e-01 -4.09737454e-02 -3.58534723e-03 5.72403361e+02] [ 4.09743125e-02 9.99160197e-01 8.48206636e-05 -1.10024335e+01] [ 3.57886082e-03 -2.31656025e-04 9.99993569e-01 2.92588858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.44, Y:-11.00, Z:0.29 [[ 9.99117104e-01 -4.18167515e-02 -4.04630715e-03 5.72436108e+02] [ 4.18174817e-02 9.99125262e-01 9.59696042e-05 -1.10021259e+01] [ 4.03875455e-03 -2.65091248e-04 9.99991809e-01 2.92876381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.495099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.47, Y:-11.00, Z:0.29 [[ 9.99086348e-01 -4.25590337e-02 -3.89837247e-03 5.72469304e+02] [ 4.25597188e-02 9.99093920e-01 9.29096609e-05 -1.10017876e+01] [ 3.89088609e-03 -2.58738410e-04 9.99992397e-01 2.92342811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.50, Y:-11.00, Z:0.29 [[ 9.99035008e-01 -4.37292469e-02 -4.09938808e-03 5.72500932e+02] [ 4.37300152e-02 9.99043381e-01 9.79364562e-05 -1.10003777e+01] [ 4.09118384e-03 -2.77108251e-04 9.99991593e-01 2.91827734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.53, Y:-11.00, Z:0.29 [[ 9.99029172e-01 -4.38313551e-02 -4.41876053e-03 5.72534466e+02] [ 4.38322512e-02 9.99038899e-01 1.06112671e-04 -1.10002851e+01] [ 4.40986259e-03 -2.99693876e-04 9.99990232e-01 2.91664297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.57, Y:-11.00, Z:0.29 [[ 9.99022327e-01 -4.39464266e-02 -4.80637540e-03 5.72567855e+02] [ 4.39474905e-02 9.99033836e-01 1.15918712e-04 -1.09989789e+01] [ 4.79663743e-03 -3.27033518e-04 9.99988443e-01 2.90825649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.60, Y:-11.00, Z:0.29 [[ 9.99020424e-01 -4.39036715e-02 -5.53714909e-03 5.72599937e+02] [ 4.39050847e-02 9.99035698e-01 1.33853711e-04 -1.09986622e+01] [ 5.52593293e-03 -3.76831590e-04 9.99984661e-01 2.90524702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.63, Y:-11.00, Z:0.29 [[ 9.99035272e-01 -4.35263871e-02 -5.82915008e-03 5.72633020e+02] [ 4.35279509e-02 9.99052200e-01 1.41616645e-04 -1.09983434e+01] [ 5.81746115e-03 -3.95210982e-04 9.99983000e-01 2.89953733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.6750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.67, Y:-11.00, Z:0.29 [[ 9.99053068e-01 -4.30352014e-02 -6.39832414e-03 5.72665668e+02] [ 4.30370796e-02 9.99073463e-01 1.56090687e-04 -1.09977914e+01] [ 6.38567847e-03 -4.31308065e-04 9.99979518e-01 2.89636112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.7050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.70, Y:-11.00, Z:0.29 [[ 9.99088227e-01 -4.22161243e-02 -6.36498061e-03 5.72697908e+02] [ 4.22179695e-02 9.99108412e-01 1.55755867e-04 -1.09953186e+01] [ 6.35273026e-03 -4.24330410e-04 9.99979731e-01 2.89575202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.73, Y:-10.99, Z:0.29 [[ 9.99134394e-01 -4.12652257e-02 -5.25765986e-03 5.72730532e+02] [ 4.12664757e-02 9.99148168e-01 1.29428952e-04 -1.09927626e+01] [ 5.24784030e-03 -3.46282010e-04 9.99986170e-01 2.90087128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.76, Y:-10.99, Z:0.29 [[ 9.99141182e-01 -4.11005567e-02 -5.25763104e-03 5.72764078e+02] [ 4.11018105e-02 9.99154955e-01 1.30599076e-04 -1.09936634e+01] [ 5.24782041e-03 -3.46585070e-04 9.99986170e-01 2.89901816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.7950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.80, Y:-10.99, Z:0.29 [[ 9.99201841e-01 -3.97926664e-02 -3.49630773e-03 5.72796305e+02] [ 3.97932165e-02 9.99207932e-01 8.78770177e-05 -1.09911037e+01] [ 3.49004156e-03 -2.26936208e-04 9.99993884e-01 2.89779605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.8250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.83, Y:-10.99, Z:0.29 [[ 9.99238211e-01 -3.89129089e-02 -2.96373032e-03 5.72829209e+02] [ 3.89133005e-02 9.99242588e-01 7.45518168e-05 -1.09905252e+01] [ 2.95858453e-03 -1.89823553e-04 9.99995605e-01 2.89737367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.86, Y:-10.99, Z:0.29 [[ 9.99279076e-01 -3.79224089e-02 -1.79409905e-03 5.72862208e+02] [ 3.79225516e-02 9.99280680e-01 4.55801922e-05 -1.09881984e+01] [ 1.79108001e-03 -1.13584146e-04 9.99998390e-01 2.89486207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.90, Y:-10.99, Z:0.29 [[ 9.99303713e-01 -3.72842313e-02 -1.40521129e-03 5.72895765e+02] [ 3.72843187e-02 9.99304697e-01 3.59862830e-05 -1.09874464e+01] [ 1.40289253e-03 -8.83535719e-05 9.99999012e-01 2.88913006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.9150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.93, Y:-10.99, Z:0.29 [[ 9.99312839e-01 -3.70442227e-02 -1.25475455e-03 5.72927539e+02] [ 3.70442922e-02 9.99313624e-01 3.22075049e-05 -1.09868250e+01] [ 1.25270021e-03 -7.86668674e-05 9.99999212e-01 2.88378579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.9450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.96, Y:-10.99, Z:0.29 [[ 9.99318243e-01 -3.69003089e-02 -1.19048158e-03 5.72960127e+02] [ 3.69003717e-02 9.99318949e-01 3.08153552e-05 -1.09865861e+01] [ 1.18853371e-03 -7.47235594e-05 9.99999291e-01 2.87645579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:572.99, Y:-10.99, Z:0.29 [[ 9.99263026e-01 -3.83272096e-02 -2.10479446e-03 5.72993327e+02] [ 3.83274085e-02 9.99265233e-01 5.42432166e-05 -1.09857840e+01] [ 2.10116893e-03 -1.34874558e-04 9.99997783e-01 2.86928574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.03, Y:-10.99, Z:0.29 [[ 9.99221240e-01 -3.93824401e-02 -2.43651625e-03 5.73026786e+02] [ 3.93827102e-02 9.99224198e-01 6.29736094e-05 -1.09859128e+01] [ 2.43214594e-03 -1.58881181e-04 9.99997030e-01 2.86487021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.0350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.06, Y:-10.99, Z:0.29 [[ 9.99174550e-01 -4.05252803e-02 -2.81445419e-03 5.73059268e+02] [ 4.05256476e-02 9.99178496e-01 7.35554612e-05 -1.09862163e+01] [ 2.80916125e-03 -1.87552324e-04 9.99996037e-01 2.85972724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.0650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.09, Y:-10.99, Z:0.29 [[ 9.99049900e-01 -4.34898663e-02 -2.81573047e-03 5.73091470e+02] [ 4.34902490e-02 9.99053849e-01 7.48216355e-05 -1.09865930e+01] [ 2.80981238e-03 -1.97207367e-04 9.99996033e-01 2.85021289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.12, Y:-10.99, Z:0.28 [[ 9.98981903e-01 -4.50364142e-02 -2.62263035e-03 5.73124497e+02] [ 4.50367503e-02 9.98985328e-01 6.92163762e-05 -1.09872604e+01] [ 2.61685198e-03 -1.87260655e-04 9.99996559e-01 2.84837426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.16, Y:-10.99, Z:0.28 [[ 9.98919258e-01 -4.64153827e-02 -2.43496636e-03 5.73156993e+02] [ 4.64156769e-02 9.98922210e-01 6.44256139e-05 -1.09880042e+01] [ 2.42935163e-03 -1.77376598e-04 9.99997033e-01 2.84450993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.1550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.19, Y:-10.99, Z:0.28 [[ 9.98812863e-01 -4.86456656e-02 -2.54255613e-03 5.73189710e+02] [ 4.86459944e-02 9.98816081e-01 6.76217226e-05 -1.09889116e+01] [ 2.53625645e-03 -1.91226618e-04 9.99996765e-01 2.83934909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.1850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.22, Y:-10.99, Z:0.28 [[ 9.98784559e-01 -4.92412931e-02 -2.16772968e-03 5.73223054e+02] [ 4.92415343e-02 9.98786898e-01 5.79827271e-05 -1.09896467e+01] [ 2.16224486e-03 -1.64654588e-04 9.99997649e-01 2.83318599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.2150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.26, Y:-10.99, Z:0.28 [[ 9.98767288e-01 -4.96004307e-02 -1.92421718e-03 5.73255832e+02] [ 4.96006219e-02 9.98769130e-01 5.17462293e-05 -1.09900309e+01] [ 1.91928208e-03 -1.47124810e-04 9.99998147e-01 2.83164346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.29, Y:-10.99, Z:0.28 [[ 9.98787857e-01 -4.91923189e-02 -1.71274386e-03 5.73287682e+02] [ 4.91924722e-02 9.98789316e-01 4.74795061e-05 -1.09897019e+01] [ 1.70833465e-03 -1.31676059e-04 9.99998532e-01 2.82863593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.32, Y:-10.99, Z:0.28 [[ 9.98772162e-01 -4.95096621e-02 -1.72070851e-03 5.73320432e+02] [ 4.95098161e-02 9.98773636e-01 4.69851570e-05 -1.09900317e+01] [ 1.71627208e-03 -1.32119429e-04 9.99998518e-01 2.82675544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.3050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.35, Y:-10.99, Z:0.28 [[ 9.98762589e-01 -4.97057026e-02 -1.62322509e-03 5.73353302e+02] [ 4.97058403e-02 9.98763900e-01 4.45495558e-05 -1.09907402e+01] [ 1.61900426e-03 -1.25178197e-04 9.99998682e-01 2.82325299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.3350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.39, Y:-10.99, Z:0.28 [[ 9.98731036e-01 -5.03445349e-02 -1.32134053e-03 5.73385781e+02] [ 5.03446284e-02 9.98731904e-01 3.76407567e-05 -1.09917091e+01] [ 1.31776994e-03 -1.04115390e-04 9.99999126e-01 2.81566824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.42, Y:-10.99, Z:0.28 [[ 9.98706760e-01 -5.08298209e-02 -1.06582991e-03 5.73418642e+02] [ 5.08298816e-02 9.98707326e-01 2.98639288e-05 -1.09929253e+01] [ 1.06293417e-03 -8.40013159e-05 9.99999432e-01 2.80963682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.45, Y:-10.99, Z:0.28 [[ 9.98697580e-01 -5.10162296e-02 -6.97947334e-04 5.73451144e+02] [ 5.10162566e-02 9.98697823e-01 2.08426697e-05 -1.09941815e+01] [ 6.95975168e-04 -5.64221841e-05 9.99999756e-01 2.80473327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.4250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.48, Y:-11.00, Z:0.28 [[ 9.98688816e-01 -5.11913532e-02 -3.05564421e-04 5.73484407e+02] [ 5.11913583e-02 9.98688863e-01 9.09298805e-06 -1.09956050e+01] [ 3.04698302e-04 -2.47233233e-05 9.99999953e-01 2.79775728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.4550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.52, Y:-11.00, Z:0.28 [[ 9.98700688e-01 -5.09601368e-02 3.49710337e-05 5.73516634e+02] [ 5.09601368e-02 9.98700688e-01 -7.43398853e-09 -1.09969366e+01] [-3.49252168e-05 1.78955300e-06 9.99999999e-01 2.79087886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.55, Y:-11.00, Z:0.28 [[ 9.98719784e-01 -5.05833670e-02 3.39541858e-04 5.73549361e+02] [ 5.05833730e-02 9.98719842e-01 -8.94966084e-06 -1.09980275e+01] [-3.38654487e-04 2.61133758e-05 9.99999942e-01 2.78665995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.58, Y:-11.00, Z:0.28 [[ 9.98798987e-01 -4.89876676e-02 8.90250508e-04 5.73580949e+02] [ 4.89877082e-02 9.98799381e-01 -2.37919283e-05 -1.09994080e+01] [-8.88016146e-04 6.73746860e-05 9.99999603e-01 2.78066261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.5450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.61, Y:-11.00, Z:0.28 [[ 9.98905143e-01 -4.67796810e-02 -4.20865306e-04 5.73613251e+02] [ 4.67752552e-02 9.98877660e-01 -7.44953252e-03 -1.09969907e+01] [ 7.68879706e-04 7.42169026e-03 9.99972163e-01 2.79862397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.5750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.65, Y:-11.01, Z:0.28 [[ 9.98959697e-01 -4.55265593e-02 2.61857855e-03 5.73646322e+02] [ 4.55059805e-02 9.98936328e-01 7.44432254e-03 -1.10054413e+01] [-2.95470763e-03 -7.31741720e-03 9.99968862e-01 2.75229680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.68, Y:-11.00, Z:0.28 [[ 9.99056018e-01 -4.32956326e-02 3.54412336e-03 5.73679107e+02] [ 4.32962643e-02 9.99062272e-01 -1.01654864e-04 -1.10029833e+01] [-3.53639872e-03 2.55006205e-04 9.99993714e-01 2.77498520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.71, Y:-11.00, Z:0.28 [[ 9.99311464e-01 -3.68262358e-02 4.51965416e-03 5.73711471e+02] [ 3.68271994e-02 9.99321640e-01 -1.30135251e-04 -1.10038427e+01] [-4.51179581e-03 2.96491853e-04 9.99989778e-01 2.77270015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.6650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.74, Y:-11.00, Z:0.28 [[ 9.99440659e-01 -3.30944014e-02 4.80940252e-03 5.73744785e+02] [ 3.30954566e-02 9.99452186e-01 -1.39963289e-04 -1.10042250e+01] [-4.80213586e-03 2.99054375e-04 9.99988425e-01 2.77158942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.6950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.78, Y:-11.00, Z:0.28 [[ 9.99568790e-01 -2.90298226e-02 4.41635470e-03 5.73777567e+02] [ 2.90306748e-02 9.99578513e-01 -1.28955797e-04 -1.10046069e+01] [-4.41074970e-03 2.57109947e-04 9.99990240e-01 2.77197760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.81, Y:-11.01, Z:0.28 [[ 9.99789599e-01 -2.00858387e-02 4.16135678e-03 5.73810986e+02] [ 2.00865197e-02 9.99798238e-01 -1.21925143e-04 -1.10053057e+01] [-4.15806820e-03 2.05486665e-04 9.99991334e-01 2.76164818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.84, Y:-11.01, Z:0.28 [[ 9.99872326e-01 -1.54065747e-02 4.23896192e-03 5.73844421e+02] [ 1.54072414e-02 9.99881294e-01 -1.24665042e-04 -1.10063809e+01] [-4.23653806e-03 1.89959835e-04 9.99991008e-01 2.75702207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.7850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.88, Y:-11.01, Z:0.28 [[ 9.99968919e-01 -6.61692761e-03 4.28680507e-03 5.73876360e+02] [ 6.61753095e-03 9.99978096e-01 -1.26575156e-04 -1.10064301e+01] [-4.28587364e-03 1.54939287e-04 9.99990804e-01 2.76064521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.8150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.91, Y:-11.01, Z:0.28 [[ 9.99988256e-01 -2.26386919e-03 4.28509296e-03 5.73908792e+02] [ 2.26443391e-03 9.99997428e-01 -1.26940496e-04 -1.10072035e+01] [-4.28479456e-03 1.36642315e-04 9.99990811e-01 2.76346048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.94, Y:-11.01, Z:0.28 [[ 9.99987477e-01 1.68859263e-03 4.71100544e-03 5.73941411e+02] [-1.68795213e-03 9.99998566e-01 -1.39930407e-04 -1.10079640e+01] [-4.71123497e-03 1.31976703e-04 9.99988893e-01 2.76170377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:573.97, Y:-11.01, Z:0.28 [[ 9.99948850e-01 8.95931951e-03 4.69346075e-03 5.73973352e+02] [-8.95876224e-03 9.99959860e-01 -1.39745353e-04 -1.10088503e+01] [-4.69452438e-03 9.76906057e-05 9.99988976e-01 2.76212718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.00, Y:-11.01, Z:0.28 [[ 9.99918237e-01 1.19211969e-02 4.62648789e-03 5.74002581e+02] [-1.19206851e-02 9.99928937e-01 -1.38179023e-04 -1.10098974e+01] [-4.62780638e-03 8.30168193e-05 9.99989288e-01 2.76173305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.03, Y:-11.01, Z:0.28 [[ 9.99884708e-01 1.45048654e-02 4.49217725e-03 5.74031603e+02] [-1.45044096e-02 9.99894797e-01 -1.34027910e-04 -1.10110977e+01] [-4.49364871e-03 6.88560789e-05 9.99989901e-01 2.75893249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.06, Y:-11.01, Z:0.28 [[ 9.99836864e-01 1.77760445e-02 3.20270422e-03 5.74059562e+02] [-1.77758294e-02 9.99841993e-01 -9.55941738e-05 -1.10122974e+01] [-3.20389746e-03 3.86478549e-05 9.99994867e-01 2.76129609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.995099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.09, Y:-11.01, Z:0.28 [[ 9.99822606e-01 1.85491865e-02 3.26868065e-03 5.74087990e+02] [-1.85489681e-02 9.99827948e-01 -9.71136858e-05 -1.10133414e+01] [-3.26991965e-03 3.64658054e-05 9.99994653e-01 2.75635351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.12, Y:-11.01, Z:0.28 [[ 9.99825980e-01 1.84626359e-02 2.67224170e-03 5.74115933e+02] [-1.84624898e-02 9.99829551e-01 -7.93201838e-05 -1.10145883e+01] [-2.67325068e-03 2.99701455e-05 9.99996426e-01 2.75784884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.14, Y:-11.02, Z:0.28 [[ 9.99838547e-01 1.77680645e-02 2.67893762e-03 5.74144359e+02] [-1.77679160e-02 9.99842135e-01 -7.92204922e-05 -1.10162723e+01] [-2.67992231e-03 3.16085632e-05 9.99996409e-01 2.75704995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.17, Y:-11.02, Z:0.28 [[ 9.99893897e-01 1.43179346e-02 2.68152835e-03 5.74173508e+02] [-1.43177739e-02 9.99897492e-01 -7.91050670e-05 -1.10188013e+01] [-2.68238610e-03 4.07031570e-05 9.99996402e-01 2.76251320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.20, Y:-11.02, Z:0.28 [[ 9.99926871e-01 1.17482893e-02 2.86871892e-03 5.74201345e+02] [-1.17480954e-02 9.99930985e-01 -8.44363310e-05 -1.10207018e+01] [-2.86951292e-03 5.07281729e-05 9.99995882e-01 2.76473148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.23, Y:-11.02, Z:0.28 [[ 9.99955119e-01 9.06348060e-03 2.75939113e-03 5.74230021e+02] [-9.06329175e-03 9.99958924e-01 -8.09358306e-05 -1.10227665e+01] [-2.76001135e-03 5.59230312e-05 9.99996190e-01 2.76863424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.1750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.26, Y:-11.02, Z:0.28 [[ 9.99977965e-01 6.11984917e-03 2.57219682e-03 5.74258313e+02] [-6.11967588e-03 9.99981272e-01 -7.52351309e-05 -1.10248772e+01] [-2.57260907e-03 5.94924623e-05 9.99996689e-01 2.77521799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.2050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.29, Y:-11.03, Z:0.28 [[ 9.99998841e-01 -9.21802613e-04 1.21177450e-03 5.74287623e+02] [ 9.21846254e-04 9.99999574e-01 -3.54554244e-05 -1.10283605e+01] [-1.21174130e-03 3.65724531e-05 9.99999265e-01 2.78045721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.32, Y:-11.03, Z:0.28 [[ 9.99988974e-01 -4.67756732e-03 4.15024016e-04 5.74318993e+02] [ 4.67757265e-03 9.99989060e-01 -1.18939283e-05 -1.10309458e+01] [-4.14963841e-04 1.38351021e-05 9.99999914e-01 2.77693691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.35, Y:-11.03, Z:0.28 [[ 9.99967736e-01 -8.02108861e-03 -4.35152926e-04 5.74351086e+02] [ 8.02109554e-03 9.99967830e-01 1.41928895e-05 -1.10337939e+01] [ 4.35025084e-04 -1.76828347e-05 9.99999905e-01 2.77635840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.2950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.38, Y:-11.04, Z:0.28 [[ 9.99904186e-01 -1.38251398e-02 -6.95819817e-04 5.74383747e+02] [ 1.38251585e-02 9.99904428e-01 2.20270908e-05 -1.10378377e+01] [ 6.95448788e-04 -3.16447995e-05 9.99999758e-01 2.78605739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.3250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.42, Y:-11.04, Z:0.28 [[ 9.99905442e-01 -1.37339911e-02 -6.95844484e-04 5.74416430e+02] [ 1.37340092e-02 9.99905684e-01 2.11942311e-05 -1.10388598e+01] [ 6.95487773e-04 -3.07489616e-05 9.99999758e-01 2.78426700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.45, Y:-11.04, Z:0.28 [[ 9.99873872e-01 -1.58692121e-02 -6.39381290e-04 5.74447755e+02] [ 1.58692277e-02 9.99874076e-01 1.93480491e-05 -1.10407246e+01] [ 6.38993738e-04 -2.94920961e-05 9.99999795e-01 2.79132048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.48, Y:-11.04, Z:0.28 [[ 9.99843213e-01 -1.76922166e-02 -7.31250105e-04 5.74479529e+02] [ 1.76922376e-02 9.99843480e-01 2.22336464e-05 -1.10423406e+01] [ 7.30742287e-04 -3.51676111e-05 9.99999732e-01 2.79538813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.4150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.51, Y:-11.04, Z:0.28 [[ 9.99807881e-01 -1.95618191e-02 -1.23970966e-03 5.74512142e+02] [ 1.95618806e-02 9.99808647e-01 3.75192353e-05 -1.10444424e+01] [ 1.23873849e-03 -6.17630795e-05 9.99999231e-01 2.80480152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.4450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.54, Y:-11.05, Z:0.28 [[ 9.99792948e-01 -2.02741556e-02 -1.73790333e-03 5.74544086e+02] [ 2.02742777e-02 9.99794454e-01 5.26925398e-05 -1.10455851e+01] [ 1.73647781e-03 -8.79163644e-05 9.99998488e-01 2.80976802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.58, Y:-11.05, Z:0.28 [[ 9.99776752e-01 -2.10273731e-02 -2.07274807e-03 5.74576721e+02] [ 2.10275484e-02 9.99778895e-01 6.28042093e-05 -1.10468806e+01] [ 2.07096917e-03 -1.06374999e-04 9.99997850e-01 2.80830306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.61, Y:-11.05, Z:0.28 [[ 9.99752373e-01 -2.20919152e-02 -2.67221450e-03 5.74608607e+02] [ 2.20922109e-02 9.99755934e-01 8.11964356e-05 -1.10489112e+01] [ 2.66976852e-03 -1.40211456e-04 9.99996426e-01 2.80546858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.5350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.64, Y:-11.05, Z:0.28 [[ 9.99744607e-01 -2.24157581e-02 -2.87317353e-03 5.74640929e+02] [ 2.24161015e-02 9.99748724e-01 8.73598153e-05 -1.10501503e+01] [ 2.87049333e-03 -1.51742854e-04 9.99995869e-01 2.80114815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.5650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.67, Y:-11.05, Z:0.28 [[ 9.99744093e-01 -2.23232956e-02 -3.66308199e-03 5.74673011e+02] [ 2.23238537e-02 9.99750786e-01 1.11530229e-04 -1.10511847e+01] [ 3.65967937e-03 -1.93275794e-04 9.99993285e-01 2.80019920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.70, Y:-11.05, Z:0.28 [[ 9.99755617e-01 -2.14090838e-02 -5.50982342e-03 5.74704922e+02] [ 2.14103337e-02 9.99770758e-01 1.67962583e-04 -1.10509536e+01] [ 5.50496442e-03 -2.85888694e-04 9.99984807e-01 2.80121187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.74, Y:-11.05, Z:0.28 [[ 9.99768246e-01 -2.05855437e-02 -6.29996137e-03 5.74737189e+02] [ 2.05871640e-02 9.99788043e-01 1.92447603e-04 -1.10511734e+01] [ 6.29466442e-03 -3.22101341e-04 9.99980137e-01 2.80278032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.6550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.77, Y:-11.05, Z:0.28 [[ 9.99779092e-01 -1.99387334e-02 -6.64941111e-03 5.74767926e+02] [ 1.99405257e-02 9.99801147e-01 2.03357032e-04 -1.10511509e+01] [ 6.64403418e-03 -3.35904862e-04 9.99977872e-01 2.80562287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.6850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.80, Y:-11.05, Z:0.28 [[ 9.99796606e-01 -1.87893069e-02 -7.32855477e-03 5.74799686e+02] [ 1.87914578e-02 9.99823400e-01 2.24737997e-04 -1.10512594e+01] [ 7.32303787e-03 -3.62406515e-04 9.99973121e-01 2.80789294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.7150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.83, Y:-11.05, Z:0.28 [[ 9.99826131e-01 -1.67836030e-02 -8.12521568e-03 5.74831304e+02] [ 1.67861833e-02 9.99859071e-01 2.49465803e-04 -1.10496440e+01] [ 8.11988367e-03 -3.85813788e-04 9.99966959e-01 2.81068942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.745099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.86, Y:-11.05, Z:0.28 [[ 9.99843040e-01 -1.56157371e-02 -8.36918731e-03 5.74862649e+02] [ 1.56184375e-02 9.99877992e-01 2.57393886e-04 -1.10493534e+01] [ 8.36414680e-03 -3.88067114e-04 9.99964945e-01 2.81155471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.89, Y:-11.05, Z:0.28 [[ 9.99872305e-01 -1.31421059e-02 -9.09172646e-03 5.74893068e+02] [ 1.31451957e-02 9.99913559e-01 2.80175385e-04 -1.10471063e+01] [ 9.08725847e-03 -3.99652132e-04 9.99958630e-01 2.81594214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.8050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.92, Y:-11.05, Z:0.28 [[ 9.99893297e-01 -1.15478307e-02 -8.94659486e-03 5.74923381e+02] [ 1.15507560e-02 9.99933250e-01 2.75376915e-04 -1.10460711e+01] [ 8.94281767e-03 -3.78687466e-04 9.99959941e-01 2.81566853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.8350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.95, Y:-11.04, Z:0.28 [[ 9.99913104e-01 -9.86458741e-03 -8.74499627e-03 5.74952754e+02] [ 9.86731365e-03 9.99951281e-01 2.68657003e-04 -1.10448531e+01] [ 8.74192003e-03 -3.54923279e-04 9.99961726e-01 2.81631711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:574.98, Y:-11.04, Z:0.28 [[ 9.99942033e-01 -6.33008576e-03 -8.70975450e-03 5.74982664e+02] [ 6.33265342e-03 9.99979913e-01 2.67255608e-04 -1.10415459e+01] [ 8.70788779e-03 -3.22395973e-04 9.99962034e-01 2.82820829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.01, Y:-11.04, Z:0.28 [[ 9.99954342e-01 -4.77166760e-03 -8.27919042e-03 5.75010307e+02] [ 4.77392025e-03 9.99988573e-01 2.52344897e-04 -1.10403136e+01] [ 8.27789171e-03 -2.91857570e-04 9.99965695e-01 2.82996038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.9250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.04, Y:-11.04, Z:0.28 [[ 9.99962280e-01 -3.22950344e-03 -8.06278208e-03 5.75039117e+02] [ 3.23156904e-03 9.99994749e-01 2.43175353e-04 -1.10392637e+01] [ 8.06195440e-03 -2.69221618e-04 9.99967466e-01 2.83435465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.9550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.07, Y:-11.04, Z:0.28 [[ 9.99967064e-01 -2.09824430e-03 -7.84023191e-03 5.75067028e+02] [ 2.10014304e-03 9.99997767e-01 2.33952938e-04 -1.10382944e+01] [ 7.83972351e-03 -2.50410841e-04 9.99969238e-01 2.83753328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.09, Y:-11.04, Z:0.28 [[ 9.99968061e-01 -1.11322291e-03 -7.91446335e-03 5.75094953e+02] [ 1.11510931e-03 9.99999351e-01 2.33939651e-04 -1.10358819e+01] [ 7.91419779e-03 -2.42757671e-04 9.99968653e-01 2.84458530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.12, Y:-11.04, Z:0.28 [[ 9.99965973e-01 -1.42256387e-03 -8.12584072e-03 5.75122770e+02] [ 1.42454369e-03 9.99998957e-01 2.37861783e-04 -1.10352346e+01] [ 8.12549387e-03 -2.49429304e-04 9.99966957e-01 2.84658104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.0450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.15, Y:-11.03, Z:0.28 [[ 9.99957889e-01 -2.73134434e-03 -8.76132074e-03 5.75150964e+02] [ 2.73369995e-03 9.99996230e-01 2.56899885e-04 -1.10334623e+01] [ 8.76058603e-03 -2.80839889e-04 9.99961586e-01 2.84594944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.0750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.18, Y:-11.03, Z:0.28 [[ 9.99947753e-01 -3.90851557e-03 -9.44531698e-03 5.75179054e+02] [ 3.91129839e-03 9.99992313e-01 2.76170229e-04 -1.10332098e+01] [ 9.44416496e-03 -3.13099253e-04 9.99955354e-01 2.84437372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.21, Y:-11.03, Z:0.28 [[ 9.99940127e-01 -5.20794819e-03 -9.62391418e-03 5.75207519e+02] [ 5.21088682e-03 9.99986384e-01 2.80296942e-04 -1.10330582e+01] [ 9.62232337e-03 -3.30429288e-04 9.99953650e-01 2.84256639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.24, Y:-11.03, Z:0.28 [[ 9.99932379e-01 -6.60086439e-03 -9.57423971e-03 5.75235509e+02] [ 6.60380168e-03 9.99978157e-01 2.75208592e-04 -1.10327817e+01] [ 9.57221396e-03 -3.38416362e-04 9.99954128e-01 2.84015756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.1650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.26, Y:-11.03, Z:0.29 [[ 9.99908590e-01 -1.02825731e-02 -8.77955481e-03 5.75264232e+02] [ 1.02194569e-02 9.99921831e-01 -7.20384173e-03 -1.10252296e+01] [ 8.85294255e-03 7.11346094e-03 9.99935510e-01 2.85024138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.1950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.29, Y:-11.04, Z:0.28 [[ 9.99905634e-01 -9.54938844e-03 -9.87580963e-03 5.75294714e+02] [ 9.62504679e-03 9.99924476e-01 7.64203506e-03 -1.10351068e+01] [ 9.80208701e-03 -7.73636905e-03 9.99922031e-01 2.82180111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.32, Y:-11.03, Z:0.29 [[ 9.99878310e-01 -1.17624269e-02 -1.02474578e-02 5.75323422e+02] [ 1.17660881e-02 9.99930733e-01 2.97061220e-04 -1.10304845e+01] [ 1.02432539e-02 -4.17597562e-04 9.99947449e-01 2.85333535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.35, Y:-11.03, Z:0.29 [[ 9.99862469e-01 -1.28285461e-02 -1.05104961e-02 5.75353149e+02] [ 1.28324527e-02 9.99917614e-01 3.04330445e-04 -1.10304102e+01] [ 1.05057261e-02 -4.39164034e-04 9.99944717e-01 2.85631274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.2850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.38, Y:-11.03, Z:0.29 [[ 9.99846494e-01 -1.41074635e-02 -1.03907645e-02 5.75382920e+02] [ 1.41113530e-02 9.99900385e-01 3.01101354e-04 -1.10302799e+01] [ 1.03854816e-02 -4.47682879e-04 9.99945969e-01 2.85494054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.3150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.41, Y:-11.03, Z:0.29 [[ 9.99812393e-01 -1.63179828e-02 -1.04356515e-02 5.75413718e+02] [ 1.63220261e-02 9.99866741e-01 3.02386808e-04 -1.10295899e+01] [ 1.04293265e-02 -4.72661053e-04 9.99945501e-01 2.85826657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.44, Y:-11.03, Z:0.29 [[ 9.99804123e-01 -1.71550049e-02 -9.87022887e-03 5.75443581e+02] [ 1.71586653e-02 9.99852738e-01 2.86279056e-04 -1.10298523e+01] [ 9.86386424e-03 -4.55582934e-04 9.99951247e-01 2.85758957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.48, Y:-11.03, Z:0.29 [[ 9.99789285e-01 -1.81316564e-02 -9.62440481e-03 5.75475147e+02] [ 1.81351862e-02 9.99835505e-01 2.79599042e-04 -1.10301879e+01] [ 9.61775205e-03 -4.54080499e-04 9.99953645e-01 2.85976346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.51, Y:-11.03, Z:0.29 [[ 9.99782379e-01 -1.89577929e-02 -8.70608307e-03 5.75506957e+02] [ 1.89607198e-02 9.99820197e-01 2.53770497e-04 -1.10305931e+01] [ 8.69970677e-03 -4.18788873e-04 9.99962069e-01 2.85691378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.54, Y:-11.03, Z:0.29 [[ 9.99766769e-01 -2.02573348e-02 -7.48656647e-03 5.75538249e+02] [ 2.02595382e-02 9.99794731e-01 2.18583489e-04 -1.10307310e+01] [ 7.48060179e-03 -3.70206888e-04 9.99971951e-01 2.85892468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.57, Y:-11.03, Z:0.29 [[ 9.99751404e-01 -2.10980341e-02 -7.21128717e-03 5.75570527e+02] [ 2.11001047e-02 9.99777346e-01 2.11167288e-04 -1.10312095e+01] [ 7.20522633e-03 -3.63273707e-04 9.99973976e-01 2.85697236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.495099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.60, Y:-11.03, Z:0.29 [[ 9.99739438e-01 -2.17432693e-02 -6.94887235e-03 5.75601431e+02] [ 2.17452095e-02 9.99763524e-01 2.03767796e-04 -1.10315995e+01] [ 6.94279853e-03 -3.54819386e-04 9.99975836e-01 2.85396248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.63, Y:-11.03, Z:0.29 [[ 9.99711354e-01 -2.29257558e-02 -7.18459242e-03 5.75633345e+02] [ 2.29278646e-02 9.99737100e-01 2.11285211e-04 -1.10316867e+01] [ 7.17785971e-03 -3.75951587e-04 9.99974168e-01 2.85177924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.66, Y:-11.03, Z:0.28 [[ 9.99697522e-01 -2.35917504e-02 -6.94936923e-03 5.75664268e+02] [ 2.35937414e-02 9.99721608e-01 2.04650558e-04 -1.10325255e+01] [ 6.94260652e-03 -3.68550276e-04 9.99975832e-01 2.84850458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.70, Y:-11.03, Z:0.28 [[ 9.99697768e-01 -2.33890400e-02 -7.57141863e-03 5.75696677e+02] [ 2.33914023e-02 9.99726359e-01 2.23574764e-04 -1.10334373e+01] [ 7.56411758e-03 -4.00613292e-04 9.99971311e-01 2.84441571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.73, Y:-11.03, Z:0.28 [[ 9.99693240e-01 -2.31074083e-02 -8.91479657e-03 5.75728517e+02] [ 2.31106773e-02 9.99732878e-01 2.63831240e-04 -1.10341752e+01] [ 8.90631877e-03 -4.69777294e-04 9.99960228e-01 2.82943551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.76, Y:-11.04, Z:0.28 [[ 9.99698050e-01 -2.28344909e-02 -9.07715010e-03 5.75759634e+02] [ 2.28378722e-02 9.99739146e-01 2.69019380e-04 -1.10350954e+01] [ 9.06863937e-03 -4.76240945e-04 9.99958766e-01 2.82120718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.6750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.79, Y:-11.04, Z:0.28 [[ 9.99720925e-01 -2.21263660e-02 -8.27621855e-03 5.75791951e+02] [ 2.21291587e-02 9.99755090e-01 2.45998685e-04 -1.10352010e+01] [ 8.26874857e-03 -4.29075787e-04 9.99965721e-01 2.81951351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.7050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.82, Y:-11.04, Z:0.28 [[ 9.99750410e-01 -2.10120331e-02 -7.59030405e-03 5.75823221e+02] [ 2.10143526e-02 9.99779149e-01 2.25948699e-04 -1.10356027e+01] [ 7.58388007e-03 -3.85397630e-04 9.99971168e-01 2.81447466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.86, Y:-11.04, Z:0.28 [[ 9.99779560e-01 -1.97731575e-02 -7.06066635e-03 5.75855555e+02] [ 1.97751382e-02 9.99804431e-01 2.10808863e-04 -1.10361502e+01] [ 7.05511714e-03 -3.50388045e-04 9.99975051e-01 2.81212261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.89, Y:-11.04, Z:0.28 [[ 9.99836406e-01 -1.69068774e-02 -6.42789673e-03 5.75886546e+02] [ 1.69084617e-02 9.99857023e-01 1.92194874e-04 -1.10354749e+01] [ 6.42372827e-03 -3.00849278e-04 9.99979322e-01 2.80412732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.7950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.92, Y:-11.04, Z:0.28 [[ 9.99854420e-01 -1.57070614e-02 -6.66532734e-03 5.75918463e+02] [ 1.57087420e-02 9.99876590e-01 1.99848317e-04 -1.10354432e+01] [ 6.66136574e-03 -3.04523130e-04 9.99977766e-01 2.80119238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.8250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.95, Y:-11.04, Z:0.28 [[ 9.99863751e-01 -1.52262944e-02 -6.37490380e-03 5.75951102e+02] [ 1.52278249e-02 9.99884032e-01 1.91602004e-04 -1.10355723e+01] [ 6.37124712e-03 -2.88651817e-04 9.99979662e-01 2.79717478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:575.98, Y:-11.04, Z:0.28 [[ 9.99868251e-01 -1.49380976e-02 -6.35082042e-03 5.75983683e+02] [ 1.49396136e-02 9.99888379e-01 1.91322904e-04 -1.10359364e+01] [ 6.34725353e-03 -2.86176501e-04 9.99979815e-01 2.79679108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.02, Y:-11.04, Z:0.28 [[ 9.99867253e-01 -1.51689777e-02 -5.94792158e-03 5.76016314e+02] [ 1.51703141e-02 9.99884908e-01 1.79624443e-04 -1.10364476e+01] [ 5.94451231e-03 -2.69832437e-04 9.99982295e-01 2.78950184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.9150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.05, Y:-11.04, Z:0.28 [[ 9.99866093e-01 -1.53325168e-02 -5.71922280e-03 5.76048324e+02] [ 1.53337574e-02 9.99882416e-01 1.73127911e-04 -1.10377596e+01] [ 5.71589582e-03 -2.60801903e-04 9.99983630e-01 2.78523916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.9450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.08, Y:-11.04, Z:0.28 [[ 9.99869076e-01 -1.54212224e-02 -4.90060792e-03 5.76079197e+02] [ 1.54221354e-02 9.99881061e-01 1.48561244e-04 -1.10390666e+01] [ 4.89773405e-03 -2.24119632e-04 9.99987981e-01 2.77769267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.11, Y:-11.04, Z:0.28 [[ 9.99874024e-01 -1.51369532e-02 -4.77592785e-03 5.76111012e+02] [ 1.51378191e-02 9.99885406e-01 1.45209597e-04 -1.10404630e+01] [ 4.77318253e-03 -2.17488436e-04 9.99988585e-01 2.77177020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.14, Y:-11.04, Z:0.28 [[ 9.99880219e-01 -1.48807776e-02 -4.25550088e-03 5.76143185e+02] [ 1.48814642e-02 9.99889256e-01 1.29721763e-04 -1.10419800e+01] [ 4.25309925e-03 -1.93034309e-04 9.99990937e-01 2.76214839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.0350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.18, Y:-11.04, Z:0.28 [[ 9.99879608e-01 -1.48833256e-02 -4.38811276e-03 5.76175795e+02] [ 1.48840570e-02 9.99889217e-01 1.34078640e-04 -1.10430322e+01] [ 4.38563109e-03 -1.99375418e-04 9.99990363e-01 2.75913234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.0650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.21, Y:-11.04, Z:0.28 [[ 9.99875326e-01 -1.51922925e-02 -4.30436892e-03 5.76207716e+02] [ 1.51930006e-02 9.99884571e-01 1.31841596e-04 -1.10442633e+01] [ 4.30186909e-03 -1.97221438e-04 9.99990727e-01 2.75410337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.24, Y:-11.05, Z:0.27 [[ 9.99853193e-01 -1.65581687e-02 -4.40671216e-03 5.76238821e+02] [ 1.65589246e-02 9.99862882e-01 1.35103752e-04 -1.10460580e+01] [ 4.40387085e-03 -2.08054333e-04 9.99990281e-01 2.74919017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.27, Y:-11.05, Z:0.27 [[ 9.99842307e-01 -1.72541739e-02 -4.20177128e-03 5.76271293e+02] [ 1.72548689e-02 9.99851115e-01 1.29215702e-04 -1.10477148e+01] [ 4.19891619e-03 -2.01696338e-04 9.99991164e-01 2.74471839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.1550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.30, Y:-11.05, Z:0.27 [[ 9.99831460e-01 -1.79479531e-02 -3.86287312e-03 5.76302500e+02] [ 1.79485462e-02 9.99838905e-01 1.18928340e-04 -1.10490919e+01] [ 3.86011631e-03 -1.88241253e-04 9.99992532e-01 2.74329669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.1850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.33, Y:-11.05, Z:0.27 [[ 9.99828167e-01 -1.83961731e-02 -2.28417415e-03 5.76334217e+02] [ 1.83963825e-02 9.99830770e-01 7.07168393e-05 -1.10515388e+01] [ 2.28248668e-03 -1.12725229e-04 9.99997389e-01 2.73949951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.2150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.37, Y:-11.05, Z:0.27 [[ 9.99834633e-01 -1.81276208e-02 -1.44770541e-03 5.76366005e+02] [ 1.81277060e-02 9.99835679e-01 4.57423293e-05 -1.10531326e+01] [ 1.44663832e-03 -7.19783431e-05 9.99998951e-01 2.74023488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.40, Y:-11.05, Z:0.27 [[ 9.99836167e-01 -1.80428134e-02 -1.44771591e-03 5.76398688e+02] [ 1.80428980e-02 9.99837213e-01 4.54024559e-05 -1.10542061e+01] [ 1.44666105e-03 -7.15160080e-05 9.99998951e-01 2.73844818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.43, Y:-11.06, Z:0.27 [[ 9.99854804e-01 -1.70354104e-02 -4.06221118e-04 5.76431927e+02] [ 1.70354172e-02 9.99854887e-01 1.32341502e-05 -1.10560462e+01] [ 4.05936721e-04 -2.01523749e-05 9.99999917e-01 2.73886474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.3050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.46, Y:-11.06, Z:0.27 [[ 9.99861025e-01 -1.66685972e-02 2.99072815e-04 5.76464370e+02] [ 1.66686006e-02 9.99861069e-01 -8.85995217e-06 -1.10573829e+01] [-2.98883582e-04 1.38438462e-05 9.99999955e-01 2.73950298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.3350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.50, Y:-11.06, Z:0.27 [[ 9.99864890e-01 -1.64175482e-02 8.16517487e-04 5.76497356e+02] [ 1.64175741e-02 9.99865222e-01 -2.49981704e-05 -1.10588684e+01] [-8.15997030e-04 3.84000292e-05 9.99999666e-01 2.73549299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.53, Y:-11.06, Z:0.27 [[ 9.99871351e-01 -1.60389585e-02 1.80415095e-04 5.76529566e+02] [ 1.60389596e-02 9.99871368e-01 -4.71265368e-06 -1.10605270e+01] [-1.80316301e-04 7.60571782e-06 9.99999984e-01 2.73481396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.56, Y:-11.06, Z:0.27 [[ 9.99861672e-01 -1.66173075e-02 -7.09048743e-04 5.76562810e+02] [ 1.66173279e-02 9.99861922e-01 2.30097415e-05 -1.10628783e+01] [ 7.08568479e-04 -3.47890541e-05 9.99999748e-01 2.72528586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.4250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.59, Y:-11.06, Z:0.27 [[ 9.99855282e-01 -1.69194289e-02 -1.77399614e-03 5.76594883e+02] [ 1.69195560e-02 9.99856852e-01 5.66323480e-05 -1.10647307e+01] [ 1.77278401e-03 -8.66393793e-05 9.99998425e-01 2.71795651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.4550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.63, Y:-11.07, Z:0.27 [[ 9.99848217e-01 -1.71860374e-02 -2.86049423e-03 5.76626218e+02] [ 1.71863682e-02 9.99852299e-01 9.11288801e-05 -1.10666784e+01] [ 2.85850559e-03 -1.40276556e-04 9.99995905e-01 2.71130719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.66, Y:-11.07, Z:0.27 [[ 9.99834592e-01 -1.78916006e-02 -3.26787930e-03 5.76657116e+02] [ 1.78920366e-02 9.99839919e-01 1.04227003e-04 -1.10691471e+01] [ 3.26549139e-03 -1.62678779e-04 9.99994655e-01 2.70102109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.69, Y:-11.07, Z:0.27 [[ 9.99831872e-01 -1.81211726e-02 -2.80199573e-03 5.76689302e+02] [ 1.81214950e-02 9.99835788e-01 8.97297272e-05 -1.10707646e+01] [ 2.79990960e-03 -1.40490993e-04 9.99996070e-01 2.70158409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.5450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.72, Y:-11.07, Z:0.27 [[ 9.99849067e-01 -1.72933508e-02 -1.66833266e-03 5.76720627e+02] [ 1.72934650e-02 9.99850455e-01 5.40537999e-05 -1.10721941e+01] [ 1.66714839e-03 -8.28968937e-05 9.99998607e-01 2.70309057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.5750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.75, Y:-11.07, Z:0.27 [[ 9.99858567e-01 -1.68115882e-02 -4.64386069e-04 5.76752376e+02] [ 1.68115972e-02 9.99858675e-01 1.53821939e-05 -1.10738285e+01] [ 4.64061840e-04 -2.31870899e-05 9.99999892e-01 2.70427030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.79, Y:-11.08, Z:0.27 [[ 9.99866878e-01 -1.63161904e-02 -9.49667789e-05 5.76785028e+02] [ 1.63161908e-02 9.99866882e-01 3.44201593e-06 -1.10754002e+01] [ 9.48979764e-05 -4.99105380e-06 9.99999995e-01 2.70297190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.82, Y:-11.08, Z:0.27 [[ 9.99866154e-01 -1.63523829e-02 5.23602019e-04 5.76816963e+02] [ 1.63523938e-02 9.99866291e-01 -1.64029778e-05 -1.10768642e+01] [-5.23263781e-04 2.49629287e-05 9.99999863e-01 2.70100975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.6650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.85, Y:-11.08, Z:0.27 [[ 9.99869412e-01 -1.61259738e-02 1.05425582e-03 5.76850021e+02] [ 1.61260181e-02 9.99869967e-01 -3.35222327e-05 -1.10786258e+01] [-1.05357815e-03 5.05188035e-05 9.99999444e-01 2.69610376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.6950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.88, Y:-11.08, Z:0.27 [[ 9.99871243e-01 -1.60056734e-02 1.14670792e-03 5.76882765e+02] [ 1.60057259e-02 9.99871900e-01 -3.66385573e-05 -1.10803006e+01] [-1.14597460e-03 5.49877325e-05 9.99999342e-01 2.69520120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.92, Y:-11.08, Z:0.27 [[ 9.99877186e-01 -1.55926299e-02 1.57549155e-03 5.76915967e+02] [ 1.55927292e-02 9.99878425e-01 -5.07254685e-05 -1.10830557e+01] [-1.57450906e-03 7.52854517e-05 9.99998758e-01 2.68552079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.95, Y:-11.09, Z:0.27 [[ 9.99877426e-01 -1.55937035e-02 1.40338720e-03 5.76948461e+02] [ 1.55937824e-02 9.99878409e-01 -4.52746090e-05 -1.10851766e+01] [-1.40251057e-03 6.71531742e-05 9.99999014e-01 2.68060253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.7850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:576.98, Y:-11.09, Z:0.27 [[ 9.99878493e-01 -1.55635546e-02 8.79955176e-04 5.76980444e+02] [ 1.55635856e-02 9.99878880e-01 -2.83482715e-05 -1.10871127e+01] [-8.79407396e-04 4.20400847e-05 9.99999612e-01 2.67657226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.8150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.01, Y:-11.09, Z:0.27 [[ 9.99876078e-01 -1.57331732e-02 5.44047311e-04 5.77013455e+02] [ 1.57331850e-02 9.99876226e-01 -1.72956932e-05 -1.10890615e+01] [-5.43707856e-04 2.58531469e-05 9.99999852e-01 2.67126849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.05, Y:-11.09, Z:0.27 [[ 9.99873667e-01 -1.58944203e-02 -1.34631488e-04 5.77045334e+02] [ 1.58944211e-02 9.99873676e-01 4.82536751e-06 -1.10912021e+01] [ 1.34537785e-04 -6.96464747e-06 9.99999991e-01 2.66216330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.08, Y:-11.09, Z:0.27 [[ 9.99875273e-01 -1.57703887e-02 -8.56298405e-04 5.77077939e+02] [ 1.57704190e-02 9.99875639e-01 2.86631766e-05 -1.10929621e+01] [ 8.55739885e-04 -4.21637861e-05 9.99999633e-01 2.65901744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.11, Y:-11.09, Z:0.27 [[ 9.99893712e-01 -1.44371867e-02 -2.03271386e-03 5.77108885e+02] [ 1.44373537e-02 9.99895774e-01 6.75149903e-05 -1.10949228e+01] [ 2.03152727e-03 -9.68548233e-05 9.99997932e-01 2.65447127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.14, Y:-11.10, Z:0.27 [[ 9.99907466e-01 -1.33592549e-02 -2.56692604e-03 5.77141094e+02] [ 1.33595183e-02 9.99910754e-01 8.54566968e-05 -1.10962956e+01] [ 2.56555531e-03 -1.19741684e-04 9.99996702e-01 2.65302740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.17, Y:-11.10, Z:0.26 [[ 9.99923692e-01 -1.20916549e-02 -2.53041335e-03 5.77172963e+02] [ 1.20919072e-02 9.99926887e-01 8.44231476e-05 -1.10975115e+01] [ 2.52920753e-03 -1.15014229e-04 9.99996795e-01 2.64670403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.995099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.20, Y:-11.10, Z:0.26 [[ 9.99961882e-01 -8.39639820e-03 -2.39487745e-03 5.77204228e+02] [ 8.39661371e-03 9.99964745e-01 7.99490835e-05 -1.10979110e+01] [ 2.39412173e-03 -1.00054897e-04 9.99997129e-01 2.64635098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.24, Y:-11.10, Z:0.26 [[ 9.99979144e-01 -6.15212896e-03 -1.96544387e-03 5.77236066e+02] [ 6.15227033e-03 9.99981072e-01 6.58941844e-05 -1.10982841e+01] [ 1.96500128e-03 -7.79847521e-05 9.99998066e-01 2.64737452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.27, Y:-11.10, Z:0.26 [[ 9.99991301e-01 -3.79074296e-03 -1.74012329e-03 5.77267628e+02] [ 3.79085008e-03 9.99992813e-01 5.82683611e-05 -1.10985737e+01] [ 1.73988990e-03 -6.48644008e-05 9.99998484e-01 2.64619703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.30, Y:-11.10, Z:0.26 [[ 9.99998311e-01 9.66962643e-04 -1.56285688e-03 5.77298407e+02] [-9.66881674e-04 9.99999531e-01 5.25631687e-05 -1.10988406e+01] [ 1.56290697e-03 -5.10519822e-05 9.99998777e-01 2.64459280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.33, Y:-11.10, Z:0.26 [[ 9.99994457e-01 2.87983504e-03 -1.67134338e-03 5.77327885e+02] [-2.87974610e-03 9.99995852e-01 5.56196940e-05 -1.10993948e+01] [ 1.67149663e-03 -5.08063411e-05 9.99998602e-01 2.64199841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.36, Y:-11.10, Z:0.26 [[ 9.99990194e-01 3.96223206e-03 -1.97781265e-03 5.77356969e+02] [-3.96211292e-03 9.99992149e-01 6.41524029e-05 -1.10999309e+01] [ 1.97805131e-03 -5.63154568e-05 9.99998042e-01 2.64382051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.1750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.39, Y:-11.10, Z:0.26 [[ 9.99983000e-01 4.79783943e-03 -3.31361357e-03 5.77385187e+02] [-4.79750480e-03 9.99988486e-01 1.08928119e-04 -1.11005219e+01] [ 3.31409804e-03 -9.30291905e-05 9.99994504e-01 2.64162390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.2050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.41, Y:-11.10, Z:0.26 [[ 9.99983044e-01 4.53982562e-03 -3.64718394e-03 5.77413707e+02] [-4.53941873e-03 9.99989690e-01 1.19832363e-04 -1.11012148e+01] [ 3.64769035e-03 -1.03274236e-04 9.99993342e-01 2.63848123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.44, Y:-11.10, Z:0.26 [[ 9.99986702e-01 3.87801252e-03 -3.39955266e-03 5.77442737e+02] [-3.87765616e-03 9.99992476e-01 1.11411340e-04 -1.11019870e+01] [ 3.39995913e-03 -9.82275622e-05 9.99994215e-01 2.63603067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.47, Y:-11.10, Z:0.26 [[ 9.99992037e-01 2.01239598e-03 -3.44605610e-03 5.77470674e+02] [-2.01202014e-03 9.99997970e-01 1.12526969e-04 -1.11030789e+01] [ 3.44627555e-03 -1.05592539e-04 9.99994056e-01 2.63243521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.2950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.50, Y:-11.10, Z:0.26 [[ 9.99993005e-01 8.04505658e-04 -3.65289963e-03 5.77498750e+02] [-8.04076279e-04 9.99999670e-01 1.19011674e-04 -1.11042857e+01] [ 3.65299417e-03 -1.16073631e-04 9.99993321e-01 2.63289839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.3250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.53, Y:-11.11, Z:0.26 [[ 9.99992523e-01 -4.23889304e-04 -3.84381634e-03 5.77527878e+02] [ 4.24373173e-04 9.99999902e-01 1.25067723e-04 -1.11053567e+01] [ 3.84376295e-03 -1.26698000e-04 9.99992605e-01 2.63022061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.56, Y:-11.11, Z:0.26 [[ 9.99989316e-01 -2.64374046e-03 -3.79201318e-03 5.77556340e+02] [ 2.64422690e-03 9.99996496e-01 1.23273816e-04 -1.11061083e+01] [ 3.79167399e-03 -1.33299442e-04 9.99992803e-01 2.63128628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.59, Y:-11.11, Z:0.26 [[ 9.99985790e-01 -3.76633532e-03 -3.77296797e-03 5.77586226e+02] [ 3.76682473e-03 9.99992898e-01 1.22616274e-04 -1.11067383e+01] [ 3.77247936e-03 -1.36826641e-04 9.99992875e-01 2.63144047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.4150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.62, Y:-11.11, Z:0.26 [[ 9.99981639e-01 -4.63763234e-03 -3.90046982e-03 5.77615500e+02] [ 4.63816149e-03 9.99989236e-01 1.26628818e-04 -1.11073985e+01] [ 3.89984058e-03 -1.44717502e-04 9.99992385e-01 2.63507666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.4450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.65, Y:-11.11, Z:0.26 [[ 9.99973463e-01 -6.40102585e-03 -3.47847430e-03 5.77646210e+02] [ 6.40145795e-03 9.99979504e-01 1.13102181e-04 -1.11082507e+01] [ 3.47767904e-03 -1.35366487e-04 9.99993944e-01 2.63732976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.68, Y:-11.11, Z:0.26 [[ 9.99971125e-01 -7.02645161e-03 -2.89465055e-03 5.77676693e+02] [ 7.02675389e-03 9.99975308e-01 9.42693404e-05 -1.11092209e+01] [ 2.89391669e-03 -1.14606615e-04 9.99995806e-01 2.63520387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.71, Y:-11.11, Z:0.26 [[ 9.99969094e-01 -7.33783497e-03 -2.82272297e-03 5.77707786e+02] [ 7.33812421e-03 9.99973071e-01 9.21257603e-05 -1.11104319e+01] [ 2.82197095e-03 -1.12836405e-04 9.99996012e-01 2.63656151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.5350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.74, Y:-11.11, Z:0.26 [[ 9.99965877e-01 -7.93238337e-03 -2.30679645e-03 5.77739371e+02] [ 7.93257871e-03 9.99968534e-01 7.55423018e-05 -1.11107984e+01] [ 2.30612464e-03 -9.38385685e-05 9.99997336e-01 2.63768402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.5650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.77, Y:-11.11, Z:0.26 [[ 9.99965729e-01 -7.86797036e-03 -2.57604276e-03 5.77771175e+02] [ 7.86821439e-03 9.99969042e-01 8.46123257e-05 -1.11113167e+01] [ 2.57529728e-03 -1.04878283e-04 9.99996678e-01 2.63893153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.80, Y:-11.11, Z:0.26 [[ 9.99968692e-01 -7.44950583e-03 -2.66818383e-03 5.77802932e+02] [ 7.44976584e-03 9.99972246e-01 8.75249761e-05 -1.11120206e+01] [ 2.66745776e-03 -1.07399581e-04 9.99996437e-01 2.63673301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.83, Y:-11.11, Z:0.26 [[ 9.99970980e-01 -6.88831231e-03 -3.25427915e-03 5.77833879e+02] [ 6.88869637e-03 9.99976267e-01 1.06825129e-04 -1.11127381e+01] [ 3.25346607e-03 -1.29239770e-04 9.99994699e-01 2.63517231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.6550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.86, Y:-11.11, Z:0.26 [[ 9.99972274e-01 -6.06057665e-03 -4.32668316e-03 5.77864001e+02] [ 6.06124745e-03 9.99981620e-01 1.41941049e-04 -1.11130928e+01] [ 4.32574340e-03 -1.68162211e-04 9.99990630e-01 2.62936117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.6850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.89, Y:-11.11, Z:0.26 [[ 9.99971568e-01 -5.60271558e-03 -5.04704854e-03 5.77894860e+02] [ 5.60362194e-03 9.99984286e-01 1.65459083e-04 -1.11138770e+01] [ 5.04604221e-03 -1.93736131e-04 9.99987250e-01 2.62774603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.7150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.92, Y:-11.11, Z:0.26 [[ 9.99967790e-01 -5.24355191e-03 -6.07647904e-03 5.77924274e+02] [ 5.24485937e-03 9.99986226e-01 1.99252596e-04 -1.11143203e+01] [ 6.07535054e-03 -2.31116456e-04 9.99981518e-01 2.62293057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.745099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.95, Y:-11.11, Z:0.26 [[ 9.99964752e-01 -5.11162200e-03 -6.66078062e-03 5.77953479e+02] [ 5.11318711e-03 9.99986904e-01 2.17966093e-04 -1.11149201e+01] [ 6.65957923e-03 -2.52016228e-04 9.99977793e-01 2.62296789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:577.98, Y:-11.12, Z:0.26 [[ 9.99966853e-01 -4.96889651e-03 -6.45005683e-03 5.77981818e+02] [ 4.97035840e-03 9.99987626e-01 2.10638179e-04 -1.11154185e+01] [ 6.44893038e-03 -2.42690292e-04 9.99979176e-01 2.62335636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.8050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.01, Y:-11.12, Z:0.26 [[ 9.99968476e-01 -4.65467272e-03 -6.43282002e-03 5.78011037e+02] [ 4.65611949e-03 9.99989138e-01 2.09946299e-04 -1.11161207e+01] [ 6.43177292e-03 -2.39891659e-04 9.99979287e-01 2.62414483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.8350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.04, Y:-11.12, Z:0.26 [[ 9.99965561e-01 -3.51234899e-03 -7.51934125e-03 5.78039754e+02] [ 3.51429016e-03 9.99993795e-01 2.44960361e-04 -1.11164791e+01] [ 7.51843421e-03 -2.71377072e-04 9.99971699e-01 2.62562419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.07, Y:-11.12, Z:0.26 [[ 9.99963122e-01 -2.79333877e-03 -8.12107118e-03 5.78068727e+02] [ 2.79555485e-03 9.99996058e-01 2.61541807e-04 -1.11171691e+01] [ 8.12030860e-03 -2.84235062e-04 9.99966989e-01 2.62363779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.10, Y:-11.12, Z:0.26 [[ 9.99962013e-01 -2.21023977e-03 -8.43138136e-03 5.78096674e+02] [ 2.21258578e-03 9.99997516e-01 2.68929643e-04 -1.11174870e+01] [ 8.43076602e-03 -2.87574581e-04 9.99964419e-01 2.62006270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.9250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.12, Y:-11.12, Z:0.26 [[ 9.99962088e-01 -4.50013271e-04 -8.69594963e-03 5.78123609e+02] [ 4.52441118e-04 9.99999859e-01 2.77227666e-04 -1.11171106e+01] [ 8.69582365e-03 -2.81151561e-04 9.99962151e-01 2.62279047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.9550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.15, Y:-11.12, Z:0.26 [[ 9.99964073e-01 4.35456242e-04 -8.46541212e-03 5.78151767e+02] [-4.33214704e-04 9.99999871e-01 2.66619704e-04 -1.11172063e+01] [ 8.46552713e-03 -2.62942785e-04 9.99964132e-01 2.62615117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.18, Y:-11.12, Z:0.26 [[ 9.99964235e-01 9.87206435e-04 -8.39959400e-03 5.78179666e+02] [-9.85039921e-04 9.99999481e-01 2.62063991e-04 -1.11172926e+01] [ 8.39984835e-03 -2.53780683e-04 9.99964688e-01 2.62818898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.21, Y:-11.12, Z:0.26 [[ 9.99969540e-01 2.50324957e-03 -7.39275337e-03 5.78207994e+02] [-2.50162991e-03 9.99996845e-01 2.28326028e-04 -1.11171963e+01] [ 7.39330160e-03 -2.09825140e-04 9.99972647e-01 2.63281291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.0450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.23, Y:-11.12, Z:0.26 [[ 9.99970880e-01 3.08802535e-03 -6.97882148e-03 5.78234655e+02] [-3.08659668e-03 9.99995213e-01 2.15475516e-04 -1.11173548e+01] [ 6.97945346e-03 -1.93928434e-04 9.99975625e-01 2.63550914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.0750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.26, Y:-11.12, Z:0.26 [[ 9.99968589e-01 4.98323054e-03 -6.16341573e-03 5.78262974e+02] [-4.98216890e-03 9.99987571e-01 1.87591081e-04 -1.11171014e+01] [ 6.16427394e-03 -1.56878010e-04 9.99980988e-01 2.63771417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.29, Y:-11.12, Z:0.26 [[ 9.99964665e-01 6.16735334e-03 -5.71256069e-03 5.78290539e+02] [-6.16645929e-03 9.99980972e-01 1.74106302e-04 -1.11174673e+01] [ 5.71352577e-03 -1.38873877e-04 9.99983668e-01 2.63756686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.32, Y:-11.12, Z:0.26 [[ 9.99965213e-01 6.07775232e-03 -5.71257326e-03 5.78318992e+02] [-6.07685916e-03 9.99981521e-01 1.73693850e-04 -1.11182501e+01] [ 5.71352336e-03 -1.38973304e-04 9.99983668e-01 2.63600677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.1650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.35, Y:-11.12, Z:0.26 [[ 9.99957611e-01 7.32835090e-03 -5.57426211e-03 5.78346834e+02] [-7.32752381e-03 9.99973139e-01 1.68785470e-04 -1.11186771e+01] [ 5.57534930e-03 -1.27932777e-04 9.99984449e-01 2.63753832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.1950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.37, Y:-11.12, Z:0.26 [[ 9.99939972e-01 9.88969238e-03 -4.71661724e-03 5.78374590e+02] [-9.88914033e-03 9.99951091e-01 1.40351911e-04 -1.11188761e+01] [ 4.71777459e-03 -9.37001963e-05 9.99988867e-01 2.63428075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.40, Y:-11.12, Z:0.26 [[ 9.99928741e-01 1.10116379e-02 -4.61051489e-03 5.78401443e+02] [-1.10111210e-02 9.99939366e-01 1.37480206e-04 -1.11195001e+01] [ 4.61174922e-03 -8.67034723e-05 9.99989362e-01 2.63038804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.43, Y:-11.12, Z:0.26 [[ 9.99913584e-01 1.21784287e-02 -4.95087254e-03 5.78429879e+02] [-1.21778489e-02 9.99925836e-01 1.47245626e-04 -1.11201888e+01] [ 4.95229859e-03 -8.69419236e-05 9.99987734e-01 2.62849493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.2850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.46, Y:-11.12, Z:0.26 [[ 9.99900183e-01 1.31495083e-02 -5.16863931e-03 5.78457991e+02] [-1.31488920e-02 9.99913538e-01 1.53195190e-04 -1.11209501e+01] [ 5.17020686e-03 -8.52180184e-05 9.99986631e-01 2.62754468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.3150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.49, Y:-11.12, Z:0.26 [[ 9.99883283e-01 1.43476254e-02 -5.25040848e-03 5.78485996e+02] [-1.43470089e-02 9.99897064e-01 1.55060581e-04 -1.11219144e+01] [ 5.25209278e-03 -7.97148255e-05 9.99986204e-01 2.62528200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.51, Y:-11.12, Z:0.26 [[ 9.99875772e-01 1.48963049e-02 -5.15180836e-03 5.78513495e+02] [-1.48957217e-02 9.99889041e-01 1.51557580e-04 -1.11236814e+01] [ 5.15349437e-03 -7.47988482e-05 9.99986718e-01 2.61933588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.54, Y:-11.13, Z:0.26 [[ 9.99871593e-01 1.52241154e-02 -5.00246533e-03 5.78540300e+02] [-1.52235734e-02 9.99884104e-01 1.46414888e-04 -1.11252972e+01] [ 5.00411460e-03 -7.02406895e-05 9.99987477e-01 2.61583150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.57, Y:-11.13, Z:0.26 [[ 9.99869618e-01 1.54033885e-02 -4.84592172e-03 5.78568183e+02] [-1.54028841e-02 9.99881359e-01 1.41380890e-04 -1.11266681e+01] [ 4.84752453e-03 -6.67212854e-05 9.99988248e-01 2.61716178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.59, Y:-11.13, Z:0.26 [[ 9.99863826e-01 1.58948269e-02 -4.43661242e-03 5.78594742e+02] [-1.58944137e-02 9.99873668e-01 1.28366429e-04 -1.11281779e+01] [ 4.43809229e-03 -5.78315953e-05 9.99990150e-01 2.61543713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.62, Y:-11.13, Z:0.26 [[ 9.99901414e-01 9.78288416e-03 -1.00726524e-02 5.78616554e+02] [-9.61258984e-03 9.99812352e-01 1.68184347e-02 -1.11286836e+01] [ 1.02352951e-02 -1.67199524e-02 9.99807822e-01 2.62949233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.495099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.65, Y:-11.12, Z:0.27 [[ 9.99852165e-01 1.64887312e-02 -4.87539758e-03 5.78654153e+02] [-1.65672611e-02 9.99726081e-01 -1.65314300e-02 -1.11231981e+01] [ 4.60147981e-03 1.66097581e-02 9.99851460e-01 2.67188524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.68, Y:-11.13, Z:0.26 [[ 9.99853121e-01 1.66070246e-02 -4.23601465e-03 5.78681430e+02] [-1.66066561e-02 9.99862093e-01 1.22154387e-04 -1.11325475e+01] [ 4.23745910e-03 -5.17904068e-05 9.99991021e-01 2.61050441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.71, Y:-11.14, Z:0.26 [[ 9.99859057e-01 1.63889494e-02 -3.64267984e-03 5.78709186e+02] [-1.63886771e-02 9.99865691e-01 1.04582268e-04 -1.11359930e+01] [ 3.64390459e-03 -4.48688246e-05 9.99993360e-01 2.60285361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.73, Y:-11.13, Z:0.26 [[ 9.99918858e-01 1.08139518e-02 -6.73319453e-03 5.78731422e+02] [-1.07719439e-02 9.99922484e-01 6.24425218e-03 -1.11328899e+01] [ 6.80019765e-03 -6.17121592e-03 9.99957836e-01 2.61629417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.76, Y:-11.14, Z:0.26 [[ 9.99932297e-01 8.75111817e-03 -7.66931617e-03 5.78758281e+02] [-8.67701719e-03 9.99915861e-01 9.64259731e-03 -1.11371924e+01] [ 7.75305440e-03 -9.57539769e-03 9.99924098e-01 2.62482640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.80, Y:-11.14, Z:0.26 [[ 9.99891301e-01 1.46576108e-02 -1.59379949e-03 5.78797626e+02] [-1.46799571e-02 9.99778934e-01 -1.50526646e-02 -1.11381971e+01] [ 1.37281105e-03 1.50744253e-02 9.99885432e-01 2.64002124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.6750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.82, Y:-11.15, Z:0.26 [[ 9.99919505e-01 1.26585644e-02 -8.62711378e-04 5.78824715e+02] [-1.26585475e-02 9.99919877e-01 2.50560344e-05 -1.11479146e+01] [ 8.62959428e-04 -1.41333446e-05 9.99999628e-01 2.58783646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.7050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.85, Y:-11.15, Z:0.26 [[ 9.99965370e-01 8.31758491e-03 2.78544284e-04 5.78853781e+02] [-8.31758278e-03 9.99965408e-01 -8.79184528e-06 -1.11536388e+01] [-2.78607776e-04 6.47472567e-06 9.99999961e-01 2.58018232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.88, Y:-11.16, Z:0.26 [[ 9.99982094e-01 5.92192770e-03 8.61109206e-04 5.78881796e+02] [-5.92190721e-03 9.99982465e-01 -2.63348084e-05 -1.11572839e+01] [-8.61250060e-04 2.12349280e-05 9.99999629e-01 2.57694963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.91, Y:-11.16, Z:0.26 [[ 9.99991430e-01 3.58471366e-03 2.07116398e-03 5.78910700e+02] [-3.58459217e-03 9.99993573e-01 -6.23678911e-05 -1.11609100e+01] [-2.07137424e-03 5.49430785e-05 9.99997853e-01 2.57009398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.7950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.94, Y:-11.16, Z:0.26 [[ 9.99994474e-01 1.45730977e-03 2.98807226e-03 5.78940170e+02] [-1.45704904e-03 9.99998935e-01 -8.94311006e-05 -1.11643943e+01] [-2.98819940e-03 8.50768386e-05 9.99995532e-01 2.56455093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.8250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:578.97, Y:-11.17, Z:0.26 [[ 9.99987845e-01 -1.92893269e-03 4.53746998e-03 5.78971545e+02] [ 1.92956781e-03 9.99998129e-01 -1.35598409e-04 -1.11703498e+01] [-4.53719993e-03 1.44352117e-04 9.99989696e-01 2.56010802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.01, Y:-11.17, Z:0.26 [[ 9.99980431e-01 -3.19841689e-03 5.37651882e-03 5.79005020e+02] [ 3.19932750e-03 9.99994869e-01 -1.60775377e-04 -1.11738705e+01] [-5.37597701e-03 1.77973475e-04 9.99985533e-01 2.55788455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.04, Y:-11.18, Z:0.26 [[ 9.99967483e-01 -5.17547771e-03 6.18444829e-03 5.79037137e+02] [ 5.17673299e-03 9.99986583e-01 -1.86982817e-04 -1.11802044e+01] [-6.18339759e-03 2.18991974e-04 9.99980859e-01 2.55012691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.9150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.07, Y:-11.18, Z:0.25 [[ 9.99962721e-01 -5.77870735e-03 6.41588920e-03 5.79070408e+02] [ 5.78008170e-03 9.99983276e-01 -1.95689181e-04 -1.11842348e+01] [-6.41465107e-03 2.32766249e-04 9.99979399e-01 2.54590003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.9450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.10, Y:-11.19, Z:0.25 [[ 9.99958474e-01 -6.16657429e-03 6.70989543e-03 5.79102995e+02] [ 6.16809130e-03 9.99980956e-01 -2.05414872e-04 -1.11881964e+01] [-6.70850094e-03 2.46793590e-04 9.99977467e-01 2.54031600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.14, Y:-11.20, Z:0.25 [[ 9.99954091e-01 -6.33979583e-03 7.18484218e-03 5.79136030e+02] [ 6.34154560e-03 9.99979868e-01 -2.20780334e-04 -1.11952036e+01] [-7.18329783e-03 2.66333202e-04 9.99974164e-01 2.53246153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.17, Y:-11.20, Z:0.25 [[ 9.99955112e-01 -6.17677408e-03 7.18481557e-03 5.79169568e+02] [ 6.17852584e-03 9.99980888e-01 -2.21643268e-04 -1.11963118e+01] [-7.18330921e-03 2.66024888e-04 9.99974164e-01 2.53048541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.0350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.18, Y:-11.20, Z:0.26 [[ 9.99850896e-01 -1.68365842e-02 -3.83592560e-03 5.79181390e+02] [ 1.69525185e-02 9.99327421e-01 3.25164230e-02 -1.12002527e+01] [ 3.28588014e-03 -3.25766033e-02 9.99463840e-01 2.58229310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.0650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.23, Y:-11.19, Z:0.26 [[ 9.99952594e-01 -6.16322571e-03 7.53815024e-03 5.79229978e+02] [ 6.40643529e-03 9.99445433e-01 -3.26769557e-02 -1.11906579e+01] [-7.33257438e-03 3.27236993e-02 9.99437538e-01 2.63148284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.26, Y:-11.21, Z:0.25 [[ 9.99951929e-01 -7.16821581e-03 6.69003206e-03 5.79260130e+02] [ 7.16975146e-03 9.99974276e-01 -2.05588901e-04 -1.12115226e+01] [-6.68838626e-03 2.53544885e-04 9.99977600e-01 2.53322490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.29, Y:-11.22, Z:0.25 [[ 9.99967157e-01 -6.96816379e-03 4.13878559e-03 5.79293547e+02] [ 6.96874983e-03 9.99975710e-01 -1.27192315e-04 -1.12150678e+01] [-4.13779876e-03 1.56030299e-04 9.99991427e-01 2.52083282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.1550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.31, Y:-11.22, Z:0.26 [[ 9.99796260e-01 -1.80745932e-02 -8.98594370e-03 5.79307416e+02] [ 1.83609286e-02 9.99290803e-01 3.28750172e-02 -1.12166475e+01] [ 8.38536833e-03 -3.30333095e-02 9.99419074e-01 2.56655892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.1850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.34, Y:-11.21, Z:0.27 [[ 9.99873357e-01 -1.36124069e-02 -8.24455854e-03 5.79337999e+02] [ 1.35924951e-02 9.99904576e-01 -2.46637694e-03 -1.12056464e+01] [ 8.27734514e-03 2.35400047e-03 9.99962971e-01 2.65425426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.2150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.37, Y:-11.21, Z:0.27 [[ 9.99883048e-01 -1.28792446e-02 -8.24710309e-03 5.79368416e+02] [ 1.28662945e-02 9.99915911e-01 -1.62138945e-03 -1.12092722e+01] [ 8.26729187e-03 1.51509017e-03 9.99964678e-01 2.65738464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.40, Y:-11.22, Z:0.27 [[ 9.99936479e-01 -8.57995041e-03 -7.30907063e-03 5.79397478e+02] [ 8.64531013e-03 9.99922502e-01 8.95811372e-03 -1.12186001e+01] [ 7.23164402e-03 -9.02073387e-03 9.99933163e-01 2.65108985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.43, Y:-11.22, Z:0.27 [[ 9.99961406e-01 -5.54152534e-03 -6.81746622e-03 5.79427056e+02] [ 5.54647692e-03 9.99984368e-01 7.07615581e-04 -1.12182982e+01] [ 6.81343838e-03 -7.45401191e-04 9.99976510e-01 2.67292355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.3050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.46, Y:-11.22, Z:0.27 [[ 9.99977191e-01 -2.59640479e-03 -6.23512540e-03 5.79455840e+02] [ 2.58323560e-03 9.99994418e-01 -2.11922163e-03 -1.12207351e+01] [ 6.24059295e-03 2.10306649e-03 9.99978316e-01 2.67258823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.3350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.50, Y:-11.23, Z:0.26 [[ 9.99935220e-01 9.85129375e-03 5.70148741e-03 5.79502488e+02] [-9.63817226e-03 9.99295470e-01 -3.62721690e-02 -1.12271134e+01] [-6.05479833e-03 3.62148674e-02 9.99325684e-01 2.60752808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.53, Y:-11.25, Z:0.25 [[ 9.99917987e-01 1.07080617e-02 7.02549891e-03 5.79533105e+02] [-1.07065870e-02 9.99942652e-01 -2.47486558e-04 -1.12477678e+01] [-7.02774611e-03 1.72247145e-04 9.99975290e-01 2.50882588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.55, Y:-11.25, Z:0.26 [[ 9.99994357e-01 1.37802380e-03 -3.06373692e-03 5.79547804e+02] [-1.28505923e-03 9.99544826e-01 3.01411591e-02 -1.12501938e+01] [ 3.10387762e-03 -3.01370520e-02 9.99540957e-01 2.56350758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.4250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.58, Y:-11.24, Z:0.26 [[ 9.99990758e-01 3.54218957e-03 -2.43665352e-03 5.79577886e+02] [-3.54169330e-03 9.99993707e-01 2.07953112e-04 -1.12447544e+01] [ 2.43737479e-03 -1.99321310e-04 9.99997010e-01 2.63010392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.4550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.62, Y:-11.25, Z:0.26 [[ 9.99909420e-01 1.13893931e-02 7.17173064e-03 5.79622200e+02] [-1.11692651e-02 9.99486890e-01 -3.00200570e-02 -1.12497185e+01] [-7.50996099e-03 2.99372348e-02 9.99523568e-01 2.57713333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.64, Y:-11.27, Z:0.25 [[ 9.99997161e-01 1.93524297e-03 -1.39059795e-03 5.79638581e+02] [-1.89405213e-03 9.99576585e-01 2.90355694e-02 -1.12680707e+01] [ 1.44620003e-03 -2.90328531e-02 9.99577412e-01 2.53936318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.67, Y:-11.26, Z:0.26 [[ 9.99998591e-01 1.67826254e-03 -4.55869393e-05 5.79669866e+02] [-1.67865201e-03 9.99942205e-01 -1.06192757e-02 -1.12591220e+01] [ 2.77623719e-05 1.06193372e-02 9.99943613e-01 2.60603794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.5450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.70, Y:-11.27, Z:0.26 [[ 9.99998072e-01 9.60756359e-04 1.71246971e-03 5.79699728e+02] [-9.57407938e-04 9.99997631e-01 -1.95506512e-03 -1.12680264e+01] [-1.71434399e-03 1.95342182e-03 9.99996623e-01 2.56815683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.5750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.73, Y:-11.27, Z:0.26 [[ 9.99997309e-01 -5.30860831e-05 2.31920437e-03 5.79730625e+02] [ 5.58542681e-05 9.99999286e-01 -1.19354398e-03 -1.12733260e+01] [-2.31913935e-03 1.19367031e-03 9.99996598e-01 2.55901522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.77, Y:-11.28, Z:0.25 [[ 9.99962118e-01 3.41198491e-03 8.00756786e-03 5.79769988e+02] [-3.28225062e-03 9.99864047e-01 -1.61590596e-02 -1.12811679e+01] [-8.06161367e-03 1.61321646e-02 9.99837369e-01 2.52261774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.80, Y:-11.30, Z:0.25 [[ 9.99966340e-01 -1.05230946e-03 8.13702431e-03 5.79802266e+02] [ 1.05484631e-03 9.99999396e-01 -3.07480781e-04 -1.12959111e+01] [-8.13669583e-03 3.16053742e-04 9.99966847e-01 2.48019429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.6650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.82, Y:-11.30, Z:0.25 [[ 9.99956822e-01 -8.73718188e-03 3.16468727e-03 5.79824203e+02] [ 8.68675400e-03 9.99840384e-01 1.56123992e-02 -1.12979125e+01] [-3.30059050e-03 -1.55842342e-02 9.99873111e-01 2.50063593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.6950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.86, Y:-11.30, Z:0.25 [[ 9.99959421e-01 -4.83385131e-03 7.60197367e-03 5.79863780e+02] [ 4.95425157e-03 9.99861317e-01 -1.58997651e-02 -1.12965824e+01] [-7.52406231e-03 1.59367820e-02 9.99844692e-01 2.49909036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.90, Y:-11.31, Z:0.25 [[ 9.99914811e-01 -9.32075367e-03 9.13754564e-03 5.79895862e+02] [ 9.32435194e-03 9.99956466e-01 -3.51266003e-04 -1.13093296e+01] [-9.13387378e-03 4.36437770e-04 9.99958190e-01 2.46070229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.93, Y:-11.31, Z:0.25 [[ 9.99895346e-01 -1.07819271e-02 9.64607649e-03 5.79929173e+02] [ 1.07860159e-02 9.99941760e-01 -3.71958371e-04 -1.13126494e+01] [-9.64150428e-03 4.75962179e-04 9.99953406e-01 2.45639417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.7850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.96, Y:-11.32, Z:0.25 [[ 9.99846173e-01 -1.45824500e-02 9.74593380e-03 5.79961500e+02] [ 1.45868135e-02 9.99893536e-01 -3.76792509e-04 -1.13177688e+01] [-9.73940165e-03 5.18896667e-04 9.99952436e-01 2.45337210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.8150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:579.99, Y:-11.32, Z:0.24 [[ 9.99806790e-01 -1.70442556e-02 9.79162605e-03 5.79994761e+02] [ 1.70488053e-02 9.99854586e-01 -3.81367473e-04 -1.13209898e+01] [-9.78370209e-03 5.48229316e-04 9.99951988e-01 2.44660650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.03, Y:-11.33, Z:0.24 [[ 9.99725925e-01 -2.13906444e-02 9.51396202e-03 5.80027422e+02] [ 2.13951455e-02 9.99771029e-01 -3.71565489e-04 -1.13263509e+01] [-9.50383557e-03 5.75016254e-04 9.99954672e-01 2.43673908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.06, Y:-11.33, Z:0.24 [[ 9.99621464e-01 -2.56448543e-02 9.96347353e-03 5.80060347e+02] [ 2.56500127e-02 9.99670908e-01 -3.90272871e-04 -1.13307894e+01] [-9.95018614e-03 6.45688362e-04 9.99950287e-01 2.42676071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.09, Y:-11.34, Z:0.24 [[ 9.99514212e-01 -2.95203763e-02 9.99441294e-03 5.80092462e+02] [ 2.95257701e-02 9.99563942e-01 -3.92535868e-04 -1.13362402e+01] [-9.97846699e-03 6.87437918e-04 9.99949978e-01 2.41539158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.12, Y:-11.34, Z:0.24 [[ 9.99412071e-01 -3.35979676e-02 6.83296939e-03 5.80124192e+02] [ 3.36005903e-02 9.99435304e-01 -2.69361015e-04 -1.13408863e+01] [-6.82006086e-03 4.98794454e-04 9.99976619e-01 2.39890032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.16, Y:-11.34, Z:0.24 [[ 9.99379145e-01 -3.46593832e-02 6.32860523e-03 5.80157510e+02] [ 3.46616680e-02 9.99399072e-01 -2.51671504e-04 -1.13429775e+01] [-6.31607942e-03 4.70875266e-04 9.99979943e-01 2.39141103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.995099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.19, Y:-11.34, Z:0.24 [[ 9.99383639e-01 -3.45295635e-02 6.32858013e-03 5.80191010e+02] [ 3.45318497e-02 9.99403566e-01 -2.52300786e-04 -1.13443984e+01] [-6.31609371e-03 4.70682855e-04 9.99979943e-01 2.38791071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.22, Y:-11.35, Z:0.24 [[ 9.99361231e-01 -3.52711944e-02 5.75082617e-03 5.80223251e+02] [ 3.52730990e-02 9.99377684e-01 -2.30068178e-04 -1.13462552e+01] [-5.73913256e-03 4.32770679e-04 9.99983437e-01 2.37947477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.26, Y:-11.35, Z:0.24 [[ 9.99366462e-01 -3.51226768e-02 5.75081549e-03 5.80256755e+02] [ 3.51245805e-02 9.99382915e-01 -2.30335288e-04 -1.13476883e+01] [-5.73917675e-03 4.32184343e-04 9.99983437e-01 2.37597358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.29, Y:-11.35, Z:0.24 [[ 9.99371671e-01 -3.49741522e-02 5.75078108e-03 5.80290259e+02] [ 3.49760584e-02 9.99388124e-01 -2.31189943e-04 -1.13491261e+01] [-5.73917664e-03 4.32184334e-04 9.99983437e-01 2.37247350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.32, Y:-11.35, Z:0.24 [[ 9.99376866e-01 -3.48253880e-02 5.75074658e-03 5.80323763e+02] [ 3.48272966e-02 9.99393319e-01 -2.32043473e-04 -1.13505688e+01] [-5.73917671e-03 4.32181836e-04 9.99983437e-01 2.36897342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.36, Y:-11.35, Z:0.24 [[ 9.99325980e-01 -3.63318881e-02 5.25171630e-03 5.80356452e+02] [ 3.63335049e-02 9.99339698e-01 -2.12748767e-04 -1.13520430e+01] [-5.24051902e-03 4.03418629e-04 9.99986187e-01 2.36293647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.1750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.39, Y:-11.35, Z:0.24 [[ 9.99313691e-01 -3.67635026e-02 4.53774082e-03 5.80388583e+02] [ 3.67647162e-02 9.99323932e-01 -1.84287065e-04 -1.13535360e+01] [-4.52789796e-03 3.50989341e-04 9.99989687e-01 2.35876980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.2050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.42, Y:-11.35, Z:0.24 [[ 9.99225453e-01 -3.91499299e-02 3.97215134e-03 5.80422025e+02] [ 3.91508790e-02 9.99233297e-01 -1.61435083e-04 -1.13546733e+01] [-3.96278571e-03 3.16823260e-04 9.99992098e-01 2.35478066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.45, Y:-11.36, Z:0.24 [[ 9.99205562e-01 -3.96607048e-02 3.90813071e-03 5.80453682e+02] [ 3.96616295e-02 9.99213155e-01 -1.59381865e-04 -1.13561644e+01] [-3.89873443e-03 3.14258079e-04 9.99992351e-01 2.35001767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.49, Y:-11.36, Z:0.23 [[ 9.99199563e-01 -3.97965167e-02 4.05851465e-03 5.80486010e+02] [ 3.97975169e-02 9.99207751e-01 -1.65943052e-04 -1.13577005e+01] [-4.04869534e-03 3.27329030e-04 9.99991750e-01 2.34361924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.2950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.52, Y:-11.36, Z:0.23 [[ 9.99181382e-01 -4.02497134e-02 4.06521843e-03 5.80519239e+02] [ 4.02507216e-02 9.99189597e-01 -1.66461266e-04 -1.13589974e+01] [-4.05522395e-03 3.29952973e-04 9.99991723e-01 2.34181730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.3250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.55, Y:-11.36, Z:0.23 [[ 9.99182086e-01 -4.02458693e-02 3.92789974e-03 5.80550839e+02] [ 4.02468126e-02 9.99189756e-01 -1.61363755e-04 -1.13599903e+01] [-3.91822296e-03 3.19317219e-04 9.99992273e-01 2.33822493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.58, Y:-11.36, Z:0.23 [[ 9.99178875e-01 -4.03165751e-02 4.01875446e-03 5.80583935e+02] [ 4.03175641e-02 9.99186903e-01 -1.65374075e-04 -1.13601053e+01] [-4.00881950e-03 3.27264672e-04 9.99991911e-01 2.34053251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.62, Y:-11.36, Z:0.23 [[ 9.99200049e-01 -3.97394841e-02 4.47601826e-03 5.80616933e+02] [ 3.97407081e-02 9.99210009e-01 -1.84811255e-04 -1.13606535e+01] [-4.46513794e-03 3.62543551e-04 9.99989966e-01 2.34309704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.4150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.65, Y:-11.36, Z:0.23 [[ 9.99208478e-01 -3.93345341e-02 5.93403366e-03 5.80649881e+02] [ 3.93366844e-02 9.99225983e-01 -2.46049146e-04 -1.13608406e+01] [-5.91976239e-03 4.79279602e-04 9.99982363e-01 2.34600496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.4450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.68, Y:-11.36, Z:0.23 [[ 9.99196658e-01 -3.94735245e-02 6.91957208e-03 5.80681986e+02] [ 3.94764589e-02 9.99220459e-01 -2.87952942e-04 -1.13619119e+01] [-6.90281147e-03 5.60881820e-04 9.99976018e-01 2.34067473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.72, Y:-11.36, Z:0.23 [[ 9.99228951e-01 -3.86114862e-02 7.11730528e-03 5.80715462e+02] [ 3.86145734e-02 9.99254135e-01 -2.96807122e-04 -1.13635153e+01] [-7.10053657e-03 5.71409976e-04 9.99974628e-01 2.34096224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.75, Y:-11.36, Z:0.23 [[ 9.99251374e-01 -3.78801256e-02 7.86047011e-03 5.80747340e+02] [ 3.78838751e-02 9.99282094e-01 -3.28614400e-04 -1.13641513e+01] [-7.84237908e-03 6.26153459e-04 9.99969052e-01 2.33943174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.5350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.78, Y:-11.36, Z:0.23 [[ 9.99258197e-01 -3.77375510e-02 7.67678405e-03 5.80780357e+02] [ 3.77411353e-02 9.99287498e-01 -3.22510319e-04 -1.13648638e+01] [-7.65914357e-03 6.12001625e-04 9.99970481e-01 2.33950434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.5650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.81, Y:-11.36, Z:0.23 [[ 9.99266713e-01 -3.74795340e-02 7.83079427e-03 5.80813843e+02] [ 3.74832626e-02 9.99297201e-01 -3.29864845e-04 -1.13645478e+01] [-7.81292762e-03 6.23146677e-04 9.99969284e-01 2.33606450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.85, Y:-11.37, Z:0.23 [[ 9.99280714e-01 -3.72222731e-02 7.24966007e-03 5.80846788e+02] [ 3.72254673e-02 9.99306845e-01 -3.06112244e-04 -1.13650797e+01] [-7.23324074e-03 5.75764046e-04 9.99973674e-01 2.33457681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.88, Y:-11.37, Z:0.23 [[ 9.99306736e-01 -3.66536915e-02 6.52340049e-03 5.80878515e+02] [ 3.66562702e-02 9.99327895e-01 -2.76147970e-04 -1.13658443e+01] [-6.50889424e-03 5.15080058e-04 9.99978684e-01 2.32903184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.6550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.91, Y:-11.37, Z:0.23 [[ 9.99341903e-01 -3.59109165e-02 5.11545077e-03 5.80911967e+02] [ 3.59124935e-02 9.99354915e-01 -2.16722882e-04 -1.13660624e+01] [-5.10436815e-03 4.00288850e-04 9.99986893e-01 2.31843303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.6850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.95, Y:-11.37, Z:0.23 [[ 9.99374434e-01 -3.50853627e-02 4.44500715e-03 5.80945300e+02] [ 3.50865468e-02 9.99384260e-01 -1.88662968e-04 -1.13668189e+01] [-4.43565088e-03 3.44504899e-04 9.99990103e-01 2.31227044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.7150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:580.98, Y:-11.37, Z:0.23 [[ 9.99391465e-01 -3.46685217e-02 3.84624372e-03 5.80977625e+02] [ 3.46694068e-02 9.99398822e-01 -1.63650791e-04 -1.13673603e+01] [-3.83825792e-03 2.96898192e-04 9.99992590e-01 2.30959749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.745099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.01, Y:-11.37, Z:0.23 [[ 9.99418354e-01 -3.38761214e-02 3.91948643e-03 5.81011062e+02] [ 3.38770354e-02 9.99425995e-01 -1.67018837e-04 -1.13681251e+01] [-3.91157867e-03 2.99702272e-04 9.99992305e-01 2.30482319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.04, Y:-11.37, Z:0.23 [[ 9.99485886e-01 -3.17576203e-02 4.40645505e-03 5.81042730e+02] [ 3.17587584e-02 9.99495546e-01 -1.88527172e-04 -1.13675109e+01] [-4.39824502e-03 3.28373789e-04 9.99990274e-01 2.30837296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.8050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.07, Y:-11.37, Z:0.23 [[ 9.99528420e-01 -3.03482454e-02 4.68200616e-03 5.81074930e+02] [ 3.03495173e-02 9.99539327e-01 -2.00818632e-04 -1.13679304e+01] [-4.67375479e-03 3.42820557e-04 9.99989019e-01 2.30612781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.8350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.11, Y:-11.37, Z:0.23 [[ 9.99569514e-01 -2.88535805e-02 5.31580147e-03 5.81107517e+02] [ 2.88552018e-02 9.99583576e-01 -2.28536377e-04 -1.13683885e+01] [-5.30699375e-03 3.81826520e-04 9.99985845e-01 2.30354225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.14, Y:-11.37, Z:0.23 [[ 9.99653058e-01 -2.55936617e-02 6.22315590e-03 5.81139516e+02] [ 2.55958268e-02 9.99672337e-01 -2.68495467e-04 -1.13678285e+01] [-6.21424502e-03 4.27689135e-04 9.99980600e-01 2.29886076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.17, Y:-11.37, Z:0.23 [[ 9.99687430e-01 -2.40042700e-02 6.98839355e-03 5.81172937e+02] [ 2.40069664e-02 9.99711746e-01 -3.02197164e-04 -1.13684445e+01] [-6.97912509e-03 4.69872835e-04 9.99975535e-01 2.29382813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.9250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.21, Y:-11.37, Z:0.23 [[ 9.99743708e-01 -2.11618760e-02 8.04318444e-03 5.81206155e+02] [ 2.11653646e-02 9.99775928e-01 -3.48844222e-04 -1.13689933e+01] [-8.03399999e-03 5.18991747e-04 9.99967592e-01 2.28701910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.9550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.24, Y:-11.37, Z:0.23 [[ 9.99751692e-01 -2.06116514e-02 8.46846607e-03 5.81238005e+02] [ 2.06155074e-02 9.99787410e-01 -3.68294299e-04 -1.13699034e+01] [-8.45907460e-03 5.42784573e-04 9.99964074e-01 2.28222438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.27, Y:-11.37, Z:0.23 [[ 9.99755584e-01 -2.03545962e-02 8.62920305e-03 5.81270800e+02] [ 2.03585970e-02 9.99792672e-01 -3.76039401e-04 -1.13710239e+01] [-8.61975985e-03 5.51625958e-04 9.99962697e-01 2.27664031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.30, Y:-11.37, Z:0.23 [[ 9.99735779e-01 -2.14134961e-02 8.35666355e-03 5.81303601e+02] [ 2.14172921e-02 9.99770557e-01 -3.65007193e-04 -1.13718905e+01] [-8.34693009e-03 5.43887854e-04 9.99965016e-01 2.27141492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.0450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.34, Y:-11.37, Z:0.23 [[ 9.99713870e-01 -2.24722328e-02 8.19619719e-03 5.81336104e+02] [ 2.24759266e-02 9.99747320e-01 -3.58825889e-04 -1.13732571e+01] [-8.18606256e-03 5.42940344e-04 9.99966346e-01 2.26310524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.0750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.37, Y:-11.37, Z:0.23 [[ 9.99680025e-01 -2.39854047e-02 8.03412723e-03 5.81367931e+02] [ 2.39890098e-02 9.99712160e-01 -3.52634026e-04 -1.13749449e+01] [-8.02335662e-03 5.45251949e-04 9.99967664e-01 2.25609612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.40, Y:-11.38, Z:0.22 [[ 9.99597333e-01 -2.72317551e-02 7.97511868e-03 5.81401260e+02] [ 2.72354156e-02 9.99628986e-01 -3.50721450e-04 -1.13776338e+01] [-7.96260904e-03 5.67785898e-04 9.99968137e-01 2.24627195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.43, Y:-11.38, Z:0.22 [[ 9.99559307e-01 -2.85429650e-02 8.15415739e-03 5.81433971e+02] [ 2.85468425e-02 9.99592391e-01 -3.59497239e-04 -1.13794925e+01] [-8.14057257e-03 5.92114258e-04 9.99966690e-01 2.23852538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.1650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.47, Y:-11.38, Z:0.22 [[ 9.99531289e-01 -2.95345962e-02 8.05662950e-03 5.81465696e+02] [ 2.95384207e-02 9.99563582e-01 -3.56089103e-04 -1.13813163e+01] [-8.04259650e-03 5.93902312e-04 9.99967481e-01 2.23429621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.1950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.50, Y:-11.38, Z:0.22 [[ 9.99500543e-01 -3.04553120e-02 8.43440364e-03 5.81498204e+02] [ 3.04595425e-02 9.99535931e-01 -3.73544893e-04 -1.13829559e+01] [-8.41911306e-03 6.30266399e-04 9.99964360e-01 2.22614985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.53, Y:-11.39, Z:0.22 [[ 9.99454458e-01 -3.21350783e-02 7.62386625e-03 5.81531588e+02] [ 3.21385886e-02 9.99483365e-01 -3.38342093e-04 -1.13851812e+01] [-7.60905485e-03 5.83177814e-04 9.99970881e-01 2.21916642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.56, Y:-11.39, Z:0.22 [[ 9.99437452e-01 -3.27324981e-02 7.30506326e-03 5.81563616e+02] [ 3.27357426e-02 9.99463989e-01 -3.24974587e-04 -1.13871650e+01] [-7.29051044e-03 5.63928443e-04 9.99973265e-01 2.21108858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.2850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.60, Y:-11.39, Z:0.22 [[ 9.99425624e-01 -3.32089567e-02 6.75182911e-03 5.81596990e+02] [ 3.32117422e-02 9.99448293e-01 -3.00823734e-04 -1.13888236e+01] [-6.73811404e-03 5.24890957e-04 9.99977161e-01 2.20653875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.3150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.63, Y:-11.39, Z:0.22 [[ 9.99407214e-01 -3.38694507e-02 6.17103858e-03 5.81630061e+02] [ 3.38717935e-02 9.99426148e-01 -2.75494389e-04 -1.13909874e+01] [-6.15816648e-03 4.84355224e-04 9.99980921e-01 2.20148359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.66, Y:-11.39, Z:0.22 [[ 9.99403940e-01 -3.39656068e-02 6.17267179e-03 5.81662802e+02] [ 3.39679566e-02 9.99422884e-01 -2.76204628e-04 -1.13926980e+01] [-6.15972799e-03 4.85713041e-04 9.99980911e-01 2.20042709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.70, Y:-11.39, Z:0.22 [[ 9.99380186e-01 -3.45138230e-02 6.93106055e-03 5.81696004e+02] [ 3.45168046e-02 9.99404069e-01 -3.10979149e-04 -1.13945173e+01] [-6.91619704e-03 5.50024463e-04 9.99975932e-01 2.20274687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.73, Y:-11.40, Z:0.22 [[ 9.99360731e-01 -3.49748624e-02 7.40869255e-03 5.81729075e+02] [ 3.49782881e-02 9.99388017e-01 -3.33275220e-04 -1.13963738e+01] [-7.39250230e-03 5.92205550e-04 9.99972500e-01 2.19776693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.76, Y:-11.40, Z:0.22 [[ 9.99353780e-01 -3.52438938e-02 7.06331973e-03 5.81762218e+02] [ 3.52470189e-02 9.99378580e-01 -3.18423027e-04 -1.13982874e+01] [-7.04770797e-03 5.67178220e-04 9.99975004e-01 2.19277126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.80, Y:-11.40, Z:0.22 [[ 9.99325080e-01 -3.62327306e-02 6.04768122e-03 5.81795132e+02] [ 3.62350426e-02 9.99343258e-01 -2.73126594e-04 -1.14003608e+01] [-6.03381333e-03 4.92080242e-04 9.99981675e-01 2.18367304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.495099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.83, Y:-11.40, Z:0.22 [[ 9.99317173e-01 -3.65171430e-02 5.62911944e-03 5.81827382e+02] [ 3.65191540e-02 9.99332921e-01 -2.54857463e-04 -1.14024213e+01] [-5.61605771e-03 4.60254119e-04 9.99984124e-01 2.17359136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.86, Y:-11.40, Z:0.22 [[ 9.99284210e-01 -3.75387687e-02 4.68067949e-03 5.81859160e+02] [ 3.75401691e-02 9.99295097e-01 -2.11673263e-04 -1.14042016e+01] [-4.66943411e-03 3.87235249e-04 9.99989023e-01 2.16473345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.89, Y:-11.41, Z:0.22 [[ 9.99274422e-01 -3.78396350e-02 4.33497959e-03 5.81892048e+02] [ 3.78408437e-02 9.99283759e-01 -1.97115991e-04 -1.14057285e+01] [-4.32441590e-03 3.61012254e-04 9.99990585e-01 2.15933350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.92, Y:-11.41, Z:0.22 [[ 9.99260426e-01 -3.82333360e-02 4.10032190e-03 5.81924680e+02] [ 3.82344223e-02 9.99268780e-01 -1.86823928e-04 -1.14072789e+01] [-4.09018076e-03 3.43459197e-04 9.99991576e-01 2.15589460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.96, Y:-11.41, Z:0.22 [[ 9.99255513e-01 -3.83795112e-02 3.92850141e-03 5.81956816e+02] [ 3.83805114e-02 9.99263181e-01 -1.79507908e-04 -1.14090147e+01] [-3.91871739e-03 3.30152160e-04 9.99992267e-01 2.15442704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:581.99, Y:-11.41, Z:0.21 [[ 9.99275395e-01 -3.78702536e-02 3.81173505e-03 5.81989696e+02] [ 3.78711923e-02 9.99282614e-01 -1.74368574e-04 -1.14103694e+01] [-3.80239718e-03 3.18597176e-04 9.99992720e-01 2.14778681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.6750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.02, Y:-11.41, Z:0.21 [[ 9.99299647e-01 -3.72414126e-02 3.64603633e-03 5.82022646e+02] [ 3.72422686e-02 9.99306252e-01 -1.67137573e-04 -1.14118717e+01] [-3.63728246e-03 3.02807182e-04 9.99993339e-01 2.14535304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.7050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.06, Y:-11.41, Z:0.21 [[ 9.99357440e-01 -3.56579310e-02 3.63572450e-03 5.82055781e+02] [ 3.56587732e-02 9.99364010e-01 -1.67066483e-04 -1.14127995e+01] [-3.62745496e-03 2.96604608e-04 9.99993377e-01 2.14453461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.09, Y:-11.41, Z:0.21 [[ 9.99389383e-01 -3.47582566e-02 3.56710810e-03 5.82087920e+02] [ 3.47590634e-02 9.99395708e-01 -1.64419386e-04 -1.14139113e+01] [-3.55923759e-03 2.88308325e-04 9.99993624e-01 2.14105550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.12, Y:-11.42, Z:0.21 [[ 9.99414321e-01 -3.40139705e-02 3.75022633e-03 5.82120631e+02] [ 3.40148580e-02 9.99421312e-01 -1.73112645e-04 -1.14151534e+01] [-3.74216787e-03 3.00574673e-04 9.99992953e-01 2.13492980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.7950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.15, Y:-11.42, Z:0.21 [[ 9.99435139e-01 -3.34248389e-02 3.49051756e-03 5.82152615e+02] [ 3.34256058e-02 9.99441195e-01 -1.61573278e-04 -1.14166329e+01] [-3.48316648e-03 2.78154675e-04 9.99993895e-01 2.13213509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.8250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.19, Y:-11.42, Z:0.21 [[ 9.99445135e-01 -3.31535135e-02 3.20408949e-03 5.82185749e+02] [ 3.31541586e-02 9.99450239e-01 -1.48413813e-04 -1.14181350e+01] [-3.19740756e-03 2.54560354e-04 9.99994856e-01 2.12934521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.22, Y:-11.42, Z:0.21 [[ 9.99432212e-01 -3.35641966e-02 2.94925459e-03 5.82218532e+02] [ 3.35647456e-02 9.99436536e-01 -1.36846851e-04 -1.14200166e+01] [-2.94299964e-03 2.35760131e-04 9.99995642e-01 2.12545041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.25, Y:-11.42, Z:0.21 [[ 9.99414810e-01 -3.40803825e-02 2.92652138e-03 5.82250066e+02] [ 3.40809266e-02 9.99419067e-01 -1.36248151e-04 -1.14220322e+01] [-2.92017788e-03 2.35906981e-04 9.99995708e-01 2.12142933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.9150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.28, Y:-11.42, Z:0.21 [[ 9.99384922e-01 -3.49716046e-02 2.60089256e-03 5.82283507e+02] [ 3.49720373e-02 9.99388284e-01 -1.21084223e-04 -1.14239442e+01] [-2.59506704e-03 2.11968259e-04 9.99996610e-01 2.12220080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.9450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.32, Y:-11.43, Z:0.21 [[ 9.99389332e-01 -3.48453655e-02 2.60088598e-03 5.82316998e+02] [ 3.48457982e-02 9.99392693e-01 -1.21225449e-04 -1.14256054e+01] [-2.59508230e-03 2.11781368e-04 9.99996610e-01 2.11870046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.35, Y:-11.43, Z:0.21 [[ 9.99350964e-01 -3.59267633e-02 2.63045279e-03 5.82349958e+02] [ 3.59272109e-02 9.99354402e-01 -1.23094031e-04 -1.14274804e+01] [-2.62433221e-03 2.17518971e-04 9.99996533e-01 2.11683467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.38, Y:-11.43, Z:0.21 [[ 9.99256195e-01 -3.84515318e-02 2.92162500e-03 5.82383213e+02] [ 3.84520960e-02 9.99260435e-01 -1.37163104e-04 -1.14301827e+01] [-2.91419014e-03 2.49403686e-04 9.99995723e-01 2.11721786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.0350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.42, Y:-11.43, Z:0.21 [[ 9.99217258e-01 -3.94651116e-02 2.71594390e-03 5.82416301e+02] [ 3.94656034e-02 9.99220921e-01 -1.27721078e-04 -1.14326062e+01] [-2.70878744e-03 2.34807470e-04 9.99996304e-01 2.11455410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.0650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.45, Y:-11.44, Z:0.21 [[ 9.99141613e-01 -4.13311527e-02 2.78788079e-03 5.82449623e+02] [ 4.13316790e-02 9.99145472e-01 -1.31402584e-04 -1.14355608e+01] [-2.78006745e-03 2.46517583e-04 9.99996105e-01 2.10922929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.48, Y:-11.44, Z:0.21 [[ 9.99139187e-01 -4.13844077e-02 2.86648615e-03 5.82482836e+02] [ 4.13849654e-02 9.99143266e-01 -1.35464399e-04 -1.14379541e+01] [-2.85842422e-03 2.53977219e-04 9.99995882e-01 2.10555578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.52, Y:-11.44, Z:0.21 [[ 9.99144259e-01 -4.12970513e-02 2.30285790e-03 5.82515398e+02] [ 4.12974110e-02 9.99146892e-01 -1.08852339e-04 -1.14397900e+01] [-2.29639804e-03 2.03861259e-04 9.99997342e-01 2.10577984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.1550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.55, Y:-11.44, Z:0.21 [[ 9.99232088e-01 -3.91053748e-02 2.45023447e-03 5.82547846e+02] [ 3.91057767e-02 9.99235070e-01 -1.16324883e-04 -1.14416867e+01] [-2.44381128e-03 2.12053878e-04 9.99996991e-01 2.10181706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.1850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.58, Y:-11.44, Z:0.21 [[ 9.99299266e-01 -3.73539504e-02 2.37885308e-03 5.82579860e+02] [ 3.73543249e-02 9.99302077e-01 -1.13142606e-04 -1.14430241e+01] [-2.37296650e-03 2.01923774e-04 9.99997164e-01 2.09780457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.2150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.61, Y:-11.44, Z:0.21 [[ 9.99389861e-01 -3.48358713e-02 2.52334768e-03 5.82612745e+02] [ 3.48362850e-02 9.99393025e-01 -1.20161628e-04 -1.14445502e+01] [-2.51763013e-03 2.07992371e-04 9.99996809e-01 2.09280826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.65, Y:-11.45, Z:0.21 [[ 9.99565749e-01 -2.94278467e-02 1.52185337e-03 5.82645348e+02] [ 2.94279911e-02 9.99566900e-01 -7.25140853e-05 -1.14457032e+01] [-1.51906032e-03 1.17267683e-04 9.99998839e-01 2.09653354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.68, Y:-11.45, Z:0.21 [[ 9.99647979e-01 -2.65133095e-02 9.80611522e-04 5.82678706e+02] [ 2.65133675e-02 9.99648458e-01 -4.61625118e-05 -1.14470776e+01] [-9.79042875e-04 7.21455754e-05 9.99999518e-01 2.09152875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.3050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.71, Y:-11.45, Z:0.21 [[ 9.99724920e-01 -2.34441945e-02 6.73331633e-04 5.82710708e+02] [ 2.34442212e-02 9.99725146e-01 -3.17777742e-05 -1.14485275e+01] [-6.72401561e-04 4.75547686e-05 9.99999773e-01 2.08900607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.3350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.74, Y:-11.45, Z:0.21 [[ 9.99859576e-01 -1.67392393e-02 7.91044236e-04 5.82742218e+02] [ 1.67392738e-02 9.99859888e-01 -3.70565491e-05 -1.14500734e+01] [-7.90313103e-04 5.02928516e-05 9.99999686e-01 2.08714615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.77, Y:-11.45, Z:0.21 [[ 9.99912079e-01 -1.32297972e-02 8.98305059e-04 5.82774855e+02] [ 1.32298410e-02 9.99912481e-01 -4.28155122e-05 -1.14515142e+01] [-8.97660000e-04 5.46961809e-05 9.99999596e-01 2.08788897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.81, Y:-11.45, Z:0.21 [[ 9.99952622e-01 -9.58945879e-03 1.67207407e-03 5.82805893e+02] [ 9.58960702e-03 9.99954015e-01 -8.06552007e-05 -1.14528497e+01] [-1.67122374e-03 9.66859127e-05 9.99998599e-01 2.08378178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.4250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.84, Y:-11.45, Z:0.21 [[ 9.99983542e-01 -5.56823497e-03 1.38214863e-03 5.82837360e+02] [ 5.56833243e-03 9.99984495e-01 -6.66782606e-05 -1.14546208e+01] [-1.38175592e-03 7.43734263e-05 9.99999043e-01 2.08234457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.4550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.87, Y:-11.46, Z:0.21 [[ 9.99994963e-01 2.60930699e-03 1.80734008e-03 5.82868921e+02] [-2.60915295e-03 9.99996592e-01 -8.75858582e-05 -1.14567451e+01] [-1.80756246e-03 8.28697903e-05 9.99998363e-01 2.08226645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.90, Y:-11.46, Z:0.21 [[ 9.99975904e-01 6.80707311e-03 1.36176325e-03 5.82899301e+02] [-6.80698915e-03 9.99976830e-01 -6.62775676e-05 -1.14584606e+01] [-1.36218285e-03 5.70064630e-05 9.99999071e-01 2.07743863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.93, Y:-11.46, Z:0.21 [[ 9.99891925e-01 1.46966766e-02 -3.83223509e-04 5.82928712e+02] [-1.46966705e-02 9.99891998e-01 1.86679762e-05 -1.14609307e+01] [ 3.83456477e-04 -1.30338490e-05 9.99999926e-01 2.06747094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.5450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.96, Y:-11.46, Z:0.21 [[ 9.99831750e-01 1.83348341e-02 -5.53678150e-04 5.82956387e+02] [-1.83348226e-02 9.99831903e-01 2.59746182e-05 -1.14632946e+01] [ 5.54061318e-04 -1.58186573e-05 9.99999846e-01 2.06314153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.5750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:582.98, Y:-11.47, Z:0.21 [[ 9.99763943e-01 2.17141666e-02 -7.43582213e-04 5.82984864e+02] [-2.17141463e-02 9.99764220e-01 3.53247554e-05 -1.14657503e+01] [ 7.44173938e-04 -1.91701638e-05 9.99999723e-01 2.06040364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.01, Y:-11.47, Z:0.21 [[ 9.99675563e-01 2.54604383e-02 -7.31974031e-04 5.83012876e+02] [-2.54604200e-02 9.99675830e-01 3.43151128e-05 -1.14683049e+01] [ 7.32610425e-04 -1.56676134e-05 9.99999732e-01 2.06005619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.04, Y:-11.47, Z:0.21 [[ 9.99491618e-01 3.18807452e-02 -3.52552084e-04 5.83039501e+02] [-3.18807417e-02 9.99491680e-01 1.57301541e-05 -1.14724715e+01] [ 3.52874363e-04 -4.48253529e-06 9.99999938e-01 2.05910914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.6650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.07, Y:-11.48, Z:0.21 [[ 9.99394636e-01 3.47899866e-02 -1.39106546e-04 5.83067235e+02] [-3.47899861e-02 9.99394645e-01 5.59159447e-06 -1.14759710e+01] [ 1.39216868e-04 -7.48694717e-07 9.99999990e-01 2.05562622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.6950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.09, Y:-11.48, Z:0.21 [[ 9.99287759e-01 3.77354167e-02 1.10351744e-04 5.83093779e+02] [-3.77354162e-02 9.99287766e-01 -6.58685745e-06 -1.14797329e+01] [-1.10521706e-04 2.41799703e-06 9.99999994e-01 2.05347070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.12, Y:-11.48, Z:0.21 [[ 9.99198507e-01 4.00285979e-02 2.33098021e-04 5.83121692e+02] [-4.00285962e-02 9.99198535e-01 -1.22745090e-05 -1.14830954e+01] [-2.33402533e-04 2.93408452e-06 9.99999973e-01 2.05060768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.15, Y:-11.49, Z:0.20 [[ 9.99009963e-01 4.44772417e-02 9.31873474e-04 5.83149175e+02] [-4.44772185e-02 9.99010398e-01 -4.56763747e-05 -1.14898141e+01] [-9.32982849e-04 4.18401336e-06 9.99999565e-01 2.04716677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.7850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.18, Y:-11.49, Z:0.20 [[ 9.98951890e-01 4.57594809e-02 1.09161241e-03 5.83177331e+02] [-4.57594500e-02 9.98952486e-01 -5.32353754e-05 -1.14945941e+01] [-1.09290495e-03 3.22799561e-06 9.99999403e-01 2.04419577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.8150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.20, Y:-11.50, Z:0.20 [[ 9.98907623e-01 4.67032600e-02 1.53836085e-03 5.83203960e+02] [-4.67032002e-02 9.98908807e-01 -7.48078599e-05 -1.14996229e+01] [-1.54017597e-03 2.87976695e-06 9.99998814e-01 2.03700012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.23, Y:-11.51, Z:0.20 [[ 9.98917922e-01 4.64792404e-02 1.63270421e-03 5.83231825e+02] [-4.64791739e-02 9.98919256e-01 -7.86119131e-05 -1.15089476e+01] [-1.63459349e-03 2.64010610e-06 9.99998664e-01 2.03074883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.26, Y:-11.51, Z:0.20 [[ 9.98973213e-01 4.52791623e-02 1.52241347e-03 5.83259154e+02] [-4.52791034e-02 9.98974373e-01 -7.32122793e-05 -1.15148858e+01] [-1.52416703e-03 4.20358916e-06 9.99998838e-01 2.02654329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.29, Y:-11.52, Z:0.20 [[ 9.99070599e-01 4.30783687e-02 1.48087723e-03 5.83286540e+02] [-4.30783106e-02 9.99071696e-01 -7.11105586e-05 -1.15211969e+01] [-1.48256585e-03 7.25077901e-06 9.99998901e-01 2.02021278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.32, Y:-11.53, Z:0.20 [[ 9.99295549e-01 3.74849523e-02 1.81221463e-03 5.83315100e+02] [-3.74848575e-02 9.99297192e-01 -8.62657915e-05 -1.15336675e+01] [-1.81417466e-03 1.82744143e-05 9.99998354e-01 2.01147295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.34, Y:-11.54, Z:0.20 [[ 9.99418712e-01 3.40478032e-02 1.72769180e-03 5.83342419e+02] [-3.40477116e-02 9.99420205e-01 -8.24091873e-05 -1.15409535e+01] [-1.72949594e-03 2.35373319e-05 9.99998504e-01 2.00756689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.995099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.37, Y:-11.55, Z:0.20 [[ 9.99547304e-01 3.00399008e-02 1.67093396e-03 5.83371105e+02] [-3.00398101e-02 9.99548700e-01 -7.93078122e-05 -1.15486510e+01] [-1.67256227e-03 2.90773709e-05 9.99998601e-01 2.00223728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.40, Y:-11.56, Z:0.20 [[ 9.99765463e-01 2.16111502e-02 1.40625294e-03 5.83398352e+02] [-2.16110774e-02 9.99766451e-01 -6.69198765e-05 -1.15633028e+01] [-1.40737073e-03 3.65135401e-05 9.99999009e-01 1.99748039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.43, Y:-11.57, Z:0.20 [[ 9.99853519e-01 1.70426708e-02 1.57702952e-03 5.83427479e+02] [-1.70425748e-02 9.99854762e-01 -7.43161620e-05 -1.15710660e+01] [-1.57806702e-03 4.74286326e-05 9.99998754e-01 1.99252451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.46, Y:-11.58, Z:0.20 [[ 9.99917695e-01 1.27510751e-02 1.41907175e-03 5.83456690e+02] [-1.27509930e-02 9.99918701e-01 -6.68644166e-05 -1.15787623e+01] [-1.41980897e-03 4.87643393e-05 9.99998991e-01 1.99034242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.49, Y:-11.59, Z:0.20 [[ 9.99987021e-01 4.95685080e-03 1.17827013e-03 5.83486036e+02] [-4.95678899e-03 9.99987714e-01 -5.53705023e-05 -1.15926181e+01] [-1.17853012e-03 4.95293473e-05 9.99999304e-01 1.98494803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.52, Y:-11.60, Z:0.20 [[ 9.99998599e-01 1.31802164e-03 1.03163264e-03 5.83516182e+02] [-1.31797249e-03 9.99999130e-01 -4.83148127e-05 -1.15997747e+01] [-1.03169543e-03 4.69550816e-05 9.99999467e-01 1.98120506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.1750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.55, Y:-11.61, Z:0.20 [[ 9.99997595e-01 -1.83975472e-03 1.19367979e-03 5.83546517e+02] [ 1.83982276e-03 9.99998306e-01 -5.59040234e-05 -1.16071813e+01] [-1.19357492e-03 5.81000482e-05 9.99999286e-01 1.97766814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.2050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.58, Y:-11.61, Z:0.20 [[ 9.99987266e-01 -4.75502987e-03 1.69063949e-03 5.83577168e+02] [ 4.75516996e-03 9.99988691e-01 -7.88534167e-05 -1.16144292e+01] [-1.69024542e-03 8.68916906e-05 9.99998568e-01 1.97412427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.61, Y:-11.63, Z:0.20 [[ 9.99956855e-01 -9.04889499e-03 2.09903180e-03 5.83608204e+02] [ 9.04911885e-03 9.99959051e-01 -9.71756444e-05 -1.16271482e+01] [-2.09806651e-03 1.16165840e-04 9.99997792e-01 1.97337727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.64, Y:-11.64, Z:0.20 [[ 9.99926881e-01 -1.18178359e-02 2.56358905e-03 5.83639929e+02] [ 1.18181785e-02 9.99930156e-01 -1.18516108e-04 -1.16383366e+01] [-2.56200940e-03 1.48804395e-04 9.99996707e-01 1.96967574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.2950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.67, Y:-11.64, Z:0.20 [[ 9.99917711e-01 -1.26187882e-02 2.31020702e-03 5.83671783e+02] [ 1.26190727e-02 9.99920370e-01 -1.08607533e-04 -1.16447324e+01] [-2.30865257e-03 1.37751266e-04 9.99997326e-01 1.96666275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.3250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.70, Y:-11.65, Z:0.20 [[ 9.99910109e-01 -1.32418449e-02 2.10431966e-03 5.83703684e+02] [ 1.32420825e-02 9.99912315e-01 -9.90188543e-05 -1.16510432e+01] [-2.10282395e-03 1.26875528e-04 9.99997781e-01 1.96279324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.74, Y:-11.66, Z:0.20 [[ 9.99907983e-01 -1.34110996e-02 2.04167496e-03 5.83735492e+02] [ 1.34113239e-02 9.99910060e-01 -9.61971573e-05 -1.16573176e+01] [-2.04020122e-03 1.23569870e-04 9.99997911e-01 1.95795515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.77, Y:-11.67, Z:0.20 [[ 9.99918408e-01 -1.24893415e-02 2.68227996e-03 5.83766296e+02] [ 1.24897273e-02 9.99921992e-01 -1.27099764e-04 -1.16678205e+01] [-2.68048333e-03 1.60590339e-04 9.99996395e-01 1.95660059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.4150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.80, Y:-11.67, Z:0.20 [[ 9.99930401e-01 -1.14533534e-02 2.83092356e-03 5.83797463e+02] [ 1.14537775e-02 9.99934394e-01 -1.33615807e-04 -1.16734957e+01] [-2.82920749e-03 1.66031276e-04 9.99995984e-01 1.95443856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.4450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.83, Y:-11.68, Z:0.20 [[ 9.99945047e-01 -1.01072952e-02 2.78313459e-03 5.83828106e+02] [ 1.01077022e-02 9.99948907e-01 -1.32206541e-04 -1.16791185e+01] [-2.78165614e-03 1.60330371e-04 9.99996118e-01 1.95076268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.86, Y:-11.69, Z:0.19 [[ 9.99968448e-01 -7.55569805e-03 2.45231024e-03 5.83859696e+02] [ 7.55600615e-03 9.99971446e-01 -1.16395654e-04 -1.16890558e+01] [-2.45136077e-03 1.34921652e-04 9.99996986e-01 1.94606346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.89, Y:-11.69, Z:0.19 [[ 9.99977493e-01 -6.22578324e-03 2.50052124e-03 5.83890979e+02] [ 6.22610066e-03 9.99980611e-01 -1.19177783e-04 -1.16949605e+01] [-2.49973078e-03 1.34743598e-04 9.99996867e-01 1.94468913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.5350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.92, Y:-11.70, Z:0.19 [[ 9.99985889e-01 -4.60987796e-03 2.64008556e-03 5.83921834e+02] [ 4.61022650e-03 9.99989365e-01 -1.25947421e-04 -1.17010222e+01] [-2.63947688e-03 1.38117037e-04 9.99996507e-01 1.94145252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.5650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.95, Y:-11.71, Z:0.19 [[ 9.99994090e-01 -1.45742923e-03 3.11377496e-03 5.83952592e+02] [ 1.45789743e-03 9.99998926e-01 -1.48099098e-04 -1.17113939e+01] [-3.11355577e-03 1.52637788e-04 9.99995141e-01 1.94162139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:583.98, Y:-11.72, Z:0.19 [[ 9.99992857e-01 -1.58715635e-04 3.77624584e-03 5.83984924e+02] [ 1.59399034e-04 9.99999971e-01 -1.80672680e-04 -1.17171728e+01] [-3.77621706e-03 1.81273320e-04 9.99992854e-01 1.94290022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.02, Y:-11.72, Z:0.19 [[ 9.99993046e-01 1.49888231e-03 3.41499256e-03 5.84016020e+02] [-1.49833200e-03 9.99998864e-01 -1.63697675e-04 -1.17229352e+01] [-3.41523404e-03 1.58579743e-04 9.99994155e-01 1.94187810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.6550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.05, Y:-11.73, Z:0.19 [[ 9.99992696e-01 2.99590231e-03 2.37314819e-03 5.84048254e+02] [-2.99564120e-03 9.99995507e-01 -1.13573001e-04 -1.17287387e+01] [-2.37347778e-03 1.06463071e-04 9.99997178e-01 1.93475913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.6850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.08, Y:-11.74, Z:0.19 [[ 9.99986383e-01 5.02569620e-03 1.40542969e-03 5.84078490e+02] [-5.02560668e-03 9.99987369e-01 -6.72210217e-05 -1.17394460e+01] [-1.40574977e-03 6.01569696e-05 9.99999010e-01 1.92527738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.7150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.11, Y:-11.75, Z:0.19 [[ 9.99983053e-01 5.42706724e-03 2.10751306e-03 5.84109175e+02] [-5.42686570e-03 9.99985269e-01 -1.01336776e-04 -1.17455750e+01] [-2.10803198e-03 8.98978686e-05 9.99997774e-01 1.92684218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.745099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.14, Y:-11.75, Z:0.19 [[ 9.99976901e-01 6.10256135e-03 2.99279668e-03 5.84140039e+02] [-6.10216157e-03 9.99981371e-01 -1.42691763e-04 -1.17522387e+01] [-2.99361171e-03 1.24425938e-04 9.99995511e-01 1.92777190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.17, Y:-11.76, Z:0.19 [[ 9.99972466e-01 6.14335391e-03 4.16238893e-03 5.84172345e+02] [-6.14257336e-03 9.99981114e-01 -2.00281855e-04 -1.17586258e+01] [-4.16354072e-03 1.74708561e-04 9.99991317e-01 1.92638545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.8050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.20, Y:-11.77, Z:0.19 [[ 9.99969661e-01 5.81824293e-03 5.17929291e-03 5.84203851e+02] [-5.81701991e-03 9.99983049e-01 -2.51170218e-04 -1.17699966e+01] [-5.18066648e-03 2.21034548e-04 9.99986556e-01 1.92383645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.8350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.24, Y:-11.78, Z:0.19 [[ 9.99968990e-01 6.24016980e-03 4.80404599e-03 5.84235290e+02] [-6.23911791e-03 9.99980509e-01 -2.33916220e-04 -1.17765896e+01] [-4.80541203e-03 2.03935957e-04 9.99988433e-01 1.92115079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.27, Y:-11.78, Z:0.19 [[ 9.99968423e-01 6.33055005e-03 4.80393129e-03 5.84267913e+02] [-6.32948803e-03 9.99979941e-01 -2.36244113e-04 -1.17782524e+01] [-4.80533048e-03 2.05830227e-04 9.99988433e-01 1.91773719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.30, Y:-11.79, Z:0.19 [[ 9.99966038e-01 6.54228721e-03 5.01205427e-03 5.84300619e+02] [-6.54113699e-03 9.99978576e-01 -2.45848453e-04 -1.17851055e+01] [-5.01355530e-03 2.13055570e-04 9.99987409e-01 1.91166975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.9250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.33, Y:-11.80, Z:0.19 [[ 9.99955143e-01 8.08991181e-03 4.92599852e-03 5.84332162e+02] [-8.08881195e-03 9.99967255e-01 -2.43159660e-04 -1.17971776e+01] [-4.92780436e-03 2.03303277e-04 9.99987838e-01 1.90609199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.9550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.36, Y:-11.80, Z:0.19 [[ 9.99943946e-01 9.39729207e-03 4.87817478e-03 5.84364974e+02] [-9.39622277e-03 9.99955825e-01 -2.42073646e-04 -1.18041881e+01] [-4.88023412e-03 1.96223659e-04 9.99988072e-01 1.90651720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.40, Y:-11.81, Z:0.19 [[ 9.99925525e-01 1.09974081e-02 5.29161088e-03 5.84397861e+02] [-1.09961630e-02 9.99939505e-01 -2.64344541e-04 -1.18112333e+01] [-5.29419787e-03 2.06137438e-04 9.99985964e-01 1.90658287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.43, Y:-11.82, Z:0.19 [[ 9.99902169e-01 1.29622009e-02 5.25678806e-03 5.84429448e+02] [-1.29609908e-02 9.99915968e-01 -2.64198490e-04 -1.18185239e+01] [-5.25977091e-03 1.96039461e-04 9.99986148e-01 1.91142194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.0450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.46, Y:-11.83, Z:0.19 [[ 9.99854274e-01 1.61776186e-02 5.45115060e-03 5.84461916e+02] [-1.61763570e-02 9.99869116e-01 -2.75464301e-04 -1.18317825e+01] [-5.45489349e-03 1.87244401e-04 9.99985104e-01 1.91579961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.0750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.47, Y:-11.82, Z:0.19 [[ 9.99975113e-01 5.45241288e-03 4.47717214e-03 5.84474241e+02] [-5.44992716e-03 9.99984988e-01 -5.67212457e-04 -1.18198254e+01] [-4.48019760e-03 5.42798079e-04 9.99989817e-01 1.92204432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.51, Y:-11.83, Z:0.19 [[ 9.99958042e-01 7.14600638e-03 5.73140049e-03 5.84506098e+02] [-7.11968785e-03 9.99964078e-01 -4.59932103e-03 -1.18264907e+01] [-5.76406139e-03 4.55832227e-03 9.99972998e-01 1.90347247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.54, Y:-11.84, Z:0.19 [[ 9.99944357e-01 8.97997374e-03 5.53562670e-03 5.84536646e+02] [-8.98390330e-03 9.99959409e-01 6.85409434e-04 -1.18378381e+01] [-5.52924705e-03 -7.35102830e-04 9.99984443e-01 1.91219003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.1650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.57, Y:-11.85, Z:0.19 [[ 9.99926454e-01 1.00514269e-02 6.78635868e-03 5.84567919e+02] [-1.00171357e-02 9.99936983e-01 -5.06818884e-03 -1.18508559e+01] [-6.83687355e-03 4.99983622e-03 9.99964129e-01 1.89655401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.1950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.60, Y:-11.86, Z:0.19 [[ 9.99922604e-01 1.02445041e-02 7.05942577e-03 5.84599386e+02] [-1.02400237e-02 9.99947345e-01 -6.70519407e-04 -1.18624472e+01] [-7.06592319e-03 5.98178824e-04 9.99974857e-01 1.89605153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.63, Y:-11.88, Z:0.19 [[ 9.99967034e-01 5.61916461e-03 5.86139301e-03 5.84630216e+02] [-5.64422013e-03 9.99974968e-01 4.26692292e-03 -1.18810483e+01] [-5.83726975e-03 -4.29986525e-03 9.99973718e-01 1.91102620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.66, Y:-11.89, Z:0.19 [[ 9.99965348e-01 7.28605760e-03 4.02691534e-03 5.84657271e+02] [-7.28176408e-03 9.99972905e-01 -1.07984065e-03 -1.18877421e+01] [-4.03467401e-03 1.05048018e-03 9.99991309e-01 1.90596778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.2850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.69, Y:-11.90, Z:0.19 [[ 9.99980776e-01 2.52731838e-03 5.66218225e-03 5.84690511e+02] [-2.50410489e-03 9.99988447e-01 -4.10308660e-03 -1.18965077e+01] [-5.67248664e-03 4.08882903e-03 9.99975552e-01 1.88203225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.3150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.72, Y:-11.91, Z:0.19 [[ 9.99975964e-01 4.07017674e-03 5.61300759e-03 5.84716877e+02] [-4.07206521e-03 9.99991656e-01 3.25058494e-04 -1.19076991e+01] [-5.61163771e-03 -3.47907213e-04 9.99984194e-01 1.88465441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.345099893 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:584.75, Y:-11.92, Z:0.19 [[ 9.99981303e-01 1.00546795e-03 6.03185029e-03 5.84748366e+02] [-1.00306992e-03 9.99999417e-01 -4.00573318e-04 -1.19247450e+01] [-6.03224954e-03 3.94515461e-04 9.99981728e-01 1.88278269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.78, Y:-11.94, Z:0.19 [[ 9.99964998e-01 -3.97080534e-03 7.36450441e-03 5.84783743e+02] [ 3.95905230e-03 9.99990867e-01 1.60979734e-03 -1.19359449e+01] [-7.37082935e-03 -1.58058454e-03 9.99971586e-01 1.88145127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.81, Y:-11.96, Z:0.19 [[ 9.99962803e-01 -6.95329513e-03 5.10329977e-03 5.84814267e+02] [ 6.89620470e-03 9.99914384e-01 1.11205767e-02 -1.19587844e+01] [-5.18018750e-03 -1.10849697e-02 9.99925142e-01 1.93429985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.85, Y:-11.96, Z:0.19 [[ 9.99953227e-01 -9.02023383e-03 3.49000119e-03 5.84845640e+02] [ 9.01249071e-03 9.99956904e-01 2.22805909e-03 -1.19647355e+01] [-3.50994840e-03 -2.19650128e-03 9.99991428e-01 1.92202436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.87, Y:-11.98, Z:0.19 [[ 9.99952438e-01 -9.56136368e-03 1.92395280e-03 5.84874879e+02] [ 9.55043967e-03 9.99938661e-01 5.60916289e-03 -1.19764151e+01] [-1.97746604e-03 -5.59052151e-03 9.99982418e-01 1.93973598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.495099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.90, Y:-11.99, Z:0.19 [[ 9.99896958e-01 -1.43250948e-02 9.30071280e-04 5.84902966e+02] [ 1.43269765e-02 9.99895264e-01 -2.04904883e-03 -1.19877241e+01] [-9.00621049e-04 2.06216280e-03 9.99997468e-01 1.90850850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.94, Y:-12.01, Z:0.19 [[ 9.99934904e-01 -1.12349275e-02 1.99112901e-03 5.84943446e+02] [ 1.12499304e-02 9.99907139e-01 -7.69104670e-03 -1.20056957e+01] [-1.90453577e-03 7.71294611e-03 9.99968441e-01 1.86902751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.96, Y:-12.01, Z:0.19 [[ 9.99911959e-01 -1.30101568e-02 2.60957318e-03 5.84955932e+02] [ 1.30141424e-02 9.99914163e-01 -1.51615212e-03 -1.20060954e+01] [-2.58962381e-03 1.54997999e-03 9.99995446e-01 1.87019417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:584.98, Y:-12.02, Z:0.19 [[ 9.99825540e-01 -1.86052743e-02 1.65358739e-03 5.84984187e+02] [ 1.86041031e-02 9.99826669e-01 7.20916007e-04 -1.20218445e+01] [-1.66671361e-03 -6.90026726e-04 9.99998373e-01 1.87794676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.03, Y:-12.04, Z:0.19 [[ 9.99719474e-01 -2.36022654e-02 1.97656352e-03 5.85029896e+02] [ 2.36010474e-02 9.99721253e-01 6.37311887e-04 -1.20393156e+01] [-1.99105456e-03 -5.90484136e-04 9.99997844e-01 1.87753013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.04, Y:-12.04, Z:0.19 [[ 9.99598268e-01 -2.82388100e-02 2.42346434e-03 5.85042360e+02] [ 2.82418623e-02 9.99600357e-01 -1.23461609e-03 -1.20421498e+01] [-2.38763173e-03 1.30256326e-03 9.99996301e-01 1.87127214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.6750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.09, Y:-12.06, Z:0.19 [[ 9.99420609e-01 -3.39669179e-02 2.16665138e-03 5.85089403e+02] [ 3.39647427e-02 9.99422498e-01 1.03293294e-03 -1.20603453e+01] [-2.20048568e-03 -9.58744711e-04 9.99997119e-01 1.87849443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.7050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.12, Y:-12.07, Z:0.19 [[ 9.99272218e-01 -3.81042873e-02 1.75990071e-03 5.85116842e+02] [ 3.81045576e-02 9.99273750e-01 -1.20286576e-04 -1.20657383e+01] [-1.75403915e-03 1.87259271e-04 9.99998444e-01 1.87279650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.13, Y:-12.07, Z:0.20 [[ 9.99163099e-01 -4.08135611e-02 -2.71215838e-03 5.85127342e+02] [ 4.08449779e-02 9.99083951e-01 1.27650329e-02 -1.20660958e+01] [ 2.18868746e-03 -1.28651279e-02 9.99914845e-01 1.97313647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.18, Y:-12.07, Z:0.18 [[ 9.99017294e-01 -4.43191859e-02 5.06963178e-04 5.85176390e+02] [ 4.43220400e-02 9.98934552e-01 -1.28575632e-02 -1.20716071e+01] [ 6.34136965e-05 1.28673976e-02 9.99917210e-01 1.82387721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.7950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.20, Y:-12.08, Z:0.19 [[ 9.98850784e-01 -4.79153805e-02 1.10794311e-03 5.85202931e+02] [ 4.79154941e-02 9.98851390e-01 -7.61503233e-05 -1.20825384e+01] [-1.10302174e-03 1.29150452e-04 9.99999383e-01 1.85528965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.8250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.23, Y:-12.09, Z:0.19 [[ 9.98560166e-01 -5.36218841e-02 1.51294190e-03 5.85230213e+02] [ 5.36221033e-02 9.98561295e-01 -1.04648358e-04 -1.20904502e+01] [-1.50515378e-03 1.85624808e-04 9.99998850e-01 1.85183279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.25, Y:-12.10, Z:0.20 [[ 9.98174782e-01 -6.03177235e-02 -2.97939621e-03 5.85251030e+02] [ 6.03587415e-02 9.98041275e-01 1.64449330e-02 -1.20955864e+01] [ 1.98163948e-03 -1.65947500e-02 9.99860334e-01 1.98493312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.29, Y:-12.09, Z:0.18 [[ 9.98353180e-01 -5.73647218e-02 4.64677114e-04 5.85286525e+02] [ 5.73645957e-02 9.98217707e-01 -1.64533385e-02 -1.20914235e+01] [ 4.79992261e-04 1.64528988e-02 9.99864527e-01 1.79262241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.9150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.31, Y:-12.10, Z:0.18 [[ 9.98105658e-01 -6.15107190e-02 1.23552248e-03 5.85314294e+02] [ 6.15108713e-02 9.98106410e-01 -8.55994306e-05 -1.21046931e+01] [-1.22791763e-03 1.61435340e-04 9.99999233e-01 1.83551765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.9450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.34, Y:-12.11, Z:0.18 [[ 9.98035152e-01 -6.26456109e-02 1.16726963e-03 5.85341841e+02] [ 6.26457474e-02 9.98035823e-01 -8.07052475e-05 -1.21081074e+01] [-1.15992107e-03 1.53671152e-04 9.99999315e-01 1.83477567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.37, Y:-12.11, Z:0.18 [[ 9.97962711e-01 -6.37910510e-02 1.06237689e-03 5.85369309e+02] [ 6.37911648e-02 9.97963267e-01 -7.34662850e-05 -1.21109892e+01] [-1.05552662e-03 1.41086872e-04 9.99999433e-01 1.83286859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.40, Y:-12.11, Z:0.18 [[ 9.97943642e-01 -6.40903506e-02 9.56703195e-04 5.85396473e+02] [ 6.40904416e-02 9.97944092e-01 -6.47677674e-05 -1.21137502e+01] [-9.50585312e-04 1.25950112e-04 9.99999540e-01 1.83349626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.0350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.42, Y:-12.13, Z:0.20 [[ 9.97947059e-01 -6.38305564e-02 -5.22754822e-03 5.85420234e+02] [ 6.39501260e-02 9.97579096e-01 2.73189996e-02 -1.21282142e+01] [ 3.47110589e-03 -2.75972177e-02 9.99613098e-01 2.04766746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.0650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.45, Y:-12.12, Z:0.20 [[ 9.98038006e-01 -6.23105623e-02 -6.12637803e-03 5.85449636e+02] [ 6.23213199e-02 9.98054885e-01 1.58082990e-03 -1.21196905e+01] [ 6.01595913e-03 -1.95953228e-03 9.99979984e-01 1.96408991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.48, Y:-12.11, Z:0.17 [[ 9.98226147e-01 -5.95161976e-02 1.54344691e-03 5.85482301e+02] [ 5.95361163e-02 9.97843740e-01 -2.76282714e-02 -1.21106561e+01] [ 1.04210817e-04 2.76711537e-02 9.99617075e-01 1.73436431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.51, Y:-12.13, Z:0.18 [[ 9.98454741e-01 -5.54861912e-02 3.06794919e-03 5.85508351e+02] [ 5.54870778e-02 9.98459384e-01 -2.04593563e-04 -1.21270354e+01] [-3.05187054e-03 3.74508949e-04 9.99995273e-01 1.80802114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.1550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.54, Y:-12.13, Z:0.18 [[ 9.98583183e-01 -5.31268640e-02 3.02711780e-03 5.85536304e+02] [ 5.31277193e-02 9.98587705e-01 -2.02779088e-04 -1.21294919e+01] [-3.01206960e-03 3.63315652e-04 9.99995398e-01 1.80021965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.1850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.56, Y:-12.13, Z:0.18 [[ 9.98738628e-01 -5.01184679e-02 3.04831860e-03 5.85563264e+02] [ 5.01193150e-02 9.98743217e-01 -2.02090667e-04 -1.21319053e+01] [-3.03435905e-03 3.54615395e-04 9.99995333e-01 1.79315924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.2150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.59, Y:-12.13, Z:0.18 [[ 9.98884051e-01 -4.71344688e-02 2.99907486e-03 5.85590206e+02] [ 4.71352744e-02 9.98888496e-01 -1.98471514e-04 -1.21345572e+01] [-2.98638652e-03 3.39612246e-04 9.99995483e-01 1.79036716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.62, Y:-12.14, Z:0.18 [[ 9.99179711e-01 -4.03502039e-02 3.43028140e-03 5.85618506e+02] [ 4.03512203e-02 9.99185532e-01 -2.27570422e-04 -1.21392058e+01] [-3.41830503e-03 3.65799789e-04 9.99994091e-01 1.78958488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.65, Y:-12.14, Z:0.18 [[ 9.99310698e-01 -3.68714982e-02 4.31515517e-03 5.85646165e+02] [ 3.68730663e-02 9.99319917e-01 -2.84382651e-04 -1.21424887e+01] [-4.30173490e-03 4.43299628e-04 9.99990649e-01 1.78361243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.3050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.67, Y:-12.15, Z:0.18 [[ 9.99420958e-01 -3.36695842e-02 4.91006934e-03 5.85674541e+02] [ 3.36715678e-02 9.99432900e-01 -3.21854212e-04 -1.21456552e+01] [-4.89644814e-03 4.86997577e-04 9.99987894e-01 1.77937544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.3350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.70, Y:-12.15, Z:0.18 [[ 9.99499833e-01 -3.11527434e-02 5.43979503e-03 5.85702336e+02] [ 3.11551313e-02 9.99514498e-01 -3.54775314e-04 -1.21485730e+01] [-5.42610177e-03 5.24075396e-04 9.99985141e-01 1.77419235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.73, Y:-12.15, Z:0.18 [[ 9.99584430e-01 -2.81754865e-02 6.09167352e-03 5.85729647e+02] [ 2.81784090e-02 9.99602832e-01 -3.94435165e-04 -1.21515002e+01] [-6.07814070e-03 5.65924917e-04 9.99981368e-01 1.76686041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.76, Y:-12.15, Z:0.18 [[ 9.99653640e-01 -2.55754941e-02 6.20442449e-03 5.85756719e+02] [ 2.55784712e-02 9.99672737e-01 -4.00949309e-04 -1.21547260e+01] [-6.19213954e-03 5.59510129e-04 9.99980672e-01 1.75758661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.4250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.78, Y:-12.16, Z:0.17 [[ 9.99694946e-01 -2.37756551e-02 6.68828628e-03 5.85784137e+02] [ 2.37790734e-02 9.99717145e-01 -4.32011437e-04 -1.21612407e+01] [-6.67612311e-03 5.90920900e-04 9.99977540e-01 1.74628785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.4550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.81, Y:-12.17, Z:0.17 [[ 9.99689031e-01 -2.41249170e-02 6.31104323e-03 5.85811086e+02] [ 2.41279552e-02 9.99708796e-01 -4.05708798e-04 -1.21661771e+01] [-6.29941774e-03 5.57855203e-04 9.99980003e-01 1.74289965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.84, Y:-12.17, Z:0.17 [[ 9.99677414e-01 -2.46840618e-02 5.98041531e-03 5.85838174e+02] [ 2.46867912e-02 9.99695161e-01 -3.82989234e-04 -1.21716546e+01] [-5.96913852e-03 5.30502951e-04 9.99982044e-01 1.73913612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.87, Y:-12.18, Z:0.17 [[ 9.99646240e-01 -2.59727755e-02 5.72807093e-03 5.85865972e+02] [ 2.59753016e-02 9.99662518e-01 -3.67041594e-04 -1.21769406e+01] [-5.71660472e-03 5.15700119e-04 9.99983527e-01 1.73624196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.5450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.89, Y:-12.20, Z:0.20 [[ 9.99633257e-01 -2.70415679e-02 -1.45110446e-03 5.85891973e+02] [ 2.70726836e-02 9.99195165e-01 2.95988386e-02 -1.22008513e+01] [ 6.49537560e-04 -2.96272687e-02 9.99560805e-01 1.97173382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.5750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.92, Y:-12.18, Z:0.16 [[ 9.99607051e-01 -2.78435869e-02 3.23700241e-03 5.85922089e+02] [ 2.79280655e-02 9.99162251e-01 -2.99135254e-02 -1.21775983e+01] [-2.40139077e-03 2.99921741e-02 9.99547249e-01 1.62029059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.95, Y:-12.20, Z:0.17 [[ 9.99568681e-01 -2.89802706e-02 4.75356217e-03 5.85949422e+02] [ 2.89820338e-02 9.99579887e-01 -3.02441087e-04 -1.21980119e+01] [-4.74280031e-03 4.40078537e-04 9.99988656e-01 1.71846096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:585.98, Y:-12.21, Z:0.17 [[ 9.99518872e-01 -3.07163917e-02 4.30434859e-03 5.85977206e+02] [ 3.07178496e-02 9.99528058e-01 -2.72972881e-04 -1.22083210e+01] [-4.29393245e-03 4.05061878e-04 9.99990699e-01 1.71436498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.6650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.00, Y:-12.21, Z:0.18 [[ 9.99599931e-01 -2.80743218e-02 3.43671402e-03 5.86002481e+02] [ 2.80343152e-02 9.99544408e-01 1.11827409e-02 -1.22148034e+01] [-3.74909615e-03 -1.10819211e-02 9.99931565e-01 1.82130746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.6950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.03, Y:-12.21, Z:0.17 [[ 9.99680177e-01 -2.44081149e-02 6.61727955e-03 5.86032705e+02] [ 2.44828527e-02 9.99634575e-01 -1.14589339e-02 -1.22074427e+01] [-6.33517045e-03 1.16172790e-02 9.99912448e-01 1.67357138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.06, Y:-12.22, Z:0.17 [[ 9.99754755e-01 -2.07636833e-02 7.70064381e-03 5.86060208e+02] [ 2.07680069e-02 9.99784206e-01 -4.81915898e-04 -1.22158017e+01] [-7.68897570e-03 6.41724734e-04 9.99970233e-01 1.71418476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.755099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.09, Y:-12.22, Z:0.17 [[ 9.99749345e-01 -2.10224869e-02 7.70078011e-03 5.86088734e+02] [ 2.10268014e-02 9.99778797e-01 -4.79725218e-04 -1.22175183e+01] [-7.68899166e-03 6.41527747e-04 9.99970233e-01 1.71083605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.7850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.12, Y:-12.22, Z:0.17 [[ 9.99878527e-01 -1.34832794e-02 7.81873587e-03 5.86115935e+02] [ 1.34874775e-02 9.99908922e-01 -4.84447401e-04 -1.22207592e+01] [-7.81149182e-03 5.89843578e-04 9.99969316e-01 1.71793485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.8150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.15, Y:-12.22, Z:0.17 [[ 9.99917531e-01 -1.00913945e-02 7.94323259e-03 5.86145915e+02] [ 1.00956106e-02 9.99948918e-01 -4.90859481e-04 -1.22231956e+01] [-7.93787337e-03 5.71010784e-04 9.99968332e-01 1.71337114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.845099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.18, Y:-12.23, Z:0.17 [[ 9.99940222e-01 -7.44115139e-03 8.01140986e-03 5.86176490e+02] [ 7.44535177e-03 9.99972161e-01 -4.94603320e-04 -1.22255656e+01] [-8.00750641e-03 5.54221518e-04 9.99967786e-01 1.71224821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.875099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.21, Y:-12.23, Z:0.17 [[ 9.99949454e-01 -5.90755261e-03 8.13576036e-03 5.86207988e+02] [ 5.91183453e-03 9.99982399e-01 -5.02359670e-04 -1.22274356e+01] [-8.13264945e-03 5.50431547e-04 9.99966778e-01 1.70114130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.24, Y:-12.23, Z:0.17 [[ 9.99929989e-01 -9.05687696e-03 7.61510834e-03 5.86237374e+02] [ 9.02188679e-03 9.99948645e-01 4.61670128e-03 -1.22273613e+01] [-7.65653016e-03 -4.54767542e-03 9.99960347e-01 1.72205700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.27, Y:-12.23, Z:0.17 [[ 9.99918769e-01 -1.01082872e-02 7.76386151e-03 5.86269163e+02] [ 1.01526468e-02 9.99932240e-01 -5.69559060e-03 -1.22269075e+01] [-7.70576276e-03 5.77395168e-03 9.99953640e-01 1.65492444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.30, Y:-12.23, Z:0.17 [[ 9.99791399e-01 -1.77355822e-02 1.01295911e-02 5.86299685e+02] [ 1.77428308e-02 9.99842388e-01 -6.26159670e-04 -1.22305097e+01] [-1.01168893e-02 8.05756674e-04 9.99948498e-01 1.66836600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.995099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.33, Y:-12.23, Z:0.17 [[ 9.99687599e-01 -2.33807586e-02 8.83431003e-03 5.86328213e+02] [ 2.33107972e-02 9.99696728e-01 7.94097380e-03 -1.22339041e+01] [-9.01729682e-03 -7.73255822e-03 9.99929445e-01 1.73774828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.025099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.36, Y:-12.23, Z:0.16 [[ 9.99618694e-01 -2.50192723e-02 1.16834262e-02 5.86359397e+02] [ 2.51273010e-02 9.99641991e-01 -9.19290197e-03 -1.22302461e+01] [-1.14492437e-02 9.48296963e-03 9.99889488e-01 1.63057641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.39, Y:-12.24, Z:0.17 [[ 9.99521772e-01 -2.83537449e-02 1.23406515e-02 5.86387675e+02] [ 2.83653204e-02 9.99597331e-01 -7.63943680e-04 -1.22357831e+01] [-1.23140216e-02 1.11362487e-03 9.99923559e-01 1.66229141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.42, Y:-12.24, Z:0.17 [[ 9.99396244e-01 -3.32043045e-02 1.02284366e-02 5.86415158e+02] [ 3.32124832e-02 9.99448114e-01 -6.30742914e-04 -1.22372867e+01] [-1.02018483e-02 9.70073878e-04 9.99947489e-01 1.65476798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.44, Y:-12.24, Z:0.16 [[ 9.99368166e-01 -3.44234910e-02 8.84831368e-03 5.86443127e+02] [ 3.44296487e-02 9.99406976e-01 -5.44488254e-04 -1.22376336e+01] [-8.82432323e-03 8.48788558e-04 9.99960705e-01 1.64743757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.47, Y:-12.24, Z:0.16 [[ 9.99381191e-01 -3.42721105e-02 7.91567339e-03 5.86471129e+02] [ 3.42770191e-02 9.99412253e-01 -4.85238475e-04 -1.22365349e+01] [-7.89439083e-03 7.56263893e-04 9.99968553e-01 1.62765292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.1750998929999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:586.50, Y:-12.24, Z:0.16 [[ 9.99377839e-01 -3.47380729e-02 6.09931731e-03 5.86499550e+02] [ 3.47409900e-02 9.99396280e-01 -3.72935731e-04 -1.22373787e+01] [-6.08267996e-03 5.84600027e-04 9.99981329e-01 1.61444008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.2050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.53, Y:-12.24, Z:0.16 [[ 9.99381921e-01 -3.48716498e-02 4.44353126e-03 5.86526148e+02] [ 3.48731927e-02 9.99391709e-01 -2.70195617e-04 -1.22383559e+01] [-4.43140613e-03 4.24988737e-04 9.99990091e-01 1.60834246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.55, Y:-12.25, Z:0.18 [[ 9.99424502e-01 -3.38612480e-02 -2.02025196e-03 5.86553814e+02] [ 3.39027650e-02 9.99077666e-01 2.63518405e-02 -1.22524391e+01] [ 1.12608241e-03 -2.64051672e-02 9.99650689e-01 1.81426732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.58, Y:-12.23, Z:0.15 [[ 9.99395172e-01 -3.47066273e-02 2.17739572e-03 5.86584446e+02] [ 3.47519869e-02 9.99048778e-01 -2.63408154e-02 -1.22285385e+01] [-1.26112367e-03 2.64005526e-02 9.99650649e-01 1.51219747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.2950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.61, Y:-12.24, Z:0.16 [[ 9.99348279e-01 -3.58995963e-02 3.77299268e-03 5.86610257e+02] [ 3.59007097e-02 9.99355336e-01 -2.27784712e-04 -1.22443945e+01] [-3.76238299e-03 3.63089375e-04 9.99992856e-01 1.60994288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.3250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.64, Y:-12.25, Z:0.16 [[ 9.99334486e-01 -3.61988314e-02 4.49770332e-03 5.86638697e+02] [ 3.62004185e-02 9.99344513e-01 -2.71942681e-04 -1.22464504e+01] [-4.48491113e-03 4.34580442e-04 9.99989848e-01 1.61385587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.67, Y:-12.25, Z:0.16 [[ 9.99352474e-01 -3.53355792e-02 6.78454312e-03 5.86666692e+02] [ 3.53391465e-02 9.99375295e-01 -4.06600651e-04 -1.22484883e+01] [-6.76593731e-03 6.46097330e-04 9.99976902e-01 1.61855485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.69, Y:-12.25, Z:0.16 [[ 9.99407590e-01 -3.35599153e-02 7.62901643e-03 5.86694147e+02] [ 3.35643499e-02 9.99436455e-01 -4.53949833e-04 -1.22505674e+01] [-7.60948262e-03 7.09743885e-04 9.99970796e-01 1.61594977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.4150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.72, Y:-12.25, Z:0.16 [[ 9.99458121e-01 -3.19154081e-02 8.05427041e-03 5.86722274e+02] [ 3.19202945e-02 9.99490303e-01 -4.78833133e-04 -1.22527178e+01] [-8.03488301e-03 7.35668347e-04 9.99967449e-01 1.61079576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.4450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.75, Y:-12.26, Z:0.16 [[ 9.99531683e-01 -2.96690389e-02 7.49415261e-03 5.86750316e+02] [ 2.96731926e-02 9.99559555e-01 -4.43650166e-04 -1.22551520e+01] [-7.47768918e-03 6.65817831e-04 9.99971820e-01 1.60859103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.475099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.78, Y:-12.26, Z:0.16 [[ 9.99711211e-01 -2.31556571e-02 6.42728080e-03 5.86777057e+02] [ 2.31585668e-02 9.99731733e-01 -3.78649545e-04 -1.22571787e+01] [-6.41678869e-03 5.27386807e-04 9.99979273e-01 1.59766511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.505099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.80, Y:-12.26, Z:0.16 [[ 9.99788947e-01 -1.96063610e-02 6.13618947e-03 5.86804901e+02] [ 1.96089431e-02 9.99807661e-01 -3.60919953e-04 -1.22586923e+01] [-6.12793291e-03 4.81167969e-04 9.99981108e-01 1.58752018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.5350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.83, Y:-12.26, Z:0.16 [[ 9.99863115e-01 -1.55875551e-02 5.54796838e-03 5.86831806e+02] [ 1.55895945e-02 9.99878422e-01 -3.24530820e-04 -1.22603665e+01] [-5.54223523e-03 4.10976974e-04 9.99984557e-01 1.58524270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.5650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.86, Y:-12.26, Z:0.16 [[ 9.99911621e-01 -1.21320061e-02 5.43733455e-03 5.86860085e+02] [ 1.21339120e-02 9.99926331e-01 -3.17661560e-04 -1.22618286e+01] [-5.43308011e-03 3.83609624e-04 9.99985167e-01 1.57900552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.595099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.89, Y:-12.26, Z:0.16 [[ 9.99969887e-01 -5.31503065e-03 5.65463209e-03 5.86889035e+02] [ 5.31697224e-03 9.99985811e-01 -3.28384459e-04 -1.22640963e+01] [-5.65280648e-03 3.58440093e-04 9.99983959e-01 1.57428360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.625099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.92, Y:-12.27, Z:0.16 [[ 9.99981435e-01 -2.16950715e-03 5.69419540e-03 5.86919626e+02] [ 2.17140757e-03 9.99997589e-01 -3.27585304e-04 -1.22665877e+01] [-5.69347097e-03 3.39943642e-04 9.99983734e-01 1.57297106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.6550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.95, Y:-12.27, Z:0.16 [[ 9.99978396e-01 3.66062008e-03 5.45965568e-03 5.86951541e+02] [-3.65896102e-03 9.99993257e-01 -3.13832643e-04 -1.22687364e+01] [-5.46076768e-03 2.93849196e-04 9.99985047e-01 1.57374552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.6850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:586.98, Y:-12.27, Z:0.16 [[ 9.99967298e-01 6.46922808e-03 4.85300296e-03 5.86982427e+02] [-6.46794840e-03 9.99979044e-01 -2.79335467e-04 -1.22706291e+01] [-4.85470835e-03 2.47937360e-04 9.99988185e-01 1.57008787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.7150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.02, Y:-12.27, Z:0.16 [[ 9.99950282e-01 8.88624933e-03 4.52418074e-03 5.87015704e+02] [-8.88516275e-03 9.99960492e-01 -2.60214415e-04 -1.22729572e+01] [-4.52631433e-03 2.20003396e-04 9.99989732e-01 1.56771596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.745099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.05, Y:-12.28, Z:0.16 [[ 9.99925046e-01 1.12814025e-02 4.75730995e-03 5.87048056e+02] [-1.12802313e-02 9.99936339e-01 -2.72940329e-04 -1.22754380e+01] [-4.76008625e-03 2.19256315e-04 9.99988647e-01 1.56446666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.775099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.08, Y:-12.28, Z:0.16 [[ 9.99901198e-01 1.31361612e-02 5.00357926e-03 5.87081280e+02] [-1.31348813e-02 9.99913692e-01 -2.88580929e-04 -1.22780163e+01] [-5.00693826e-03 2.22830997e-04 9.99987440e-01 1.56243335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.8050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.11, Y:-12.28, Z:0.16 [[ 9.99867070e-01 1.53378103e-02 5.53124025e-03 5.87112788e+02] [-1.53362685e-02 9.99882341e-01 -3.21048816e-04 -1.22797266e+01] [-5.53551364e-03 2.36177553e-04 9.99984651e-01 1.56006396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.8350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.15, Y:-12.28, Z:0.16 [[ 9.99830350e-01 1.74210036e-02 5.98167908e-03 5.87145182e+02] [-1.74192275e-02 9.99848213e-01 -3.48895028e-04 -1.22833197e+01] [-5.98684924e-03 2.44639609e-04 9.99982049e-01 1.55900603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.865099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.18, Y:-12.29, Z:0.16 [[ 9.99802395e-01 1.89905058e-02 5.87640815e-03 5.87178201e+02] [-1.89888094e-02 9.99819637e-01 -3.44332977e-04 -1.22858007e+01] [-5.88188732e-03 2.32678941e-04 9.99982674e-01 1.56218353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.895099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.21, Y:-12.29, Z:0.16 [[ 9.99774905e-01 2.02876278e-02 6.20900926e-03 5.87211409e+02] [-2.02857467e-02 9.99794156e-01 -3.65788653e-04 -1.22885457e+01] [-6.21515216e-03 2.39751926e-04 9.99980657e-01 1.55854049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.9250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.24, Y:-12.29, Z:0.16 [[ 9.99708847e-01 2.33068826e-02 6.24580736e-03 5.87244216e+02] [-2.33050269e-02 9.99728333e-01 -3.69745909e-04 -1.22910691e+01] [-6.25272820e-03 2.24079548e-04 9.99980426e-01 1.56123360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.9550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.28, Y:-12.29, Z:0.16 [[ 9.99641756e-01 2.61417516e-02 5.74182411e-03 5.87275925e+02] [-2.61402216e-02 9.99658228e-01 -3.41367521e-04 -1.22938251e+01] [-5.74878566e-03 1.91152674e-04 9.99983457e-01 1.55943252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.985099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.31, Y:-12.30, Z:0.16 [[ 9.99463382e-01 3.25014787e-02 4.07467081e-03 5.87308727e+02] [-3.25007610e-02 9.99471681e-01 -2.42238788e-04 -1.22955279e+01] [-4.08039120e-03 1.09678896e-04 9.99991669e-01 1.55067338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.015099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.34, Y:-12.30, Z:0.15 [[ 9.99354270e-01 3.57855080e-02 3.23111942e-03 5.87340940e+02] [-3.57850726e-02 9.99359491e-01 -1.92467811e-04 -1.22965640e+01] [-3.23593742e-03 7.67176857e-05 9.99994761e-01 1.54281306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.0450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.37, Y:-12.30, Z:0.15 [[ 9.99258443e-01 3.84490548e-02 2.05762875e-03 5.87373749e+02] [-3.84488854e-02 9.99260561e-01 -1.21813949e-04 -1.22985645e+01] [-2.06079089e-03 4.26100853e-05 9.99997876e-01 1.52883164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.0750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.41, Y:-12.30, Z:0.15 [[ 9.99011221e-01 4.44081661e-02 2.12023345e-03 5.87406693e+02] [-4.44079984e-02 9.99013470e-01 -1.26155311e-04 -1.22999528e+01] [-2.12374410e-03 3.18752476e-05 9.99997744e-01 1.51661243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.105099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.44, Y:-12.30, Z:0.15 [[ 9.98940578e-01 4.59913434e-02 1.58666280e-03 5.87438306e+02] [-4.59912517e-02 9.98941838e-01 -9.42071661e-05 -1.23032407e+01] [-1.58931656e-03 2.11347530e-05 9.99998737e-01 1.51810127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.135099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.47, Y:-12.31, Z:0.15 [[ 9.98800968e-01 4.88907012e-02 2.51527363e-03 5.87471196e+02] [-4.88904741e-02 9.98804134e-01 -1.51702660e-04 -1.23050575e+01] [-2.51968255e-03 2.85478434e-05 9.99996825e-01 1.51264803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.1650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.50, Y:-12.31, Z:0.15 [[ 9.98632103e-01 5.21925666e-02 3.13978584e-03 5.87502428e+02] [-5.21922233e-02 9.98637039e-01 -1.91240962e-04 -1.23094068e+01] [-3.14548779e-03 2.71069608e-05 9.99995053e-01 1.51629529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.1950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.54, Y:-12.31, Z:0.15 [[ 9.98539051e-01 5.39502163e-02 3.02293370e-03 5.87535620e+02] [-5.39499045e-02 9.98543626e-01 -1.84643882e-04 -1.23123784e+01] [-3.02849276e-03 2.12871418e-05 9.99995414e-01 1.51658517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.225099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.57, Y:-12.31, Z:0.15 [[ 9.98405079e-01 5.63842897e-02 2.84790627e-03 5.87568181e+02] [-5.63840214e-02 9.98409140e-01 -1.74466066e-04 -1.23146505e+01] [-2.85321280e-03 1.36113985e-05 9.99995929e-01 1.51670781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.255099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.60, Y:-12.32, Z:0.15 [[ 9.98259754e-01 5.88977576e-02 2.91845685e-03 5.87600003e+02] [-5.88974811e-02 9.98264020e-01 -1.80675749e-04 -1.23168772e+01] [-2.92403186e-03 8.47157160e-06 9.99995725e-01 1.51261380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.2850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.63, Y:-12.32, Z:0.15 [[ 9.97990128e-01 6.33254949e-02 2.36347707e-03 5.87633045e+02] [-6.33253283e-02 9.97992927e-01 -1.45334466e-04 -1.23192498e+01] [-2.36793678e-03 -4.62559888e-06 9.99997196e-01 1.51037328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.3150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.67, Y:-12.32, Z:0.15 [[ 9.97882505e-01 6.50035082e-02 2.24743659e-03 5.87666057e+02] [-6.50033609e-02 9.97885035e-01 -1.38624902e-04 -1.23213363e+01] [-2.25169444e-03 -7.75956687e-06 9.99997465e-01 1.50671432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.345099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.70, Y:-12.32, Z:0.15 [[ 9.97733914e-01 6.72398756e-02 2.41585316e-03 5.87698597e+02] [-6.72397096e-02 9.97736839e-01 -1.49956307e-04 -1.23226964e+01] [-2.42046874e-03 -1.28247718e-05 9.99997071e-01 1.50050159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.375099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.73, Y:-12.33, Z:0.15 [[ 9.97675501e-01 6.81206936e-02 1.77910363e-03 5.87731388e+02] [-6.81206057e-02 9.97677088e-01 -1.09982966e-04 -1.23254454e+01] [-1.78246305e-03 -1.14663067e-05 9.99998411e-01 1.49517035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.76, Y:-12.33, Z:0.15 [[ 9.97525571e-01 7.02799416e-02 1.86143967e-03 5.87763169e+02] [-7.02798476e-02 9.97527308e-01 -1.15974583e-04 -1.23274502e+01] [-1.86498759e-03 -1.51340840e-05 9.99998261e-01 1.49294096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.80, Y:-12.33, Z:0.15 [[ 9.97467577e-01 7.11061037e-02 1.53434331e-03 5.87795546e+02] [-7.11060412e-02 9.97468757e-01 -9.52965821e-05 -1.23297504e+01] [-1.53723569e-03 -1.40458280e-05 9.99998818e-01 1.48800702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.83, Y:-12.33, Z:0.15 [[ 9.97380094e-01 7.23254030e-02 1.40828611e-03 5.87828329e+02] [-7.23253515e-02 9.97381089e-01 -8.74984620e-05 -1.23315412e+01] [-1.41092630e-03 -1.45855639e-05 9.99999005e-01 1.48667985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.495099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.86, Y:-12.33, Z:0.15 [[ 9.97327158e-01 7.30461321e-02 1.67435895e-03 5.87860365e+02] [-7.30460582e-02 9.97328563e-01 -1.05379521e-04 -1.23336144e+01] [-1.67758357e-03 -1.72074632e-05 9.99998593e-01 1.48464082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.525099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.89, Y:-12.34, Z:0.15 [[ 9.97294021e-01 7.34967092e-02 1.69409718e-03 5.87893257e+02] [-7.34966336e-02 9.97295459e-01 -1.06935278e-04 -1.23363845e+01] [-1.69737482e-03 -1.78645268e-05 9.99998559e-01 1.48114373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.93, Y:-12.34, Z:0.15 [[ 9.97216745e-01 7.45363754e-02 1.75862666e-03 5.87925387e+02] [-7.45362941e-02 9.97218295e-01 -1.11847928e-04 -1.23382096e+01] [-1.76207142e-03 -1.95448873e-05 9.99998447e-01 1.48135923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.96, Y:-12.34, Z:0.15 [[ 9.97168917e-01 7.51810781e-02 1.39889232e-03 5.87958110e+02] [-7.51810278e-02 9.97169898e-01 -8.85474061e-05 -1.23408554e+01] [-1.40159040e-03 -1.68734412e-05 9.99999018e-01 1.48093496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.615099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:587.99, Y:-12.34, Z:0.15 [[ 9.97108684e-01 7.59791990e-02 1.19693292e-03 5.87991235e+02] [-7.59791631e-02 9.97109403e-01 -7.55438150e-05 -1.23435987e+01] [-1.19921283e-03 -1.56165676e-05 9.99999281e-01 1.48008217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.645099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.02, Y:-12.35, Z:0.15 [[ 9.97050284e-01 7.67442054e-02 1.02897093e-03 5.88023061e+02] [-7.67441791e-02 9.97050815e-01 -6.49828173e-05 -1.23460567e+01] [-1.03092336e-03 -1.41763932e-05 9.99999468e-01 1.47886207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.6750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.06, Y:-12.35, Z:0.15 [[ 9.97040798e-01 7.68673397e-02 1.02884971e-03 5.88056440e+02] [-7.68673117e-02 9.97041329e-01 -6.68134830e-05 -1.23483533e+01] [-1.03094146e-03 -1.24691428e-05 9.99999469e-01 1.47481928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.7050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.09, Y:-12.35, Z:0.15 [[ 9.96956695e-01 7.79520972e-02 9.04803083e-04 5.88088954e+02] [-7.79520777e-02 9.96957106e-01 -5.69154124e-05 -1.23504769e+01] [-9.06486539e-04 -1.37890788e-05 9.99999589e-01 1.46956015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.735099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.12, Y:-12.35, Z:0.15 [[ 9.96885579e-01 7.88556043e-02 9.67768377e-04 5.88121866e+02] [-7.88555818e-02 9.96886048e-01 -6.14112877e-05 -1.23525610e+01] [-9.69597417e-04 -1.50939113e-05 9.99999530e-01 1.46458352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.765099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.15, Y:-12.36, Z:0.15 [[ 9.96857343e-01 7.92171811e-02 2.75111848e-04 5.88153663e+02] [-7.92171798e-02 9.96857381e-01 -1.53418745e-05 -1.23555860e+01] [-2.75462616e-04 -6.49992442e-06 9.99999962e-01 1.46300812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.7950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.19, Y:-12.36, Z:0.15 [[ 9.96663925e-01 8.16136133e-02 -4.89322550e-04 5.88186944e+02] [-8.16136052e-02 9.96664045e-01 3.65328955e-05 -1.23585189e+01] [ 4.90671773e-04 3.52435836e-06 9.99999880e-01 1.46374499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.8250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.22, Y:-12.36, Z:0.15 [[ 9.96598626e-01 8.23972399e-02 -1.36880346e-03 5.88219551e+02] [-8.23971853e-02 9.96599566e-01 9.63055588e-05 -1.23612783e+01] [ 1.37208424e-03 1.68075647e-05 9.99999059e-01 1.46164573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.855099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.25, Y:-12.36, Z:0.15 [[ 9.96480366e-01 8.37945067e-02 -2.31533674e-03 5.88252822e+02] [-8.37943584e-02 9.96483055e-01 1.61125530e-04 -1.23641950e+01] [ 2.32069526e-03 3.34537291e-05 9.99997307e-01 1.46190115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.885099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.28, Y:-12.37, Z:0.15 [[ 9.96366408e-01 8.51288915e-02 -2.65578966e-03 5.88284650e+02] [-8.51287013e-02 9.96369946e-01 1.84787064e-04 -1.23666263e+01] [ 2.66187972e-03 4.19683011e-05 9.99996456e-01 1.46110782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.9150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.32, Y:-12.37, Z:0.15 [[ 9.96259922e-01 8.63398313e-02 -3.40617288e-03 5.88317754e+02] [-8.63395247e-02 9.96265743e-01 2.37220430e-04 -1.23694676e+01] [ 3.41393493e-03 5.77541413e-05 9.99994171e-01 1.46584942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.9450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.35, Y:-12.37, Z:0.15 [[ 9.96186725e-01 8.71999504e-02 -2.85971859e-03 5.88350086e+02] [-8.71997339e-02 9.96190828e-01 2.00534461e-04 -1.23717499e+01] [ 2.86631202e-03 4.95969322e-05 9.99995891e-01 1.46170343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.975099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.38, Y:-12.37, Z:0.15 [[ 9.96154970e-01 8.75744428e-02 -2.44802702e-03 5.88381941e+02] [-8.75742831e-02 9.96157977e-01 1.72563906e-04 -1.23742144e+01] [ 2.45373383e-03 4.24838187e-05 9.99996989e-01 1.46426659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.005099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.41, Y:-12.38, Z:0.15 [[ 9.96168449e-01 8.74400646e-02 -1.62962998e-03 5.88414509e+02] [-8.74399907e-02 9.96169782e-01 1.16627203e-04 -1.23769615e+01] [ 1.63358603e-03 2.63144897e-05 9.99998665e-01 1.46181488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.0350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.45, Y:-12.38, Z:0.15 [[ 9.96198039e-01 8.71169794e-02 -3.13904452e-04 5.88447424e+02] [-8.71169757e-02 9.96198089e-01 2.53669740e-05 -1.23803238e+01] [ 3.14920909e-04 2.07587684e-06 9.99999950e-01 1.47221893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.0650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.48, Y:-12.38, Z:0.15 [[ 9.96191730e-01 8.71892437e-02 2.69749918e-04 5.88479453e+02] [-8.71892427e-02 9.96191767e-01 -1.56676198e-05 -1.23825335e+01] [-2.70088695e-04 -7.91133781e-06 9.99999963e-01 1.47333995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.095099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.51, Y:-12.39, Z:0.15 [[ 9.96165614e-01 8.74875370e-02 -2.11762038e-05 5.88512398e+02] [-8.74875369e-02 9.96165614e-01 4.88451930e-06 -1.23855082e+01] [ 2.15223404e-05 -3.01313625e-06 1.00000000e+00 1.47953782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.125099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.55, Y:-12.39, Z:0.15 [[ 9.96146305e-01 8.77068369e-02 -2.25260837e-04 5.88545497e+02] [-8.77068347e-02 9.96146330e-01 1.93880544e-05 -1.23873644e+01] [ 2.26093220e-04 4.43576238e-07 9.99999974e-01 1.47335722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.1550998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.58, Y:-12.39, Z:0.15 [[ 9.96109148e-01 8.81246271e-02 -7.85041177e-04 5.88578241e+02] [-8.81246079e-02 9.96109457e-01 5.91509475e-05 -1.23887279e+01] [ 7.87199595e-04 1.02606460e-05 9.99999690e-01 1.46899905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.1850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.61, Y:-12.39, Z:0.15 [[ 9.96073686e-01 8.85132113e-02 -1.61944569e-03 5.88609648e+02] [-8.85131376e-02 9.96075003e-01 1.17273057e-04 -1.23904420e+01] [ 1.62346958e-03 2.65296131e-05 9.99998682e-01 1.46369853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.2150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.64, Y:-12.39, Z:0.15 [[ 9.96038791e-01 8.88772329e-02 -2.75023460e-03 5.88642539e+02] [-8.88770203e-02 9.96042587e-01 1.99675990e-04 -1.23929973e+01] [ 2.75709743e-03 4.55476242e-05 9.99996198e-01 1.45783550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.245099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.68, Y:-12.39, Z:0.15 [[ 9.95892961e-01 9.04132734e-02 -4.75927732e-03 5.88675068e+02] [-9.04126592e-02 9.95904329e-01 3.44485228e-04 -1.23946449e+01] [ 4.77093092e-03 8.72285051e-05 9.99988615e-01 1.45889126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.275099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.71, Y:-12.40, Z:0.15 [[ 9.95750008e-01 9.19297498e-02 -5.55368991e-03 5.88707645e+02] [-9.19289314e-02 9.95765489e-01 4.02999335e-04 -1.23963378e+01] [ 5.56722038e-03 1.09258188e-04 9.99984497e-01 1.45307236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.3050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.74, Y:-12.40, Z:0.15 [[ 9.95577538e-01 9.37162837e-02 -6.52875598e-03 5.88740927e+02] [-9.37151828e-02 9.95598935e-01 4.75025260e-04 -1.23988796e+01] [ 6.54454010e-03 1.38919081e-04 9.99978575e-01 1.45278255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.3350998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.77, Y:-12.40, Z:0.15 [[ 9.95425670e-01 9.52655566e-02 -7.22557287e-03 5.88773685e+02] [-9.52642366e-02 9.95451881e-01 5.27421016e-04 -1.24013369e+01] [ 7.24295516e-03 1.63330265e-04 9.99973756e-01 1.45113593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.365099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.81, Y:-12.40, Z:0.15 [[ 9.95156006e-01 9.79615277e-02 -8.25007736e-03 5.88806076e+02] [-9.79598835e-02 9.95190181e-01 6.04129474e-04 -1.24029427e+01] [ 8.26957743e-03 2.06973543e-04 9.99965785e-01 1.45121719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.395099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.84, Y:-12.41, Z:0.15 [[ 9.95059920e-01 9.89504833e-02 -8.03478275e-03 5.88838800e+02] [-9.89489369e-02 9.95092337e-01 5.90734191e-04 -1.24050119e+01] [ 8.05380418e-03 2.07217295e-04 9.99967546e-01 1.45053396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.4250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.87, Y:-12.41, Z:0.14 [[ 9.94982767e-01 9.97915905e-02 -7.13668393e-03 5.88871291e+02] [-9.97903747e-02 9.95008343e-01 5.27135844e-04 -1.24075065e+01] [ 7.15366378e-03 1.87681283e-04 9.99974395e-01 1.44732083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.4550998929999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:588.90, Y:-12.41, Z:0.14 [[ 9.94921288e-01 1.00457675e-01 -6.31557846e-03 5.88903958e+02] [-1.00456722e-01 9.94941319e-01 4.68699966e-04 -1.24094602e+01] [ 6.33071447e-03 1.68122738e-04 9.99979947e-01 1.44581352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.485099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.94, Y:-12.41, Z:0.14 [[ 9.94874323e-01 1.00972921e-01 -5.43611441e-03 5.88936141e+02] [-1.00972214e-01 9.94889164e-01 4.05119781e-04 -1.24114409e+01] [ 5.44923745e-03 1.45853237e-04 9.99985142e-01 1.44946725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.515099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.95, Y:-12.39, Z:0.13 [[ 9.95772440e-01 9.18536055e-02 4.04410133e-04 5.88954926e+02] [-9.18417613e-02 9.95698049e-01 -1.22672912e-02 -1.23928615e+01] [-1.52946531e-03 1.21782888e-02 9.99924672e-01 1.33098193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.5450998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:588.99, Y:-12.40, Z:0.14 [[ 9.95574199e-01 9.39716067e-02 1.16263584e-03 5.88986106e+02] [-9.39755123e-02 9.95566658e-01 3.95385464e-03 -1.24033762e+01] [-7.85931406e-04 -4.04561496e-03 9.99991508e-01 1.40837731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.5750998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.03, Y:-12.42, Z:0.15 [[ 9.94305237e-01 1.06539088e-01 -2.55300757e-03 5.89029966e+02] [-1.06513280e-01 9.94273120e-01 8.71118040e-03 -1.24232743e+01] [ 3.46646801e-03 -8.38964308e-03 9.99958798e-01 1.49378027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.605099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.05, Y:-12.40, Z:0.13 [[ 9.95321455e-01 9.66176541e-02 4.79449957e-04 5.89047539e+02] [-9.66092932e-02 9.95280587e-01 -9.12125353e-03 -1.24013252e+01] [-1.35846135e-03 9.03226001e-03 9.99958286e-01 1.34996169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.635099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.08, Y:-12.41, Z:0.14 [[ 9.95073341e-01 9.91415112e-02 -8.16749738e-05 5.89078647e+02] [-9.91410996e-02 9.95071003e-01 2.17725624e-03 -1.24099978e+01] [ 2.97128871e-04 -2.15843229e-03 9.99997626e-01 1.39521678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.6650998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.11, Y:-12.41, Z:0.14 [[ 9.94957433e-01 1.00297031e-01 -4.61163983e-04 5.89109156e+02] [-1.00296768e-01 9.94957408e-01 5.61675014e-04 -1.24109333e+01] [ 5.15172857e-04 -5.12589473e-04 9.99999736e-01 1.38038845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.6950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.15, Y:-12.43, Z:0.15 [[ 9.93429422e-01 1.14353553e-01 -4.60952364e-03 5.89154794e+02] [-1.14320152e-01 9.93419615e-01 6.95501162e-03 -1.24334918e+01] [ 5.37452148e-03 -6.38235173e-03 9.99965189e-01 1.45982173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.725099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.19, Y:-12.43, Z:0.14 [[ 9.93160872e-01 1.16503093e-01 -7.64927160e-03 5.89187148e+02] [-1.16501703e-01 9.93190293e-01 6.28612710e-04 -1.24328608e+01] [ 7.67041763e-03 2.66839618e-04 9.99970546e-01 1.42131120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.755099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:589.22, Y:-12.43, Z:0.14 [[ 9.93062909e-01 1.17271943e-01 -8.56451253e-03 5.89218679e+02] [-1.17270213e-01 9.93099793e-01 7.05707747e-04 -1.24349729e+01] [ 8.58817535e-03 3.03550019e-04 9.99963075e-01 1.41321056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.7850998929999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:589.25, Y:-12.44, Z:0.14 [[ 9.93007645e-01 1.17690466e-01 -9.20711792e-03 5.89251191e+02] [-1.17688459e-01 9.93050274e-01 7.61377031e-04 -1.24378854e+01] [ 9.23273779e-03 3.27518307e-04 9.99957324e-01 1.40555891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.8150998929999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:589.28, Y:-12.44, Z:0.14 [[ 9.93025829e-01 1.17523124e-01 -9.38183156e-03 5.89283291e+02] [-1.17521012e-01 9.93070091e-01 7.78070553e-04 -1.24408849e+01] [ 9.40825761e-03 3.29918180e-04 9.99955687e-01 1.40153158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.845099893 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:589.32, Y:-12.44, Z:0.14 [[ 9.93042797e-01 1.17452580e-01 -8.41985924e-03 5.89316015e+02] [-1.17450852e-01 9.93078449e-01 7.01119766e-04 -1.24439998e+01] [ 8.44392908e-03 2.92677709e-04 9.99964307e-01 1.40083772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.875099893 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:589.35, Y:-12.45, Z:0.14 [[ 9.93097161e-01 1.17043885e-01 -7.66530724e-03 5.89349202e+02] [-1.17042422e-01 9.93126709e-01 6.40745818e-04 -1.24472938e+01] [ 7.68761673e-03 2.60843271e-04 9.99970416e-01 1.40245648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9050998929999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:589.38, Y:-12.45, Z:0.14 [[ 9.93138846e-01 1.16753258e-01 -6.62642244e-03 5.89380888e+02] [-1.16752145e-01 9.93160927e-01 5.55854387e-04 -1.24501701e+01] [ 6.64600167e-03 2.21608450e-04 9.99977891e-01 1.40480037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9350998929999 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:589.41, Y:-12.45, Z:0.14 [[ 9.93168991e-01 1.16568930e-01 -5.20005992e-03 5.89413900e+02] [-1.16568231e-01 9.93182589e-01 4.38368576e-04 -1.24533941e+01] [ 5.21570913e-03 1.70787708e-04 9.99986384e-01 1.40916633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9650998929999 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:589.45, Y:-12.46, Z:0.14 [[ 9.93065110e-01 1.17476121e-01 -4.58791872e-03 5.89446214e+02] [-1.17475579e-01 9.93075696e-01 3.88421679e-04 -1.24561868e+01] [ 4.60178085e-03 1.53240392e-04 9.99989400e-01 1.40762299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.995099893 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:589.48, Y:-12.46, Z:0.14 [[ 9.92876833e-01 1.19063257e-01 -4.41982342e-03 5.89478372e+02] [-1.19062765e-01 9.92886659e-01 3.75248026e-04 -1.24588568e+01] [ 4.43306196e-03 1.53661324e-04 9.99990162e-01 1.40584743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.025099893 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:589.51, Y:-12.46, Z:0.14 [[ 9.92670357e-01 1.20747600e-01 -5.05762123e-03 5.89510721e+02] [-1.20746971e-01 9.92683224e-01 4.30586402e-04 -1.24612625e+01] [ 5.07260803e-03 1.83262090e-04 9.99987117e-01 1.40439612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0550998929999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:589.54, Y:-12.46, Z:0.14 [[ 9.92124848e-01 1.25121308e-01 -5.73964755e-03 5.89544135e+02] [-1.25120564e-01 9.92141424e-01 4.89909538e-04 -1.24618086e+01] [ 5.75584022e-03 2.32096513e-04 9.99983408e-01 1.40391529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0850998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.56, Y:-12.45, Z:0.14 [[ 9.93143259e-01 1.16872741e-01 -2.68858986e-03 5.89557030e+02] [-1.16866044e-01 9.93144473e-01 2.52657471e-03 -1.24457132e+01] [ 2.96544587e-03 -2.19504578e-03 9.99993194e-01 1.36083573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.115099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.59, Y:-12.45, Z:0.13 [[ 9.92658555e-01 1.20919755e-01 -2.72129694e-03 5.89592397e+02] [-1.20936218e-01 9.92635339e-01 -7.03668375e-03 -1.24460208e+01] [ 1.85038144e-03 7.31412769e-03 9.99971539e-01 1.30953861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.145099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.63, Y:-12.45, Z:0.13 [[ 9.92434970e-01 1.22765481e-01 -1.21162989e-03 5.89625284e+02] [-1.22768596e-01 9.92430896e-01 -2.96443320e-03 -1.24531955e+01] [ 8.38528868e-04 3.09075728e-03 9.99994872e-01 1.31489779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.1750998929999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:589.67, Y:-12.48, Z:0.14 [[ 9.91527000e-01 1.29829837e-01 -4.29198534e-03 5.89671285e+02] [-1.29798922e-01 9.91516792e-01 6.83312439e-03 -1.24793505e+01] [ 5.14271896e-03 -6.21813226e-03 9.99967443e-01 1.41933074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.2050998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.70, Y:-12.48, Z:0.14 [[ 9.91561281e-01 1.29577541e-01 -3.98589218e-03 5.89704522e+02] [-1.29577169e-01 9.91569278e-01 3.52564904e-04 -1.24800479e+01] [ 3.99797273e-03 1.66890917e-04 9.99991994e-01 1.39371992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.235099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.72, Y:-12.45, Z:0.11 [[ 9.92806274e-01 1.19630698e-01 4.91924030e-03 5.89718077e+02] [-1.19440164e-01 9.92417679e-01 -2.90034131e-02 -1.24501259e+01] [-8.35163958e-03 2.82072156e-02 9.99567208e-01 1.14219473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.265099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.75, Y:-12.47, Z:0.12 [[ 9.92638572e-01 1.20856345e-01 7.89997501e-03 5.89747308e+02] [-1.20808832e-01 9.92656182e-01 -6.23940076e-03 -1.24657996e+01] [-8.59603020e-03 5.23908311e-03 9.99949329e-01 1.20530084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.2950998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.78, Y:-12.47, Z:0.12 [[ 9.92662000e-01 1.20573992e-01 9.16874957e-03 5.89781705e+02] [-1.20580609e-01 9.92703525e-01 1.70288189e-04 -1.24737967e+01] [-9.08131768e-03 -1.27461202e-03 9.99957952e-01 1.24376738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.3250998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.81, Y:-12.48, Z:0.13 [[ 9.92195866e-01 1.24404295e-01 8.42232949e-03 5.89810835e+02] [-1.24467708e-01 9.92195495e-01 7.47588727e-03 -1.24813641e+01] [-7.42656490e-03 -8.46585249e-03 9.99936586e-01 1.25929271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.355099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.85, Y:-12.48, Z:0.12 [[ 9.92434382e-01 1.22552313e-01 7.41132316e-03 5.89846925e+02] [-1.22535305e-01 9.92460459e-01 -2.70875730e-03 -1.24835865e+01] [-7.68740965e-03 1.78011514e-03 9.99968867e-01 1.23970498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.385099893 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.87, Y:-12.48, Z:0.12 [[ 9.92178985e-01 1.24546558e-01 8.30764762e-03 5.89874419e+02] [-1.24459951e-01 9.92171830e-01 -1.02361862e-02 -1.24838818e+01] [-9.51749571e-03 9.12215940e-03 9.99913098e-01 1.17205205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.4150998929999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:589.90, Y:-12.49, Z:0.12 [[ 9.92298919e-01 1.23463434e-01 9.98177414e-03 5.89904956e+02] [-1.23377633e-01 9.92320775e-01 -8.79992999e-03 -1.24887034e+01] [-1.09915914e-02 7.50063335e-03 9.99911459e-01 1.15835408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.4450998929999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:589.93, Y:-12.49, Z:0.12 [[ 9.92562235e-01 1.21103961e-01 1.24112930e-02 5.89933752e+02] [-1.21078549e-01 9.92639032e-01 -2.78165693e-03 -1.24932892e+01] [-1.26568035e-02 1.25822628e-03 9.99919108e-01 1.15586284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.475099893 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:589.97, Y:-12.50, Z:0.12 [[ 9.92847586e-01 1.18736037e-01 1.24669631e-02 5.89965616e+02] [-1.18792284e-01 9.92911586e-01 3.86981428e-03 -1.25018056e+01] [-1.19191057e-02 -5.32311478e-03 9.99914796e-01 1.19652609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.505099893 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:590.00, Y:-12.50, Z:0.12 [[ 9.92892703e-01 1.18529487e-01 1.07164284e-02 5.89996710e+02] [-1.18524751e-01 9.92950513e-01 -1.07815135e-03 -1.25037208e+01] [-1.07686758e-02 -1.99673406e-04 9.99941996e-01 1.18435492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.5350998929999 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:590.03, Y:-12.51, Z:0.12 [[ 9.92908659e-01 1.18347497e-01 1.12367999e-02 5.90028306e+02] [-1.18385200e-01 9.92963940e-01 2.74924692e-03 -1.25094874e+01] [-1.08323706e-02 -4.06002187e-03 9.99933086e-01 1.19884924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.5650998929999 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:590.06, Y:-12.51, Z:0.12 [[ 9.92774715e-01 1.19553696e-01 1.02605849e-02 5.90060797e+02] [-1.19560292e-01 9.92826941e-01 2.96996699e-05 -1.25120531e+01] [-1.01834344e-02 -1.25624361e-03 9.99947358e-01 1.19186944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.595099893 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:590.09, Y:-12.51, Z:0.12 [[ 9.92806034e-01 1.19409030e-01 8.81260095e-03 5.90091579e+02] [-1.19349759e-01 9.92827792e-01 -6.97218933e-03 -1.25124237e+01] [-9.58193750e-03 5.87024984e-03 9.99936861e-01 1.15569869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.625099893 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:590.12, Y:-12.52, Z:0.12 [[ 9.92778885e-01 1.19598797e-01 9.28505643e-03 5.90123313e+02] [-1.19594527e-01 9.92822299e-01 -1.01580111e-03 -1.25195477e+01] [-9.33989966e-03 -1.01976035e-04 9.99956377e-01 1.17820741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.6550998929999 meters Centerline goodness : 0.996621 Centerline is valid? [True, True] Translation: X:590.15, Y:-12.54, Z:0.14 [[ 9.93016343e-01 1.17699567e-01 8.08420962e-03 5.90150491e+02] [-1.17907769e-01 9.92446974e-01 3.38638675e-02 -1.25401084e+01] [-4.03738684e-03 -3.45805650e-02 9.99393758e-01 1.37922989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.6850998929999 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:590.19, Y:-12.51, Z:0.11 [[ 9.93049110e-01 1.17476590e-01 7.26063527e-03 5.90186149e+02] [-1.17188130e-01 9.92592132e-01 -3.20593548e-02 -1.25120480e+01] [-1.09730731e-02 3.09856534e-02 9.99459594e-01 1.06002724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.7150998929999 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:590.22, Y:-12.53, Z:0.12 [[ 9.92972442e-01 1.17942694e-01 9.75966091e-03 5.90217660e+02] [-1.17932002e-01 9.93020275e-01 -1.66596979e-03 -1.25315528e+01] [-9.88803013e-03 5.03285740e-04 9.99950986e-01 1.17867981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.745099893 meters Centerline goodness : 0.996506 Centerline is valid? [True, True] Translation: X:590.24, Y:-12.55, Z:0.14 [[ 9.92944686e-01 1.18314339e-01 7.90993228e-03 5.90244164e+02] [-1.18519517e-01 9.92343536e-01 3.47480897e-02 -1.25523455e+01] [-3.73817290e-03 -3.54404124e-02 9.99364800e-01 1.38318455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.775099893 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:590.28, Y:-12.53, Z:0.11 [[ 9.92825102e-01 1.19431308e-01 5.87196087e-03 5.90278589e+02] [-1.19218132e-01 9.92457208e-01 -2.85609233e-02 -1.25254305e+01] [-9.23873834e-03 2.76559574e-02 9.99574806e-01 1.07524542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.8050998929999 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:590.31, Y:-12.54, Z:0.12 [[ 9.92612720e-01 1.21070771e-01 7.86487635e-03 5.90308693e+02] [-1.21059436e-01 9.92643435e-01 -1.90347785e-03 -1.25425243e+01] [-8.03747341e-03 9.37298835e-04 9.99967260e-01 1.16567413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.8350998929999 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:590.34, Y:-12.55, Z:0.12 [[ 9.92355129e-01 1.23222430e-01 6.89420261e-03 5.90341201e+02] [-1.23209956e-01 9.92378171e-01 -2.20727970e-03 -1.25466950e+01] [-7.11364255e-03 1.34097093e-03 9.99973799e-01 1.16510335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.865099893 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:590.38, Y:-12.57, Z:0.13 [[ 9.91320607e-01 1.31458227e-01 1.47953772e-03 5.90375111e+02] [-1.31456208e-01 9.91038644e-01 2.36996002e-02 -1.25709695e+01] [ 1.64922837e-03 -2.36883965e-02 9.99718030e-01 1.34520340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.895099893 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:590.40, Y:-12.54, Z:0.10 [[ 9.91974153e-01 1.26420661e-01 2.25732797e-03 5.90404513e+02] [-1.26312481e-01 9.91613560e-01 -2.73441832e-02 -1.25410381e+01] [-5.69526673e-03 2.68395943e-02 9.99623529e-01 1.04926847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.9250998929999 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:590.44, Y:-12.57, Z:0.13 [[ 9.91228074e-01 1.32159290e-01 9.09449119e-04 5.90437434e+02] [-1.32159344e-01 9.91134597e-01 1.36424951e-02 -1.25717316e+01] [ 9.01595981e-04 -1.36430164e-02 9.99906523e-01 1.26800608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.9550998929999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:590.47, Y:-12.61, Z:0.17 [[ 9.89910627e-01 1.41407838e-01 -8.98743782e-03 5.90472391e+02] [-1.40347264e-01 9.87255090e-01 7.50335474e-02 -1.26139064e+01] [ 1.94832255e-02 -7.30151437e-02 9.97140508e-01 1.73579122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.985099893 meters Centerline goodness : 0.998147 Centerline is valid? [True, True] Translation: X:590.50, Y:-12.55, Z:0.12 [[ 9.90888855e-01 1.33356246e-01 -1.88517806e-02 5.90503684e+02] [-1.33988855e-01 9.90267494e-01 -3.76467393e-02 -1.25530839e+01] [ 1.36478777e-02 3.98296629e-02 9.99113274e-01 1.23171358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.015099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:590.54, Y:-12.60, Z:0.16 [[ 9.89968366e-01 1.40570835e-01 -1.42293406e-02 5.90537435e+02] [-1.39958776e-01 9.89448851e-01 3.74501196e-02 -1.26018598e+01] [ 1.93435993e-02 -3.50829126e-02 9.99197185e-01 1.55221754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.0450998929999 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:590.56, Y:-12.53, Z:0.09 [[ 9.91655357e-01 1.28480597e-01 -1.06013355e-02 5.90563803e+02] [-1.28914301e-01 9.88828569e-01 -7.48275578e-02 -1.25343132e+01] [ 8.69014099e-04 7.55698123e-02 9.97140135e-01 9.08638085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.0750998929999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:590.60, Y:-12.59, Z:0.13 [[ 9.90875765e-01 1.34627427e-01 -6.37771267e-03 5.90595917e+02] [-1.34499258e-01 9.90759778e-01 1.74645962e-02 -1.25942893e+01] [ 8.66999483e-03 -1.64474475e-02 9.99827141e-01 1.31829858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.105099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:590.63, Y:-12.62, Z:0.16 [[ 9.90521309e-01 1.36725792e-01 -1.31755286e-02 5.90630442e+02] [-1.36030901e-01 9.89727071e-01 4.39990689e-02 -1.26162625e+01] [ 1.90559849e-02 -4.17897363e-02 9.98944687e-01 1.55259002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.135099893 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:590.67, Y:-12.61, Z:0.14 [[ 9.90552118e-01 1.35998109e-01 -1.76356538e-02 5.90665299e+02] [-1.35798276e-01 9.90662880e-01 1.20783164e-02 -1.26056548e+01] [ 1.91136158e-02 -9.56931052e-03 9.99771523e-01 1.43829243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.1650998929999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:590.69, Y:-12.56, Z:0.09 [[ 9.91912651e-01 1.26332388e-01 -1.22238034e-02 5.90693025e+02] [-1.26892534e-01 9.89158342e-01 -7.39192768e-02 -1.25561313e+01] [ 2.75287838e-03 7.48725752e-02 9.97189310e-01 9.22111606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.1950998929999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:590.72, Y:-12.64, Z:0.17 [[ 9.90740481e-01 1.35279932e-01 -1.15169343e-02 5.90723924e+02] [-1.33984532e-01 9.87901724e-01 7.80917935e-02 -1.26448576e+01] [ 2.19418518e-02 -7.58256099e-02 9.96879648e-01 1.72060020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.225099893 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:590.76, Y:-12.56, Z:0.09 [[ 9.92137864e-01 1.24525388e-01 -1.24854356e-02 5.90755943e+02] [-1.25130708e-01 9.88778005e-01 -8.16110482e-02 -1.25586869e+01] [ 2.18267670e-03 8.25317224e-02 9.96586048e-01 8.88846748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.255099893 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:590.79, Y:-12.65, Z:0.17 [[ 9.90746061e-01 1.35213099e-01 -1.18178408e-02 5.90785765e+02] [-1.33851197e-01 9.87763272e-01 8.00473393e-02 -1.26522340e+01] [ 2.24966779e-02 -7.77247539e-02 9.96721005e-01 1.71929463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.2850998929999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:590.82, Y:-12.57, Z:0.09 [[ 9.91567302e-01 1.28528096e-01 -1.65775425e-02 5.90820011e+02] [-1.29392038e-01 9.89014895e-01 -7.14649369e-02 -1.25737633e+01] [ 7.21018423e-03 7.30072966e-02 9.97305343e-01 9.27555722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.3150998929999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:590.85, Y:-12.65, Z:0.16 [[ 9.90101593e-01 1.39450285e-01 -1.58887919e-02 5.90848507e+02] [-1.38181645e-01 9.88354775e-01 6.37233949e-02 -1.26539661e+01] [ 2.45900089e-02 -6.08970954e-02 9.97841107e-01 1.64158741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.345099893 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:590.88, Y:-12.64, Z:0.16 [[ 9.88981567e-01 1.45603338e-01 -2.67418620e-02 5.90884236e+02] [-1.44932581e-01 9.89112402e-01 2.55186824e-02 -1.26433754e+01] [ 3.01663127e-02 -2.13617394e-02 9.99316601e-01 1.55033722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.375099893 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:590.91, Y:-12.62, Z:0.12 [[ 9.89150924e-01 1.44379180e-01 -2.71127533e-02 5.90914703e+02] [-1.45251402e-01 9.88825675e-01 -3.35531717e-02 -1.26151217e+01] [ 2.19654071e-02 3.71273162e-02 9.99069108e-01 1.22779008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4050998929999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:590.94, Y:-12.61, Z:0.11 [[ 9.89855547e-01 1.40957859e-01 -1.78010725e-02 5.90942778e+02] [-1.41647120e-01 9.88825079e-01 -4.64871654e-02 -1.26061625e+01] [ 1.10494156e-02 4.85370491e-02 9.98760264e-01 1.05041487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4350998929999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:590.97, Y:-12.67, Z:0.16 [[ 9.88088530e-01 1.52924276e-01 -1.71820706e-02 5.90971602e+02] [-1.51909945e-01 9.87136183e-01 4.98550323e-02 -1.26676588e+01] [ 2.45850883e-02 -4.66510581e-02 9.98608658e-01 1.58605714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4650998929999 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:591.01, Y:-12.66, Z:0.15 [[ 9.88223481e-01 1.51840394e-01 -1.89432531e-02 5.91006607e+02] [-1.51638909e-01 9.88367151e-01 1.16625589e-02 -1.26573842e+01] [ 2.04937366e-02 -8.65268033e-03 9.99752538e-01 1.46747599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 10368.05 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%| | 0/19683 [00:00